Search

JP-2026075982-A - Excavator and control device

JP2026075982AJP 2026075982 AJP2026075982 AJP 2026075982AJP-2026075982-A

Abstract

[Challenge] To improve the efficiency of construction work. [Solution] The invention comprises a self-propelled lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an arm rotatably attached to a boom rotatably attached to the upper rotating body, a bucket rotatably attached to the arm, a tilt mechanism for tilting the bucket relative to the arm, a rotation mechanism for rotating the bucket relative to the arm, and a control device that enables simultaneous operation of the tilt of the bucket by the tilt mechanism and the rotation of the bucket by the rotation mechanism so that the target line passing through a predetermined position of the bucket is parallel to the excavation target surface. [Selection Diagram] Figure 3

Inventors

  • 三好 圭一朗

Assignees

  • 住友重機械工業株式会社

Dates

Publication Date
20260511
Application Date
20241023

Claims (7)

  1. A self-propelled lower vehicle, An upper rotating body is provided on the lower traveling body so as to be rotatable, An arm rotatably attached to a boom rotatably attached to the upper rotating body, A bucket rotatably attached to the aforementioned arm, A tilt mechanism that tilts the bucket relative to the arm, A rotating mechanism that rotates the bucket relative to the arm, An excavator having a control device that enables simultaneous operation of the tilt of the bucket by the tilt mechanism and the rotation of the bucket by the rotation mechanism, such that the target line passing through a predetermined position of the bucket is parallel to the excavation target surface.
  2. The shovel according to claim 1, wherein the aforementioned target line is the bucket line along the tip of the bucket.
  3. The excavator according to claim 1, wherein the control device operates the rotation mechanism to rotate the bucket so that the target line of the bucket becomes parallel to the excavation target surface when the tilt of the bucket by the tilt mechanism does not result in the target line of the bucket becoming parallel to the excavation target surface.
  4. The excavator according to claim 1, wherein the control device enables simultaneous operation of the tilt mechanism for the bucket and the rotation mechanism for the bucket when predetermined conditions are met.
  5. The excavator according to claim 4, wherein the control device disables the rotation of the bucket by the rotation mechanism when the predetermined conditions are no longer met.
  6. An arm rotatably attached to a boom that is rotatably attached to a slewing body, A bucket rotatably attached to the aforementioned arm, In an excavator having a control device for controlling the movement of the boom, arm, and bucket, The control device, A first mode in which the angle between the arm and the bucket is kept constant, A second mode in which the angle between the excavation target surface and the bottom surface of the bucket is kept constant, A shovel comprising a third mode in which the target line passing through a predetermined position of the bucket is made parallel to the excavation target surface.
  7. An arm rotatably attached to a boom that is rotatably attached to a slewing body, A bucket rotatably attached to the aforementioned arm, A tilt mechanism that tilts the bucket relative to the arm, A control device for an excavator having a rotation mechanism for rotating the bucket relative to the arm, A control device that enables simultaneous operation of the tilt of the bucket by the tilt mechanism and the rotation of the bucket by the rotation mechanism.

Description

This disclosure relates to an excavator and a control device. In recent years, excavators equipped with a tilt rotator mechanism have become known (see, for example, Patent Document 1). International Publication No. 2016/158779 This is a side view of an excavator according to one embodiment of the present invention.Figure 1 is a block diagram showing the configuration of the excavator's drive system.This is a block diagram showing the functional configuration of the controller.This is a diagram illustrating the operation of the bucket.This is a flowchart illustrating the process of enabling/disabling bucket control.This flowchart explains the process of rotating the bucket to align the bucket line, which follows the tip of the bucket, with the excavation target surface.This figure shows an example of a situation where, even when the bucket 6 is tilted, the bucket line along the tip of the bucket cannot be made parallel to the excavation target surface.This figure shows an example of a situation where the bucket 6 is rotated so that the bucket line along the tip of the bucket is parallel to the excavation target surface.This is a flowchart illustrating the process of deactivating control of the enabled bucket 6.This diagram shows an example of a system in which an excavator is remotely controlled. Embodiments of the present invention will be described below with reference to the drawings. [Shovel configuration] Figure 1 is a side view of an excavator according to one embodiment. As shown in Figure 1, the upper rotating body 3 is mounted on the lower traveling body 1 of the shovel 200 via a slewing mechanism 2. A boom 4 is rotatably attached to the upper rotating body 3. The lower traveling body 1 is self-propelled. An arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6, serving as an end attachment, is rotatably attached to the tip of the arm 5. A slope bucket, dredging bucket, etc., may be used as the end attachment. The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are sometimes referred to as "attitude sensors." The bucket cylinder 9 is an example of a rotation mechanism in this invention. Furthermore, the shovel 200 is equipped with a tilt rotator 20 between the arm 5 and the bucket 6. The tilt rotator 20 allows the bucket 6 to be rotated horizontally (width direction and yaw direction; hereinafter referred to as the tilt angle) with the center of the arm 5 as the pivot point, and also allows the angle around the axis of the base end of the bucket 6 (roll direction; hereinafter referred to as the roll angle). Therefore, the tilt rotator 20 includes a tilt mechanism 23 provided on the arm 5 side and a rotator mechanism 22 provided between the tilt mechanism 23 and the bucket 6. The tilt mechanism 23 includes a base 211 fixed to the arm 5, a tilt shaft 212 connected to the base 211, a support plate 213 pivotably supported relative to the tilt shaft 212, and a tilt actuator 214 that changes the tilt angle of the support plate 213. The tilt actuator 214 is, for example, composed of a pair of cylinder mechanisms with the tilt shaft 212 sandwiched between them. The rotator mechanism 22 includes a rotator motor 221 fixed to the support plate 213 of the tilt mechanism 23, a rotating shaft 222 rotated by the rotator motor 221, and a connecting portion 223 connecting the rotating shaft 222 and the bucket 6. The rotating shaft 222 protrudes a short distance from the center of the support plate 213 and connects to the connecting portion 223. The connecting portion 223 fixes the center of the base end of the bucket 6, and the roll angle of the bucket 6 is adjusted by rotating the bucket 6 around the central axis of the base end. The excavator 200 rotates the entire tilt rotator 20 in the pitch direction as the arm cylinder 8 extends and retracts, thereby integrally changing the bucket angle (pitch angle) of the entire tilt rotator 20 and the bucket 6. Furthermore, the excavator 200 rotates the support plate 213 in the left-right direction relative to the base 211 as the tilt actuator 214 operates, thereby changing the tilt angle (yaw angle) of the bucket 6. For example, the tilt angle of the bucket 6 is adjusted within a range of 45° to the right to 45° to the left. Additionally, the working machine 100 rotates the connecting part 223 and the bucket 6 around an axis as the rotate motor 221 operates, thereby changing the roll angle of the bucket 6. For example, the roll angle of the bucket 6 is adjusted within a range of 360° relative to the support plate 213. Furthermore, the tilt mechanism 23 includes a bucket tilt angl