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Work machine, work machine control method, program, and recording medium for same

A technology for working machines and working tools, which is applied in the direction of earth movers/shovels, mechanically driven excavators/dredgers, construction, etc., which can solve the problems of inability to approach the stick and bucket, and the turning radius becomes larger.

Active Publication Date: 2020-08-14
KUBOTA LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, there is a problem that depending on the posture of the boom, the arm and the bucket cannot be brought close enough to the boom side, and the minimum turning radius may become large.

Method used

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  • Work machine, work machine control method, program, and recording medium for same
  • Work machine, work machine control method, program, and recording medium for same
  • Work machine, work machine control method, program, and recording medium for same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0024] One embodiment of the present invention will be described.

[0025] (1-1. Overall structure of working machine 1)

[0026] figure 1 It is a schematic side view of the work machine 1 of this embodiment. In this embodiment, a backhoe as a rotary working machine is exemplified as the working machine 1 .

[0027] Such as figure 1 As shown, the working machine 1 includes a machine body (turntable) 2 , a traveling device 3 , and a working device 4 . A cab 5 is mounted on the body 2 . A driver's seat (seat) 6 on which a driver (operator) sits is provided inside the cab 5 .

[0028] In the present embodiment, the front side ( figure 1 The direction of the arrow A1) is set to the front, and the rear side of the driver ( figure 1 The arrow A2 direction of ) is described as the rear, the driver's left side as the left side, and the driver's right side as the right side. In addition, if figure 1 As shown, the horizontal direction, which is the direction perpendicular to th...

Embodiment approach 2

[0083] Other embodiments of the present invention will be described. In addition, for convenience of description, components having the same functions as those in Embodiment 1 are given the same reference numerals, and description thereof will be omitted.

[0084] In Embodiment 1, an example in which the strokeable range of the arm cylinder 42 is set according to the rotational position of the boom 31 has been described. In contrast, in the present embodiment, the strokeable range of the arm cylinder 42 is set based on the rotational position of the boom 31 and the rotational position of the bucket 51 .

[0085] (2-1. Initial setting of the strokeable range of the arm cylinder)

[0086] First, the arm control unit 62 based on the detection result of the swing angle θ2 (rotation position) of the boom 31 by the boom angle sensor 91 , the detection result of the swing angle θ3 (rotation position) of the arm 41 by the arm angle sensor 92 and Work tool angle sensor 93 calculates ...

Embodiment approach 3

[0098] Another embodiment of the present invention will be described. It should be noted that, for convenience of description, components having the same functions as those in the above-mentioned embodiment are given the same reference numerals, and description thereof will be omitted.

[0099] In Embodiment 1, an example was described in which the strokeable range of the arm cylinder 42 is set according to the rotational position of the boom 31 regardless of the rotational position of the bucket 51 . On the other hand, in this embodiment, based on the rotational position of the boom 31 and the rotational position of the bucket 51 , it is switched whether to set the strokeable range of the arm cylinder 42 according to the rotational position of the boom 31 or whether Regardless of the rotational position of the boom 31 , the strokeable range of the arm cylinder 42 is made constant.

[0100] First, the arm control unit 62 judges that the current rotational position of the buck...

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PUM

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Abstract

The purpose of the invention is to cause an arm (41) and a work tool to be brought sufficiently near a boom (31) regardless of the boom (31) orientation. A work machine (1) comprises a control device(60) that sets a stroke range for an arm cylinder (42) to the side in which the arm (41) approaches the boom (31) when the boom (31) is turned in a direction away from a boom reference position (S1) depending on the boom (31) turning position such that the shortest trajectory distance (L2), which is the shortest distance between a turning trajectory (M3) of the distal end of a bucket (51) and a boom cylinder (32), is kept to a prescribed value even if the boom (31) turning position changes.

Description

technical field [0001] The present invention relates to work machines such as backhoes. Background technique [0002] Conventionally, a work machine disclosed in Patent Document 1 is known. [0003] The working machine disclosed in Patent Document 1 is a backhoe excavator including a body, a boom mounted on the body, an arm swingably supported by the boom, and a bucket provided at the tip of the arm. In this working machine, the boom, the arm, and the bucket can be swung by extending and contracting the boom cylinder, the arm cylinder, and the bucket cylinder, respectively. [0004] prior art literature [0005] patent documents [0006] Patent Document 1: Japanese Laid-open Publication "JP-A-2017-65569" Contents of the invention [0007] (The problem to be solved by the invention) [0008] However, in the conventional work machine disclosed in Patent Document 1, regarding the strokeable range of the arm cylinder, the arm cylinder is set farthest away from the arm on ...

Claims

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Application Information

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IPC IPC(8): E02F3/43E02F9/20
CPCE02F3/435E02F9/2033E02F3/325E02F3/964E02F3/301E02F3/3414E02F3/431E02F3/437
Inventor 堀井启司
Owner KUBOTA LTD
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