JPH09316935A - Hydraulic power shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power shovel equipped with a posture control device which demands for no skill and no sophisticated technique for controlling the posture of the power shovel. SOLUTION: A posture control mechanism comprises position detection sensors ranging from 58 to 60 which detect the current position of each cylinder stroke, switches 66 and 67 which are designed to start the control of a loading posture or a parking posture, a memory 45 which stores expansion quantity data in the loading posture or the parking posture and a controller 44. The controller 44 compares the expansion quantity of each cylinder obtained from the position detection sensors from 58 to 60 with the expansion quantity data of each cylinder stored in the memory 45 and drives each cylinder under energizing control of each of solenoids SL1a to SL4b and controls the loading posture or the parking posture.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic power shovel, and more particularly to control for setting a power shovel in a loading position or a parking position.

[0002]

2. Description of the Related Art FIG. 1 shows the structure of a general hydraulic power shovel. The power shovel 1 includes an upper swing body 2, a boom 3, an arm 4, a bucket 5, and a lower mechanism 6. The upper swing body 2 has a boom 3
Is rotatably supported, and the upper swing body 2 and the boom 3 are supported.
The intermediate portion of is connected via a boom cylinder 7.
The boom 3 rotates around the connecting portion between the boom 3 and the upper swing body 2 based on the expansion and contraction of the boom cylinder 7. An arm 4 is rotatably supported at the tip of the boom 3,
The middle portion of the boom 3 and the base end portion of the arm 4 are connected via an arm cylinder 8. The arm 4 rotates around the connecting portion between the boom 3 and the arm 4 based on the expansion and contraction of the arm cylinder 8. The bucket 5 is rotatably supported at the tip of the arm 4, and the intermediate portion of the arm 4 and the base end of the bucket 5 are connected via a bucket cylinder 9. The bucket 5 rotates around the connecting portion between the arm 4 and the bucket 5 based on the expansion and contraction of the bucket cylinder 9.

Each cylinder 7-9 has a piston rod 7a.
The stroke of the boom 3, the arm 4, and the bucket 5 are individually driven by the expansion and contraction motions of 9a to 9a. The upper revolving superstructure 2 includes the lower mechanism 6 via the revolving unit 10.
Connected to the lower mechanism 6 by a hydraulic motor.
Can make a 60 ° turn. Further, the operator's cab 11 provided on the upper swing body 2 is provided with an operation lever for operating the movement of the power shovel 1. The operating lever is the boom cylinder 7.
A boom lever for driving the arm cylinder, an arm lever for driving the arm cylinder 8, a bucket lever for driving the bucket cylinder 9, and a turning lever for driving the hydraulic motor. And
By operating the boom lever, the boom cylinder 7 expands and contracts. Further, by operating the arm lever, the arm cylinder 8 expands and contracts. Further, the bucket cylinder 9 expands and contracts by operating the bucket lever. Furthermore, by operating the turning lever, the hydraulic motor rotates.

[0004]

By the way, when the power shovel is parked at a construction site or is loaded on a truck and transported, it is necessary to take an appropriate posture for each.

FIG. 2 shows an example of the loading posture.
FIG. 3 shows an example of the parking posture. In the example of the loading posture, the arm 4 is folded to the side of the upper swing body 2 to shorten the length of the vehicle, but the arm 4 and the bucket 5 are grounded to the truck bed to keep the vehicle stable. In the parking posture example, while the parking stroke of each rod 7a to 9a is shortened so that the rods 7a to 9a of each cylinder 7 to 9 are protected during parking, the bucket 5 is grounded to keep the vehicle stable. There is.

[0006] An operator operates the boom lever, the arm lever, the bucket lever, and the turning lever to adjust the loading and parking postures. However,
Skilled and sophisticated skills are required for loading and adjusting the parking posture. For this reason, those attitude adjustments are not easy for an amateur, and very time-consuming. In addition, the work efficiency is poor, which causes the work time to be prolonged.

The present invention has been made in order to solve the above-mentioned problems, and an object thereof is attitude control which does not require skill and advanced technology and can be easily adjusted to a loading or parking attitude in a short time. An object is to provide an excavator equipped with a device.

