CN105756111A - Construction machinery - Google Patents

Abstract

The invention provides a construction machinery, which can be used to move an action point of a work piece along a target track. An upper rotary body is provided with a movable arm, and the front end of the movable arm is provided with a bucket rod. The work piece is constituted by the movable arm and the bucket rod. A driving device is used to drive the work piece. An operation device is used by an operator. A sensor is used to detect the position of the action point of the work piece. The driving device can be controlled in a way that the closer the action point to the base part of the movable arm, the higher the rate between the angular speed of the movable arm and the operation amount of the operation device is.

Description

Construction machinery

The application advocates the priority of the Japanese patent application the 2015-000777th based on application on January 6th, 2015.The full content of this Japanese publication is by with reference to being applied in this specification.

Technical field

The present invention relates to a kind of construction machinery operation device being operable to and making swing arm and dipper action.

Background technology

The track control device of a kind of construction machinery is had disclosed in following patent documentation 1.In this track control device, correct swing arm angular velocity and dipper angular velocity with the rotary motion of each swing arm and dipper in the self-braking mode of end of travel of swing arm cylinder and dipper cylinder.Thus, even if also being able to carry out round and smooth continuous print action near swing arm cylinder and dipper cylinder end of travel.

Patent documentation 1: Japanese Unexamined Patent Publication 10-121507 publication

In general hydraulic actuated excavator, determine the angular velocity of swing arm and dipper according to the operation angle of action bars.The translational speed relevant to the above-below direction of the front end of scraper bowl and fore-and-aft direction has nonlinear relation relative to the angular velocity of swing arm and dipper.As an example, the speed of the above-below direction of bucket front-end is defined as mechanicalness speed gain relative to the ratio of the angular velocity of swing arm and dipper.This mechanicalness speed gain depends on the posture of swing arm and dipper.Such as, scraper bowl is closer to the base portion of swing arm, and mechanicalness speed gain more reduces.If mechanicalness speed gain reduces, then scraper bowl becomes slow towards the movement of above-below direction relative to the operational ton of action bars.

Sometimes carry out making the work that scraper bowl moves along the target trajectory in the region different across mechanicalness speed gain.In the region that mechanicalness speed gain is less, if the position of scraper bowl offsets from target trajectory, then the operational ton of the operation being back to target trajectory must be strengthened.So, owing to being used for making the operational ton that scraper bowl returns target trajectory change, therefore, it is difficult to make scraper bowl move along target trajectory.

Summary of the invention

It is an object of the invention to provide the construction machinery that a kind of application point easily making work package moves along target trajectory.

A viewpoint according to the present invention, it is provided that a kind of construction machinery, described construction machinery has:

Work package, comprises the swing arm being installed on upper rotation and is installed on the dipper of front end of described swing arm；

Driving device, drives described work package；

Operation device, the person of being operated by is operated；

Sensor, detects the position of the application point of described work package；And

Control device, in the way of described application point is more high relative to the ratio of the operational ton of described operation device the closer to the angular velocity of the base portion then described swing arm of described swing arm, controls described driving device.

Invention effect

General, when application point is close to the base portion of swing arm, then the angular velocity of swing arm more reduces relative to the ratio (mechanicalness speed gain) of the operational ton of operation device.Controlling driving device in the way of application point is more high closer to the base portion then mechanicalness speed gain of swing arm, therefore operator can not go the reduction of consciousness mechanicalness speed gain to make the application point of work package move.Therefore, it is easy to make application point move along target trajectory.

Accompanying drawing explanation

Fig. 1 is based on the side view of the construction machinery of embodiment.

Fig. 2 is based on the skeleton diagram of the hydraulic control system of the construction machinery of embodiment.

Fig. 3 is the figure for the coordinate system of posture of definition work package and the definition of various parameter are illustrated.

Fig. 4 A indicates that the curve chart of an example of the track of application point AP when usual operator is operated, and Fig. 4 B indicates that the curve chart of the time change of angle, θ 1, and Fig. 4 C indicates that the curve chart of the time change of mechanicalness speed gain.

Fig. 5 A indicates that the curve chart of the fore-and-aft direction position dependence of the mechanicalness speed gain relevant to swing arm, and Fig. 5 B indicates that the curve chart of the above-below direction position dependence of the mechanicalness speed gain relevant to dipper.

Fig. 6 indicates that the block diagram of the function of the work package driving the construction machinery based on embodiment.

Fig. 7 indicates that the block diagram of the function of the work package driving the construction machinery based on other embodiments.

Fig. 8 indicates that the block diagram of the function of the work package driving the construction machinery based on another embodiment.

Fig. 9 indicates that the block diagram of the function of the work package driving the construction machinery based on other embodiments another.

