CN1469018A - Controller for oscillating hydraulic bucket shovelling machine - Google Patents
Controller for oscillating hydraulic bucket shovelling machine Download PDFInfo
- Publication number
- CN1469018A CN1469018A CNA031364977A CN03136497A CN1469018A CN 1469018 A CN1469018 A CN 1469018A CN A031364977 A CNA031364977 A CN A031364977A CN 03136497 A CN03136497 A CN 03136497A CN 1469018 A CN1469018 A CN 1469018A
- Authority
- CN
- China
- Prior art keywords
- swing
- working rig
- lifting job
- warning
- state
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
-
- 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
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
- E02F3/384—Connections to the frame; Supports for booms or arms the boom being pivotable relative to the frame about a vertical axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a control apparatus for a swing type hydraulic shovel which can carry out a stable hanging work. The apparatus is provided with a mode switching means capable of selecting a hanging work mode, a swing detector for detecting whether or not a working implement is in a swing state, an alarm means for receiving an alarm command from an external portion and generating an alarm, and a controller for judging on a detection signal of the swing detector whether or not the working implement is in a swing state, at a time when a selection command of a hanging work mode is input from the mode switching means, and outputting to the alarm means a command that the hanging work mode is not started, if it is in the swing state.
Description
Technical field
The present invention relates to the control device that a kind of control has the swing type boom, can carry out the interlocking of the swing of swing type hydraulic scooping machine of lifting job and lifting job with this boom.
Background technology
In the past, for example, as shown in Figure 1, 2, front portion in the upper rotating body 1 on the top that is loaded in lower running body 2 with rotating freely, disposing have can be in vertical plane the working rig 5 of swingingly interconnective boom 12, rocking arm 14 and scraper bowl 6, and be to be widely known by the people to the left and right directions swing type hydraulic scooping machine that is installed in the structure on the upper rotating body 1 (below be called the hydraulic bucket excavator) that freely swings (below be called swing) in horizontal plane in the center by carriage 21 with pin 23 with this working rig 5.In the rearward end of above-mentioned upper rotating body 1, the counterweight 7 that is used for keeping with working rig 5 balance is housed.Such swing type hydraulic scooping machine, can so that working rig 5 as the crow flies towards the neutral condition 5a of the place ahead of upper rotating body 1 direction (with reference to Fig. 2), utilize scraper bowl 6 to excavate native sand etc., carry out common digging operation, and by with upper rotating body 1 from towards the position of the angle of the position of vehicle front rotation regulation, make working rig 5 from above-mentioned neutral condition 5a to the direction swing opposite with direction of rotation, can realize the excavation of side channel of the left and right sides of vehicle.Below these operations are referred to as digging operation.
And, in recent years,, wish to have the swing type hydraulic scooping machine that also can on working rig 5, carry out the lifting job of Suspended Cargo in order to adapt to the variation of operation.Therefore, for example shown in the details drawing of the scraper bowl installation portion of Fig. 3, have in connection to be arranged between scraper bowl 6 and the rocking arm 14, to transmit the front rod 28 of wobble drive power and be connected in the structure that the bottom of suspension hook 27 is installed on the connecting pin 29 of this scraper bowl 6 freely to rotate to scraper bowl 6.In this case, hang on the above-mentioned suspension hook 27, boom 12 and/or rocking arm 14 are risen upward, can realize the lifting job of slinging goods by the goods that will be connected on the link.
But, in the technology before above-mentioned, problem described below is arranged.
In the swing type hydraulic scooping machine that also can realize lifting job, working rig 5 is in and can keeps with the position of the weight balancing of counterweight 7, promptly, when being in neutral condition 5a with respect to upper rotating body 1, can the most stably carry out lifting job.On the contrary, when working rig 5 is carried out lifting job under the state that neutral condition 5a swings to the left and right, perhaps when neutral condition 5a carries out in the process of lifting job swing working rig 5, owing to be difficult to keep balance, so the stability of swing type hydraulic scooping machine reduces, the goods of handling rocks easily.
But, the operator does not recognize above-mentioned situation strongly sometimes and carries out lifting job mistakenly, in the former swing type hydraulic scooping machine, even the operator swings working rig 5 from neutral condition 5a in the handling process, perhaps working rig 5 is being carried out lifting job under the state of neutral condition 5a swing, the notifying operation person that also has no idea is in unsure state owing to this operation causes vehicle.Therefore, the operator do not recognize this situation and continues lifting job, so that vehicle just becomes is unstable, goods rocks, and reduces so produce operating efficiency sometimes, and perhaps the goods of handling and outside such as contact at problem.
