JPH086342B2 - Copy-operated power shovel - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a copying operation type power shovel provided with a copying control device, and more particularly to optimization of a copying operation speed.

2. Description of the Related Art Generally, a shovel device for a power shovel has a boom attached to a vehicle body, an arm attached to the boom, and a bucket rotatably attached to the arm by joints, and the boom, the arm, and the bucket are released from a hydraulic pump. It is configured to be rotated by a boom cylinder, an arm cylinder, and a bucket cylinder that are operated by hydraulic oil that is pressure-fed through an oil supply passage provided with. The supply of hydraulic oil to the boom cylinder, arm cylinder, bucket cylinder, etc. is controlled by switching of each control valve by a plurality of steering members such as pedals, levers, etc., whereby the boom, arm, and bucket are operated independently or in parallel. It is rotated and the bucket is given the required movement.

Therefore, a high degree of skill is required to operate the shovel device, and in particular, it is extremely difficult to give a linear motion to the tip of the bucket, for example, horizontal extrusion and horizontal retraction.

Therefore, the present applicant has filed in Japanese Patent Application No. 59-185233,
We proposed a copy-operated power shovel with a copy control device. In this system, each joint of the shovel device is provided with a rotation angle detector for detecting each rotation angle of a boom, an arm, and a bucket around the joint, and a copy control device and a control device. In the copying control device, the boom, arm and bucket of the shovel device are similar in model length to each other, the model arm and the model bucket are rotatably connected to each other by a joint, and the model boom is attached to a body-equivalent member by a joint. , Each joint is provided with a rotation angle detector, and the control device is
The boom cylinder is connected to the rotation angle detectors of the shovel device and the copy control device, and the detection results of the rotation angle detectors of the shovel device follow the detection results of the corresponding rotation angle detectors of the copy control device. , It controls the arm cylinder and the bucket cylinder.

If the model bucket of the copying control device is held by hand and the desired motion is applied to its tip, the model boom, model arm, and model bucket necessary for the realization of the motion are rotated, and their rotation angles are changed. It is detected by each rotation angle detector. These detection results are supplied to the control device, and the control device compares the supplied detection results with the detection result of the rotation angle detector of each joint of the shovel device, and the boom cylinder, Controls arm and bucket cylinders. Therefore, the shovel device follows the movement of the copy control device and operates.
A desired motion can be given to the tip of the bucket without requiring skill, and horizontal extrusion and horizontal retraction can be easily performed.

However, during the copying operation by operating the copying control device,
A condition in which a plurality of boom cylinders, arm cylinders, and bucket cylinders simultaneously operate frequently occurs, and hydraulic oil may not be pumped in time from the hydraulic pump. In particular, since the copy control device is manufactured to be relatively small, even if the bucket is moved at a low speed, the speed of movement of the bucket in the shovel is considerably high, and if the plurality of cylinders do not operate in parallel at a high speed, the shovel device will not operate. It is not possible to follow the copy control device. On the other hand, since the discharge amount of the hydraulic pump is limited, the flow rate of hydraulic oil required in the boom cylinder, arm cylinder, bucket cylinder, etc. exceeds the maximum supply amount of oil of the hydraulic pump, and the discharge pressure of the hydraulic pump decreases. Things happen. Therefore, each cylinder cannot generate a predetermined actuation force, the shovel device cannot properly follow the maneuvering device, and the intended purpose cannot be achieved.

In order to avoid such a situation, it is necessary to slow down the operation speed of the copying control device, but if it is too slow, the hydraulic fluid pumped from the hydraulic pump will be wasted, and the work efficiency will be reduced. Will fall. If the amount of hydraulic oil consumed in the boom cylinder, arm cylinder, bucket cylinder, etc. becomes less than the maximum oil supply of the hydraulic pump, the discharge pressure of the hydraulic pump reaches the set pressure of the relief valve provided in the hydraulic circuit. , The relief valve operates to recirculate the hydraulic oil pumped from the hydraulic pump to the tank, but the set pressure of this relief valve is set higher than the hydraulic pressure required to operate the cylinder. Must continue to operate at high discharge pressure. Although the work efficiency is low, the energy consumption is large, and it is not desirable to continue such an operating state.

Therefore, the first invention and the second invention of the present application have been made to make it possible to notify the driver that the operation speed of the copying control device in the copying power shovel is inappropriate. In particular, an object of the first invention is to obtain a copying drive type power shovel capable of avoiding the occurrence of a situation in which the shovel device does not properly follow the copying control device due to the copying control device being operated at an excessive speed. Then, the subject of a 2nd invention is to obtain the copying drive type power shovel which can avoid the occurrence of the situation that work efficiency falls because the operation speed of the copying control device is too low.

