EP0471840A1 - Elektronisch gesteuerter hydraulikbagger - Google Patents
Elektronisch gesteuerter hydraulikbagger Download PDFInfo
- Publication number
- EP0471840A1 EP0471840A1 EP90903925A EP90903925A EP0471840A1 EP 0471840 A1 EP0471840 A1 EP 0471840A1 EP 90903925 A EP90903925 A EP 90903925A EP 90903925 A EP90903925 A EP 90903925A EP 0471840 A1 EP0471840 A1 EP 0471840A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control device
- operating lever
- electronically controlled
- controlled type
- signal
- 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.)
- Withdrawn
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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
Definitions
- This invention relates to an earth moving vehicle for conducting excavation work and the like, and more particularly to an electronically controlled type hydraulically driven vehicle provided with an work automation control device so that it can automatically conduct an earth moving operation repeatedly.
- Prior art earth moving vehicles such as power shovels and the like having no work automation device have required provision of an equipment or a vehicle for exclusive use in order to conduct unmanned operation.
- a vibration mode change-over switch b For example, to set automatic vibration mode, it is required for the operator turn on and off each of a vibration mode change-over switch b, a vibration section selection switch c and a vibration width selection switch d to thereby select three or four necessary items.
- Such electronically controlled type hydraulically driven vehicles are provided with a work automation control device which can fulfill functions of automatic vibration and teaching playback.
- a work automation control device which can fulfill functions of automatic vibration and teaching playback.
- the operating lever remains to be stopped at its neutral position.
- the present invention has been made in view of the above-mentioned circumstances in the prior art, and has for its object to provide an earth moving vehicle wherein unmanned operation can be conducted simply without the need for provision of an equipment or vehicle for exclusive use and the unmanned operation can be conducted by remote control.
- Another object of the present invention is to provide an electronically controlled type hydraulically driven vehicle wherein change-over of operational modes is not made by change-over of switches, and instead each operational mode can be selectively set simply by using an external storage device such as an IC card or the like.
- a still further object of the present invention is to provide an electronically controlled type hydraulically driven vehicle arranged such that during a playback operation the operating lever is moved by a manipulated variable corresponding to the amount of work to be done by the work implement, and the operator can feel actually operations or movements of the work implement and the vehicle body by grasping the operating lever by his hand.
- an electronically controlled type hydraulically driven vehicle comprising: a plurality of hydraulic actuators for actuating a work implement; an electronically controlled type hydraulic valve device for controlling fluid under pressure to be supplied to these hydraulic actuators; an electronic control device for sending a predetermined control signal to this hydraulic valve device; an electrical operating lever device for outputting a manipulated variable of an operating lever in the form of an electric signal; and a work automation control device adapted to store the operation signal transmitted by the electrical operating lever device and output the stored operation signal to the electronic control device when it receives a command of playback.
- an electronically controlled type hydraulically driven vehicle as set forth in the above-mentioned first aspect, characterized in that it comprises further an external storage reader connected with the work automation control device to read out the information stored in an external storage device such as an IC card or the like, the arrangement being made such that the work automation control device outputs a signal based on the signal read out by the external storage reader to the electronic control device.
- an electronically controlled type hydraulically driven vehicle as set forth in the above-mentioned first aspect, characterized in that the electrical operating lever device comprises an actuator for actuating the lever attached thereto, and a control device connected with the work automation control device for controlling the actuator.
- an electronically controlled type hydraulically driven vehicle as set forth in the above-mentioned first aspect, characterized in that the work automation control device comprises a radio control/manual operation change-over device connected with the work automation control device and also connected with the electrical operating lever device, a ratio control signal receiving control device connected with the ratio control/manual operation change-over device, and an electrical operating lever device adapted to send a lever operation signal by wireless to the radio control signal receiving control device.
- unmanned operation can be conducted simply without having to use an equipment for exclusive use. Further, the unmanned operation can be conducted by radio control operation and the operational safety can be improved.
- change-over of operational modes is not mode by change-over of switches, and each of operational modes can be selectively set simply by using an external storage device such as an IC card or the like.
