EP1382753B1 - Control apparatus for swing type hydraulic shovel - Google Patents

Control apparatus for swing type hydraulic shovel Download PDF

Info

Publication number
EP1382753B1
EP1382753B1 EP03007275A EP03007275A EP1382753B1 EP 1382753 B1 EP1382753 B1 EP 1382753B1 EP 03007275 A EP03007275 A EP 03007275A EP 03007275 A EP03007275 A EP 03007275A EP 1382753 B1 EP1382753 B1 EP 1382753B1
Authority
EP
European Patent Office
Prior art keywords
swing
working implement
alarm
state
hanging
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
Application number
EP03007275A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1382753A1 (en
Inventor
Eiichi Kobayashi
Osamu Kitajima
Kiyoshi Sugiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP1382753A1 publication Critical patent/EP1382753A1/en
Application granted granted Critical
Publication of EP1382753B1 publication Critical patent/EP1382753B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E02F3/382—Connections to the frame; Supports for booms or arms
    • E02F3/384—Connections to the frame; Supports for booms or arms the boom being pivotable relative to the frame about a vertical axis

Definitions

  • the present invention relates to a swing type hydraulic shovel as defined - in claims 1 and 2.
  • a swing type hydraulic excavator (hereinafter, refer to as a hydraulic shovel) which is provided with a working implement 5 having a boom 12, an arm 14 and a bucket 6 swingably connected to each other within a vertical surface, in a front portion of an upper revolving body 1 mounted in an upper portion of a lower traveling body 2 so as to freely revolve, and has a structure in which the working implement 5 is attached to the upper revolving body 1 via a bracket 21 so as to freely oscillate (hereinafter, refer to as swing) in a lateral direction within a horizontal surface around a pin 23.
  • a counterweight 7 for balancing with the working implement 5 is mounted to a rear end portion of the upper revolving body 1.
  • the swing type hydraulic shovel of this type can carry out a. normal excavating work of excavating sediments or the like by the bucket 6, in a neutral state 5a (refer to Fig. 2 ) in which the working implement 5 is set straight in a forward-direction of the upper revolving body 1. Further, a side groove excavation in right and left sides of the vehicle can be carried out by swinging the working implement 5 in an opposite direction to the revolution from the neutral state 5a, at a position where the upper revolving body 1 is turned at a predetermined angle from a position directed to a forward side of the vehicle.
  • These works are generically called as an excavating work.
  • a swing type hydraulic shovel which can carry out a hanging work by hanging a load to the working implement 5.
  • a bucket attachment portion in Fig. 3 , there is a structure in which a base end portion of a hook 27 is rotatably attached to a connection pin 29 connecting a front link 28 provided between the bucket 6 and an arm 14 and transmitting a swing driving force to the bucket 6.
  • the slinging load is hanged to the hook 27 and a hanging work for hanging the load can be carried out by rising up the boom 12 and/or the arm 14.
  • the hanging work can be carried out in a most stable manner, at a position where the working implement 5 is best balanced with the counter weight 7 in view of a weight balance, that is, the working implement 5 is in a neutral state 5a with respect to the upper revolving body 1.
  • the hanging work is carried out in a state in which the working implement 5 is swung rightward or leftward from the neutral state 5a, or when the working implement 5 is swung during the hanging work in the neutral state 5a, it becomes hard to balance the swing type hydraulic shovel; so that a stability of the swing type hydraulic shovel is reduced, and the hanging load tends to swing.
  • a generic swing type hydraulic shovel is known from US 2001/0046433 A1 . From this document a swing type hydraulic shovel is known which allows to perform a good crane work with an improved visibility of an operator, the bucket is prevented from free fall due to the lifted load, by securing the bucket cylinder hold force, and the crane work safety is improved.
  • This swing type hydraulic shovel is capable of carrying out a hanging work and comprises a control apparatus, a mode switching means for outputting a selection command of a hanging work mode and an alarm means.
  • This known swing type hydraulic shovel is able to carry out a dump motion due to its boom which is arranged to freely swing in a vertical direction and an arm which is connected to a leading end portion of the boom so as to freely swing in the longitudinal direction.
  • the present invention is made by taking the problem mentioned above into consideration, and an object of the present invention is to provide a control apparatus for a swing type hydraulic shovel which can carry out a stable hanging work.
  • a control apparatus for a swing type hydraulic shovel in which a working implement is mounted to an upper revolving body so as to freely swing in a lateral direction, compres a mode switching means for outputting a selection command of a hanging work mode which is preferable for a hanging work hanging a load by the working implement, a swing detector for detecting whether the working implement is in a neutral state in which the working implement is directed to a forward side of the upper revolving body or the working implement is in a swing state in which the working implement swings from the neutral state, an alarm means receiving an alarm command from an external portion and generating an alarm by way of at least one of an alarm display and an alarm sound, and a controller judging on the basis of the detection signal of the swing detector whether or not the working implement is in the swing state, at a time when the selection command of the hanging work mode is input from the mode switching means, and outputting to the alarm means an alarm command reporting the matter the hanging work mode is not set
