WO2013114451A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2013114451A1
WO2013114451A1 PCT/JP2012/000649 JP2012000649W WO2013114451A1 WO 2013114451 A1 WO2013114451 A1 WO 2013114451A1 JP 2012000649 W JP2012000649 W JP 2012000649W WO 2013114451 A1 WO2013114451 A1 WO 2013114451A1
Authority
WO
WIPO (PCT)
Prior art keywords
feed screw
construction machine
nut
linear motion
electric motor
Prior art date
Application number
PCT/JP2012/000649
Other languages
English (en)
Japanese (ja)
Inventor
佐々木　正貴
早瀬　功
弘幸 山田
金子　悟
Original Assignee
株式会社 日立製作所
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 株式会社 日立製作所 filed Critical 株式会社 日立製作所
Priority to PCT/JP2012/000649 priority Critical patent/WO2013114451A1/fr
Publication of WO2013114451A1 publication Critical patent/WO2013114451A1/fr

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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
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • 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
    • E02F3/427—Drives for dippers, buckets, dipper-arms or bucket-arms with mechanical drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa

Definitions

  • the present invention relates to a construction machine using an electric linear actuator as a linear drive part.
  • Patent Document 1 Conventionally, a construction machine using an electric linear actuator as a direct drive part is described in Patent Document 1.
  • Patent Document 1 describes that in a construction apparatus having an excavating function such as a power shovel whose driving source is a hydraulic cylinder, the hydraulic cylinder is replaced with an electric linear actuator that is driven by an electric motor.
  • Patent Document 2 discloses an electric linear actuator in which two feed screw devices are driven using one electric motor.
  • Patent Document 1 does not describe whether the electric linear actuator can obtain a sufficient driving force as a construction machine.
  • Patent Document 2 relates to an electric table lift device, and of course, there is no description as to whether or not the electric linear actuator can be installed on the boom or arm of a power shovel.
  • the present invention provides a construction machine equipped with an electric linear actuator that can be mounted on a construction machine and has a sufficient propulsive force.
  • An embodiment of the present invention is a construction machine having a boom, an arm, and a bucket, and drives at least one of the boom, arm, and bucket using an electric linear actuator.
  • the electric linear actuator drives a feed screw device having a feed screw shaft and a linear motion nut, a piston that reciprocates as the linear motion nut of the feed screw device moves, a feed screw device, and a rotational shaft. Having an electric motor.
  • the electric linear actuator When such an electric linear actuator is mounted on a construction machine, the electric linear actuator is installed facing the boom or / and the arm, and the rotating shaft of the electric motor is a feed screw device with respect to the facing boom or / and arm. It is installed at a position away from the feed screw shaft. By doing so, it is possible to clear the restriction on the installation width especially in terms of the structure and mount it on the boom or arm of the power shovel.
  • the rotating shaft of the electric motor is formed in parallel with the feed screw shaft of the feed screw device.
  • the electric linear actuator comprises two feed screw devices each having a feed screw shaft and a linear motion nut in parallel, and reciprocating motion as the linear motion nuts of the two feed screw devices move. And a single electric motor that drives two feed screw devices and has a rotating shaft. By doing so, that is, by reciprocating one piston with two feed screw devices, sufficient propulsive force can be obtained to drive the boom, arm, or bucket of the power shovel.
  • a power shovel will be described as an example of a construction machine that uses an electric linear actuator for a linear motion drive portion.
  • FIG. 1 is an external configuration diagram of a power shovel.
  • the moving parts of the excavator 10 are mainly a boom 101, an arm 102, a bucket 103, a crawler 104, and a swinging body 105.
  • the boom 101, the arm 102, and the bucket 103 are driven by electric linear actuators 20a, 20b, and 20c that are linearly driven.
  • the electric linear actuator 20 a is installed on the side of the boom 101, the electric linear actuator 20 b is installed on the upper surface of the boom 101, and the electric linear actuator 20 c is installed on the upper surface of the arm 102.
  • the electric linear actuator 20a is installed facing the side surface of the boom 101. However, depending on the type of the power shovel, the electric linear actuator 20a is installed facing the back surface (lower surface) of the boom 101. Sometimes it is done.
  • a feed screw device 20ba is installed at a position close to the upper surface of the boom 101, and an electric motor 20bc is installed at a remote position.