Label declaration

null10-lower running body，11-slew gear，12-upper rotation，13-swing arm，14-swing arm cylinder，15-dipper，16-dipper cylinder，17-scraper bowl，18-scraper bowl cylinder，19、20、21-hydraulic motor，23-work package，25-controls valve，26-hydraulic pump，29-attitude sensor，30-controls device，31-operates device，33-driving device，34-hydraulic circuit，35-power generation arrangement，130-swing arm vector，141、142-fluid pressure line，150-dipper vector，151-application point vector，161、162-fluid pressure line，170-scraper bowl vector，181、182-fluid pressure line，251-direction switch valve，252-flow rate regulating valve，253-regeneration valve，271、272、273、274、275、276-pressure transducer，291、292、293-angular transducer，301-operational ton test section，302-position detection part，303-rate request value correction unit，304-correction coefficient determines portion，305-drive division，306-position-correction coefficient correspondence table，307-discharge-amount correction unit，308-regenerant flow correction unit，309-load detection unit，311-action bars，AP-application point，CFa、CFb-correction coefficient，CV-command value，CVa-dipper command value，CVb-swing arm command value，DQC-discharge-amount command value，L-track，MGa、MGb-mechanicalness speed gain，OA-operational ton，The operational ton of OAa-dipper，The operational ton of OAb-swing arm，RFC-regenerant flow command value，SCa、SCb-control signal，The speed in the z direction of Vz-application point，WCa-dipper angular velocity command value，WCb-swing arm angular velocity command value，WRa-dipper angular velocity required value，WRb-swing arm angular velocity required value，Wa、Wb、Wc-angular velocity.

Detailed description of the invention

Based on the side view of the construction machinery of embodiment shown in Fig. 1.On lower running body 10, upper rotation 12 can be equipped with pivotally via slew gear 11.The work packages such as upper rotation 12 and swing arm 13, dipper 15 and scraper bowl 17 link.Work package is hydraulically driven by hydraulic cylinders such as swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinders 18.The adnexa excavated is constituted by swing arm 13, dipper 15 and scraper bowl 17.It addition, except the adnexa excavated, it is also possible to link the adnexa etc. of broken adnexa, lifting magnet.

Based on the skeleton diagram of the hydraulic control system of the construction machinery of embodiment shown in Fig. 2.Hydraulic circuit supplies working oil to swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18.And, this hydraulic circuit also supplies working oil to hydraulic motor 19,20 and 21.Hydraulic motor 19,20 drives 2 crawler belts of lower running body 10 (Fig. 1) respectively.Hydraulic motor 21 makes upper rotation 12 (Fig. 1) turn round.

Hydraulic circuit comprises hydraulic pump 26 and controls valve 25.By power generation arrangement 35, hydraulic pump 26 is driven.Power generation arrangement 35 uses the internal combustion engines such as such as diesel motor.Hydraulic pump 26 supplies the working oil of high pressure to controlling valve 25.Control valve 25 and comprise direction switch valve 251, flow rate regulating valve 252, regeneration valve 253 etc..Direction switch valve 251 switches the flow direction of the working oil supplied to hydraulic cylinder and hydraulic motor.Flow rate regulating valve 252 adjusts the flow of the working oil supplied to hydraulic cylinder and hydraulic motor.Direction switch valve 251 and flow rate regulating valve 252 are prepared according to each hydraulic cylinder and each hydraulic motor.Regeneration valve 253 makes the oil return that slave arm cylinder 14 or dipper cylinder 16 return in tank when swing arm 13 or dipper 15 decline separately flow into dipper cylinder 16 or swing arm cylinder 14.Thus, working oil increases towards the flow of dipper cylinder 16 or swing arm cylinder 14.

The floor chamber of swing arm cylinder 14 and bar room are connected with controlling valve 25 via fluid pressure line 141 and fluid pressure line 142 respectively.The floor chamber of dipper cylinder 16 and bar room are connected with controlling valve 25 via fluid pressure line 161 and fluid pressure line 162 respectively.The floor chamber of scraper bowl cylinder 18 and bar room are connected with controlling valve 25 via fluid pressure line 181 and fluid pressure line 182 respectively.

Working oil that pressure transducer 271,272 measures the floor chamber to swing arm cylinder 14 and the supply of bar room respectively or the pressure of working oil discharged from floor chamber and bar room.Working oil that pressure transducer 273,274 measures the floor chamber to dipper cylinder 16 and the supply of bar room respectively or the pressure of working oil discharged from floor chamber and bar room.Working oil that pressure transducer 275,276 measures the floor chamber to scraper bowl cylinder 18 and the supply of bar room respectively or the pressure of working oil discharged from floor chamber and bar room.The measurement result input of pressure transducer 271～276 is to controlling device 30.

Operation device 31 comprises the action bars 311 that the person of being operated by is operated.Operation device 31 produces first pilot corresponding with the operational ton OA of action bars 311 or the signal of telecommunication.First pilot corresponding with operational ton OA or signal of telecommunication input are to controlling device 30.

Control device 30 and generate the command value CV for driving the hydraulic cylinder being made up of swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18 according to the operational ton OA from operation device 31 input.And, control device 30 and generate the command value CV for driving hydraulic motor 19～21 according to operational ton OA.First pilot corresponding with command value CV or the signal of telecommunication are imparted to control valve 25.Can be that part control valve 25 is endowed first pilot, and other control valves 25 and are endowed the structure of the signal of telecommunication.For example, it is possible to use the valve of fluid pressure type for direction switch valve 251, and flow rate regulating valve 252 is used to the valve of electromagnetic type.Controlling valve 25 according to command value CV, thus, hydraulic cylinder and hydraulic motor 19～21 carry out action.

