JPH01142135A - Control of working machine of hydraulic excavator - Google Patents
Control of working machine of hydraulic excavatorInfo
- Publication number
- JPH01142135A JPH01142135A JP29946687A JP29946687A JPH01142135A JP H01142135 A JPH01142135 A JP H01142135A JP 29946687 A JP29946687 A JP 29946687A JP 29946687 A JP29946687 A JP 29946687A JP H01142135 A JPH01142135 A JP H01142135A
- Authority
- JP
- Japan
- Prior art keywords
- boom
- hydraulic cylinder
- bucket
- hydraulic
- dead center
- 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
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000009412 basement excavation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Shovels (AREA)
Abstract
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は油圧式掘削機の作業装置の制御法に関する。[Detailed description of the invention] (Industrial application field) The present invention relates to a method for controlling a working device of a hydraulic excavator.
更に詳記すると、゛折り畳み任意なる分割式ブームを備
えることにより、車庫、輸送又は作業空間を狭くする利
点を有する、即ち、特許請求の範囲に記載の構造を備え
る油圧式掘削機の作業装置の制御法に関する。In more detail, the working device of a hydraulic excavator with the structure described in the claims has the advantage of narrowing the garage, transportation or work space by being provided with a split boom that can be folded. Concerning control methods.
（従来の技術）
本発明に関わる従来の技術として知られる作業装置の構
造及びその制御法を第２図（１）、（ＩＩ）に示す、先
ず従来の技術の構造は本発明を適用する構造と比較し、
次の点で異なる。(Prior art) The structure of a working device and its control method known as the prior art related to the present invention are shown in FIGS. 2 (1) and (II). First, the structure of the prior art is the structure to which the present invention is applied. compared to
They differ in the following points.
（１）下部車体７はバケット保持器を備えていない。(1) The lower body 7 is not equipped with a bucket holder.
（２）第１ブーム油圧シリンダ６は起伏死点を有してい
ない、（尚、起伏死点とは、第１ブーム４及び第１ブー
ム油圧シリンダ６の相互取り付は位１ｆｏｌ、Ｏｘ、Ｏ
ｌが成す相互関係が、作動によって、通常の三角関係か
ら直線関係となることによって、第１ブーム油圧シリン
ダの油圧力が外部へ作動しなくなる状態を示す０本願記
載の起伏死点は総てこの作用を言う、）（３）第１ブー
ムを最後部へ格納するための専用装置、即ち、ベルクラ
ンク１６、ベルクランク油圧シリンダ１３、同シリンダ
回動基端取付ブラケット１４及び同シリンダ作動油圧回
路等で主構成された専用制御装置を備えている。(2) The first boom hydraulic cylinder 6 does not have a hoisting dead center.
1 indicates a state in which the hydraulic pressure of the first boom hydraulic cylinder no longer operates externally due to the operation of the relationship, which changes from a normal triangular relationship to a linear relationship. (3) Dedicated device for retracting the first boom to the rear end, that is, the bell crank 16, the bell crank hydraulic cylinder 13, the cylinder rotating base end mounting bracket 14, the cylinder operating hydraulic circuit, etc. It is equipped with a dedicated control device mainly consisting of.
次に制御法について示す、（Ｉ）は作業装置の格納姿勢
を、一方、（■）は作業装置の格納姿勢と作業姿勢との
中間姿勢を示す、格納姿勢はベルクランク油圧シリンダ
１３を縮めることにより、一方、作業姿勢はこれを伸ば
すことにより行なう。Next, the control method is shown. (I) shows the retracted posture of the working device, while (■) shows the intermediate posture between the retracted posture and the working posture of the working device. The retracted posture is to retract the bell crank hydraulic cylinder 13. On the other hand, the working posture is done by stretching this.
本方法は、第１ブーム油圧シリンダ６及び第１ブーム４
の相互取付位置０．．０＝、Ｏｓが起伏死点とならない
構造であるための制御法である。The method includes a first boom hydraulic cylinder 6 and a first boom 4.
Mutual mounting position 0. ．． 0=, this is a control method for a structure in which Os does not become a dead center.
（発明が解決しようとする問題点）
かかる制御法は第１ブーム油圧シリンダの起伏死点を避
けようとする構造が原点にあり、その結果、構造が複雑
となる問題点を有している。(Problems to be Solved by the Invention) The origin of this control method is a structure that attempts to avoid the dead center of the first boom hydraulic cylinder, and as a result, there is a problem that the structure is complicated.