  • a feed screw device 20ca is installed at a position close to the upper surface of the arm 102, and an electric motor 20cc is installed at a remote position.
  • a feed screw device is installed at a position close to the side of the arm 102 (back of the sheet), and an electric motor is installed at a remote position (front of the sheet). Yes.
  • the electric motor is installed at a position away from the feed screw device with respect to the opposing boom or / and arm.
  • the electric linear actuator 20a that drives the boom 101 is connected to the swing body 105 and the boom 101, and the boom 101 moves up and down when the electric linear actuator 20a is driven.
  • the electric linear actuator 20b that drives the arm 102 is connected to the boom 101 and the arm 102, and the arm 102 moves when the electric linear actuator 20b is driven.
  • the electric linear actuator 20c that drives the bucket 103 is connected to the arm 102 and the bucket drive joint 1031. When the electric linear actuator 20c is driven, the bucket 103 moves.
  • the boom 101 operates when the piston 20aa of the electric linear actuator 20a connected to the swing body 105 and the boom 101 is linearly driven.
  • the arm 102 operates when the piston 20bb of the electric linear actuator 20b connected to the boom 101 and the arm 102 is linearly driven.
  • the bucket 103 operates when the piston 20cc of the electric linear actuator 20c connected to the arm 102 and the bucket 103 is linearly driven.
  • the crawler 104 and the swing body 105 are driven by an electric motor not shown in FIG. 1 and / or by a hydraulic motor not shown in FIG.
  • Fig. 2 is a schematic diagram of a power shovel system.
  • the crawler 104 and the rotating body 105 are driven by electric motors 30a and 30b.
  • a case where the crawler 104 and the swing body 105 are driven not by the hydraulic motor but by the electric motors 30a and 30b is shown.
  • the electric linear actuators 20a, 20b, and 20c and the electric motors 30a and 30b include electric power generated by rotating the generator 50 by the prime mover 40, and inverters 51a, 51b, 51c that drive the electric linear actuators and the electric motors, respectively. It drives by supplying to 51d and 51e.
  • a line connecting the generator 50 and each inverter is a power line.
  • control device 70 controls the inverters.
  • the control device 70 transmits a torque command to each electric linear actuator and each electric motor via each inverter from the lever operation amount and pedal operation amount of the operator.
  • a line connecting the control device 70 and each inverter is a signal line.
  • FIG. 3 is a configuration diagram of the electric linear actuator.
  • FIG. 3A is a schematic top view of the electric linear actuator 20
  • FIG. 3B is a schematic bottom view of the electric linear actuator 20
  • FIG. 3C is a schematic side view of the electric linear actuator 20.
  • the electric linear actuator 20 forms two feed screw devices having a feed screw shaft 21 and a linear motion nut 22 that linearly drives the feed screw shaft 21 in parallel.
  • the direct acting nut 22 includes, for example, a ball, a roll, etc., and reciprocates on the feed screw shaft 21 in which a groove is formed in a spiral shape. For example, when the feed screw shaft 21 rotates to the right, the linear motion nut 22 moves forward, and when the feed screw shaft 21 rotates to the left, the linear motion nut 22 moves backward.
  • the piston 23 reciprocates as the two linear nuts 22 move.
  • the piston 23 is, for example, a piston (20ab, 20bb, 20cb in FIG. 1) that drives the boom 101, the arm 102, and the bucket 103 of the excavator 10.
  • the electric linear actuator 20 described in the present embodiment can generate a large thrust by arranging a plurality of feed screw shafts 21 (two in the description).
  • the electric motor 24 is formed in parallel with the two feed screw shafts 21.
  • Parallel means that the gear 26 that connects the rotary shaft 25 of the electric motor 24 and the two feed screw shafts 21 is formed in the same direction as the two feed screw shafts 21.
  • the excavator 10 can be mounted.
  • the axial length of the rotating shaft 25 of the electric motor 24 is preferably equal to or less than the axial length of the two feed screw shafts 21.
  • the piston 23 is formed with an impact mitigation device 27 for mitigating the impact force applied to the piston 23.
  • the impact relaxation device 27 is formed of an elastic body such as a spring, for example.
  • the excavator 10 generally performs excavation work. During this excavation work, the bucket 103 of the excavator 10 collides with the object to be excavated, and the piston 23 and further the linear motion nut 22 connected to the piston 23. Impact force is applied. The impact mitigating device 27 will mitigate this impact force.
  • the piston 23 may be loaded not only when the piston 23 extends (when the linear motion nut 22 moves forward) but also when the piston 23 contracts (when the linear motion nut 22 moves backward). In any of these cases, the impact reducing device 27 can reduce the impact force applied to the piston 23.
