CN105971042A - Nawy, and vibration attenuation method for nawy - Google Patents
Nawy, and vibration attenuation method for nawy Download PDFInfo
- Publication number
- CN105971042A CN105971042A CN201610054809.1A CN201610054809A CN105971042A CN 105971042 A CN105971042 A CN 105971042A CN 201610054809 A CN201610054809 A CN 201610054809A CN 105971042 A CN105971042 A CN 105971042A
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- China
- Prior art keywords
- adnexa
- excavator
- pitch axis
- upper rotation
- correction portion
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a nawy with a vibration attenuation function. A revolved body (4) revolves relative to a caterpillar band (2). An accessory (12) is installed on the revolved body (4). Rotation [theta]y around a pitch axis, that is, y axis, with the revolved body (4) as standard, is detected, and according to the detected rotation, the accessory (12) is controlled.
Description
Technical field
The application advocates based on Japanese patent application filed in 10 days March in 2015 the 2015-047497th
Priority.The full content of this Japanese publication is by with reference to being applied in this specification.
The present invention relates to a kind of excavator.
Background technology
Excavator possess referred to as the running body of crawler belt, upper rotation, make upper rotation relative to row
Walk the slewing equipment that body rotates and the adnexa being installed on upper rotation.In hydraulic actuated excavator, as
The power of the power of upper rotation, dipper, swing arm and scraper bowl, utilizes hydraulic pressure.
In operation, the car body of excavator is subject to from ground and the retroaction of manipulating object via adnexa
Power and high vibration.Conventional excavator does not carry effective except shaking (vibration damping) mechanism, therefore
Once producing vibration, driver (operator) needs interruption operation until controlling vibration.
Further, the vibration in operation not only brings sense of discomfort to driver, and due to this vibration, has
Tracks' slip may be resulted in, the most preferred.
Patent documentation 1: Japanese Unexamined Patent Publication 2007-307917 publication
Patent documentation 2: No. 06/033401 pamphlet of International Publication
Summary of the invention
The present invention is to complete, the exemplary mesh of its a kind of embodiment in view of involved problem
One of for provide a kind of excavator possessing vibration-damping function.
One embodiment of the present invention relates to a kind of excavator.Excavator possesses: crawler belt；Top is returned
Turn, turn round relative to crawler belt；Adnexa, is installed on upper rotation；Pitching test section, detect with
Around the rotation of pitch axis on the basis of upper rotation；And vibration correction portion, examine according to pitching test section
The rotation surveyed, controls adnexa.
By controlling the posture of adnexa, it is possible to change the overall position of centre of gravity of excavator and/or inertia force
Square.Therefore, by monitoring around the rotary motion of pitch axis, control adnexa according to this rotary motion, from
And vibration can be suppressed.
The detection of pitching test section is around the angle of pitch axis on the basis of upper rotation, and vibration correction portion can
With according to Angle ambiguity adnexa.
Pitching test section detects on the basis of upper rotation around the angular velocity of pitch axis, vibration correction portion
Adnexa can be controlled according to angular velocity.
Pitching test section detects on the basis of upper rotation around the angular acceleration of pitch axis, vibration correction
Portion can control adnexa according to angular acceleration.
Adnexa can include swing arm, dipper, scraper bowl.Vibration correction portion can be in the position of scraper bowl
Adnexa is controlled under restrictive condition in prescribed limit.
Thereby, it is possible to prevent scraper bowl in order to except the phenomenon controlled and tamper of shaking.
It addition, replace mutually any group of above constitutive requirements between method, device, system etc.
Close or the constitutive requirements of the present invention or the mode of performance, also serve as the effective means of the present invention.
Invention effect
In accordance with the invention it is possible to the vibration of suppression excavator.
Accompanying drawing explanation
Fig. 1 is the solid of the outward appearance of the excavator of an example of the construction machinery being denoted as embodiment
Figure.
Fig. 2 is the figure of the vibration attenuation mechanism of the excavator that embodiment is described.
Fig. 3 is the control block diagram of the excavator of embodiment.
Fig. 4 is the outside drawing of the coordinate system representing excavator.
Fig. 5 is the block diagram in vibration correction portion.