  • the hanging work mode is not set, and the alarm means reports through the display of the alarm or the alarm sound that the hanging work mode is not set (the swing state is set). Accordingly, the operator can immediately know this state, and can appeal to the operator that the alarm state should be canceled. Since the operator is encouraged that the working implement should be returned back to the neutral state from the swing state and the hanging work should be carried out, it is possible to carry out the hanging work in a stable state.
  • a control apparatus for a swing type hydraulic shovel in which a working implement is mounted to an upper revolving body so as to freely swing in a lateral direction, comprises a mode switching means for outputting a selection command of a hanging work mode which is preferable for a hanging work hanging a load by the working implement, a swing detector for detecting whether the working implement is in a neutral state in which the working implement is directed to a forward side of the upper revolving body or the working implement is in a swing state in which the working implement swings from the neutral state, an alarm means receiving an alarm command from an external portion and generating an alarm by way of at least one of an alarm display and an alarm sound, and a controller monitoring on the basis of the detection signal of the swing detector whether or not the working implement is in the swing state, at a time when the hanging work mode is set on the basis of the selection command of the hanging work mode output from the mode switching means, and outputting to the alarm means an alarm command reporting the matter the
  • the matter that the working implement is under swinging is reported through the display of the alarm or the alarm sound of the alarm means. Accordingly, the operator can immediately know this state, and can appeal to the operator that the alarm state should be canceled. Thus, since the operator is encouraged that the working implement should be returned back to the neutral state from the swing state and the hanging work should be carried out, it is possible to carry out the hanging work in a stable state.
  • a control apparatus for a swing type hydraulic shovel as recited in the first aspect or the second aspect, wherein the swing detector is a limit switch which turns on or off in correspondence to the swing of the working implement and detects whether or not the working implement exists within a predetermined range indicating the neutral state.
  • the limit switch since it is detected by the limit switch whether or not the working implement is in the neutral state or the swing state, it is possible to securely detect the state by a simple structure with a low cost.
  • a control apparatus for a swing type hydraulic shovel as recited in the first aspect or the second aspect, wherein the swing detector is a detector for detecting a stroke length of a swing cylinder swinging the working implement in equivalent to a swing angle of the working implement.
  • the present control apparatus can be applied to no particular kinds of machines and it is possible to further increase a general-purpose property.
  • Fig. 1 is a side elevational view of a swing type hydraulic shovel to which the present invention is applied
  • Fig. 2 is a plan view of a main portion thereof.
  • the swing type hydraulic shovel has a lower traveling body 2, an upper revolving body 1 provided in an upper portion of the lower traveling body 2, and a working implement 5 provided in a front portion of the upper revolving body 1.
  • a traveling direction of a hydraulic shovel shown by an arrow F (front) - R (rear) in Fig. 1 is called as a longitudinal direction
  • a vehicle width direction orthogonal to the longitudinal direction is called as a lateral direction.
  • the lower traveling body 2 is provided with a pair of right and left crawler type traveling apparatuses 4, and a travel driving portion 11 for driving the traveling apparatus 4 by a hydraulic motor is provided in one side in the longitudinal direction of each of the crawler type traveling apparatuses 4.
  • the upper revolving body 1 is mounted on an approximately center upper portion of the lower traveling body 2 so as to freely revolve, and the working implement 5 is provided in an approximately center of a front portion f the upper revolving body 1.
  • a bracket 21 is connected to a working implement mounting portion 24 provided in a front end portion of the upper revolving body 1 by a pin 23 (refer to Fig. 2 ) so as to freely swing in the lateral direction within a horizontal surface.
  • the bracket 21 swings in the lateral direction around the pin 23 on the basis of a telescopic motion of a swing cylinder 22 attached between the bracket 21 and the upper revolving body 1.
  • a base end portion of a boom 12 is connected to a leading end portion of the bracket 21 so as to freely swing in the vertical direction
  • a base end portion of an arm 14 is connected to a leading end portion of the boom 12 so as to freely swing in the longitudinal direction
  • the bucket 6 is connected to a leading end portion of the arm 14.
  • the boom 12, the arm 14 and the bucket 6 respectively swing on the basis of telescopic motions of a boom cylinder 13, an arm cylinder 15 and a bucket cylinder 17.
  • the working implement 5 is constructed by these elements.
  • a lateral swing angle from a neutral state 5a of the working implement 5 in a plan view is called as a swing angle ⁇
  • a motion of contracting the bucket cylinder 17 so as to swing the bucket 6 forward is called as a dump motion.
  • a projection portion 25 is provided in a rear portion of the bracket 21 in a protruding manner.