  • the rotating shaft 25 of the electric motor 24 is formed on the central normal line between the two feed screw shafts 21 in order to transmit the motor torque of the electric motor 24 to the two feed screw shafts 21 as evenly as possible.
  • the rotating shaft 25 of the electric motor 24 is formed so as to be shifted from a straight line connecting the two feed screw shafts 21.
  • the rotating shaft 25 of the electric motor 24 is formed so as to be shifted to the left on the paper surface from the straight line connecting the two feed screw shafts 21.
  • the installation point of the feed screw shaft 21 and the installation point of the rotary shaft 25 are isosceles triangles with the installation point of the feed screw shaft 21 as the points on both sides of the base and the installation point of the rotary shaft 25 as the vertex. It is in.
  • the boom 101 or the arm 102 is formed on the right side on the paper surface. That is, the rotating shaft 25 of the electric motor 24 is installed (shifted) at a position away from the straight line connecting the two feed screw shafts 21 with respect to the opposing boom 101 and arm 102.
  • the excavator 10 can be mounted.
  • the two feed screw shafts 21 and the rotating shaft 25 of the electric motor 24 are connected by a gear 26.
  • the gear 26 transmits the motor torque of the motor 24 to the feed screw shaft 21 as drive torque.
  • an intermediate gear 29 is formed between the gear 26 formed on the rotary shaft 25 and the gear 26 formed on the two feed screw shafts 21. That is, the motor torque of the motor 24 is transmitted to the feed screw shaft 21 via the gear 26 formed on the rotating shaft 25, the intermediate gear 29, and the gear 26 formed on the two feed screw shafts 21.
  • the gear 26 is a reduction gear. That is, the rotational speed of the feed screw shaft 21 is made smaller than the rotational speed of the rotary shaft 25. The rotational speed of the rotary shaft 25 is reduced in the process through the gear 26 formed on the rotary shaft 25, the intermediate gear 29, and the gear 26 formed on the two feed screw shafts 21, and becomes the rotational speed of the feed screw shaft 21. .
  • one piston 23 and the two linear motion nuts 22 are coupled by a member 28.
  • the member 28 can be rotatably coupled to one piston 23, the member 28, and the two direct acting nuts 22 by bolts or the like. Since the member 28 is rotatably coupled to the one piston 23 and the two linear nuts 22, the movement of the two linear nuts 22 should be non-uniform on the feed screw shafts 21. This is because the piston 23 can be reciprocated in a balanced manner even in the case of becoming.
  • the boom 101 and the arm 102 are formed on the paper surface and the lower side with respect to the electric linear actuator 20.
  • the rotating shaft 25 of the electric motor 24 is installed at a position away from the feed screw shaft 21 with respect to the facing boom 101 and arm 102. That is, the rotating shaft 25 of the electric motor 24 is formed with a deviation from a straight line connecting the two feed screw shafts 21 (this straight line exists in a direction perpendicular to the paper surface).
  • control device 70 mounted on the power shovel 10
  • the function of the control device 70 described here is for reducing the impact force applied to the piston 23. That is, the control device 70 includes impact relaxation control that reduces the load applied to the linear nut 22 when the feed screw device is operating.
  • FIG. 4 is a schematic block diagram of the control device 70 mounted on the power shovel.
  • the torque command of the electric linear actuator 20 is controlled based on these conditions.
  • the electric linear actuator 20 is used to drive the boom 101, the arm 102, and the bucket 103, but here, the torque command of the electric linear actuator 20 for driving the arm 102 is representatively shown. The control method will be described.
  • the control device 70 detects the collision state of the piston 23 from the torque command conversion unit 70a that calculates the torque command 1 of the electric linear actuator 20 for driving the arm 102 from the operation amount of the operation lever, and the speed vn of the linear motion nut 22.
  • the final torque command 2 (torque for the inverter 51b) is controlled to control the load on the linear motion nut 22 within the limit value. Command), an impact mitigation control unit 70c.
  • control device 70 By using the control device 70 having such a configuration, it is possible to reduce the impact force on the linear nut 22 when the electric linear actuator 20 is operated.
  • the speed vn of the linear motion nut 22 is calculated based on the rotational speed of the rotary shaft 25 of the electric motor 24.
  • the number of rotations is the number of rotations per unit time, and can also be called a rotation speed. This rotational speed is proportional to the speed at which the linear nut 22 moves linearly.
  • the collision detection unit 70b receives the speed vn of the linear motion nut 22 and linear motion obtained by differentiating the speed vn of the linear motion nut 22 from the speed vn of the linear motion nut 22 (hereinafter referred to as nut speed vn).