[0008]

The invention according to claim 1 is based on expansion and contraction of a boom cylinder, which is attached to an upper part of a lower mechanism, and rotatably supported by the upper revolving structure. And a boom that is driven by the boom, and an arm that is rotatably supported by the tip of the boom and that is driven based on the expansion and contraction of the arm cylinder, and that is rotatably supported by the tip of the arm that is based on the expansion and contraction of the bucket cylinder. In a hydraulic power shovel composed of a driven bucket, position detecting means for detecting each current cylinder stroke position, operating means for starting control of the loading attitude or parking attitude, and the loading attitude or parking Storage means for storing expansion / contraction amount data of each cylinder in the posture, expansion / contraction amount of each cylinder obtained from the position detection means, and the storage hand Purport that by comparing the contractile rate data for each cylinder stored driving each cylinder comprises control means for controlling said loading position or parking position to.

According to a second aspect of the present invention, an upper revolving structure mounted on the upper part of the lower mechanism and revolving based on the rotation of the hydraulic motor, and rotatably supported by the upper revolving structure,
A boom driven based on expansion and contraction of a boom cylinder, rotatably supported by the tip of the boom, and an arm driven based on expansion and contraction of the arm cylinder, and rotatably supported by the end of the arm, In a hydraulic power shovel composed of a bucket driven based on expansion and contraction of a bucket cylinder, position detection means for detecting each current cylinder stroke position and the degree of swing of the upper swing body, and control of a loading posture or a parking posture are performed. Operation means for starting, storage means for storing the expansion / contraction amount data of each cylinder and the swing degree data of the upper swing body in the loading posture or the parking posture, and the expansion / contraction amount of each cylinder obtained from the position detection means. And the degree of swing of the upper swing body, the expansion / contraction amount data of each cylinder stored in the storage means, and the degree of swing data of the upper swing body. Purport that a control means for controlling said loading position or parking position by driving the cylinders and the upper swing structure by comparing and.

According to the first aspect of the present invention, when the operating means is operated, the control means calls the expansion / contraction amount of each cylinder from the position detecting means and reads out the expansion / contraction amount data of each cylinder from the storage means. The cylinder can be driven into a loading position or a parking position.

According to the second aspect of the present invention, when the operating means is operated, the control means calls the expansion / contraction amount of each cylinder and the degree of rotation of the upper swing body from the position detecting means, and at the same time stores each cylinder from the storage means. It is possible to read the expansion / contraction amount data and the turning degree data of the upper-part turning body to drive each cylinder to be in the loading posture or the parking posture.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. Since the present embodiment is different only in the configuration for driving and controlling the cylinders 7 to 9 and the hydraulic motor 21 of the hydraulic power shovel shown in FIGS. 1 to 3, the same members are designated by the same reference numerals. And explain.

In FIG. 1, a power shovel 1 includes an upper swing body 2, a boom 3, an arm 4, a bucket 5, and a lower mechanism 6.
It is composed of A boom 3 is rotatably supported by the upper swing body 2, and an intermediate portion between the upper swing body 2 and the boom 3 is connected via a boom cylinder 7. The boom 3 is expanded and contracted based on the expansion and contraction of the boom cylinder 7.
And the upper revolving superstructure 2 is rotated about a connecting portion 2a. An arm 4 is rotatably supported at the tip of the boom 3, and an intermediate portion of the boom 3 and an end of the arm 4 are connected via an arm cylinder 8. The arm 4 rotates around the connecting portion 3 a between the boom 3 and the arm 4 based on the expansion and contraction of the arm cylinder 8. A bucket 5 is rotatably supported at the tip of the arm 4, and an intermediate part of the arm 4 and a base end of the bucket 5 are connected via a bucket cylinder 9. The bucket 5 rotates based on the expansion and contraction of the bucket cylinder 9 around the connecting portion 4 a between the arm 4 and the bucket 5. Each cylinder 7-9 has a piston rod 7a.
The stroke of the boom 3, the arm 4, and the bucket 5 are individually driven by the expansion and contraction motions of 9a to 9a. The upper revolving superstructure 2 includes the lower mechanism 6 via the revolving unit 10.
Connected to the lower mechanism 6 by a hydraulic motor.
Can make a 60 ° turn.

