CN106545039A - Excavator - Google Patents
Excavator Download PDFInfo
- Publication number
- CN106545039A CN106545039A CN201610805703.0A CN201610805703A CN106545039A CN 106545039 A CN106545039 A CN 106545039A CN 201610805703 A CN201610805703 A CN 201610805703A CN 106545039 A CN106545039 A CN 106545039A
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- China
- Prior art keywords
- operator
- axle
- sensitivity correction
- command value
- 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
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- 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
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- 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
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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
A kind of excavator, its offer are suitable for the operation sense of each operator.Action bars（500）It is arranged on the operator's seat of upper rotation, and sets up corresponding relation with a kind of motion of the i.e. control shaft in gyroaxis, the swing arm axle of auxiliary equipment, dipper axle, scraper bowl axle to toppling over for prescribed direction.Sensitivity correction portion（502）The dump angle of the action bars for keeping expression prespecified（θ）With the command value to control shaft（ωREF）Corresponding relation sensory characteristic（511）, and generate corresponding to dump angle（θ）Command value（ωREF）.Sensitivity correction portion（502）To generate sensory characteristic by way of at least 2 coordinates being previously entered by operator（511）.Driving means（504）According to command value（ωREF）To control control shaft.
Description
The application is advocated based on the excellent of the Japanese patent application 2015-183822 in Japanese publication on the 17th of September in 2015
First weigh, and its content is applied at into this.
Technical field
The present invention relates to a kind of excavator.
Background technology
Excavator possesses and is referred to as the running body of crawler belt, upper rotation, upper rotation is rotated relative to running body
Slewing equipment and the auxiliary equipment being installed in upper rotation.Fig. 1 (a) is the figure of the operator's seat 100 for representing excavator.
Left action bars 102 and right action bars 103 that operator (operating personnel) operate are provided with operator's seat.Fig. 1 (b) is table
Show the figure of left action bars 102.The fore-and-aft direction (i) of left action bars 102, left and right directions (ii) are respectively allocated to gyroaxis, bucket
One of bar axle, swing arm axle and scraper bowl axle.Left and right directions, fore-and-aft direction with regard to right action bars 103 is also identical.In addition, stick
Direction it is different according to the manufacturer of excavator from the corresponding relation of axle.
The corresponding relation of the control instruction (or even actual act) relative to the turning angle of stick is (in this manual
Referred to as sensory characteristic) it is different according to machine (size/manufacturer).When the sensory characteristic is directly connected to the behaviour of excavator
When work is felt, in the case that operator are using the excavator with the operation sense different from the operation sense experienced so far, exist
The problems such as reduction or the increase of activity duration of homework precision.
Patent documentation 1：Japanese Unexamined Patent Publication 2002-322681 publications
Patent documentation 2：Japanese Unexamined Patent Publication 8-151662 publication
Patent documentation 3：Japanese Unexamined Patent Publication 1-156300 publication
Patent documentation 4：Japanese Unexamined Patent Publication 7-77206 publication
The content of the invention
The present invention be in view of this problem and complete, provide one kind as one of purpose illustrated in its some way
Excavator, the excavator can provide the operation sense for being suitable for each operator or each operation.
A kind of mode of the present invention is related to excavator.Excavator possesses：Running body；Upper rotation, relative to running body
Revolution；Auxiliary equipment, is installed on upper rotation；Action bars, is arranged on the operator's seat of upper rotation, and to regulation side
To topple over corresponding with a kind of motion foundation of the i.e. control shaft in gyroaxis, the swing arm axle of auxiliary equipment, dipper axle, scraper bowl axle
Relation；Sensitivity correction portion, the dump angle of the action bars for keeping expression prespecified are sensitive with the corresponding relation of command value
Degree characteristic, and generate the command value corresponding to dump angle；And driving means, control shaft is controlled according to command value.Sensitivity
Correction unit is generating sensory characteristic by way of at least 2 coordinates being previously entered by operator.
