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US 12,709,868 B2Granted
Drive control device for construction machine and construction machine provided with same
AssigneeKobelco Construction Machinery Co., Ltd.
InventorMasatoshi Kozui
Life of this patent
Estimating the term…
Abstract
A drive control device for a construction machine includes a controller that controls the movement of a work device. The controller sets a target land leveling angle, which is a target for a land leveling angle in land leveling work performed by the work device, calculates a pivoting member gravity center velocity, which is the velocity of the center of gravity of a pivoting member, calculates a target velocity, which is a target for a velocity of the composite center of gravity of the entire work device by using the pivoting member gravity center velocity and the target land leveling angle, and controls the movement of a boom to make the actual velocity of the composite center of gravity closer to the target velocity.
Claims8
A drive control device for a construction machine including:
- a body;
- and a work device including a boom supported by the body to allow a derricking movement and a pivoting member pivotably supported by the boom,
- the drive control device comprising a controller that controls a movement of the work device,
- wherein the controller:
- sets a target land leveling angle that is a target for a land leveling angle in land leveling work performed by the work device;
- calculates a pivoting member gravity center velocity that is a velocity of a center of gravity of the pivoting member;
- calculates a target velocity that is a target for a velocity of a composite center of gravity of the entire work device by using the pivoting member gravity center velocity and the target land leveling angle;
- and
- controls a movement of the boom to make an actual velocity of the composite center of gravity closer to the target velocity,
- wherein the controller determines a contribution level that the movement of the pivoting member accounts for in the movement of the entire work device in the land leveling work to have a larger value when the target land leveling angle is small than when the target land leveling angle is large, and calculates the target velocity by using the pivoting member gravity center velocity and the contribution level.
7 more elements
A drive control device for a construction machine including:
- a body;
- and a work device including a boom supported by the body to allow a derricking movement and a pivoting member pivotably supported by the boom, the drive control device comprising:
- a controller that controls a movement of the work device,
- wherein the controller:
- sets a target land leveling angle that is a target for a land leveling angle in land leveling work performed by the work device;
- calculates a pivoting member gravity center velocity that is a velocity of a center of gravity of the pivoting member;
- calculates a target velocity that is a target for a velocity of a composite center of gravity of the entire work device by using the pivoting member gravity center velocity and the target land leveling angle;
- and
- controls a movement of the boom to make an actual velocity of the composite center of gravity closer to the target velocity;
- and
- a boom operation device to which a boom operation to move the boom is given,
- wherein the controller calculates a boom correction value to move the boom to make the actual velocity of the composite center of gravity closer to the target velocity, and controls the movement of the boom by using a boom operation value according to an operation amount of the boom operation and the boom correction value, and
- wherein the controller uses the boom operation value and the boom correction value to calculate a control input value for controlling the movement of the boom to make a ratio of the boom correction value to the boom operation value higher when an operating skill of the operator regarding the land leveling work is low as compared with when the operating skill is high.
10 more elements
A construction machine comprising:
- a body;
- a work device including a boom supported by the body to allow a derricking movement and a pivoting member pivotably supported by the boom;
- and
- a drive control device comprising a controller that controls a movement of the work device,
- wherein the controller:
- sets a target land leveling angle that is a target for a land leveling angle in land leveling work performed by the work device;
- calculates a pivoting member gravity center velocity that is a velocity of a center of gravity of the pivoting member;
- calculates a target velocity that is a target for a velocity of a composite center of gravity of the entire work device by using the pivoting member gravity center velocity and the target land leveling angle;
- and
- controls a movement of the boom to make an actual velocity of the composite center of gravity closer to the target velocity, and
- wherein the controller determines a contribution level that the movement of the pivoting member accounts for in the movement of the entire work device in the land leveling work to have a larger value when the target land leveling angle is small than when the target land leveling angle is large, and calculates the target velocity by using the pivoting member gravity center velocity and the contribution level.
8 more elements
Dependencies are inferred from the claim text.