JPS6016623A - Controller for vibro-excavation of excavator - Google Patents

Abstract

PURPOSE:To raise the excavating power of an excavator by a method in which an amplitude-level vibration signal corresponding to an integral signal value to be outputted in response to an excavation impossible detection signal is added to an operation signal, and according to the addition signal, a proportional control valve is driven. CONSTITUTION:When a control lever (not illustrated) is operated toward the extension side under a condition that a vibration input switch 45 is on, an operation signal S1' and an extension side signal are sent out from a signal setting circuit 43 and a direction judgement circuit 44, and according to the signal S1', a direction control valve 11 is driven through a proportional control valve 36 to keep a cylinder 10 at an extension-side excavation speed. When the excavation is made impossible, an integral signal S3 is sent out from an integral circuit 47 in response to signals T from a detector 46, and a vibration signal S4 to increase amplitude in response to the signal S3 as the impossibility of excavation continues is sent from a vibration signal generator 48 to an addition circuit 49 and added to the signal S1'. The proportional control valve 36 is driven by the addition signal S5, and the cylinder 10 is operated through the direction control valve 11 to vibrate a bucket (not illustrated) for excavation.

Description

Detailed Description of the Invention (Field of Industrial Application) This invention applies vibration to a power shovel or the like during excavation to reduce the cutting time.
The present invention relates to a vibration excavation control device for one excavation operation.

(Prior art) 41. 'Ij Tanaka,'
If you vibrate the control lever in small increments, you will notice that the machinability is increased by 11":1,1, but this is automatically changed to
7:I) Vibration excavation 1t, l tal
1 co-location was filed by the applicant for the device (1 was also filed in 1987-1).
77301 bill trade order),.

Figure 1 shows this vibration excavation system 1 Bll equipment σ, C of ηb,
10 shillings to drive the bakut of power, hell, etc.
Whoa, I won 10 shillings! J direction control 3
11 valve 11 and a bi-four 1 for this directional control valve 11
- A two-position solenoid valve 1/I that selects either passage 12 or 13, and a proportional control stage 811 upstream of this solenoid valve 14. When the directional control valve 11 (as shown in the drawing) is turned to the neutral position (2), the oil from the pump '1G is returned to the tank 18 as it is via the neutral flow path 17. The cylinder 10 is extended at the same time, and when the cylinder 10 is switched to the right side position, the cylinder 10 is contracted.

Further, the Tlade valve 14 is held in the position shown in the figure when in a non-energized state, and one pilot passage 12 is communicated with the proportional 111IJ control valve 15 via the communication passage 19, while the other pilot Passage 13 to tank 20
I will communicate with you. Then, the solenoid valve 14 is energized by 1°.
In contrast, the other pilot passage 13 communicates with the proportional control valve 911, and the one pylon passage 12 communicates with the tank 20.

Further, the proportional III tall valve 15 is driven in proportion to an electric signal to be described later, but in the illustrated state,
While the communication passage 19 is communicated with the tank 21, when the communication passage 19 is switched in response to the signal indicated by -, the communication passage 19 is connected to the auxiliary pump 22.
It is configured to communicate with the

Turn on the solenoid valve No. 2 and turn it on.
By controlling i1j, the directional control valve 11 is switched to either the left or right, and the cylinder 10 is expanded or contracted.

Further, the proportional control valve 15 adjusts the pi o y l-In from the auxiliary pump 22 in accordance with the (0119t), although its (;
Jru. Then, according to the pilot pressure determined by this proportional control valve 15, the pressure of the direction control valve 11 is determined, and the meteor supply to the cylinder 10 is adjusted, so that the speed (excavation speed) of A is adjusted. a is controlled.

An electrical circuit connects the hydraulic circuit as described above to the side chain 11.

When operator A operates the input section 23 via the illustrated lever, the input section 23
A direction signal and a quick response signal are transmitted from the lever.

The speed is directly input to the first drive unit 24 connected to the proportional control valve 15, and the opening degree of the proportional low control valve 15 is determined, 10 speed controls.

Further, the direction signal is output from the direction 4 control section 25 and transmitted to the solenoid valve 14 via the first goo 1 circuit 26 -> the A circuit 27 -> the second drive section 28 .