As operator can set sensory characteristic, it is suitable for each operator or each item therefore, it is possible to provide
The operation sense of operation.Also, as at least 2 coordinates can be specified, therefore, it is possible to independently set gain, sensitivity, rising
Characteristic or saturated characteristic, can make operation sense close to the hobby of operator.
Sensitivity correction portion has GUI (Graphical User Interface), the display sensitivity on display member
Characteristic, and the input of at least 2 coordinates for receiving to be carried out by operator.
Thus, operator can intuitively set sensory characteristic.
Sensitivity correction portion can also keep multiple sensory characteristics corresponding to multi-mode operation and different.Sensitivity correction
Portion can generate command value according to sensory characteristic corresponding with the selected operation of operator.
Jing the present inventor carries out result of study and finds according to operations such as digging operation, ground grading operation, loading operations
Species and preferred sensory characteristic is different.The efficiency of each operation can be improved according to which.
Sensitivity correction portion can also have GUI (Graphical User Interface), show on display member
Multi-mode operation, the selection of the operation that acceptance is carried out by operator.
The another way of the present invention is directed to excavator.Excavator possesses：Running body；Upper rotation, relative to walking
Body is turned round；Auxiliary equipment, is installed on upper rotation；Action bars, is arranged on the operator's seat of upper rotation, and to regulation
Topple over and a kind of motion of the i.e. control shaft in gyroaxis, the swing arm axle of the auxiliary equipment, dipper axle, scraper bowl axle in direction is built
Vertical corresponding relation；Sensitivity correction portion, keeps multiple sensory characteristics corresponding with multi-mode operation, sensory characteristic to represent operation
The dump angle of bar and the corresponding relation of command value, the sensitivity correction portion is according to corresponding with the selected operation of operator
Sensory characteristic is generating the command value corresponding to dump angle；And driving means, control shaft is controlled according to command value.
The sensory characteristic for being suitable for operation can be provided according to which, and working performance can be improved.
In addition, the constitutive requirements of the combination in any or the present invention of above constitutive requirements and showing method, device, system etc.
Between phase double replacement technology, as the present invention mode it is similarly effective.
Invention effect
The operation sense for being suitable for each operator or each operation can be provided according to the present invention.
Description of the drawings
Fig. 1 (a) is the figure of the operator's seat for representing excavator, and Fig. 1 (b) is the figure for representing left action bars.
Fig. 2 is the axonometric chart of the one i.e. outward appearance of excavator for representing the construction machinery involved by embodiment.
Fig. 3 is the control block diagram of the excavator involved by embodiment.
Fig. 4 is the figure of that represents sensory characteristic.
Fig. 5 is the figure for representing GUI.
Fig. 6 (a), Fig. 6 (b) are the figures illustrated to the sensitivity correction of the excavator involved by embodiment.
Fig. 7 (a) is the oscillogram of speed command, and Fig. 7 (b) is the figure for representing sensory characteristic.
Fig. 8 (a)～Fig. 8 (e) is the figure of of the sensory characteristic for representing each work pattern.
Fig. 9 (a) is the figure for representing the excavator for carrying out ground grading operation, and Fig. 9 (b) is to represent to be excavated (depth digging
Pick) operation excavator figure.
Figure 10 is the figure of display member when representing that work pattern is selected.
Figure 11 is the block diagram of the power system of the excavator involved by embodiment or hydraulic system etc..
Figure 12 is the figure for representing the sensory characteristic involved by variation.
Label declaration
1- excavators, 2- running bodies, 2A, 2B- hydraulic motor travel motor, 3- slew gears, 4- revolving bodies, 4a- driver's cabins, 5-
Swing arm, 6- dippers, 7- swing arm cylinders, 8- dipper cylinders, 9- scraper bowl cylinders, 10- scraper bowls, 11- engines, 12- auxiliary equipments, 14- main pumps,
15- pioneer pumps, 16- pilot lines, 17- control valve, 18,19,20- pilot lines, 26- action bars, 27- pilot valves, 28- guide
Pipeline, 29- trimmer valves, 30- driving assist systems, 32- switching valves, 34-CPU, 36- electromagnetic proportional valve, 38- shuttle valves, 500- behaviour
Make bar, 502- sensitivity corrections portion, 504- driving means, 506- control shafts, 510- operational parts, 511- sensory characteristics, 512-
User interface, the insensitive bands of 520-, 522- transition regions, 524- peak regions.
