JPH07107280B2 - Automatic vibration method of hydraulic excavator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) Among working machines in a hydraulic excavator, at least one actuator for the working machine is subjected to appropriate minute vibration to reduce excavation resistance and efficiently excavate. It enables to excavate efficiently even when soil quality changes and various works, and in the automatic vibration method of the working machine such as desired compaction work and gravel scattering work, the positive signal in the operation signal of the working machine actuator is used. The present invention relates to a method for automatically vibrating a hydraulic excavator, characterized in that the desired amplitude and the negative amplitude are appropriately changed according to the work content so that a desired work can be efficiently performed.

(Prior Art) Conventionally, in a hydraulic excavator equipped with a work automatic vibration device such as a boom / arm and a bucket, when a hard soil surface is encountered during excavation work, the work machine is operated according to soil hardness etc. Moreover, the excavation work was efficiently performed by vibrating with the rectangular wave of the required amplitude and frequency, and the fatigue of the operator was reduced. As shown in FIG. 3, when the boom lever is not operated during the automatic vibration, the amplitude of the rectangular wave is the amplitude al in the boom raising direction and the amplitude a2 in the boom lowering direction.
The value set at the beginning cannot be changed arbitrarily during the work, and if the boom lever is operated to the boom raising side during the automatic vibration, the amplitude reference level will change according to the operation amount of the boom lever. Moves to the boom raising side,
The amplitude in the boom raising direction increases to a3, and the amplitude in the boom lowering direction decreases to a4, but | a1 |
Since the relationship of + | a2 | = | a3 | + | a4 | is always maintained, the sum of the absolute values of the amplitude is maintained with the value set at the beginning of the automatic vibration work. It could not be changed arbitrarily during the work.

(Problems to be Solved by the Invention) In the above conventional technique, the vibration state varies depending on the posture and weight of each working machine, and for example, even if the user wants to move the bucket up and down at a certain position, the bucket is lifted by the bucket lifting signal. If the amount and the amount of bucket lowering by the bucket lowering signal do not match, there is a problem that the bucket moves up and down from a certain position while continuing vibration and it is difficult to operate. Also, not only vibration at a certain position,
For example, when performing rolling compaction work using the vibration of the boom,
If the boom is not set to the descending side in the air, the rolling force cannot be obtained by the bucket, so even if there is a slight difference in the hardness of the soil, there is a problem that the rolling surface will be uneven unless the rolling force is changed. there were.

(Means for Solving the Problems) The present invention has been made to solve the problems in the above-mentioned conventional technique, and the first invention is to provide at least one working machine actuator among working machines in a hydraulic excavator. The operation signal is an automatic repetitive vibration in which one cycle is a vibration in which the positive amplitude is maintained for a certain time and then the negative amplitude is maintained for the certain time, and the positive amplitude or the negative amplitude is variable. According to the second aspect of the present invention, there is provided a second aspect of the invention, in which the operation signal of at least one actuator for the working machine among the working machines in the hydraulic excavator is maintained for a short time after maintaining a positive amplitude for a certain time. After the zero amplitude and the negative amplitude are maintained for a certain period of time, the vibration that returns to the positive amplitude after a short time of zero amplitude is set as an automatic repeating vibration, and the positive amplitude or the negative amplitude is set. According to an automatic vibration method for a hydraulic excavator, which is characterized in that the amplitude of
According to the automatic vibration method of the hydraulic excavator, the positive amplitude and the negative amplitude can be set independently of each other.
According to the fifth invention, in the first invention, an automatic vibration method for a hydraulic excavator is characterized in that the center of the set positive amplitude and the set negative amplitude is made variable by a manual operation of an operator. In the second invention, the object is achieved by an automatic vibration method for a hydraulic excavator, characterized in that the center of the set positive amplitude and the center of the negative amplitude are variable by a manual operation of an operator.

(Operation) According to the above configuration, the operation signal of at least one working machine actuator of the working machines in the hydraulic excavator is made into a complete rectangular wave, or after the zero amplitude is maintained for a minute time, the reverse amplitude is reversed. Since the positive amplitude or the negative amplitude in the operation signal is made variable according to the work content, the vibration state varies depending on the posture and weight of each work machine, for example, let the bucket move up and down at a certain position. Even if I think, even if the bucket rise amount by the bucket up signal and the bucket fall amount by the bucket down signal do not match, it is possible to match them by adjusting the positive amplitude or the negative amplitude. The bucket can be vibrated at a fixed position. When not only vibration at a fixed position but also vibration of the boom is used for rolling, for example, the amplitude of the operation signal of the boom drive actuator on the lower side is increased and the amplitude on the up side is increased. If the size is small and the position of zero amplitude is constant, the rolling force can be obtained with the bucket maintained at a fixed position, so even if there is a slight difference in the hardness of the earth and sand, unevenness may occur on the rolling surface. Absent.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings.

