JPH0631520B2 - Excavator penetration input control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention includes a boom that can be lifted and lowered at the front part of an upper revolving structure such as a crawler crane, a truck crane, and the like. The present invention relates to a penetration input control device for an excavator having a winch that winds a rope that supports the device, and an angle detector that detects a boom angle and a load detector that detects a lifting rope tension.

(Prior Art) A crane having an angle detector for detecting a boom angle and a load detector for detecting a lifting rope tension is known.

In addition, a continuous wall excavator, an earth drill, etc. are provided as a winch mechanism for suspending the excavator from the tip of the boom equipped with a boom that can be lifted and lowered at the front part of the upper revolving structure and winding a rope that supports the excavator. Yes, all of these are for excavating by utilizing the own weight of the bucket or kerry bar.

(Problems to be solved) However, in a crane that has an angle detector that detects the boom angle and a load detector that detects the elevation rope tension, the working radius is calculated from the boom length and boom angle, and the machine The lifting capacity is compared with the load obtained from the load detector, and an alarm is issued or stopped when a load that exceeds the capacity of the machine is suspended. I had to operate it.

In the case of continuous wall excavators and earth drills that excavate using the weight of buckets or kerry bars, when the excavator such as a bucket is hoisted down to the ground, the hoisting speed is artificially controlled by using a foot brake or the like. Therefore, it is difficult to control at a constant speed, and if the pedal, which is the brake operating means, is operated incorrectly, the engine may overrun. When it is impossible to excavate due to changes in soil quality, that is, excavation speed changes due to load changes that change excavation force or gripping amount, as well as opening / closing force and bucket rotating force, as well as being affected by the weight of the bucket or kerry bar. Also happened.

In order to solve this, it was necessary to manually wind the rope suspending the excavator with a winch and artificially maintain the excavable state.

The present invention has been made in view of the above facts, and an object thereof is to apply a braking force to a power transmission system (a winch system), calculate a penetration input from the obtained excavator support force and excavator weight, and the penetration input is a set value. The control is performed so as to match with.

(Means for Solving the Problems) In order to achieve the above object, according to the present invention, the pressure contact force between the fixed disc and the movable lining of the multi-disc brake mounted in the middle of the power transmission system for transmitting the rotation of the engine to the winch is adjusted. The braking force of a power transmission system (winch system) and a control device including a brake cylinder, an electro-oil conversion valve that controls the pressure of fluid supplied to the brake cylinder, a control unit that sends a signal to the electro-oil conversion valve, and the like are set. Controller or penetration input setting device, boom angle detected by angle detector and load detector, and rope tension when the rope is lifted, excavator weight when excavating equipment is lifted, and excavator supporting force when braking force is applied to the power transmission system. And a weight of the excavator and store the excavator weight, and calculates a penetration force from the excavator weight and the excavator support force. It has a computer so that the penetration force can be controlled and adjusted so as to be equal to the penetration force preset by the control device.

(Examples) Examples of the present invention will be described below with reference to the drawings.

In the figure, reference numeral 1 denotes an upper revolving structure, which is rotatably mounted on a lower traveling structure 2. A boom 3 is pivotally attached to the front part of the upper swing body 1 so that the boom can be raised and lowered, and a hoisting winch 9 and a boom and winch winch 10 are arranged substantially in the center of the upper swing body 1 and are arranged near the rear end. Has a mast 8 attached.

The boom raising / lowering rope 5 extended from the boom raising / lowering winch 10 is a bail 6 and a boom 3 pivotally attached to a mast 8.
Of the pendant rope 4 whose one end is attached to the other end of the pendant rope 4 is attached to the bridle 7 which is attached to the other end of the load detecting device 38 which is attached to the mast 8.

The hoisting rope 11 fed from the hoisting winch 9 is wound around the sheave 14 attached to the upper part of the excavator 15 via the sheaves 12 and 13 attached to the tip end of the boom 3, and the tip of the boom 3 is extended. Connected to the department.