このような従来の技術の問題点を解決するため、本発明
はむしろ起伏死点を積極的に活用する制御法を提供する
ことを目的とする。In order to solve the problems of the conventional technology, the present invention aims to provide a control method that actively utilizes the dead center of the vehicle.
（問題点を解決するための手段及び作用）第１図（りに
おいて、バケット油圧シリンダ１１、アーム油圧シリン
ダ１、及び第１ブーム油圧シリンダ６の油圧力と、バケ
ット保持器８に生ずる反力と、並びに作業装置の重さと
を利用することにより、第１ブーム油圧シリンダに起伏
死点０を通過させかつ、作業姿勢において固設ピン１２
を用いて、第１ブームと第２ブームとを拘止又は回動状
態にする制御法。(Means and effects for solving the problem) In FIG. , and the weight of the working equipment, the first boom hydraulic cylinder can be made to pass through the dead center of 0 and the fixed pin 12 in the working position.
A control method in which the first boom and the second boom are locked or rotated using the
（実施例）
第１図は本発明を採用し得る起伏死点Ｏを有する作業装
置及びその制御法の１例を示すものである。第１図の構
造については、特願昭６２−２２２００３の実施例と同
一のものである。(Example) FIG. 1 shows an example of a working device having a dead center O and a method of controlling the same to which the present invention can be applied. The structure shown in FIG. 1 is the same as the embodiment of Japanese Patent Application No. 62-222003.
（１）は作業装置の格納姿勢を、（ＩＩ）は第１ブーム
油圧シリンダが起伏死点に在る状態を、又（ＩＩＩ）は
作業装置が作業姿勢に種間する手前の姿勢を示す、尚、
起伏死点０は各（Ｉ）、（ｎ）、（ＩＩＩ）において、
第１ブーム４及び第１ブーム油圧シリンダ６の相互取付
位置Ｏ３，０２，０，の関係が直線２関係となる０１点
を示す。以下各々の状態に至る作業装置の制御法の１例
を示す。(1) shows the retracted posture of the working device, (II) shows the state in which the first boom hydraulic cylinder is at the dead center of hoisting, and (III) shows the posture before the working device changes to the working posture. still,
The vertical dead center is 0 in each (I), (n), (III),
Point 01 is shown where the relationship between the mutual attachment positions O3, 02, 0 of the first boom 4 and the first boom hydraulic cylinder 6 is a straight line 2 relationship. An example of a method of controlling the working device to reach each state will be shown below.
（１）作業装置の格納姿勢から作業姿勢までの種間・・
・（り→（■）→（ＩＩＩ）（イ）格納姿勢から起伏死
点前まで・−（１）→（ＩＩ）前
第１ブーム油圧シリンダ６のロッドを油圧力で伸ばし、
第１ブーム４を起伏死点０前まで上昇させる。(1) The difference between the storage position of the working equipment and the working position...
・(ri → (■) → (III) (a) From the retracted position to before the dead center of the hoisting - (1) → (II) Extend the rod of the front first boom hydraulic cylinder 6 with hydraulic pressure,
The first boom 4 is raised to just before the dead center of hoisting.
（ロ）起伏死点前から作業姿勢まで・・・（ｎ）前→（
ＩＩＩ）
バケット油圧シリンダ１１を伸縮することによりバケッ
ト爪先をバケット保持器８に保持しつつ、かつ、第１ブ
ーム油圧シリンダ６の油圧回路を開放しつつ、アーム油
圧シリンダ１のロッドを油圧力で伸ばし、第１ブーム４
に起伏死点Ｏを通過させる。(b) From before the dead center to the working posture... (n) Front → (
III) While holding the bucket toe in the bucket holder 8 by expanding and contracting the bucket hydraulic cylinder 11, and while opening the hydraulic circuit of the first boom hydraulic cylinder 6, the rod of the arm hydraulic cylinder 1 is extended by hydraulic pressure. , 1st boom 4
pass through the dead center O.
