In the disclosed solution, a boom assembly (14) of a work machine (1) is controlled by tip control. In tip control, a control command is given to a tip of a boom assembly (14), converted into control commands for individual actuators of the boom assembly (14). In the disclosed solution, a variable related to a load and its position at the tip of the boom assembly (14) is defined, and the variable in question related to the load and its position at the tip of the boom assembly (14) is taken into account in the control command for the actuator.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body, a cabin mounted on the upper turning body, and a protection member configured to protect the cabin. The protection member is provided on the attachment or the upper turning body at a position corresponding to the front of the cabin.

A mobile apparatus includes a main frame with displacing means, a rotating sub-frame rotatably connected to the main frame such that the sub-frame is rotatable around a rotation axis relative to the main frame, and a working arm connected to the sub-frame. The sub-frame includes a standing or seating position for an operator. The working arm includes at least two arm segments, and a first arm segment of the at least two arm segments is pivotally connected to the sub-frame around a pivot point located at a distance of the rotation axis. The first arm segment and the sub-frame are configured such that the first arm segment can be moved rearwards onto the sub-frame in the direction of the rotation axis to a rearward position in which the first segment extends over the rotation axis.

A motor-generator (27) is connected mechanically to an engine (21) and a hydraulic pump (23). The hydraulic pump (23) delivers pressurized oil to cylinders (12D) to (12F) in a working mechanism (12), a traveling hydraulic motor (25) and a revolving hydraulic motor (26). The revolving hydraulic motor (26) drives a revolving device (3) in cooperation with a revolving electric motor (33). An HCU (36) reduces outputs of the revolving electric motor (33), the revolving hydraulic motor (26), the boom cylinder (12D) and the like such that a ratio of a revolving speed of an upper revolving structure (4) and a movement speed of raising a boom (12A) is held to a ratio in a normal mode (NMODE) at the time of performing a compound movement of a revolving movement and a boom-raising movement in a low speed mode (LSMODE).

An excavator includes at least one gyro sensor for sensing the incline of equipment; a swing motor for rotating an upper body of the excavator; a first pressure sensor for sensing an operating pressure value applied to the swing motor; a swing joystick for driving the swing motor; a second pressure sensor for sensing a manipulation value inputted into the swing joystick; and a controller, wherein the controller receives pieces of information sensed by the gym sensors, the first pressure sensor, and the second pressure sensor, and detects the operating pressure value of the swing motor, sensed through the first pressure sensor, so as to notify a worker of the time at which lubricating oil is added if a maximum manipulation value is inputted into the swing joystick for a minimum measuring time or more in a swing friction force measurement mode.

A valve system, including first, second, third and fourth ports, a first flow path connecting the first and second ports, a second flow path connecting the third and fourth ports, with valves connected in the first and second flow paths, and energizable to block the same. A third flow path connects the first and second ports and a fourth flow path connects the third and fourth ports. The third and fourth flow paths are more restricted than the respective first and second flow paths. A fifth flow path connects the first and fourth ports and a sixth flow path connects the second and third ports. When the third and fourth flow paths are open, the first, second, fifth, and sixth flow paths are blocked. When the first and second flow paths are open, the third, fourth, fifth, and sixth flow paths are blocked. When the fifth and sixth flow paths are open, the first, second, third, and fourth, flow paths are blocked.

A method and apparatus for digging and removing excavated material provides a mobile device, having a movable or self-propelled chassis, and an elongated, preferably articulated boom with a free end portion having an excavating implement (e.g., digging, excavating or jetting tool). The boom has at least three sections that are foldable to a storage position on the chassis wherein one boom section stacks upon or is aligned with another boom section. The vacuum line is supported upon the boom, extending along the boom and above the earth's surface, wherein the vacuum line extends between the free end portion of the boom and the chassis. The boom attaches to the chassis at a base. The excavated material is vacuumed with the vacuum line into a collection vessel or tank that can be a part of a wheeled vehicle. A separate vacuum truck can provide a vacuum to a selected collection tank.

Methods and systems for operating an industrial machine. One system includes a controller that includes an electronic processor. The electronic processor is configured to calculate an eccentricity of a center of gravity of the industrial machine with respect to a center of a bearing propelling the industrial machine and calculate a ground pressure associated with the bearing based on the eccentricity of the center of gravity. The electronic processor is also configured to set a maximum torque applied by an actuator included in the industrial machine to a value less than an available maximum torque based on the eccentricity of the center of gravity and the ground pressure.

A track chain assembly includes a first track pad including a first pair of lugs defining a gap therebetween, and a second track pad including an intermediate lug disposed in the gap. The first pair of lugs and the intermediate lug each define a concentric bore, defining an axis of rotation for a pinned joint of the track chain assembly, and the concentric bore of one of the first pair of lugs is in communication with the gap with a first blend disposed axially between the gap and the concentric bore.

A method calculates an excavation volume that was excavated by a construction machine using a tool. A motion trajectory of the tool over time is determined using one or more of the following sensors: inertial measurement unit, angle sensors, and linear sensors. At least part of the motion trajectory is classified based on machine load data as an excavation trajectory during which excavation occurs. The excavation volume is calculated using the excavation trajectory and dimensions of the tool.