Control device 30 and also control the rotating speed of power generation arrangement 35 and the swash plate inclination angle of hydraulic pump 26.Thus, the discharge-amount of the working oil from hydraulic pump 26 is controlled.

With reference to Fig. 3, the coordinate system of the posture of definition work package is illustrated.Upper rotation 12 (Fig. 1) is linked with swing arm 13.It is linked with dipper 15 in the front end of swing arm 13, is linked with scraper bowl 17 in the front end of dipper 15.When construction machinery is configured on horizontal plane, define using swing arm 13 towards the point of contact of upper rotation 12 as initial point, and using the front of the horizontal direction forward as x-axis, and using xz rectangular coordinate system as the forward of z-axis above vertical.

The forward angulation of the swing arm vector 130 from initial point towards swing arm 13 and the point of contact of dipper 15 with z-axis is represented with θ 1.The point of contact of slave arm 13 and dipper 15 is represented with θ 2 towards the dipper vector 150 of dipper 15 and the point of contact of scraper bowl 17 with swing arm vector 130 angulation.The scraper bowl vector 170 of the application point AP from the point of contact of dipper 15 and scraper bowl 17 towards the front end as scraper bowl 17 is represented with θ 3 with dipper vector 150 angulation.The point of contact of slave arm 13 and dipper 15 is represented with θ 4 towards the application point vector 151 of application point AP with swing arm vector 130 angulation.

Angular transducer 291 measures angle, θ 1, and angular transducer 292 measures angle, θ 2, and angular transducer 293 measures angle, θ 3.Angle, θ 4 can be calculated angle, θ 4 by angle, θ 2, angle, θ 3, the length of dipper vector 150 and the length of scraper bowl vector 170.When the relative position relation of dipper 15 and scraper bowl 17 is fixing, when being namely operated when angle, θ 3 is constant, it is possible to calculated angle, θ 4 by the measured value of angle, θ 2.By the angle, θ 1 measured by angular transducer 291,292,293, θ 2, θ 3, it is determined that the posture of work package.Angular transducer 291,292,293 is referred to as attitude sensor 29.

(x z) is carried out monodrome determined by angle, θ 1, angle, θ 4, the length of swing arm vector 130 and the length of application point vector 151 in the position of application point AP.In other words, (x z) obtains by the position of application point AP for angle, θ 1 and θ 4.Therefore, angle, θ 1 and angle, θ 4 can utilize function A and function B to carry out below formula to represent.

[numerical expression 1]

θ 1=B (x, z)

θ 4=A (x, z) ... (1)

When angle, θ 3 is constant, the angular velocity of dipper 15 is equal with the angular velocity of application point vector 151.Therefore, the angular velocity Wb of swing arm and the angular velocity Wa below formula of dipper represent.

[numerical expression 2]

$\begin{array}{c}Wb=\stackrel{\·}{\mathrm{\θ}}1=\frac{\∂B(x,z)}{\∂x}\stackrel{\·}{x}+\frac{\∂B(x,z)}{\∂z}\stackrel{\·}{z}\\ =fb(x,z)\stackrel{\·}{x}+gb(x,z)\stackrel{\·}{z}\end{array}$

$\begin{array}{c}Wa=\stackrel{\·}{\mathrm{\θ}}4=\frac{\∂A(x,z)}{\∂x}\stackrel{\·}{x}+\frac{\∂A(x,z)}{\∂z}\stackrel{\·}{z}\\ =fa(x,z)\stackrel{\·}{x}+ga(x,z)\stackrel{\·}{z}\mathrm{...}\left(2\right)\end{array}$

With reference to Fig. 4 A～Fig. 4 C, by the construction machinery of example based on the comparison, the example of the action (horizontal stretch action) for carrying out making application point AP (Fig. 3) move in front along the horizontal plane illustrates.In horizontal stretch action, it is assumed that angle, θ 3 (Fig. 3) is for constant, and angle, θ 1 and angle, θ 2 (Fig. 3) change.That is, swing arm cylinder 14 and dipper cylinder 16 (Fig. 2) carry out action, and scraper bowl cylinder 18 (Fig. 2) does not carry out action.

Fig. 4 A represents an example of the track of the application point AP when operator of general proficiency is operated.The actual path L of application point AP represents with solid line.Although known operator is to make application point AP be operated in the way of the rectilinear movement of z=0, but in the application point AP region close to the base portion of swing arm 13, the track L of application point AP greatly deviates from from the track as target.

Fig. 4 B represents the time change of angle, θ 1.Transverse axis represents the elapsed time from operating and starting, and the longitudinal axis represents the angle, θ 1 of swing arm 13.The change A1 of the angle, θ 1 of reality is represented with heavy line.For reference, represent for making application point AP along the change A2 of the angle, θ 1 of the desirable swing arm 13 of the rectilinear movement of z=0 with fine line.When elapsed time is more than t1, although angle, θ 1 must be made sharply to diminish as shown in change A2, but the minimizing based on the angle, θ 1 of practical operation is as slow in changed as A1.