（ハ）第１ブーム４と第２ブーム３との拘止・・・（Ｉ
ＩＩ）
第１ブーム４と第２ブーム３との固設ピン穴を合わせ、
固設ピン１２を押入し、これらを拘止する。(c) Restriction of the first boom 4 and second boom 3... (I
II) Align the fixed pin holes of the first boom 4 and the second boom 3,
The fixed pins 12 are pushed in to lock them.
（２）作業装置の作業姿勢から格納姿勢への種間・・・
（ＩＩＩ）→（ｎ）→（１）（ニ）第１ブーム４と第２
ブーム３との回動・・・（Ｉ［［）
全油圧シリンダを用いバケット爪先をバケット保持器８
に保持した後、第１ブーム油圧シリンダの微操作により
、固設ピン１２を浮動状態にし、これを抜き取る。(2) Changing the working equipment from the working position to the storage position...
(III) → (n) → (1) (d) First boom 4 and second boom
Rotation with boom 3... (I
After holding the fixed pin 12 in a floating state by slight operation of the first boom hydraulic cylinder, the fixed pin 12 is pulled out.
これにより、第１ブーム４と第２ブーム３とは相互に回
動する。As a result, the first boom 4 and the second boom 3 rotate relative to each other.
（ホ）作業姿勢から起伏死点後まで・・・（ＩＩＩ）→
（ｎ）→（ＩＩ）後
第１ブーム油圧シリンダ６のロッドを油圧力で伸ばしつ
つ、バケット油圧シリンダ１１及びアーム油圧シリンダ
１のロッドを伸ばすことにより、バケット爪先をバケッ
ト保持器８に保持しつつ第１ブーム４を起伏死点前まで
上昇、下降させる。(E) From working posture to after the dead center of hoisting... (III) →
(n) → (II) While extending the rod of the first boom hydraulic cylinder 6 with hydraulic pressure, the rods of the bucket hydraulic cylinder 11 and the arm hydraulic cylinder 1 are extended, thereby holding the bucket toe in the bucket holder 8. The first boom 4 is raised and lowered until before the dead center of hoisting.
（へ）起伏死点後から格納姿勢まで・・・（Ｉｔ）後→
（Ｉｌｌ）
全油圧シリンダの油圧を徐々に開放して作業装置を格納
姿勢にする。(To) From the dead center of the hoist to the retracted position... (It) After →
(Ill) Gradually release the hydraulic pressure of all hydraulic cylinders and put the working equipment in the retracted position.
又は第１ブーム油圧シリンダ６０ロンドを油圧力で縮め
作業装置を格納姿勢にする。Alternatively, the first boom hydraulic cylinder 60 is retracted by hydraulic pressure to put the working device in the retracted position.
（発明の効果）
第１ブーム油圧シリンダの起伏死点を積極的に活用する
本発明の制御法には次の効果が有る。(Effects of the Invention) The control method of the present invention, which actively utilizes the dead center of the first boom hydraulic cylinder, has the following effects.
（１）作業装置の構造を簡素化できる。即ち、従来の技
術のような格納専用装置及びこれを制御する増設油圧回
路等が不要となる。(1) The structure of the working device can be simplified. That is, there is no need for a dedicated storage device and an additional hydraulic circuit for controlling it, as in the prior art.
（２）自動制御が容易にできる。即ち、実施例の制御法
について例示すれば、起伏死点前の位置にある油圧シリ
ンダに寸法検出リミットスイッチを装着し、ここで得ら
れる電気信号を各油圧操作切（＾弁のソレノイドパルプ
に結線すれば、簡単に自動制御が可能となる。(2) Automatic control can be easily performed. That is, to give an example of the control method of the embodiment, a dimension detection limit switch is attached to the hydraulic cylinder located in front of the dead center, and the electric signal obtained from this switch is connected to the solenoid pulp of each hydraulic operation cut-off valve. This allows for easy automatic control.
