CA2181834C - Method of controlling bucket angle of hydraulic shovel - Google Patents
Method of controlling bucket angle of hydraulic shovelInfo
- Publication number
- CA2181834C CA2181834C CA002181834A CA2181834A CA2181834C CA 2181834 C CA2181834 C CA 2181834C CA 002181834 A CA002181834 A CA 002181834A CA 2181834 A CA2181834 A CA 2181834A CA 2181834 C CA2181834 C CA 2181834C
- Authority
- CA
- Canada
- Prior art keywords
- bucket
- excavating
- angle
- sensed
- stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A bucket-angle controlling method which is capable of automatically turning off the bucket-angle-maintaining control to maintain the bucket of a hydraulic shovel (12) at a specified position. When the open surface of the bucket (15bk) comes close to the horizontal plane bucket angle (.theta. bk), which is an angle of the bucket (15bk) open surface with respect to the horizontal plane, is maintained constant in order to prevent load from being spilled at the time of unloading and so forth. When bucket angle (.theta. bk) is greater than a preset standard value (.theta. bkset), a controller judges that bucket (15bk) is performing excavation. Then, the bucket-angle-maintaining control is temporarily deactivated to permit excavation to be performed through manual control.
Description
WO 96/17135 ~ ~ ~ ~ ~ PCT'/JP95/02104 DESCRIPTION
METHOD OF CONTROLLING BUCKET ANGLE OF HYDRAULIC SHOVEL
s TECHNICAL FIELD
This invention relates to a method of controlling an angle of the bucket of a hydraulic shovel.
BACKGROUND
io Fig. 4 (a) shows a manner of operation to maintain the bucket of a hydraulic shovel at a constant angle, wherein the position of bucket bk is automatically controlled in such a manner that the angle of bucket bk is constant while the open end of the bucket is kept approximately horizontal. With the angle of the bucket thus maintained, when unloading onto a dump truck or other receptacle/disposal is place, the bucket can be automatically maintained, without having to operate an operation lever, at such a position as to be free from the danger of spilling the load.
Fig. 4 (b) shows a manner of the automatic return operation. i. e. operation to return the bucket to the initial angle. The aforementioned bucket-angle-maintaining control also functions when excavation is performed in this condition.
METHOD OF CONTROLLING BUCKET ANGLE OF HYDRAULIC SHOVEL
s TECHNICAL FIELD
This invention relates to a method of controlling an angle of the bucket of a hydraulic shovel.
BACKGROUND
io Fig. 4 (a) shows a manner of operation to maintain the bucket of a hydraulic shovel at a constant angle, wherein the position of bucket bk is automatically controlled in such a manner that the angle of bucket bk is constant while the open end of the bucket is kept approximately horizontal. With the angle of the bucket thus maintained, when unloading onto a dump truck or other receptacle/disposal is place, the bucket can be automatically maintained, without having to operate an operation lever, at such a position as to be free from the danger of spilling the load.
Fig. 4 (b) shows a manner of the automatic return operation. i. e. operation to return the bucket to the initial angle. The aforementioned bucket-angle-maintaining control also functions when excavation is performed in this condition.
2 o In order to perform digging, however, the bucket has to be manually operated by using an operation lever to shovel the load therein, which requires the equipment to be released from the bucket-angle-maintaining control. Should an operator of the equipment be forced to perform this switching operation for each action, it is very troublesome for him and may hinder effective use of the bucket-angle-maintaining 2 s control mode.
In order to solve the above problems, an object of the invention is to provide a method of controlling an angle of the bucket of a hydraulic shovel, wherein the bucket-angle-maintaining control mode can be. automatically deactivated.
DISCLOSURE OF INVENTION
The present invention comprises a bucket-angle-control method which involves bucket angle control to maintain the bucket of a hydraulic shovel at a constant angle. wherein the bucket-angle-maintaining control mode can be automatically turned off temporarily at times when excavation is detected to be taking place. V'ith the configuration as above, even while the equipment is under 1 o bucket-angle-maintaining control so as not to spill the load, the bucket can be automatically released from this control whenever proceeding into the digging step, thereby permitting manual excavation in the same manner as conventional hydraulic shovels. At the time of unloading, the bucket is controlled in the normal bucket-angle-maintaining control mode at such a position as to prevent the load from spilling.
According to another feature of the invention, the equipment is judged to be performing excavation in cases where the angle of the open surface of the bucket with respect to the horizontal plane exceeds a specified value. More precisely, the method calls for holding the bucket at a constant angle when the open surface of the bucket approaches the horizontal plane, and at all other times, assuming that the bucket is performing excavation, automatically switching the mode from the bucket-angle-maintaining control to manual operation. As this method is quite simple as a means of detecting excavation taking place, it can be easily handled by a control system.
According to the present invention, there is provided a device to control a bucket actuator that moves a bucket comprising:
2a ~ means for sensing a configuration of at least one of said bucket and said bucket actuator;
~ means for determining, responsive to said means for sensing, whether said bucket is excavating or not excavating;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle, when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a device to control a bucket actuator that moves a bucket comprising:
~ means for sensing a position of said bucket with respect to a datum, to produce a sensed position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ means for storing a value of said sensed position to produce a stored bucket position;
~ means for determining whether said bucket is excavating or not excavating from at least one of said sensed position, said stored bucket position and said sensed action;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual 2b control, when a result of said means for determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substan-tially equal to said stored bucket position, when a result of said means for determining indicates said bucket is not excavating.