The time change of mechanicalness speed gain shown in Fig. 4 C.Transverse axis represents the elapsed time from operating and starting, and the longitudinal axis represents mechanicalness speed gain.Mechanicalness speed gain means the speed ratio relative to the angular velocity of swing arm and dipper of application point AP.Mechanicalness speed gain comprises the mechanicalness speed gain of the velocity correlation of above-below direction with application point AP and the mechanicalness speed gain of the velocity correlation with fore-and-aft direction.In Fig. 4 C, the speed in the z direction (above-below direction) of application point AP illustrates relative to being used for mechanicalness speed gain of angular velocity of swing arm.

In the time period more more forwardly of than t2 in elapsed time, mechanicalness speed gain is nearly constant.But, in the elapsed time than t2 time period more posteriorly, along with the increase in elapsed time, mechanicalness speed gain slowly reduces.It means that relative to the operational ton of the operation device based on operator, application point AP becomes slow towards the movement in z direction.Therefore, as shown in Figure 4 A, it is believed that near the base portion of swing arm 13, even if application point AP departs from from target trajectory, operator is not quickly returned to the track as target yet.

In order to make application point AP move along the track as target, as shown in Figure 4 B, the elapsed time more than t1 time, it is necessary to make the angle, θ 1 of swing arm sharply reduce.But, in the example shown in Fig. 4 B, the reduction of angle, θ 1 is slow compared with desirably change.It means that operator is unaware that the movement of application point AP becomes slow and makes the operational ton of action bars change lentamente.

The fore-and-aft direction position dependence of mechanicalness speed gain relevant to swing arm shown in Fig. 5 A.Transverse axis represents the position (x coordinate) of fore-and-aft direction, and the longitudinal axis represents the speed Vz in the z direction of the application point AP ratio relative to the angular velocity Wb of swing arm.Known diminishing along with x coordinate, namely along with application point AP is close to the base portion of swing arm 13, the mechanicalness speed gain relevant to swing arm reduces.Above-below direction position (z coordinate) dependency of the mechanicalness speed gain relevant to swing arm is less than fore-and-aft direction position dependence.

The block diagram of the function of the work package of the construction machinery based on embodiment is driven shown in Fig. 6.With reference to Fig. 6, the angle, θ 3 (Fig. 3) for carrying out scraper bowl 17 remains steady state value, and makes the example of work that the angle, θ 1 (Fig. 3) of swing arm 13 and the angle, θ 2 (Fig. 3) of dipper 15 change illustrate.

Each operational ton OA of swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18 (Fig. 2) is input to control device 30 from operation device 31.Attitude sensor 29 detects the posture of the work package 23 being made up of swing arm 13, dipper 15 and scraper bowl 17, and testing result is input to control device 30.Attitude sensor 29 comprises angular transducer 291,292,293 (Fig. 3), and the testing result of the posture of work package 23 comprises angle, θ 1, θ 2 and θ 3.According to angle, θ 1, θ 2 and θ 3, it is possible to calculate x coordinate and the z coordinate of application point AP.

Driving device 33 controlled device 30 controls, and thus drives work package 23.Driving device 33 comprises power generation arrangement 35 (Fig. 2), hydraulic circuit 34, swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18.Hydraulic circuit 34 comprises hydraulic pump 26, controls valve 25 (Fig. 2) etc..

Control signal SCa according to the control signal SCb of swing arm and dipper that carry out self-control device 30, hydraulic circuit 34 carries out action.Thus, control signal SCb the working oil supply of the flow indicated is to swing arm cylinder 14, control signal SCa the working oil of the flow indicated supplies to dipper cylinder 16.In the present embodiment, owing to scraper bowl cylinder 18 is not driven, therefore omit the explanation of control about scraper bowl cylinder 18.

Control device 30 and control driving device 33 in the way of application point AP (Fig. 3) is more high relative to the ratio of operational ton OA of operation device 31 the closer to the angular velocity Wb of the base portion then swing arm 13 of swing arm 13.Thereby, it is possible to compensate the change of the mechanicalness speed gain of the position based on the application point AP shown in Fig. 5.The speed of the application point AP ratio relative to operational ton OA is called " input and output speed gain ".Input and output speed gain also similarly comprises the input and output speed gain with the velocity correlation of the above-below direction of application point AP and the input and output speed gain relevant with fore-and-aft direction to mechanicalness speed gain.Control device 30 and independently become uniform mode with the position of input and output speed gain Yu application point AP, make the angular velocity of swing arm 13 ratio relative to the operational ton OA operating device 31 change according to the position of application point AP.

If the input and output speed gain relevant to above-below direction becomes uniform, then the relation between the translational speed of the above-below direction of the size of operational ton OA and application point AP does not rely on the position of application point AP.Therefore, even if application point AP is close to the base portion of swing arm 13, application point AP is also easily made to move along the track as target.

In Fig. 5 A, as mechanicalness speed gain, the speed Vz in z direction of the application point AP ratio (the mechanicalness speed gain of the above-below direction relevant to swing arm) relative to the angular velocity Wb of swing arm 13 is shown, but the ratio (the mechanicalness speed gain relevant to dipper) that the speed of application point AP is relative to the angular velocity Wa of dipper 15 also relies on the position of application point AP and changes.

