JP2004116108A - Swing control device for swinging hydraulic shovel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a swing control device for a swinging hydraulic shovel enabling an operating machine to easily move to a digging position and enabling the shovel to easily assume an attitude for digging an offset groove. <P>SOLUTION: The swing control device for the swinging hydraulic shovel including an upper structure 3 rotatably mounted on top of a lower structure 2 and driven to revolve by a revolution drive means 29 driving it according to the operation of a revolving operation means 32 and the operating machine 4 which is driven to swing by a swinging drive means 17 driving it according to the operation of a swinging operation means 30, includes a rotational angle detector 19 for detecting the rotational angle θ of the upper structure 3; a display 44; and a controller 40 which computes the amount of offset of the rear end of the operating machine 4 in the horizontal direction of a vehicle body according to a rotational angle signal θ input from the rotational angle detector 19 and displays the result of the computation on the display 44. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a swing control device for a swing hydraulic excavator provided with a work implement attached to a front end portion of an upper swing body so that a base end portion can swing left and right.
[0002]
[Prior art]
In recent years, excavation work in urban areas has been increasing, but for excavation along trenches and road curbs, etc., a hydraulic excavator equipped with a swing-boom type work machine capable of excavating a position offset left and right from the center of the vehicle width The work is performed by the above operation.
[0003]
2. Description of the Related Art In a conventional swing boom type working machine, a swing bracket that supports a base end of the working machine is swing-driven by a swing cylinder, so that the entire working machine is swing-driven left and right. By combining the swing of the working machine and the swing of the upper swing body, the bucket position at the tip of the working machine can be shifted left and right (for example, see Patent Document 1). The swing boom type working machine is lighter than the offset boom type working machine provided with the parallel link mechanism, and thus has the advantages of a high working speed, good vehicle stability, and a large amount of work.
[0004]
[Patent Document 1]
JP-A-63-206535 (page 2, FIG. 2)
[Patent Document 2]
JP-A-10-18339
[0005]
[Problems to be solved by the invention]
However, the above-described prior art has the following problems.
That is, in trench excavation work in pipe work or the like, excavation and earth discharging are repeated while intermittently moving the vehicle (normally reverse), so that the bucket must be returned to the excavation position frequently. However, in the conventional swing hydraulic excavator, since the bucket at the tip of the working machine is visually moved to the excavation position, the positioning is rough and the accuracy of the groove is coarse. Further, even if the bucket is accurately moved to the excavation position, if the driving plane of the working machine is inclined with respect to the excavation plan line of the trench, the trench will be excavated diagonally from the excavation plan line. Taking the position where the drive plane of the working machine coincides with the traveling direction of the vehicle body (hereinafter referred to as “offset groove excavation position”) to perform excavation in accordance with the plan line requires skill, and an operator with little experience has Not good.
[0006]
The present invention has been made in view of the above problems, and a swing control apparatus for a swing type excavator capable of easily moving a work machine to an excavation position and easily taking an offset groove excavation posture. It is intended to provide.
[0007]
Means for Solving the Problems, Functions and Effects
In order to achieve the above object, a first aspect of the present invention provides an upper revolving structure that is rotatably mounted on an upper portion of a lower traveling structure and that is revolved and driven by revolving driving means that is driven in accordance with an operation of a revolving operation means. Swing control of a swing-type hydraulic shovel equipped with a work machine mounted on a front end of an upper revolving structure so that a base end can swing right and left and swing-driven by a swing driving means driven in accordance with an operation of a swing operating means. In the device, a turning angle detector for detecting a turning angle of the upper turning body, a display, and a turning angle signal input from the turning angle detector (19) are used to move a base end of the work machine in a lateral direction of the vehicle body. A controller for calculating the current offset amount and displaying the calculation result on the display unit;
Is provided.
[0008]
According to the above configuration, since the current offset amount of the working machine base end is displayed on the display, the turning movement to the excavation position corresponding to the offset amount can be accurately performed by confirming the displayed contents, and the operation becomes easy. , Workability can be improved.
[0009]
A second invention based on the first invention includes a swing angle detector for detecting a swing angle of the work implement, the controller calculates a difference between a turning angle and a swing angle, and calculates a calculation result as the aforementioned. It is configured to display on a display.
[0010]
According to the above configuration, since the difference between the turning angle and the swing angle is displayed, the turning plane or the swing is operated so as to make the difference zero, so that the driving plane of the working machine coincides with the front-rear direction of the lower traveling body. It is possible to easily take the offset groove excavation posture. For this reason, the offset amount at the base end of the working machine is made to coincide with the desired amount, and the operation of taking the offset groove excavation posture can be performed accurately and easily by confirming the displayed contents. Workability can be improved as well.