Specific embodiment
Hereinafter, according to preferred implementation, and the present invention will be described referring to the drawings.What is illustrated in the drawings is identical
Or the constitutive requirements of equivalent, part, identical symbol is marked in process, and suitably the repetitive description thereof will be omitted.Also, embodiment party
Formula is not the embodiment for limiting invention, but is illustrated, and described all features or its combination in embodiments may not be limited
It is set to basic feature or its combination of invention.
In this manual, " components A and the state that part B is connected " is except including components A with part B in the way of physics
Beyond situation about being directly connected to, situation about being also connected via other parts indirectly with part B including components A, i.e., to them
Status of electrically connecting do not bring actual influence, or do not damage function or the effect played by their combination.
Fig. 2 is the one i.e. axonometric chart of the outward appearance of excavator 1 for representing the construction machinery involved by embodiment.Excavator
1 mainly possesses：Running body (crawler belt) 2；And the top go back on the top of running body 2 is rotatably equipped on via slew gear 3
Swivel (below, also referred to as upper rotation) 4.
It is provided with upper rotation 4：Swing arm 5；Dipper 6, connecting rod are connected to the front end of swing arm 5；And scraper bowl 10, connecting rod
It is connected to the front end of dipper 6.Scraper bowl 10 is the equipment that thing is hung for capturing soil sand, steel etc..Swing arm 5,10 quilt of dipper 6 and scraper bowl
Auxiliary equipment 12 is referred to as, is hydraulically driven by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 respectively.Also, in upper rotation
It is provided with 4：Driver's cabin 4a, which is used to accommodate the operation operated by the position to scraper bowl 10 or excitation actuating and release movement
Personnel；And power source, it is referred to as producing the engine 11 of hydraulic pressure.Engine 11 is for example made up of diesel motor.
Fig. 3 is the control block diagram of the excavator 1 involved by embodiment.A kind of specific 1 axle is only shown in Fig. 3.Cut the earth
Machine 1 possesses action bars 500, sensitivity correction portion 502, driving means 504 and control shaft 506.
Action bars 500 is arranged on the operator's seat of upper rotation.Action bars 500 can incline to longitudinal direction and laterally respectively
.The toppling over and the one kind in gyroaxis, the swing arm axle of auxiliary equipment, dipper axle, scraper bowl axle to a direction of action bars 500
Corresponding relation is set up in the motion of (hereinafter referred to as control shaft).For example, speed of dump angle θ corresponding to control shaft.Action bars
500 dump angle θ is converted into the signal of telecommunication, and is input to sensitivity correction portion 502.
Sensitivity correction portion 502 keeps dump angle θ of the action bars 500 for representing prespecified and relative to control shaft
Command value ωREFCorresponding relation sensory characteristic 511 (dump angle is to command value characteristic), and generate corresponding to flip angle
Command value ω of degree θREF。
Sensitivity correction portion 502 possesses operational part 510 and user interface 512.User interface 512 can also be with by
The GUI of the display members such as input link 514 and liquid crystal display such as button, sound volume button (knob), stick, contact panel
(Graphical User Interface).Operator are before operation is carried out, special via 514 input sensitivity of input link
At least 2 coordinates of property 511.
Operational part 510 is generating sensory characteristic by way of at least 2 coordinates being previously entered by operator
511.The sensory characteristic 511 is held in operational part 510 in the form of chart or arithmetic expression (approximate expression).Operational part 510 can be with
By CPU (Central Processing Unit), microcomputer, D SP (Digital Signal Processor) etc.
The combination of hardware and software program or special controller are realizing.
