公开(公告)号：US10094216B2

公开(公告)日：2018-10-09

申请号：US15217743

申请日：2016-07-22

申请人： Caterpillar Inc.

发明人： Carl J. Moberg ,  Thomas Temmann ,  Frank Kuehnemund ,  Martin Teiner ,  Paul Kornev ,  Rene Bilsing ,  Brent Duppong ,  Brian D. Rockwood ,  Bjoern-Andre Huehn ,  Oliver Kortmann

IPC分类号： E21C35/08 ,  E21C25/16 ,  E21C41/16

摘要： A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

公开(公告)号：US20180171799A1

公开(公告)日：2018-06-21

申请号：US15380772

申请日：2016-12-15

申请人： Caterpillar Inc.

发明人： Carl Moberg ,  Brent Michael Duppong ,  Justin Philip Pahl ,  Matthew Thomas Palmer ,  Frank Karl Kuehnemund ,  Thomas Temmann

IPC分类号： E21D9/10

CPC分类号： E21D9/1093 ,  E21C27/24 ,  E21D9/1006 ,  E21D9/102 ,  E21D9/1086

摘要： A control system may be provided for operating a machine having a rotary cutting head. The control system may include a wrist capable of rotating about a wrist axis, a gear mechanism capable of driving rotation of the wrist. A cutting head may be attached to the wrist and capable of rotating about a cutter axis that is substantially perpendicular to the wrist axis. The control system may also include primary and redundant angular sensors capable of generating signals indicative of angular orientations of the wrist. The control system may additionally include a controller, capable of controlling operation of the wrist and the cutting head, comparing an actual angular orientation of the wrist to a target angular orientation, as indicated by the primary and secondary signals, and selectively inhibiting the cutting head from operating when the actual angular orientation differs from the target angular orientation by an operation threshold.

公开(公告)号：US20180252103A1

公开(公告)日：2018-09-06

申请号：US15449408

申请日：2017-03-03

申请人： Caterpillar Inc. ,  Caterpillar Global Mining Europe GmbH

发明人： Carl Moberg ,  Paul Kornev ,  Martin Teiner ,  Thomas Temmann

IPC分类号： E21C35/04 ,  E21C27/36 ,  E21C41/16 ,  E21C35/20

CPC分类号： E21C35/04 ,  E21C27/36 ,  E21C35/20 ,  E21C41/16

摘要： A machine includes a gathering head and a cutting implement, with the gathering head and cutting implement having overlapping ranges of motion such that adjusting of the gathering head and cutting implement is coordinated to avoid collision. A positioning system of the machine includes a control device configured to prevent miscoordination of the gathering head and cutting implement by controlling a position of the gathering head based upon a state of progress of the cutting implement in a cutting cycle.

公开(公告)号：US20180171798A1

公开(公告)日：2018-06-21

申请号：US15380858

申请日：2016-12-15

申请人： Caterpillar Inc.

发明人： Carl Moberg ,  Brent Michael Duppong ,  Frank Karl Kuehnemund ,  Thomas Temmann ,  Martin Teiner ,  Paul Kornev

IPC分类号： E21D9/10 ,  E21C35/08 ,  E21C35/24 ,  E21C41/16

CPC分类号： E21D9/102 ,  E21C35/08 ,  E21C35/24 ,  E21C41/16 ,  E21D9/1026

摘要： A control system may be provided for a machine having a swivel chair, a positioning member attached to the swivel chair, a wrist attached to the positioning member, and a cutting head. The control system may include at least one actuator capable of extending and swinging the swivel chair. The control system may also include a lift actuator capable of pivoting the positioning member, a gear mechanism capable of rotating the wrist, and a controller in communication with the swivel chair actuator, the lift actuator, and the wrist actuator. The controller may be capable of determining an excavation pass having a trajectory made from sequential vector paths, and directing the swivel chair actuator, the lift actuator, and the wrist actuator to selectively move the cutting head such that a rotation axis of the cutting head follows the trajectory through each vector path of the excavation pass to form a structure.

公开(公告)号：US20180023390A1

公开(公告)日：2018-01-25

申请号：US15217743

申请日：2016-07-22

申请人： Caterpillar Inc.

发明人： Carl J. Moberg ,  Thomas Temmann ,  Frank Kuehnemund ,  Martin Teiner ,  Paul Kornev ,  Rene Bilsing ,  Brent Duppong ,  Brian D. Rockwood ,  Bjoern-Andre Huehn ,  Oliver Kortmann

IPC分类号： E21C35/08 ,  E21C41/16 ,  E21C25/16

CPC分类号： E21C35/08 ,  E21C25/16 ,  E21C27/24 ,  E21C41/16 ,  E21D9/1026

摘要： A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.