FIGS. 1 (A) to (C) are diagrams showing a first embodiment of the present invention. In FIG. 1 (A), the vibration mode switch 4 selects one of the L, M, and S modes. , With the work mode switch 5, when any one of boom independent vibration Bo, arm independent vibration A, bucket independent vibration Bu, and skeleton Sk is selected,
A transmitter 9 in the automation controller 3 according to command signals from the vibration mode switch 4 and the work mode switch 5.
From the above, vibration signals k Bo, k A, k Bu corresponding to the selected vibration mode and work mode are output to the adder 20. Vibration signal k Bo, k A, k output from the transmitter 9 to the adder 20
The amplitude of Bu is positive amplitude adjuster 19a and negative amplitude adjuster 19b.
Can be increased or decreased by. Next, when the automatic vibration mode switch 6 is turned off, the switch 18 is connected to the A contact by the spring force by the magnet 17 and becomes the manual mode.
When the automatic vibration mode switch 6 is turned on, the magnet 17 connects the switch 18 to the B contact by resisting the spring force, and the automatic vibration mode is set. The setting is made from the work mode switch 5 and the vibration mode switch 4 input to the adder 20. The amplitude of the vibration signal is increased or decreased by the positive and negative amplitude adjusters 19a and 19b, respectively, and the adjusted vibration signal is adjusted to the electric signal converter 2 a1,2 a2,2 according to the operation amount of the work equipment lever 1 a1,1 a2,1 b. The operation signal from b is added and output to the work machine controller 7. Further, the boom signal 3a from the automation controller 3, the work machine controller 7, the electronic control valve 21, and the boom cylinder 15 are described in the case where the work machine is a boom, but the arm and bucket are the same as the boom described above. Omitted. Next, the operation of FIG. 1 (A) will be described by taking an example of automatic boom vibration control. With the boom lever 1 al in the neutral position, set the vibration mode switch 4 to one of L, M, and S modes, set the work mode switch 5 to the boom independent vibration mode Bo, and then set the automatic vibration mode switch 6 When turned on, magnet 17
Switch 18 is connected to the B contact by the repulsive force of
A rectangular wave boom signal as shown by transmitters 19 to 3a in the automation controller 3 is output to the work machine controller 7. The work machine controller 7 converts the rectangular wave boom signal input at the voltage into a current signal like 7a,
The current signal is converted into a boom raising current value and a boom lowering current value like 7b and 7c, respectively, and then output to the solenoids 8 and 9 of the electronically controlled poppet valves 10 to 13 of the electronically controlled operation valve 21. When the boom raising current signal 7b is output to the solenoid 8, the electronically controlled poppet valves 10 and 11 are opened according to the current signal, so that the pressure oil discharged from the hydraulic pump 14 is electronically controlled. Since it is supplied to the boom cylinder 15 via the poppet valve 10, the boom cylinder 15 extends, and the return oil from the boom cylinder 14 is discharged to the tank 16 via the electronically controlled poppet valve 11. At this time, as can be seen from 7c, since the boom lowering current signal is not output to the solenoid 9, the electronically controlled poppet valves 12 and 13 are closed. When the boom lowering current is output to the solenoid 9, the discharge oil of the hydraulic pump 14 is supplied to the boom cylinder 15 through the electronically controlled poppet valve 12 in the same manner as in the case of raising the boom, so that the boom cylinder 15 operates. The return oil from the boom cylinder 15 that contracts is discharged to the tank 16 via the electronically controlled poppet valve 13. The boom can be vertically vibrated by repeating the above operation. When it is desired to change the amplitude of the set vibration signal during the automatic vibration, the adjustment vibration signal output from the automation control 3 to the work machine controller 7 via the adder 20 can be increased or decreased by the positive and negative amplitude adjusters 19a and 19b. Is the first
It becomes a rectangular wave as shown in FIG. Further, in FIG. 1 (B), when the boom lever 1 a1 is operated to the raising side during the automatic vibration, the amplitude reference level, that is, the amplitude of the boom raising side and the boom lowering side depending on the operation amount of the boom lever 1 a1. Since the center value of the amplitude moves to the boom raising side, the amplitude in the boom raising direction increases to a3 and the amplitude in the boom lowering direction decreases to a4, as shown in Fig. 1 (C). Change. However, the relationship of | a1 | + | a2 | = | a3 | + | a4 | is always maintained. Since the operation of the arm cylinder and the bucket cylinder is the same as that of the boom cylinder, description thereof will be omitted as in the case of the above configuration. Figure 2 (A)
~ (C) shows the operation signal for the boom cylinder in the working machine,
After the positive amplitude is maintained for a certain period of time, the zero amplitude is maintained for a very short time, the negative amplitude is maintained for a certain period of time, and then the vibration is returned to the positive amplitude after a zero amplitude of a very small time. FIG. 2 (A) is a diagram showing a second embodiment of the present invention when the boom lever 1 a1 is in a neutral state in a state where the amplitude is not adjusted by the positive / negative amplitude adjusters 19a / 19b during the automatic vibration. The figure which shows the vibration signal output from the automation controller 3 to the work machine controller 7, FIG. 2 (B)
Is a diagram showing a vibration signal output from the automation controller 3 to the work implement controller 7 when the positive amplitude is reduced by the positive amplitude adjuster 19a and the negative amplitude is increased by the negative amplitude adjuster 19b during the automatic vibration, FIG. 2 (C) shows a vibration signal output from the automation controller 3 to the work implement controller 7 when the boom lever 1a1 is operated to the boom raising side during the automatic vibration in the state of FIG. 2 (B). FIG. The operation of FIGS. 2A to 2C is the same as that of FIGS. 1A to 1C, and the description thereof will be omitted. In addition, the transmitter in the automation controller 3
The vibration signal transmitted from 19 is not limited to the first and second embodiments, and it goes without saying that any signal may be used.

