EP0511383A1 - Automatic vibration method and apparatus for hydraulic excavator - Google Patents
Automatic vibration method and apparatus for hydraulic excavator Download PDFInfo
- Publication number
- EP0511383A1 EP0511383A1 EP90901690A EP90901690A EP0511383A1 EP 0511383 A1 EP0511383 A1 EP 0511383A1 EP 90901690 A EP90901690 A EP 90901690A EP 90901690 A EP90901690 A EP 90901690A EP 0511383 A1 EP0511383 A1 EP 0511383A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vibration
- mode
- work
- working
- signal
- 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
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Shovels (AREA)
Abstract
Description
- The present invention relates to an automatic vibration method and device for use in a hydraulic drilling machine with working parts consisting of a boom, an arm and a bucket to apply adequate vibrations to the working parts and thereby achieve effective drilling with reduced resistance in various types of operations or even when the soil is changed.
- Recent progress of the electronic technologies is remarkable. In the operation of cylinders for the working parts of construction equipment, electronic hydraulic control has replaced the mechanical control. In the structure shown in, for example, Fig. 5, a
converter 52 converts the control input of alever 51 operated by the operator into an electric signal, and inputs it to acontroller 53. Thecontroller 53 outputs an electric signal proportional to the control input to asolenoid proportional valve 54. The electro-magneticproportional valve 54 is opened proportionally to the electric signal, and an amount of oil proportional to the amount of the opening is supplied to a workingpart cylinder 61 viapipes pipe 60. The discharged oil from the workingpart cylinder 61 is returned to atank 63 via apipe 62. - However, the above-described conventional technique is performed manually, and therefore simple and minute repeated operations of the hydraulic drilling machine, such as pressure-shifting or sifting work, makes the operator exhausted. Also, in pressure-shifting, sifting or drilling carried out while the bucket is vibrated in order to increase the drilling force, the electro-magnetic
proportional valve 54 must be activated at a very high speed. However, in an electro-magnetic proportional valve having a large capacity, the force of inertia is large and there is a limit to increasing the switching speed. Consequently, it is impossible to apply adequate vibration to the bucket to cope with changes in the operation form or soil. - In view of the aforementioned problems, an object of the present invention is to provide an automatic vibration method and device for a hydraulic drilling machine which are capable of effective drilling by reducing the resistance to cope with various types or operations or changes in the soil.
- The present invention provides an automatic vibration method for a hydraulic drilling machine which comprises a working mode in which a vibration signal for at least one working part selected from a boom, an arm and a bucket is selected from a memory according to an operation form, a vibration mode in which an amplitude and a frequency of the selected vibration signal are selected from the memory according to the operation form, and an automatic vibration mode in which the vibration signal selected by the working mode and the vibration mode is output to an electronic hydraulic valve of an actuator of the working part. An operation signal corresponding to a control input of a working part lever is added to the vibration signal selected from the memory by the working mode and the vibration mode. The present invention also provides an automatic vibration device for a hydraulic drilling machine which comprises a working mode switch for selecting a vibration signal for at least one working part selected from a boom, an arm and a bucket from a memory according to an operation form, a vibration mode switch for selecting an amplitude and a frequency of the selected vibration signal from the memory according to the operation form, and an automatic vibration mode switch for outputting the vibration signal selected by the working mode and the vibration mode to an electronic hydraulic valve of an actuator of the working part. The automatic vibration device for the hydraulic drilling machine further includes an addition circuit for adding an operation signal corresponding to a control input of a working part lever to the vibration signal selected from the memory by the working mode switch and the vibration mode switch. In the above-described structure, when the operator selects the vibration signal for at least one working part from the memory using the working mode switch, the amplitude and frequency of the vibration signal from the memory using the vibration mode switch the automatic vibration mode using the automatic vibration mode switch, the vibration signal is input to the electronic hydraulic valve of the working part actuator to automatically vibrate the selected working part at the selected amplitude and frequency. Furthermore, since the operation signal corresponding to the control input of the working part lever which is operated by the operator is added to the vibration signal by the addition circuit, the selected working part can be vibrated similarly using the obtained vibration signal.
- Thus, adequate vibration can be automatically generated by setting the working mode and vibration mode according to the soil or operation form beforehand and by setting the automatic vibration mode. Furthermore, since the control input of the working part lever can be added to the vibration, simple and minute repeated operations, such as pressure-shifting, sifting or drilling conducted while the bucket is vibrated, can be performed readily and uniformly without exhausting the operator, and workability can thus be greatly improved.