[0011]
Further, a third aspect of the present invention provides an upper revolving structure that is rotatably mounted on an upper portion of a lower traveling structure and that is revolved and driven by revolving driving means that is driven in accordance with operation of a revolving operation means. In a swing control device for a swing type excavator, the base end of which is swingably mounted to swing left and right, and a working machine which is swing-driven by a swing drive means driven in accordance with an operation of a swing operation means, wherein A turning angle detector for detecting a turning angle, a swing angle detector for detecting a swing angle of a work machine, a stop position setting means for setting a turning drive and a stop position of the swing drive, and inputs from the turning angle detector. The set value is stopped based on the swing angle signal, the swing angle signal input from the swing angle detector, and the set value set by the stop position setting means. It has a configuration that includes a controller that calculates a command signal for stopping each of the rotation drive means and the swing drive means in location output.
[0012]
According to the above configuration, regardless of manual operation and automatic control, the swing drive and the swing drive are stopped at the set stop positions of the swing drive and the swing drive, respectively, so that a desired excavation position or a discharging position is set. This facilitates excavation or earth removal work at the same position. Further, by setting the offset groove excavation posture as the stop position, the workability of the groove excavation work with offset can be greatly improved.
[0013]
In a fourth aspect based on the third aspect, the stop position setting means has a display and an input device for instructing storage of a stop position, and the controller is configured to control the turning angle signal input from the turning angle detector. Based on the calculated, the current offset amount of the base end of the work machine in the lateral direction of the vehicle body, the calculation result is displayed on the display, and the turning angle detector and the swing when the input unit instructs storage. The detection value of the angle detector is stored as the set value.
[0014]
According to the above configuration, the workability of excavating the offset groove can be improved. That is, by confirming the display contents, it becomes easy to perform an accurate turning movement operation to the excavation position corresponding to the desired offset amount, so that it becomes easy to take a desired offset groove excavation posture. Therefore, it becomes easy to store the turning position and the swing position of the offset groove excavation posture as the stop position, whereby the work machine can be operated at the excavation position corresponding to the desired offset amount regardless of the manual operation and the automatic operation. Since the operation is stopped, the operation of excavating the groove at the offset becomes easy, and the workability can be improved.
[0015]
According to a fifth aspect of the present invention, there is provided an upper revolving body which is rotatably mounted on an upper portion of a lower traveling body and is revolved and driven by revolving driving means which is driven in accordance with an operation of a revolving operation means. In a swing control device for a swing type excavator, the base end of which is swingably mounted to swing left and right, and a working machine which is swing-driven by a swing drive means driven in accordance with an operation of a swing operation means, wherein A swing angle detector for detecting a swing angle, a swing angle detector for detecting a swing angle of the work implement, a swing operation means operation amount detector for detecting an operation amount of the swing operation means, and an operation amount of the swing operation means. A swing operation means operation amount detector to be detected, an operation amount signal input from the turning operation means operation amount detector, and an operation input from the swing operation means operation amount detector Based on one of the operation amount signals, the turning angle signal input from the turning angle detector, and the swing angle signal input from the swing angle detector, the driving plane of the working machine coincides with the front-rear direction of the lower traveling body. And a controller capable of calculating and outputting a command signal for simultaneously controlling the turning driving means and the swing driving means while maintaining the posture.
[0016]
According to the above configuration, by one of the turning operation means and the swing operation means, the turning plane and the swing driving are performed while the driving plane of the working machine maintains the offset groove excavation posture coinciding with the front-rear direction of the lower traveling body. Therefore, movement of the working machine to a desired offset position can be very easily operated. Further, when the work machine is moved, the work machine does not largely jump out to the left and right sides of the vehicle body, so there is no fear of contact with a wall, a passing vehicle, or the like, and the operation of the operator becomes easy.
[0017]
In a sixth aspect based on any one of the third to fifth aspects, the swing drive means comprises a hydraulic actuator, and the swing driving means controls the flow rate of the pressure oil supplied to the hydraulic actuator in accordance with an operation amount. A valve and a proportional solenoid valve capable of controlling a pilot pressure for operating the operation valve, and the controller controls the flow rate of the operation valve by outputting the command signal to the proportional solenoid valve. I have. A seventh invention based on any one of the third to fifth inventions, wherein the turning drive means is constituted by a hydraulic actuator and controls the flow rate of the pressure oil supplied to the hydraulic actuator in accordance with the operation amount. And a proportional solenoid valve capable of controlling a pilot pressure for operating the operation valve, and the controller controls the flow rate of the operation valve by outputting the command signal to the proportional solenoid valve. .