FIG. 2 shows an example of the loading posture.
FIG. 3 shows an example of the parking posture. In the example of the loading posture, the arm 4 is folded to the side of the upper swing body 2 to shorten the length of the vehicle, but the arm 4 and the bucket 5 are grounded to the truck bed to keep the vehicle stable. An example of the parking posture is to keep the stability of the vehicle by keeping the bucket 5 on the ground while shortening the stroke of each rod 7a-9a so that the rods 7a-9a of each cylinder 7-9 are protected during parking. ing.

Next, a hydraulic circuit for operating each of the cylinders 7-9 and the hydraulic motor 21 will be described with reference to FIG. This hydraulic circuit includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a hydraulic motor 21, respective cylinders 7 to 9 and pilot operation switching valves 22 to 25 and proportional control valves 26 to 29 corresponding to the hydraulic motor 21, and a power shovel 1. It is composed of a variable displacement hydraulic pump 32, a constant displacement hydraulic pump 33, and relief valves 34 and 35 which are driven by an engine 31 mounted on the vehicle.

The variable displacement hydraulic pump 32 includes cylinders 7 ...
9 and hydraulic oil for moving the hydraulic motor 21 are pumped up from the oil tank 36 and supplied to the pilot operation switching valves 22 to 25 via the pipe line 37.

The boom pilot operation switching valve 22 is a switching valve for controlling the supply of hydraulic oil to the boom cylinder 7. When the switching position of the switching valve 22 is the first switching position 22a, the hydraulic oil from the hydraulic pump 32 is transferred to the boom cylinder 7
Is supplied to the cylinder bottom chamber 7b, and the hydraulic oil in the cylinder rod chamber 7c is discharged to the oil tank 36 via the pipe line 38. Thereby, the boom cylinder 7 extends.
When the switching position of the switching valve 22 is the second switching position 22b, the hydraulic oil from the hydraulic pump 32 is supplied to the cylinder rod chamber 7c of the boom cylinder 7, and the hydraulic oil of the cylinder bottom chamber 7b is oiled via the conduit 38. It is discharged to the tank 36.
As a result, the boom cylinder 7 contracts. Further, when the switching position of the switching valve 22 is the third switching position 22c, the flow of hydraulic oil stops. As a result, the boom cylinder 7 is held stationary.

The arm pilot operation switching valve 23 is a switching valve for controlling the supply of hydraulic oil to the arm cylinder 8. When the switching position of the switching valve 23 is the first switching position 23a, the hydraulic oil from the hydraulic pump 32 is transferred to the arm cylinder 8
Is supplied to the cylinder bottom chamber 8b, and the hydraulic oil in the cylinder rod chamber 8c is discharged to the oil tank 36 via the pipe 38. As a result, the arm cylinder 8 extends.
When the switching position of the switching valve 23 is the second switching position 23b, the hydraulic oil from the hydraulic pump 32 is supplied to the cylinder rod chamber 8c of the arm cylinder 8, and the hydraulic oil of the cylinder bottom chamber 8b is oiled via the pipe line 38. It is discharged to the tank 36.
As a result, the arm cylinder 8 contracts. Further, when the switching position of the switching valve 23 is the third switching position 23c, the flow of hydraulic oil stops. As a result, the arm cylinder 8 is held stationary.

The bucket pilot operation switching valve 24 is a switching valve for controlling the supply of hydraulic oil to the bucket cylinder 9. The switching position of the switching valve 24 is the first switching position 24.
At the time a, the hydraulic oil from the hydraulic pump 32 is supplied to the cylinder bottom chamber 9b of the bucket cylinder 9, and the hydraulic oil of the cylinder rod chamber 9c is supplied to the oil tank 3 via the pipe line 38.
It is discharged to 6. As a result, the bucket cylinder 9 extends. When the switching position of the switching valve 24 is the second switching position 24b, the hydraulic oil from the hydraulic pump 32 is supplied to the cylinder rod chamber 9c of the bucket cylinder 9, and the hydraulic oil of the cylinder bottom chamber 9b passes through the pipe 38 to the oil tank. It is discharged to 36. As a result, the bucket cylinder 9 contracts. When the switching position of the switching valve 24 is at the third switching position 24c, the flow of the hydraulic oil stops. As a result, the bucket cylinder 9 is held stationary.