Summary of the invention
The present invention is conceived to above-mentioned problem, and its purpose is to provide a kind of control device that can carry out the swing type hydraulic scooping machine of stable lifting job.
To achieve these goals, the 1st invention of the present invention, be with working rig to the left and right direction be installed in the control device of the swing type hydraulic scooping machine on the upper rotating body with freely swinging, have: output is suitable for use as the mode-changeover device of the selection instruction of the lifting job pattern of the lifting job of machine lift cargo already, with detect working rig and be in neutral condition towards the place ahead of upper rotating body, still be in from the swing detection device of the swing state of this neutral condition swing, with the warning instruction of accepting from the outside, the warning device that utilizes alarm indication and/or alarm song to give a warning, with when input during from the selection instruction of the lifting job pattern of mode-changeover device, judge according to the detection signal of swing detection device whether working rig is swing state, if working rig is a swing state, then do not enter the controller of the warning instruction of lifting job pattern to the warning device output notice.
According to the 1st invention, even select the lifting job pattern by mode-changeover device, if working rig is a swing state, so can not become the lifting job pattern yet, at this moment, notify the situation (for the situation of swing state) that does not enter the lifting job pattern by the alarm indication and/or the warning of warning device, so the operator can know this state at once, can arouse the operator and note, remove alarm condition.Like this, impel the operator that working rig is returned to neutral condition from swing state, carry out lifting job, so can carry out lifting job with stable status.
And, the 2nd invention, be with working rig to the left and right direction be installed in the control device of the swing type hydraulic scooping machine on the upper rotating body with freely swinging, have: output is suitable for use as the mode-changeover device of the selection instruction of the lifting job pattern of the lifting job of machine lift cargo already, with detect working rig and be in neutral condition towards the place ahead of upper rotating body, still be in from the swing detection device of the swing state of this neutral condition swing, with the warning instruction of accepting from the outside, the warning device that utilizes alarm indication and/or alarm song to give a warning, with when being in the lifting job pattern according to selection instruction from the lifting job pattern of mode-changeover device, detection signal based on the swing detection device monitors whether working rig is in swing state, be under the situation of swing state the controller of the warning instruction of swinging to the warning device output notice at working rig.
According to the 2nd invention, when being in the lifting job pattern,, then notify the situation of swinging by the alarm indication and/or the alarm song of warning device if working rig is in swing state, so the operator can know this state at once, can arouse the operator and note and remove alarm condition.Like this, impel the operator that working rig is returned to neutral condition from swing state, carry out lifting job, so can carry out lifting job with stable status.
And the 3rd invention is in the 1st or the 2nd invention, it is characterized in that above-mentioned swing detection device is that the swing along with working rig connects or disconnects, detects the limit switch whether working rig is arranged in the prescribed limit of expression neutral condition.
According to the 3rd invention, be neutral condition or swing state because the limit of utilization switch detects working rig, so can and detect reliably with simple structure, low cost.
And the 4th invention is in the 1st or the 2nd invention, it is characterized in that above-mentioned swing detection device is the detector with the stroke of the oscillating cylinder of the pendulum angle of working rig ground of equal value wobble detection working rig.
According to the 4th invention, can judge that working rig is neutral condition or swing state by the stroke of detection with the corresponding oscillating cylinder of pendulum angle of working rig.At this moment, when carrying out this judgement, can make the machinery that the pendulum angle scope of regulation of expression neutral condition is suitable for using and set arbitrarily, judge, be applied to any type, can improve versatility so can will be referred to control device of the present invention.
Description of drawings
Fig. 1 is for using the lateral view of swing type hydraulic scooping machine of the present invention.
Fig. 2 is the major part vertical view of Fig. 1.
Fig. 3 is the details drawing of the scraper bowl of embodiment.
Fig. 4 is that the hardware of the control device of embodiment constitutes calcspar.
Fig. 5 is the stereogram of the monitoring arrangement of embodiment.
Fig. 6 is the control flow chart of embodiment.
Fig. 7 is the stereogram of installation portion of the swing detection device of the 2nd embodiment.
Fig. 8 represents other embodiment of the swing detection device of the 3rd embodiment.