The above-below direction position dependence of mechanicalness speed gain relevant to dipper shown in Fig. 5 B.Transverse axis represents above-below direction position (z coordinate), and the longitudinal axis represents the mechanicalness speed gain of the fore-and-aft direction relevant to dipper.Known diminishing along with z coordinate, namely along with the position step-down of application point AP, the mechanicalness speed gain of the fore-and-aft direction relevant to dipper reduces.It is therefore preferable that the position by application point AP is more low, in the way of the angular velocity Wa of dipper 15 ratio relative to the operational ton OA of dipper 15 is more high, control driving device 33.By carrying out this control, it is possible to make the input and output speed gain relevant to fore-and-aft direction independently close equably with the height of application point AP.Fore-and-aft direction position (x coordinate) dependency of the mechanicalness speed gain of the fore-and-aft direction relevant to dipper is less than above-below direction position (z coordinate) dependency.

When making application point AP move in front-rear direction, preferably the input and output speed gain relevant to above-below direction is corrected close equably, when making application point AP vertically move, it is preferable that the input and output speed gain relevant to fore-and-aft direction is corrected close equably.Thereby, it is possible to promptly correcting action point AP is from the skew of the track as target.

Still the selection of the input and output speed gain relevant with fore-and-aft direction is corrected, it is possible to the select button to be arranged at operation device 31 carries out about the correction input and output speed gain relevant to above-below direction.Furthermore, it is possible to make control device 30 have the function of the moving direction detecting application point AP.Now, the testing result according to the moving direction of application point AP, control device 30 automatically select correct the input and output speed gain relevant to above-below direction or correct and fore-and-aft direction be correlated with input and output speed gain.

Then, the process controlled performed by device 30 is described in detail.As shown in Figure 6, control that device 30 comprises operational ton test section 301, position detection part 302, rate request value correction unit 303, correction coefficient determine portion 304 and drive division 305.The function of each several part is such as passed through to be performed computer program by central processing unit (CPU) and is realized.And, in the storage device controlling device 30, store position-correction coefficient correspondence table 306.Position-correction coefficient correspondence table 306 defines the corresponding relation between position and the correction coefficient of application point AP.By position-correction coefficient correspondence table 306, it is possible to obtain correction coefficient according to the current location of application point AP.Position-correction coefficient correspondence table 306 can also be replaced, define the position according to application point AP and obtain the function of correction coefficient.

Operational ton test section 301, according to the operational ton OA from operation device 31 input, generates swing arm angular velocity required value WRb and dipper angular velocity required value WRa.As an example, swing arm angular velocity required value WRb and dipper angular velocity required value WRa respectively to relative to the operational ton OA of swing arm 13 and proportional relative to the operational ton OA of dipper 15.

Position detection part 302 calculates x coordinate and the z coordinate of application point AP according to the angle, θ 1 detected by attitude sensor 29, θ 2, θ 3.The x coordinate of application point AP and z coordinate are input to correction coefficient and determine portion 304.

Correction coefficient determines the position according to application point AP, the portion 304, reference position-correction coefficient correspondence table 306 and generate the correction coefficient CFb of swing arm and the correction coefficient CFa of dipper.The correction coefficient CFb generated and CFa inputs to rate request value correction unit 303.

Swing arm angular velocity required value WRb and dipper angular velocity required value WRa is corrected computing according to correction coefficient CFb, CFa by rate request value correction unit 303, thus generating swing arm angular velocity command value WCb and dipper angular velocity command value WCa.Specifically, by formula calculated below, swing arm angular velocity command value WCb and dipper angular velocity command value WCa can be obtained.

[numerical expression 3]

WCb=CFb × WRb

WCa=CFa × WRa ... (3)

The control signal SCa of the control signal SCb of swing arm and dipper, according to swing arm angular velocity command value WCb and dipper angular velocity command value WCa, is sent to driving device 33 by drive division 305 respectively.Direction switch valve 251 and the flow rate regulating valve 252 of driving device 33 carry out action according to control signal SCb, SCa, and thus the working oil of flow corresponding with swing arm angular velocity command value WCb and dipper angular velocity command value WCa supplies to swing arm cylinder 14 and dipper cylinder 16.Its result, the angular velocity Wb of swing arm 13 and the angular velocity Wc of dipper 15 are substantially uniform with swing arm angular velocity command value WCb and dipper angular velocity command value WCa respectively.

Then, the relation for the position of application point AP with correction coefficient CFb, CFa illustrates.As shown in Figure 4 A, in horizontal stretch action, it is necessary to corrective action point AP, towards the skew in z direction, is therefore conceived to the speed in the z direction of application point AP.In formula (2), as restrictive condition, the speed in x direction is made to become zero.If being set to the dx/dt=dz/dt=0 of formula (2), then can obtain following formula.

[numerical expression 4]

$Wb=gb(x,z)\stackrel{\·}{z}$

$Wa=ga(x,z)\stackrel{\·}{z}\mathrm{...}\left(4\right)$

Represent according to formula (4) below formula to mechanicalness speed gain MGb and MGa relevant for angular velocity Wa of the angular velocity Wb of swing arm 13 and dipper 15.