Means for Solving the Problems In the first invention, the above-mentioned problems are (a) a boom is attached to a vehicle body, an arm is attached to the boom, and a bucket is attached to the arm rotatably by joints. And a bucket of a shovel device in which a boom cylinder, an arm cylinder, and a bucket cylinder, which are pressure-fed to a control valve by an oil supply passage having a relief valve from a hydraulic pump and are operated by hydraulic oil controlled by the control valve, are rotated.
A power shovel in which each of the joints is provided with a rotation angle detector for detecting each rotation angle of the boom, the arm and the bucket around the joint, and (b) a model boom having a length similar to that of the boom, the arm and the bucket. A model manipulator and a model bucket which are rotatably connected to each other by joints, a model boom is attached to a body-equivalent member by joints, and a swing angle detector is provided at each joint, (c) The boom is connected to the rotation angle detectors of the shovel device and the copy steering device, and the detection results of the rotation angle detectors of the shovel device follow the detection results of the corresponding rotation angle detectors of the copy steering device. A copying operation type power shear including a control device for controlling each control valve of a cylinder, an arm cylinder and a bucket cylinder. In this case, the oil supply passage of the power shovel is equipped with a low oil pressure detection switch that detects that the oil pressure in the oil supply passage has dropped below the lower limit regardless of the operating state of the relief valve, while The problem can be solved by providing an excessive steering speed notification device that notifies excessive steering speed by at least one of light and sound in response to the hydraulic pressure decrease detection signal of the decrease detection switch.

Further, in the second invention, the above-mentioned problem is solved in the above (a).
In a copying operation type power shovel including a power shovel, (b) copying control device and (c) control device, the power shovel is provided with a relief valve upper limit open operation detection switch for detecting an opening operation exceeding the upper limit opening of the relief valve. On the other hand, the problem is solved by providing the scanning control device with an underspeed control indicator for informing the undercontrol speed by at least one of light and sound in response to the relief valve upper limit opening detection signal of the relief valve upper limit opening detection switch. It

In the copying operation type power shovel according to the first aspect of the invention, if the copying operation device is operated at an excessive speed while the hydraulic pump is operating, the control device increases the operating speed of the cylinder that operates the shovel device in the power shovel. The required hydraulic oil flow rate exceeds the maximum oil supply amount of the hydraulic pump. As a result, when the oil pressure in the oil supply passage, that is, the discharge pressure of the hydraulic pump, falls below a lower limit value that is set lower by a predetermined amount than the set pressure of the relief valve, the oil pressure decrease detection switch issues an oil pressure decrease detection signal. In response to the signal, an excessive steering speed indicator notifies the excessive steering speed by at least one of light and sound.

Further, in the copying operation type power shovel according to the second aspect of the present invention, when the copying operation device is operated at an excessively low speed during the operation of the hydraulic pump, the insufficient operation speed notification is informed by the insufficient operation speed notification device. When the copy control device is operated at an excessively low speed, the required hydraulic oil flow rate in the power shovel becomes less than the maximum oil supply amount of the hydraulic pump, and as a result, the oil pressure in the oil supply passage, that is, the discharge pressure of the hydraulic pump, escapes. The set pressure of the valve is reached and the relief valve opens. If the opening operation of the relief valve exceeds a preset setting state, it is detected by the relief valve upper limit opening operation detection switch and a relief valve upper limit opening operation detection signal is issued. The operation of the device activates, and at least one of light and sound informs the operator that the maneuvering speed is too low.

As described above, in the copying operation type power shovel according to the first invention, when the operation speed of the copying operation device is too high, the operation speed excessive indicator causes the operation speed too high by at least one of light and sound. Since the notification is given, the driver can reduce the scanning operation speed accordingly. Therefore, it is possible to easily avoid a situation in which the power shovel does not properly follow the profile manipulating device because the operating speed of the profile manipulating device is too high. Moreover, since it is only necessary to add a simple and inexpensive device such as a hydraulic pressure drop detection switch and an excessive steering speed indicator, it is possible to achieve the excessive cost at a low cost.