[0018]
According to the above configuration, since the hydraulic actuator is driven by using a versatile proportional solenoid valve without using a special device to configure the control system, a low-cost device is provided.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments will be described in detail with reference to the drawings.
In this specification, the front, rear, left, right, and up and down directions mean, respectively, the front, back, left, right, and up and down directions of a swing hydraulic excavator to which the swing control device of the present invention is attached, unless otherwise specified.
First, a first embodiment of the present invention will be described with reference to FIGS.
[0020]
As shown in FIGS. 1 and 2, a hydraulic excavator 1 includes a lower traveling body 2 having crawler-type traveling devices on the left and right, an upper revolving body 3 rotatably mounted on an upper portion of the lower traveling body 2, And a work implement 4 mounted on the front end of the upper swing body 3. A driver's cab 5 is mounted on the front left side of the upper swing body 3, and a counterweight 6 is mounted on a rear end of the upper swing body 3. The rear portion of the upper swing body 3 of the hydraulic shovel 1 that is a small rear swing type has a substantially semicircular cylindrical shape so as to be able to swing within a maximum rear end radius.
[0021]
The work machine 4 includes a boom 11 whose base end is mounted on a swing bracket 10 so as to be able to be raised and lowered, and an arm 12 whose base end is rotatably mounted on a distal end of the boom 11. A bucket 13 is rotatably mounted at its base end on the tip end of the arm 12 as a tool for use. The work machine 4 further includes a boom cylinder 14 interposed between the swing bracket 10 and the boom 11, an arm cylinder 15 interposed between the boom 11 and the arm 12, The work machine 4 is driven by expansion and contraction driving of the hydraulic cylinders 14, 15, and 16 interposed therebetween.
[0022]
As shown in FIG. 3, a swing bracket 10 supporting a boom 11 serving as a base end of the work machine 4 is attached to a support bracket 8 provided at a front end of the upper swing body 3 by a pin 9 in a vertical direction. It is mounted to be able to swing. The work machine 4 is driven by the expansion and contraction drive of the swing cylinder 17 interposed between the tip of the lever 10a protruding from the right side (upper side in FIG. 3) of the swing bracket 10 and the upper swing body 3. The swing drive is performed together with 10.
[0023]
A swing angle sensor 18 for detecting the swing angle of the swing bracket 10, that is, the swing angle α of the working machine 4 in the left-right direction is attached to the front end of the upper swing body 3. A swing angle sensor 19 for detecting the swing angle θ of the swing body 3 is mounted (see FIG. 1). Each of the angle sensors 18 and 19 is mainly composed of, for example, a potentiometer. In the present embodiment, the turning angle θ is a positive angle that is clockwise (right turning) from the front front of the lower traveling unit 2, and the swing angle α is counterclockwise (left) from the front front of the upper traveling unit 3. Swing) is a positive angle.
[0024]
As described above, since the excavator 1 is a swing type excavator including the swing boom type working machine 4, for example, as shown in FIG. ₀ Swinging the upper revolving superstructure 3 rightward in the opposite direction to the swing direction. ₀ Is approximately the angle α ₀ By performing the turning drive so that the end position of the work machine 4 can be offset to the right from the center of the vehicle width, the excavation along the wall on the right side of the vehicle can be easily performed.
[0025]
As shown in FIG. 5, the discharge sides of a variable displacement hydraulic pump 21 that rotates with the engine 20 as a drive source and a hydraulic pump 22 that generates pilot pressure are connected to pipelines 23 and 24, respectively. The pipeline 23 is connected to a swing operation valve 25, a swing operation valve 26, and other operation valves (not shown) (for example, a boom operation valve, an arm operation valve, or the like), and controls the hydraulic oil discharged from the hydraulic pump 21 to operate these valves. Supplying to valve. The swing operation valve 25 is connected to the swing cylinder 17 via secondary-side conduits 27A and 27B. The swing operation valve 26 is connected to a swing motor 29 via secondary side pipelines 28A and 28B.
[0026]
The pipeline 24 includes a pilot valve 31 operated by a swing operation pedal 30, a pilot valve 33 operated by a swing operation lever 32, and other pilot valves (not shown) (for example, a pilot valve for operating a boom or an arm for operating an arm). , And supplies pilot pressure discharged from the hydraulic pump 22 to these pilot valves. The pilot valve 31 includes decompression units 31a and 31b, and the pilot valve 33 includes decompression units 33a and 33b.
The decompression unit 31a is connected to the operation unit 25a of the swing operation valve 25 via the pilot line 34A, controls the supplied pilot pressure to switch the swing operation valve 25, and extends the swing cylinder 17 (left swing). . The pressure reducing unit 31b is connected to the operation unit 25b of the swing operation valve 25 via the pilot line 34B, controls the supplied pilot pressure, switches the swing operation valve 25, and reduces the size of the swing cylinder 17 (right swing). .