According to the present invention, there is also provided a device to control a bucket actuator that moves a bucket comprising:
~ means for sensing a position of said bucket with respect to a datum to produce a sensed bucket position;
~ means for storing a value of said sensed bucket position to produce a stored bucket position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ a controller, said controller for making a comparison of said stored bucket position with said sensed bucket position to determine whether said bucket is consistent with excavating or not excavating, said controller further for making a determination from said sensed action whether said stick is consistent with excavating or not excavating;
~ said controller programmed to set said bucket actuator to a manual operation mode, which provides an operator manual control, when said controller determines from a result of said comparison and said determination indicates that both said bucket is consistent with 2c excavating and said stick is consistent with excavating;
and ~ said controller programmed to set said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when said result of said comparison and said determination indicates that one of said bucket and said stick is not consistent with excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
~ sensing a configuration of at least one of said bucket and said bucket actuator to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle;
~ determining whether said bucket is excavating or not excavating responsive to said step of sensing;
~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
2d ~ sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle to produce a stored bucket angle;
~ sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
~ determining whether said bucket is excavating or not excavating from at least one of said sensed bucket angle, said stored bucket angle and said sensed action;
~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
~ sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle to produce a stored bucket angle;
~ sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
~ determining whether said bucket is excavating or not excavating from said sensed bucket angle, said stored bucket angle and said sensed action;
y 2e ~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 is an explanatory drawing which illustrates an example of an action PC"T/JP95/02104 governed by a method of controlling an angle of a bucket of a hydraulic shovel according to the invention; Fig. 2 is a flow chart of an embodiment of said bucket-angle-control method; Fig. 3 is a system configuration diagram of a hydraulic shovel using same; Fig. 4 (a) is an explanatory drawing which illustrates the action of a s hydraulic shovel when its bucket is controlled at a constant angle; and Fig.
In order to solve the above problems, an object of the invention is to provide a method of controlling an angle of the bucket of a hydraulic shovel, wherein the bucket-angle-maintaining control mode can be. automatically deactivated.
DISCLOSURE OF INVENTION
The present invention comprises a bucket-angle-control method which involves bucket angle control to maintain the bucket of a hydraulic shovel at a constant angle. wherein the bucket-angle-maintaining control mode can be automatically turned off temporarily at times when excavation is detected to be taking place. V'ith the configuration as above, even while the equipment is under 1 o bucket-angle-maintaining control so as not to spill the load, the bucket can be automatically released from this control whenever proceeding into the digging step, thereby permitting manual excavation in the same manner as conventional hydraulic shovels. At the time of unloading, the bucket is controlled in the normal bucket-angle-maintaining control mode at such a position as to prevent the load from spilling.
According to another feature of the invention, the equipment is judged to be performing excavation in cases where the angle of the open surface of the bucket with respect to the horizontal plane exceeds a specified value. More precisely, the method calls for holding the bucket at a constant angle when the open surface of the bucket approaches the horizontal plane, and at all other times, assuming that the bucket is performing excavation, automatically switching the mode from the bucket-angle-maintaining control to manual operation. As this method is quite simple as a means of detecting excavation taking place, it can be easily handled by a control system.
According to the present invention, there is provided a device to control a bucket actuator that moves a bucket comprising:
2a ~ means for sensing a configuration of at least one of said bucket and said bucket actuator;
~ means for determining, responsive to said means for sensing, whether said bucket is excavating or not excavating;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle, when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a device to control a bucket actuator that moves a bucket comprising:
~ means for sensing a position of said bucket with respect to a datum, to produce a sensed position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ means for storing a value of said sensed position to produce a stored bucket position;
~ means for determining whether said bucket is excavating or not excavating from at least one of said sensed position, said stored bucket position and said sensed action;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual 2b control, when a result of said means for determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substan-tially equal to said stored bucket position, when a result of said means for determining indicates said bucket is not excavating.
According to the present invention, there is also provided a device to control a bucket actuator that moves a bucket comprising:
~ means for sensing a position of said bucket with respect to a datum to produce a sensed bucket position;
~ means for storing a value of said sensed bucket position to produce a stored bucket position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ a controller, said controller for making a comparison of said stored bucket position with said sensed bucket position to determine whether said bucket is consistent with excavating or not excavating, said controller further for making a determination from said sensed action whether said stick is consistent with excavating or not excavating;
~ said controller programmed to set said bucket actuator to a manual operation mode, which provides an operator manual control, when said controller determines from a result of said comparison and said determination indicates that both said bucket is consistent with 2c excavating and said stick is consistent with excavating;
and ~ said controller programmed to set said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when said result of said comparison and said determination indicates that one of said bucket and said stick is not consistent with excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
~ sensing a configuration of at least one of said bucket and said bucket actuator to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle;
~ determining whether said bucket is excavating or not excavating responsive to said step of sensing;
~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
2d ~ sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle to produce a stored bucket angle;
~ sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
~ determining whether said bucket is excavating or not excavating from at least one of said sensed bucket angle, said stored bucket angle and said sensed action;
~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
According to the present invention, there is also provided a method to control a bucket actuator that moves a bucket comprising the steps of:
~ sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
~ storing a value of said sensed bucket angle to produce a stored bucket angle;
~ sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
~ determining whether said bucket is excavating or not excavating from said sensed bucket angle, said stored bucket angle and said sensed action;
y 2e ~ setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and ~ setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 is an explanatory drawing which illustrates an example of an action PC"T/JP95/02104 governed by a method of controlling an angle of a bucket of a hydraulic shovel according to the invention; Fig. 2 is a flow chart of an embodiment of said bucket-angle-control method; Fig. 3 is a system configuration diagram of a hydraulic shovel using same; Fig. 4 (a) is an explanatory drawing which illustrates the action of a s hydraulic shovel when its bucket is controlled at a constant angle; and Fig.
