CN107636236A - Excavator - Google Patents
Excavator Download PDFInfo
- Publication number
- CN107636236A CN107636236A CN201680034252.3A CN201680034252A CN107636236A CN 107636236 A CN107636236 A CN 107636236A CN 201680034252 A CN201680034252 A CN 201680034252A CN 107636236 A CN107636236 A CN 107636236A
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- China
- Prior art keywords
- scraper bowl
- axle
- annex
- controller
- dipper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
Abstract
The present invention provides a kind of excavator.The slewing equipment of the present invention makes upper rotation be rotated relative to crawler belt.Annex (12) has swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder, and is installed on upper rotation.The action of at least one party in controller (30) limitation annex (12) and upper rotation, the power of the material put on to prevent annex (12) in action in scraper bowl, which exceedes, can make the stable threshold value of material.
Description
Technical field
The present invention relates to a kind of excavator.
Background technology
Excavator possesses the running body for being referred to as crawler belt, upper rotation, upper rotation is rotated relative to running body
Slewing equipment and be installed on the annex of upper rotation.Annex have swing arm, dipper, scraper bowl and drive they swing arm cylinder,
Dipper cylinder, scraper bowl cylinder.Each cylinder body can be controlled by the operating lever operation of driver (operating personnel).
If in the state of the materials such as sandy soil or rubble are accommodated in scraper bowl, start swing arm axle, bucket suddenly by operating personnel
Bar axle, scraper bowl axle or gyroaxis, then material trickle down from scraper bowl and (be referred to as sandy soil to overflow).Need to be done over again when sandy soil overflow
Operation, therefore as the factor of reduction operating efficiency.
Conventional art document
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2008-267760 publications
The content of the invention
The invention technical task to be solved
However, when suppressing sandy soil in the past and overflowing, suppress the cataclysm of rotational torque or limited according to the setting of operating personnel
Revolution acceleration slowly stops gyroaxis etc. in a manner of the impact for reducing annex, although to the sandy soil with gyration
Overflow effectively, but do not account for the sandy soil as caused by acting annex and overflow, therefore room for improvement be present.
Also, in conventional art, it is substantially carried out making scraper bowl posture automatically remain horizontal scraper bowl angle relative to ground
Constant control, the mechanical movement of scraper bowl is not accounted for.
The present invention be in view of this problem and complete, a kind of its first purpose of the illustration of mode is to provide a kind of energy
Enough suppress the excavator that sandy soil overflow.
For solving the means of technical task
1. a kind of mode of the present invention is related to excavator.Excavator possesses：Crawler belt；Upper rotation；Slewing equipment, make
Portion's revolving body rotates relative to crawler belt；Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder and be installed on
Upper rotation；And controller, the action of at least one party in annex and upper rotation is limited, is applied to prevent annex in action
The stable threshold value of material can be made by exceeding in the power of the material in scraper bowl.
According to which, by putting on the power of material in considering that annex acts, sandy soil spilling can be suppressed.
Controller can contemplate the conjunction of power and power caused by the action with slewing equipment caused by the action with annex
Power.Sandy soil during thereby, it is possible to suppress to have carried out gyration and the flexion and extension of annex simultaneously overflow.
Controller can suppress the acceleration of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
Controller can suppress the acceleration of gyroaxis, swing arm axle, dipper axle, scraper bowl axle these all axles.
Controller can preferentially suppress the acceleration to the axle for making the direction that material overflows from scraper bowl play dominating role.
Controller can suppress the speed of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
Controller can suppress the jerk of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
Threshold value can be corresponding to the posture of annex.
2. a kind of mode of the present invention is related to excavator.Excavator possesses：Crawler belt；Upper rotation；Slewing equipment, make
Portion's revolving body rotates relative to crawler belt；Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder and be installed on
Upper rotation；And controller, scraper bowl make scraper bowl be produced into the close material with scraper bowl of reference plane for making scraper bowl when moving
The direction in the vertical face in raw acceleration direction tilts.
The another way of the present invention is similarly excavator.The excavator possesses：Crawler belt；Upper rotation；Slewing equipment,
Upper rotation is set to be rotated relative to crawler belt；Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder and peace
Loaded on upper rotation；And controller, so that at least one material aprowl made in scraper bowl in slewing equipment and annex
Positive force become big mode and make bucket tilt.
The another way of the present invention is similarly excavator.The excavator possesses：Crawler belt；Upper rotation；Slewing equipment,
Upper rotation is set to be rotated relative to crawler belt；Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder and peace
Loaded on upper rotation；And controller, so that at least one aprowl reference plane with scraper bowl in slewing equipment and annex
Parallel action makes bucket tilt in the mode that the power of the material in scraper bowl diminishes.
In addition, any combination of above constitutive requirements or the structure of the present invention are mutually replaced between method, apparatus, system etc.
During into important document or manifestation mode, the mode as the present invention is similarly effective.
Invention effect
In accordance with the invention it is possible to suppress sandy soil spilling.
Brief description of the drawings
Fig. 1 is the stereogram of the outward appearance for the excavator of one for being denoted as the construction machinery involved by embodiment.
Fig. 2 is the figure for the coordinate system for showing schematically excavator.
Fig. 3 is the block diagram of an embodiment of the excavator involved by the 1st embodiment.
Fig. 4 is the block diagram of an embodiment of the excavator involved by the 1st embodiment.
Fig. 5 is the block diagram of an embodiment of the excavator involved by the 1st embodiment.
Fig. 6 is the block diagram of an embodiment of the excavator involved by the 1st embodiment.
Fig. 7 is the figure for showing schematically scraper bowl and material.
Fig. 8 is the figure for the action for representing the excavator in the 1st occupation mode.
Fig. 9 is the figure for the action for representing the excavator in the 2nd occupation mode.
Figure 10 is the block diagram of controller.
Figure 11 is the block diagram of an embodiment of the excavator involved by the 2nd embodiment.
Figure 12 is the figure for showing schematically scraper bowl and material.