The pressure reducing unit 33a is connected to the operating unit 26a of the turning operation valve 26 via the pilot line 35A, controls the supplied pilot pressure to switch the turning operation valve 26, and drives the turning motor 29 to turn left. The pressure reducing unit 33b is connected to the operating unit 26b of the turning operation valve 26 via the pilot line 35B, controls the supplied pilot pressure, switches the turning operation valve 26, drives the turning motor 29, and turns right. .
[0027]
A command signal i from the controller 40 is provided to the pilot lines 34A, 34B, 35A, 35B. _αA , I _αB , I _θA , I _θB The solenoid valves 41A, 41B, 42A, and 42B driven by the controller are interposed respectively. A swing angle sensor 18 and a swing angle sensor 19 are connected to the controller 40. The controller 40 performs proportional electromagnetic control based on the swing angle signal α from the swing angle sensor 18 and the swing angle signal θ from the swing angle sensor 19. Command signal i to valves 41A, 41B, 42A, 42B _αA , I _αB , I _θA , I _θB Is calculated and output.
[0028]
A monitor panel 43 is connected to the controller 40, and exchanges various signals with the controller 40. The monitor panel 43 includes a display 44 and an input unit 45. The display 44 shows the offset amount in the left-right direction from the center of the vehicle width at the base end (swing center) of the work implement 4 calculated based on the turning angle θ, and the difference between the turning angle θ and the swing angle α Various state quantities, set values, and the like of the vehicle, including the angle between the direction and the drive plane of the work implement 4) are displayed. The input device 45 is provided with a plurality of switches for switching the display contents of the display 44, inputting and changing set values such as a stop position, and operating modes (manual mode, set value stop mode, fully automatic control mode). ) Is performed.
[0029]
As an example of the set value input content by the input device 45, the current turning angle θ _n And swing angle α _n To the stop position setting value (θ ₀ , Α ₀ ) Can be stored. That is, the swing operation lever 32 and the swing operation pedal 30 are operated in advance in the “manual mode” so as to have a desired offset amount, and the upper swing body 3 and the work implement 4 are positioned, and provided at the input device 45 at that position. By operating a given setting switch (not shown), the current turning angle θ is obtained. _n And swing angle α _n To the set value (θ ₀ , Α ₀ ). Turning angle θ when performing offset excavation as shown in FIG. ₀ And swing angle α ₀ Is stored as the set value of the stop position, and the output characteristics of the controller 40 when the work mode is switched to the "set value stop mode" will be described with reference to FIG.
[0030]
The movement of the work implement 4 between the excavation position and the dumping position to the dump truck is usually performed by turning drive. When returning the work implement 4 to the excavation position, the operator operates the pressure reducing portion 33b of the pilot valve 33 via the turning operation lever 32 to drive the upper turning body 3 to turn to the right. As shown in FIG. 6A, the set turning angle θ ₀ From the predetermined angle d _θ Position θ in front ₁ Then, the command signal i to the proportional solenoid valve 42B capable of controlling the right turn pilot pressure is _θB Means that the turning angle θ is the position θ ₁ If it is before this, the output signal becomes 100% (the opening amount of the proportional solenoid valve 42B is fully open), and the position θ ₁ Set rotation angle θ ₀ Gradually decreases from 100% to m% according to the turning angle θ, and the set turning angle θ ₀ In this case, the characteristics are changed from m% to 0%. Here, m% is a turning speed ω that is slow enough that the operator does not feel uncomfortable even if the turning operation valve 26 is suddenly closed and turning suddenly stops. _θ0 For example, the output is about 10%, and the predetermined angle d _θ Is the turning speed ω _θ Rotation speed ω even when _θ0 An angle range sufficient to decelerate to is set.
Command signal i to proportional solenoid valve 42A for left turn _θA Are set with similar characteristics (not shown).
[0031]
Since the movement of the work machine 4 can be performed by swing drive, as shown in FIG. ₀ From the predetermined angle d _α Position α in front ₁ Then, the command signal i to the proportional solenoid valve 41B capable of controlling the right swing pilot pressure is _αB Is the swing angle α is the position α ₁ If it is before this, the output signal becomes 100% (the opening amount of the proportional solenoid valve 41B is fully open), and the position α ₁ Set swing angle α ₀ Gradually decreases from 100% to n% according to the swing angle α, and the set swing angle α ₀ In this case, the characteristics are changed from n% to 0%. Here, n% is a swing speed ω that is slow enough that the operator does not feel uncomfortable and does not spill even if the swing operation valve 25 is suddenly closed and the swing is suddenly stopped. _α0 For example, the output is about 5%, and the predetermined angle d _α Is the swing speed ω _α Swing speed ω even when _α0 An angle range sufficient to decelerate to is set.