4 (b) is an explanatory drawing which illustrates the action of same at the time of automatic return operation.
BEST MODE FOR CARRYING OUT THE INVENTION
io Next, the present invention is explained in detail, referring an embodiment thereof shown in Figs. 1 to 3.
Fig. 3 is a system configuration of a hydraulic shovel equipped with a control device for controlling the attachment of a construction machine according to the invention, wherein the hydraulic shovel is provided with a lower structure 11 and an i5 upper structure 12, which is mounted on lower structure 11 and has a front attachment 13.
Attachment 13 is provided with a boom I Sbm, a stick 15st and a bucket I Sbk, boom l5bm being rotated by a boom cylinder l4bm and supported at its base end by upper structure 12 through a shaft, stick I Sst being rotated by a stick cylinder l4st ao and the vicinity of its base end being joined to the front end of boom l5bm and supported thereby through a shaft, and bucket l5bk being pivoted by a bucket cylinder l4bk and joined to the front end of stick l5st through a shaft, thus supported by stick l5st. Boom cylinder l4bm, stick cylinder l4st and bucket cylinder l4bk are hydraulic actuators that operate attachment 13.
2 5 Rotation angles of boom 1 ~bm, stick 15st and bucket 1 Sbk are respectively detected by angle sensors l6bm, l6st and l6bk, which may be resolvers used as 5 ~ ~ PCT/JP95/02104 attachment sensors or any other suitable means. Signals representing detected angles are input through a signal transformer 17 mounted on upper structure 12 into a controller 21. Controller 21 includes a microcomputer.
Connected to controller 21 is a display switch panel 22 which serves as an s input/output device, and members connected to the input terminal of the controller include a switch 23, an engine pump controller 24, numerous pressure sensors 25 and an inclination sensor 26. Switch 23 is mounted on the operation lever of attachment 13 or other suitable location; engine pump controller 24 controls an engine and a pump based on the engine speed detected by an engine speed sensor 24a;
pressure io sensors 25 detect pressure of hydraulic circuits for driving attachment 13;
and inclination sensor 26 detects an angle of inclination of the vehicle. Further, numerous electromagnetic valves, such as electromagnetic proportional control valves, electromagnetic change valves and so on, are connected to the output terminal of controller 21.
i5 Based on signals representing respective rotation angles of boom l5bm, stick 1 Sst and bucket 1 Sbk which have been detected by angle sensors l6bm/l6st/l6bk, controller 21 is capable of constantly monitoring bucket angle B bk, which is, as shown in Fig. 1, an angle of the bucket open surface with respect to the horizontal plane. Therefore, by means of electrically controlling one of electromagnetic valves z o 27 so as to control pilot pressure of pilot-operated control valves which extend and contract bucket cylinder l4bk, it is possible to keep the bucket at such a specified position as to prevent its load from spilling with bucket angle 8 bk being maintained at a specified angle including 0°. Thus, the present embodiment has the bucket-angle-maintaining function such that when earth, sand or other materials are a s unloaded onto a dump truck, the bucket is maintained, without operating the bucket i 'r m WO 96117135 2 i 818 3 ~ p~~~5~02104 operation lever, at such a position as to prevent its load from spilling.
Fig. 1 shows excavation mode A which calls for securing bucket cylinder l4bk of a hydraulic shovel so that bucket l5bk is affixed to stick l5st, and bucket-angle-maintaining mode B which calls for holding the bucket at such a specified 5 position as to prevent its load from spilling when unloading the load in the bucket onto, for example, a dump truck.
In excavation mode A, having detected that excavation is underway, controller 21 automatically deactivates the bucket-angle-maintaining function for the time being, thereby enabling manual operation. Conditions of the excavation work io then are that stick l5st is drawn in (stick-in action) and that bucket angle 8 bk with respect to the horizontal plane is greater than a specified standard value 8 bkset. In other words, in cases where these conditions are present (presence of stick-in action and 8 bk> 8 bkset), the controller judges that the excavation is underway.
Presence of the aforementioned stick-in action can be judged from angular i5 speed (positive or negative) of stick l5st which can be detected according to the direction of inclination of the stick operation lever or angle sensor l6st.
Further, as an example of measures, bucket side angle 8 bkside may be used as said specified standard value 8 bkset.
Except when the above condition A (presence of stick-in action and 8 bk> 8 z o bkset) is satisfied, control of the aforementioned bucket-angle-maintaining mode B is conducted. wherein pilot pressure of the bucket cylinder control valves is automatically controlled by means of electromagnetic valves while. as described above. bucket angle B bk is monitored by angle sensors l6bm/l6st/l6bk. As the bucket-angle-maintaining function thus controls extension and contraction of bucket WO 96/17135 ~ ~ ~ PCT/JP95/02104 cylinder l4bk in such a way as to maintain the bucket at specified angle 8 bk, the bucket is prevented from spilling its load when unloading it onto a damp truck or in other occasions.