In Figure 13, Figure 13 (a) and Figure 13 (b) are the figure for showing schematically the scraper bowl angle control based on controller.
In Figure 14, Figure 14 (a) and Figure 14 (b) are to represent that scraper bowl angle controls the figure of the 1st occupation mode of effective excavator.
Figure 15 is to represent that scraper bowl angle controls the figure of the 2nd occupation mode of effective excavator.
Figure 16 is the block diagram of controller.
Figure 17 is the power system of excavator and the block diagram of hydraulic system etc. involved by the 1st variation.
Figure 18 is the power system of excavator and the block diagram of hydraulic system etc. involved by the 2nd variation.
Embodiment
Hereinafter, according to preferred embodiment, the present invention will be described for refer to the attached drawing.To identical shown in each accompanying drawing or
Equal constitutive requirements, part, processing mark identical symbol, and appropriate the repetitive description thereof will be omitted.Also, embodiment is not
Limit invention and merely illustrative, all features described in embodiment or its combination might not limit the essence of invention.
In this specification, feelings that " state that components A is connected with part B " is physically directly connected to except components A and part B
Outside condition, in addition to components A and part B do not influence their status of electrically connecting substantially or do not damage combination by them
The function or the situation about being indirectly connected with via miscellaneous part of effect played.
Fig. 1 is the stereogram of the outward appearance for the excavator 1 of one for being denoted as the construction machinery involved by embodiment.Dig
Native machine 1 mainly possesses crawler belt (also referred to as walking mechanism) 2 and the top of crawler belt 2 is rotatably equipped on via slewing equipment 3
Upper rotation (following, also referred to as revolving body) 4.
Swing arm 5 is installed in revolving body 4, hinge (link) be connected to swing arm 5 front end dipper 6, be hingedly coupled to bucket
The scraper bowl 10 of the front end of bar 6.Scraper bowl 10 is the equipment for lifting by crane material for capturing sandy soil, steel etc..Swing arm 5, dipper 6 and scraper bowl
10 are referred to as annex 12, are hydraulically driven respectively by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9.Also, set in revolving body 4
There is the driver's cabin 4a of the driver of the position for receiving operation scraper bowl 10, excitation actuating and release movement and for producing hydraulic pressure
The grade power source of engine 11.Engine 11 is for example made up of diesel motor.
Fig. 2 is the figure for the coordinate system for showing schematically excavator 1.In excavator 1, define and represent swing arm 5, dipper 6, shovel
Struggle against the angular coordinate thetas of 10 respective positions1~θ3.As long as θ1、θ2And θ3Represent the position of swing arm and revolving body 4 one to one respectively
How relation, swing arm 5 and the position relationship of dipper 6, the position relationship of dipper 6 and scraper bowl 10, then it is all harmless define them.By θ1
~θ3Combination be expressed simply as θ, to represent the overall position (posture) of annex 12.
Also, φ represents the angle of revolution of slewing equipment 3.R(θ1、θ2、θ3) for annex 12 origin O and scraper bowl 10 benchmark
Position X distance.R, and can be according to positional information θ with the function representation of the mechanism based on annex 121~θ3Calculate.By R (θ1、
θ2、θ3) simple marking is R (θ).As long as also, the origin of annex 12 and the reference position of scraper bowl 10 appropriately respectively determine be
Can.
(the 1st embodiment)
Fig. 3~Fig. 6 is the power system of excavator 1 and the block diagram of hydraulic system etc. involved by the 1st embodiment.Separately
Outside, in Fig. 3~Fig. 6, system that mechanical transfer power is represented with doublet represents hydraulic system with heavy line, is represented by dashed line
Steerable system, power system is represented with fine line.In addition, hydraulic actuated excavator is illustrated at this, but the present invention can also answer
In hybrid earth mover for using motor in revolution.
Engine 11 as mechanical drive division is connected with the main pump 14 as hydraulic pump and pioneer pump 15.Passed through in main pump 14
Control valve 17 is connected with by high-pressure and hydraulic pipeline 16.In addition, the hydraulic circuit for supplying hydraulic pressure to hydraulic unit driver sometimes is arranged to
Dual system, now main pump 14 include 2 hydraulic pumps.In order to make it easy to understand, entering to main pump for the situation of single system in this specification
Row explanation.
Control valve 17 is the device for the control for carrying out the hydraulic system in excavator 1.In control valve 17 except being connected with use
In driving Fig. 1 shown in crawler belt 2 hydraulic motor travel motor 2A and 2B outside, also via high-pressure and hydraulic pipeline be connected with swing arm cylinder 7,
Dipper cylinder 8 and scraper bowl cylinder 9, control valve 17 are supplied to the hydraulic pressure of these cylinder bodies according to the operation input control of driver.
Also, for driving the rotary fluid motor 21 of slewing equipment 3 to be connected to control valve 17.Rotary fluid motor 21 passes through
Control valve 17 is connected to by the hydraulic circuit of rotation controller, but not shown in Fig. 3 etc. the hydraulic circuit of rotation controller and enter
Simplification is gone.
In pioneer pump 15 operation device 26 (control member) is connected with via pilot line 25.Operation device 26 is for grasping
Make the operation device of crawler belt 2, slewing equipment 3, swing arm 5, dipper 6 and scraper bowl 10, operated by driver.In operation device 26
Control valve 17 is connected with via fluid pressure line 27, and pressure sensor 29 is connected with via fluid pressure line 28.
Operation device 26 is converted to the hydraulic pressure supplied by pilot line 25 (hydraulic pressure of primary side) behaviour with driver
The corresponding hydraulic pressure of work amount (hydraulic pressure of secondary side) and exported.The hydraulic pressure of the secondary side exported from operation device 26 passes through hydraulic pressure
Pipeline 27 is supplied to control valve 17, and is detected by pressure sensor 29.In addition, 1 fluid pressure line is decorated with Fig. 3 etc.
