JPH0437890B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is provided in a rolling shovel in which a rotating body disposed on a traveling body can swing, and which automatically performs a swinging operation of the rotating body. Regarding a control device.

[Background of the invention]

4 and 5 are explanatory diagrams of the rolling shovel, with FIG. 4 being a side view of the main part, and FIG. 5 being a front view of the main part. In these figures, 1 is a running body, 2 is a swinging plate disposed on the running body 1, 3 is a swing bearing provided on this swinging plate 2, and 4 is a swinging body disposed on this swing bearing 3. body,
Reference numeral 5 denotes a front working machine that is provided at the front part of the revolving structure 4 and performs work such as excavation. Also, 6,
Reference numeral 7 denotes a swinging cylinder, which is connected via a pin 9 to a lower frame 8 and a swinging plate 2 forming the traveling body 1 so as to be relatively rotatable, as shown in an enlarged view in FIG. . Note that the swing plate 2 and the lower frame 8 are connected by a center pin 10 so as to be relatively rotatable. Further, FIG. 7 is a circuit diagram showing an operation circuit for the above-mentioned swing cylinders 6, 7, and reference numeral 11 shown in FIG.
12 is a manual directional control valve that is arranged between the pump 11 and the swing cylinders 6 and 7 to switch the flow direction of the pressure oil; 13 is a lever that operates the directional control valve 12; , 14 is an overload relief valve provided between two pipes connecting the directional control valve 12 and the swing cylinders 6 and 7.

In the rolling shovel constructed in this way, when the traveling body 1 is on uneven ground, etc., the directional control valve 12 is switched by operating the lever 13 shown in FIG. 1
Pressure oil discharged from 1 causes the swing cylinder 6,
7 expands and contracts appropriately, thereby causing the rocking plate 2 shown in FIGS. 6 and 5 to rock around the center pin 10, and integrally with this, the rotating body 4 swings as shown by the arrow 15 in FIG. and the rotating body 4 can be kept horizontally,
Furthermore, since the angle of the front working machine 5 with respect to the ground can be set to a desired value, various excavation forms can be realized.

Incidentally, in the case of such a rolling shovel, conventionally, the operation of swinging the revolving structure 4 is performed by the driver, while looking at an angle meter located in the operator's cab provided in the revolving structure 4, by turning the lever shown in FIG. This is done by operating the lever 13, which requires skill on the part of the driver, is time consuming, and requires the operator to operate the lever 13 each time the driver reaches a location with different unevenness. If the excavation work is being carried out by the
There are some problems that make it difficult to improve the efficiency of excavation work.

Furthermore, if the angle meter placed in the driver's cab is like a spirit level that is kept level by moving mercury, etc., the above-mentioned rocking work may be quite time-consuming. There is.

[Purpose of the invention]

The present invention has been made in view of the actual state of the prior art, and its purpose is to provide a rolling shovel that can automatically swing a revolving structure without requiring a driver to operate a lever. An object of the present invention is to provide a swing control device.

[Summary of the invention]

In order to achieve this object, the present invention includes a swinging cylinder for swinging a rotating body disposed on a traveling body, an electromagnetic switching valve for controlling the flow direction of pressure oil to the swinging cylinder, and a rotating body. an input device for setting a target inclination angle of the rotating body; an angle detection sensor for detecting the actual actual inclination angle of the rotating body and outputting it as a signal;
A control unit that controls an electromagnetic switching valve so that the rotating body moves until the rotating body reaches the target inclination angle according to the target inclination angle outputted from the input device and the actual inclination angle outputted from the angle detection sensor. It is configured.

[Embodiments of the invention]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a rocking control device for a rolling shovel according to the present invention will be explained based on the drawings. 1 to 3 are explanatory diagrams showing one embodiment of the present invention, FIG. 1 is a circuit diagram showing an operating circuit for a swing cylinder provided in this embodiment, and FIG. 2 is a basic diagram of this embodiment. FIG. 2 is a block diagram showing the configuration. In these figures, the same components as those shown in FIGS. 4 to 7 described above are designated by the same reference numerals.