Fig. 2 is a flow chart of the bucket-angle-maintaining control.
s When the bucket-angle-maintaining control is initiated, judgment is made as to whether stick-in action is underway, i. e. whether stick l5st is drawn in, during excavation operation (Step ~); and in cases where the movement of the equipment is stick-in action ("YES" in Step ~), judgment is made as to whether bucket angle 8 bk is smaller than bucket side angle B bkside, which serves as the specified io standard value (Step ~2 ). In cases where bucket angle B bk is greater ("NO" in Step 20), which means 8 bk> 8 bkside during stick-in action, controller 21 judges that digging action is underway. Therefore, even if the equipment is in the bucket-angle-maintaining mode, controller 21 automatically deactivates the function for maintaining the bucket-angle, permitting stick 1 Sst and bucket 1 Sbk to be manually is operated by means of the operation levers to continue the excavation (Step ~).
In cases other than the above ("YES" in Step ~), the system returns to the normal bucket-angle-maintaining control (Step ~). Then, bucket l5bk is lifted for the intended operation such as unloading with bucket angle 8 bk being maintained constant. In cases where it has been judged in Step ~ that the stick is not a o performing "stick-in action" ("NO" in Step 1~ ), the bucket-angle-maintaining control is performed as in Step 0, because it is obvious that the equipment is not performing excavation action.
2U 1~~4 WO 96/17135 PC"f/JP95/02104 Further, according to the invention as claimed in claim 2, the system judges that excavation action is underway when bucket angle 8 bk exceeds a specified standard value. However, means of detecting when excavation is taking place referred to in claim 1 is not limited to the degree of bucket angle 8 bk.
s In other words, the invention as claimed in claim 1 includes, for example, a method which calls for attaching a pressure sensor to stick cylinder l4st and detecting pressure on the head-side of the stick cylinder to judge whether excavation is underway based on the fact that when excavation is being performed the digging load makes pressure on the head-side of stick cylinder l4st greater than the specified i o standard value.
INDUSTRIAL APPLICABILITY
As described above, a method of controlling an angle of the bucket of a hydraulic shovel according to the present invention is suitable for smoothly is performing excavation and transporting load, such as the excavated earth, onto a transportation vehicle.
BEST MODE FOR CARRYING OUT THE INVENTION
io Next, the present invention is explained in detail, referring an embodiment thereof shown in Figs. 1 to 3.
Fig. 3 is a system configuration of a hydraulic shovel equipped with a control device for controlling the attachment of a construction machine according to the invention, wherein the hydraulic shovel is provided with a lower structure 11 and an i5 upper structure 12, which is mounted on lower structure 11 and has a front attachment 13.
Attachment 13 is provided with a boom I Sbm, a stick 15st and a bucket I Sbk, boom l5bm being rotated by a boom cylinder l4bm and supported at its base end by upper structure 12 through a shaft, stick I Sst being rotated by a stick cylinder l4st ao and the vicinity of its base end being joined to the front end of boom l5bm and supported thereby through a shaft, and bucket l5bk being pivoted by a bucket cylinder l4bk and joined to the front end of stick l5st through a shaft, thus supported by stick l5st. Boom cylinder l4bm, stick cylinder l4st and bucket cylinder l4bk are hydraulic actuators that operate attachment 13.
2 5 Rotation angles of boom 1 ~bm, stick 15st and bucket 1 Sbk are respectively detected by angle sensors l6bm, l6st and l6bk, which may be resolvers used as 5 ~ ~ PCT/JP95/02104 attachment sensors or any other suitable means. Signals representing detected angles are input through a signal transformer 17 mounted on upper structure 12 into a controller 21. Controller 21 includes a microcomputer.
Connected to controller 21 is a display switch panel 22 which serves as an s input/output device, and members connected to the input terminal of the controller include a switch 23, an engine pump controller 24, numerous pressure sensors 25 and an inclination sensor 26. Switch 23 is mounted on the operation lever of attachment 13 or other suitable location; engine pump controller 24 controls an engine and a pump based on the engine speed detected by an engine speed sensor 24a;
pressure io sensors 25 detect pressure of hydraulic circuits for driving attachment 13;
and inclination sensor 26 detects an angle of inclination of the vehicle. Further, numerous electromagnetic valves, such as electromagnetic proportional control valves, electromagnetic change valves and so on, are connected to the output terminal of controller 21.
i5 Based on signals representing respective rotation angles of boom l5bm, stick 1 Sst and bucket 1 Sbk which have been detected by angle sensors l6bm/l6st/l6bk, controller 21 is capable of constantly monitoring bucket angle B bk, which is, as shown in Fig. 1, an angle of the bucket open surface with respect to the horizontal plane. Therefore, by means of electrically controlling one of electromagnetic valves z o 27 so as to control pilot pressure of pilot-operated control valves which extend and contract bucket cylinder l4bk, it is possible to keep the bucket at such a specified position as to prevent its load from spilling with bucket angle 8 bk being maintained at a specified angle including 0°. Thus, the present embodiment has the bucket-angle-maintaining function such that when earth, sand or other materials are a s unloaded onto a dump truck, the bucket is maintained, without operating the bucket i 'r m WO 96117135 2 i 818 3 ~ p~~~5~02104 operation lever, at such a position as to prevent its load from spilling.