27, but the left hydraulic motor travel motor of physical presence, right hydraulic motor travel motor, the fluid pressure line for the control instruction value each turned round.
Operation device 26 includes 3 input unit 26A~26C.Input unit 26A~26C is pedal or control stick, is inputted
Device 26A~26C is connected to control valve 17 and pressure sensor 29 via fluid pressure line 27 and 28.Pressure sensor 29 connects
It is connected to the controller 30 for the drive control for carrying out power system.In present embodiment, input unit 26A can play revolution action bars
Function, input unit 26B can play the function of the action bars of annex.Input unit 26C is walking control stick or pedal.
Controller 30 is the master control part for the drive control for carrying out excavator.Controller 30 is by including CPU (central processing units
(Central Processing Unit)) and the arithmetic processing apparatus of internal storage form, and by performing storage by CPU
Drive control in memory is realized with program.
The positional information θ of the detection accessory 23 of sensor 530.Specifically, positional information θ include represent swing arm 5, dipper 6,
The angular coordinate theta of 10 respective position of scraper bowl1~θ3Detected value.Sensor 530 can be by connecting rod angle transducer or detection cylinder body
Displacement sensor form.Also, positional information can be angle information [rad] or angular velocity information [rad/
S] or angular acceleration information [rad/s2]。
Controller 30 limits the action of at least one party in annex 12 and upper rotation 4, is applied to prevent annex 12 in action
The power F for the material being added in scraper bowl 10, which exceedes, can make the stable threshold value T of material.The limitation control carried out by controller 30 will be rear
Face explanation.
Fig. 7 is the figure for showing schematically scraper bowl 10 and material 40.In a kind of occupation mode, the power of material 40 is being put on
F occurs sandy soil when exceeding maximum static friction force μ N and overflowed.Therefore, it is possible to consider confficient of static friction μ and positive force N, material 40
Quality m calculates threshold value T.
Specifically, by by material and scraper bowl 10 modeled and can approximate calculation go out threshold value.By scraper bowl 10 with
Horizontal plane (ground) angulation is as δ.Positive force N is N=mg × cos δ to scraper bowl 10 under static state.Also, make
On the direction x that material 40 overflows, the component F of gravityG=mg × sin δ are in action.Therefore, relational expression FG＜ μ N turn into and not occurred
The condition that sandy soil overflow.
If making annex 12 or slewing equipment 3 work, in addition to the component of gravity, also by annex 12 or slewing equipment 3
Action caused by power F||Put on material 40.Now, relational expression F||+FG＜ μ N turn into the condition that sandy soil spilling does not occur.If
This is deformed, then can obtain relationship below, the right μN-FGAs threshold value T.
F||＜ μ N-FG
T=μ N-FG=μm g × cos δ-mg × sin δ
=mg (μ cos δ-sin δ)
That is threshold value T is scraper bowl angle δ function, therefore scraper bowl angle δ preferably reduces threshold value T in the scope easily overflowed.Separately
Outside, because making annex 12 or the work of slewing equipment 3 so that positive force N also changes, but it influences can be neglected.
Threshold value T can assume typical δ, μ, m in the design phase of excavator 1, and use the rule calculated according to these
Definite value.Or it can also be set by the driver of excavator 1.
Or threshold value T operation expression can be described in the program (or hardware) performed by controller 30 in advance and fitted
Answering property ground computing threshold value T.Such as angle δ can be calculated according to the posture of annex 12 and suitably calculate threshold value T.And material 40
Quality m for can determine when, quality m can be reacted in threshold value T.
In highly higher model, it may be considered that the positive force N change as caused by the action of annex 12 or slewing equipment 3
Change.
Easness is overflowed according to the shape of material 40 and different by experience.Therefore video camera etc. can be passed through
Detect shape etc. of material and change according to flexible shapes and adaptively threshold value T.
In addition, thing of the limitation of the action of the annex 12 or revolving body 4 that are carried out by controller 30 in scraper bowl 10 is carried
Carry out in the state of material, be otherwise not limited preferably for example in soil is unloaded or in excavating.Sandy soil in soil, excavation action are unloaded to overflow
Problem will not be turned into, therefore can prevent operating efficiency from declining by lifting restrictions.Unload in soil or dig in addition, determining whether to be in
When in pick, the technology for example described in patent application 2006-182504 publications can be used.
Then, the action limitation on the annex 12 that is carried out by controller 30 or revolving body 4, with excavator 1 several
Occupation mode establishes association to illustrate.
Fig. 8 is the figure for the action for representing the excavator 1 in the 1st occupation mode.Show to turn round lifting action in Fig. 8.Revolution
In lifting action, the power F of the material 40 acted in scraper bowlARepresented with formula (1a), (1b).
FA=m × αA……(1a)
αA=(y11+y12+y13+y14)……(1b)
m：The quality of material
αA：The acceleration of material
y11：The centrifugal force as caused by the action of annex 12
y12：The centrifugal force as caused by the action of slewing equipment 3
y13：Annex 12 is set to put on the power of material 40 by the action of slewing equipment 3
y14：Annex 12 is set to put on the power of material 40 by the action of annex 12
I.e. in the occupation mode, it may be considered that with power y caused by the action of annex 1211、y14With adjoint slewing equipment
Power y caused by 3 action12、y13Make a concerted effort FA.In addition, identical consideration can also be done by putting down action on revolution.
Centrifugal force y11For the displacement of adjoint swing arm axle, dipper axle, scraper bowl axle, around origin O's in the plane comprising annex 12
Centrifugal force, with y11=R (θ) (θ1'+θ2'+θ3')2Represent." ' " represent time diffusion d/dt.
y12For centrifugal force caused by the rotation because of gyroaxis, such as with y12=R (θ) φ '2Represent.
y13To make annex 12 put on the power of material 40 by the rotation of gyroaxis, such as with y13=R (θ) φ " is represented.