The turning pilot operation switching valve 25 is a switching valve for controlling the supply of hydraulic oil to the hydraulic motor 21. When the switching position of the switching valve 25 is the first switching position 25a, hydraulic oil from the hydraulic pump 32 is supplied to the hydraulic oil inlet / outlet 21a of the hydraulic motor 21 and hydraulic oil is supplied from the hydraulic oil inlet / outlet 21b via the pipe 38. The oil is discharged to the oil tank 36. Thereby, the hydraulic motor 21 rotates in the clockwise R direction. The switching position of the switching valve 25 is the second switching position 25b.
The hydraulic oil from the hydraulic pump 32 is
Is supplied to the hydraulic oil inlet / outlet 21b, and the hydraulic oil is discharged from the hydraulic oil inlet / outlet 21a to the oil tank 36 through the pipeline 38. Thereby, the hydraulic motor 21 rotates in the counterclockwise L direction. When the switching position of the switching valve 25 is at the third switching position 25c, the flow of the hydraulic oil stops. This allows
The hydraulic motor 21 is kept stationary. The control of the switching positions of the switching valves 22 to 26 is performed by the proportional control valve 2
It is controlled by a pilot pressure of 6-29.

A relief valve 34 is provided between the conduit 37 and the conduit 38. The constant capacity hydraulic pump 33 is
Oil is pumped up from the oil tank 36 and is supplied to each of the proportional control valves 26 to 29 through a pipe 39.

The boom proportional control valve 26 is a control valve for controlling pilot oil sent to the boom pilot operation switching valve 22. The control valve 26 is an electromagnetic solenoid SL1.
When b is excited, the switching position becomes the second switching position 26b. At this time, hydraulic oil from the hydraulic pump 33 is supplied to the boom pilot operation switching valve 22 as pilot oil. As a result, the boom pilot operation switching valve 22
From the first switching position 22a to the third switching position 22c, and from the third switching position 22c to the second switching position 22.
Switch to b. The control valve 26 is an electromagnetic solenoid SL1a.
When is excited, the switching position becomes the first switching position 26a.
At this time, the hydraulic oil supplied to the boom pilot operation switching valve 22 as pilot oil is discharged to the oil tank 36 via the pipe 40. As a result, the boom pilot operation switching valve 22 changes from the second switching position 22b to the third switching position 22c, and further, the third switching position 22c.
Is switched to the first switching position 22a. When both the electromagnetic solenoids SL1a and SL1b are not excited, the control valve 26 is in the third switching position 26c and the supply of the hydraulic oil is stopped. Thereby, the boom pilot operation switching valve 22 can be stopped at the switching position at that time.

The arm proportional control valve 27 is a control valve for controlling pilot oil sent to the arm pilot operation switching valve 23. The control valve 27 is an electromagnetic solenoid SL2
When b is excited, the switching position becomes the second switching position 27b. At this time, hydraulic oil from the hydraulic pump 33 is supplied to the arm pilot operation switching valve 23 as pilot oil. Thus, the arm pilot operation switching valve 23
From the first switching position 23a to the third switching position 23c, and from the third switching position 23c to the second switching position 23c.
Switch to b. The control valve 27 is an electromagnetic solenoid SL2a
Is excited, the switching position becomes the first switching position 27a.
At this time, the hydraulic oil supplied as pilot oil to the arm pilot operation switching valve 23 is discharged to the oil tank 36 via the pipe 40. As a result, the arm pilot operation switching valve 23 is shifted from the second switching position 23b to the third switching position 23c, and further to the third switching position 23c.
Is switched to the first switching position 23a. When the two solenoids SL2a and SL2b are not excited, the control valve 27 is in the third switching position 27c and the supply of the hydraulic oil is stopped. Thereby, the arm pilot operation switching valve 23 can be stopped at the switching position at that time.