The rotation of the engine 16 is transmitted to the sprocket 19 via the torque converter 17, and further transmitted to the hoisting clutch 9b or the lowering clutch 9c via the chain 20, the sprocket 21, and the speed reducer 22. The winch drum 9a of the hoisting winch 9 enables forward / reverse rotation and free rotation by turning on / off the winding clutch 9b or the lowering clutch 9c, and the winding clutch 9b and the lowering clutch 9c are turned on / off by the operating lever 23. . A band brake 25 that is artificially braked by a foot pedal 24 is attached to the winch drum 9a.

Further, in the present invention, the gear 26 is provided between the engine 16 and the torque converter 17, and the gear 27 meshing with the gear 26 drives the hydraulic pump 28. The hydraulic pump 2
8 is connected to the input port of the electro-hydraulic conversion valve 30 by the pipe 29, and the output port of the electro-oil conversion valve 30 is connected to the brake cylinder 32 of the multi-plate brake 18 provided between the torque converter 17 and the sprocket 19. It is connected by a pipe line 31. The brake cylinder 32 can change the pressure contact force of the movable lining of the fixed disc of the multi-plate brake 18 according to the magnitude of the hydraulic pressure that acts, and the electro-hydraulic conversion valve 30 provided between the hydraulic pump 28 and the brake cylinder 32. The hydraulic pressure supplied to the brake cylinder 32 is controlled by.

The electro-hydraulic conversion valve 30 is a valve that controls pressure by an electric signal and is in communication with a control unit 33 that sends an electric signal. The control unit 33 is connected to a controller 35 and a control computer 36 via a manual / automatic mode switch 34. It is connected. The controller 35 is provided with a dial 35a capable of arbitrarily adjusting the voltage.

An angle detector 37 for detecting the boom angle is attached to the base end of the boom 3, and a load detector 38 for detecting the elevation rope tension is attached to the mast 8.

A terminal of the angle detector 37 and a terminal of the load detector 38 are connected to a control computer 36, and a penetration input setting device 39, a display panel 40, and a setting switch 41 are also connected to the control computer 36.

The penetration input set by the penetration input setting device 39 is displayed on the display panel 40 and is selectively selected by the signal from the controller 35 and the manual / automatic mode switching device 34 as an electric signal sent to the electro-hydraulic conversion valve 30. It

The display panel 40 displays the penetration input set value, the actual penetration input, the boom angle, etc., and the setting switch 41 displays the number of rope hooks,
Set and display the boom length etc.

(Operation) Next, the operation of the present invention will be described.

First, the boom length and the number of rope hooks are set by the setting switch 41, and the dial 35a of the controller 35 is turned to set the braking force applied to the power transmission system. In this case, the dial 35a of the controller 35 is fully rotated to obtain the maximum braking force, and the maximum braking force is set to the minimum so that the braking force becomes zero.

Next, the tension T of the boom raising / lowering rope 5 in a state of being suspended from the excavator 15 is detected by the load detector 38, and when the excavator 15 which is input in advance is not suspended, that is, the boom raising / lowering rope 5 generated by the boom's own weight is detected. The weight W of the excavator 15 is calculated and stored in the control computer by the following equation from the tension T _{0 of}

Here, W: excavator weight T: tension of boom raising / lowering rope 5 when the excavator is hoisting T ₀ : boom lowering rope 5 when the excavator is not suspended
Tension H _B : Shortest distance between the boom foot and the boom lift rope (or pendant rope) r _B : Shortest distance between the boom foot and hoisting rope R: Working radius (horizontal distance from the swing center to the center of the excavator) r; Swing center From the boom foot to the boom foot N _B ; number of boom elevation ropes n _B ; number of hoisting ropes The working radius R is given by the following formula.

_{R = L B cosθ + sinθ +} r where L _B; boom length; Heddoshibu mounting position eccentricity theta; releases the boom angle then band brake 25 by operating the foot pedal 24, put the operating lever 23 in the lowering side and drilling equipment Although the engine brake cannot bear the load due to the own weight of 15 and the engine is likely to overrun, when the controller 35 gives a command to the control unit 33, an electric signal is sent from the control unit 33 to the electro-hydraulic conversion valve 30. In order to control the pressure of the pressure oil from the oil conversion valve 30 to the brake cylinder 32 provided in the multi-plate brake 18 and apply the braking force to the power transmission system, the excavator 15 should be supported in the upward direction. to force (excavating device supporting force) F ₀ acts, during power lowering engine by weight of such rigs It is possible to prevent the overrun. Excavator support force until this bottom reaches F
₀ is in balance with the weight of the drilling rig F ₀ = W.