Fig. 6 is the figure of the action of the excavator in the vibration correction portion representing and possessing Fig. 5.
Fig. 7 is the block diagram of electric system or the hydraulic system etc. of the excavator of embodiment.
Fig. 8 is the block diagram in the vibration correction portion of the 1st variation.
In figure: 1-excavator, 2-crawler belt, 2A, 2B-hydraulic motor travel motor, 3-slew gear, 4-
Revolving body, 4a-driver's cabin, 5-swing arm, 6-dipper, 7-swing arm cylinder, 8-dipper cylinder, 9-scraper bowl
Cylinder, 10-scraper bowl, 11-engine, 12-adnexa, 14-main pump, 15-pioneer pump, 16-high pressure liquid pressure pipe
Road, 17-control valve, 21-rotary fluid motor, 25-pilot line, 26-operates device, 27,
28-fluid pressure line, 29-pressure transducer, 30-controller, 31-electromagnetic proportional valve, 40-center,
42-center of gravity, 500-hydraulic unit driver, 502-drive member, 504-pitching test section, 510-vibrates
Correction unit, 511-center of gravity operational part, 512,514-multiplier, 516,518-integrator, 520-turns
Change portion, 530-sensor, S1-rotation information.
Detailed description of the invention
Hereinafter, according to preferred implementation, with reference to accompanying drawing, the present invention will be described.To each accompanying drawing institute
Identical or the equal constitutive requirements shown, parts, the additional same-sign of process, suitably omit repetition
Explanation.Further, embodiment non-limiting invention, and simply illustrate, narration in embodiment
All features or a combination thereof are not necessarily limited to the essence of the present invention.
In this specification, " state that components A is connected with part B " is except components A and part B thing
Beyond situation about being directly connected to reason, also include that components A and part B have virtually no impact on those parts
Between status of electrically connecting, or do not damage the function that can be played by the combination of those parts or
The situation about being indirectly connected with via miscellaneous part of effect.
Fig. 1 is the solid of the outward appearance of the excavator 1 of an example of the construction machinery being denoted as embodiment
Figure.Excavator 1 mainly possess crawler belt (also referred to as walking mechanism) 2 and upper rotation (with
Under, also referred to as revolving body) 4, described upper rotation 4 is via slew gear 3 rotatably
It is equipped on the top of crawler belt 2.
Being provided with swing arm 5, dipper 6 and scraper bowl 10 on revolving body 4, described dipper 6 annular connects
In the front end of swing arm 5, described scraper bowl 10 annular is connected to the front end of dipper 6.Scraper bowl 10 be for
Capture sand, steel etc. hang the equipment of thing.Swing arm 5, dipper 6 and scraper bowl 10 are referred to as adnexa
12, it is hydraulically driven by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 respectively.Further, revolution
It is provided with the driver's cabin 4a for accommodating driver on body 4 and moves for producing the engine 11 of hydraulic pressure etc.
Power source, the position of operator scraper bowl 10 or excitation actuating and release movement.Engine 11 is such as
It is made up of diesel motor.
Fig. 2 is the figure of the vibration attenuation mechanism of the excavator that embodiment is described.
The vibration of consideration excavator 1 centered by arbitrfary point 40.Definition is centered by this point 40
Angle φ.By gradient φ and the state of adnexa 12 of the car body under (i) expression A-stage.
Consider that car body, because of the counteracting force from adnexa 12, has the moment (angular movement around pitch axis
Amount), gradient φ is changed to the situation of (ii) from (i).Now, excavator 1 is by adnexa 12
Posture changes into the state (ii) that vibration diminishes.
More specifically, detect on the basis of revolving body 4 around the rotation of pitch axis (y).And,
Adnexa 12 is controlled in the way of eliminating the vibration corresponding with the rotation around pitch axis (y).It addition, figure
The posture of the adnexa 12 shown in 2 is an example.
According to this excavator 1, by changing the position of adnexa 12, posture, to eliminating excavator 1
The direction of vibration changes the position of centre of gravity 42 of excavator 1 entirety and/or changes moment of inertia, thus can
Enough suppression vibrates.