Therefore, the solenoid valve 14 is controlled on and off according to the direction signal H, and the cylinder 10 is expanded or contracted.

The signal output from the direction control unit 25 as described above is also transmitted to the second goo 1 to the circuit 29, but this second goo 1
- The circuit 29 is connected to an abnormality vA movement control switch 30, a stall exit detection section 31, and a 3i degree detection section 32.

Then, with the t1 double action control switch 30 left open,
Moreover, the extension signal from the direction control section 25, the signal from the stroke detection section 31 indicating that the cylinder '10 is not at the stroke end, and the signal from the speed detection section 32h indicating that the speed of the cylinder 10 is slow ( When the packet stop signal (a) is issued at the same time, one circuit 29 listens to the message "vB2".

The output signal when the circuit 29 queries the second goo 1 is:
Inputs are input to the inverting section 33 and the third group 1 to the same '+13'1, but when the signals from the two second group 1-circuits are input to the inverting section 33 in this way, the first group 1 to the circuit 26 to 1311 (direction No. 18 from the h direction 111III11 section 25 is not transmitted to the OR circuit 27).

An excavation vibration oscillator 35 is connected to the third gate 1-circuit 3'I, which constantly emits an excavation signal (pulse signal of a predetermined frequency). When the signal 3 from the second gate 1 circuit 29 is input to the third gate 1 circuit 34 as shown, the third gate circuit 34
011 and transmits the digging 1'NJ signal from the digging vibration 5B'1'H335 to the second drive section 28 via the A circuit 27.

In this way, the (lii
', l'jll When the low bow is output from the second drive unit 28, the solenoid valve 1/I is turned on between short + VJ in response to the excavation signal, and A) is repeated, and the corresponding shilling '10 Shake it with minute vibrations.

Therefore, the excavation resistance becomes weak during excavation. As a result, the speed of the cylinder 10 becomes one mouth, but the speed detecting section 32 detects the zero speed of A and outputs a signal to that effect.

"From the stroke detection section 31 and the speed detection section 32": When the above signal is output, the second gate circuit 2 described above
9, the third gate circuit 34 listens, and the excavation signal from the excavation vibration transmitter 35 is output from the second drive unit 28.

When the excavation signal is outputted from the second drive unit 28 in this way, the solenoid valve 14 switches between the sections and causes the sill 10 to vibrate slightly, thereby exciting the packet and promoting excavation. be.

However, in such a device, the buffers 1 to 1
The strength of the vibration applied to the excavation is constant, and therefore, when the excavation am increases to a certain extent, the C vibration weakens against the increasing excavation resistance, and it becomes impossible to achieve sufficient excavability by 1q. There was a problem.

(Objective of the Invention) This invention is directed to increasing the vibration applied to the baffle according to the excavation resistance.
- The purpose is to achieve the following.

(Structure of the invention) The cylinder that drives the directional control valve 8, and the cylinder that controls the supply of hydraulic oil to this cylinder, the 6+1 valve, and the 6+1 directional control valve.
゛゛゛゛゛゛　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　゛11
11 The extension side (j and line side 3! degrees of M fa
The excavation is carried out in such a way that the excavation is odor C, and there is a means for detecting the state in which scraping is impossible, an integrating circuit that outputs an integral signal in response to the detection 1 m when the excavation part is 0 pi, and an integral circuit for outputting an integral signal in response to the detected 1 m a vibration signal generator that oscillates at a predetermined frequency C and outputs a vibration signal with a vibration level corresponding to the c8 value; 6, and when the excavation is started, the proportional control valve is driven 1til I!Jl in accordance with the above-mentioned No. 13.

That is, when the excavation resistance is large and excavation becomes difficult, the proportional control valve is driven to open and close at a predetermined frequency, and the opening degree is gradually increased. Therefore, the pylon 1 hydraulic pressure sent from the proportional control valve to the directional control valve gradually fluctuates, and shifts to the high pressure side while increasing the fluctuation range.

This gives you direction! , lJ II+ The flow rate of hydraulic oil supplied to the cylinder from the valve is increased or decreased at a predetermined cycle, vibration is applied to the bucket, and the change in increase or decrease becomes gradually smaller, and as a result, excavation becomes possible.C Baffler 1 The vibrations applied to ~ are strongly φ.

