6712results about "Soil-shifting machines/dredgers" patented technology

In a lithographic apparatus, a localized area of the substrate surface under a projection system is immersed in liquid. The height of a liquid supply system above the surface of the substrate can be varied using actuators. A control system uses feedforward or feedback control with input of the surface height of the substrate to maintain the liquid supply system at a predetermined height above the surface of the substrate.

An apparatus and method is disclosed for a wireless remotely operable unmanned compact vehicle platform for use in land management comprising a frame and providing a pair of ground engageable endless drive tracks powered by a hydraulic fluid power source. The vehicle supports working attachments on the front end by utilizing a universal working attachment coupling interface carried on a pair of loader boom structures, and the vehicle supports working attachments on the rear end by utilizing a three point hitch apparatus. Working attachments coupled to the vehicle may be powered by the hydraulic fluid power source carried on the frame. A wireless remote control apparatus allows an operator to control the vehicle at a safe distance and a wireless video system allows an operator to control the vehicle accurately. A system of autonomous operation is integrated with the vehicle for travel in complex, unstructured environments. The claimed invention also utilizes a method of operation for the wirelessly operable unmanned vehicle control system which comprises a system wherein one or more mobile transmitters can be used to control one or more vehicles individually.

An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope.

A worksite mapping system is disclosed. The worksite mapping system has a receiving module configured to receive a position and a characteristic of an object at a worksite, a positioning device configured to determine a position of a mobile machine at the worksite, and a controller in communication with the receiving module and the positioning device. The controller is configured to generate an electronic map of the worksite, and an electronic representation of the object on the electronic map based on the received position. The controller is further configured to generate at least one boundary zone around the object based on the received characteristic, and an electronic representation of the mobile machine on the electronic map based on the determined position. The controller is further configured to initiate a collision avoidance strategy in response to a mobile machine entering the at least one boundary zone.

The present invention relates to a track control system for hydraulic excavator working equipment and its method. Said system includes the following main components: DSP, moving arm angle detection mechanism, bucket arm angle detection mechanism, bucket angle detection mechanism, hydraulic cylinder, engine, working equipment and its driving cylinder and CAN bus. Said invention also provides the concrete steps of said control method. It can implement automatic control of hydraulic excavator working equipment, and can accurately and stably control the position and attitute of said hydraulic excavator working equipment so as to raise its working efficiency.

In order to provide a construction machine by which energy regeneration can be performed reliably and battery and electrical power generator can be miniaturized, a construction machine has an engine, a hydraulic pump driven by the engine, and an actuator driven by discharge oil from the hydraulic pump, and a regenerative motor which rotates by return oil from the actuator is connected to the rotation shaft of the hydraulic pump. The hydraulic pump is driven by the engine and the regenerative motor when drive torque necessary in the hydraulic pump is larger than output torque generated by operation of the regenerative motor. Meanwhile, the hydraulic pump is driven by the regenerative motor when the drive torque of the hydraulic pump is smaller than output torque of the regenerative motor, and an electrical power generator connected to the rotation shaft of the hydraulic pump is operated to generate electricity by excess torque which has not been energy-regenerated in the hydraulic pump so that this generated electrical power is charged in a battery.

The invention is intended to provide an excavation teaching device for a construction machine which can realize easy confirmation of a proper target excavation surface and increase the working efficiency during excavation even in work of forming the face of slope in complicated three-dimensional landforms.

A display unit (46) displays, as an image in a first screen area (46a), a plurality of small plane surfaces G constituting a three-dimensional target landform and illustrations of a body S of the construction machine and a bucket B as an excavating tool at a fore end of an operating mechanism. Also, the display unit discriminatively displays in the first screen area, as a target excavation surface TG defined by a small plane surface along which excavation is feasible, one of the plurality of small plane surfaces constituting the three-dimensional target landform, which satisfies that the direction normal to the one small plane surface is parallel within a range of allowable error to a plane in which the operating mechanism operates. A panel computer (45) displays, on the display unit (46), a line resulting from projecting a line normal to the target excavation surface, selected from among the plurality of, small plane surfaces constituting the three-dimensional target landform, and the direction in which the operating mechanism of the construction machine operates with current orientation thereof, as well as relative positional relationships among the body of the construction machine, the position of the operating mechanism and the target landform.

