EP0511383B1 - Automatisches vibrationsverfahren eines hydraulikbaggers - Google Patents

Automatisches vibrationsverfahren eines hydraulikbaggers Download PDF

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Publication number
EP0511383B1
EP0511383B1 EP90901690A EP90901690A EP0511383B1 EP 0511383 B1 EP0511383 B1 EP 0511383B1 EP 90901690 A EP90901690 A EP 90901690A EP 90901690 A EP90901690 A EP 90901690A EP 0511383 B1 EP0511383 B1 EP 0511383B1
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.)
Expired - Lifetime
Application number
EP90901690A
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English (en)
French (fr)
Other versions
EP0511383A4 (en
EP0511383A1 (de
Inventor
Fujitoshi Takamura
Takumi Onoda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0511383A1 publication Critical patent/EP0511383A1/de
Publication of EP0511383A4 publication Critical patent/EP0511383A4/en
Application granted granted Critical
Publication of EP0511383B1 publication Critical patent/EP0511383B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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

Definitions

  • the present invention relates to an automatic vibration method and device for use in a hydraulic excavator 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.
  • a hydraulic driving machine which is capable of performing repeated operations automatically and which is also capable of reducing a correction operation by correcting an automatic operation through intervening a lever operation during automatic operation.
  • a converter 52 converts the control input of a lever 51 operated by the operator into an electric signal, and inputs it to a controller 53.
  • the controller 53 outputs an electric signal proportional to the control input to a solenoid 55 or 56 of an electro-magnetic proportional valve 54.
  • the electromagnetic proportional 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 working part cylinder 61 via pipes 58 and 59 or a pipe 60.
  • the discharged oil from the working part cylinder 61 is returned to a tank 63 via a pipe 62.
  • an object of the present invention is to provide an automatic vibration method and device for a hydraulic excavator 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 excavator 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 excavator 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 excavator 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.
  • the vibration signal 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.
  • Fig. 1 is an electric and hydraulic circuit diagram of a working part automatic vibrating device according to an embodiment of the present invention.
  • 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 a vibration mode switch 4 and a work mode switch 5 incorporated therein.
  • an automatic vibration 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 an electronic controller 7.
  • 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.
  • the Bo mode boom vibrated
  • the A mode arm vibrated
  • the Bu mode bucket vibrated
  • 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 the electronic controller 7 in the form of pulsed voltage signals J Bo , J A , J Bu and J Sk .
  • the boom voltage signal J Bo and the command flow rate to a boom 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.
  • the boom voltage signal J Bo is output from the controller 7 to a solenoid 8 or 9 of electronic hydraulic valves 10 and 11 or 12 and 13 in the form of current signals 7e and 7f.
  • the thus-arranged automatic vibration device is operated in the manner described blow.
  • the controller 3 outputs a pulsed voltage signal such as that indicated by 7a to the electronic controller 7 as the boom voltage signal J Bo .
  • the controller 7 converts the voltage signal J Bo into a boom raising current signal or a boom lowering current signal indicated by 7e and 7f and outputs the same to the solenoid 8 or 9 of the electronic hydraulic valves 10 and 11 or 12 and 13.
  • Fig. 2 is a flowchart of the automatic vibration method according to the embodiment of the present invention.
  • the automatic vibration mode switch 6 is turned off in step S1. If the working mode switch 5 is set to the Bo mode in step S2, the process goes to step S3. If the vibration 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 the electronic controller 7 as the boom voltage signal J Bo .
  • the control input of the lever la is converted into a boom lever operation signal I Bo by the electric signal converting device 2a, and the converted signal I Bo is added to the vibration signal memory in step S5.
  • the obtained vibration signal is input to the electronic controller 7 as a pulsed boom voltage signal K Bo .
  • the electronic controller 7 converts the boom voltage signal K Bo into a current signal and inputs it to the solenoid 8 or 9.
  • step S2 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 J A or K A 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.
  • the working 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 J Bu or K Bu is output via the process enclosed by a frame l'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.
  • step S1, S2, S9, S10 a skeleton voltage signal J Sk or K Sk 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.
  • a switch 18 is attracted to a magnet 17 to provide the manual mode.
  • Turning off of the automatic vibration mode switch 6 makes the switch 18 separated from the magnet 17 and thus provides the automatic vibration mode in which the vibration signal corresponding to the modes set by the vibration mode switch 4 and the working mode switch 5 is output from a memory 19.
  • the output vibration signal is input to the electronic controller 7 as the pulsed voltage signal J.
  • the control input of the lever is converted into an electric signal by the electric signal converter 2a, 2b or 2c, and the converted electric signal is added to the vibration signal.
  • the vibration signal obtained by an addition circuit as a result of addition is input to the 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).
  • the actuator is pulse vibrating at a fixed amplitude (e) and a fixed frequency.
  • the reference level of the pulses varies with the control input of the levers added thereto.
  • 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 excavator 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 (2)