" " " represents the second-order differential (d/dt) of time2。
y14To make annex 12 put on the power of material 40 with the displacement of swing arm axle, dipper axle, scraper bowl axle, such as with y14
=R (θ) (θ1”+θ2”+θ3") represent.
In addition, FAFor trivector, act on sandy soil spilling as shown in Figure 7 is the component F parallel with scraper bowl 10||.Cause
This can contemplate the posture computing parallel component F of annex 12||.Or power FANorm (absolute value) can act on sandy soil and overflow
Go out and with | FA|≈F||It is approximate.
Coordinate θ of the controller 30 always according to each axle1~θ3And φ computing power FA.As described above, power FAIt is considered as θ1~θ3And φ
Function.Moreover, in revolution lifting action 40 stable threshold value of material will can be made to write TAWhen, controller 30 is to meet relational expression
(2) mode limits the action of at least one party in annex 12 and slewing equipment 3.
TA＞ FA……(2)
Here, threshold value TAMainly dominated by frictional force, if therefore it is proportional to the quality of material 40, can carry out near
Seemingly.If proportionality coefficient is set to SA, then threshold value TARepresented with formula (3).
TA=m × SA……(3)
The relational expression (4) of the quality m independent of material 40 is obtained according to formula (1)~(3).As long as controller 30 is with satisfaction
The mode of relational expression (4) limits the acceleration y of multiple axles11、y12、y13、y14In it is at least one.
SA＞ (y11+y12+y13+y14)……(4)
Fig. 9 is the figure for the action for representing the excavator 1 in the 2nd occupation mode.Show that lifting acts in Fig. 9.Lifting acts
In, the lifting upward on one side of scraper bowl 10 is while be pulled to front.In lifting action, the power F of the material 40 acted in scraper bowlB
Represented with formula (5a), (5b).
FB=m × αB……(5a)
αB=y11……(5b)
y11：The centrifugal force as caused by the action of annex 12
In addition, it is contemplated that y in the occupation mode14。
In the occupation mode, centrifugal force y11Overflow what is fallen from the both sides of scraper bowl 10 towards the depth side of dipper 6 to material 40 is made
Direction applies.
Coordinate θ of the controller 30 always according to each axle1~θ3Computing power FB.Moreover, material 40 can be made steady during lifting is acted
Threshold value writing TBWhen, controller 30 limits at least one party in annex 12 and slewing equipment 3 in a manner of meeting relational expression (6)
Action.Threshold value TBIt can be set to and threshold value TADifferent values.
TB＞ FB……(6)
Threshold value TBProportion of utilization coefficient SBRepresented with formula (7).
TB=m × SB……(7)
The relational expression (8) of the quality m independent of material 40 is obtained according to formula (5)~(7).As long as controller 30 is with satisfaction
The mode of relational expression (8) limits the acceleration y related to dipper axle, swing arm axle, scraper bowl axle11、y14In one.
SB＞ y11……(8)
1st, in the 2nd occupation mode, for restraint FAOr FB, controller 30 can carry out following control.
Control the suppression of 1. acceleration
Controller 30 can reduce power F by limiting the acceleration (angular acceleration) of at least one axleA、FB。
Control 1A. such as controllers 30 can maintain the relationship formula (4) or (8) by suppressing the acceleration of all axles.Institute
The suppression for having the acceleration of axle can reduce the change of the changes in flow rate or (ii) restrictive pump output torque of first pilot by (i)
(time rate of change) etc. is measured to realize.The changes in flow rate of first pilot can by pilot line 25 additional electromagnetism flow controller come
Realize.
Specifically, in Fig. 3 excavator 1, flow rate regulating valve 18 is provided with the path of fluid pressure line 27.Controller
30 can suppress the acceleration of all axles by controlling flow rate regulating valve 18.
Also, in Fig. 4 excavator 1, it can be turned by controlling main pump 14 by controller 30 to suppress the output of main pump 14
The variable quantity of square.
By suppressing the acceleration of all axles, directly suppress y13And y14Item.Also, by the suppression of acceleration, afterwards
Speed decline, therefore y11、y12Item also suppressed indirectly.As a result, power FA、FBReduce, and meet formula (4), (8), from
And sandy soil spilling can be suppressed.And all axles can be suppressed by unified come simplify control.
Controller 30 can be carried out as follows control：The rejection of acceleration if as S ＜ α, when still keeping S ＜ α, further
Rejection of acceleration.Or controller 30 can also be according to S and α ratio K=α/S rejection of acceleration.Such as can be in a certain rule
Not rejection of acceleration in the fixed ＜ K ＜ 0.8 of scope 0, the rejection of acceleration if as 0.8 ＜ K.It can be that K is more big then to suppress to add
The degree of speed is higher.In order to meet formula (4) and (8), various parameters, and parameter on the problem of how reducing acceleration be present
It is also contained in the scope of the present invention.
Control 1B. or controller 30 can limit acceleration of the acceleration of several axles without suppressing other axles.Such as
On scraper bowl axle θ3, sometimes to power y14The influence brought is less big compared with other axles.At this point it is possible to do not limit θ3Acceleration
Spend and limit θ1、θ2, φ this 3 axles acceleration.The axle of acceleration is not limited by properly selecting, response can be prevented
Decline and operation sense is deteriorated.
Or controller 30 can only suppress gyroaxis φ acceleration.In addition, the control can not be mixed with conventional art
Confuse.In the past, the power y as caused by the motion of annex is not accounted for11、y14。
Control the suppression of 2. speed
Controller 30 can reduce power F by limiting the speed (angular speed) of at least one axleA、FB。
Control 2A. controllers 30 can maintain the relationship formula (2) by limiting the speed of all axles.The speed of all axles
Suppress to realize by the rotating speed of the output torque of (i) reduction pump, the first pilot of (ii) reduction or (iii) reduction engine.
In Fig. 4 excavator 1, controller 30 reduces the output torque of main pump 14 by controlling main pump 14, thus, it is possible to
Limit speed.