The bucket proportional control valve 28 is a control valve for controlling pilot oil sent to the bucket pilot operation switching valve 24. The control valve 28 is an electromagnetic solenoid S
When L3b is excited, the switching position becomes the second switching position 28b. At this time, the hydraulic oil from the hydraulic pump 33 is supplied to the bucket pilot operation switching valve 24 as pilot oil. As a result, the bucket pilot operation switching valve 24 is moved from the first switching position 24a to the third switching position 24c.
, And further switches from the third switching position 24c to the second switching position 24b. The control valve 28 is an electromagnetic solenoid SL
When 3a is excited, the switching position becomes the first switching position 28a. At this time, the operating oil supplied to the bucket pilot operation switching valve 24 as pilot oil is discharged to the oil tank 36 via the pipe 40. As a result, the bucket pilot operation switching valve 24 is switched to the second switching position 24.
From b, it is the third switching position 24c, and from the third switching position 24c, it switches to the first switching position 24a. When both the electromagnetic solenoids SL3a and SL3b are not excited, the control valve 28 is in the third switching position 28c and the supply of the hydraulic oil is stopped. Thus, the bucket pilot operation switching valve 24
Can be stopped at the switching position at that time.

The turning proportional control valve 29 is a control valve for controlling pilot oil sent to the turning pilot operation switching valve 25. When the electromagnetic solenoid SL4b is excited, the control valve 29 switches to the second switching position 29b. At this time, hydraulic oil from the hydraulic pump 33 is supplied to the turning pilot operation switching valve 25 as pilot oil. Thereby, the turning pilot operation switching valve 25 is switched from the first switching position 25a to the third switching position 25c, and further switched from the third switching position 25c to the second switching position 25b. When the electromagnetic solenoid SL4a is excited, the control valve 29 switches to the first switching position 29a. At this time, the operating oil supplied as pilot oil to the turning pilot operation switching valve 25 is supplied to the oil tank 3 via the pipe 40.
It is discharged to 6. Thus, the turning pilot operation switching valve 25 is moved from the second switching position 25b to the third switching position 25.
c, and switches from the third switching position 25c to the first switching position 25a. Both electromagnetic solenoids SL4a, S
When L4b is not excited, the control valve 29 is in the third switching position 29.
and the supply of hydraulic oil stops. Thereby, the turning pilot operation switching valve 25 can be stopped at the switching position at that time.

That is, when the electromagnetic solenoid SL1a of the boom proportional control valve 26 is excited, the stationary boom cylinder 7 extends and the contracted boom cylinder 7 stops. When the electromagnetic solenoid SL1b is excited, the boom cylinder 7 that has been stationary contracts, and the boom cylinder 7 that has been expanded stops.

When the electromagnetic solenoid SL2a of the arm proportional control valve 27 is excited, the stationary arm cylinder 8 extends and the contracted arm cylinder 8 stops. When the electromagnetic solenoid SL2b is excited, the arm cylinder 8 that has been stationary contracts, and the arm cylinder 8 that has been expanded stops.

Further, when the electromagnetic solenoid SL3a of the proportional control valve for bucket 28 is excited, the stationary bucket cylinder 9 extends and contracts.
Is stationary. When the electromagnetic solenoid SL3b is excited, the bucket cylinder 9 that has been stationary contracts, and the bucket cylinder 9 that has been expanded is stationary.

Further, when the electromagnetic solenoid SL4a of the turning proportional control valve 29 is excited, the stationary hydraulic motor 21 rotates counterclockwise in the L direction and rotates clockwise in the R direction. 21 stands still. The hydraulic motor 2 that was stationary when the excitation solenoid SL4b was excited
1 rotates in the clockwise R direction, and the hydraulic motor 21 rotating in the counterclockwise L direction stops.

A relief valve 35 is provided between the conduit 39 and the conduit 40. Next, the proportional control valves 26-
An electric system circuit for switching and controlling 29 will be described with reference to FIG.