[numerical expression 5]

$MGb=\frac{\stackrel{\·}{z}}{Wb}=\frac{1}{gb(x,z)}$

$MGa=\frac{\stackrel{\·}{z}}{Wa}=\frac{1}{ga(x,z)}\mathrm{...}\left(5\right)$

Correction coefficient CFb, CFa determine in the way of meeting following formula.

[numerical expression 6]

MGb × CFb=Cb

MGa × CFa=Ca ... (6)

Here, Cb and Ca is constant.

Swing arm cylinder 14 and dipper cylinder 16 carry out action in the way of the angular velocity Wa of the angular velocity Wb of swing arm 13 and dipper 15 is consistent with swing arm angular velocity command value WCb and dipper angular velocity command value WCa respectively, therefore, it is possible to assume to meet Wb=WCb, Wa=WCa.Under this condition, the speed in the z direction of application point AP is carried out below formula represent according to formula (5), (3), (6).

[numerical expression 7]

$\stackrel{\·}{z}=MGb\×WCb=MGb\×CFb\×WRb=Cb\×WRb$

$\stackrel{\·}{z}=MGa\×WCa=MGa\×CFa\×WRa=Ca\×WRa\mathrm{...}\left(7\right)$

As by formula (7) it can be seen that the speed Vz in the z direction of application point AP is proportional to swing arm angular velocity required value WRb and dipper angular velocity required value WRa.Correction coefficient CFb, CFa can determine according to formula (5) and formula (6).The function gb on the right of formula (5) (x, z) and ga (x, z) for the position of application point AP, (therefore correction coefficient CFb, CFa depend on the position of application point AP for x, function z).

Swing arm angular velocity required value WRb and dipper angular velocity required value WRa correspondingly generates with the operational ton OAb of the swing arm 13 and operational ton OAa of dipper 15 respectively, and proportional to operational ton OAb and OAa.Therefore, swing arm angular velocity required value WRb and dipper angular velocity required value WRa can below formula represent.

[numerical expression 8]

WRb=C1b × OAb

WRa=C1a × OAa ... (8)

At this, C1a, C1b are proportionality constant.According to formula (7) and formula (8), the speed below formula of application point AP represents.

[numerical expression 9]

$\stackrel{\·}{z}=Cb\×C1b\×OAb$

$\stackrel{\·}{z}=Ca\×C1a\×OAa\mathrm{...}\left(9\right)$

Constant Cb × the C1b and constant Ca × C1a of formula (9) are equivalent to input and output speed gain.That is, input and output speed gain is steady state value.So, for the input and output speed gain defined with the translational speed of the application point AP ratio relative to operational ton OA, the correction coefficient CFb of position, the CFa that depend on application point AP is used to be corrected such that it is able to make input and output speed gain close to steady state value.

In the above-described embodiments, as input and output speed gain, the speed in the z direction (above-below direction) of the use application point AP ratio relative to operational ton OA.By making this input and output speed gain close to steady state value, in horizontal stretch action, it is possible to make application point AP reduce from the skew of the track as target.When make application point AP in the horizontal direction beyond track move time, as the direction of speed of the application point AP on the basis becoming input and output speed gain, the direction beyond z direction can be adopted.Such as, when making application point AP move along the vertical direction, as input and output speed gain, it is preferred to use the speed in the x direction (fore-and-aft direction) of the application point AP ratio relative to operational ton OA.

In the above-described embodiments, make application point AP move when remaining constant by the angle, θ 3 (Fig. 3) relevant to scraper bowl 17, but in course of action, change angle, θ 3 sometimes.When making application point AP in the horizontal direction or above-below direction moves, it is possible to make scraper bowl cylinder 18 (Fig. 1) carry out action to change angle, θ 3.

When making scraper bowl cylinder 18 action, the 1st input and output speed gain that the ratio that input and output speed gain comprises the operational ton relative to swing arm of the translational speed with application point AP defines, the 2nd input and output speed gain defined relative to the ratio of the operational ton of dipper with the translational speed of application point AP and the 3rd input and output speed gain defined relative to the ratio of the operational ton of scraper bowl with the translational speed of application point AP.Control device 30 according to command value CV, at least one in the 1st input and output speed gain, the 2nd input and output speed gain and the 3rd input and output speed gain is corrected based on the position of application point AP.As an example, it is preferable that the input and output speed gain (before correction) that maximum amplitude variation is dynamic using the position according to application point AP is as calibration object.Thereby, it is possible to independently make the input and output speed gain of calibration object close equably with the position of application point AP.

Then, with reference to Fig. 7, the control method of the work package of the construction machinery based on other embodiments is illustrated.Hereinafter, the difference from the embodiment shown in Fig. 1～Fig. 6 is illustrated, and for common incomplete structure explanation.

The block diagram of the function of the work package of construction machinery is driven shown in Fig. 7.Based on, in the control device 30 of the embodiment shown in Fig. 7, replacing rate request value correction unit 303 (Fig. 6) to have discharge-amount correction unit 307.The swing arm angular velocity required value WRb and the dipper angular velocity required value WRa that are generated by operational ton test section 301 are directly inputted to drive division 305.Drive division 305 exports the control signal SCb of swing arm and the control signal SCa of dipper according to swing arm angular velocity required value WRb and dipper angular velocity required value WRa.