Further, in the copying operation type power shovel according to the second invention, when the operation speed of the copying operation device is too low, the operation speed too low alarm notifies the operation speed too low by at least one of light and sound. Accordingly, the driver can increase the copy maneuvering speed. Therefore, it is possible to easily avoid a situation in which energy is wasted and work efficiency is reduced because the operation speed of the copying control device is too low. In addition, since the improper scanning operation speed is detected by the relief valve upper limit opening operation detection switch detecting that the relief valve has opened beyond the upper limit opening, the object can be achieved at low cost.

Then, in the copying operation type power shovel to which both the first invention and the second invention are applied, the driver operates the copying operation control device within a range in which neither the excessive steering speed indicator nor the excessive steering speed indicator is operated. The power shovel can be easily operated at an appropriate speed, and the operation of the power shovel becomes extremely easy in combination with the adoption of the copying control device.

Embodiment Hereinafter, an embodiment common to the first invention and the second invention will be described in detail with reference to the drawings.

FIG. 1 is a view showing a power shovel A, in which a boom 2 is mounted on a vehicle body 1, an arm 3 is mounted on the boom 2, and a bucket 4 is mounted on the arm 3 around joints 5, 6, and 7, respectively, about a horizontal axis. It is possible to install. Then, the boom 2, the arm 3, and the bucket 4 are rotated by the boom cylinder 8, the arm cylinder 9, and the bucket cylinder 10, respectively, so that the bucket 4 is given a motion necessary for the work. The shovel device is configured by these, and in order to detect the operating state of the shovel device, each joint 5, 6, 7 is provided with a potentiometer (not shown), and the rotation of the boom 2 relative to the vehicle body 1 is prevented. The movement angle, the rotation angle of the arm 3 with respect to the boom 2, and the rotation angle of the bucket 4 with respect to the arm 3 are detected.

FIG. 2 is a view showing a wireless copying control device B, which is a reduced model of the shovel device A. That is, the vehicle body equivalent member 1'corresponding to the vehicle body 1 and the boom
2, a model boom 2'having similar lengths to the arm 3 and the bucket 4 respectively, a model arm 3'and a model bucket 4'are connected by joints 5 ', 6'and 7'to be rotatable about a horizontal axis. At the same time, potentiometers (not shown) are attached to the joints 5 ', 6'and 7'to form a copying control device.
The lengths of the model boom 2'and the model arm 3'are the distances between the joints 5 ', 6'and the joints 6', 7 ', respectively, and the length of the model bucket 4'is the joint 7'and the model bucket. It is the distance to the tip of 4 '.

A control device side control circuit is incorporated inside the base portion of the body-equivalent member 1 ', and the output signals of the potentiometers of the joints 5', 6'and 7'are wirelessly transmitted to the power shovel A. A command signal transmitted wirelessly from the power shovel A activates the excessive control speed indicator 14 and the excessive control speed indicator 19. The excessive control speed alarm 14 and the excessive control speed alarm 19 shown in the figure.
Are provided on the upper surface of the base of the member 1'corresponding to the vehicle body, and perform the notification operation by lighting each.

FIG. 3 is a view showing a hydraulic circuit of the power shovel A, in which the hydraulic pump 12 driven by the engine 11 and the pipes connecting the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 respectively have a pedal and a lever. The control valves C, D operated by operating members provided in the driver's seat, etc., and the control valve E electrically controlled according to the operation of the copy control device B are provided side by side. A switching valve F for switching between D and E is provided. The control valve E for copying operation is controlled by a power shovel-side control circuit mounted on the power shovel A. The power shovel-side control circuit receives the output signals of the potentiometers of the joints 5 ′, 6 ′ and 7 ′ and the output signals of the potentiometers of the joints 5, 6 and 7 of the power shovel A, which are wirelessly transmitted from the copying control device B. Is input, and the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 are set so that the output signals of the potentiometers of the joints 5, 6 and 7 become equal to the output signals of the potentiometers of the corresponding joints 5 ', 6'and 7', respectively. The control valve E is controlled to operate.

Of the conduits connecting the hydraulic pump 12 with the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10, the pressure switch 13 and the relief switch are provided in the oil supply passage which is a portion connecting the hydraulic pump 12 and the control valves C, D and E. Valve 15 is provided, and the relief valve 15 is provided with a detection switch 18 for detecting an opening operation exceeding its set amount. The pressure switch 13 and the detection switch 18 are also connected to the power shovel-side control circuit, and the power shovel-side control circuit wirelessly controls the copying operation control device B on the basis of these output signals, and outputs an operation speed excessive alarm 14 and Command the operation of the underspeed control indicator 19.

 Next, the operation will be described.