(Embodiment) Figures 2 and 3 are hydraulic circuit diagrams showing an embodiment of the present invention.
h-direction ti that controls the supply of hydraulic oil from to the cylinder 10.
ll Illll Valve 1 This directional control 111 Valve 11 C41] 1 - Proportional Luli control valve driven by hydraulic pressure 36.3
7.

This direction! , IJ II+ valve 11 switches in response to one pilot oil sent from the proportional control valve 36, and also supplies hydraulic oil at a flow rate according to the oil pressure from this pylon 1 to the cylinder 10, The cylinder 10 is driven to the expansion side (excavation side). Also, from the proportional control valve 37 to the pylon 1
~ When hydraulic pressure is sent, the opposite side +c 1i7J is replaced with the same hydraulic oil with a flow rate of 10 liters + i; Drive to.

The proportional control valves 3(') and 3'I7 are controlled by (i''i I'j, J,
The pilot oil n- sent from the auxiliary pump 22 is pressure regulated according to the opening degree of the tail l+ and the tail l!
J ni J, River (+-T supply hydraulic pressure, 疏...i zuru. na Jj, 3'), /10 is a relief valve.

On the other hand, the control circuit 38 includes a detection section 41 for detecting the operating state of the Z1 control lever (not shown), an absolute value circuit 42, a signal setting circuit 71.3, a direction determining circuit /I=1, etc.
Vibration input switch 45, etc., detection means 4 (
3, the integrating circuit 17, the vibration signal generator 48, the caulking circuit 49, the proportional control valve 36, and the driving section 50.5 of [7].
1.

The detection unit 41 includes a bodensiometer 52 and a buffer 5.
3, the neutral position of the control lever is set as the reference voltage vO, and the operation signal S1 is a voltage higher than VO at the extension side position and corresponding to that position, and a voltage corresponding to the position lower than VOJ at the line side position. Doshi゛(Output.

The absolute voltage circuit 42 includes a diode 54 +' 55 and amplifiers 56 to 58, and converts the operation signal SI to a reference voltage V.
The difference (absolute value) is taken, and this is amplified to output a signal S2 having a positive voltage value as shown in FIG.

A No. 3 setting circuit 43 includes comparators 5, 9, 60 and an inverter 61 that cover the upper and lower limits of the input signal.
and a signal processing section 63 consisting of an AND gate 62, opening/closing switches 6/1, 65, etc. that respond to this signal processing section 63, etc.
The amplifier 6G and the signal S2 are shown in FIG.
Set the output of Unakoma 1 no 1 to 1+ii (operation 1g No. S,).

” The direction determination circuit/14 determines the operating direction of the lever from the detection unit 41 to the partner QS4.J - Depending on the direction of operation, the side effect will increase depending on the direction of operation (high 1 novel)
Alternatively, string 1 side signal 0 (1''-level) is output.

On the other hand, the lower stage 1G for detecting the state where excavation is not possible is performed by the cylinder 1.
Detects the stroke position of
A pressure detection section 69 for detecting IF (expansion side) and a pressure detection section 68 for detecting IF (expansion side) and a pressure detection section 68 detect whether the cylinder 10 is at 21 or 20 degrees based on the position from pin lift 0. When the current is not reached, a signal of rehigh 1/\r is output to the comparator 71. The pressure detection section 69 outputs a high level signal from the comparator 73 when the pressure inside the cylinder 10 exceeds a predetermined value (for example, when the relief valve 39 is set) based on the signal from the J'L Karen lift 2.

These signals are passed through an AND gate 74, an inverter 75,
The direction determining circuit 4
4 and the vibration input switch 45 to turn ON and OFF.
Z) is sent to the integrating circuit 47 together with the F signal.

The integrating circuit 47 is an integrator 82 consisting of an OP amplifier 79, a capacitor 80, and an inverter 81, and includes switches 83 to 85 for charging, discharging, and resetting 1 to switch the output characteristics 11 of this integrator 82. , Andogoo 1-74 with Vibration Jinkasuit 145 inserted.