The electric circuit diagram is a position detection sensor for detecting the operation lever portion 41 for operating the movement of the power shovel 1, the stroke positions of the rods 7a-9a of the cylinders 7-9, and the degree of swing of the upper swing body 2. Part 42 and monitor 43
And engine 31 and electromagnetic solenoids SL1a to SL4
It is composed of a controller 44 for controlling b and a memory 45.

The operation lever portion 41 is composed of a boom lever 46, an arm lever 47, a bucket lever 48, a turning lever 49, and lever operation position detection sensors 50 to 53 provided in the driver's seat 11.

The operating position of the boom lever 46 is detected by the boom lever operating position detection sensor 50, and the detection signal is digitally converted by the A / D converter 54 and input to the controller 44. From the boom lever operation position detection sensor 50 to the boom cylinder 7
When the detection signal of the extension operation is input, a control signal for exciting the electromagnetic solenoid SL1a of the boom proportional control valve 26 so as to extend the boom cylinder 7 is output.
In addition, when the detection signal of the contraction operation of the boom cylinder 7 is input, a control signal for exciting the electromagnetic solenoid SL1b of the boom proportional control valve 26 so as to contract the boom cylinder 7 is output.

The operation position of the arm lever 47 is detected by the arm lever operation position detection sensor 51, and the detection signal is digitally converted by the A / D converter 55 and input to the controller 44. The controller 44 moves from the arm lever operation position detection sensor 51 to the arm cylinder 8
When the detection signal of the extension operation is input, a control signal for exciting the electromagnetic solenoid SL2a of the arm proportional control valve 27 so as to extend the arm cylinder 8 is output.
When the detection signal of the contraction operation of the arm cylinder 8 is input, a control signal for exciting the electromagnetic solenoid SL2b of the arm proportional control valve 27 so as to contract the arm cylinder 8 is output.

The operation position of the bucket lever 48 is detected by the bucket lever operation position detection sensor 52, and the detection signal is digitally converted by the A / D converter 56 and input to the controller 44. When the detection signal of the extension operation of the bucket cylinder 9 is input from the bucket lever operation position detection sensor 52, the controller 44 excites the electromagnetic solenoid SL3a of the bucket proportional control valve 28 so as to extend the bucket cylinder 9. Output a control signal. When the detection signal of the contraction operation of the bucket cylinder 9 is input, a control signal for exciting the electromagnetic solenoid SL3b of the bucket proportional control valve 28 so as to contract the bucket cylinder 9 is output.

The operation position of the turning lever 49 is detected by the turning lever operation position detection sensor 53, and the detection signal is digitally converted by the A / D converter 57 and input to the controller 44. When a detection signal of a clockwise turning operation of the upper turning body 2 is input from the turning lever operation position detection sensor 53, the controller 44 receives the hydraulic motor 2.
1 proportional control valve 29 for turning so as to rotate 1 clockwise
The control signal for exciting the electromagnetic solenoid SL4a is output. When the detection signal of the counterclockwise swinging operation of the upper swing body 2 is input, a control signal for exciting the electromagnetic solenoid SL4b of the swing proportional control valve 29 so as to rotate the hydraulic motor 21 counterclockwise is sent. Output.

The position detection sensor section 42 includes a boom stroke detection sensor 58 and an arm stroke detection sensor 5.
9, a boom stroke detection sensor 60 and a turning degree detection sensor 61, and the boom 3, the arm 4,
The bucket 5 and the upper swing body 2 are installed respectively.

The boom stroke detection sensor 58 detects the expansion / contraction amount of the rod 7a of the boom cylinder 7, and the detection signal is digitally converted by the A / D converter 62 and input to the controller 44. The controller 44 reads the amount of expansion and contraction of the rod 7a at that time based on this signal.

The arm stroke detection sensor 59 detects the expansion / contraction amount of the rod 8a of the arm cylinder 8, and the detection signal is digitally converted by the A / D converter 63 and input to the controller 44. The controller 44 reads the amount of expansion and contraction of the rod 8a at that time based on this signal.

