JPH07300874A - Control device of power shovel - Google Patents

Abstract

PURPOSE:To set a bucket angle to a specific angle easily at a low cost by sensing a bucket angle by an inclinometer and controlling pressure of a hydraulic cylinder by an oil-pressure control device to set the sensed angle to a set angle by a setting device. CONSTITUTION:A changeover switch 47 is set at an automatic operation to close logic valves 28, 29 and to open logic valves 35, 36. And a bucket angle is sensed by an inclinometer 13 of a bucket 11 to output it to a servo amplifier 42 and a setting device 43 outputs a bucket set angle to the servo amplifier 42. Next, the sensed angle of the bucket 11 and the set angle are compared with output a signal in proportion to the difference between the sensed angle and the set angle from the amplifier 42 to a servo valve 39. And the valve 39 is opened or closed to control a pilot control switching valve 23 so that the bucket angle is changed by operating a hydraulic cylinder 12. And the sensed angle and the set angle of the bucket 11 are made equal to stop feeding and discharging of pressure oil to and from the valve 23 and the cylinder 12. Further the bucket 11 is set at a specific bucket angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power shovel controller for performing slope shaping work.

[0002]

2. Description of the Related Art Generally, a hydraulic excavator comprises an upper revolving structure mounted on a lower traveling structure. The upper revolving structure includes a revolving frame, an engine, a hydraulic pump, a control valve, a revolving motor, and a steering. It is composed of a device, an electric device, and the like. A bucket is attached to the power shovel via a plurality of arms, and each arm can be actuated by a hydraulic cylinder. The hydraulic cylinder controls the supply / exhaust hydraulic pressure to control the rotation of each arm. The moving angle is set.

In such a hydraulic power shovel, when performing a slope shaping operation with a bucket, it is necessary to perform the work with the angle of the bucket with respect to the slope kept at a constant angle. In the conventional power shovel, the angle of the bucket is set to a predetermined angle by controlling the rotation angles of the plurality of arms that support the bucket by the control device.

[0004]

However, in the conventional power shovel controller described above, when the slope shaping operation is performed, the operation of a plurality of arms supporting the bucket is controlled by the controller. The bucket angle is adjusted and set to a predetermined angle. In this way, when adjusting the bucket angle, it is troublesome to control the operation of the plurality of arms, and it takes a long time for adjustment, resulting in poor workability. In addition, it is necessary to mount an angle sensor on each arm, and the circuit is complicated and expensive.

The present invention solves such a problem, and an object of the present invention is to provide a control device for a power shovel capable of easily and inexpensively setting a bucket angle to a predetermined angle.

[0006]

A power shovel control device of the present invention for achieving the above object is a power shovel control device for operating a bucket by driving a hydraulic cylinder to control a bucket angle. An angle sensor that detects a bucket angle of the bucket, a setter that sets a predetermined bucket angle, and a bucket detection angle detected by the angle sensor so that the bucket set angle is set by the setter. A hydraulic control device for controlling the hydraulic pressure of a hydraulic cylinder is provided.

[0007]

[Operation] The angle sensor detects the bucket angle of the bucket,
The hydraulic control device compares the bucket detection angle with the bucket setting angle set by the setting device, and controls the hydraulic pressure of the hydraulic cylinder so that the two are at the same angle.

[0008]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a control block showing a power shovel controller according to an embodiment of the present invention, FIG. 2 is a hydraulic circuit for manually operating the power shovel controller, and FIG. 3 is a slope shaping operation by the power shovel. An outline is shown.

In the power shovel controller of the present embodiment, as shown in FIG. 1, the bucket 11 rotatably supported is operated by a hydraulic cylinder 12 to adjust and set the bucket angle θ. The bucket 11 is equipped with an inclinometer 13 as an angle sensor for detecting the bucket angle of the bucket 11. A hydraulic control device 14 for manual operation and a hydraulic control device 15 for automatic operation are connected to the hydraulic cylinder 12, respectively.

That is, the hydraulic cylinder 12 has a pressure oil supply / discharge passage 2
A pilot control switching valve 23 is connected to the pilot control switching valve 23 via an oil passage 24,
A hydraulic control device 14 for manual operation is connected via 25, logic valves 28, 29 are connected to the hydraulic control device 14 via oil passages 26, 27, and further, oil passages 30, 3 are connected.
A pressure oil supply / discharge source 32 is connected via 1. On the other hand, in the oil passages 33 and 34 branched from the oil passages 24 and 25, the logic valves 35 and 36 forming the hydraulic control device 15 for automatic operation are provided.
Is connected to the logic valves 35 and 36, and an oil passage 37,
A servo valve 39 is connected via 38, and a pressure oil supply / discharge source 32 is connected to the servo valve 39 via oil passages 40, 41. Further, a servo amplifier 42 is connected to the servo valve 39, the inclinometer 13 is connected to the servo amplifier 42, and a setter 43 for setting a predetermined bucket angle θ is connected. The direction control valve 44 is for switching the flow direction of the pressure oil supplied to each logic valve 28, 29, 35, 36, and is connected to the pressure oil supply / discharge source 32 via the oil passages 45, 46. In addition, the signal of the automatic / manual changeover switch 47 is input.