Fig. 1 shows excavation mode A which calls for securing bucket cylinder l4bk of a hydraulic shovel so that bucket l5bk is affixed to stick l5st, and bucket-angle-maintaining mode B which calls for holding the bucket at such a specified 5 position as to prevent its load from spilling when unloading the load in the bucket onto, for example, a dump truck.
In excavation mode A, having detected that excavation is underway, controller 21 automatically deactivates the bucket-angle-maintaining function for the time being, thereby enabling manual operation. Conditions of the excavation work io then are that stick l5st is drawn in (stick-in action) and that bucket angle 8 bk with respect to the horizontal plane is greater than a specified standard value 8 bkset. In other words, in cases where these conditions are present (presence of stick-in action and 8 bk> 8 bkset), the controller judges that the excavation is underway.
Presence of the aforementioned stick-in action can be judged from angular i5 speed (positive or negative) of stick l5st which can be detected according to the direction of inclination of the stick operation lever or angle sensor l6st.
Further, as an example of measures, bucket side angle 8 bkside may be used as said specified standard value 8 bkset.
Except when the above condition A (presence of stick-in action and 8 bk> 8 z o bkset) is satisfied, control of the aforementioned bucket-angle-maintaining mode B is conducted. wherein pilot pressure of the bucket cylinder control valves is automatically controlled by means of electromagnetic valves while. as described above. bucket angle B bk is monitored by angle sensors l6bm/l6st/l6bk. As the bucket-angle-maintaining function thus controls extension and contraction of bucket WO 96/17135 ~ ~ ~ PCT/JP95/02104 cylinder l4bk in such a way as to maintain the bucket at specified angle 8 bk, the bucket is prevented from spilling its load when unloading it onto a damp truck or in other occasions.
Fig. 2 is a flow chart of the bucket-angle-maintaining control.
s When the bucket-angle-maintaining control is initiated, judgment is made as to whether stick-in action is underway, i. e. whether stick l5st is drawn in, during excavation operation (Step ~); and in cases where the movement of the equipment is stick-in action ("YES" in Step ~), judgment is made as to whether bucket angle 8 bk is smaller than bucket side angle B bkside, which serves as the specified io standard value (Step ~2 ). In cases where bucket angle B bk is greater ("NO" in Step 20), which means 8 bk> 8 bkside during stick-in action, controller 21 judges that digging action is underway. Therefore, even if the equipment is in the bucket-angle-maintaining mode, controller 21 automatically deactivates the function for maintaining the bucket-angle, permitting stick 1 Sst and bucket 1 Sbk to be manually is operated by means of the operation levers to continue the excavation (Step ~).
In cases other than the above ("YES" in Step ~), the system returns to the normal bucket-angle-maintaining control (Step ~). Then, bucket l5bk is lifted for the intended operation such as unloading with bucket angle 8 bk being maintained constant. In cases where it has been judged in Step ~ that the stick is not a o performing "stick-in action" ("NO" in Step 1~ ), the bucket-angle-maintaining control is performed as in Step 0, because it is obvious that the equipment is not performing excavation action.
2U 1~~4 WO 96/17135 PC"f/JP95/02104 Further, according to the invention as claimed in claim 2, the system judges that excavation action is underway when bucket angle 8 bk exceeds a specified standard value. However, means of detecting when excavation is taking place referred to in claim 1 is not limited to the degree of bucket angle 8 bk.
s In other words, the invention as claimed in claim 1 includes, for example, a method which calls for attaching a pressure sensor to stick cylinder l4st and detecting pressure on the head-side of the stick cylinder to judge whether excavation is underway based on the fact that when excavation is being performed the digging load makes pressure on the head-side of stick cylinder l4st greater than the specified i o standard value.
INDUSTRIAL APPLICABILITY
As described above, a method of controlling an angle of the bucket of a hydraulic shovel according to the present invention is suitable for smoothly is performing excavation and transporting load, such as the excavated earth, onto a transportation vehicle.
Claims (15)
1. A device to control a bucket actuator that moves a bucket comprising:
means for sensing a configuration of at least one of said bucket and said bucket actuator;
means for determining, responsive to said means for sensing, whether said bucket is excavating or not excavating;
means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle, when a result of said step of determining indicates said bucket is not excavating.
means for sensing a configuration of at least one of said bucket and said bucket actuator;
means for determining, responsive to said means for sensing, whether said bucket is excavating or not excavating;
means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle, when a result of said step of determining indicates said bucket is not excavating.
2. A device to control a bucket actuator that moves a bucket comprising:
means for sensing a position of said bucket with respect to a datum, to produce a sensed position;
means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
means for storing a value of said sensed position to produce a stored bucket position;
means for determining whether said bucket is excavating or not excavating from at least one of said sensed position, said stored bucket position and said sensed action;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said means for determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when a result of said means for determining indicates said bucket is not excavating.
means for sensing a position of said bucket with respect to a datum, to produce a sensed position;
means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
means for storing a value of said sensed position to produce a stored bucket position;
means for determining whether said bucket is excavating or not excavating from at least one of said sensed position, said stored bucket position and said sensed action;
~ means for setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said means for determining indicates said bucket is excavating; and ~ means for setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when a result of said means for determining indicates said bucket is not excavating.