Fig. 4 is the figure of that represents sensory characteristic 511.Sensory characteristic 511 according to dump angle θ of stick and
It is divided into insensitive band 520, transition region 522, peak region 524.0 ＜ θ ＜ θ1It is speed omegaREFIt is zero insensitive band
520, θ1＜ θ ＜ θ2It is transition region that speed increases according to dump angle θ, θ2＜ θ ＜ θMAXIt is that speed becomes maximum ωMAX
Peak region 524.Sensitivity correction portion 502 can receive the 1st coordinate of insensitive band 520 and the border of transition region 522
The input of P1 and transition region 522 and the 2nd coordinate P2 on the border of peak region 524, transition region 522 can also be with by the
1 function of 1 coordinate P1 and the 2nd coordinate P2 is specifying.The θ on border1、θ2Can be fixed, it is also possible to carried out by operator
Change.Insensitive band 520 and peak region 524 nearby for example can be set as vertical line from dynamic(al) correction, it is also possible to be inserted with batten
Mend to obtain.
Operator preferably arrange constraints in transition region 522 when the 1st coordinate P1, the 2nd coordinate P2 is input into,
So that slope becomes positive slope, and causes to carry out running counter to the input of the condition, or situation is run counter to operator's prompting.
Also, preferably set and the 1st coordinate P1, the permissible range (applying hacures) 526 of the 2nd coordinate P2 may be selected, and cause to select
Select the region that deathtrap or operation sense substantially sustain damage.
Sensitivity correction portion 502 has GUI (Graphical User Interface), shows Fig. 4 in display member 516
Sensory characteristic 511, and receive the input of at least 2 coordinates P1, P2 carried out by operator.Fig. 5 represents GUI
Figure.The display that the machine that GUI can divert to drive interior is arranged for the purpose of instructing (Machine guidance).Operator
By picture being touched with finger 530 can specify 2 coordinates P1, P2 with vision and intuitively.Or can also be by making sound
Amount button rotates and makes coordinate P1, P2 upper and lower respectively (and/or left and right) mobile.
Return to Fig. 3.Command value ω exported according to sensitivity correction portion 502 by driving means 504REFCome control
The control shaft 506 of axle.Control shaft 506 equivalent to the cylinder body of (i) swing arm axle, the cylinder body of (ii) dipper axle, (iii) scraper bowl axle cylinder
Body or (iv) rotary motor.
It is the structure of excavator 1 above.Then, its action is illustrated.Fig. 6 (a), Fig. 6 (b) are to embodiment institute
The figure that the sensitivity correction of the excavator 1 being related to is illustrated.Sensory characteristic is shown in Fig. 6 (a), characteristic A represents acquiescence
Sensory characteristic.The valve pressure of the longitudinal axis is the speed command (or torque instruction) of dipper axle.Fig. 6 (b) represents skilled special
The time of dump angle θ of dipper stick when industry operator carry out ground grading operation according to the sensory characteristic A of acquiescence
Waveform X and unskilled lay operators carry out the Time Wave of dump angle θ of dipper stick during ground grading operation
Shape Y.Knowable to waveform X, professional operator successfully operates dipper stick.On the other hand, lay operators'
In waveform Y, the turning angle θ of dipper stick changes up and down.This is because sensitivity is too high in turning angle θ larger region
Cause.
In this case, as shown in characteristic B of Fig. 6 (a), operator are with turning angle θ larger sensitivity
The mode of reduction, specifies 2 coordinates P1, P2 in other words as the mode that slope diminishes.Specifically, by making the 1st coordinate
The valve pressure (speed command) of P1 increases and can provide the operation sense for being suitable for lay operators.Here, to dipper
Axle is illustrated, but can be corrected with regard to swing arm axle.If on the contrary, such as characteristic C specified coordinate P1, P2, can
Improve sensitivity.
Thus, the excavator 1 according to involved by embodiment, sets sensory characteristic by operator and can provide suitable
Together in the operation sense of each operator.
Especially, at least 2 coordinates can be specified to sensory characteristic, thus can make gain, sensitivity, insensitive band and
Saturated characteristic near rising characteristic near the border of transition region, the border from transition region to peak region is close to behaviour
Make the hobby of personnel.