Among the figure: 1-upper rotating body, 2-lower running body, 4-cterpillar drive, 5-working rig, 5a-neutral condition, 6-scraper bowl, 11-walking drive division, 12-boom, 13-boom driving cylinder, 14-rocking arm, 15-rocking arm driving cylinder, 17-scraper bowl driving cylinder, 20-swing detection device, 21-carriage, 22-oscillating cylinder, 23,29,43-pin, 24-working rig installation portion, 25-lug boss, 26-limit switch, 27-suspension hook, 28-front rod, 30-monitoring arrangement (warning device), 31-rotation emergency warning lamp, 32-controller, 33-mode switch (mode-changeover device), 34-display, 35-the 1 electromagnetic valve, 36-the 2 electromagnetic valve, 37-motor, 38-wire rope, 39-encoder, 40-wire rope installation portion, 41-potentiometer, 42-connecting elements, 44-pulley.
The specific embodiment
Describe in detail with reference to the accompanying drawings and relate to embodiments of the invention.
At first the 1st embodiment is described according to Fig. 1～Fig. 6.
Fig. 1 is for using the lateral view of swing type hydraulic scooping machine of the present invention, and Fig. 2 is the vertical view of its major part.In Fig. 1, Fig. 2, the swing type hydraulic scooping machine has lower running body 2, be arranged on lower running body 2 top upper rotating body 1 and be arranged on the working rig 5 of the front portion of upper rotating body 1.Direction of travel with the hydraulic bucket excavator shown in arrow F (preceding) among Fig. 1-R (back) is called fore-and-aft direction below, and the width of car that will be vertical with this fore-and-aft direction is called left and right directions.
Lower running body 2 has pair of right and left cterpillar drive 4, and fore-and-aft direction one side at each cterpillar drive 4 is being provided with the walking drive division 11 with this running gear 4 of fluid motor-driven.On the substantial middle top of lower running body 2, loading upper rotating body 1 with rotating freely, the anterior approximately centre in upper rotating body 1 is being provided with the working rig 5 with scraper bowl 6.
On the working rig installation portion 24 of the leading section that is arranged at upper rotating body 1, (with reference to Fig. 2) connecting carriage 21 to left and right directions with freely swinging in horizontal plane by pin 23, this carriage 21 by be installed in oscillating cylinder 22 between this carriage 21 and the upper rotating body 1 flexible, with above-mentioned pin 23 be the center to the left and right direction swing.In addition, at the leading section of carriage 21, on above-below direction, connecting the bottom of boom 12 with freely swinging; At the leading section of boom 12, connecting the bottom of rocking arm 14 at fore-and-aft direction with freely swinging; And,, connecting scraper bowl 6 at the leading section of rocking arm 14 with freely swinging.This boom 12, rocking arm 14 and scraper bowl 6 are swung by the flexible of boom driving cylinder 13, rocking arm driving cylinder 15 and scraper bowl driving cylinder 17 respectively.By these fabrication process machines 5.Here, the angle that the neutral condition 5a from working rig 5 that overlooks is swung to the left and right is called angle of oscillation θ.And, the action of shrinking scraper bowl driving cylinder 17, scraper bowl 6 forwards being swung is called dumps action.
Protrude at the rear portion of carriage 21 lug boss 25 is being set, near the framework of upper rotating body 1 one sides this lug boss 25 when this carriage 21 is in neutral position towards vehicle front, limit switch 26 is installed.This limit switch 26, with when carriage 21 is in above-mentioned neutral position, the active gage 26a of this limit switch 26 is pressed into by lug boss 25 and the mode of working is provided with, when carriage 21 from above-mentioned neutral position direction swing predetermined angular (when for example ± 5o) above to the left and right, the work of above-mentioned active gage 26a just disconnects, detect near the situation of having swung the neutral position, this detection signal sent in the described controller in back.And, the back, with carriage 21, be boom 12 from the state more than the neutral position swing predetermined angular, be called and swing or swing state.
What Fig. 3 represented is the details drawing of scraper bowl installation portion.As shown in Figure 3, connect scraper bowl 6 and driving force that will above-mentioned scraper bowl driving cylinder 17 to this scraper bowl 6 transmit and the pin 29 of the front rod 28 that makes it to swing on, the bottom (not shown among Fig. 1, Fig. 2) of suspension hook 27 spool is installed.
Fig. 4 represents that the hardware of the control device of swing type hydraulic scooping machine of the present invention constitutes calcspar.