76, that is, when the signal from the detection means 46 reaches a high level and excavation becomes impossible, the switch 83 is turned on and outputs a predetermined integral signal S.9. (1 count (charge)
. Further, when the signal T becomes low level and excavation becomes possible, the ant game 78 is asked and the switch 85 is turned on, and its signal g S and output are gradually discharged. Then, when the vibrating hook switch 45 is turned off, a signal 77 is heard to the Ando Goo 1, the switch 84 is turned on, and the integrator 82 is reset. In addition, during excavation, the transmission 8 from the direction discrimination circuit 4/l switches to the line side, and then until it switches to the extension side (,',
j; i Q '33 Output is held.

This integral signal S3 is commanded to the vibration signal generator/Iε using the antenna 186 as its oscillating signal, and in response to this, the vibration signal generator 48 oscillates at a predetermined frequency and sends the signal 84 outputs a vibration signal 84 with a strength and amplitude corresponding to the level. The above-mentioned ■ in Figures 6 and 7? 1
Control operation of branch circuit/1.7 and timing block v −
l-, the integral signal S, and the output characteristic f of the oscillation 8SA
Accept 1.

Then, jATh ('l'
(;: '3 S and both are sent to the addition circuit 49.

7Jll g1 circuit/19 is AC j;'
:j Consists of the width transducer 89, and the vibration input circuit 87...iD5
For IA% f￥ (Otsu No. S, ' is sent to the direction correction circuit 90 as it is, conduction l) is vibrated to the operation signal S+2.
The direction switching circuit 9 adds n signal S by adding j S i
Send to 0.

The direction switching circuit 90 is the direction determining circuit /l 4 hi
Switched to the next signal, and the con! When the Herol lever is at the extension side, the addition circuit 49 is connected to the corresponding drive section 50, and the line side addition circuit 49 is connected to the corresponding drive section 51.

Further, the vibration input circuit 87 is opened and closed by a signal from the direction determining circuit 44 via the anti-games 1 to 91 and a signal from the vibrating person switch 45, so that the position of the I-roll lever is on the extension side. It will pass when 45 is in it.

The drive unit 50.51 is connected to the IJII calculation circuit 49/
Amplifying sections 92 and 93 set the voltage level of the tightening signal S or operation signal S sent from 11 to a predetermined level, and power transistors 94 and 95 for switching are provided. Proportional control valve 36
．． Drive 37.

Next, the action will be explained.

When the control lever is operated to the extension side with the vibrating person switch 45 inserted, the operation signals S,' (see FIG. 5) corresponding to this operation and the extension side signal are output from the signal setting circuit 43 and the direction determining circuit 44. At this time, cylinder 10
is harvested~11-re-1-ent I: m', t < .

If the extension side working oil pressure is below the predetermined value, I:r: +t
rr: When the signal of the detecting means 46 in the non-cutting OL state is 1'' - \\horn' proportionality of 1
III 1311 ji.3G. moves the bird 13. For this reason, the proportional control valve 36 sags 1i for every 1 degree of rjt corresponding to the operation of the valve, and the proportional control valve 36 sags 1i; control a11
Valve '11 is activated. Therefore, the direction 1lIII control valve 1'1 or 15 is controlled by the hydraulic oil G1 or 11' supplied to the cylinder 10, and the extension side speed and excavation speed of the cylinder 10 adapted to the operation of the control lever 10 are controlled by the hydraulic oil G1 supplied to the cylinder 10. wholesale 1
, will be removed.

Then, when excavating with this, this excavation 1
On the way, the resistance of 1°ill is j1'1 person L/l1ii
! l'j! l Kafu11h 1m', J: Ruto,
In response to the signal from the detection means/IG, a predetermined (r1'' signal S3 (see FIG. 7) is output from the integrating circuit 47, and in response, a vibration signal S, (also see FIG. 7) is output. )
is sent from the vibration signal generator ip,l 48 to the adder circuit 49.

This vibration signal 84 has an output characteristic of J, and the voltage value and amplitude value increase as the excavation state continues), and is added to the operation signal , / in the adder circuit = 19, and this added p signal The proportional control valve 36 is driven in response to S5.

Therefore, the proportional control rj++ valve 36 is driven to open and close at a predetermined frequency, and is controlled 111 so that its opening degree gradually increases.