Command signal i to proportional solenoid valve 41A for left swing _αA Are set with similar characteristics (not shown).
[0032]
Command signal i from controller 40 in “set value stop mode” _αA , I _αB , I _θA , I _θB Is the output characteristic described above, so the turning angle θ which is the set value of the stop position ₀ Predetermined angle d _θ The pilot pressure is gradually reduced from the near side, and the turning angle θ ₀ The pilot pressure is shut off at. Thus, even if the operator continues to operate the turning operation lever 32, the turning drive is performed at the turning angle θ which is the set value. ₀ Decelerate to stop. Similarly, the swing angle α which is the set value of the stop position ₀ Predetermined angle d _α Pilot pressure is gradually reduced from the front, swing angle α ₀ The pilot pressure is shut off at. Thereby, even if the operator continues to operate the swing operation pedal 30, the swing drive is performed at the swing angle α which is the set value. ₀ Decelerate to stop.
[0033]
The effects of the present embodiment will be described.
Offset positioning operation in the "manual mode" is facilitated. That is, the current "offset amount" of the base end of the work machine 4 is displayed on the display 44, whereby the amount of turning movement to the excavation position corresponding to the offset amount can be confirmed by numerical display without visual observation. As a result, the turning movement in the “manual mode” becomes accurate and the operation becomes easy.
Further, since the "difference" between the turning angle θ and the swing angle α is displayed on the display 44, by turning or swinging such that the difference becomes zero, the driving plane of the work implement 4 is moved in the vehicle running direction. Can match. That is, it is easy to confirm the displayed contents and to take an accurate “offset groove excavation posture”.
Then, the displayed “offset amount” is made to match the desired amount, and the displayed “difference” is made to match zero, so that the bucket 13 of the work machine 4 matches the excavation position in the “offset groove excavation posture” ( Accurately, the driving plane of the work machine 4 can coincide with the excavation plan line). According to this, it becomes possible to easily perform trench excavation requiring accuracy.
Further, the control system does not use any special device, but uses general-purpose proportional solenoid valves 41A, 41B, 42A, 42B and potentiometers (swing angle sensor 18, turning angle sensor 19). As a result, a low-cost device is obtained.
[0034]
Further, by switching the work mode to the “set value stop mode”, the turning drive and the swing drive are set to the respective set values (θ ₀ , Α ₀ ), The work machine 4 can be made to coincide with the same work machine drive plane every time after the earth and sand is discharged, and the excavation operation at the same place becomes easy. Of course, the discharging position can be set, and in this case, the discharging operation at the same place becomes easy. Further, both the excavation position and the earth discharging position may be settable.
Then, by storing the turning angle θ and the swing angle α in the desired “offset groove excavation posture” as the set value of the stop position, the vehicle can be stopped in the same “offset groove excavation posture” every time. The matching trench excavation work becomes easy, and the workability can be greatly improved.
Further, the stop control in the "set value stop mode" is a stop after deceleration from a predetermined angle, so that the impact at the time of the stop is small, the operator does not feel uncomfortable, the load does not spill, and the workability is improved. Good.
[0035]
Next, a second embodiment of the present invention will be described with reference to FIGS.
The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
[0036]
The first embodiment is an example of a hydraulically controlled drive system using a pilot valve 31 operated by a swing operation pedal 30 and a pilot valve 33 operated by a turning operation lever 32. In the above, the present invention is applied to an electrically controlled drive system using detectors for electrically detecting the operation amount of the swing operation pedal 30 and the operation amount of the turning operation lever 32, respectively.
As shown in FIG. 7, the controller 50 controls a pedal operation amount signal δ from a pedal operation amount sensor 53 that detects an operation amount of the swing operation pedal 30. _α And proportional solenoid valves 51A, 51B provided in pilot pipelines 55A, 55B connecting the operating parts 25a, 25b of the swing operation valve 25 and the hydraulic pump 22, respectively, based on the swing angle signal α from the swing angle sensor 18. Command signal i _αA , I _αB Is calculated and output.
In addition, the controller 50 controls the lever operation amount signal δ from the lever operation amount sensor 54 that detects the operation amount of the turning operation lever 32. _θ And, based on the turning angle signal θ from the turning angle sensor 19, the proportional solenoid valves 52A, 52B provided in the pilot pipelines 56A, 56B connecting the operating parts 26a, 26b of the turning operation valve 26 and the hydraulic pump 22, respectively. Command signal i _θA , I _θB Is calculated and output.