  • a limit switch 26 is mounted to a frame in a side of the upper revolving body 1 close to the projection portion 25 at a time when the bracket 21 is at a neutral position directed to a forward side of the vehicle.
  • the limit switch 26 is provided so that an operation piece 26a of the limit switch 26 is pressed down by the projection portion 25 so as to operate, at a time when the bracket 21 is at the neutral position.
  • the limit switch 26 detects that the operation of the operation piece 26a is turned off and the operation piece 26a is swung from the portion close to the neutral position, if the bracket 21 swings at a predetermined angle (for example, ⁇ 5 degrees) or more in the lateral direction from the neutral position, and the limit switch 26 transmits the detection signal to a controller mentioned below.
  • a predetermined angle for example, ⁇ 5 degrees
  • a state in which the bracket 21, that is, the boom 12 swings at the predetermined angle or more from the neutral position is called as under swing or a swing state.
  • Fig. 3 shows details of a bucket attachment portion. As shown in Fig. 3 , a base end portion of a hook 27 is pivoted to a pin 29 which connects the bucket 6 to a front link 28 transmitting a driving force of the bucket cylinder 17 to the bucket 6 so as to swing the bucket 6 (this structure is not illustrated in Figs. 1 and 2 ).
  • Fig. 4 shows a block diagram of a hard ware structure of the control apparatus for the swing type hydraulic shovel in accordance with the present invention.
  • the present control apparatus is provided with a controller 32 for carrying out an automatic control of a hanging work, a swing detector 20 for detecting that the working implement 5 is in the neutral state, a monitor apparatus 30 having a display device 34 for displaying an operation state and an alarm message, and a mode switch 33, a rotation alarm lamp 31, a first solenoid valve 35 for driving a swing motion of the bucket 6, a second solenoid valve 36 for carrying out a speed increase and a speed decrease of the travel driving portions 11, and a motor 37 for carrying out a rotational speed control of the engine. All of the swing detector 20, the monitor apparatus 30, the rotation alarm lamp 31, the solenoid valves 35 and 36 and the motor 37 are electrically connected to the controller 32.
  • the swing detector 20 has the limit switch 26 in the present embodiment.
  • the controller 32 is mainly constituted by a high speed processor such as a micro computer or the like, carries out a control process mentioned below on the basis of a detection signal of the swing detector 20, and executes various kinds of hanging work automatic control or hanging work alarm process or the like.
  • the rotation alarm lamp 31 is structured such that the lamp is rotated and turned on in accordance with the command output from the controller 32 during the hanging work automatic control so as to report to an operator or the like that the hanging work is under an automatic control.
  • This rotation alarm lamp 31 is placed at a position in front of a driver seat where the operator can easily view, for example, a portion close to the monitor apparatus 30 shown in Fig. 5 .
  • the first solenoid valve 35 drives the telescopic motion of the bucket cylinder 17 on the basis of the command output from the controller 32, thereby carrying out a dump motion (a forward swing motion) of the bucket 6 or a scooping motion.
  • the second solenoid 36 controls a flow rate, that is, a rotational speed of the hydraulic motor in the travel driving portions 11, on the basis of the command output from the controller 32, thereby increasing or decreasing the speed of the traveling apparatus 4 in correspondence to a speed stage.
  • the motor 37 is controlled in an angle of rotation on the basis of the command output from the controller 32, thereby controlling an angle of swing of an engine throttle lever (not shown) connected to an output shaft of the motor 37, that is, an engine speed.
  • the monitor apparatus 30 shown in Fig. 5 is provided with a display device 34 for displaying an operation state and an alarm message, and a mode switch 33 switching a work mode such as a hanging work mode, an excavating work mode or the like so as to set, and serving as a mode switching means.
  • the monitor apparatus 30 displays an operation state, an alarm message or the like on the display device 34 in accordance with the command output from the controller 32, and can switch the work mode between the excavating work mode at a time of carrying out the excavating work and the hanging work mode at a time of carrying out the hanging work, in accordance with the operation of the mode switch 33 by the operator.
  • the display device 34 is constituted by a character display device or a graphic display device capable of displaying a message and comprising a liquid crystal display device, a plasma display device or the like, or an LED display device capable of displaying an alarm code (alphameric characters and the like).
  • the mode switch 33 is constructed by a momentary type switch (for example, a touch switch or a push button switch).
  • the monitor apparatus 30 may have the display device 34 carrying out an alarm display, a buzzer generating an alarm sound or both of them, as an alarm means.
  • the controller 32 when turning on a key switch (not shown), the controller 32 is set to the excavating work mode as an initial state. In the case of carrying out the hanging work, the operator operates the mode switch 33 of the monitor apparatus 30 and selects the hanging work mode. At this time, when the working implement 5 is in the neutral state 5a, the controller 2 starts the hanging mode.
  • the controller 32 carries out the following hanging work automatic control.