-
- Fig. 1 is an electric and hydraulic circuit diagram of an automatic vibrating device for a working part according to an embodiment of the present invention;
- Fig. 2 is a flowchart of an automatic vibrating method for a working part according to an embodiment of the present invention;
- Fig. 3 illustrates an automation controller shown in Fig. 1;
- Fig.4 illustrates the operation of an actuator according to the embodiment of the present invention; and
- Fig. 5 is a conventional electric and hydraulic circuit diagram.
- Fig. 1 is an electric and hydraulic circuit diagram of a working part automatic vibrating device according to an embodiment of the present invention. In Fig. 1,
reference characters 1a and 1b denote right and left working parts levers. 2a, 2b and 2c denote devices for converting the control inputs of the working parts levers 1a and 1b into electrical signals. 3 denotes an automation controller with a vibration mode/work mode memory to be selected by electric signals respectively designated by avibration mode switch 4 and awork mode switch 5 incorporated therein. When an automaticvibration mode switch 6 is turned off after the vibration mode/work mode memory has been selected, a vibration signal of the selected vibration mode/work mode is input to anelectronic controller 7. - That is, in the
vibration mode switch 4, either the L mode: large amplitude/low frequency, the M mode: intermediate amplitude/intermediate frequency or the S mode: small amplitude/high frequency is selected from the memory as the vibration mode. In thework mode switch 5, the Bo mode: boom vibrated, the A mode: arm vibrated, the Bu mode: bucket vibrated or the Sk mode: arm and bucket vibrated simultaneously (hereinafter referred to as a skeleton vibration) is selected from the memory as the work mode. The vibration signals of the selected vibration mode/work mode are output from the automation controller to theelectronic controller 7 in the form of pulsed voltage signals JBo, JA, JBu and JSk. In thecontroller 7, for example, the boom voltage signal JBo and the command flow rate to aboom cylinder 15 have a relation shown in Fig. 7b. The command flow rate of the boom voltage signal changes with time in the manner shown in Fig. 7c. The command flow rate of the boom voltage signal and a current signal have a relation shown in Fig. 7d. Thus, the boom voltage signal JBo is output from thecontroller 7 to asolenoid hydraulic valves current signals 7e and 7f. - The thus-arranged automatic vibration device is operated in the manner described blow. When the automatic
vibration mode switch 6 is turned off and thework mode switch 5 is set to the Bo mode while thevibration mode switch 4 is set to the L mode, thecontroller 3 outputs a pulsed voltage signal such as that indicated by 7a to theelectronic controller 7 as the boom voltage signal JBo. Thecontroller 7 converts the voltage signal JBo into a boom raising current signal or a boom lowering current signal indicated by 7e and 7f and outputs the same to thesolenoid hydraulic valves solenoid 8, poppet valves 10 and 11 are opened according to the signal, and the amount of pressure oil corresponding to the amount of opening of the poppet valves is discharged from ahydraulic pump 14 and is supplied to a bottom chamber of theboom cylinder 15, moving a piston rod in the direction indicated by an arrow P. Concurrently with this, the pressure oil discharged from a rod chamber returns to atank 16. When the boom loweringcurrent signal 7f is input from theelectronic controller 7 to thesolenoid 9,poppet valves hydraulic pump 14 according to the amount of opening is supplied to theboom cylinder 15 while the pressure oil is discharged to thetank 16, moving the piston rod in the direction indicated by an arrow Q. Thus, the piston rod of theboom cylinder 15 is moved back and forth by P and Q directions in the L mode. Since there are four work modes Bo, A, Bu and Sk and three vibration modes L, M and S, 12 types of operation forms can be carried out in total. In Fig. 1, only the operation of theboom cylinder 15 have been illustrated. The other working cylinders are operated in the same manner, and description thereof is omitted. - Fig. 2 is a flowchart of the automatic vibration method according to the embodiment of the present invention. After the automatic vibration method has been started, the automatic
vibration mode switch 6 is turned off in step S1. If theworking mode switch 5 is set to the Bo mode in step S2, the process goes to step S3. If thevibration mode switch 4 is set to the L mode in step S3, the vibration signal memory for the Bo mode and L mode is written out in step S4. The vibration signal read out from the memory is input to theelectronic controller 7 as the boom voltage signal JBo. If the operator operates the working part lever 1a, the control input of the lever 1a is converted into a boom lever operation signal IBo by the electricsignal converting device 2a, and the converted signal IBo is added to the vibration signal memory in step S5. The obtained vibration signal is input to theelectronic controller 7 as a pulsed boom voltage signal KBo. Theelectronic controller 7 converts the boom voltage signal KBo into a current signal and inputs it to thesolenoid - If the