If the model cylinder 4'of the copying control device B is manually moved while the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 are placed under the control of the control valve E by the operation of the switching valve F, each joint 5'can be moved. The rotation angles of the respective parts are detected by potentiometers provided at 6 ', 7'and 7'and are transmitted to the power shovel side control circuit by radio. The power shovel-side control circuit controls the control valve E so that the transmitted detection result of the rotation angle is equal to the rotation angle detected by the potentiometers of the joints 5, 6 and 7 of the shovel device. . As a result, the shovel device operates following the copying control device B.

If the operating speed of the copying control device B is excessively high and the amount of hydraulic oil required by the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 exceeds the maximum oil supply amount of the hydraulic pump 12 by a set amount or more, the hydraulic pressure is increased. The discharge pressure of the pump 12 becomes equal to or lower than the lower limit value, and the pressure switch 13 issues a hydraulic pressure drop detection signal. When the discharge pressure of the hydraulic pump 1 becomes less than or equal to the lower limit value, the pressure switch 13 issues a hydraulic pressure decrease detection signal regardless of the operating state of the relief valve 15, and the power shovel side control circuit causes this hydraulic pressure decrease. A detection signal is wirelessly sent to the copy control device B, and the control circuit on the control device side in the copy control device B turns on the excessive control speed indicator 14 to notify the driver that the control speed is excessive.

On the contrary, when the operation speed of the copying control device B is too low and the flow rate of the hydraulic oil required by the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 becomes less than the maximum oil supply amount of the hydraulic pump 12, the hydraulic pump The discharge pressure of 12 reaches the set pressure of the relief valve 15, the relief valve 15 operates, and the excess hydraulic oil is returned to the oil tank 17. The amount of operation of the relief valve 15 increases as the amount of excess hydraulic oil increases,
If this operation amount exceeds the set amount, that is, if the relief valve 15 exceeds the upper limit opening degree and opens, the detection switch 18 detects it and issues a relief valve upper limit open operation detection signal. The power shovel-side control circuit wirelessly sends this relief valve upper limit opening detection signal to the copying control device B, and in the copying control device B, the control device side control circuit turns on the underspeed control indicator 19 to indicate that the operating speed is too low. The driver is informed of the existence.

Therefore, if the driver operates the copying control device at a speed at which neither the excessive control speed indicator 14 nor the excessive control speed indicator 19 is turned on, the power shovel A does not follow the copying control device B properly and the operating efficiency is high. It is possible to avoid both an unreasonable decrease and a situation in which the operation of the power shovel becomes easier, due to the adoption of the copying control device.

As is clear from the above description, in the present embodiment, the control device side control circuit, the power shovel side control circuit, and the control valve E constitute a control device that causes the shovel device to follow the control device B. The pressure switch 13 functions as a hydraulic pressure drop detection switch, and the detection switch 18 functions as a relief valve upper limit open operation detection switch.

It should be noted that in the above embodiment, the excessive steering speed indicator 14
And the under-control speed indicator 19 is for notifying operation by lighting both, but at least one of these may be notifying operation by sound or both sound and light. Is.

It is also possible to make one buzzer serve both as an excessive steering speed alarm and an excessive steering speed alarm. For example, a fourth example showing a change in the required hydraulic oil flow rate required in at least one of the boom cylinder 8, the arm cylinder 9, and the bucket cylinder 10 in accordance with the operation of the copying control device B.
In the figure, the required hydraulic oil flow rate to cylinders 8, 9 and 10 (A
The line) is 90% (C line) of the maximum oil supply of the hydraulic pump 12 (B line).
In the following cases, the buzzer should make a beeping sound in response to the operation of the relief valve upper limit opening detection switch, and the operating speed of the control device B should be further increased by imitating the driver. The required hydraulic oil flow rate is
If it is between 90% and 100%, the buzzer emits a beeping, beeping, ... sound in response to the fact that neither the relief valve detection switch nor the oil pressure drop detection switch is activated, and the operating speed is appropriate. If the required hydraulic oil flow rate exceeds the maximum supplied oil quantity, the buzzer beeps continuously in response to the operation of the oil pressure drop detection switch to indicate that the operating speed should be reduced. To do.

In this embodiment, the relief valve upper limit opening operation detection switch has a relief valve that changes the maximum oil supply amount of the hydraulic pump 12.
A relief valve upper limit opening detection signal is issued when the valve opens more than the upper limit opening that allows the hydraulic oil to flow out at a flow rate of 10%, and the oil pressure drop detection switch sets the oil pressure in the oil supply passage slightly lower than the set pressure of the relief valve. When the pressure falls below the lower limit value (when the relief valve does not allow the hydraulic oil to escape), a hydraulic pressure reduction operation signal is issued.