  • the operator can easily know the hanging load weight and the state of the load alarm at a time of the hanging work, and an attention is drawn at a time of hanging the load having an excessive weight equal to or more than the allowed value. Further, since the motion which makes the hanging state unstable (the load is oscillated) such as the dump motion, the increase of the traveling speed, the increase of the working implement or the like is limited during the hanging work, a stable hanging work can be maintained. In principle, the hanging work is carried out in the neutral state in which the boom 12 is not swung.
  • Fig. 6 shows a control procedure of the controller 32 in the case that the operator operates the mode switch 33 so as to switch the mode from the excavating work mode to the hanging work mode, on the basis of a flow chart.
  • the controller 32 When the hanging work mode is selected (a step S1), the controller 32 first judges on the basis of the output of the limit switch 26 whether or not the boom 12 is in the state in which the boom 12 is swung rightward or leftward from a predetermined range including the neutral position (a step S2). If the mode is not under swinging in the step S2, the hanging work mode is started, and the hanging work automatic control mentioned in the items (a) to (f) mentioned above is executed (a step S4). If the mode is under swinging in the step S2, the excavating work mode is continued, and the alarm message, for example, "under swinging" or the like is displayed on the display device 34 of the monitor apparatus 30 (a step S3). At this time, the alarm buzzer may be ringed.
  • the judgement whether or not the mode is under swinging is carried out on the basis of the signal of the limit switch 26 as mentioned above, and in the case that the boom 12 is in the range within the predetermined angle ( ⁇ 5 degrees) from the neutral state, it is judged that the mode is not under swinging. In this flow chart, whether or not the load is actually hanged in the working implement 5 is no object.
  • the rotation alarm lamp 31 is not turned on, the load amount value is not displayed on the monitor apparatus 30, and the alarm message is displayed. Therefore, the operator becomes aware of the matter that the hanging work mode is not immediately started. Thereafter, a stable hanging work can be carried out by returning the boom 12 to the neutral state from the swing state and again carrying out the hanging work.
  • the controller 32 is structured such as to inform the operator of swinging in the hanging work mode.
  • the controller 32 monitors on the basis of the signal of the limit switch 26 whether or not the boom 12 is in the swing state (a step S5). Further, when it is judged that the swing state is started, the load amount value display on the display device 34 of the monitor apparatus 30 is stopped in the hanging work automatic control (b), and the alarm message indicating the swing motion is carried out is displayed on the display device 34 (a step S6), and the step next goes to a step S7. In this case, the alarm buzzer may be ringed at this time.
  • the step goes to the step S7, and it is judged in the step S7 whether or not the excavating work mode is selected by the mode selecting switch 33. If the excavating work mode is not selected, the step goes back to the step S4 and the above processes are repeated, and if the excavating work mode is selected, the excavating work mode is started (a step S8) and the step goes back to the step S1.
  • the load amount value is not displayed on the monitor apparatus 30, the alarm message is displayed, and the alarm buzzer is ringed. Therefore, the operator becomes aware of the matter that the swing motion is carried out during the hanging work immediately, and an attention is drawn. Then, the operator returns the boom 12 from the swing state to the non-swing state (the neutral state), and intends to carry out a stable hanging work.
  • the limit switch 26 is provided as the swing detector 20 for detecting whether or not the boom 12 is swung from the neutral state. Accordingly, it is possible to inexpensively and securely detect the swing state of the boom 12 in accordance with a simple structure.
  • a non-contact type detector for example, a magnetic type contactless switch or the like may be used as the swing detector 20.
  • the swing state is carried out at a time when the mode switch 33 is operated so that the mode is changed from the excavating work mode to the hanging work mode, on the basis of the judgement of the swing state, the mode is not changed to the hanging work mode. Accordingly, since the hanging work automatic control in the items (a) to (f) is not carried out, the rotation alarm lamp 31 is not turned on, the load amount value is not displayed on the monitor apparatus 30, and the alarm message is displayed, the operator can immediately and easily know that the hanging work mode is selected during the swing motion of the boom 12, and an attention is drawn. Further, a stable hanging work can be carried out by returning the mode to the non-swing state and again starting the hanging work mode.
  • the hanging work mode when the hanging work mode is carried out, it is always monitored whether or not the swing state is started. Then, in the case that the swing motion deflecting from the neutral state is carried out, the alarm informing of the matter is generated by displaying the matter on the monitor apparatus 30 and/or alarming by the buzzer or the like, so that the operator can immediately and easily know that the boom 12 becomes in the swing state, and an attention is drawn.
  • the other hanging work automatic control than displaying the alarm message in place of the load amount value on the display device 34 of the monitor apparatus 30 is executed, it is possible to prevent the unstable state from being generated without interrupting the automatic control in the middle of the hanging work. Further, the stable hanging work can be carried out by continuing the hanging work after returning the boom 12 in the non-swing state.