In Fig. 4, this control device, disposing the controller 32 of the automatic control of carrying out lifting job, with detect the swing detection device 20 that working rig 5 is in neutral condition, with monitoring arrangement 30 and rotation emergency warning lamp 31 with drive the 1st electromagnetic valve 35 of the swing of scraper bowl 6 with the display that shows operating condition or warning message and mode switch 33, with the 2nd electromagnetic valve 36 of the acceleration of the drive division 11,11 of walking and the motor 37 that carries out the rotating speed control of motor.Swing detection device 20, monitoring arrangement 30, rotation emergency warning lamp 31, electromagnetic valve 35,36 and motor 37 all are electrically connected on controller 32.Swing detection device 20 has above-mentioned limit switch 26 in the present embodiment.
Rotation emergency warning lamp 31 in the lifting job automatic control process, lights the lamp rotation according to the instruction of controller 32, and notifying operation person etc. is carrying out lifting job and controlling automatically.This rotates emergency warning lamp 31, is set near the anterior position that waits the driver's seat that operators see easily the monitoring arrangement for example shown in Figure 5 30.
The 1st electromagnetic valve 35, the instruction of sending according to slave controller 32 drive the flexible of scraper bowl driving cylinder 17, carry out dumping action (swing forwards) or shoveling and dig action of scraper bowl 6.And the 2nd electromagnetic valve 36, is a rotating speed at the flow of the hydraulic motor of the instruction of sending according to slave controller 32 control walking drive division 11,11, carries out the acceleration or the deceleration of running gear 4 according to speed class.
And motor 37 is controlled its anglec of rotation according to the instruction that slave controller 32 sends, and the pendulum angle of the not shown engine's throttling bar of control connection on its output shaft, is the rotating speed of motor.
In Fig. 5, represented monitoring arrangement 30.Monitoring arrangement 30, has the display 34 that shows operating condition or warning message, switch, set the mode switch 33 of the mode-changeover device of work patterns such as lifting job pattern, digging operation pattern with conduct, accept the instruction of self-controller 32 and on display 34, show operating condition, warning message etc., and by operator's operating-mode switch 33, can with work pattern when carrying out digging operation the digging operation pattern and the lifting job pattern when carrying out lifting job between switch.Here, display 34, but the literal display that is made of the LCD that can show information, plasma display etc. or the light-emitting diode display of image display or display alarm signal code (English digital etc.) constitute, and mode switch 33 is made of instantaneous type switch (for example contact-making switch or press button etc.).And device by way of caution, monitoring arrangement 30 can be to have the aforementioned display device 34 of carrying out alarm indication or the buzzer etc. of the sound that for example gives a warning or structure that both have both.
The following describes the effect under the situation of in the swing type hydraulic scooping machine, carrying out lifting job.
When connecting key switch (not shown), controller 32 is in the digging operation pattern as original state.The operator operates the mode switch 33 of monitoring arrangement 30 when carrying out lifting job, selects the lifting job pattern.At this moment, when working rig was in neutral condition 5a, controller 32 entered the handling pattern.
Under the handling pattern, controller 32 carries out following lifting job and controls automatically.Promptly,
(a) goods weight of computing handling, load-carrying value and maximum permissible value that computing is obtained compare, and when surpassing maximum permissible value, carry out alarm indication on the display 34 of monitoring arrangement 30;
(b) the load-carrying value in the demonstration lifting job process on the display 34 of monitoring arrangement 30;
(c) in the lifting job automatic control process, light rotation emergency warning lamp 31;
(d) control the 1st electromagnetic valve 35, that forbids scraper bowl 6 dumps action (wobbling action forwards);
(e) control the 2nd electromagnetic valve 36, the rotating speed of the hydraulic motor of restriction walking drive division 11 is no more than the scope of 1 speed (low-speed region);
(f) control motor 37, the limiting engine rotating speed is no more than the set upper limit value.
By carrying out this control, the weight of lift cargo and the state of overload warning when the operator can know lifting job at an easy rate, in handling impel its attention when surpassing the goods of permissible value overload.And because in the lifting job process, the action that the acceleration of action, the speed of travel and working rig acceleration etc. make handling state labile (goods rock etc.) is dumped in restriction, so can keep stable lifting job.This lifting job is carried out under the neutral condition that does not make boom 12 swings in principle.