working mode switch 5 is set to the A mode in step S2 shown in Fig. 2, the process proceeds from steps S1 and S2 to step S9, and an arm voltage signal JA or KA is output via the process enclosed by a frame indicated by *A which contains the similar step to that of the L mode described in a frame indicated by *Bo to perform vibration of the arm in the same manner as the boom. If theworking mode switch 5 is set to the Bu mode, the process goes from steps S1, S2 and S9 to step S10, and a bucket voltage signal JBu or KBu is output via the process enclosed by a frame indicated by *Bu which contains the similar step to that of the L mode described in the frame indicated by Bo to perform vibration of the bucket. If theworking mode switch 5 is set to the Sk mode, the process passes through step S1, S2, S9, S10 and a skeleton voltage signal JSk or KSk is output via the process enclosed by a frame indicated by *Sk which contains the similar step to that of the L mode described in the frame indicated by *Bo to perform skeleton vibration. Skeleton work originating from sifting the soil in a skeleton-shaped bucket indicates the opeation in which both the arm and the bucket are activated at the same time. - Fig. 3 illustrates the
automation controller 3 shown in Fig. 1 in detail. When the automaticvibration mode switch 6 is turned on, aswitch 18 is attracted to amagnet 17 to provide the manual mode. Turning off of the automaticvibration mode switch 6 makes theswitch 18 separated from themagnet 17 and thus provides the automatic vibration mode in which the vibration signal corresponding to the modes set by thevibration mode switch 4 and theworking mode switch 5 is output from amemory 19. The output vibration signal is input to theelectronic controller 7 as the pulsed voltage signal J. If the operator operates the workingpart lever 1a or 1b, the control input of the lever is converted into an electric signal by theelectric signal converter electronic controller 7 as the pulsed voltage signal K. - Fig. 4 illustrates the operation of an actuator according to the embodiment of the present invention. The ordinate axis represents the stroke (amplitude) of the actuator, and the abscissa axis represents the time (frequency). While the working
part lever 1a or 1b is not operated, the actuator is pulse vibrating at a fixed amplitude (e) and a fixed frequency. Once the workingpart lever 1a or 1b is operated, the reference level of the pulses varies with the control input of the levers added thereto. In the case of the actuator for the boom cylinder, when raising and lowering operations of the boom are performed, the boom rises and lowers with the same amplitude (e) at a longer period. - The automatic vibration method and device according to the present invention are employed in a hydraulic drilling machine with working parts consisting of a boom, arm and bucket and are particularly advantageous in pressure-shifting, sifting or drilling carried out while the bucket is vibrated in order to increase the drilling force.
Claims (4)
- An automatic vibration method for a hydraulic drilling machine with working parts consisting of a boom, an arm and a bucket, said method comprising:
a working mode in which a vibration signal for the at least one working part selected from the boom, the arm and the bucket is selected from a memory according to an operation form;
a vibration mode in which an amplitude and a frequency of the selected vibration signal are selected from the memory according to the operation form; and
an automatic vibration mode in which the vibration signal selected by the working mode and the vibration mode is output to an electronic hydraulic valve of an actuator of the working part. - An automatic vibration method for a hydraulic drilling machine according to claim 1, wherein an operation signal corresponding to a control input of a working part lever is added to the vibration signal selected from the memory by the working mode and the vibration mode.
- An automatic vibration device for a hydraulic drilling machine with working parts consisting of a boom, an arm and a bucket, comprising:
a working mode switch for selecting a vibration signal for the at least one working part selected from the boom, the arm and the bucket from a memory according to an operation form;
a vibration mode switch for selecting an amplitude and a frequency of the selected vibration signal from the memory according to the operation form; and