[0037]
During normal work, the controller 50 controls the swing pedal operation amount δ _α Command signal i approximately proportional to _αA , I _αB And swing lever operation amount δ _θ Command signal i approximately proportional to _θA , I _θB Is output. On the other hand, the command signal i from the controller 50 in the “set value stop mode” _αA , I _αB , I _θA , I _θB Is the stop position setting value (θ ₀ , Α ₀ ) Has output characteristics as shown in FIG. That is, the command signal i _αA , I _αB Is the swing pedal operation amount δ _α Swing command reference value s that is approximately proportional to _αA , S _αB Gain characteristic κ having characteristics similar to the output characteristics described in FIG. _αA , Κ _αB (See FIG. 8A), and the command signal i _θA , I _θB Is the swing lever operation amount δ _θ Turn command reference value s that is approximately proportional to _θA , S _θB Gain characteristic κ having characteristics similar to the output characteristics described in FIG. _θA , Κ _θB (See FIG. 8B).
[0038]
As a result, in the electrically controlled drive system of the second embodiment, the same operation and effect as those of the hydraulically controlled drive system of the first embodiment can be obtained. By adding the angle sensor 18 and the turning angle sensor 19, a swing control device capable of controlling the display of the offset amount and the stop at the set value can be configured, so that a very low-cost control device can be obtained.
[0039]
Note that the present invention is not limited to the above embodiment, and changes and modifications may be made within the scope of the present invention.
For example, although the description has been given of the example of the characteristic that linearly decreases as the output characteristic near the set value, if the characteristic is not linear and gradually decreases toward the set value, the characteristic may be a curve or a broken line. Is also good. According to this, the impact at the time of shifting, such as at the start of deceleration, can be made extremely small, and the comfort of the operator can be improved.
[0040]
The set value of the stop position stored in the “set value stop mode” is the current turning angle θ. _n And swing angle α _n To the set value (θ ₀ , Α ₀ ), The desired turning angle θ and swing angle α (θ = α when an offset groove excavation posture is desired) may be input from the input device 45 and stored. May be inputted from the input device 45, converted into the turning angle θ and the swing angle α corresponding to the offset amount, and stored. In this case, a numeric keypad and a data storage switch are provided as switches for the input device 45, and the set value (θ ₀ , Α ₀ ) May be stored. Alternatively, after storing the data of the desired offset amount, the turning angle θ corresponding to the offset amount is determined based on the distance between the turning center and the swing center. ₀ And swing angle α ₀ May be obtained and stored.
[0041]
Further, as shown in FIG. 9, two offset positions h1 and h2 are stored as set values to be stored in the "set value stop mode", and when returning to the excavation position after discharging the soil, the positions are alternately set to the positions h1 and h2. It may be configured to stop. According to this, it is possible to easily and accurately excavate a groove having a width larger than the width of the bucket 13.
[0042]
Further, in the second embodiment, for example, in the “fully automatic control mode”, an arbitrary current turning position θ such as an unloading position is set. _n And swing position α _n From the set value (θ ₀ , Α ₀ ) And stops, as shown in FIG. _αA , I _αB , I _θA , I _θB May be automatically generated and output by the controller 50. At this time, it is sufficient to move at a predetermined speed. According to this, the operator does not operate the swing operation pedal 30 and the swing operation lever 32, but operates the start switch or the like provided on the input device 45 (the operation of the swing operation lever 32 or the swing operation pedal 30 may be used as a trigger signal). The work implement 4 can be moved from an arbitrary position to a desired excavation position by one-touch operation, so that the operation is easy and the workability can be improved.
[0043]
Further, in the second embodiment, by operating one of the driving operation tools (the turning operation lever 32 or the swing operation pedal 30) of the turning drive and the swing driving, one of the driving is made “main” and the other is made “main”. Assuming that the drive is “slave”, it is possible to add an “offset groove excavation posture mode” function, which is a drive control capable of moving the work implement 4 while always maintaining the “swing angle θ = swing angle α”. In this case, when the work machine 4 is moved by this function from the state of “swing angle θ ≠ swing angle α”, as shown in FIG. After moving to “α”, drive control for maintaining “θ = α” may be performed. That is, when the work implement 4 is moved to the right, as shown in FIG. ₁ From the state of “θ> α” as described above, first, it is only necessary to move to “θ = α” by the left swing drive and then move while maintaining “θ = α”. ₂ From the state of “θ <α” as described above, it is sufficient to first move to “θ = α” by right turning drive and then move while maintaining “θ = α”. When the work implement 4 is moved to the left, as shown in FIG. ₃ From the state of “θ> α” as described above, first, it is only necessary to move to “θ = α” by the left turn drive and then move while maintaining “θ = α”. ₄ From the state of “θ <α” as described above, it is only necessary to first move to “θ = α” by right swing drive and then move while maintaining “θ = α”.