Below, just the operator describes with the state of boom 12 being swung the angle that surpasses regulation from the neutral position, the situation of carrying out lifting job when work pattern is in the digging operation pattern.As the project of background technology illustrated, if so that boom 12 is carried out lifting job from the state of neutral position swing, then the stability of the car body of swing type hydraulic scooping machine reduces, goods can rock sometimes.In order to prevent this situation, controller 32 under the state of neutral position swing, even the operator operates to enter the lifting job pattern mode switch 33, can not enter the lifting job pattern at boom 12 yet.
In Fig. 6 with flowcharting the operator mode switch 33 is operated, from the control sequence of the controller 32 of digging operation pattern when the handling pattern is switched.
Therefore, because even the operator will be set at the lifting job pattern under swing state, the rotation emergency warning lamp also 31 is not lighted, and monitoring arrangement 30 is the value of loading display amount not, and display alarm information, so the operator can perceive the situation that can't enter the handling pattern at once at once.Then,, change into and carry out lifting job, can carry out stable lifting job by boom 12 is returned to neutral condition from swing state.
The following describes in above-mentioned flow chart, after step S4 entered the handling operator scheme, the operator will carry out the situation of wobbling action.In this case, controller 32 notifying operation persons are just in the situation of handling pattern lower swing.
That is, in Fig. 6, after step S4 entered the handling pattern, whether controller 32 was in swing state (step S5) according to the signal monitoring boom 12 of limit switch 26.Then, be in swing state if be judged as, then stop the load-carrying value demonstration of the display 34 of the monitoring arrangement 30 of (b) of control automatically of foregoing lifting job, on this display 34, show the warning message of swinging (step S6), then processing is transferred to step S7.And, the warning buzzer of at this moment also can ringing.Be not to be among the above-mentioned steps S5 under the situation of swing state, transfer to step S7, in step S7, judge whether to have selected the digging operation pattern by mode selection switch 33.If non-selected, then get back to step S4 and repeat above-mentioned processing, if selected the digging operation pattern, then enter digging operation pattern (step S8), and return step S1.
Therefore, because even the operator will swing boom 12 mistakenly under the lifting job pattern, can be on monitoring arrangement 30 yet the value of loading display amount, display alarm information, and warning buzzer pipes, so the operator can perceive the situation of swinging in the lifting job process, impels its attention at once.For fear of this situation, the operator is returned to non-swing state (neutral condition) with boom 12 from swing state, stably carries out lifting job.
As mentioned above, according to the 1st embodiment,, dispose limit switch 26 as detecting the swing detection device 20 whether boom 12 is swung from neutral condition.Like this can be with simple structure, cheaply and reliably detect the swing state of boom 12.And as swing detection device 20, for example also can adopting, electromagnetic type replaces mechanical limit switch 26 near non-contact detection devices such as switches.
Then, according to the judged result of above-mentioned swing state, when operating-mode switch 33 with when the digging operation pattern is transformed into the lifting job pattern, if be in swing state, then be not converted to the lifting job pattern.Therefore, the lifting job of carrying out foregoing (a)～(f) is not controlled automatically, so be not rotated emergency warning lamp 31 lighting and to monitoring arrangement 30 loading display values, and display alarm information, so the operator can at once and easily know the situation of having selected the lifting job pattern in the swing process of boom 12, arouses its attention.And, by after being returned to non-swing state, entering the lifting job pattern once more, can carry out stable lifting job.
And, when being in the lifting job pattern, monitor whether be swing state always.And, when taking place from swing that neutral condition departs from, the warning of this information is sent in the alarm of demonstration by monitoring arrangement 30 and/or buzzer etc. etc., so the operator can at once and know that easily boom 12 has entered the situation of swing state, arouses its attention.And, in this case, except that in display alarm information on the display 34 of monitoring arrangement 30 to replace the load-carrying value, carry out other lifting job and control automatically, so can not prevent to become unstable in the control automatically of interruption midway of lifting job.Then, after boom 12 is returned to non-swing state, continue lifting job, can carry out stable lifting job.
Utilize Fig. 7 that the 2nd embodiment is described below.The hardware of the control device of the 2nd embodiment constitutes identical with formation shown in Figure 4, here other embodiment of the swing detection device 20 of the swing state of explanation detection working rig 5 wherein.
Fig. 7 is the stereogram of bottom of boom 12 that relates to the swing type hydraulic scooping machine of the 2nd embodiment, the installation portion of expression swing detection device 20.STA representation upper rotating body 1, carriage 21 and boom 12 to be separated from each other in Fig. 7.