  • a hard ware structure of a control apparatus in accordance with the second embodiment is the same as that shown in Fig. 4 , and a description will be given of the swing detector 20 for detecting a swing state of a working implement which is different from the first embodiment.
  • Fig. 7 is a perspective view of a base end portion of a boom 12 in a swing type hydraulic shovel in accordance with the second embodiment, and shows a mounting portion of the swing detector 20. There is shown a state in which the upper revolving body 1, the bracket 21 and the boom 12 are separated from each other.
  • a potentiometer 41 for detecting a swing angle ⁇ of the boom 12 is provided on an axis of the pin 23 which swingably connects the working implement mounting portion 24 of the upper revolving body 1 to the bracket 21.
  • the potentiometer 41 is connected to a pin 43 mounted to an upper portion of the working implement mounting portion 24 by a connection member 42. Accordingly, it is possible to accurately detect an angle within a horizontal surface of the bracket 21 with respect to the working implement mounting portion 24, that is, the swing angle ⁇ of the boom 12.
  • the detection angle is input to the controller 32, and the controller 32 can judge on the basis of the detection angle whether the swing state (swinging at a predetermined angle or more from the neutral position) or the non-swing state (within the predetermined angle from the neutral position).
  • the judgement whether the swing state or the non-swing state can be carried out on the basis of a suitable angle range in correspondence to an applied machine, for example, ⁇ 6 degrees and ⁇ 10 degrees, without being limited to the predetermined angle ⁇ 5 degrees. Further, the operator can easily return the working implement 5 to the neutral position by displaying the swing angle ⁇ , in addition to the result of judgement whether or not the swing state is carried out, for example, on the monitor apparatus 30.
  • a hard ware structure of a control apparatus in accordance with the third embodiment is also the same as the structure shown in Fig. 4 , and a description will be given of a swing detector 20 which is different from the first and second embodiments.
  • a swing type hydraulic shovel has a detector for detecting a stroke length of the swing cylinder 22 as the swing detector 20.
  • a reel 44 energized in a wire take-up direction is mounted to an outer portion of a tube in the swing cylinder 22, a wire mounting portion 40 is provided in a leading end portion of a piston in the swing cylinder 22 connected to the bracket 21, a wire 38 is extended between the wire mounting portion 40 and the reel 44 so as to be freely taken up, and an encoder 39 for detecting an angle of rotation of the reel 44 is provided.
  • a feeding amount of the wire 38 that is, a stroke length of the swing cylinder 22 is detected as an angle of rotation of the reel 44 by the encoder 39, and this detection signal is input to the controller 32.
  • the stroke length of the swing cylinder 22 can be converted into the swing angle ⁇ on the basis of a relational expression determined by a mechanical structure obtained by a relation between a mounting position of the end portion of the tube in the swing cylinder 22 and a position of a swing center (the pin 23) of the bracket 21, a relation between a position of the wire mounting portion 40 in the leading end portion of the piston and a position of the swing center of the bracket 21, and the like.
  • the swing angle ⁇ may be determined in accordance with a corresponding data table between the stroke length of the swing cylinder 22 and the swing angle ⁇ , which is determined on the basis of the relational expression obtained in accordance with the mechanical structure.
  • the swing angle ⁇ is equivalently detected by the encoder 39, it is possible to easily set and judge the range indicating the neutral state of the working implement 5 in correspondence to the applied machine, in the same manner as that of the second embodiment. Therefore, it is possible to widen the range to which the present control apparatus is applied.
  • the hydraulic shovel having the crawler type traveling apparatus is shown as the example to which the present invention is applied, however, the applied machine is not limited to this, for example, a tire wheel type may be employed.
  • the matter that the working implement is in the swing state is informed to the operator, by the alarm display and/or the buzzer alarm sound. Accordingly, the operator can immediately and easily know that the alarm state is generated, and an attention is drawn to the operator, so that it is easily carried out the operation of returning the working implement to the neutral state and canceling the alarm state. Therefore, it is possible to carry out the hanging work in the state in which the vehicle body is in the stable state.
  • the present Apparatus can be inexpensively constructed on the basis of the simple structure. Further, since the swing angle is detected by the angle around the center axis of swing of the working implement or the stroke length of the swing cylinder, it is possible to easily correspond to the matter only by changing the judgment reference data, even when the detection range of the swing state is set to the range matching to the applied machine. Accordingly, it is possible to further increase a general-purpose property of the present control apparatus.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)
EP03007275A 2002-07-15 2003-03-31 Control apparatus for swing type hydraulic shovel Expired - Fee Related EP1382753B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002206298 2002-07-15
JP2002206298A JP4257722B2 (ja) 2002-07-15 2002-07-15 スイング式油圧ショベルの制御装置