According to this, even if the vehicle turns, the driving plane of the work machine 4 always coincides with the traveling direction of the vehicle body (the “offset groove excavation posture” is always maintained), so that the work machine 4 does not greatly jump out in the lateral direction of the vehicle body. There is no danger that the work implement 4 comes into contact with a wall or a passing vehicle. In addition, by matching the "offset amount" displayed in the "offset groove excavation posture mode" to the desired amount, the bucket 13 of the work machine 4 can be very easily matched with the excavation position, and the workability can be improved. .
[0044]
Further, instead of providing the hydraulic pump 22 for generating the pilot pressure, a pressure reducing valve may be provided in the pipeline 23 to obtain the pilot pressure.
Further, an adjuster provided with a switch and a volume is connected to the controllers 40 and 50 so that the output characteristic angle d _θ , D _α And m%, n%, etc., may be configured to be adjustable according to the operator's preference.
Although the angle sensors 18 and 19 have been described using the example of a potentiometer, an encoder may be used instead of the potentiometer.
The swing driving means is not limited to the hydraulic cylinder 17, but may be a hydraulic motor, an electric motor, an electric cylinder, or the like. Similarly, the turning drive means is not limited to the hydraulic motor 29 but may be an electric motor. In the case of an electric motor or an electric cylinder, the speed can be controlled by a controller via a servo amplifier.
[0045]
As described above, according to the present invention, since the offset amount of the base end of the work machine is displayed on the display, the turning movement to the trench excavation position corresponding to the offset amount can be performed accurately and easily by confirming the displayed contents. Can be performed. In addition, since the difference between the turning angle and the swing angle is displayed on the display, it is possible to easily take an offset groove excavation posture in which the driving plane of the work machine matches the front-back direction of the vehicle body by checking the displayed contents, Can be improved.
Further, since the turning drive and the swing drive can be stopped at desired positions, respectively, even if the operation of the operator is continued, excavation at the same place becomes easy. In addition, by setting the offset groove excavation posture as the above-mentioned stop position, it becomes very easy to move the working machine from the unloading position to the offset groove excavation posture, and the workability of the groove excavation work at the offset position is greatly improved. it can. Furthermore, if the movement to the stop position and the stop are automatically performed by a one-touch operation, the operation is further facilitated and the workability can be improved.
[Brief description of the drawings]
FIG. 1 is a side view of a swing hydraulic excavator according to a first embodiment.
FIG. 2 is a plan view of the swing hydraulic excavator according to the first embodiment.
FIG. 3 is an explanatory diagram of a swing mechanism according to the first embodiment.
FIG. 4 is an explanatory view of a gutter work.
FIG. 5 is a block diagram of a swing drive system and a swing drive system according to the first embodiment.
FIG. 6 is an output characteristic diagram of the controller according to the first embodiment.
FIG. 7 is a block diagram of a swing drive system and a swing drive system according to a second embodiment.
FIG. 8 is an explanatory diagram of output characteristics of a controller according to the second embodiment.
FIG. 9 is an explanatory diagram of an operation in another mode.
FIG. 10 is an output characteristic diagram of a controller according to another embodiment.
FIG. 11 is an explanatory diagram of an operation in another mode.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Swing type hydraulic excavator, 2 ... Lower traveling body, 3 ... Upper revolving structure, 4 ... Work equipment, 10 ... Swing bracket, 17 ... Swing cylinder, 18 ... Swing angle sensor, 19 ... Swing angle sensor, 20 ... Engine, 21, 22 hydraulic pump, 25 swing operating valve, 26 swing operating valve, 29 swing motor, 30 swing operating pedal, 31, 33 pilot valve, 32 swing operating lever, 40, 50 controller, 41A , 41B, 42A, 42B, 51A, 51B, 52A, 52B ... proportional solenoid valve, 43 ... monitor panel, 44 ... display, 45 ... input device.