In Fig. 5 excavator 1, proportioning valve 19 is provided with fluid pressure line 27.Controller 30 is by controlling proportioning valve 19
To reduce first pilot, thus, it is possible to limit speed.
In Fig. 6 excavator 1, controller 30 can limit speed by reducing the rotating speed of engine 11.
Controller 30 can be carried out as follows control：Suppress the speed of all axles if as S ＜ α, when still keeping S ＜ F,
Further suppress speed.Or controller 30 can also suppress speed according to S and α ratio K=α/S.Such as can be a certain
Do not suppress speed in the defined ＜ K ＜ 0.8 of scope 0 and suppress speed when as 0.8 ＜ K.It can be that K is more big, suppress speed
Degree it is higher.
By so suppressing the speed of all axles, the item y of centrifugal force11And y12Item be inhibited.As a result, power FA、FB
Reduce and meet formula (4), (8), overflowed so as to suppress sandy soil.Further, it is possible to suppress all axles by unified to simplify control
System.
Control 2B. controllers 30 can limit speed of the speed of several axles without suppressing other axles.By suitably selecting
The axle for not limiting acceleration is selected, can prevent that response from declining and operation sense is deteriorated.
Control the suppression of 3. acceleration and speed
Controller 30 can be simultaneously using control of the control of rejection of acceleration with suppressing speed.Now, y11、y12、y13、
y14All items are limited and make capable FA、FBDecline.Such as can (i) suppress both acceleration and the speed of all axles, or
Person (ii) suppresses both acceleration and the speed of selected several axles, or (iii) suppresses acceleration and the suppression of several axles
Make the speed of other several axles.
Control the suppression of 4. accelerations
Controller 30 can reduce power F by limiting the acceleration (jerk) of at least one axleA、FB.Acceleration
Suppression can be combined with the suppression of acceleration and speed.
It so, it is possible to realize the control for not making power F exceed threshold value T by rejection of acceleration, speed, acceleration.
Then, the control to multiple axles illustrates.Controller 30 can preferentially suppress excessive from scraper bowl 10 to material 40 is made
Play acceleration, speed or the jerk of the axle of dominating role in the direction gone out.
S ＞ K1·y11+K2·y12+K3·y13+K4·y14……(9)
K1、K2、K3、K4For the gain of each axle, controller 30 is by K1、K2、K3、K4It is weighted, so as to not destroy operation sense just
Sandy soil spilling can be suppressed.
Controller 30 can according to the shapes of sandy soil, posture of scraper bowl etc. flexibly, adaptively change K1、K2、K3、K4.Root
According to the shape of sandy soil, the posture of scraper bowl, the spilling easness of sandy soil, the possible difference in direction is easily overflowed.It is considered herein that these factors
And change K1、K2、K3、K4, the operation sense of incoherent axle is overflowed with sandy soil just can suppress sandy soil so as to not destroy and overflow
Go out.
Figure 10 is the block diagram of controller 30.Controller 30 possesses threshold value acquisition unit 32, power operational part 34, limiting unit 36.Control
Device 30 processed can pass through the hardware such as CPU, microcontroller, DSP (Digital Signal Processing (Digital Signal Processor))
Combination with program is realized, therefore threshold value acquisition unit 32, power operational part 34, limiting unit 36 are considered as CPU or DSP on hardware
A part.
Threshold value acquisition unit 32 obtains threshold value T.Threshold value T can also use setting with computing executed as described above.Or regulation
Value is multiplied by variable coefficient corresponding with the shape of the angle δ of scraper bowl or material 40 and is used as threshold value T.Threshold value T can be as above to have
The S for having acceleration dimension is represented.
Power operational part 34 receives the information θ for the position for representing annex 121~θ3And represent the information of the state of slewing equipment 3
φ union power F.Power F can be represented with the α with acceleration dimension.
Limiting unit 36 limits the dynamic of at least one axle in annex 12 and slewing equipment 3 according to acceleration alpha and threshold value S relation
Make.As described above, limiting unit 36 can be using acceleration, speed, jerk as limitation object, and axle to be limited may
Various parameters be present.
More than, the 1st embodiment is illustrated.The embodiment is example, it will be appreciated by those skilled in the art that
Various modifications example may be present in the combination of these various constitutive requirements and each processing routine, and this variation falls within the present invention
Scope.Hereinafter, this variation is illustrated.
(variation of the 1st embodiment)
On threshold value T determination, the model shown in Fig. 7 is only one, can also be according to other model threshold values T.
Also, the power F of material 40 is acted in Fig. 8, Fig. 9 of excavator 1 occupation modeA、FBIt is not limited to formula (1)
(5).Such as a certain item can be omitted, and it is further contemplated that other.
(the 2nd embodiment)
Figure 11 is the power system of excavator 1 and the block diagram of hydraulic system etc. involved by the 2nd embodiment.
Detailed content will illustrate that controller 30 prevents sandy soil from overflowing by controlling the gradient of scraper bowl 10 later.Such as
When control valve 17 can be electronically controlled, controller 30 directly driven by power can be carried out to scraper bowl cylinder 9 or other cylinder bodies 7,8
The valve of control.It is the entire block diagram of excavator 1 above.
Then, the mechanism overflowed to sandy soil illustrates.Figure 12 is the figure for showing schematically scraper bowl 10 and material 40.It is a kind of
In occupation mode, it is believed that it is when the power F for putting on material 40 exceedes threshold value T corresponding with maximum static friction force μ N that sandy soil, which overflow,
Occur.Therefore, threshold value T is it can be considered that confficient of static friction μ and positive force N, the quality m of material 40 are calculated.
Specifically, threshold value T can be by the way that material and scraper bowl 10 be modeled come approximate calculation.By the reference plane of scraper bowl 10
δ is used as with horizontal plane (ground) angulation (hereinafter referred to as scraper bowl angle).Reference plane 41 can determine as the bottom surface with scraper bowl
Or upper surface is parallel.Positive force N is N=mg × cos δ to scraper bowl 10 under static state.G represents acceleration of gravity.Also, overflowing
Go out on the direction x of material 40, the component F of gravityG=mg × sin δ are being acted on.Therefore, relational expression FG＜ μ N turn into and sandy soil do not occur
The condition of spilling.It is considered that in conventional scraper bowl angle constant control, make F by making δ close to zeroGClose to zero with increase just
To power N, so as to prevent sandy soil from overflowing.