When the drilling device 15 reaches the bottom, the penetration input is set by the penetration input setting device 39 and the manual / automatic mode switching device 34 is switched to the automatic side. It is transmitted via 33 to apply a braking force to the power transmission system (winch system). Due to this braking force, the excavating device supporting force F is applied to the upward direction of the excavating device 15 similarly to the above.
₀ acts, and the excavator support force F ₀ in this case is calculated by the following equation.

Here, T ₁ ; the tension of the boom raising / lowering rope 5 when braking by the multi-plate brake 18, and therefore the actual penetration input F is calculated by the following equation.

F = W−F _{0 When the} permissible input set by the penetration input setting unit 39 is set to an allowable range, the actual penetration input F exceeds the specified permissible range, or the specified permissible range is set to a certain value. If it continues for more than a time, it will automatically stop, and if it is within the specified allowable range, work will be performed while controlling to match the set penetration input.

(Effect) As a result, the controller 3 is operated until the drilling device 15 reaches the bottom.
5 gives a command to the control unit 33, an electric signal from the control unit 33 to the electro-hydraulic conversion valve 30 controls the pressure of the pressure oil from the electro-oil conversion valve 30 to the multi-plate brake 18, and the braking force is applied to the power transmission system. To give
The engine can be unwound at a constant speed without overrunning, and the hoisting rope 11 does not loosen even when the excavator 15 reaches the bottom because it descends due to the weight of the excavator with a constant braking force. Therefore, the rope life is extended and the speed is automatically reduced because the brake line pull is constant even if there is a change in soil quality, that is, a load change. Has a remarkable effect on sex.

In the present embodiment, a multi-disc brake is used as a brake for giving a braking force, but it can be replaced with a single disc brake or other various brakes. In the present embodiment, a rope end type load detector will be described. However, it goes without saying that a three-point roller type is also possible.

[Brief description of drawings]

FIG. 1 is an overall side view of a crawler crane adopting the present invention, and FIG. 2 is a view showing a penetration input control device according to the present invention. 3 ... boom, 9 ... hoisting winch, 9a ... winch drum, 9b ... hoisting clutch, 9c ... hoisting clutch, 15 ... excavator, 18 ... multi-disc brake, 28
... hydraulic pump, 30 ... electro-hydraulic conversion valve, 32 ... brake cylinder, 33 ... control unit, 34 ...
Manual / automatic mode switcher, 35 ... Controller, 36
...... Control computer, 37 ...... Angle detector, 38 ...
... load detector, 39 ... penetration input setting device, 40 ... display panel, 41 ... setting switch.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mine Ishizaka 1-2-7 Moto-Akasaka, Minato-ku, Tokyo Within Kashima Construction Co., Ltd. (72) Inventor Shoji Sekigawa 1-2-2 Moto-Akasaka, Minato-ku, Tokyo No. 7 within Kashima Construction Co., Ltd. (56) References JP-A-59-126822 (JP, A), JP-A-58-129984 (JP, U)

Claims (1)

[Claims] Claims: 1. A boom which can be lifted and lowered is pivotally attached to the front part of an upper revolving structure such as a crawler crane, and an angle detector is attached to the boom to lift and lower the boom. A control device for driving and braking a winch in an excavator in which a winch is arranged substantially in the center of a revolving structure, and the excavator is suspended from the tip of a boom, and a controller and a penetration input setting device for setting the braking force of the winch. Further, the boom angle detected by the angle detector and the load detector and the elevation rope tension are used to calculate the excavator weight at the time of hoisting the excavator and the excavator support force when a braking force is applied to the power transmission system. It has a control computer that stores the excavator weight and calculates the penetration input from the excavator weight and the excavator support force, and the penetration input is previously stored. Penetration force control device of the excavator, characterized in that the controllable adjusted by the control device to be equal to the constant has been intruded force.