Additionally, it is preferred that excavator 1 is not in the way of making scraper bowl 10 displacement, in other words, exist
(x, y z) are under the restrictive condition in prescribed limit control adnexa 12 to its coordinate.Here
The position x, y, z of scraper bowl 10 refers to assigned position (the such as rotation of swing arm 5 with rotary body 4
Axle) on the basis of relative coordinate, and not θ3.Prescribed limit can be to start except the moment controlled of shaking
Scraper bowl 10 position on the basis of determine.By arranging this restrictive condition, it is not necessary to bigger change
The position of scraper bowl 10, it is possible to realize except shaking, it is possible to prevent scraper bowl 10 from tampering.
Various Mechanics Phenomenon, mechanism can be utilized in above-mentioned vibration damping.For example, it is possible to eliminate vibration
Mode, produce reverse vibration by adnexa 12 and suppress vibration.
Or, it is possible to use with swing analogize the principle illustrated.When shaking swing, become at angular velocity
Moment for maximum lowest point stands, and center of gravity uprises.And the top point of zero is become at angular velocity
(two ends of vibration) squat down, center of gravity step-down.If repeating this motion, then Amplitude amplification.Embodiment
Excavator 1 in, by carrying out opposite to that motion, it is possible to decay vibration.
Then, the block diagram of excavator 1 is illustrated.Fig. 3 is the control of the excavator 1 of embodiment
Block diagram processed.Excavator 1 possesses hydraulic unit driver 500, drive member 502, pitching test section 504
And vibration correction portion 510.The function of each piece is by electrically or mechanically or a combination thereof realizes, no
Limit structure and the implementation method of function of each piece.
Hydraulic unit driver 500 is the driver of the adnexa 12 driving Fig. 1, specifically, including moving
Arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9.It practice, independently carry out swing arm cylinder 7, dipper cylinder 8,
The control of scraper bowl cylinder 9, but here simplify and represent as a control system.
The coordinate system of excavator 1 is here described.Fig. 4 is the outward appearance of the coordinate system representing excavator 1
Figure.Revolving body 4 turns round around gyroaxis relative to crawler belt 2.On the basis of revolving body 4, define roll shaft
X, pitch axis y, yaw axis z (coordinate system x, y, z).Will be around pitching on the basis of revolving body 4
The anglec of rotation of axle (y-axis) is defined as θy, angular velocity is defined as ωy, angular acceleration is defined as
ωy’。
Further, definition represents swing arm 5, dipper 6, the angular coordinate theta of the respective position of scraper bowl 101~
θ3.θ is θ1～θ3Combination i.e. represent the position (posture) of adnexa 12 entirety.
Return to Fig. 3.Pitching test section 504 detects the rotation on the basis of revolving body 4 around pitch axis Y
Turn, and export rotation information S1.Rotation information S1 can be angle, θy, angular velocity omegay, angle accelerate
Degree ωy' any, or their combination in any.Gyro can be utilized as pitching test section 504
Instrument sensor.
Vibration correction portion 510 receives rotation information S1, based on pitching test section 504 detection rotation with
And controlling value θ of the adnexa 12 operating input according to driverCNT, control adnexa 12.Controlling value
θCNTIncluding swing arm based on driver, dipper, scraper bowl respective operational order θCNT1～θCNT3。
Vibration correction portion 510 receives controlling value θCNT, and Corrective control value, thus eliminate and give birth to quiveringly
Become this value, controlling value (command value) θ after output calibrationREF.Command value θREFCan also comprise with
Swing arm axle (θ1), dipper axle (θ2), scraper bowl axle (θ3) each self-corresponding value (θREF1, θREF2, θREF3).Preferably vibration correction portion 510 is in the way of the coordinate of scraper bowl 10 is in prescribed limit
Generate command value θREF。
Command value θ that drive member 502 is generated according to vibration correction portion 510REFControl hydraulic pressure to drive
Dynamic device 500.
Fig. 5 is the block diagram in vibration correction portion 510.Part or all of vibration correction portion 510 can
To be mainly made up of computing components such as CPU.
In this configuration example, vibration correction portion 510 controls to cut the earth in the way of eliminating the vibration of excavator 1
The X-coordinate of the center of gravity of machine 1, Z coordinate.Further, in this example embodiment, utilize as rotation information S1
Angular velocity omegay。
Represent angular velocity omegayRotation information S1 input in vibration correction portion 510.Center of gravity operational part
511 according to rotation information S1, in the way of eliminating vibration the X-coordinate of the center of gravity of computing excavator 1,
Z coordinate.