3. A device to control a bucket actuator according to claim 2, wherein said controller determines that said stick is consistent with excavating when said sensed action is a movement of a rod in a stick cylinder of said stick, wherein said movement is in an excavating direction.
4. A device to control a bucket actuator according to claim 2, wherein said stored position is a stored bucket angle position and said sensed position is a sensed angle position.
5. A device to control a bucket actuator according to claim 2, wherein:
~ said stored bucket position is a stored angle position and said sensed position is a sensed angle position;
and ~ said controller determines that said stick is consistent with excavating when said sensed action is a movement of a rod in a stick cylinder of said stick, wherein said movement is in an excavating direction.
~ said stored bucket position is a stored angle position and said sensed position is a sensed angle position;
and ~ said controller determines that said stick is consistent with excavating when said sensed action is a movement of a rod in a stick cylinder of said stick, wherein said movement is in an excavating direction.
6. A device to control a bucket actuator that moves a bucket comprising:
~~means for sensing a position of said bucket with respect to a datum to produce a sensed bucket position;
~ means for storing a value of said sensed bucket position to produce a stored bucket position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ a controller, said controller for making a comparison of said stored bucket position with said sensed bucket position to determine whether said bucket is consistent with excavating or not excavating, said controller further for making a determination from said sensed action whether said stick is consistent with excavating or not excavating;
~said controller programmed to set said bucket actuator to a manual operation mode, which provides an operator manual control, when said controller determines from a result of said comparison and said determination indicates that both said bucket is consistent with excavating and said stick is consistent with excavating; and ~ said controller programmed to set said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when said result of said comparison and said determination indicates that one of said bucket and said stick is not consistent with excavating.
~~means for sensing a position of said bucket with respect to a datum to produce a sensed bucket position;
~ means for storing a value of said sensed bucket position to produce a stored bucket position;
~ means for sensing an action of a stick to which said bucket is pivotally attached to produce a sensed action;
~ a controller, said controller for making a comparison of said stored bucket position with said sensed bucket position to determine whether said bucket is consistent with excavating or not excavating, said controller further for making a determination from said sensed action whether said stick is consistent with excavating or not excavating;
~said controller programmed to set said bucket actuator to a manual operation mode, which provides an operator manual control, when said controller determines from a result of said comparison and said determination indicates that both said bucket is consistent with excavating and said stick is consistent with excavating; and ~ said controller programmed to set said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket position substantially equal to said stored bucket position, when said result of said comparison and said determination indicates that one of said bucket and said stick is not consistent with excavating.
7. A method to control a bucket actuator that moves a bucket comprising the steps of:
sensing a configuration of at least one of said bucket and said bucket actuator to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle;
determining whether said bucket is excavating or not excavating responsive to said step of sensing;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
sensing a configuration of at least one of said bucket and said bucket actuator to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle;
determining whether said bucket is excavating or not excavating responsive to said step of sensing;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
8. A method to control a bucket actuator that moves a bucket comprising the steps of:
sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle to produce a stored bucket angle;
sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
determining whether said bucket is excavating or not excavating from at least one of said sensed bucket angle, said stored bucket angle and said sensed action;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle to produce a stored bucket angle;
sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
determining whether said bucket is excavating or not excavating from at least one of said sensed bucket angle, said stored bucket angle and said sensed action;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
9. A method to control a bucket actuator according to claim 8, wherein said determining step includes:
making a first determination of said stick action as being consistent with excavating or non-excavating;
making a second determination of said bucket position as being consistent with excavating or non-excavating;
and combining said first determination and said second determination such that only a combination of said first determination being consistent with excavating and said second determination being consistent with excavating is a determining result that indicates said bucket is excavating.
making a first determination of said stick action as being consistent with excavating or non-excavating;
making a second determination of said bucket position as being consistent with excavating or non-excavating;
and combining said first determination and said second determination such that only a combination of said first determination being consistent with excavating and said second determination being consistent with excavating is a determining result that indicates said bucket is excavating.
10. A method to control a bucket actuator according to claim 9, wherein said making a second determination step includes:
~ storing a standard value of a pressure on a head-side of a stick cylinder of said stick;
~ sensing a sensed value of a pressure on a head-side of a stick cylinder of said stick;
~ making a comparison of said sensed value to said standard value; and ~ said making a second determination step indicates consistent with excavating when a result of said comparison is said sensed value being greater than said standard value.
~ storing a standard value of a pressure on a head-side of a stick cylinder of said stick;
~ sensing a sensed value of a pressure on a head-side of a stick cylinder of said stick;
~ making a comparison of said sensed value to said standard value; and ~ said making a second determination step indicates consistent with excavating when a result of said comparison is said sensed value being greater than said standard value.
11. A method to control a bucket actuator according to claim 9, wherein said making a first determination step includes sensing a movement of a stick cylinder rod into a stick cylinder, said sensed movement into said stick cylinder indicates consistent with excavating, wherein said stick cylinder rod is hydraulically driven by said stick cylinder and said stick cylinder controls movement of said stick.