Publications (2)

Publication Number Publication Date
EP1382753A1 EP1382753A1 (en) 2004-01-21
EP1382753B1 true EP1382753B1 (en) 2011-12-21

Family

ID=29774600

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03007275A Expired - Fee Related EP1382753B1 (en) 2002-07-15 2003-03-31 Control apparatus for swing type hydraulic shovel

Country Status (3)

Country Link
EP (1) EP1382753B1 (ja)
JP (1) JP4257722B2 (ja)
CN (1) CN1306122C (ja)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4597914B2 (ja) * 2006-06-06 2010-12-15 日立建機株式会社 作業機械
CN101666105B (zh) * 2009-07-08 2011-08-10 北汽福田汽车股份有限公司 控制挖掘机动臂上升速度的方法、控制***及一种挖掘机
US8548693B2 (en) * 2010-03-15 2013-10-01 Komatsu Ltd. Control device and control method for working mechanism of construction vehicle
ITBO20100659A1 (it) * 2010-11-03 2012-05-04 Ferri Srl Dispositivo di sicurezza per macchina operatrice
JP6340175B2 (ja) * 2013-07-30 2018-06-06 ヤンマー株式会社 建設機械
JP6962841B2 (ja) 2018-03-22 2021-11-05 ヤンマーパワーテクノロジー株式会社 旋回作業車の表示システム
JP7214618B2 (ja) * 2019-12-23 2023-01-30 株式会社クボタ 位置検出装置及び産業機械
CN112252387B (zh) * 2020-10-30 2023-06-20 徐州徐工挖掘机械有限公司 挖掘机的动臂偏转***、挖掘机及其动臂偏转控制方法
JP2023049740A (ja) * 2021-09-29 2023-04-10 株式会社小松製作所 位置検知装置、作業機械および位置検知方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010046433A1 (en) * 2000-05-26 2001-11-29 Satoru Nishimura Hydraulic shovel with hoisting hook

