CN112281940B - 一种挖掘机和挖掘机的控制方法 - Google Patents

一种挖掘机和挖掘机的控制方法 Download PDF

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Publication number
CN112281940B
CN112281940B CN202011119205.3A CN202011119205A CN112281940B CN 112281940 B CN112281940 B CN 112281940B CN 202011119205 A CN202011119205 A CN 202011119205A CN 112281940 B CN112281940 B CN 112281940B
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CN
China
Prior art keywords
bucket
controller
cylinder
oil cylinder
real
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.)
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Application number
CN202011119205.3A
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English (en)
Chinese (zh)
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CN112281940A (zh
Inventor
项伟
徐乾秩
周鹏举
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.)
Sany Heavy Machinery Ltd
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Sany Heavy Machinery 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 Sany Heavy Machinery Ltd filed Critical Sany Heavy Machinery Ltd
Priority to CN202011119205.3A priority Critical patent/CN112281940B/zh
Publication of CN112281940A publication Critical patent/CN112281940A/zh
Priority to US17/920,733 priority patent/US20240218636A1/en
Priority to EP21881606.4A priority patent/EP4230803A4/de
Priority to PCT/CN2021/106431 priority patent/WO2022083186A1/zh
Application granted granted Critical
Publication of CN112281940B publication Critical patent/CN112281940B/zh
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    • 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
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • 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
    • 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
    • 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
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • 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
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return

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)
CN202011119205.3A 2020-10-19 2020-10-19 一种挖掘机和挖掘机的控制方法 Active CN112281940B (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202011119205.3A CN112281940B (zh) 2020-10-19 2020-10-19 一种挖掘机和挖掘机的控制方法
US17/920,733 US20240218636A1 (en) 2020-10-19 2021-07-15 Excavator and control method for excavator
EP21881606.4A EP4230803A4 (de) 2020-10-19 2021-07-15 Bagger und steuerungsverfahren für bagger
PCT/CN2021/106431 WO2022083186A1 (zh) 2020-10-19 2021-07-15 一种挖掘机和挖掘机的控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011119205.3A CN112281940B (zh) 2020-10-19 2020-10-19 一种挖掘机和挖掘机的控制方法

Publications (2)

Publication Number Publication Date
CN112281940A CN112281940A (zh) 2021-01-29
CN112281940B true CN112281940B (zh) 2022-09-09

Family

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Family Applications (1)

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CN202011119205.3A Active CN112281940B (zh) 2020-10-19 2020-10-19 一种挖掘机和挖掘机的控制方法

Country Status (4)

Country Link
US (1) US20240218636A1 (de)
EP (1) EP4230803A4 (de)
CN (1) CN112281940B (de)
WO (1) WO2022083186A1 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111364534B (zh) * 2020-04-24 2023-07-14 三一重机有限公司 一种斗杆装置及其控制方法、挖掘机
CN112281940B (zh) * 2020-10-19 2022-09-09 三一重机有限公司 一种挖掘机和挖掘机的控制方法
CN113152562A (zh) * 2021-03-30 2021-07-23 中联重科股份有限公司 用于控制清淤设备的方法及装置、控制器以及清淤设备
CN113293813B (zh) * 2021-06-30 2022-12-23 三一重机有限公司 一种挖掘机的控制方法和挖掘机
CN117418578B (zh) * 2023-10-30 2026-01-30 徐州徐工挖掘机械有限公司 一种倾斜斗的控制方法

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56105030A (en) * 1980-01-22 1981-08-21 Komatsu Ltd Automatic controller for working machine
JPS5952255B2 (ja) * 1982-06-07 1984-12-19 株式会社小松製作所 パワ−ショベルの自動掘削制御装置
JPH083187B2 (ja) * 1985-10-08 1996-01-17 株式会社小松製作所 パワ−シヨベルのバケツト角度制御装置
US4805086A (en) * 1987-04-24 1989-02-14 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
GB2251232B (en) * 1990-09-29 1995-01-04 Samsung Heavy Ind Automatic actuating system for actuators of excavator
JPH08151657A (ja) * 1994-11-29 1996-06-11 Shin Caterpillar Mitsubishi Ltd 油圧ショベルのバケット角制御方法
US7222444B2 (en) * 2004-10-21 2007-05-29 Deere & Company Coordinated linkage system for a work vehicle
CN101481918A (zh) * 2009-01-08 2009-07-15 三一重机有限公司 一种液压挖掘机铲斗运动的控制方法及控制装置
CN102041824B (zh) * 2010-12-09 2012-08-29 三一重机有限公司 一种挖掘机工作装置的自动控制系统及控制方法
WO2014051170A1 (en) * 2012-09-25 2014-04-03 Volvo Construction Equipment Ab Automatic grading system for construction machine and method for controlling the same
KR101729050B1 (ko) * 2013-04-12 2017-05-02 가부시키가이샤 고마쓰 세이사쿠쇼 건설 기계의 제어 시스템 및 제어 방법
CN103321269B (zh) * 2013-06-26 2017-01-18 合肥汇众知识产权管理有限公司 挖掘机平地模式的控制方法
WO2015186180A1 (ja) * 2014-06-02 2015-12-10 株式会社小松製作所 建設機械の制御システム、建設機械、及び建設機械の制御方法
KR101759409B1 (ko) * 2015-02-02 2017-07-18 가부시키가이샤 고마쓰 세이사쿠쇼 작업차량 및 작업차량의 제어 방법
WO2017168686A1 (ja) * 2016-03-31 2017-10-05 日立建機株式会社 建設機械の駆動制御装置
CN110777862A (zh) * 2019-10-16 2020-02-11 南宁学院 一种电机控制铲斗转斗的装载机工作装置
CN111395441A (zh) * 2020-04-27 2020-07-10 徐州徐工铁路装备有限公司 一种地下铲运机智能减阻控制系统及控制方法
CN112281940B (zh) * 2020-10-19 2022-09-09 三一重机有限公司 一种挖掘机和挖掘机的控制方法

Also Published As

Publication number Publication date
EP4230803A1 (de) 2023-08-23
WO2022083186A1 (zh) 2022-04-28
EP4230803A4 (de) 2024-03-20
US20240218636A1 (en) 2024-07-04
CN112281940A (zh) 2021-01-29

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