If annex 12 or slewing equipment 3 is set to work, except the component F of gravityGOutside, also filled by annex 12 or revolution
Put power F caused by 3 action||Put on material 40.Now, relational expression F||+FG＜ μ N turn into the condition that sandy soil spilling does not occur.
Power F||It may include the acceleration as caused by the operating of annex 12, centrifugal acceleration, caused acceleration enabled by slewing equipment 3
Degree, centrifugal acceleration.
Then, prevent the control that sandy soil overflow from illustrating in the excavator 1 involved by present embodiment.Figure 13 (a),
Figure 13 (b) is the figure for showing schematically the scraper bowl angle control based on controller 30.Overflow what is fallen it can be considered that material 40 is divided into
Upper part 40a, the lower part 40b for being contained in scraper bowl 10, and lower part 40b can be considered as and scraper bowl 10 is integral.
Now consider, the direction of arrow i.e. ground level direction (X-direction) along figure of scraper bowl 10 is accelerated with acceleration alpha.Separately
Outside, power is shown with the size of acceleration in Figure 13 (a)~(c).In Figure 13 (a), show as scraper bowl angle δ is remained into 0 degree in the past
Control.If upper part 40a quality is set into m, positive force N is mg, and maximum static friction force turns into μm g.X in the direction of the arrow
The power for applying acceleration alpha to lower part 40b is equal to the power for applying acceleration alpha to upper part 40a along the direction opposite with arrow X.
Therefore, when following relation is set up, i.e.,
M α ＞ μm g
And then when relation is set up as follows, i.e.,
α ＞ μ g ... (1)
Upper part 40a overflows to the opposite direction of X-axis.
Scraper bowl angle control based on the controller 30 in present embodiment is shown in Figure 13 (b).Make scraper bowl 10 with acceleration alpha
During acceleration, controller 30 make scraper bowl 10 move when make scraper bowl 10 to its reference plane 41 close to in acceleration caused by material 40
The direction in the vertical face 42 in direction (X-direction) tilts.Scraper bowl angle δ control can only pass through scraper bowl axle θ3Control carry out,
Swing arm axle θ can be combined1, dipper axle θ2Control carry out.
It is identical with Figure 13 (a), apply the power of acceleration alpha to upper part 40a along the direction opposite with arrow X, along vertical side
To being applied with gravity acceleration g.Positive force now turns into the component α vertical with reference plane 41 of acceleration alpha||Accelerate with gravity
Spend the g component g vertical with reference plane 41||Sum, i.e.,
g×cosδ+α×sinδ
Therefore, maximum static friction force is as follows：
μ×(g×cosδ+α×sinδ)。
On the other hand, make that upper part 40a turns into acceleration alpha to the power slided with the horizontal direction of reference plane 41 and benchmark
The parallel component α in face 41||The component g parallel with reference plane 41 with gravity acceleration g||Sum, i.e.,
α×cosδ-g×sinδ
In addition, α||With g||To be reverse.
Therefore, when relational expression (2) is set up, upper part 40a overflows to X-direction or its opposite direction.
| α × cos δ-g × sin δ | ＞ μ × (g × cos δ+α × sin δ) ... (2)
Become clear and definite by relativity formula (1) and (2), the advantages of scraper bowl angle control involved by embodiment.Relation
Formula (1), (2) respective left side are the power for overflowing upper part 40a, are set up by properly selecting δ following formulas.
α ＞ | α × cos δ-g × sin δ |
On the other hand, if comparison formula (1), the maximum static friction force on (2) respective the right, by properly selecting
δ causes following formula to set up, i.e.,
μ g ＜ μ × (g × cos δ+α × sin δ)
That is, if comparison formula (1) and (2), it is difficult to set up to understand relational expression (2).
It is above the principle of the scraper bowl angle control based on controller 30.Excavator 1 so according to involved by embodiment,
Make scraper bowl 10 move when, by make scraper bowl 10 to its reference plane 41 close to in acceleration direction (X side caused by material 40
To) direction in vertical face 42 tilts, overflowed so as to suppress sandy soil.
As described above, if comparison formula (1) and (2) respective the right, the right of relational expression (2) are bigger.I.e. from another
One viewpoint analysis present embodiment, it can be seen that controller 30 enters to exercise 10 inclined control of scraper bowl as follows, i.e. make
At least one in activity (scraper bowl 10 is on the move) in slewing equipment 3 and annex 12 makes to material 40 (upper part 40a)
Maximum static friction force become big, positive force is become big.
Also, if comparison formula (1) and (2) respective left side, the left side of relational expression (2) are smaller as described above.I.e.
From another viewpoint analysis present embodiment, it can be seen that controller 30 enters to exercise 10 inclined control of scraper bowl as follows, i.e.
Make abreast to act on the (upper part of material 40 with reference plane when at least one in making slewing equipment 3 and annex 12 is in activity
Power 40a) diminishes.
In addition, the scraper bowl angle control based on controller 30 is only carried out in the state of the material 40 in carrying scraper bowl 10, it is no
Then, controlled preferably for example in soil is unloaded or in excavating without scraper bowl angle.Unload soil, excavation action in sandy soil overflow will not turn into ask
Topic, therefore by lifting restrictions, can prevent operating efficiency from declining.In addition, when determining whether in unloading in soil or excavating, energy
Enough technologies using for example described in patent application 2006-182504 publications.
Figure 14 (a), Figure 14 (b) are to represent that scraper bowl angle controls the figure of the 1st occupation mode of effective excavator 1.1st uses
The revolution action that mode shows to fix annex 12 and turns round slewing equipment 3.In revolution action, centrifugal force acceleration R φ '2
Material 40 is acted on revolution acceleration R φ ".