(Effects of the Invention) As described in detail above, according to the present invention, the following effects are obtained.

(1) Since the positive amplitude or the negative amplitude in the operation signal of each work machine actuator is made variable according to the work content, the vibration state varies depending on the posture and weight of each work machine,
For example, even if the user wants to move the bucket up and down at a certain position, the positive amplitude or the negative amplitude may not be adjusted even if the bucket up amount by the bucket up signal and the bucket down amount by the bucket down signal do not match. Since they can be matched by adjusting, the bucket can be vibrated at a fixed position.

(2) Not only vibration at a fixed position,
For example, when performing rolling compaction work using the vibration of the boom,
If the amplitude of the boom cylinder operation signal on the lower side is made larger and the amplitude of the boom side is made smaller and the position of zero amplitude is made constant, the rolling force can be obtained while the bucket is kept at a fixed position. Even if there is a slight difference in size, the rolling surface does not have irregularities.

(3) In the gravel scattering work, the positive amplitude and the negative amplitude in the operation signal of the working machine actuator can be appropriately changed according to the work content, so that the gravel can be efficiently scattered to a desired thickness. be able to.

[Brief description of drawings]

1A to 1C are views showing a first embodiment of the present invention, FIG. 1A is a view showing a control circuit, and FIG. 1B is a state in which a boom lever is in a neutral state, during automatic vibration. The figure which shows the vibration signal output from the automation controller 3 to the working machine controller 7 when the amplitude is adjusted by the positive / negative amplitude adjuster in (C) is adjusted by the positive / negative amplitude adjuster during the automatic vibration FIG. 2A to FIG. 2C are diagrams showing a vibration signal output from the automation controller 3 to the work machine controller 7 when the boom lever is operated to the boom raising side in the state of FIG. In the figure shown,
(A) shows the work machine controller 7 from the automation controller 3 in a state where the boom lever is in the neutral state without adjusting the amplitude by the positive / negative amplitude adjuster during the automatic vibration.
(B) shows the vibration signal output to the work machine controller 7 when the boom lever is in the neutral position and the amplitude is adjusted by the positive / negative amplitude adjuster during the automatic vibration. (C) is a diagram showing a vibration signal to be output, and is output from the automation controller 3 to the work machine controller 7 when the boom lever is operated to the boom raising side while the amplitude is adjusted by the positive / negative amplitude adjuster during the automatic vibration. FIG. 3 is a diagram showing a vibration signal to be generated, and FIG. 3 is a diagram showing a conventional technique. 1 a1 …… Boom lever 1 a2 …… Bucket lever 1 b …… Arm lever 2 a1,2 a2,2 b …… Electrical signal converter 3 …… Automation controller 4 …… Vibration mode switch 5 …… Work mode switch 6 ...... Automatic vibration switch 7 ...... Work machine controller 8,9 ...... Solenoid 10 to 13 ...... Electronic control poppet valve 14 ...... Hydraulic pump 15 …… Boom cylinder 19 …… Oscillator 19a …… Positive amplitude adjuster 19b …… Negative amplitude regulator 20 …… Adder 21 …… Electronic control valve

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Claims (5)

[Claims] 1. An operation signal of at least one working machine actuator among working machines in a hydraulic excavator, in which a positive amplitude is maintained for a certain period of time and then a negative amplitude is maintained for a certain period of time is defined as one cycle. An automatic vibration method for a hydraulic excavator, characterized in that the positive amplitude or the negative amplitude is made variable while automatically repeating vibration. 2. An operating signal of at least one actuator for a working machine among working machines in a hydraulic excavator, after maintaining a positive amplitude for a certain period of time and then maintaining a negative amplitude for a certain period of time through a zero amplitude of a minute time. After that, the vibration that returns to the positive amplitude after a short time zero amplitude is set as an automatic repeating vibration, and the positive amplitude or the negative amplitude is variable. Vibration method. 3. The automatic vibration method for a hydraulic excavator according to claim 1, wherein the positive amplitude and the negative amplitude can be set independently of each other. 4. An automatic vibration excavating method for a hydraulic excavator according to claim 1, wherein the center of the set positive and negative amplitudes is variable by a manual operation of an operator. 5. The automatic vibration method for a hydraulic excavator according to claim (2), wherein the center of the set positive and negative amplitudes is variable by manual operation by an operator.