  • nut speed vn An acceleration an of the nut 22 (hereinafter referred to as a nut acceleration an) is calculated.
  • the nut acceleration an is calculated by sampling the nut speed vn for each control cycle, for example, and dividing the difference between the current speed value and the previous speed value by the control period (cycle time).
  • the collision detection unit 70b inputs the torque command 1.
  • FIG. 5 is a schematic block diagram of the impact mitigation control unit. The signal processing of the impact relaxation control unit 70c will be described with reference to FIG.
  • the brake torque command calculation unit 70c1 calculates a brake torque command from the collision signal, the nut speed vn, and the nut acceleration an.
  • the determination unit 70c2 determines whether there is a brake torque command or a collision signal, and outputs the result to the switching unit 70c3.
  • the switching unit 70c3 outputs the brake torque command or the torque command 1 as the torque command 2 based on the determination of the determination unit 70c2.
  • the brake torque command is output as the torque command 2 instead of the torque command 1.
  • torque command 1 is set to torque command 2 Output as.
  • This impact mitigation control is performed so that the load on the direct acting nut 22 is maximized within a range that does not exceed the impact limit of the direct acting nut 22, and the load on the direct acting nut 22 is maximized for excavation. It is what you use.
  • the torque command 2 generated by the control device 70 is converted into a voltage command via the current command by the inverter 51b connected to the control device 70, and is given to the electric motor 24 of the electric linear actuator 20.
  • FIG. 6 is an explanatory diagram of the operation of the impact relaxation control.
  • a brake torque command calculation method in the brake torque command calculation unit 70c1 illustrated in FIG. 5 will be described with reference to FIG. FIG. 6 schematically shows the nut speed vn, the nut acceleration an, and the nut load Fn.
  • the bucket 103 collides with the object to be excavated, the nut acceleration an starts to decrease, and the nut load Fn starts to increase.
  • a collision signal is input and calculation of a brake torque command is started.
  • the interval between the time t1 and the time t2 is not particularly related, and the time when the bucket 103 collides with the excavation target is the time t1 as the operation, and the time when the collision detection unit 70b of the control device 70 recognizes the collision is the time t2. is there.
  • the fixed time is a control period ⁇ t of the control device 70 or a preset time, and is about several milliseconds.
  • the collision time ⁇ ti is the nut when the nut speed at time t2 is v2 and time t4.
  • the speed can be calculated from 0 (zero).
  • the collision time ⁇ ti is calculated based on the speed and acceleration of the linear motion nut 22, and the load of the linear motion nut 22 is calculated from the collision time ⁇ ti and the nut speed v2 at the time of the collision.
  • Equation (3) M is the mass of the colliding object, and here is the moving body mass including the moment of inertia of the electric linear actuator 20.
  • the nut load Fn is an estimated value at time t4 when the nut speed vn becomes 0 (zero).
  • the necessary braking force Fb can be expressed by the difference between the load limit value Fnmax and the nut load Fn.
  • This impact mitigation control calculates the necessary braking force Fb when the bucket 103 collides with the object to be excavated based on the speed and acceleration of the linear motion nut 22 and determines the load of the linear motion nut 22 as the load of the linear motion nut. It suppresses within the limit value.
  • Tb Fb ⁇ (L / 2 ⁇ ) (5)
  • the brake torque command Tb at the time of collision can be calculated.
  • FIG. 7 is an operation comparison diagram with and without impact mitigation control. The effect of the impact relaxation control will be described with reference to FIG.
  • the torque command Tn is a torque command obtained based on the lever operation amount, that is, the torque command 1T1.
  • the nut load Fn is obtained based on the moving body mass (M) ⁇ the collision speed (v2) ⁇ the collision time ( ⁇ ti), the nut load Fn can be reduced by shortening the collision time.
  • the impact relaxation control is canceled, and the torque command obtained based on the lever operation amount, that is, the torque command 1 is returned.
  • the nut load Fn at the time of collision can be reduced, so that the impact mitigation device 27 can be miniaturized and the electric linear actuator 20 can be miniaturized. .
  • the reduction gear 26 even if the moment of inertia of the electric linear actuator 20 increases and the nut load Fn at the time of collision increases, the nut load Fn can be reduced.
  • the present invention can be used for a construction machine such as a power shovel having a boom, an arm, and a bucket.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Transmission Devices (AREA)