Scraper bowl 10 is movable in the plane including swing arm 5 and dipper 6, therefore can not possibly be to opposed with revolution acceleration r φ "
Direction tilt.Therefore, if controller 30 in the power for acting on material 40 by the plane including swing arm 5 and dipper 6
The power of effect is taken into account, and the direction of benchmark towards the vertical plane of the acceleration in the plane of scraper bowl is tilted i.e.
Can.Specifically, in revolution action, controller 30 makes scraper bowl 10 to its reference plane 41 close to centrifugal force acceleration R φ '2Hang down
Face 42 direction inclination directly.
Figure 15 is to represent that scraper bowl angle controls the figure of the 2nd occupation mode of effective excavator 1.2nd occupation mode show by
Gyroaxis φ is fixed and the action of (or putting down) material 40 is lifted by crane by annex 12.In lifting action, acceleration R θ " and centrifugal force
Acceleration R θ '2Act on material 40.Controller 30 makes scraper bowl 10 accelerate with its reference plane 41 close to acceleration R θ " and centrifugal force
Spend R θ '2In the mode of the vertical plane of any one tilt.
Or controller 30 can be by acceleration R θ " and centrifugal force acceleration R θ '2Vector modulation is carried out, and makes scraper bowl 10
Tilted in a manner of its reference plane 41 is close to the vertical plane of the acceleration of synthesis.
In addition to Figure 14, Figure 15 occupation mode, (revolution is put down) is acted in the revolution lifting as this few combination
Scraper bowl angle control in action involved by embodiment is similarly effective.In revolution lifting action, acceleration R θ ", centrifugation
Power acceleration R θ '2, centrifugal force acceleration R φ '2, revolution acceleration R φ " act on material 40.Controller 30 can be according to acceleration
Spend R θ ", centrifugal force acceleration R θ '2, centrifugal force acceleration R φ '2In any one or it is several combination carry out scraper bowl angle control.
Figure 16 is the block diagram of controller 30.Figure 16 controller 30 possesses acceleration direction acquisition unit 32, the computing of scraper bowl angle
Portion 34 and inverse kinematics operation portion 36.Controller 30 can pass through CPU, microcontroller, DSP (Digital Signal
The combination of hardware and program such as Processor) is realized, therefore acceleration direction acquisition unit 32, scraper bowl angle operational part 34 are hard
It is considered as CPU or DSP a part on part.
Acceleration direction acquisition unit 32 obtains caused acceleration in the material 40 in scraper bowl 10 when moving scraper bowl 10
Direction.Acceleration direction acquisition unit 32 can be according to positional information θ1~θ3And φ (or velocity information) computing acceleration direction.Or
Person can be kept positional information θ1~θ3And the distribution map (one of φ (or velocity information) associations corresponding with the foundation of acceleration direction
Look at table), and acceleration direction is obtained by reference to list.Distribution map presses each occupation mode (lifting action, back rotation
Make, revolution lifting action) prepare.
Scraper bowl angle operational part 34 is with close to the vertical plane in the acceleration direction obtained by acceleration direction acquisition unit 32
Mode, scraper bowl angle δ is determined by computing or with reference to list.The computing of inverse kinematics operation portion 36 can obtain scraper bowl angle δ's
Connecting rod angle θ1~θ3Command value.
In Figure 16, determined by the signal transacting in acceleration direction acquisition unit 32 and two stages of scraper bowl angle operational part 34
Scraper bowl angle δ, but the present invention is not limited to this.Such as it can prepare in advance positional information θ1~θ3And φ (or speed letter
Breath) distribution map (list) of corresponding association is directly established with scraper bowl angle δ, and scraper bowl angle δ is determined by reference to list.This
When, distribution map can also be prepared by each occupation mode (lifting action, revolution action, revolution lifting action).
Scraper bowl angle δ can also adaptively be changed according to the species of the action of the size of acceleration and excavator 1.Or can
Steady state value is predefined to be acted by each excavator, if it is determined that the action of excavator then uses its corresponding steady state value.
Also, the scraper bowl angle control involved by embodiment is similarly effective in the case where making scraper bowl slow down.
Then, the other embodiment controlled the scraper bowl based on controller 30 illustrates.Figure 17 is involved by the 1st variation
And the power system of excavator and the block diagram of hydraulic system etc..In order to control scraper bowl angle, excavator 1 is provided with switching valve 18
And proportioning valve 19.Control valve 17 can not Electric control scraper bowl axle or during other axles, controller 30 can control switching valve 18 and
Proportioning valve 19, so as to control the pressure to control valve 17 to control scraper bowl angle.
Figure 18 is the power system of excavator and the block diagram of hydraulic system etc. involved by the 2nd variation.The excavator 1 has
Standby flow rate regulating valve 20, to substitute Figure 17 switching valve 18, proportioning valve 19.Controller 30 can control flow rate regulating valve 20, from
And change supply to the flow of the force feed of control valve 17 to control scraper bowl angle.
According to several embodiments and using specific sentence, the present invention is described, but embodiment illustrate only
The principle of the present invention, application, in the range of the thought of the invention of claim defined is not departed from, embodiment can deposit
In various deformation example or allow the change configured.
Symbol description
1- excavators, 2- crawler belts, 2A, 2B- hydraulic motor travel motor, 3- slewing equipments, 4- revolving bodies, 4a- driver's cabins, 5- are moved
Arm, 6- dippers, 7- swing arm cylinders, 8- dipper cylinders, 9- scraper bowl cylinders, 10- scraper bowls, 11- engines, 12- annexes, 14- main pumps, 15- guide
Pump, 16- high-pressure and hydraulic pipelines, 17- control valves, 18- switching valves, 19- proportioning valves, 20- flow rate regulating valves, 21- revolution hydraulic pressure horses
Reach, 25- pilot lines, 26- operation devices, 27,28- fluid pressure lines, 29- pressure sensors, 30- controllers, 32- acceleration sides
To acquisition unit, 34- scraper bowls angle operational part, 36- inverse kinematics operations portion, 40- materials, 40a- upper parts, 40b- lower parts,
530- sensors.