Discharge-amount correction unit 307 generates discharge-amount command value DQC according to the correction coefficient CFb of the position depending on application point AP, CFa.Drive division 305 according to discharge-amount command value DQC, since the discharge-amount of working oil of self-hydraulic pump 26 (Fig. 2) mode consistent with discharge-amount command value DQC, control the rotating speed of power generation arrangement 35.

In embodiment shown in Fig. 7, by controlling the discharge-amount of the working oil from hydraulic pump 26, adjust the angular velocity Wb of the swing arm 13 and angular velocity Wa of dipper 15.The discharge-amount of working oil from hydraulic pump 26 is controlled in the way of actual angular velocity Wb and Wa is equal with the swing arm angular velocity command value WCb of the embodiment shown in Fig. 6 and dipper angular velocity command value WCa respectively.Thus, in the same manner as the embodiment shown in Fig. 6, it is possible to make input and output speed gain not rely on the position of application point AP and close to steady state value.

As an example, it is arranged in the state in the relatively small region of mechanicalness speed gain with application point AP, by relatively increasing discharge-amount, it is possible to increase input and output speed gain.It is as a result, it is possible to make input and output speed gain close to steady state value.

In the embodiment shown in fig. 7, the discharge-amount of working oil is adjusted by controlling the rotating speed of power generation arrangement 35 but it also may adjust discharge-amount by changing the inclination angle of the swash plate of hydraulic pump 26 (Fig. 2).

Then, with reference to Fig. 8, the control method of the work package of the construction machinery based on another embodiment is illustrated.Hereinafter, the difference from the embodiment shown in Fig. 7 is illustrated, for common incomplete structure explanation.

The block diagram of the function of the work package of construction machinery is driven shown in Fig. 8.Based on, in the control device 30 of the embodiment shown in Fig. 8, replacing discharge-amount correction unit 307 (Fig. 7) to have regenerant flow correction unit 308.

Regenerant flow correction unit 308 generates regenerant flow command value RFC according to the correction coefficient CFb of the position depending on application point AP, CFa.Drive division 305 controls regeneration valve 253 (Fig. 2) according to regenerant flow command value RFC.Such as, when dipper 15 declines, by making the oil return returning to tank from dipper cylinder 16 be flowed into swing arm cylinder 14, it is possible to swing arm cylinder 14 fuel feeding (boost).Thereby, it is possible to compensate the reduction of the mechanicalness speed gain defined with the speed of application point AP relative to the ratio of the angular velocity of swing arm 13.

On the contrary, when needing the reduction compensating the mechanicalness speed gain defined with the speed of application point AP relative to the ratio of the angular velocity of dipper 15, it is possible to come dipper cylinder 16 fuel feeding by making the oil return that slave arm cylinder 14 returns in tank be flowed into dipper cylinder 16 when swing arm 13 declines.So control regeneration valve 253, and adjust direction and the flow of the working oil flowing through regeneration pipeline such that it is able to make input and output speed gain close to steady state value.

Then, with reference to Fig. 9, the control method of the work package of the construction machinery based on other embodiments another is illustrated.Hereinafter, the difference from the embodiment shown in Fig. 8 is illustrated, for common incomplete structure explanation.

The block diagram of the function of the work package of construction machinery is driven shown in Fig. 9.In the embodiment shown in fig. 9, control device 30 and there is load detection unit 309.The testing result of pressure transducer 271～276 (Fig. 2) is input to load detection unit 309.

The load detection unit 309 pressure according to the swing arm cylinder 14 detected by pressure transducer 271～276, dipper cylinder 16 and scraper bowl cylinder 18, calculates the load putting on application point AP.And, according to the load putting on application point AP, it is determined that current work is unloaded operation or loaded work piece.Such as, when putting on the load (or counter-force) of application point AP less than determinating reference value, it is determined that current work is unloaded operation, time more than for determinating reference value, it is determined that current work is loaded work piece.

When current work is unloaded operation, regenerant flow correction unit 308 the regenerant flow command value RFC generated is input to drive division 305.When current work is loaded work piece, regenerant flow correction unit 308 the regenerant flow command value RFC generated will not be input to drive division 305.That is, when current work is unloaded operation, the function of correction input and output speed gain is effective, and when current work is loaded work piece, the function of correction input and output speed gain is invalid.

In the embodiment shown in fig. 8, the oil return that the side from dipper cylinder 16 and swing arm cylinder 14 returns to tank is made to be flowed into the opposing party by regenerating pipeline.Thereby, it is possible to make the input and output speed gain position with application point AP independently close to steady state value, but digging force can reduce sometimes.

In the embodiment shown in fig. 9, when in the loaded work piece of excavation etc., the function of correction input and output speed gain is invalid, therefore, it is possible to prevent the reduction of digging force.When carrying out the unloaded operation of horizontal stretch action etc., the function of correction input and output speed gain is effective, therefore, it is possible to reduce the track of application point AP and the difference of the track as target.

Describe the present invention according to above example, but the present invention is not limited to this.For instance, it is possible to it is well known by persons skilled in the art for carrying out various change, improvement, combination etc..