The bucket stroke detection sensor 60 detects the expansion / contraction amount of the rod 9a of the bucket cylinder 9, and the detection signal is digitally converted by the A / D converter 64 and input to the controller 44. The controller 44 reads the amount of expansion and contraction of the rod 9a at that time based on this signal.

The turning degree detection sensor 61 detects the turning degree of the upper turning body 2, and the detection signal is digitally converted by the A / D converter 65 and input to the controller 44. The controller 44 reads the turning degree of the upper-part turning body 2 at that time based on this signal.

The monitor 43 is provided with a loading posture switch 66 and a parking posture switch 67 as operating means, and signals from the switches are input to the controller 44. The memory 45 as a storage unit is a read-only memory (ROM), and stores first attitude data and second attitude data in advance. The first posture data is the expansion / contraction amount data of each cylinder 7 to 9 and the swing degree data of the upper swing body 2 in the loading posture shown in FIG. The second attitude data is for each cylinder 7 to 9 in the parking attitude shown in FIG.
2 is the expansion / contraction amount data and the turning degree data of the upper swing body 2. A control program is stored in the memory 45, and the controller 44 operates based on this program.

When a signal is input from the loading posture switch 66 of the monitor 43, the controller 44 receives the signal from the memory 4
The first attitude data stored in 5 is read out. The controller 44 determines each proportional control valve 26 based on this data and the amount of expansion and contraction of each cylinder 7 to 9 and the degree of swing of the upper swing body 2 input from the position detection sensor unit 42 at that time.
~ 29 and the engine 31 are controlled. As a result, in the present embodiment, control is performed from an arbitrary posture to the loading posture for carrying by a truck or the like shown in FIG.

On the other hand, when a signal is input from the parking posture switch 67 of the monitor 43, the controller 44 reads the second posture data stored in the memory 45. The controller 44 determines each proportional control valve 26 based on this data and the amount of expansion and contraction of each cylinder 7 to 9 and the degree of swing of the upper swing body 2 input from the position detection sensor unit 42 at that time.
~ 29 and the engine 31 are controlled. As a result, in the present embodiment, the arbitrary posture is controlled to the parking posture shown in FIG.

Next, the operation of the power shovel constructed as described above will be described. Now, when the power shovel 1 is in an arbitrary posture state while the engine 31 is being driven, when the loading posture switch 66 of the monitor 43 is pressed to obtain the loading posture shown in FIG. It is input to the controller 44. Controller 44
Responds to this signal and reads the first attitude data from the memory 45. At the same time, the controller 44 inputs the current position of the stroke and the turning degree, which are the output values of the position detection sensors 58 to 61. The controller 44 compares this input value with the expansion / contraction amount data of the cylinders 7 to 9 and the revolving degree data of the upper revolving superstructure 2 which is the first data. Then, the controller 44 calculates the expansion / contraction amount data of each cylinder 7-9 and the rotation amount data of the upper revolving structure 2 in which the actual expansion / contraction amount of each cylinder 7-9 and the revolving degree of the upper revolving structure 2 are the first attitude data. The electromagnetic solenoids SL1a to SL4b of the proportional control valves 26 to 29 are excitation-controlled so as to become. Further, the controller 44 drives and controls the engine 31 so as to control the engine 31 at an appropriate rotation speed. Therefore, the power shovel 1 can be controlled from an arbitrary position to the loading posture shown in FIG. 2 simply by pressing the loading posture switch 66 without operating the operation levers 46 to 49.

When the parking posture switch 67 of the monitor 43 is pressed in the parking posture shown in FIG. 3, the controller 44 similarly reads out the second posture data from the memory 45, and the cylinders 7 to 9 respectively. And the upper revolving structure 2 are revolved to place the power shovel 1 in the parking posture. Therefore, even in this case, the power shovel 1 can be controlled from an arbitrary position to the parking posture shown in FIG. 3 simply by pressing the parking posture switch 67 without operating the operation levers 46 to 49.

Next, the features of the power shovel 1 configured as described above will be described below. 1) In the present embodiment, the loading posture switch 66 or the parking posture switch 67 is pressed to control the loading posture shown in FIG. 2 or the parking posture shown in FIG. 3 without operating the operation levers 46 to 49. You can As a result, even an unskilled person can easily perform the work in a short time.