Such as, vibration correction portion 510 can include multiplier 512,514 and integrator 516,
518, described multiplier 512,514 is by angular velocity omegayWith coefficient (gain) Kx、KyIt is multiplied, described
The output of 516,518 pairs of multipliers 512,514 of integrator is integrated, and generates the target of center of gravity
Value XREF、ZREF。
Converter section 520 becomes coordinate X with the position of centre of gravity of excavator 1REF, ZREFMode generate instruction
Command value θ of adnexa 12 positionREF.Controlling value θCNTGeneration according to having 3DOF (θ1～θ3) the inverse kinematics of mechanism of adnexa 12 carry out.In converter section 520, input has driver's
Operation input θCNT1～θCNT3, converter section 520 can be with from θCNT1～θCNT3The mode that diminishes of displacement
Generate command value θREF1～θREF3.Further, preferably converter section 520 is in the position of scraper bowl 10 actually
Under indeclinable restrictive condition, generate command value θREF1～θREF3。
Converter section 520 is not when carrying out vibration damping, by operational order θCNT1～θCNT3Directly as command value
θREF1～θREF3Export.
Drive member 502 includes value of feedback θ generating the current state representing adnexa 12FBSensor
530.Drive member 502 is with value of feedback θFBClose to command value θREFMode control the cylinder of adnexa 12
Body.
Subtractor 532 generates θREFWith θFBError delta θ.Multiplier 534 by error delta θ with
Being multiplied of COEFFICIENT K, formation speed instruction ωREF.I.e., the drive member 502 of Fig. 5 can be understood as
Carry out the component of P control.Certainly, converter section 520 can be controlled by PI control or PID
Cylinder body processed.Swing arm axle, dipper axle, scraper bowl axle are carried out this feedback control respectively.
It is above the configuration example in vibration correction portion 510.Then, this action is illustrated.
Fig. 6 is the figure of the action of the excavator 1 in the vibration correction portion 510 representing and possessing Fig. 5.Fig. 6
Shown in rotation angle θy, angular velocity omegay, center of gravity target location XREF、ZREF, state θ of adnexa 12CNT.Solid line is not carry out except shaking the rotation angle θ in the case of controllingyWaveform, single dotted broken line is by removing
Shake rotation angle θ when controllingyWaveform.
If with a certain θyProduce vibration, then detect angular velocity omega by pitching test section 504y.Center of gravity
The target location X of operational part 511 computing center of gravityREF、ZREF.Converter section 520 becomes target position with center of gravity
Put XREF、ZREFMode generate command value θREF.Controlling value θ in Fig. 6REFSimply it is expressed as one-dimensional,
But actually controlling value θREFFor three-dimensional.By this control, vibrate θyIn the way of shown in single dotted broken line
And be suppressed.
Then, the structure of excavator 1 entirety is illustrated.
Fig. 7 is the block diagram of power system or the hydraulic system etc. of the excavator 1 of embodiment.It addition,
In Fig. 7, represent the system of mechanical transfer power with doublet, represent hydraulic system with heavy line, use
Dotted line represents steerable system, represents power system by fine line.
Engine 11 as mechanical type drive division is connected to the main pump 14 as hydraulic pump and pioneer pump
15.Connect via high-pressure and hydraulic pipeline 16 on main pump 14 and have control valve 17.It addition, to hydraulic-driven
The hydraulic circuit of device supply hydraulic pressure is arranged to dual system, and in this case, main pump 14 includes 2 liquid
Press pump.In order to make it easy to understand, the situation that main pump is single system is illustrated in this explanation.
Connect via high-pressure and hydraulic pipeline 16 on main pump 14 and have control valve 17.Control valve 17 is for carrying out
The device of the control of the hydraulic system in excavator 1.Have for driving except connecting in control valve 17
Shown in Fig. 1 crawler belt 2 hydraulic motor travel motor 2A and 2B beyond, via high-pressure and hydraulic pipeline even
Being connected to swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9, control valve 17 inputs according to the operation of driver
Control to supply the hydraulic pressure to these cylinder bodies.