An energy recovery system for a machine is disclosed. The energy recovery system may have a pump configured to provide a flow of pressurized fluid. The energy recovery system may also have a first fluid actuator with a first chamber and a second chamber and being configured to receive the pressurized fluid, a second fluid actuator with a third chamber and a fourth chamber and being configured to receive the pressurized fluid, and a first valve fluidly connected between the pump and the first and second actuators. The energy recovery system may additionally include an isolation unit with a first selectively restrictable passageway fluidly connecting the first chamber, the third chamber, and a first outlet of the first valve, and a second selectively restrictable passageway fluidly connecting the second chamber, the fourth chamber, and a second outlet of the first valve, as well as an energy recovery unit in fluid communication with the isolation unit. The isolation unit may be configured to direct a flow of pressurized fluid from the second actuator to the energy recovery unit. The energy recovery unit may be configured to convert the flow of pressurized fluid to a first mechanical power output.

The satellite navigational system integrated with the tilt measurement system capable of precise measurement of the actual coordinates of the mobile unit that moves along a track with variable tilt is disclosed. Using the integrated satellite/tilt measurement system, a plurality of 3 dimensional lines separated by optimal swathing offset vector can be formed and followed in order to provide field guidance during a precision farming operation across variably inclined terrain.

A locking arrangement (1) for releasably locking a wear tooth (2) to a tooth adaptor (3); the wear tooth (2) being defined by a top wall, a bottom wall and a pair of opposed sidewalls, each sidewall having an elongate slot (5) therethrough; the tooth adaptor (3) being of generally complementary shape to receive said wear tooth (2), and having an elongate cavity (6) on each opposed side thereof adapted to substantially align with a respective slot (5) of said wear tooth (2) when said wear tooth is installed on said tooth adaptor; said slot having a first inner surface, the locking arrangement including a retaining means (4) to be installed in each aligned cavity and slot to releasably lock said tooth (2) to said adaptor (3), the retaining means (4) including a pair of engaging retaining pieces (7, 8) adapted to fit in end-abutting relationship when in said locked position, whereby, an arcuate force is applied to at least one of said pieces (7, 8) to release said pieces from said locked position.

An autonomous dispatch system links positioning-system units mounted on mining and haulage equipment to a computerized mine development plan for ascertaining the origin of mined material and directing its disposition according to a predetermined downstream-processing plan. A destination signal is automatically communicated to the haulage vehicle, which is then autonomously guided to the correct destination and tracked until the load is released after arrival. If the haulage vehicle is manually operated, the destination signal and the vehicle's progress toward it are preferably also displayed on a monitor for the operator's information and use. The system may further include hardware for blocking the release of a load from the haulage vehicle until and unless the vehicle has reached the prescribed destination.

A steering system is provided for a work machine. The steering system may include at least one hand-operated work implement control device and a steering mechanism configured to control a direction of travel of the work machine. The system may also include a first steering device operatively coupled to the steering mechanism and configured to control at least one component of the steering mechanism based on operator input. The system may further include a second steering device mounted on the work implement control device. The second steering device may be configured to be selectively operatively coupled to the steering mechanism to thereby control a direction of travel of the work machine based on lateral movement of the second steering device relative to the work implement control device.

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

An excavator 3D integrated laser and radio positioning guidance system (Ex_3D_ILRPGS) comprising: a mobile radio positioning system receiver configured to obtain 2D horizontal coordinates of the excavator, a bucket-to-machine-body positioning system configured to obtain coordinates of the boom, the stick and the bucket of the excavator, a laser detector configured to receive at least one laser beam and configured to provide a local vertical coordinate with a substantially high accuracy, and an on-board navigational system configured to receive and to integrate the 2D horizontal coordinates of the excavator obtained by the mobile radio positioning system receiver, the coordinates of the boom, the stick and the bucket of the excavator obtained by the bucket-to-machine-body positioning system, and the local vertical coordinate obtained by the laser detector, and configured to guide the cutting edge of the bucket of the excavator with substantially high vertical accuracy.

In a work vehicle, a second processing device, disposed over a hydraulic pump, is configured to process the hydraulic gas from an engine. A first processing device is disposed closer to the engine than the second processing device is Further, the first processing device is positioned higher the second processing device. The first processing device is partially overlapped with the second processing device in a top plan view.