- the operating lever attached to the electrical operating lever device is moved by a manipulated variable corresponding to the amount of work to be done by the work implement, and the operator can feel actually operations or movements of the work implement or the vehicle body by grasping the operating lever by his hand so that he can realize the automatic repeating operation as actual feeling.
- Fig. 2 is a block diagram showing a first embodiment of the present invention.
- reference numerals 1a and 1b denote hydraulic actuators for actuating work implements of an earth moving vehicle such as a power shovel or the like, and 2 a hydraulic valve for controlling fluid pressure supplied to each of the hydraulic actuators 1a, 1b.
- This hydraulic valve 2 is of an electronically controlled type which is actuated by electronic control.
- Reference numeral 3 denotes a electronic control device for sending a predetermined control signal to the hydraulic valve 2.
- Reference numeral 4 indicates an electrical operating lever device adapted to convert the turning angle of an operating lever 5 in the form of an electric signal.
- the operating lever 5 has a teaching switch 6 and a playback switch 7.
- Reference numeral 8 denotes a work automation control device which is controlled by the above-mentioned teaching switch 6 and playback switch 7 and adapted to store a lever operation signal transmitted by the electrical operating lever device 4 when the teaching switch 6 is turned on, and output the stored lever operation signal to the electronic control device 3 when the playback switch 7 is turned on.
- the above-mentioned work automation control device 8 is adapted to be turned ON and OFF by means of a starting switch 9 mounted externally. When the starting switch 9 is turned OFF, the lever operation signal sent from the electrical operating lever device 4 is transmitted directly to the electronic control device 3 so that the manual operation can be conducted.
- the playback switch 7 is turned on.
- the above-mentioned lever operation signal stored in the work automation control device 8 is outputted to the electronic control device 3 so that the hydraulic actuators 1a and 1b will conduct repeatedly entirely the same operation as the above-mentioned manual operation.
- the playback switch 7 is installed on the outside of the vehicle, the above-mentioned repeating (playback) operation can be conducted without the operator riding in the vehicle, i.e., in unmanned condition.
- Fig. 3 shows a second embodiment of the present invention wherein an electrical operating lever device 4 and a radio control signal receiving control device 11 are connected through a radio control/manual operation change-over device 10 with a work automation control device 8, and an antenna box 12 is connected with the radio control signal receiving control device 11.
- Reference numeral 13 denotes an electrical operating lever device for radio control operational purposes. A lever operation signal generated by the electrical operating lever device 13 is sent under radio control (wireless control) to the above-mentioned antenna box 12.
- Reference numeral 14 indicates accessories such as a display unit or a buzzer, and 15 a vehicle condition detector such as a means for detecting engine's cooling water temperature or the like.
- an electric motor 16 for actuating the operating lever 5 attached to the electrical operating lever device 4 so that the operating lever may be turned by the electric motor 16 in addition to manual operation. Further, the electric motor 16 is arranged to be controlled by a motor control device 17.
- the work automation control device 8 in this third embodiment is arranged to output a lever operation signal stored therein to the electronic control device 3 and the motor control device 17.
- the electronic motor 16 provided on the above-mentioned electrical operating lever device 4 for actuating the operating lever 5 may be replaced by a hydraulic actuator.
- reference numeral 18 denotes an external storage reader adapted to read the information stored in an external storage device 19 such as an IC card and output the information read out thereby as a signal.
- Reference numeral 8 denotes a work automation control device, which comprises, as shown in Fig. 6, an analog-digital (A/D) converter 20, an arithmetic and logic unit 21, a digital-analog (D/A) converter 22, a RAM 23, and a change-over switch 24, etc.