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1457633A (fr) * 1964-09-22 1966-01-24 Sperry Rand Corp Système pour l'alimentation et la commande d'un équipement hydraulique
US3343686A (en) * 1966-03-09 1967-09-26 Deere & Co Boom-type implement
JPS5295754A (en) * 1976-02-08 1977-08-11 Tadashi Sakurai Powder painting device
US4389153A (en) * 1981-12-10 1983-06-21 J. I. Case Company Backhoe swing mechanism
US4500250A (en) * 1982-06-07 1985-02-19 J. I. Case Company Backhoe swing mechanism
DE3508691C1 (de) * 1985-03-12 1986-07-10 Eisenwerke Kaiserslautern Göppner GmbH, 6750 Kaiserslautern Hydraulisches Erdbaufahrzeug mit einem schwenkbaren Ausleger
SU1271951A1 (ru) * 1985-06-19 1986-11-23 Московский автомеханический институт Устройство дл автоматического управлени рабочим органом землеройно-транспортной машины
JPH0699948B2 (ja) * 1988-07-14 1994-12-12 株式会社小松製作所 油圧掘削機の自動振動方法及び自動振動装置
GB2225127B (en) * 1988-11-18 1993-03-31 Kubota Ltd Pivotal movement control device for boom-equipped working machine
EP0707118B1 (en) * 1994-04-28 1999-07-28 Hitachi Construction Machinery Co., Ltd. Aera limiting digging control device for a building machine
CN1179194A (zh) * 1995-03-23 1998-04-15 株式会社小松制作所 推土机的铲斗控制装置及其控制方法
KR0168992B1 (ko) * 1995-10-31 1999-02-18 유상부 굴삭기의 제어방법
US6045320A (en) * 1997-12-17 2000-04-04 Cullen; Michael J. Arm extension for a backhoe
JP5367199B2 (ja) * 2000-02-10 2013-12-11 住友建機株式会社 ショベル

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010046433A1 (en) * 2000-05-26 2001-11-29 Satoru Nishimura Hydraulic shovel with hoisting hook

Also Published As

Publication number Publication date
EP1382753A1 (en) 2004-01-21
JP2004043168A (ja) 2004-02-12
CN1306122C (zh) 2007-03-21
CN1469018A (zh) 2004-01-21
JP4257722B2 (ja) 2009-04-22

Similar Documents

Publication Publication Date Title
JP5498442B2 (ja) 作業車両、作業車両用表示装置、および作業車両用表示装置の制御方法
JP4506286B2 (ja) 建設機械
US20150025753A1 (en) Work vehicle
US20150147147A1 (en) Work vehicle
KR20060128830A (ko) 건설 기계
US11680383B2 (en) Remote control system
EP1382753B1 (en) Control apparatus for swing type hydraulic shovel
KR20030003015A (ko) 크레인작업겸용 유압셔블
JP6189557B1 (ja) 作業車両および作業車両の制御方法
WO2022080025A1 (ja) 建設機械
JP4750970B2 (ja) クレーン作業兼用油圧ショベル
JP3644847B2 (ja) 作業機
US20230407602A1 (en) Work Vehicle
JPH0517971A (ja) 建設作業用機械の安全装置
US20240183129A1 (en) System, method, and machine for position determination of thumb bucket
JP7205992B2 (ja) 作業機
JP6783177B2 (ja) ショベル
JP2003013472A (ja) クレーン作業兼用油圧ショベルのモニタ装置
JPH0377112A (ja) 操作レバーの中立自己診断装置
JP2852779B2 (ja) 操作レバー装置
JP2004262303A (ja) 作業車両
JP2003013471A (ja) クレーン作業兼用油圧ショベル
JP3460894B2 (ja) 建設機械の姿勢モニタシステム
JP2502998Y2 (ja) ショベル系掘削機における作業部本体の角度検出装置
JP2012062681A (ja) 油圧ショベルの制御装置

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: 20031121

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

AKX Designation fees paid

Designated state(s): DE FR GB IT

17Q First examination report despatched

Effective date: 20091015

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

RIN1 Information on inventor provided before grant (corrected)

Inventor name: SUGIYAMA, KIYOSHI

Inventor name: KOBAYASHI, EIICHI

Inventor name: KITAJIMA, OSAMU

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 60339435

Country of ref document: DE

Effective date: 20120209

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20120924

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20120331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111221

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20121130

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 60339435

Country of ref document: DE

Effective date: 20120924

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120402

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120331

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20150324

Year of fee payment: 13

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 60339435

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161001