Control valve 17 is the device of the control carrying out the hydraulic system in excavator 1.In control valve 17
Except connect have for drive the crawler belt 2 shown in Fig. 1 hydraulic motor (hydraulic motor travel motor) 2A and
Beyond 2B, connect via high-pressure and hydraulic pipeline and have swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9, control
Valve 17 processed controls to supply the hydraulic pressure to these cylinder bodies according to the operation input of driver.
Further, the rotary fluid motor 21 being used for being driven back to rotation mechanism 3 is connected to control valve 17.Return
Rotating hydraulic motor 21 is connected to control valve 17 via the hydraulic circuit of rotation control device, but in Fig. 7
The hydraulic circuit of not shown rotation control device, and simplified.
Connect via pilot line 25 on pioneer pump 15 and have operation device 26 (control member).Operation
Device 26 is for operating crawler belt 2, slew gear 3, swing arm 5, dipper 6 and the behaviour of scraper bowl 10
Make device, and operated by driver.Connect via fluid pressure line 27 on operation device 26 and have control
Valve 17 processed, and, connect via fluid pressure line 28 and have pressure transducer 29.
The hydraulic pressure (hydraulic pressure of primary side) supplied by pilot line 25 is converted to by operation device 26
The hydraulic pressure (hydraulic pressure of primary side) corresponding with the operational ton of driver exports.From operation device 26
The hydraulic pressure of the primary side of output is supplied while control valve 17 by fluid pressure line 27, passes through pressure
Sensor 29 is detected.It addition, Fig. 7 is drawn fluid pressure line 27 by 1 line, but actually deposit
At left hydraulic motor travel motor, the hydraulic tube of right hydraulic motor travel motor, each the control instruction value of revolution
Road.
Operation device 26 includes 3 input equipment 26A～26C.Input equipment 26A～26C is pedal
Or stick, input equipment 26A～26C is connected to control via fluid pressure line 27 and 28
Valve 17 and pressure transducer 29.Pressure transducer 29 is connected to carry out driving of power system and controls
Controller 30.In present embodiment, input equipment 26A plays a role as revolution action bars, input
Device 26B plays a role as the action bars of adnexa.Input equipment 26C be walking stick or
Pedal.
Controller 30 is for carrying out the master control part driving control of excavator.Controller 30 is by including
The arithmetic processing apparatus of CPU (Central Processing Unit) and internal storage is constituted,
The driving control program that CPU is stored in internal storage by execution realizes.
Controller 30 input has the rotation information ω from pitching test section 504y, from sensor
The positional information θ of the adnexa 23 of 530FB, from the operational order θ of pressure transducer 29CNT。
This controller 30 is provided with the vibration correction portion 510 of Fig. 2, generates instruction by digital operation
Command value θ of the state of adnexa 12REF.And, controller 30 is provided with the driving shown in Fig. 5
A part for component 502, as swing arm axle, dipper axle, the speed value ω of scraper bowl axleREFDefeated
Go out.
Pilot line 25 branches into electromagnetic proportional valve 31 through switching valve 32.Electromagnetic proportional valve 31 phase
When in the interface of power system Yu hydraulic system.Electromagnetic proportional valve 31 can be with its swash plate angle of electric control
Degree, by the hydraulic conversion from pilot line 25 be and control signal ω from controller 30REFRight
The hydraulic pressure answered also exports.Electromagnetic proportional valve 31 can be Pressure reducing ratio example valve.Actually press adnexa 12
3 axles arrange electromagnetic proportional valve 31.Control valve 17 is according to the fluid pressure line from electromagnetic proportional valve 31
Stress control swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9.
It it is more than the block diagram of excavator 1 entirety.
Above, describe the present invention according to embodiment.It will be understood by those skilled in the art that
The present invention is not limited to above-mentioned embodiment, can carry out various design alteration, it is possible to achieve various changes
Shape example, and these variation fall within the scope of the present invention.Hereinafter, such variation is carried out
Explanation.
(the 1st variation)
Fig. 8 is the block diagram of the vibration correction portion 510a of the 1st variation.