A hydraulic system has a valve assembly with two workports coupled to chambers of first and second cylinders which are connected mechanically in parallel to a machine component. A separation control valve is connected between first chambers of both cylinders, and a shunt control valve is connected between the workports. A recovery control valve couples an accumulator to the first chamber of the second cylinder. Opening and closing the valves in different combinations routes fluid from one or both cylinders into the accumulator where the fluid is stored under pressure, and thereafter enables stored fluid to be used to power one or both cylinders. The shunt control valve is used to route fluid exhausting from one chamber of each cylinder to the other chambers of those cylinders. Thus the hydraulic system recovers and reuses energy in various manners.

A driving device of a work machine includes a power generator adapted to be driven by an engine, and a power storage device for storing the electric power generated by the power generator. Electric motors and a motor generator, both adapted to be operated by electric power supplied from either one or both of the power generator and the power storage device respectively drive pumps and a pump motor. Supporting circuits for feeding supporting hydraulic oil are provided between a plurality of driving circuits that drive a plurality of hydraulic actuators of a working unit by oil hydraulics generated by the pumps and the pump motor. By enabling the plurality of driving circuits to effectively share excess energy, the invention makes possible a compact construction of a driving device of a work machine.

Two GPS units are mounted at two separate points on the body of a work machine to periodically measure their three-dimensional coordinates with respect to a chosen reference system. As soon as two sets of measurements are recorded, a plane is fitted through the four points so collected and it is used to determined the current orientation of the machine. As each additional set of position data is collected at predetermined intervals for the two points on the machine, a new plane equation is calculated to update the orientation of the machine based on a predetermined number of prior measurements. Standard-deviation analysis is used to check the validity of each plane calculation and the process is restarted when the deviation is found to be greater than an acceptable parameter. Based on the current coordinates of the two GPS antennae, the current orientation plane so calculated, and the known geometry of the work machine, the current position of its critical components can be determined as well irrespective of the specific motion pattern of the machine.

A hybrid machine with a hydraulic drive device having hydraulic actuators allowed to operate against and by external loads is provided. To this end, the hybrid machine comprises hydraulic cylinders (7), first hydraulic pumps (P1) connected, with closed circuits, to head side pressure receiving chambers (7S) and bottom side pressure receiving chambers (7L) of the hydraulic cylinders (7), and second hydraulic pumps (P2) connected, with open circuits, to the bottom side pressure receiving chambers (7L) and an external oil chamber (10), wherein the first and second hydraulic pumps (P1, P2) are connected to electric motors (M) so as to be driven.

Upon displaying, on a monitor, camera images obtained by cameras mounted on a vehicle front section and vehicle rear section, the vehicle rear section with an operator's cab mounted thereon is displayed as a fixed character image while the vehicle front section is displayed as a movable character image bendable relative to the fixed character image. Around a vehicle image displayed as described above, a composite bird's eye view image, which has been composed from individual bird's eye view images obtained by subjecting the camera images to coordinate transformation such that upper viewpoint images are formed is displayed, so that the individual bird's eye view images acquired from the cameras mounted on the vehicle front section are changed in display range when the vehicle front section and vehicle rear section are bent about a pivot pin.

A back camera 13B, left-side and right-side cameras 13L and 13R, and a front camera 13F are provided on an upper swiveling body 3. By converting viewpoints of camera images obtained by the cameras 13B, 13L, and 13R, individual over view images are generated and are combined with one another to form a surveillance panorama image disposed around a display character 21. The surveillance panorama image is displayed, together with a camera image, which is an image obtained by the front camera 13F, in an image display section 20a of a monitor 20. By appropriately operating switches SW1 through SW5 provided in an operation panel section 20b, a camera image which has not been converted into one of the individual over view images is displayed in an enlarged state.

A method and apparatus for enhancing the safety in a work zone surrounding operating equipment including identifying workers within said work zone and warning unauthorized workers within said work zone.

According to certain aspects of the invention there is provided a method and system for autonomous operation of an earth moving machine (EMM), configured for shoving matter, the EMM comprising at least one implement. Based on at least the mission objective and the mapping data of the mission area, the mission area is divided into segments, each segment being associated with a disposal point. An implement trajectory is calculated in respect of each of the segments such that matter is accumulated by the at least one implement along the segment as the EMM progresses and the accumulated matter is disposed upon arrival at the disposal point, without exhausting the EMM shoving capabilities.