The present invention is not limited to the above embodiment, but can be embodied in the following other embodiments. 1) In the above-described embodiment, the pilot operation switching valves 22 to 25 are used for the expansion and contraction of each cylinder 7 to 9 and the rotation switching of the hydraulic motor 21.
Although 2 to 25 are operated, the expansion / contraction of each cylinder 7 to 9 and the rotation of the hydraulic motor 21 may be controlled by directly receiving an electric signal from the controller using a switching valve provided with an electromagnetic solenoid. In this case, the proportional control valves 26 to 29 are unnecessary, the number of parts can be reduced, and the hydraulic circuit can be simplified.

[0049]

As described above in detail, according to the first and second aspects of the present invention, it is possible to easily and automatically control the posture of the power shovel to the loading posture or the parking posture in a short time. is there.

[Brief description of drawings]

FIG. 1 is a side view showing a configuration of a hydraulic power shovel.

FIG. 2 is a side view showing a loading posture of the hydraulic power shovel.

FIG. 3 is a side view showing a parking posture of the hydraulic power shovel.

FIG. 4 is a hydraulic system circuit diagram in the hydraulic power shovel according to the embodiment of the present invention.

FIG. 5 is an electric system circuit diagram in the hydraulic power shovel in the embodiment of the present invention.

[Explanation of symbols]

1 ... Power shovel, 2 ... Upper swing body, 3 ... Boom, 4
... arm, 5 ... bucket, 7 ... boom cylinder, 8 ... arm cylinder, 9 ... bucket cylinder, 21 ... hydraulic motor, 44 ... controller as control means, 45 ... memory as storage means, 58-61 ... position detection means , 66, 67 ... Switches as operating means.

Claims (2)

[Claims] 1. An upper swing body (2) rotatably attached to an upper part of a lower mechanism (6), and a boom cylinder (7) which is rotatably supported by the upper swing body (2). Boom driven on the basis of (3)
An arm (4) that is rotatably supported by the tip of the boom (3) and that is driven based on the expansion and contraction of the arm cylinder (8), and rotatably supported by the tip of the arm (4). In the hydraulic excavator (1) configured with the bucket (5) driven based on the expansion and contraction of the bucket cylinder (9), position detecting means (58 to 60) for detecting each current cylinder stroke position, Operation means (66, 67) for starting control of the loading posture or the parking posture, and the cylinders (7) in the loading posture or the parking posture.
Storage means (45) storing the expansion / contraction amount data
And comparing the expansion / contraction amount of each cylinder (7-9) obtained from the position detection means (58-60) with the expansion / contraction amount data of each cylinder (7-9) stored in the storage means (45). And a control means (44) for controlling each cylinder (7 to 9) to control the loading posture or the parking posture. 2. An upper revolving structure (2) attached to the upper part of a lower mechanism (6) and revolving based on the rotation of a hydraulic motor (21), and rotatably supported by the upper revolving structure (2). , A boom (3) driven based on expansion and contraction of the boom cylinder (7)
An arm (4) that is rotatably supported by the tip of the boom (3) and that is driven based on the expansion and contraction of the arm cylinder (8), and rotatably supported by the tip of the arm (4). In the hydraulic excavator (1) configured with the bucket (5) driven based on the expansion and contraction of the bucket cylinder (9), the current cylinder stroke position and the upper swing body (2) are present.
Position detection means (58 to 61) for detecting the turning degree of the vehicle, operation means (66, 67) for starting control of the loading posture or the parking posture, and each cylinder (7) in the loading posture or the parking posture.
9-9) of the expansion / contraction amount data and the turning degree data of the upper swing body (2), and the respective storage cylinders (7-9) obtained from the position detecting means (58-61). The amount of expansion and contraction, the degree of rotation of the upper swing body (2), and the cylinders (7 to 7) stored in the storage means (45).
Control means for driving the cylinders (7 to 9) and the upper swing body (2) by comparing the expansion / contraction amount data of 9) and the swing degree data of the upper swing body (2) to the loading posture or the parking posture ( 44) and a hydraulic power shovel.