In this variation, utilize angle, θ as rotation information S1y.Center of gravity operational part 511a includes taking advantage of
Musical instruments used in a Buddhist or Taoist mass 512a, 514a, described multiplier 512a, 514a are by angle, θyWith COEFFICIENT Kx、KyIt is multiplied,
And generate the coordinates of targets X of center of gravityREF, ZREF.Vibration can also be suppressed by this configuration example.
(the 2nd variation)
Center of gravity operational part 511 can be according to angular acceleration ωy' control the X-coordinate of center of gravity, Z coordinate,
Replace angular velocity omegay, angle, θy。
(the 3rd variation)
Center of gravity operational part 511 can be according to angular velocity omegay, angle, θy, angular acceleration ωy' any
Barycentric coodinates are carried out computing by combination.In the case of Gai, synthesis be according to angular velocity omegay, angle, θy, angular acceleration ωy' barycentric coodinates that calculate.
(the 4th variation)
Vibration correction portion 510 can possess moment of inertia operational part, replaces center of gravity operational part 511.
Moment of inertia operational part controls the moment of inertia of excavator 1, suppresses vibration.In the case of Gai, conversion
Portion 520 generates command value θ in the way of obtaining the moment of inertia by moment of inertia operational part computingREFI.e.
Can.
(the 5th variation)
In embodiment, it is illustrated according to hydraulic actuated excavator, but the present invention is readily adaptable for use in back
The mixing excavator of motor is utilized in Zhuaning.
According to embodiment, utilize concrete statement to describe the present invention, but embodiment is only
The principle of the present invention, application are shown, can be at the think of of the present invention without departing from claims defined
In the range of thinking, embodiment is imposed the change of various deformation example or configuration.
Claims (6)
1. an excavator, it is characterised in that possess:
Crawler belt；
Upper rotation, turns round relative to crawler belt；
Adnexa, is installed on described upper rotation；
Pitching test section, detects on the basis of described upper rotation around the rotation of pitch axis；And
Vibration correction portion, according to the rotation of described pitching test section detection, controls described adnexa.
Excavator the most according to claim 1, it is characterised in that
Described pitching test section detects on the basis of described upper rotation around the angle of pitch axis,
Described vibration correction portion is according to adnexa described in described Angle ambiguity.
Excavator the most according to claim 1 and 2, it is characterised in that
Described pitching test section detects on the basis of described upper rotation around the angular velocity of pitch axis,
Described vibration correction portion controls described adnexa according to described angular velocity.
Excavator the most according to any one of claim 1 to 3, it is characterised in that
Described pitching test section detects on the basis of described upper rotation around the angular acceleration of pitch axis,
Described vibration correction portion controls described adnexa according to described angular acceleration.
Excavator the most according to any one of claim 1 to 3, it is characterised in that
Described adnexa includes swing arm, dipper and scraper bowl,
Described vibration correction portion, under the restrictive condition that the position of described scraper bowl is in prescribed limit, is controlled
Make described adnexa.
6. an oscillation damping method, it is the excavator possessing crawler belt, upper rotation and adnexa
Oscillation damping method, it is characterised in that possess following steps:
Detect on the basis of described upper rotation around the rotation of pitch axis, and
Pitch axis controls described adnexa, to eliminate the rotary motion around described pitch axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015047497A JP6671849B2 (en) | 2015-03-10 | 2015-03-10 | Excavator, Excavator damping method |
| JP2015-047497 | 2015-03-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105971042A true CN105971042A (en) | 2016-09-28 |
| CN105971042B CN105971042B (en) | 2019-01-11 |
Family
ID=56898079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610054809.1A Active CN105971042B (en) | 2015-03-10 | 2016-01-27 | The oscillation damping method of excavator, excavator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6671849B2 (en) |
| CN (1) | CN105971042B (en) |
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| CN106438514A (en) * | 2016-10-31 | 2017-02-22 | 广西柳工机械股份有限公司 | Lateral unloading hydraulic system of loading machine |
| CN110612371A (en) * | 2017-06-21 | 2019-12-24 | 住友重机械工业株式会社 | Excavator |
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Also Published As
| Publication number | Publication date |
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| JP6671849B2 (en) | 2020-03-25 |
| CN105971042B (en) | 2019-01-11 |
| JP2016166505A (en) | 2016-09-15 |
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