Therefore, the barron 1~ sent to the directional control valve 11
The oil pressure gradually begins to fluctuate and shifts to the high pressure side while increasing the fluctuation range. As a result, the diversion of the hydraulic oil supplied from the directional control valve 11 to the extension side of the sill 10 is increased or decreased at a predetermined period, vibration is applied to the packet, and the increase or decrease gradually increases, making it possible to excavate. Until Bahura 1~
The vibrations applied to the are strengthened.

After this, when the excavation becomes ijl function, 1 of the detection means 716
No. 3] becomes a low level, and the integrating circuit 47 gradually changes to h.
9. The vibration applied to Bakutu 1 gradually weakens.
I'm happy. Then, when the excavation resistance increases again and excavation becomes impossible, the vibrations applied to the baffle 1- are intensified as described above, causing them to turn over.

That is, depending on the resistance at 1liit l'+i II (the resistance is quite large, the excitation horn of -C buff 1- should be sufficiently strengthened, and if it is possible to excavate at 4T),
+ Jll swing (3- to float)
The excitation horn is maintained to a certain extent when it is in the fl state,
This ending 15>na(111 reduction ability to 1i(&kto lr\'P e:?, l1in i'JI II fi
l: 0) Significantly ', ; Direction 1/J'' can be calculated.

How to bend,] 1 point 1 Ni I-le lever #Il'l il'
When the operation is performed to the l (non-excavation side), the vibration on/off circuit 87 is activated, and the saw operation kj +'j <') +' is activated from the h side switching circuit 90 in response to the lever operation I11. It is sent to the coarse side ratio 911 valve 37 via the drive unit 51.

Therefore, the proportional control valve 37 operates 1'r1. M j shi 3
3. ', and its pie LJtsul-:llI
1. At f, the amount of movement 1'I applied from the directional control valve 11 to the width side of the sill 10 is ail controlled.

Therefore, the line side connection of the Schilling 10, which is suitable for operation of the control lever, is maintained, and the operation is as good as the extension side.

Note that during vibration excavation by CA013S, the excavation may be temporarily interrupted by operating the control lever to the line side, and excavation may be started again, but at this time, the output of the integral circuit 47 is Then, when excavation is restarted, the excitation force of the bucket is increased again.

Therefore, the excitation force does not decrease due to switching of the lever, and the excitation force corresponding to the excavation resistance can always be maintained.

(Effect of the invention) Even if the digging resistance increases, the vibration applied to the buff 1- can be strengthened in accordance with the digging resistance, and sufficient digging performance can be ensured while maintaining good operability. be.

[Brief explanation of the drawing]

Fig. 1 shows a circuit 414 diagram of a conventional example, Figs. 2 and 3 show an embodiment of the present invention.
5 is a graph showing the output characteristics of the detection section and the signal setting circuit, FIG. 6 is a table showing the control operation of the integrating circuit, and FIG. 7 is a chart showing each timing diagram. 10... Schilling, 1'l=7'j direction control a11bL
36, 37... Proportional control valve, 38... Control circuit, 4
1...4 contract υ3 gI1142...absolute l1flt
O1 road, 43...Signal setting [il Kij, 44...
・Direction discrimination circuit, /I5... Vibration person 7Jsu・Y・nf
, 4G...Means for detecting unexcavation state, /1.7...Integral 1! lia, 48... vibration signal generator, 49...
Addition ( ) times fr, 50.51... Drive section, 87... Vibration on/off circuit, 90... 7'j 1rjJ off 1 moxibustion 1 route.

Claims (1)

[Claims] A shilling that drives the excavation part such as a brush 1-, and a directional control υ11) that controls the supply of hydraulic oil to this shilling. It is equipped with a proportional control valve that hydraulically drives this directional control 011butt to pylon 1, and this proportional control valve is opened in response to an operation signal from the control lever to control the cylinder side and linear side speeds. means for detecting a state in which excavation is disabled, an integrating circuit that outputs an integral signal in response to the detection signal when excavation is disabled, and an oscillation circuit that oscillates at a constant frequency of M using this integral signal. A vibration signal generator outputs a vibration signal with an amplitude level corresponding to the signal value, and a tightening circuit adds this vibration signal to the operation signal and outputs a tightening signal. A vibration excavation control device for an excavator, characterized in that the proportional control valve is driven to close by 17 fl in response to the caulking signal.