Shovel

Patent metadata

Field	Value
Publication number	US-2020199843-A1
Application number	US-202016809839-A
Country	US
Kind code	A1
Filing date	Mar 5, 2020
Priority date	Sep 8, 2017
Publication date	Jun 25, 2020
Grant date	—

Abstract

A shovel includes a traveling body, a turning body mounted on the traveling body, a work attachment including a boom attached to the turning body, an arm attached to an end of the boom, and an end attachment attached to an end of the arm, and a processor coupled to a memory storing instructions and configured to read and execute the instructions stored in the memory to control a turning operation of the turning body in accordance with a predetermined operation of the work attachment to cause the end attachment to perform the predetermined operation as seen in a plan view in response to an operation by an operator.

First claim

What is claimed is:

1 . A shovel comprising:
a traveling body; a turning body mounted on the traveling body; a work attachment including a boom attached to the turning body, an arm attached to an end of the boom, and an end attachment attached to an end of the arm; and a processor coupled to a memory storing instructions and configured to read and execute the instructions stored in the memory to control a turning operation of the turning body in accordance with a predetermined operation of the work attachment to cause the end attachment to perform the predetermined operation as seen in a plan view in response to an operation by an operator.

2 . The shovel according to claim 1 , wherein the processor is further configured to, in a case where a work range is set, automatically control an operation of the work attachment and the turning body to cause the end attachment to perform predetermined processing to the work range.

3 . The shovel according to claim 1 , wherein the processor is further configured to control the turning operation of the turning body to cause the end attachment to move along a predetermined axis as seen in the plan view in response to an operation by an operator.

4 . The shovel according to claim 1 , wherein the processor is further configured to, in accordance with a movement of the work attachment in a front-rear direction in response to an operation by an operator, control the turning operation of the turning body to cause the end attachment to repeat a reciprocal motion to right and left as seen in the plan view.

5 . The shovel according to claim 1 , wherein the processor is further configured to, in a case where a construction target is a slope, control the turning operation of the turning body to cause the end attachment to perform the predetermined operation as seen in the plan view.

6 . The shovel according to claim 3 , wherein the processor is further configured to acquire position information about the end attachment with reference to the traveling body, and to control the turning operation of the turning body, based on the acquired position information, to cause the end attachment to move along the predetermined axis as seen in the plan view.

7 . The shovel according to claim 6 , further comprising:
a boom angle sensor configured to detect an operation angle of the boom with respect to the turning body; and an arm angle sensor configured to detect an operation angle of the arm relative to the boom, wherein the processor is further configured to acquire the position information, based on detection results of the boom angle sensor and the arm angle sensor.

8 . The shovel according to claim 6 , wherein the processor is further configured to acquire, as the position information, a measured value of a distance from a turning center axis of the turning body to the end attachment and a measured value of a turning angle of the turning body with respect to the traveling body.

9 . The shovel according to claim 8 , wherein the processor is further configured to calculate, based on the acquired measured value of the distance from the turning center axis and the acquired measured value of the turning angle, a target value of the turning angle to cause the end attachment to move along the predetermined axis as seen in the plan view, and control the turning operation of the turning body to cause the turning angle of the turning body to be the target value.

10 . The shovel according to claim 3 , further comprising:
an automatic mode switch configured to receive an input for changing an operation mode of the shovel to an automatic mode in which the processor automatically turns the turning body, wherein the processor is further configured to, in a case where the automatic mode is set based on an operation input to the automatic mode switch, control the turning operation of the turning body to cause the end attachment to move along the predetermined axis as seen in the plan view in response to the operation by the operator.

11 . The shovel according to claim 3 , further comprising:
a teaching mode switch configured to receive an input for changing an operation mode of the shovel to a teaching mode in which the predetermined axis is settable; and the processor is further configured to, in a case where the teaching mode is set based on an operation input to the teaching mode switch, set the predetermined axis in response to the operation by the operator.

12 . The shovel according to claim 11 , wherein the processor is further configured to, in a case where the teaching mode is set based on the operation input to the teaching mode switch, acquire position information about a first position of the end attachment and position information about a second position of the end attachment different from the first position in response to the operation by the operator, and set the predetermined axis, based on the position information about the first position and the second position.

13 . The shovel according to claim 3 , further comprising:
an inclination sensor configured to detect an inclination of a work surface where the shovel is located, wherein the processor is further configured to control, based on a detection result of the inclination sensor, the turning operation of the turning body to cause the end attachment to move along the predetermined axis in the plan view.

14 . The shovel according to claim 1 , further comprising:
an electric motor configured to drive the turning body, wherein the processor is further configured to control the turning operation of the turning body by controlling the electric motor.

Assignees

• Sumitomo Heavy Industries

Inventors

• Ono Tetsuji

Classifications

• E02F9/123

  Drives or control devices specially adapted therefor (E02F9/125 and E02F9/128 take precedence) · CPC title

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F9/2004

  Control mechanisms, e.g. control levers (control levers per se G05G) · CPC title

• E02F9/2037 Primary

  Coordinating the movements of the implement and of the frame · CPC title

• E02F3/437

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title