Fig. 7 (a) is the oscillogram of speed command, and Fig. 7 (b) is the figure for representing sensory characteristic.With regard to the sensitive of Fig. 7 (b)
Degree characteristic (i), is obtained the waveform (i) of Fig. 7 (a).If the sensitivity of stick is too high, operator topple over stick, if
Feel that operation is excessive, then repeat the operation for recovering stick, therefore ring is produced in waveform (i).
The sensory characteristic (ii) of Fig. 7 (b) is to carry out the characteristic of the gain calibration (slope correction) of sensory characteristic (i).
By the correction from sensory characteristic (i) to (i i), improve in turning angle θ larger zone velocity, and sensitivity is (tiltedly
Rate) also together uprise.As a result, as shown in the waveform (ii) of Fig. 7 (a), although speed is improved, but ring is controlled.
The sensory characteristic (iii) of Fig. 7 (b) is on the basis of the gain calibration (slope correction) of sensory characteristic (i)
The characteristic is corrected by sensitivity.By from sensory characteristic (i) to the correction of (iii), although larger in turning angle θ
Zone velocity is accelerated, but sensitivity (slope) diminishes.As a result, as shown in the waveform (iii) of Fig. 7 (a), speed can be being improved
While suppressed ringing.
Excavator 1 can be used in various modes such as digging action, ground grading operation, loading operations.And, it is suitable for
The sensory characteristic of a certain operation is not limited to be suitable for other operations.Then, sensitivity correction portion 502 can preferably protect
Hold multiple sensory characteristics corresponding to multi-mode operation and different.And, sensitivity correction portion 502 is according to corresponding to operator
The sensory characteristic of selected operation and generate command value ωREF.Thus, whenever operation species change when, operator without
Need specially to set the 1st coordinate P1, the 2nd coordinate P2 again, therefore, it is possible to further improve working performance.It is special with regard to multiple sensitivity
All characteristics of property, as shown in figure 4, multiple coordinate P1, P2 can be set by operator, operator will can also correspond to
The sensory characteristic of a part of operation is set to fix, and only to the sensory characteristic setting coordinate corresponding to remaining operation.
Fig. 8 (a)～Fig. 8 (e) is the figure of of the sensory characteristic for representing each work pattern.Epimere represents dipper
The sensory characteristic of axle, hypomere represent the sensory characteristic of swing arm axle.Fig. 9 (a) is to represent the shoveling for carrying out ground grading operation
The figure of machine 1.For effective ground grading operation, relatively significantly (rapidly) action of dipper 6 is preferably made, and makes 5 phase of swing arm
Slightly (slowly) action over the ground.So as to such as shown in Fig. 8 (b), it is also possible to which it is dynamic with relatively large velocity interval to make dipper axle
Make, it is also possible to make swing arm axle with relatively small velocity interval action.Also, it is in ground grading operation, strict due to requiring
Control, therefore swing arm axle, dipper axle are set to that the default mode of remolding sensitivity Fig. 8 (a) is little.
In the case where tightened up operation is required, the microoperation pattern of preferably Fig. 8 (c).In microoperation pattern, bucket
Bar axle, swing arm axle are set to less velocity interval and with relatively low sensitivity action.
Fig. 9 (b) is the figure for representing the excavator for carrying out depth digging operation.In the operation, the movable range of swing arm is more than bucket
The movable range of bar.It is preferable, however, that swing arm axle is than dipper axle high speed motion.Then, as shown in Fig. 8 (d), dipper axle is set to
Relatively low velocity interval, swing arm axle are set to higher velocity interval.
The not precision prescribed in simple operation, it is required that the action of high speed, therefore as shown in Fig. 8 (e), it may be said that preferably
The sensory characteristic that swing arm axle, dipper axle are changed with higher velocity interval.
Figure 10 is the figure of the display member 516 when representing that work pattern is selected.It is preferred that work pattern is set to pass through upper
State user interface 512 simply to switch.