In Fig. 7, as swing detection device 20, the potentiometer 41 that detects the angle of oscillation θ of boom 12 is set on the axis of pin 23 of the working rig installation portion 24 of connection upper rotating body 1 and above-mentioned carriage 21 with freely swinging.
And when carrying out the judgement of swing state or non-swing state, the scope of foregoing predetermined angular is not limited to ± 5o, can corresponding to the machinery of using, according to for example ± 6o or ± the suitable angular range of 10o and so on judges.And,, when the operator is returned to the neutral position with working rig 5, make operation become easy by for example on monitoring arrangement 30, not only being shown as swing state whether judged result, also showing angle of oscillation θ simultaneously.
Utilize Fig. 8 that the 3rd embodiment is described below.Here, the hardware of control device constitutes identical with Fig. 4.
Fig. 8 represents to relate to other the embodiment of swing detection device 20 of the swing type hydraulic scooping machine of the 3rd embodiment.In Fig. 8, the swing type hydraulic scooping machine, with the detector of haul distance with wobble detection cylinder 22 as swing detection device 20.Promptly, cylinder barrel outside at oscillating cylinder 22, installation is along the pulley 44 of the wire rope coiling direction application of force, in the piston nose portion that is connected in the oscillating cylinder 22 on the carriage 21, be provided with wire rope installation portion 40, between this wire rope installation portion 40 and above-mentioned pulley 44, hang up wire rope 38 with freely reeling, and be provided with the encoder 39 of the anglec of rotation that detects pulley 44.And, with wire rope 38 stretch the amount of sending, be the anglec of rotation of the haul distance of oscillating cylinder 22 as pulley 44, utilize encoder 39 to detect, this detection signal is imported in the controller 32.
The haul distance of oscillating cylinder 22 can convert angle of oscillation θ to by the relational expression of frame for movement decision according to the relation of the oscillation center position of the position of the wire rope installation portion 40 of the relation of the position of the installation site, cylinder barrel end of oscillating cylinder 22 and the oscillation center of carriage 21 (pin 23), above-mentioned piston nose portion and carriage 21 etc.And, also can obtain angle of oscillation θ according to the haul distance of the oscillating cylinder 22 of trying to achieve and the corresponding data table of angle of oscillation e by the relational expression of above-mentioned frame for movement decision.
According to present embodiment, owing to utilize encoder 39 ground of equal value wobble detection angle θ, so identical with the 2nd embodiment, can easily set, judge the scope of the neutral condition of expression working rig 5 with the machinery of using adaptably, so can enlarge the range of application of this control device.
And, though, shown hydraulic bucket excavator, be not limited thereto with cterpillar drive as the example of application machine of the present invention, for example also can be the wheel formula.
As mentioned above, can access following effect according to the present invention.
In order stably to carry out lifting job, can select to be attached with various miscellaneous functions, automatic In the Swinging hydraulic dipper shovelling machine of lifting job pattern of control lifting job, at working rig When swing state and above-mentioned lifting job pattern occur simultaneously, notify the operator to locate by warning device Situation in swing state. That is, when swing state, selected in the situation of lifting job pattern, Perhaps when the lifting job pattern, enter in the situation of swing state, utilize alarm indication and/or The buzzer alarm song notifies the operator to be in the situation of swing state. Like this, the operator can be at once And easily know the situation of alarm condition, arouse operator's attention, so can easily carry out Working rig is returned to neutral condition and removes the operation of above-mentioned alarm condition. Therefore can be with car body Stable state carries out lifting job.
At this moment, adopt limit switch as the swing detection of the swing state that detects above-mentioned working rig Device then can consist of cheaply with simple structure. And, as pendulum angle, by utilizing The angle of working rig oscillation center axle rotation or the detections such as stroke of oscillating cylinder, like this, even The detection range of swing state is set at and the mechanical matched scope of using, also only changes and declare Disconnected reference data gets final product, and can adapt at an easy rate, so can improve the general of this control device The property.