Industrial applicability
The present invention can be used in industrial locomotive.
Claims (11)
1. a kind of excavator, it is characterised in that possess：
Crawler belt；
Upper rotation；
Slewing equipment, the upper rotation is set to be rotated relative to the crawler belt；
Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder, and be installed on the upper rotation；And
Controller, the action of at least one party in the annex and the upper rotation is limited, to prevent in the action of the annex
In put on the power of material in the scraper bowl and exceed and make the stable threshold value of the material.
2. excavator according to claim 1, it is characterised in that
The controller considers power caused by the action with the annex and with caused by the action of the slewing equipment
Power is made a concerted effort.
3. excavator according to claim 1 or 2, it is characterised in that
The controller suppresses the acceleration of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
4. excavator according to claim 3, it is characterised in that
The controller suppresses the acceleration of gyroaxis, swing arm axle, dipper axle, scraper bowl axle these all axles.
5. excavator according to claim 3, it is characterised in that
The controller preferentially suppresses the acceleration to the axle for making the direction that the material overflows from the scraper bowl play dominating role
Degree.
6. excavator according to any one of claim 1 to 5, it is characterised in that
The controller suppresses the speed of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
7. excavator according to any one of claim 1 to 6, it is characterised in that
The controller suppresses the jerk of at least one axle in gyroaxis, swing arm axle, dipper axle, scraper bowl axle.
8. excavator according to any one of claim 1 to 7, it is characterised in that
The threshold value is corresponding to the posture of the annex.
9. a kind of excavator, it is characterised in that possess：
Crawler belt；
Upper rotation；
Slewing equipment, the upper rotation is set to be rotated relative to the crawler belt；
Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder, and be installed on the upper rotation；And
Controller, when moving the scraper bowl, make scraper bowl to making in the close material with scraper bowl of reference plane of the scraper bowl
The direction in the vertical face in caused acceleration direction tilts.
10. a kind of excavator, it is characterised in that possess：
Crawler belt；
Upper rotation；
Slewing equipment, the upper rotation is set to be rotated relative to the crawler belt；
Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder, and be installed on the upper rotation；And
Controller, at least one movable in can making the slewing equipment and the annex so that material in the scraper bowl
Positive force become big mode and make the bucket tilt.
11. a kind of excavator, it is characterised in that possess：
Crawler belt；
Upper rotation；
Slewing equipment, the upper rotation is set to be rotated relative to the crawler belt；
Annex, there is swing arm, dipper, scraper bowl and swing arm cylinder, dipper cylinder, scraper bowl cylinder, and be installed on the upper rotation；And
Controller, at least one movable in can making the slewing equipment and the annex so as to be put down with the reference plane of scraper bowl
The mode that the power of the material acted on capablely in the scraper bowl diminishes makes the bucket tilt.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015170117 | 2015-08-31 | ||
| JP2015170116 | 2015-08-31 | ||
| JP2015-170117 | 2015-08-31 | ||
| JP2015-170116 | 2015-08-31 | ||
| PCT/JP2016/075216 WO2017038772A1 (en) | 2015-08-31 | 2016-08-29 | Shovel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107636236A true CN107636236A (en) | 2018-01-26 |
| CN107636236B CN107636236B (en) | 2022-01-11 |
Family
ID=58187579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680034252.3A Active CN107636236B (en) | 2015-08-31 | 2016-08-29 | Excavator |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6851701B2 (en) |
| CN (1) | CN107636236B (en) |
| WO (1) | WO2017038772A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6282128A (en) * | 1985-10-08 | 1987-04-15 | Komatsu Ltd | Bucket angle controller for power shovel |
| CN1211295A (en) * | 1996-12-12 | 1999-03-17 | 新卡特彼勒三菱株式会社 | Control device of construction machine |
| JP2000240604A (en) * | 1999-02-24 | 2000-09-05 | Shin Caterpillar Mitsubishi Ltd | Revolving controller in construction machine |
| JP3552936B2 (en) * | 1999-01-06 | 2004-08-11 | 株式会社クボタ | Backhoe |
| JP3594839B2 (en) * | 1999-05-24 | 2004-12-02 | 新キャタピラー三菱株式会社 | Turning machine for work machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0689550B2 (en) * | 1986-02-14 | 1994-11-09 | 株式会社小松製作所 | Work machine control method and apparatus in power shovel |
| GB2251232B (en) * | 1990-09-29 | 1995-01-04 | Samsung Heavy Ind | Automatic actuating system for actuators of excavator |
-
2016
- 2016-08-29 WO PCT/JP2016/075216 patent/WO2017038772A1/en active Application Filing
- 2016-08-29 JP JP2017538021A patent/JP6851701B2/en active Active
- 2016-08-29 CN CN201680034252.3A patent/CN107636236B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6282128A (en) * | 1985-10-08 | 1987-04-15 | Komatsu Ltd | Bucket angle controller for power shovel |
| CN1211295A (en) * | 1996-12-12 | 1999-03-17 | 新卡特彼勒三菱株式会社 | Control device of construction machine |
| JP3552936B2 (en) * | 1999-01-06 | 2004-08-11 | 株式会社クボタ | Backhoe |
| JP2000240604A (en) * | 1999-02-24 | 2000-09-05 | Shin Caterpillar Mitsubishi Ltd | Revolving controller in construction machine |
| JP3594839B2 (en) * | 1999-05-24 | 2004-12-02 | 新キャタピラー三菱株式会社 | Turning machine for work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6851701B2 (en) | 2021-03-31 |
| JPWO2017038772A1 (en) | 2018-06-14 |
| WO2017038772A1 (en) | 2017-03-09 |
| CN107636236B (en) | 2022-01-11 |
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