JPS62110358U

JPS62110358U -

Info

Publication number: JPS62110358U
Application number: JP20039385U
Authority: JP
Priority date: 1985-12-27
Filing date: 1985-12-27
Publication date: 1987-07-14

Description

[Brief explanation of drawings]

第１図は本考案に係るパワーシヨベルの制御装
置の一実施例を示したブロツク図、第２図は速度
指令部の作用を示す図、第３図および第４図は各
々本考案の他の実施例を部分的に示したブロツク
図、第５図はパワーシヨベルの構成を例示した側
面図、第６図はパワーシヨベルの作業機の幾何的
関係を示した説明図、第７図は従来のパワーシヨ
ベルの制御装置を示したブロツク図である。１……ブーム、３……アーム、５……バケツト
、７……ブームシリンダ、９……アームシリンダ
、１１……バケツトシリンダ、１３……速度指令
部、１５……座標変換部、２７，４７，５７……
サーボアンプ、２９，３９，４９……電気油圧変
換部、３１，４１，５１……角度検出器、３３，
４３，５３……角速度変換部、５９……押釦スイ
ツチ。 FIG. 1 is a block diagram showing one embodiment of the power shovel control device according to the present invention, FIG. 2 is a diagram showing the action of the speed command section, and FIGS. 3 and 4 are respectively other embodiments of the present invention. A block diagram partially showing an example, Fig. 5 is a side view illustrating the configuration of a power shovel, Fig. 6 is an explanatory diagram showing the geometrical relationship of the working equipment of a power shovel, and Fig. 7 is a conventional control of a power shovel. FIG. 2 is a block diagram showing the device. 1...Boom, 3...Arm, 5...Bucket, 7...Boom cylinder, 9...Arm cylinder, 11...Bucket cylinder, 13...Speed command section, 15...Coordinate conversion section, 27, 47,57...
Servo amplifier, 29, 39, 49...Electro-hydraulic converter, 31, 41, 51...Angle detector, 33,
43, 53...Angular velocity converter, 59...Push button switch.

Claims

[Scope of utility model registration request]

A power shovel having a boom rotatably attached to a point on the vehicle body, an arm rotatably attached to the tip of the boom, and a bucket rotatably attached to the tip of the arm, the boom;
x-component speed setting means for setting a moving speed component in the horizontal (x-axis) direction of the bucket rotation point using a plane including the arm and the bucket as a coordinate plane; and bucket rotation speed setting means for commanding the rotation speed of the bucket. , a y-component speed setting means for setting a moving speed component in the vertical (y-axis) direction of the bucket rotation point in the coordinate plane, a husband's angle detection means for detecting a boom angle and an arm angle, and the angle detection means Based on the detected value of a first calculation circuit that calculates the boom rotation speed and the arm rotation speed; a second calculation circuit that calculates a value obtained by reversing the sign of the sum of the boom rotation speed and the arm rotation speed as the bucket rotation speed; and a second calculation circuit that calculates the bucket rotation speed. a switching means for inputting the bucket rotation speed from the dynamic speed setting means and the boom rotation speed determined by the second arithmetic circuit, and selectively outputting either one; and a flow rate control system that controls the flow rate of pressure oil supplied to the boom cylinder, the arm cylinder, and the bucket cylinder based on the boom rotation speed, the arm rotation speed, and the bucket rotation speed output from the switching means. A control device for a power shovel.