Claims (4)
1. the control device of a swing type hydraulic scooping machine, with working rig (5) to the left and right direction be installed in the control device of the swing type hydraulic scooping machine on the upper rotating body (1) with freely swinging, it is characterized in that having:
Output be suitable for use as industry machine (5) lift cargo lifting job the lifting job pattern selection instruction mode-changeover device (33) and
Detect working rig (5) be in towards the neutral condition (5a) in the place ahead of upper rotating body (1), still be in from the swing detection device (20) of the state of this neutral condition swing and
Acceptance from the warning of outside instruction, utilize warning device (30) that alarm indication and/or alarm song give a warning and
When input during from the selection instruction of the lifting job pattern of mode-changeover device (33), judge according to the detection signal of swing detection device (20) whether working rig (5) is swing state, if working rig (5) is swing state then does not enter the controller (32) of the warning instruction of lifting job pattern to warning device (30) output notice.
2. the control device of a swing type hydraulic scooping machine, with working rig (5) to the left and right direction be installed in the control device of the swing type hydraulic scooping machine on the upper rotating body (1) with freely swinging, it is characterized in that having:
Output be suitable for use as industry machine (5) lift cargo lifting job the lifting job pattern selection instruction mode-changeover device (33) and
Detect working rig (5) be in towards the neutral condition (5a) in the place ahead of upper rotating body (1), still be in from the swing detection device (20) of the state of this neutral condition swing and
Acceptance from the warning of outside instruction, utilize warning device (30) that alarm indication and/or alarm song give a warning and
When being in the lifting job pattern according to selection instruction from the lifting job pattern of mode-changeover device (33), detection signal based on swing detection device (20) monitors whether working rig (5) is in swing state, be under the situation of swing state the controller (32) of the warning instruction of swinging to warning device (30) output notice at working rig (5).
3. the control device of swing type hydraulic scooping machine according to claim 1 and 2, it is characterized in that, described swing detection device (20) is that the swing along with working rig (5) connects or disconnects, detects the limit switch (26) whether working rig (5) are arranged in the prescribed limit of expression neutral condition.
4. the control device of swing type hydraulic scooping machine according to claim 1 and 2, it is characterized in that, described swing detection device (20) is the detector (39) with the stroke of the oscillating cylinder (22) of the pendulum angle (θ) of working rig (5) ground of equal value wobble detection working rig (5).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002206298 | 2002-07-15 | ||
| JP2002206298A JP4257722B2 (en) | 2002-07-15 | 2002-07-15 | Swing hydraulic excavator control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1469018A true CN1469018A (en) | 2004-01-21 |
| CN1306122C CN1306122C (en) | 2007-03-21 |
Family
ID=29774600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031364977A Expired - Fee Related CN1306122C (en) | 2002-07-15 | 2003-05-22 | Controller for oscillating hydraulic bucket shovelling machine |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1382753B1 (en) |
| JP (1) | JP4257722B2 (en) |
| CN (1) | CN1306122C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102652200A (en) * | 2010-03-15 | 2012-08-29 | 株式会社小松制作所 | Control device for work machine on construction vehicle and control method |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4597914B2 (en) * | 2006-06-06 | 2010-12-15 | 日立建機株式会社 | Work machine |
| CN101666105B (en) * | 2009-07-08 | 2011-08-10 | 北汽福田汽车股份有限公司 | Method for controlling rising velocity of movable arm of excavator, control system and excavator |
| ITBO20100659A1 (en) * | 2010-11-03 | 2012-05-04 | Ferri Srl | SAFETY DEVICE FOR OPERATING MACHINE |
| JP6340175B2 (en) * | 2013-07-30 | 2018-06-06 | ヤンマー株式会社 | Construction machinery |
| JP6962841B2 (en) * | 2018-03-22 | 2021-11-05 | ヤンマーパワーテクノロジー株式会社 | Turning work vehicle display system |
| JP7214618B2 (en) * | 2019-12-23 | 2023-01-30 | 株式会社クボタ | Position detection device and industrial machine |