Figure 11 is the block diagram of the power system of the excavator 1 involved by embodiment or hydraulic system etc..In addition, in Figure 11
In, the system for mechanically transmitting power is represented with doublet, hydraulic system is represented with thicker solid line, is used dotted line
To represent steerable system, power system is represented with thinner solid line.Also, representatively show in fig. 11 and swing arm axle
Drive related structure.
Engine 11 is connected to main pump 14 and pioneer pump 15.Control valve is connected with via high-pressure and hydraulic pipeline 16 on main pump 14
17.In addition, the hydraulic circuit for supplying hydraulic pressure to hydraulic actuator sometimes is provided with 2 systems, in this case, main pump 14 includes 2
Individual hydraulic pump.In this manual, in order to situation that is easy to understand and to main pump being 1 system is illustrated.
Control valve 17 is the device being controlled to the hydraulic system in excavator 1, is the aggregation of multiple control valves.
In control valve 17, in addition to hydraulic motor (hydraulic motor travel motor) 2A and 2B for driving the running body 2 shown in Fig. 2, move
Arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 are connected via high-pressure and hydraulic pipeline, and control valve 17 is input into according to the operation of operator
To control the hydraulic pressure to these part supplies.Driving means 504 of the control valve 17 equivalent to Fig. 3.
Also, the rotary fluid motor 13 for driving slew gear 3 is connected to control valve 17.13 Jing of rotary fluid motor
Control valve 17 is connected to by the hydraulic circuit of rotation control device, but the hydraulic pressure of not shown rotation control device is returned in fig. 11
Road and be simplified.
On pioneer pump 15, pilot valve 27 is connected with via pilot line 18 and aftermentioned switching valve 32.Pilot valve 27 and behaviour
Make bar 26 to connect, and the hydraulic pressure (hydraulic pressure of primary side) supplied by pilot line 18 is converted into into the angle of fascinating with action bars 26
Export after the corresponding hydraulic pressure (hydraulic pressure of primary side) of degree θ.Action bars 26 be for running body 2, slew gear 3, swing arm 5,
The control member operated by dipper 6 and scraper bowl 10, which is operated by operator.From the hydraulic pressure of the primary side of the output of pilot valve 27
Control valve 17 is supplied to via pilot line 28, trimmer valve 29 and aftermentioned shuttle valve 38.
It is the basic structure of excavator 1 above.Then, to the structure relevant with the sensitivity correction involved by embodiment
Illustrate.Than the above described structure, excavator 1 is also equipped with driving assist system 30.Driving assist system 30 corresponds to Fig. 3
Sensitivity correction portion 502, which possesses switching valve 32, CPU34, electromagnetic proportional valve 36 and shuttle valve 38.Switching valve 32 and shuttle are set
Valve 38 is in order to sensitivity correction invalid control system and the effective control system of sensitivity correction are switched over.It is concrete and
Speech, switching valve 32 sensitivity correction is set to it is invalid in the case of, pilot line 18 is attached with pilot line 19,
In the case of sensitivity correction is set to effectively, pilot line 18 is attached with pilot line 20.
Operational parts 510 of the CPU34 equivalent to Fig. 3.Represent that the signal of telecommunication S1 of the turning angle θ of action bars 26 is input to
CPU34.For example turning angle θ can also be detected using the pressure transducer of the pressure oil of the primary side of detection pilot valve 27.
Or, it is also possible to using the angular transducer of direct detection turning angle θ.CP U34 receive turning angle θ, and generate with it is corresponding
In command value ω of sensory characteristicREFCorresponding control signal S2.
Electromagnetic proportional valve 36 is provided with the path of pilot line 20.Electromagnetic proportional valve 36 is according to the control from C PU34
Signal S2 processed, makes the hydraulic pressure of the pilot line 21 of outlet side change.The hydraulic pressure of pilot line 21 is equivalent to speed value
ωREF.Pilot line 21 is supplied to control valve 17 via shuttle valve 38.
The relation of turning angle θ and the speed command of control shaft can be corrected according to the excavator 1.