[Brief description of drawings]

1 to 3 are views for explaining one embodiment of the present invention, in which FIG. 1 is a side view of a power shovel, and FIG.
FIG. 3 is a side view of the copying control device, and FIG. 3 is a hydraulic circuit diagram of the power shovel. FIG. 4 is a diagram for explaining the relationship between the required hydraulic oil flow rate and the operation mode of the buzzer in another embodiment of the present invention. A: Power shovel, B: Copy control device, C, D, E: Control valve, F: Switching valve, 1: Car body, 2: Boom, 3: Arm, 4: Bucket, 1 ': Car body equivalent member, 2' : Model boom, 3 ': Model arm, 4': Model bucket, 5,6,7,
5 ', 6', 7 ': Joint, 8: Boom cylinder, 9: Arm cylinder, 10: Bucket cylinder, 12: Hydraulic pump, 13: Pressure switch, 14: Excessive operation speed alarm, 15: Relief valve, 18 :
Detection switch, 19: Insufficient control speed alarm

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-51-22202 (JP, A) JP-A-56-139316 (JP, A) JP-A-59-185233 (JP, A) JP-A 62- 37430 (JP, A) Actual opening 57-119850 (JP, U) Actual opening 59-178472 (JP, U) Actual opening 56-68036 (JP, U)

Claims (2)

[Claims] 1. A boom is attached to a vehicle body, an arm is attached to the boom, and a bucket is attached to the arm so as to be rotatable by joints. The boom, the arm, and the bucket are controlled by an oil supply passage provided with a relief valve from a hydraulic pump. Rotation angles of the boom, arm and bucket around each of the joints of a shovel device that is rotated by a boom cylinder, an arm cylinder and a bucket cylinder that is pumped to the hydraulic cylinder and operated by hydraulic oil controlled by a control valve. A power shovel provided with a rotation angle detector for detecting the movement, a model boom having a length similar to that of the boom, arm and bucket, a model arm and a model bucket rotatably connected to each other by a joint and a model boom Is attached to the body equivalent member by a joint Attached to each of the joints, each of the joints is provided with a turning angle detector, and the shovel device and the turning angle detectors of the copying steering device are connected. A power steering shovel including a control device for controlling each control valve of the boom cylinder, the arm cylinder, and the bucket cylinder so as to follow the detection results of the corresponding rotation angle detectors of the copying steering device. The oil supply passage is provided with a hydraulic pressure decrease detection switch for detecting that the oil pressure in the oil supply passage has decreased below a lower limit value regardless of the operating state of the relief valve, while the copy control device detects the hydraulic pressure decrease. Excessive control speed is notified by at least one of light and sound in response to the switch low oil pressure detection signal. Copying operation type power shovel, characterized in that a knowledge unit. 2. A boom is attached to the vehicle body, and an arm is attached to the boom.
Buckets are rotatably attached to the arms by joints, and the boom, arms, and buckets are pressure-fed to a control valve by an oil supply passage equipped with a relief valve from a hydraulic pump, and are operated by hydraulic oil controlled by the control valve. Boom cylinder,
A power shovel in which each of the joints of a shovel device that is rotated by an arm cylinder and a bucket cylinder is provided with a rotation angle detector that detects each rotation angle of the boom, the arm, and the bucket around the joints, and the boom. , Model booms similar in length to arms and buckets, model arms and model buckets are rotatably connected to each other by joints, and model booms are attached to body-equivalent members by joints, and rotation angle detectors are attached to each joint. Are connected to the shovel device and the rotation angle detectors of the copy steering device, and the detection results of the respective rotation angle detectors of the shovel device correspond to those of the corresponding rotation angle detectors of the copy steering device. The boom cylinder, arm cylinder, and bucket cylinder are set to follow the detection results. In a copying operation type power shovel including a control device for controlling a control valve, the power shovel is provided with a relief valve upper limit opening operation detection switch for detecting an opening operation exceeding the upper limit opening of the relief valve, while the copying operation is performed. A copying operation type characterized in that the device is provided with an under-controlling speed indicator for indicating an under-controlling speed by at least one of light and sound in response to a relief valve upper-opening operation detection signal of the relief valve upper-opening detection switch. Power shovel.