12. A method to control a bucket actuator according to claim 9, wherein said making a first determination step includes sensing a movement of a stick cylinder rod out from a stick cylinder, said sensed movement out from said stick cylinder indicates consistent with excavating, wherein said stick cylinder rod is hydraulically driven by said stick cylinder and said stick cylinder controls movement of said stick.
13. A method to control a bucket actuator according to claim 9, wherein said making a first determination step includes sensing a change of a distance relationship between said stick and a boom, wherein said stick is pivotally attached to said boom.
14. A method to control a bucket actuator according to claim 8, wherein said determining step includes:
~ making a first determination of said stick action as being consistent with excavating or non-excavating, said making a first determination step includes sensing a movement of a stick cylinder rod into a stick cylinder, said sensed movement into said stick cylinder indicates consistent with excavating, wherein said stick cylinder rod is hydraulically driven by said stick cylinder and said stick cylinder controls movement of said stick;
~ making a second determination of said bucket position as being consistent with excavating or non-excavating, said making a second determination step includes the steps of (a) storing a stored bucket angle, (b) sensing a sensed bucket angle, and (c) making a comparison of said sensed bucket angle to said stored bucket angle, said making a second determination step indicates consistent with excavating when a result of said comparison is said sensed bucket angle being smaller than said stored bucket angle;
~combining a first result from said making a first determination step and a second result from said making a second determination step such that only a combination of said first result being consistent with excavating and said second result being consistent with excavating is a determining result that indicates said bucket is excavating.
~ making a first determination of said stick action as being consistent with excavating or non-excavating, said making a first determination step includes sensing a movement of a stick cylinder rod into a stick cylinder, said sensed movement into said stick cylinder indicates consistent with excavating, wherein said stick cylinder rod is hydraulically driven by said stick cylinder and said stick cylinder controls movement of said stick;
~ making a second determination of said bucket position as being consistent with excavating or non-excavating, said making a second determination step includes the steps of (a) storing a stored bucket angle, (b) sensing a sensed bucket angle, and (c) making a comparison of said sensed bucket angle to said stored bucket angle, said making a second determination step indicates consistent with excavating when a result of said comparison is said sensed bucket angle being smaller than said stored bucket angle;
~combining a first result from said making a first determination step and a second result from said making a second determination step such that only a combination of said first result being consistent with excavating and said second result being consistent with excavating is a determining result that indicates said bucket is excavating.
15. A method to control a bucket actuator that moves a bucket comprising the steps of:
sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle to produce a stored bucket angle;
sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
determining whether said bucket is excavating or not excavating from said sensed bucket angle, said stored bucket angle and said sensed action;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
sensing a position of said bucket to produce a sensed bucket angle with respect to a datum;
storing a value of said sensed bucket angle to produce a stored bucket angle;
sensing an action of a stick to which said bucket is pivotally attached to determine a sensed action;
determining whether said bucket is excavating or not excavating from said sensed bucket angle, said stored bucket angle and said sensed action;
setting said bucket actuator to a manual operation mode, which provides an operator manual control, when a result of said step of determining indicates said bucket is excavating; and setting said bucket actuator to a bucket angle-maintaining control mode, which provides an automatically controlled fixed bucket angle substantially equal to said stored bucket angle when a result of said step of determining indicates said bucket is not excavating.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6/295427 | 1994-11-29 | ||
| JP6295427A JPH08151657A (en) | 1994-11-29 | 1994-11-29 | Bucket angle control method for hydraulic shovel |
| PCT/JP1995/002104 WO1996017135A1 (en) | 1994-11-29 | 1995-10-13 | Method of controlling bucket angle of hydraulic shovel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2181834A1 CA2181834A1 (en) | 1996-06-06 |
| CA2181834C true CA2181834C (en) | 1999-12-14 |
Family
ID=17820468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002181834A Expired - Fee Related CA2181834C (en) | 1994-11-29 | 1995-10-13 | Method of controlling bucket angle of hydraulic shovel |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US5782018A (en) |