an automatic vibration mode switch for outputting the vibration signal selected by the working mode and the vibration mode to an electronic hydraulic valve of an actuator of the working part. - An automatic vibration device for a hydraulic drilling machine according to claim 3, further comprising an addition circuit for adding an operation signal corresponding to a control input of a working part lever to the vibration signal selected from the memory by the working mode switch and the vibration mode switch.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP1990/000039 WO1991010783A1 (en) | 1990-01-16 | 1990-01-16 | Automatic vibration method and apparatus for hydraulic excavator |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0511383A1 true EP0511383A1 (en) | 1992-11-04 |
EP0511383A4 EP0511383A4 (en) | 1993-04-14 |
EP0511383B1 EP0511383B1 (en) | 1997-03-19 |
Family
ID=13986309
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP90901690A Expired - Lifetime EP0511383B1 (en) | 1990-01-16 | 1990-01-16 | Automatic vibration method and apparatus for hydraulic excavator |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0511383B1 (en) |
KR (1) | KR0141978B1 (en) |
DE (1) | DE69030265T2 (en) |
WO (1) | WO1991010783A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2312762A (en) * | 1996-04-30 | 1997-11-05 | Samsung Heavy Ind | Automatically vibrating working members of power construction vehicles |
EP1361312A1 (en) * | 2002-05-07 | 2003-11-12 | Husco International, Inc. | Apparatus and method for providing vibration to an appendage of a work vehicle |
EP2674533A1 (en) * | 2012-06-12 | 2013-12-18 | HAWE Hydraulik SE | Electro-hydraulic control system |
EP2853642A4 (en) * | 2012-05-22 | 2016-03-02 | Volvo Constr Equip Ab | Bucket movement control device for automatically shaking off foreign substances and method therefor |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004004401B8 (en) * | 2004-01-29 | 2008-11-06 | Jung Pumpen Gmbh | Method for installation and / or operation of a wastewater collection shaft |
GB2514346B (en) * | 2013-05-20 | 2017-02-08 | Jc Bamford Excavators Ltd | Working machine and control system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58156643A (en) * | 1982-10-08 | 1983-09-17 | Kayaba Ind Co Ltd | Control on oil pressure of excavator |
JPS5941537A (en) * | 1982-08-30 | 1984-03-07 | Kayaba Ind Co Ltd | Control on oil pressure of excavator |
EP0446353A1 (en) * | 1989-09-26 | 1991-09-18 | Kabushiki Kaisha Komatsu Seisakusho | Operation automating apparatus of hydraulic driving machine |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5968445A (en) * | 1982-10-08 | 1984-04-18 | Kayaba Ind Co Ltd | Hydraulic control of excavator |
JPS59195938A (en) * | 1983-04-20 | 1984-11-07 | Hitachi Constr Mach Co Ltd | Linear excavation controller for oil-pressure shovel |
-
1990
- 1990-01-16 KR KR1019920701607A patent/KR0141978B1/en not_active IP Right Cessation
- 1990-01-16 DE DE69030265T patent/DE69030265T2/en not_active Expired - Fee Related
- 1990-01-16 EP EP90901690A patent/EP0511383B1/en not_active Expired - Lifetime
- 1990-01-16 WO PCT/JP1990/000039 patent/WO1991010783A1/en active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5941537A (en) * | 1982-08-30 | 1984-03-07 | Kayaba Ind Co Ltd | Control on oil pressure of excavator |
JPS58156643A (en) * | 1982-10-08 | 1983-09-17 | Kayaba Ind Co Ltd | Control on oil pressure of excavator |
EP0446353A1 (en) * | 1989-09-26 | 1991-09-18 | Kabushiki Kaisha Komatsu Seisakusho | Operation automating apparatus of hydraulic driving machine |
Non-Patent Citations (4)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 7, no. 279 (M-262)13 December 1983 & JP-A-58 156 643 ( KAYABA KOGYO ) * |
PATENT ABSTRACTS OF JAPAN vol. 84, no. 704 (M-306)4 July 1984 & JP-A-59 041 537 ( KAYABA KOGYO ) * |
PATENT ABSTRACTS OF JAPAN vol. 90, no. 404 (M-958)4 April 1990 & JP-A-20 24 424 ( KOMATSU LTD. ) * |
See also references of WO9110783A1 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2312762A (en) * | 1996-04-30 | 1997-11-05 | Samsung Heavy Ind | Automatically vibrating working members of power construction vehicles |
GB2312762B (en) * | 1996-04-30 | 2000-03-08 | Samsung Heavy Ind | Device and method for automatically vibrating working members of power construction vehicles |
EP1361312A1 (en) * | 2002-05-07 | 2003-11-12 | Husco International, Inc. | Apparatus and method for providing vibration to an appendage of a work vehicle |
US6763661B2 (en) | 2002-05-07 | 2004-07-20 | Husco International, Inc. | Apparatus and method for providing vibration to an appendage of a work vehicle |
EP2853642A4 (en) * | 2012-05-22 | 2016-03-02 | Volvo Constr Equip Ab | Bucket movement control device for automatically shaking off foreign substances and method therefor |
EP2674533A1 (en) * | 2012-06-12 | 2013-12-18 | HAWE Hydraulik SE | Electro-hydraulic control system |
Also Published As
Publication number | Publication date |
---|---|
WO1991010783A1 (en) | 1991-07-25 |
EP0511383A4 (en) | 1993-04-14 |
KR920703936A (en) | 1992-12-18 |
DE69030265T2 (en) | 1997-08-28 |
DE69030265D1 (en) | 1997-04-24 |
KR0141978B1 (en) | 1999-02-18 |
EP0511383B1 (en) | 1997-03-19 |
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