Abstract

Cette invention concerne un engin de chantier dans lequel est monté un actionneur électrique linéaire apte à être monté dans ledit engin de chantier et présentant une force de poussée suffisante. Ledit engin de chantier est caractérisé en ce qu'un actionneur électrique linéaire qui entraîne au moins un élément parmi une flèche, un bras et un godet est monté de façon à être disposé face à la flèche et/ou au bras. Ledit actionneur linéaire comprend : un dispositif à vis sans fin d'alimentation comprenant un arbre de vis d'alimentation et un écrou à déplacement linéaire, un piston qui est entraîné en va-et-vient par le déplacement de l'écrou à déplacement linéaire du dispositif à vis sans fin d'alimentation, et un moteur électrique qui entraine le dispositif à vis sans fin d'alimentation et qui comprend un arbre rotatif. Ledit arbre rotatif du moteur électrique est disposé dans une position plus éloignée de la flèche et/ou du bras opposés que l'arbre de vis sans fin d'alimentation du dispositif à vis sans fin d'alimentation.
PCT/JP2012/000649 2012-02-01 2012-02-01 Engin de chantier WO2013114451A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/JP2012/000649 WO2013114451A1 (fr) 2012-02-01 2012-02-01 Engin de chantier

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Application Number Priority Date Filing Date Title
PCT/JP2012/000649 WO2013114451A1 (fr) 2012-02-01 2012-02-01 Engin de chantier

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WO2013114451A1 true WO2013114451A1 (fr) 2013-08-08