| EP (1) | EP0741823B1 (en) |
| JP (1) | JPH08151657A (en) |
| KR (1) | KR100216994B1 (en) |
| CA (1) | CA2181834C (en) |
| DE (1) | DE69512513T2 (en) |
| WO (1) | WO1996017135A1 (en) |
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| JP2001123478A (en) * | 1999-10-28 | 2001-05-08 | Hitachi Constr Mach Co Ltd | Automatically operating excavator |
| US6757994B1 (en) | 2003-04-11 | 2004-07-06 | Deere & Company | Automatic tool orientation control for backhoe with extendable dipperstick |
| US7059422B2 (en) * | 2004-04-26 | 2006-06-13 | Bobby Gene Burgin | Self-orienting loader bucket mechanism |
| US7949449B2 (en) * | 2007-12-19 | 2011-05-24 | Caterpillar Inc. | Constant work tool angle control |
| US7810260B2 (en) * | 2007-12-21 | 2010-10-12 | Caterpillar Trimble Control Technologies Llc | Control system for tool coupling |
| US8244438B2 (en) * | 2008-01-31 | 2012-08-14 | Caterpillar Inc. | Tool control system |
| US8142103B2 (en) * | 2009-02-20 | 2012-03-27 | Caterpillar Trimble Control Technologies Llc | Wireless sensor with kinetic energy power arrangement |
| JP5037561B2 (en) * | 2009-05-13 | 2012-09-26 | 株式会社小松製作所 | Work vehicle |
| US8463508B2 (en) * | 2009-12-18 | 2013-06-11 | Caterpillar Inc. | Implement angle correction system and associated loader |
| US8886415B2 (en) | 2011-06-16 | 2014-11-11 | Caterpillar Inc. | System implementing parallel lift for range of angles |
| US8340875B1 (en) * | 2011-06-16 | 2012-12-25 | Caterpillar Inc. | Lift system implementing velocity-based feedforward control |
| DE112012006937T5 (en) * | 2012-09-25 | 2015-06-11 | Volvo Construction Equipment Ab | Automatic grading system for construction machinery and method for controlling the same |
| WO2017138070A1 (en) * | 2016-02-08 | 2017-08-17 | 株式会社小松製作所 | Work vehicle and operation control method |
| JP6819225B2 (en) * | 2016-11-02 | 2021-01-27 | コベルコ建機株式会社 | Construction machinery |
| US10648160B2 (en) | 2017-04-27 | 2020-05-12 | Cnh Industrial America Llc | Work machine with bucket monitoring |
| CN109083152A (en) * | 2018-08-31 | 2018-12-25 | 上海宝冶集团有限公司 | A kind of construction method and system of mechanical excavation side slope |
| JP7141894B2 (en) * | 2018-09-05 | 2022-09-26 | 日立建機株式会社 | working machine |
| CN111717678B (en) * | 2020-06-18 | 2021-05-18 | 大连华锐重工集团股份有限公司 | Method for preventing material collapse in material taking operation process |
| CN112127400B (en) * | 2020-10-09 | 2022-06-14 | 南京工程学院 | Excavator bucket follow-up control system and method |
| CN112281940B (en) * | 2020-10-19 | 2022-09-09 | 三一重机有限公司 | Excavator and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59150837A (en) * | 1983-02-17 | 1984-08-29 | Hitachi Constr Mach Co Ltd | Action regenerator of working machine |
| JPS6055130A (en) * | 1983-09-06 | 1985-03-30 | Hitachi Constr Mach Co Ltd | Action regenerator for working machine |
| JPS6213617A (en) * | 1985-07-11 | 1987-01-22 | Kubota Ltd | Back hoe |
| JPH0745738B2 (en) * | 1986-01-10 | 1995-05-17 | 株式会社小松製作所 | Power shovel work machine controller |
| WO1990001586A1 (en) * | 1988-08-02 | 1990-02-22 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling working units of power shovel |
| JPH0794737B2 (en) * | 1989-08-02 | 1995-10-11 | 株式会社小松製作所 | Linear excavation control device in hydraulic excavator |
| US5065326A (en) * | 1989-08-17 | 1991-11-12 | Caterpillar, Inc. | Automatic excavation control system and method |
| EP0835964A2 (en) * | 1991-10-29 | 1998-04-15 | Kabushiki Kaisha Komatsu Seisakusho | Method of selecting automatic operation mode of working machine |
| US5535830A (en) * | 1993-04-27 | 1996-07-16 | Kabushiki Kaisha Komatsu Seisakusho | Dozing control unit for a bulldozer |
| US5555942A (en) * | 1993-06-16 | 1996-09-17 | Kabushiki Kaisha Komatsu Seisakusho | Blade control system for use in a bulldozer |
| KR950001445A (en) * | 1993-06-30 | 1995-01-03 | 경주현 | How to maintain swing speed of excavator and speed ratio of boom |
| JPH07158105A (en) * | 1993-12-09 | 1995-06-20 | Shin Caterpillar Mitsubishi Ltd | Excavation controller of shovel system construction machinery |
| US5446980A (en) * | 1994-03-23 | 1995-09-05 | Caterpillar Inc. | Automatic excavation control system and method |
| US5528843A (en) * | 1994-08-18 | 1996-06-25 | Caterpillar Inc. | Control system for automatically controlling a work implement of an earthworking machine to capture material |
-
1994
- 1994-11-29 JP JP6295427A patent/JPH08151657A/en not_active Withdrawn
-
1995
- 1995-10-13 CA CA002181834A patent/CA2181834C/en not_active Expired - Fee Related
- 1995-10-13 WO PCT/JP1995/002104 patent/WO1996017135A1/en active IP Right Grant
- 1995-10-13 KR KR1019960702667A patent/KR100216994B1/en not_active IP Right Cessation
- 1995-10-13 EP EP95934297A patent/EP0741823B1/en not_active Expired - Lifetime
- 1995-10-13 DE DE69512513T patent/DE69512513T2/en not_active Expired - Fee Related
-
1996
- 1996-07-26 US US08/688,031 patent/US5782018A/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| KR100216994B1 (en) | 1999-09-01 |
| US5782018A (en) | 1998-07-21 |
| WO1996017135A1 (en) | 1996-06-06 |
| EP0741823B1 (en) | 1999-09-29 |
| DE69512513T2 (en) | 2000-01-27 |
| CA2181834A1 (en) | 1996-06-06 |
| KR960705994A (en) | 1996-11-08 |
| JPH08151657A (en) | 1996-06-11 |
| EP0741823A1 (en) | 1996-11-13 |
| DE69512513D1 (en) | 1999-11-04 |
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