第１図・・・本発明に適用する作業装置の１実施例図及
びその作動模式図。
第２図・・・従来の技術による作業装置の１実施例図及
びその作動模式図。
０１・・・第１ブーム油圧シリンダロンド、第１ブーム
のピン接合なる回動中心
Ｏｆ・・・第１ブームのピン接合なる基端回動中心
０３・・・第１ブーム油圧シリンダのピン接合なる基端
回動中心
２・・・回動中心０１．０２．０．が−線上に並ぶ直線
０・・・直線２上の０１なる起伏死点
３・・・第２ブーム ４・・・第１ブーム６・・
・第１ブーム油圧シリンダ
７・・・下部車体 ８・・・バケット保持器１
２・・・固設ピン
特許出願人 株式会社小松製作所
代理人 （弁理士）岡 １）和 喜
第２図 （１）
第２図（ＩＩ）
第１図 （Ｉ）
第１図 （ＩＩ）
第１１１！Ｉ （ｍ）FIG. 1: An embodiment of a working device applied to the present invention and a schematic diagram of its operation. FIG. 2: An embodiment of a conventional working device and a schematic diagram of its operation. 01... First boom hydraulic cylinder Rondo, first boom pin connection center of rotation Of... First boom pin connection center of rotation 03... First boom hydraulic cylinder pin connection Base end rotation center 2...Rotation center 01.02.0. are lined up on the - line 0... 01 on the straight line 2, the dead center of lifting 3... 2nd boom 4... 1st boom 6...
・First boom hydraulic cylinder 7...Lower vehicle body 8...Bucket retainer 1
2...Fixing pin patent applicant Komatsu Ltd. Representative (patent attorney) Oka 1) Kazuyuki Figure 2 (1) Figure 2 (II) Figure 1 (I) Figure 1 (II) Figure 111! I (m)
Claims (1)
置がバケット９、アーム１０並びに分割ブームなる第１
ブーム４及び第２ブーム３並びにこれらを作動させる各
々の油圧シリンダ１１、１、６を有し、かつ、第１ブー
ム油圧シリンダ６が作業装置後方の斜め上方において起
伏死点０を有する構造を備えることを特徴とする油圧式
掘削機において、各油圧シリンダの油圧力、バケット保
持器に生ずる反力及び作業装置の重さを利用して、第１
ブーム油圧シリンダ６に起伏死点０を通過させること及
び作業姿勢において、固設ピンを用いて、第１ブームと
第２ブームとを拘止又は回動状態にすることを特徴とす
る油圧式掘削機の作業装置制御法。The lower body 7 includes a bucket holder 8, and the working device includes a bucket 9, an arm 10, and a split boom.
It has a boom 4, a second boom 3, and respective hydraulic cylinders 11, 1, 6 for operating them, and has a structure in which the first boom hydraulic cylinder 6 has a luffing dead center 0 diagonally above the rear of the working device. In a hydraulic excavator characterized by
Hydraulic excavation characterized by causing the boom hydraulic cylinder 6 to pass through the dead center of 0, and in the working posture, using fixed pins to lock or rotate the first boom and the second boom. Machine working equipment control method.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29946687A JPH0830347B2 (en) | 1987-11-26 | 1987-11-26 | Apparatus and method for changing working machine attitude of hydraulic excavator |
| EP88910129A EP0399043B1 (en) | 1987-11-26 | 1988-11-25 | Method of operating a working machine for construction vehicles |
| PCT/JP1988/001198 WO1989004894A1 (en) | 1987-11-26 | 1988-11-25 | Working machine for construction vehicles and method of operating same |
| DE3854897T DE3854897T2 (en) | 1987-11-26 | 1988-11-25 | METHOD FOR USING AN ARTICULATED ARM FOR CONSTRUCTION VEHICLES |
| US07/962,013 US5266001A (en) | 1987-11-26 | 1992-10-15 | Working machine for construction vehicles and method of operating the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29946687A JPH0830347B2 (en) | 1987-11-26 | 1987-11-26 | Apparatus and method for changing working machine attitude of hydraulic excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01142135A true JPH01142135A (en) | 1989-06-05 |
| JPH0830347B2 JPH0830347B2 (en) | 1996-03-27 |
Family
ID=17872935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29946687A Expired - Lifetime JPH0830347B2 (en) | 1987-11-26 | 1987-11-26 | Apparatus and method for changing working machine attitude of hydraulic excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0830347B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997045598A1 (en) * | 1996-05-30 | 1997-12-04 | Komatsu Ltd. | Working machine of hydraulic excavator |
-
1987
- 1987-11-26 JP JP29946687A patent/JPH0830347B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997045598A1 (en) * | 1996-05-30 | 1997-12-04 | Komatsu Ltd. | Working machine of hydraulic excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0830347B2 (en) | 1996-03-27 |
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