- A/D analog-digital
- D/A digital-analog
- the work automation control device 8 will output the data stored therein by teaching operation to the electronic control device 3 when it receives a command of playback.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4520389A JPH02225728A (ja) | 1989-02-28 | 1989-02-28 | 電子制御式油圧駆動機械 |
JP45201/89 | 1989-02-28 | ||
JP45203/89 | 1989-02-28 | ||
JP4520189A JPH02225726A (ja) | 1989-02-28 | 1989-02-28 | 作業機械 |
JP4520289A JPH02225727A (ja) | 1989-02-28 | 1989-02-28 | 電子制御式油圧駆動機械 |
JP45202/89 | 1989-02-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0471840A1 true EP0471840A1 (de) | 1992-02-26 |
EP0471840A4 EP0471840A4 (en) | 1992-08-26 |
Family
ID=27292155
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19900903925 Withdrawn EP0471840A4 (en) | 1989-02-28 | 1990-02-28 | Electronic control type hydraulic driving machine |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0471840A4 (de) |
KR (1) | KR920700334A (de) |
WO (1) | WO1990010116A1 (de) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0598937A1 (de) * | 1992-11-25 | 1994-06-01 | Samsung Heavy Industries Co., Ltd | Multiprozessorsystem für einen hydraulischen Bagger |
GB2312762A (en) * | 1996-04-30 | 1997-11-05 | Samsung Heavy Ind | Automatically vibrating working members of power construction vehicles |
WO1997046763A1 (de) * | 1996-06-03 | 1997-12-11 | Siemens Aktiengesellschaft | Verfahren und anordnung zur steuerung eines bewegungsablaufs bei einer fortbewegbaren landbearbeitungsmaschine |
DE19830880A1 (de) * | 1998-07-10 | 2000-01-20 | Meinl Baumaschinen Gmbh | Erdbewegungsmaschine |
WO2005093170A1 (en) * | 2004-03-12 | 2005-10-06 | Clark Equipment Company | Automated attachment vibration system |
EP2381398A1 (de) * | 2001-04-25 | 2011-10-26 | Hitachi Construction Machinery Co., Ltd. | Baumaschinenverwaltungsvorrichtung und Baumaschinenverwaltungssystem |
CN114222844A (zh) * | 2019-10-11 | 2022-03-22 | 株式会社小松制作所 | 作业机械以及作业机械的控制方法 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2252642B (en) * | 1990-12-31 | 1995-05-24 | Samsung Heavy Ind | System for automatically controlling operation of construction vehicle |
JP3790058B2 (ja) * | 1999-01-14 | 2006-06-28 | 株式会社神戸製鋼所 | 油圧ショベルの制御装置 |
CN102587446A (zh) * | 2012-03-27 | 2012-07-18 | 昆山航天智能技术有限公司 | 一种振动挖掘机用液压控制激振设备 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2619140A1 (fr) * | 1987-08-03 | 1989-02-10 | Formation Travaux Publics Cent | Dispositif de guidage automatique d'engins de terrassement par laser tournant |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS552497B2 (de) * | 1972-05-15 | 1980-01-21 | ||
JPS55105034A (en) * | 1979-02-02 | 1980-08-12 | Kubota Ltd | Back hoe |
JPS59150837A (ja) * | 1983-02-17 | 1984-08-29 | Hitachi Constr Mach Co Ltd | 作業機械の動作再生装置 |
JPH0634442Y2 (ja) * | 1988-06-30 | 1994-09-07 | 株式会社小松製作所 | パワーショベルの制御装置 |
-
1990
- 1990-02-28 WO PCT/JP1990/000267 patent/WO1990010116A1/ja not_active Application Discontinuation
- 1990-02-28 KR KR1019900702339A patent/KR920700334A/ko not_active Application Discontinuation
- 1990-02-28 EP EP19900903925 patent/EP0471840A4/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2619140A1 (fr) * | 1987-08-03 | 1989-02-10 | Formation Travaux Publics Cent | Dispositif de guidage automatique d'engins de terrassement par laser tournant |
Non-Patent Citations (1)
Title |
---|
See also references of WO9010116A1 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0598937A1 (de) * | 1992-11-25 | 1994-06-01 | Samsung Heavy Industries Co., Ltd | Multiprozessorsystem für einen hydraulischen Bagger |