In FIG. 1, reference numeral 20 denotes a counterbalance valve interposed in two pipes connecting the pump 11 and the swinging cylinders 6 and 7. A brake valve 21 is configured to hold the cylinders 6, 7 stationary. Reference numeral 22 designates an electromagnetic switching valve, which is arranged in two pipes connecting the pump 11 and the swinging cylinders 6 and 7, especially between the directional switching valve 12 and the brake valve 21, which are operated by the lever 13. It has been done. The directional switching valve 12 is configured in a center-open type, which prevents the generation of negative pressure in the swinging cylinder circuit when the swinging body 4 is not swinging, and also prevents the generation of negative pressure in the swinging cylinder circuit when the swinging body 4 is not swinging. It is used as a return circuit for pressure oil when

Further, 23 shown in FIG. 2 is a control unit that controls the drive of the electromagnetic switching valve 22 mentioned above, and the A/D converter 2
4. Central processing unit (CPU) 25 that performs calculations and logical judgments, ROM that stores programs, etc.
26. The above-mentioned target inclination angle X of the revolving structure 4, actual actual inclination angle Y of the revolving structure 4, etc. are stored.
It includes a RAM 27 and an output section 28 to which the electromagnetic switching valve 22 is connected. In addition, 29 is the rotating body 4
An angle detection sensor attached to the control unit 23 and connected to the A/D converter 24 of the control unit 23 detects the actual inclination angle of the rotating body 4 and outputs it to the control unit 23 as an electric signal (actual inclination angle Y). . Reference numeral 30 denotes an input device disposed in the operator's cab of the revolving structure 4, consisting of a rotary switch, for example, and connected to the A/D converter 24 of the control section 23, which sets the target inclination angle of the revolving structure 4;
It is output to the control unit 23 as an electrical signal (target inclination angle X). Reference numeral 31 is a notification means, for example, a digital display, which is also arranged in the operator's cab of the revolving structure 4 and is connected to the output section 28 of the control section 23, for notifying that the actual inclination angle Y has become equal to the target inclination angle X. be.

Note that the above-mentioned target inclination angle X and actual inclination angle Y are the angles when the rotating body 4 is inclined to the left in FIG. The angle when is extended and the swing cylinder 7 is contracted is "+",
Contrary to the above, the angle when the rotating body 4 is inclined to the right in FIG. 5 with respect to the horizontal plane, that is, the first
The angle when the swing cylinder 6 in the figure is contracted and the swing cylinder 7 is extended is "-", and the rotating body 4
The angle when is placed approximately equally on the horizontal plane is defined as 0.

Next, the operation of the embodiment configured as described above will be explained based on the flowchart shown in FIG.

First, as shown in step 50, the input device 30
is operated to set the target inclination angle X of the rotating body 4 with respect to the horizontal plane. Let's now assume that X = 15°. The target inclination angle X set in this way is controlled by the control unit 23.
RAM 27 via A/D converter 24 and CPU 25
while the CPU is stored as shown in step 51.
25, the signal is output to the digital display 31 via the output section 28 and displayed on the digital display 31.
Next, the process moves to step 52, where the actual inclination angle of the rotating body 4 is detected by the angle detection sensor 29, and the actual inclination angle Y, which is the signal thereof, is output to the CPU 25 via the A/D converter 24 of the control section 23. Ru. Now, hypothetically,
Let Y=-15°. Next, move on to step 53 and set the CPU
At step 25, a calculation is performed to determine the difference E between the target inclination angle X and the actual inclination angle Y, that is, X-Y=E. Here, since X=15° and Y=-15°, E=15°-(-15°)=30°. Next, the process moves to step 54, where the CPU 25 determines whether E≧0. Now, since E≧0, the process moves to step 55, where it is determined whether E=0 or not.Since E=0 is not satisfied, the rotating body 4 is moved by E=30° as shown in FIG. Since it is necessary to swing counterclockwise, the process moves to step 56. In this step 56, the drive signal from the CPU 25 is sent to the output section 28.
It is output to the electromagnetic switching valve 22 via. As a result, the electromagnetic switching valve 22 is switched to the left position in FIG. 6 is extended, the swinging cylinder 7 is contracted, and the swinging motion of the revolving body 4 begins. Also, almost at the same time as step 56 above.
The difference E calculated by the CPU 25 is outputted from the CPU 25 to the digital display 31 via the output section 28.
This difference E is displayed. Then return to step 52,
The same operation as described above is performed until E=0. Then, when E=0 is confirmed in step 55, the process moves to step 58, where a drive stop signal is output from the CPU 25 to the electromagnetic switching valve 22 via the output section 28, the electromagnetic switching valve 22 is switched to the neutral position, and the process proceeds to step 58. 5
Almost at the same time as step 8, as shown in step 59,
The difference E=0 is output from the CPU 25 to the digital display 31 via the output section 28, and the operation of swinging the revolving body 4 by 30 degrees counterclockwise in FIG. 5 is completed.