  1. Automatisches Schwingverfahren für einen Hydraulikbagger mit den Arbeitsgeräteeinheiten Ausleger, Löffelstiel und Grabgefäß, wobei das Verfahren folgendes umfaßt:
    eine Betriebsart, bei der ein Schwingungssignal für mindestens eine der Arbeitsgeräteeinheiten Ausleger, Löffelstiel und Grabgefäß aus einem Speicher entsprechend einem auszuführenden Arbeitsgang ausgewählt wird; und
    eine Schwingbetdebsart, bei der aus einem Speicher eine Amplitude und eine Frequenz des ausgewählten Schwingungssignals entsprechend den auszuführenden Arbeitsgängen ausgewählt werden; und
    einen automatischen Schwingbetrieb, bei dem das entsprechend der Betriebsart und der Schwingbetriebsart ausgewählte Schwingungssignal an einem elektronisch gesteuerten Hydraulikventil für eine Stelleinrichtung der Arbeitsgeräteeinheit angelegt wird,
    bei dem ein einer Führungsgröße eines Hebels einer Arbeitsgeräteeinheit entsprechendes Betätigungssignal zum aus dem Speicher entsprechend der Betriebsart und der Schwingbetriebsart ausgewählten Schwingungssignal addiert wird.
  2. Automatische Schwingvorrichtung für einen Hydraulikbagger mit den Arbeitsgeräteeinheiten Ausleger, Löffelstiel und Grabgefäß, bestehend aus:
    einem Betriebsartenschalter zum Auswählen eines Schwingungssignals für mindestens eine der Arbeitsgeräteeinheiten Ausleger, Löffelstiel und Grabgefäß aus einem Speicher entsprechend den auszuführenden Arbeitsgängen;
    einem Schwingbetriebsartenschalter zum Auswählen einer Amplitude und einer Frequenz des gewählten Schwingungssignals aus einem Speicher entsprechend den auszuführenden Arbeitsgängen; und
    einem Schalter für automatischen Schwingbetrieb zum Anlegen des entsprechend der Betriebsart und der Schwingbetriebsart ausgewählten Schwingungssignals an einem elektronisch gesteuerten Hydraulikventil für eine Stelleinrichtung der Arbeitsgeräteeinheit,
    und desweiteren einer Addierschaltung zum Addieren eines einer Führungsgröße eines Hebels einer Arbeitsgeräteeinheit entsprechenden Betätigungssignals zu dem aus dem Speicher mit Hilfe des Betriebsartenschalters und des Schwingbetriebsartenschalters ausgewählten Schwingungssignal.
EP90901690A 1990-01-16 1990-01-16 Automatisches vibrationsverfahren eines hydraulikbaggers Expired - Lifetime EP0511383B1 (de)

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 EP0511383A1 (de) 1992-11-04
EP0511383A4 EP0511383A4 (en) 1993-04-14
EP0511383B1 true EP0511383B1 (de) 1997-03-19

Family

ID=13986309

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90901690A Expired - Lifetime EP0511383B1 (de) 1990-01-16 1990-01-16 Automatisches vibrationsverfahren eines hydraulikbaggers

Country Status (4)

Country Link
EP (1) EP0511383B1 (de)
KR (1) KR0141978B1 (de)
DE (1) DE69030265T2 (de)
WO (1) WO1991010783A1 (de)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100328217B1 (ko) * 1996-04-30 2002-06-26 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 유압식건설기계의자동진동장치및방법
US6763661B2 (en) 2002-05-07 2004-07-20 Husco International, Inc. Apparatus and method for providing vibration to an appendage of a work vehicle
DE102004004401B8 (de) * 2004-01-29 2008-11-06 Jung Pumpen Gmbh Verfahren zur Installation und/oder zum Betrieb eines Abwassersammelschachts
CN104334805A (zh) * 2012-05-22 2015-02-04 沃尔沃建造设备有限公司 用于自动抖落杂质的铲斗运动控制装置及其方法
EP2674533B1 (de) * 2012-06-12 2019-09-04 HAWE Hydraulik SE Elektrohydraulisches Steuersystem
GB2514346B (en) * 2013-05-20 2017-02-08 Jc Bamford Excavators Ltd Working machine and control system

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5941537A (ja) * 1982-08-30 1984-03-07 Kayaba Ind Co Ltd 掘削機の油圧制御方法
JPS58156643A (ja) * 1982-10-08 1983-09-17 Kayaba Ind Co Ltd 掘削機の油圧制御方法
JPS5968445A (ja) * 1982-10-08 1984-04-18 Kayaba Ind Co Ltd 掘削機の油圧制御方法
JPS59195938A (ja) * 1983-04-20 1984-11-07 Hitachi Constr Mach Co Ltd 油圧シヨベルの直線掘削制御装置
EP0446353B1 (de) * 1989-09-26 1996-03-06 Kabushiki Kaisha Komatsu Seisakusho Betriebsautomatisierungsapparat einer hydraulisch angetriebenen maschine

Also Published As

Publication number Publication date
WO1991010783A1 (en) 1991-07-25
EP0511383A4 (en) 1993-04-14
KR920703936A (ko) 1992-12-18
DE69030265T2 (de) 1997-08-28
DE69030265D1 (de) 1997-04-24
EP0511383A1 (de) 1992-11-04
KR0141978B1 (ko) 1999-02-18

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