In the present embodiment, the hydraulic control device 1 for automatic operation of the present embodiment is added to the conventional manual hydraulic control device 14.
As shown in FIG. 2, a manual switching valve 48 and an automatic switching valve 49 are provided in the oil passages 24 and 25, respectively.

Here, a case will be described in which the slope shaping operation is performed by an automatic operation using the power shovel control device of the present embodiment described above. As shown in FIGS. 1 and 3, first, an operator automatically switches the directional control valve 44 by using the automatic / manual switch 47 to switch the logic valves 28, 2.
9 is closed, while the logic valves 35 and 36 are opened.
Further, the inclinometer 13 attached to the bucket 11 of the power shovel detects the bucket angle θ and outputs it to the servo amplifier 42, while the setter 43 outputs the target predetermined bucket setting angle to the servo amplifier 42.

Then, the servo amplifier 42 compares the bucket detection angle θ with the bucket setting angle, and when there is a difference between the two, a signal proportional to the difference between the bucket detection angle θ and the bucket setting angle is output from the servo amplifier 42. Output to the servo valve 39. When the servo valve 39 opens and closes, pressure oil passes through the servo valve 39 and the logic valves 35 and 36 in the open state to control the pilot control switching valve 23, and the hydraulic cylinder 12 operates to operate the bucket of the bucket 11. The angle θ is changed. The servo amplifier 42 waits until the bucket detection angle θ becomes equal to the bucket setting angle, that is, the difference between the two is 0.
The signal is continuously output to the servo valve 39 until it becomes.

When the bucket detection angle θ and the bucket set angle become the same in this way, the servo amplifier 42
Stops outputting the signal to the servo valve 39, and the servo valve 39 is closed to stop the supply and discharge of the pressure oil to and from the pilot control switching valve 23 and the hydraulic cylinder 12, so that the bucket 11 moves to a predetermined bucket angle θ. Is set.

Further, when the excavator control device of this embodiment does not perform slope shaping work but normal excavation work, as shown in FIGS. 1 and 2, the operator selects an automatic / manual switch. The direction switching valve 44 is switched by using 47 as a manual switch, and the logic valves 28 and 29 are opened, while the logic valves 35 and 36 are closed. Then, the pilot control switching valve 23 is controlled by the manual hydraulic control device 14, the pressure oil is supplied to and discharged from the hydraulic cylinder 12 through the logic valves 28 and 29 in the open state, and the hydraulic cylinder 12 operates to operate the bucket. The bucket angle θ of 11 is manually changed.

As described above, in the power shovel control device of this embodiment, the automatic operation hydraulic control device 15 is added to the conventional power shovel control device having the manual operation hydraulic control device 14. With a simple configuration, the bucket angle can be set constant during slope shaping work.

[0018]

As described above in detail with reference to the embodiments, the power shovel control device of the present invention controls the bucket angle by operating the bucket by driving the hydraulic cylinder. In the control device, since the hydraulic control device controls the hydraulic pressure of the hydraulic cylinder so that the bucket detection angle detected by the angle sensor becomes the bucket setting angle set by the setting device, the bucket control can be performed easily and inexpensively. The angle can be set to a predetermined angle, and the workability of the slope shaping operation can be improved.

[Brief description of drawings]

FIG. 1 is a control block diagram showing a power shovel control device according to an embodiment of the present invention.

FIG. 2 is a hydraulic circuit diagram for manual operation of the control device of the power shovel.

FIG. 3 is a schematic diagram showing a slope shaping operation by a power shovel.

[Explanation of symbols]

 11 Bucket 12 Hydraulic Cylinder 13 Inclinometer (Angle Sensor) 14 Hydraulic Control Device for Manual Operation 15 Hydraulic Control Device for Automatic Operation 23 Pilot Control Switching Valve 32 Hydraulic Source 39 Servo Valve 42 Servo Amplifier 43 Setting Device 44 Directional Switching Valve 47 Automatic / manual switch

Claims (1)

[Claims] 1. A power shovel control device for controlling a bucket angle by operating a bucket by driving a hydraulic cylinder, an angle sensor for detecting the bucket angle of the bucket, and a setter for setting a predetermined bucket angle. When,
And a hydraulic control device for controlling the hydraulic pressure of the hydraulic cylinder so that the bucket detection angle detected by the angle sensor becomes the bucket setting angle set by the setting device. .