A monitoring system is provided, which may include a structural component configured to undergo mechanical loading and a wireless node attached to the structural component. The node may include a strain sensing device configured to measure strain experienced by the structural component at the location of the node. The node may also include a processor configured to predict, based on the strain measurements, fatigue life of the structural component.

A method is provided for controlling a work machine during operation in a repeated work cycle including controlling transfer of power to and from an energy storage arrangement in the work machine according to a predetermined control strategy, which is adapted for the characteristics of the work cycle.

A wear assembly for protecting the digging edge of a bucket which includes a wear member having a lock-receiving hole in one leg and an upstanding rib along the other leg. The rib extends axially along the leg to be received into a slot in a base fixed to the lip of the bucket. The rib has a rear end that engages the base to hold the rear end of the rib between the base and the lip. The wear member further includes an interior surface that has a front portion formed with a curve to wrap around the digging edge and a plurality of stabilizing surfaces. The lock has a latch and a threaded wedge received into the passage to move the latch to its holding position to maintain the lock in the assembly during use.

The present invention provides a wear assembly (1) including a wear member (10, 100, 110) to be mounted to an implement or apparatus to be protected, a base member (30, 300, 330) to be attached to the implement or apparatus, a lock member (20, 21) to lock said wear member (10, 100, 110) to said base member (30, 300, 330), said wear member (10, 100, 110) including or receiving said lock member (20, 21) and said base (30, 300, 330) including at least one aperture (33) in which is located a releasable retaining means (40) to releasably hold a portion (22) of said lock member (20, 21). The wear member can be: shroud; a tile shroud; a tooth; a replaceable tip. The base member can be: a base for a shroud, a base for a tile shroud; an adaptor for a tooth; an adaptor for a replaceable tip. The implement or apparatus can be: an excavation bucket; a grader blade; a chute; an excavation bucket edge; an excavation bucket surface; dump or haul truck load carrier; an ore or mineral handling apparatus.

The present invention relates to a method for attenuating the motion of hydraulic cylinders of mobile work machinery, in particular of hydraulic excavators, in which prior to the hydraulic cylinder reaching one of the limits of travel, its motion speed is reduced, and the hydraulic cylinder is moved to the respective limit of travel at reduced speed; wherein for the purpose of reducing the speed, the inflow to, and/or the outflow from, the hydraulic cylinder are/is throttled by a flow control device. According to the invention, the method is characterized by, prior to the respective limit of travel being reached, the motion speed of the hydraulic cylinder is registered, and the point in time when throttling commences is changed depending on the registered motion speed. Furthermore, the present invention relates to a device for attenuating the motion of hydraulic cylinders of mobile work machinery, in particular of hydraulic excavators, a position registering device for registering a preliminary limit position of the hydraulic cylinder, a control device for throttling the inflow and/or outflow of the hydraulic cylinder, and a control device for controlling the flow control device when the preliminary limit position is reached. According the invention, the device has a speed registering device for registering the motion speed of the hydraulic cylinder when the preliminary limit position is reached, and the control device has a delay device for delaying driving the flow control device, depending on the recorded motion speed.

A system and method to diagnose the operational health of a hydraulic accumulator are provided. The system can include a hydraulic accumulator selectively coupled to a hydraulic actuator, such as a swing motor. The accumulator can be charged by movement of the actuator. A pressure sensor can be associated with the accumulator to determine an accumulator pressure. A controller can be connected to the pressure sensor. The controller can determine a charge curve based on a relationship between an actuator operational parameter associated with the actuator movement and the accumulator pressure. The controller can compare the charge curve to a previously defined charge curve or range to determine an error between the charge curve and the previously defined charge curve or range. The degree of the error can be associated with the operational health of the accumulator, and if too large, the operator may be notified of the status.

A work vehicle having a hydrostatic drive system provides for the recovery and reuse of the vehicle's kinetic energy by conducting pressurized hydraulic fluid out of the hydrostatic drive system into an accumulator during vehicle deceleration, and conducting the pressurized fluid back into the drive system during vehicle acceleration to assist the vehicle's engine in accelerating the vehicle.