| CN112252387B (en) * | 2020-10-30 | 2023-06-20 | 徐州徐工挖掘机械有限公司 | Swing arm deflection system of excavator, excavator and swing arm deflection control method of excavator |
| JP2023049740A (en) * | 2021-09-29 | 2023-04-10 | 株式会社小松製作所 | Position detecting device, work machine and position detecting method |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1457633A (en) * | 1964-09-22 | 1966-01-24 | Sperry Rand Corp | System for supplying and controlling hydraulic equipment |
| US3343686A (en) * | 1966-03-09 | 1967-09-26 | Deere & Co | Boom-type implement |
| JPS5295754A (en) * | 1976-02-08 | 1977-08-11 | Tadashi Sakurai | Powder painting device |
| US4389153A (en) * | 1981-12-10 | 1983-06-21 | J. I. Case Company | Backhoe swing mechanism |
| US4500250A (en) * | 1982-06-07 | 1985-02-19 | J. I. Case Company | Backhoe swing mechanism |
| DE3508691C1 (en) * | 1985-03-12 | 1986-07-10 | Eisenwerke Kaiserslautern Göppner GmbH, 6750 Kaiserslautern | Hydraulic earthworks vehicle with a slewable boom |
| SU1271951A1 (en) * | 1985-06-19 | 1986-11-23 | Московский автомеханический институт | Apparatus for automatic control of working member of earth-moving and load-handling machine |
| JPH0699948B2 (en) * | 1988-07-14 | 1994-12-12 | 株式会社小松製作所 | Automatic vibration method and automatic vibration device for hydraulic excavator |
| CA1333416C (en) * | 1988-11-18 | 1994-12-06 | Tetsuya Nishida | Pivotal movement control device for boom-equipped working machine |
| US5835874A (en) * | 1994-04-28 | 1998-11-10 | Hitachi Construction Machinery Co., Ltd. | Region limiting excavation control system for construction machine |
| CN1179194A (en) * | 1995-03-23 | 1998-04-15 | 株式会社小松制作所 | Device for controlling balldozing blade of bulldozer and method thereof |
| KR0168992B1 (en) * | 1995-10-31 | 1999-02-18 | 유상부 | Control method for an excavator |
| US6045320A (en) * | 1997-12-17 | 2000-04-04 | Cullen; Michael J. | Arm extension for a backhoe |
| JP5367199B2 (en) * | 2000-02-10 | 2013-12-11 | 住友建機株式会社 | Excavator |
| US6568898B2 (en) * | 2000-05-26 | 2003-05-27 | Komatsu Limited | Hydraulic shovel with hoisting hook |
-
2002
- 2002-07-15 JP JP2002206298A patent/JP4257722B2/en not_active Expired - Fee Related
-
2003
- 2003-03-31 EP EP03007275A patent/EP1382753B1/en not_active Expired - Lifetime
- 2003-05-22 CN CNB031364977A patent/CN1306122C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102652200A (en) * | 2010-03-15 | 2012-08-29 | 株式会社小松制作所 | Control device for work machine on construction vehicle and control method |
| CN102652200B (en) * | 2010-03-15 | 2014-10-15 | 株式会社小松制作所 | Control device for work machine on construction vehicle and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1382753B1 (en) | 2011-12-21 |
| CN1306122C (en) | 2007-03-21 |
| JP4257722B2 (en) | 2009-04-22 |
| EP1382753A1 (en) | 2004-01-21 |
| JP2004043168A (en) | 2004-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6932647B2 (en) | Excavator and excavator controller | |
| CN1070253C (en) | Area limiting excavation control system for construction machine | |
| CN1274967C (en) | Engineering mechanism including fine regulation and operation mode | |
| CN1942633A (en) | Rotation-type working machine | |
| CN1306122C (en) | Controller for oscillating hydraulic bucket shovelling machine | |
| JPWO2016006716A1 (en) | Work vehicle | |
| CN1863971A (en) | Multi-function work machine | |
| US9366004B2 (en) | Extended reach crowd control for a shovel | |
| KR102412577B1 (en) | working machine | |
| CN1650123A (en) | Travel control device of hydraulically driven vehicle, hydraulically driven vehicle, and wheel hydraulic shovel | |
| CN1497105A (en) | Oscillation control device of oscillation type hydraulic digging machine | |
| CN108779622B (en) | Working vehicle | |
| CN116888328A (en) | Engineering machinery | |
| WO2020065915A1 (en) | Wheel loader | |
| CN210946932U (en) | Multi-rotation operation platform and engineering vehicle | |
| JP2019172383A (en) | Construction machinery | |
| JP2015059301A (en) | Gravity center variable device | |
| JP2022190397A (en) | Work machine | |
| CN103754774B (en) | Multifunctional pipe hoisting machine | |
| JP2022160278A (en) | Work system | |
| JP3886480B2 (en) | Hydraulic excavator reaction force sensing type operation device and hydraulic excavator | |
| CN115151699B (en) | Work vehicle | |
| JP3936349B2 (en) | Excavator | |
| CN103174381A (en) | Rotary excavating drilling machine | |
| CN102296650A (en) | Control device of skid loader |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070321 Termination date: 20160522 |