JPS63217021A - Controller for attitude of working machine of slewing excavator - Google Patents

Abstract

PURPOSE:To safely and efficiently perform operations by controlling a swing controller in such a way as not to deviate from the set swinging range or working machine on the basis of the detected swing angle and slewing angle of a working machine. CONSTITUTION:A swing angle beta detected by a swing angle detector 15 and the command value of a swing operation lever 18 are read by a control unit 16, respectively, to operate theta. A controller 16 sends out a flow rate command itheta, in the manner to reduce the speed of working machine according to the content read out of a memory 30 during the period of theta before the max. value of swing angle beta is reached. Swing command value is sent out from the controller 16 to a controller 31 to control swing operation valve 32. In the working machine, deceleration is started from theta before the max. value of swing angle and automatic alloy stops at the max. value of the swing angle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a working machine attitude control device for a revolving excavator in which the working machine can freely swing relative to an upper revolving structure.

[Conventional technology]

BACKGROUND ART Conventionally, a swinging excavator such as a power shovel has an upper revolving body rotatably provided on a self-propelled suspension, and a working machine, a driver's cab, a power source, etc. are mounted on this upper revolving body. Further, as shown in FIG. 7, a revolving excavator in which a working machine can swing relative to an upper revolving structure a is also known, for example, from Japanese Patent Application Laid-Open No. 59-88543.

In the above-mentioned revolving excavator, by swinging the working machine at an angle β relative to the upper revolving body a in advance, excavation along the wall C is possible by simply rotating the upper revolving member a at an angle α, and the upper By controlling the turning angle α of the revolving structure a, excavation can be performed without causing the working machine to collide with the wall surface C.

[Problem that the invention seeks to solve]

However, with the above-mentioned conventional swing excavator, the swing angle of the upper part and body is only controlled, but the swing angle of the work equipment is not controlled, so depending on the attitude of the work equipment, there is a risk that the tip of the work equipment may collide with a wall, etc. There is.

For this reason, the operator must always pay attention to the attitude of the work equipment as the upper revolving structure rotates, resulting in problems such as early fatigue.

This invention was made for the purpose of improving the above-mentioned problems.

[Means and effects for solving the problem] In a structure in which a working machine 4 consisting of a boom, an arm, and a bucket is provided on an upper revolving body that can freely rotate around the suspension, detection is performed to detect the swing angle of the working machine. and a detection means for detecting a turning angle, and based on the position information detected by these detection means, the swing control means is controlled so as not to deviate from a preset swing range of the working machine.
A work machine attitude control device for a swing excavator that prevents the work machine from exceeding a preset working range and interfering with surrounding obstacles.

〔Example〕

An embodiment of the present invention will be described in detail with reference to the drawings.

In the figure, reference numeral 1 denotes a revolving excavator, in which an upper revolving body 3 is rotatably provided on a crawler-type undercarriage 2, and a working machine 4 is attached to the front part of this upper revolving body 3 so as to be swingable.

The working machine 4 is rotatably attached to the swing mechanism 5 attached to the upper revolving body 3 at the base end side of the boom 6, and the tip side is movable up and down by the boom cylinder 7. An arm 9 is pivotally attached to the tip of the boom 6 and is movable around the arm cylinder 8.

A rotatable bucket 11 is attached to the tip of the arm 9 by a bucket cylinder lO.

On the other hand, a swing angle detector 14 for detecting the swing angle α of the upper swing structure 3 is provided in the swing section of the upper swing structure 3, and a swing angle detector 14 for detecting the swing angle β of the work equipment 4 is installed in the swing mechanism 5. A detector 15 is provided, and these detectors 14.
The turning angle α and the swing angle β detected in step 15 are input to a control device 16.

The control device 16 is constituted by a microcomputer as shown in FIG. The signal β' and the mode selection signal 2o from the mode selection switch 19 are input to the central processing unit 22 via the input/output circuit 21, and the turning and swinging operations are controlled as follows.

Next, the control operation will be explained with reference to the flowchart shown in FIG. When selected, control device 1
6 becomes the automatic control mode, and the turning angle α of the upper rotating structure 3 is determined by the turning angle detector 14 and the swing angle detector 15, respectively.
and the swing angle β of the working machine 5. To start the work, first move the swing excavator 1 as shown in Fig. 5.
Move forward so that the wall surface 25 is parallel to the suspension 2,
Next, the upper revolving body 3 is swung to the working position and the work is started.

Excavation work is performed by controlling the operation of each part of the work equipment 4 by operating the arm operating lever 26, bucket operating lever 27, and boom operating lever 28 as in the past, and scooping up earth and sand into the bucket 11 to an appropriate height. When it is raised to this level, the work implement 4 is swung by the swing operation lever 181 to move to the loading operation.

The swing angle is controlled by the swing angle control routine shown in FIG. 4, in which the swing angle β is first read into the control device 16 in step (2), and the command value of the swing operating lever 18 is read in step (2).

Then, the process proceeds to step (2), where Δθ is calculated.

In the control device 16, the relationship between the flow rate command value i and the swing angle β is stored in advance in the ROM of the storage device 30, and in step (2), the flow rate command value i is calculated from the contents of the ROM.

In other words, in order to decelerate the work implement 4 before reaching the preset maximum value of the swing angle β, the control device 16 does not control the storage device 30 for 60 minutes before reaching the maximum value even if the command value of the operating lever 18 is 100%. A flow rate command iθ is outputted to automatically decelerate the working machine 4 according to the content read out.

Further, when the command value of the operating lever 18 is smaller than the content stored in the storage device 30, the command value of the operating lever 18 is selected.

Then, in step (2), the swing command value is output from the control device 16 to the valve control device 31.
The swing operation valve 32 is controlled, and the work equipment 4 starts decelerating from Δθ just before the maximum swing angle.
By automatically stopping at the maximum swing angle, even if the swing operation lever 18 is operated incorrectly, the work equipment 4 can be prevented from overrunning the preset swing angle β and interfering with surrounding obstacles. You will be able to do this.

In the above embodiment, a control system that electrically controls the work equipment control valve has been described, but as shown in FIG.
The control may be performed by a control system to which the following is added.

〔Effect of the invention〕

As described in detail above, this invention sets a work range according to the situation at the work site at the start of work, and during work, the operation of the work equipment is automatically controlled within a range that does not exceed this work range. Since the driver does not have to be careful when operating the work equipment so that it does not interfere with surrounding obstacles, work can be done safely and efficiently, and the driver's fatigue can be reduced.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a side view of a swing excavator, Fig. 2 is a block diagram of the control system, Fig. 3 is a block diagram showing the control system of the work equipment control valve, and Fig. 4 5 and 5 are explanatory diagrams of the operation, FIG. 6 is an explanatory diagram of another embodiment, and FIG. 7 is an explanatory diagram of the conventional method. 2 is the suspension, 3 is the upper revolving body, 4 is the work equipment, 6 is the boom, 9 is the arm, and 11 is the bucket. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] A boom 6 is mounted on an upper rotating body 3 that can freely rotate relative to the suspension 2.
, a work machine 4 consisting of an arm 9 and a bucket 11 is provided with a detection means for detecting the swing angle of the work machine 4 and a detection means for detecting the turning angle, and the position information detected by these detection means is provided. A work machine attitude control device for a swing excavator, characterized in that the swing control means is controlled based on the swing range of the work machine 4 set in advance so that the work machine 4 does not deviate from a swing range of the work machine 4.