GB2312762A (en) * | 1996-04-30 | 1997-11-05 | Samsung Heavy Ind | Automatically vibrating working members of power construction vehicles |
GB2312762B (en) * | 1996-04-30 | 2000-03-08 | Samsung Heavy Ind | Device and method for automatically vibrating working members of power construction vehicles |
WO1997046763A1 (de) * | 1996-06-03 | 1997-12-11 | Siemens Aktiengesellschaft | Verfahren und anordnung zur steuerung eines bewegungsablaufs bei einer fortbewegbaren landbearbeitungsmaschine |
DE19830880A1 (de) * | 1998-07-10 | 2000-01-20 | Meinl Baumaschinen Gmbh | Erdbewegungsmaschine |
EP2381398A1 (de) * | 2001-04-25 | 2011-10-26 | Hitachi Construction Machinery Co., Ltd. | Baumaschinenverwaltungsvorrichtung und Baumaschinenverwaltungssystem |
WO2005093170A1 (en) * | 2004-03-12 | 2005-10-06 | Clark Equipment Company | Automated attachment vibration system |
US7117952B2 (en) | 2004-03-12 | 2006-10-10 | Clark Equipment Company | Automated attachment vibration system |
CN1981093B (zh) * | 2004-03-12 | 2010-04-21 | 克拉克设备公司 | 自动连接件振动*** |
CN114222844A (zh) * | 2019-10-11 | 2022-03-22 | 株式会社小松制作所 | 作业机械以及作业机械的控制方法 |
CN114222844B (zh) * | 2019-10-11 | 2023-07-04 | 株式会社小松制作所 | 作业机械以及作业机械的控制方法 |
Also Published As
Publication number | Publication date |
---|---|
EP0471840A4 (en) | 1992-08-26 |
KR920700334A (ko) | 1992-02-19 |
WO1990010116A1 (en) | 1990-09-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20010032031A1 (en) | Tool recognition and control system for a work machine | |
US6148939A (en) | Variable gain steering control system for a work machine | |
US4699239A (en) | Driving control device of a crawler type tractor | |
EP0471840A1 (de) | Elektronisch gesteuerter hydraulikbagger | |
US6112839A (en) | Automatic remote auxiliary implement control | |
JPH0830426B2 (ja) | シュースリップに基づくエンジン出力制御方法 | |
US4355296A (en) | Electric vehicle performance sensor and shift point indicator | |
US4386688A (en) | Vehicle speed responsive brake and decelerator controls | |
EP0965895B1 (de) | Steuerungssystem mit Schnittstelle für Ein/Ausgabekarte | |
EP1586712A2 (de) | Vorrichtung zur Einstellung der Funktion von Schaltern einer Baumaschine | |
CN113006185B (zh) | 一种挖掘机自动导航作业方法及*** | |
US5810046A (en) | Device and method for selecting control mode in power construction vehicle | |
US5447132A (en) | Control system for multiple engines | |
JP2000006891A (ja) | 船舶の無線操縦装置 | |
KR940003731B1 (ko) | 굴삭기용 원격조종 시스템 | |
US4610178A (en) | Speed changer for vehicles used in construction work | |
JP3448878B2 (ja) | 動力車両の変速装置 | |
KR20040074582A (ko) | 농업용 트랙터의 주행변속 제어장치 | |
JP3934862B2 (ja) | 作業車両におけるエンジン回転制御装置 | |
JP3418239B2 (ja) | 変速機の速度段制御装置 | |
JPH02225728A (ja) | 電子制御式油圧駆動機械 | |
KR100188683B1 (ko) | 공작기계의 직접수치제어 시스템 | |
JPH02283905A (ja) | ラジオコントロール式電子制御油圧駆動機械の作業自動化装置 | |
CA1213656A (en) | Transmission neutral interlock | |
JPH02225727A (ja) | 電子制御式油圧駆動機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 19910827 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE GB SE |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: NAKAMURA, KENTARO, C/O ELECTRO-PARTS MANUFACT. DE Inventor name: YAMASHITA, KOICHI, C/O ELECTRO-PARTS MANUFACT. DE Inventor name: MAEDA, SHINJI, C/O ELECTRO-PARTS MANUFACTURING DE Inventor name: NOTE, KIYOSHI, C/O ELECTRO-PARTS MANUFACT. DEPT. |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 19920706 |
|
AK | Designated contracting states |
Kind code of ref document: A4 Designated state(s): DE GB SE |
|
17Q | First examination report despatched |
Effective date: 19940210 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 19940621 |