JPS63141253U - - Google Patents
Info
- Publication number
- JPS63141253U JPS63141253U JP3104987U JP3104987U JPS63141253U JP S63141253 U JPS63141253 U JP S63141253U JP 3104987 U JP3104987 U JP 3104987U JP 3104987 U JP3104987 U JP 3104987U JP S63141253 U JPS63141253 U JP S63141253U
- Authority
- JP
- Japan
- Prior art keywords
- angle
- bucket
- boom
- arm
- belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000725 suspension Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Operation Control Of Excavators (AREA)
Description
図面はこの考案の一実施例を示し、第１図は旋
回掘削機の全体図、第２図はこの装置のブロツク
図、第３図は制御特性を示す線図、第４図は作用
を示すフローチヤートである。
１は旋回掘削機、２は足まわり、４は作業機、
６はブーム、８はアーム、１０はバケツト、１１
はブーム角検出器、１２はアーム角検出器、１３
はバケツト角検出器。
The drawings show one embodiment of this invention; Fig. 1 is an overall view of the swing excavator, Fig. 2 is a block diagram of this device, Fig. 3 is a line diagram showing control characteristics, and Fig. 4 shows the operation. It is a flowchart. 1 is a swing excavator, 2 is an undercarriage, 4 is a work machine,
6 is boom, 8 is arm, 10 is bucket, 11
is a boom angle detector, 12 is an arm angle detector, 13
is a bucket angle detector.
Claims (1)
ブーム６、アーム８、バケツト１０よりなる作業
機４を有する旋回掘削機１の上記作業機４に、ブ
ーム角検出器１１、アーム角検出器１２及びバケ
ツト角検出器１３を設けてこれら検出器１１ない
し１３が検出した角度信号α，β，γをもとにＰ
ＩＤ制御によりバケツト角γを制御するものにお
いて、上記ブーム角β及びアーム角αより算出し
たバケツト目標角γＭを微分してバケツト目標速
度γＭを得、得られたバケツト速度γＭの指令値
を上記ＰＩＤ制御に加算してバケツト角を制御す
るようにしてなる旋回掘削機のバケツト制御装置
。 An upper rotating body that can freely rotate around the suspension 2,
A boom angle detector 11, an arm angle detector 12, and a bucket angle detector 13 are provided on the working machine 4 of the swing excavator 1 having the working machine 4 consisting of a boom 6, an arm 8, and a bucket 10. P based on the angle signals α, β, and γ detected by
In the case where the bucket belt angle γ is controlled by ID control, the bucket belt target angle γM calculated from the boom angle β and arm angle α is differentiated to obtain the bucket belt target speed γM, and the command value of the obtained bucket belt speed γM is set as the PID. A bucket control device for a swing excavator which controls the bucket angle by adding it to the control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987031049U JPH0649630Y2 (en) | 1987-03-05 | 1987-03-05 | Bucket controller for a swivel excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1987031049U JPH0649630Y2 (en) | 1987-03-05 | 1987-03-05 | Bucket controller for a swivel excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63141253U true JPS63141253U (en) | 1988-09-16 |
| JPH0649630Y2 JPH0649630Y2 (en) | 1994-12-14 |
Family
ID=30836423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1987031049U Expired - Lifetime JPH0649630Y2 (en) | 1987-03-05 | 1987-03-05 | Bucket controller for a swivel excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0649630Y2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013002634A (en) * | 2011-06-16 | 2013-01-07 | Caterpillar Inc | Lift system implementing feedfoward control based on velocity |
| JP2018135679A (en) * | 2017-02-21 | 2018-08-30 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61266740A (en) * | 1985-05-18 | 1986-11-26 | Hitachi Constr Mach Co Ltd | Control of excavation by oil-pressure shovel |
-
1987
- 1987-03-05 JP JP1987031049U patent/JPH0649630Y2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61266740A (en) * | 1985-05-18 | 1986-11-26 | Hitachi Constr Mach Co Ltd | Control of excavation by oil-pressure shovel |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013002634A (en) * | 2011-06-16 | 2013-01-07 | Caterpillar Inc | Lift system implementing feedfoward control based on velocity |
| JP2018135679A (en) * | 2017-02-21 | 2018-08-30 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
| WO2018155407A1 (en) * | 2017-02-21 | 2018-08-30 | 株式会社小松製作所 | Work vehicle and work vehicle control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0649630Y2 (en) | 1994-12-14 |
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