Furthermore, if it is determined in step 54 that E≧0 is not satisfied, for example, if X=-10° and Y=
5°, and E=-10°-5°=-15°, the process moves to step 60, where the CPU 25 judges whether E=0 or not. 4
Since it is necessary to swivel 15 degrees clockwise in FIG. 5 as described above, the process moves to step 61. This step 61
Then, a drive signal from the CPU 25 is outputted to the electromagnetic switching valve 22 via the output section 28, thereby switching the electromagnetic switching valve 22 to the right position in FIG. 22, it is supplied to the swinging cylinders 6 and 7 via the brake valve 21, the swinging cylinder 6 contracts, the swinging cylinder 7 extends, and the swinging motion of the revolving structure 4 begins. Also, as shown in step 62 almost simultaneously with step 61 above, the difference E calculated by the CPU 25 is the same.
The difference E is outputted from the CPU 25 to the digital display 31 via the output section 28 and displayed. Then, the process returns to step 52, and the same operation as described above is performed until E=0. Then, in step 60, E=0
When confirmed, the process moves to step 58, and the electromagnetic switching valve 22
is switched to the neutral position, and in step 59 the differential pressure E
=0 is output to the digital display 31, and the rotating body 4
The operation of oscillating 15° clockwise in Fig. 5 is completed.

As described above, in this embodiment, the control unit operates according to the target inclination angle 23 controls the switching of the electromagnetic switching valve 22, the rotating body 4 is automatically switched on and off without requiring any lever operation by the driver.
It is possible to perform a swinging motion.

In this embodiment, as shown in FIG. 1, by operating the lever 13 with the electromagnetic switching valve 22 held in the neutral position, the directional switching valve 1 is activated.
2 can be switched, and manual operation can also be performed.

In addition, in the above embodiment, the electromagnetic switching valve 22
Although a brake valve 21 is provided between the swing cylinders 6 and 7, the present invention is not limited thereto, and a double-operated check valve may be provided in place of the brake valve 21. With this configuration, the amount of leakage of pressure oil flowing through the pipe can be reduced.

Further, in the above embodiment, the digital display 31 is provided as a notification means for notifying that the actual inclination angle Y has become equal to the target inclination angle X, but the present invention is not limited to this. Alternatively, an alarm may be provided to issue an alarm when the actual tilt angle Y becomes equal to the target tilt angle X.

〔Effect of the invention〕

Since the rocking control device for a rolling shovel of the present invention is configured as described above, it is possible to automatically swing the swinging body without requiring any lever operation by the driver. This has the effect of improving the efficiency of swinging work of the revolving body and excavation work using the front work machine compared to the conventional method.

[Brief explanation of drawings]

1 to 3 are explanatory diagrams showing one embodiment of the rocking control device for a rolling shovel according to the present invention.
FIG. 2 is a circuit diagram showing the operating circuit of the swing cylinder provided in this embodiment, FIG. 2 is a block diagram showing the basic configuration of this embodiment, and FIG. 3 is a flowchart showing an example of the operation in this embodiment. Figures 4 and 5 are explanatory diagrams of the rolling shovel. Figure 4 is a side view of the main part, Figure 5 is a front view of the main part, and Figure 6 is an enlarged view of the swinging part shown in Figure 5. An explanatory diagram showing,
FIG. 7 is an operating circuit diagram of the swing cylinder provided in the rolling shovel shown in FIGS. 4 and 5. FIG. 1... Traveling body, 4... Swivel body, 6, 7... Rocking cylinder, 20... Counter balance valve, 21
... Brake valve, 22 ... Solenoid switching valve, 23 ...
Control unit, 29...Angle detection sensor, 30...Digital display (notification means).

Claims (1)

[Claims] 1. A swinging cylinder that swings the rotating body disposed on the traveling body, an electromagnetic switching valve that controls the flow direction of pressure oil to the swinging cylinder, and an input device that sets the target inclination angle of the rotating body. and an angle detection sensor that detects the actual actual inclination angle of the rotating body and outputs it as a signal, according to the target inclination angle output from the input device and the actual inclination angle output from the angle detection sensor. 1. A rocking control device for a rolling shovel, comprising: a control section that controls the electromagnetic switching valve so that the rotating body swings until the rotating body reaches the target inclination angle.