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016097784A1 (fr) 2014-12-16 2016-06-23 Volvo Construction Equipment Ab Bras d'excavateur, élément en porte-à-faux d'excavateur comprenant un tel bras d'excavateur et excavateur comprenant un tel élément en porte-à-faux d'excavateur
WO2016110726A1 (fr) 2015-01-07 2016-07-14 Volvo Construction Equipment Ab Procédé de commande pour commander une excavatrice et excavatrice comprenant une unité de commande mettant en œuvre un tel procédé de commande
WO2016156910A1 (fr) 2015-04-03 2016-10-06 Volvo Construction Equipment Ab Procédé de commande permettant de commander un élément mobile d'une excavatrice et excavatrice comprenant une unité de commande mettant en œuvre un tel procédé de commande
WO2021021637A1 (fr) * 2019-07-26 2021-02-04 Ox Industries, Inc. Actionneur rotatif électrique destiné à une nacelle élévatrice
WO2021178441A3 (fr) * 2020-03-02 2021-11-04 Clark Equipment Company Machine à force motrice alimentée électriquement
EP4036316A1 (fr) * 2021-02-02 2022-08-03 Volvo Construction Equipment AB Équipement de construction avec au moins un actionneur électrique
EP4311885A1 (fr) * 2022-06-07 2024-01-31 Volvo Construction Equipment AB Machine de construction avec actionneur électrique amorti

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63300131A (ja) * 1987-05-30 1988-12-07 Shin Caterpillar Mitsubishi Ltd 電気パワ−ショベル

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63300131A (ja) * 1987-05-30 1988-12-07 Shin Caterpillar Mitsubishi Ltd 電気パワ−ショベル

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016097784A1 (fr) 2014-12-16 2016-06-23 Volvo Construction Equipment Ab Bras d'excavateur, élément en porte-à-faux d'excavateur comprenant un tel bras d'excavateur et excavateur comprenant un tel élément en porte-à-faux d'excavateur
US10519622B2 (en) 2014-12-16 2019-12-31 Volvo Construction Equipment Ab Excavator arm, excavator cantilever member including such an excavator arm and excavator including such an excavator cantilever member
CN107002382B (zh) * 2014-12-16 2019-12-06 沃尔沃建筑设备公司 挖掘机臂、包括这种挖掘机臂的挖掘机悬臂构件和包括这种挖掘机悬臂构件的挖掘机
CN107002382A (zh) * 2014-12-16 2017-08-01 沃尔沃建筑设备公司 挖掘机臂、包括这种挖掘机臂的挖掘机悬臂构件和包括这种挖掘机悬臂构件的挖掘机
US20170335541A1 (en) * 2014-12-16 2017-11-23 Volvo Construction Equipment Ab Excavator arm, excavator cantilever member including such an excavator arm and excavator including such an excavator cantilever member
US10458095B2 (en) 2015-01-07 2019-10-29 Volvo Construction Equipment Ab Control method for controlling an excavator and excavator comprising a control unit implementing such a control method
US20170356157A1 (en) * 2015-01-07 2017-12-14 Volvo Construction Equipment Ab Control method for controlling an excavator and excavator comprising a control unit implementing such a control method
WO2016110726A1 (fr) 2015-01-07 2016-07-14 Volvo Construction Equipment Ab Procédé de commande pour commander une excavatrice et excavatrice comprenant une unité de commande mettant en œuvre un tel procédé de commande
WO2016156910A1 (fr) 2015-04-03 2016-10-06 Volvo Construction Equipment Ab Procédé de commande permettant de commander un élément mobile d'une excavatrice et excavatrice comprenant une unité de commande mettant en œuvre un tel procédé de commande
WO2021021637A1 (fr) * 2019-07-26 2021-02-04 Ox Industries, Inc. Actionneur rotatif électrique destiné à une nacelle élévatrice
WO2021178441A3 (fr) * 2020-03-02 2021-11-04 Clark Equipment Company Machine à force motrice alimentée électriquement
EP4036316A1 (fr) * 2021-02-02 2022-08-03 Volvo Construction Equipment AB Équipement de construction avec au moins un actionneur électrique
EP4036317A1 (fr) * 2021-02-02 2022-08-03 Volvo Construction Equipment AB Équipement de construction avec au moins un actionneur électrique
EP4311885A1 (fr) * 2022-06-07 2024-01-31 Volvo Construction Equipment AB Machine de construction avec actionneur électrique amorti

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