Claims (7)

An upper revolving unit (3), which is rotatably mounted on the upper part of the lower traveling unit (2) and is revolved by a revolving drive means (29) driven in accordance with an operation of a revolving operation means (32); (3) a work machine (4) swingably driven by a swing drive means (17) which is attached to the front end so that the base end can swing left and right and is driven in accordance with the operation of a swing operation means (30); In the swing type excavator swing control device provided with
A turning angle detector (19) for detecting a turning angle (θ) of the upper turning body (3),
An indicator (44);
Based on the turning angle signal (θ) input from the turning angle detector (19), the present offset amount of the base end of the work machine (4) in the left-right direction of the vehicle body is calculated, and the calculation result is displayed on the display (44). And a controller (40) for displaying the swing control on the swing type excavator. The swing control device for a swing hydraulic excavator according to claim 1,
A swing angle detector (18) for detecting a swing angle (α) of the work machine (4);
The controller (40) calculates the difference between the turning angle (θ) and the swing angle (α), and displays the calculation result on the display (44). . An upper revolving unit (3), which is rotatably mounted on the upper part of the lower traveling unit (2) and is revolved by a revolving drive means (29) driven in accordance with an operation of a revolving operation means (32); (3) a work machine (4) swingably driven by a swing drive means (17) which is attached to the front end so that the base end can swing left and right and is driven in accordance with the operation of a swing operation means (30); In the swing type excavator swing control device provided with
A turning angle detector (19) for detecting a turning angle (θ) of the upper turning body (3),
A swing angle detector (18) for detecting a swing angle (α) of the work machine (4);
A stop position setting means (43) for setting stop positions of the turning drive and the swing drive;
A turning angle signal (θ) input from the turning angle detector (19), a swing angle signal (α) input from the swing angle detector (18), and a set value set by the stop position setting means (45). (theta _0, alpha ₀₎ on the basis of the set value (theta _0, alpha ₀₎ in the stopping position by turning drive means (29) and the swing driving means (17) a command signal to stop each _(i θ _a, i θ _{B , i α a, i α B} ) the controller (40 for calculating and outputting a) a swing type hydraulic excavator swing control device characterized by comprising a. The swing control device for a swing hydraulic excavator according to claim 3,
The stop position setting means (43) has a display (44) and an input device (45) for instructing storage of a stop position.
The controller (40) calculates a current offset amount of the base end of the work machine (4) in the lateral direction of the vehicle body based on the turning angle signal (θ) input from the turning angle detector (19). The result is displayed on the display (44), and the detection values of the turning angle detector (19) and the swing angle detector (18) when the input device (45) instructs the storage are set to the set value ( θ ₀ , α ₀ ). An upper revolving unit (3), which is rotatably mounted on the upper part of the lower traveling unit (2) and is revolved by a revolving drive means (29) driven in accordance with an operation of a revolving operation means (32); (3) a work machine (4) swingably driven by a swing drive means (17) which is attached to the front end so that the base end can swing left and right and is driven in accordance with the operation of a swing operation means (30); In the swing type excavator swing control device provided with
A turning angle detector (19) for detecting a turning angle (θ) of the upper turning body (3),
A swing angle detector (18) for detecting a swing angle (α) of the work machine (4);
A turning operation means operation amount detector (54) for detecting an operation amount (δ _θ ) of the turning operation means (32),
A swing operation means operation amount detector (53) for detecting an operation amount (δ _α ) of the swing operation means (30);
It said rotation operation means an operation amount detector (54) the operation amount signal input from ([delta] _theta) and one of the operation amount or operation amount signal inputted from the swing operating means operating amount detector (53) ([delta] _alpha) The driving plane of the working machine (4) is lowered based on the signal, the turning angle signal (θ) input from the turning angle detector (19) and the swing angle signal (α) input from the swing angle detector (18). Command signals (i _{θ A} , i _{θ B} , i _{α A} , i _α ) for simultaneously controlling the turning drive means (29) and the swing drive means (17) while maintaining an attitude matching the front-back direction of the traveling body (2). A swing control device for a swing type excavator, comprising: a controller (50) capable of calculating and outputting _B ). The swing control device for a swing hydraulic excavator according to claim 3,
The swing driving means is constituted by a hydraulic actuator (17),
An operation valve (25) for controlling a flow rate of pressure oil supplied to the hydraulic actuator (17) in accordance with an operation amount;
A proportional solenoid valve (41A, 41B) capable of controlling a pilot pressure for operating the operation valve (25);
It said controller (40) is characterized by controlling the flow rate of the operating valve (25) by outputting the command signal _{(i α A, i α B} ) to the proportional solenoid valve (41A, 41B) Swing control device for swing type excavator. The swing control device for a swing hydraulic excavator according to claim 3,
The turning drive means comprises a hydraulic actuator (29),
An operation valve (26) for controlling a flow rate of pressure oil supplied to the hydraulic actuator (29) in accordance with an operation amount;
A proportional solenoid valve (42A, 42B) capable of controlling a pilot pressure for operating the operation valve (26);
It said controller (40) is characterized by controlling the flow rate of the operating valve (26) by outputting the command signal _{(i θ A, i θ B} ) in the proportional solenoid valve (42A, 42B) Swing control device for swing type excavator.

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