Claims (13)

1. a construction machinery, it has:

Work package, comprises the swing arm being installed on upper rotation and is installed on the dipper of front end of described swing arm；

Driving device, drives described work package；

Operation device, the person of being operated by is operated；

Sensor, detects the position of the application point of described work package；And

Control device, in the way of described application point is more high relative to the ratio of the operational ton of described operation device the closer to the angular velocity of the base portion then described swing arm of described swing arm, controls described driving device.

2. construction machinery according to claim 1, wherein,

Described control device controls described driving device in the way of described application point is more high relative to the ratio of described operational ton the closer to the angular velocity of the base portion then described dipper of described swing arm.

3. a construction machinery, it has:

Work package, comprises the swing arm being installed on upper rotation and is installed on the dipper of front end of described swing arm；

Driving device, drives described work package；

Operation device, the person of being operated by is operated；

Sensor, detects the position of the application point of described work package；And

Controlling device, the operational ton according to inputting from described operation device controls described driving device,

The described control device position according to the described application point detected by described sensor, is corrected the speed gain defined relative to the ratio of the operational ton of described operation device with the translational speed of described application point.

4. construction machinery according to claim 3, wherein,

The position of described control device and described application point independently makes described speed gain close to steady state value.

5. the construction machinery according to claim 3 or 4, wherein,

Described speed gain defines relative to the ratio of the operational ton of described operation device towards the translational speed of above-below direction with described application point.

6. the construction machinery according to claim 3 or 4, wherein,

Described speed gain defines relative to the ratio of the operational ton of described operation device towards the translational speed of fore-and-aft direction with described application point.

7. the construction machinery according to claim 3 or 4, wherein,

Described speed gain comprises: above-below direction speed gain, defines relative to the ratio of the operational ton of described operation device towards the translational speed of above-below direction with described application point；And fore-and-aft direction speed gain, define relative to the ratio of the operational ton of described operation device towards the translational speed of fore-and-aft direction with described application point,

Described control device selects the speed gain of a side from described above-below direction speed gain and described fore-and-aft direction speed gain, and selected described speed gain is corrected by the position according to the described application point detected by described sensor.

8. the construction machinery according to any one of claim 3 to 7, wherein,

Described control device is according to described operational ton formation speed required value, and relative to described rate request value, carries out depending on the correction calculation of the position of described application point, thus formation speed command value, and control described driving device according to described speed value.

9. construction machinery according to claim 8, wherein,

Described driving device comprises:

Swing arm cylinder, drives described swing arm；

Dipper cylinder, drives described dipper；

Hydraulic pump, discharge working oil；

Control valve, adjust described working oil from described hydraulic pump towards the flowing of described swing arm cylinder and described dipper cylinder；And

Power generation arrangement, drives described hydraulic pump,

Described control device controls described control valve according to described speed value, thus corrects described speed gain.

10. construction machinery according to claim 9, wherein,

Described work package also comprises the scraper bowl of the front end being installed on described dipper,

Described driving device also comprises the scraper bowl cylinder driving described scraper bowl,

Described control valve also adjusts the flowing towards described scraper bowl cylinder of the described working oil,

Described speed gain comprises: the 1st speed gain, defines relative to the ratio of the described operational ton of described swing arm with the translational speed of described application point；2nd speed gain, defines relative to the ratio of the described operational ton of described dipper with the translational speed of described application point；And the 3rd speed gain, define relative to the ratio of the described operational ton of described scraper bowl with the translational speed of described application point,

At least one in described 1st speed gain, described 2nd speed gain and described 3rd speed gain, according to described speed value, is corrected by described control device according to the position of described application point.

11. construction machinery according to claim 8, wherein,

Described driving device comprises:

Swing arm cylinder, drives described swing arm；

Dipper cylinder, drives described dipper；

Hydraulic pump, discharge working oil；

Control valve, adjust described working oil from described hydraulic pump towards the flowing of described swing arm cylinder and described dipper cylinder；And

Power generation arrangement, drives described hydraulic pump,

Described control device controls described control valve and the position according to the described application point detected by described sensor according to described rate request value, controls the discharge-amount of the described working oil from described hydraulic pump, thus corrects described speed gain.

12. construction machinery according to claim 8, wherein,

Described driving device comprises:

Swing arm cylinder, drives described swing arm；

Dipper cylinder, drives described dipper；

Hydraulic pump, discharge working oil；

Flow rate regulating valve, adjusts described working oil from described hydraulic pump towards the flowing of described swing arm cylinder and described dipper cylinder；

Power generation arrangement, drives described hydraulic pump；

Regeneration pipeline, makes the oil return that the side from described swing arm cylinder and described dipper cylinder returns in tank be flowed into the opposing party；And

Regeneration valve, is arranged at described regeneration pipeline,

Described control device controls described flow rate regulating valve according to described rate request value, and the position according to the described application point detected by described sensor controls described regeneration valve, thus corrects described speed gain.

13. the construction machinery according to any one of claim 3 to 12, wherein,

Described control device is according to the load putting on described application point, it is determined that current work is unloaded operation or loaded work piece,

When current work is described unloaded operation, the function making the described speed gain of correction is effective,

When current work is described loaded work piece, the function making the described speed gain of correction is invalid.