More than, described the present invention according to embodiment.The present invention is not limited to above-mentioned embodiment, Ke Yijin
The various design alterations of row, to those skilled in the art, can carry out various modifications example, and these variations fall within the present invention
In the range of, it is natural.Hereinafter, these variations are illustrated.
It is set to specify the 1st coordinate P1, the 2nd coordinate P2 this 2 coordinates in embodiments, but it is also possible to be set to specify
The coordinate of more than 3.Figure 12 is the figure for representing the sensory characteristic involved by variation.In the variation, except the 1st coordinate
Beyond P1, the 2nd coordinate P2, the 3rd coordinate P3 of centre can also be specified.It can be 1 letter between P1 and P3, between P3 and P2
Number.
Describe the present invention according to embodiment and using specific words and phrases, but embodiment only represents the present invention
Principle, application, it is believed that in embodiments, in without departing from claim in the range of the thought of the present invention of defined,
The change of various deformation example or configuration can be implemented.
Claims (5)
1. a kind of excavator, it is characterised in that possess：
Running body；
Upper rotation, turns round relative to running body；
Auxiliary equipment, is installed on the upper rotation；
Action bars, is arranged on the operator's seat of the upper rotation, and toppling over and gyroaxis, described attached to prescribed direction
Corresponding relation is set up in a kind of motion of the i.e. control shaft in the category swing arm axle of device, dipper axle, scraper bowl axle；
Sensitivity correction portion, the dump angle and the command value to the control shaft of the action bars for keeping expression prespecified
Corresponding relation sensory characteristic, and generate corresponding to dump angle the command value；And
Driving means, control the control shaft according to the command value,
The sensitivity correction portion is generating the sensitivity by way of at least 2 coordinates being previously entered by operator
Characteristic.
2. excavator according to claim 1, it is characterised in that
The sensitivity correction portion has GUI, shows the sensory characteristic, and receive by the operator on display member
The input of at least 2 coordinates that member is carried out.
3. excavator according to claim 1 and 2, it is characterised in that
The sensitivity correction portion keeps the multiple sensory characteristics different corresponding to multi-mode operation, and according to operator
The corresponding sensory characteristic of selected operation is generating the command value.
4. excavator according to claim 3, it is characterised in that
The sensitivity correction portion has GUI, shows the multi-mode operation, and receive by the operator on display member
The selection of the operation for carrying out.
5. a kind of excavator, it is characterised in that possess：
Running body；
Upper rotation, turns round relative to running body；
Auxiliary equipment, is installed on the upper rotation；
Action bars, is arranged on the operator's seat of the upper rotation, and toppling over and gyroaxis, described attached to prescribed direction
Corresponding relation is set up in a kind of motion of the i.e. control shaft in the category swing arm axle of device, dipper axle, scraper bowl axle；
Sensitivity correction portion, keeps corresponding with multi-mode operation multiple sensory characteristics, the sensory characteristic represent with it is described
The corresponding dump angle of dump angle of action bars and the corresponding relation of the command value to the control shaft, the sensitivity correction portion
The instruction corresponding to dump angle is generated according to the sensory characteristic corresponding with the selected operation of operator
Value；And
Driving means, control the control shaft according to the command value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-183822 | 2015-09-17 | ||
| JP2015183822A JP6576757B2 (en) | 2015-09-17 | 2015-09-17 | Excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106545039A true CN106545039A (en) | 2017-03-29 |
| CN106545039B CN106545039B (en) | 2020-08-11 |
Family
ID=58367870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610805703.0A Active CN106545039B (en) | 2015-09-17 | 2016-09-06 | Excavator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6576757B2 (en) |
| CN (1) | CN106545039B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110409541A (en) * | 2019-06-19 | 2019-11-05 | 三一重机有限公司 | A kind of excavator control method and system |
| CN111465737A (en) * | 2017-12-14 | 2020-07-28 | 住友重机械工业株式会社 | Excavator |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN106545039B (en) | 2020-08-11 |
| JP6576757B2 (en) | 2019-09-18 |
| JP2017057644A (en) | 2017-03-23 |
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