JPS62110359U

JPS62110359U -

Info

Publication number: JPS62110359U
Application number: JP20039485U
Authority: JP
Priority date: 1985-12-27
Filing date: 1985-12-27
Publication date: 1987-07-14

Description

[Brief explanation of drawings]

第１図は本発明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図は
パワーシヨベルの構成を例示した側面図、第４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５図は従来のパワーシヨベルの制御装
置の構成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、２７，３７，４７……
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、５７……レバー、
５９……押釦、ＳＷ３，ＳＷ４……切換スイツチ
、６０，６３……角速度設定器。 Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a diagram showing the action of the speed command section, Fig. 3 is a side view illustrating the configuration of a power shovel, and Fig. 4 is a working machine of the power shovel. FIG. 5 is a block diagram showing the configuration of a conventional power shovel control 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, 37,47...
Servo amplifier, 29, 39, 49...Electro-hydraulic converter, 31, 41, 51...Angle detector, 33,
43, 53...Angular velocity conversion section, 57...Lever,
59... Push button, SW3, SW4... Changeover switch, 60, 63... Angular velocity setting device.

Claims

[Scope of utility model registration request]

x-component speed setting means for setting the moving speed component of the bucket rotation point in the horizontal (x-axis) direction using a plane including the boom, arm, and bucket as a coordinate plane; and bucket rotation speed setting for commanding the rotation speed of the bucket. means, 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, respective angle detection means for detecting a boom angle and an arm angle, and the angle detection means. Based on the detected value of the means and the set value of the x-component and y-component speed setting means, the moving speed component of the tip point of the arm in the x-axis direction and the moving speed component of the y-axis direction correspond to the set values, respectively. a calculation means for calculating the boom rotation speed and arm rotation speed, a means for presetting the boom rotation speed, and a calculation means for calculating the boom rotation speed preset by the means to the boom rotation speed determined by the calculation means. a switch means for selecting whether or not to add the boom to the boom rotation speed based on the boom rotation speed and arm rotation speed determined by the arithmetic circuit and the bucket rotation speed set by the bucket rotation speed setting means. A control device for a power shovel, comprising a flow control system for controlling the flow rate of pressure oil supplied to a cylinder, an arm cylinder, and a bucket cylinder.