KR20040027349A - Swing control unit for excavator - Google Patents

Abstract

PURPOSE: A swing control device of a swing-type hydraulic shovel is provided to improve working efficiency by turning/swinging an excavator accurately and conveniently, to move to a digging position easily and to assume an attitude for digging an offset groove easily. CONSTITUTION: A swing control device of a swing-type hydraulic shovel comprises an upper turning body installed in the upper part of a lower travel body and rotated by a turning unit(29) driven by a turning operating unit(32); an excavator mounted in the front of the upper turning body and swung right and left by a swing unit(17) driven by a swing operating unit(30); a turning angle detector(19) turning the turning angle of the upper turning body; an indicator(44); and a controller(40) calculating the right and left offset of the excavator to the vehicle body based on the turning angle signal from the turning angle detector, and indicating the calculation result to the indicator.

Description

Swing control device of swing hydraulic excavator {SWING CONTROL UNIT FOR EXCAVATOR}

The present invention relates to a swing control device for a swing hydraulic excavator having a work machine with a proximal end swingably mounted from side to side at the front end of the upper swing structure.

In recent years, there has been an increase in excavation in urban areas, but in swing excavation over wall edges and road curbstones, there is a swing boom type work machine which can excavate the position offset from the center of the width of the body. Work is performed by a hydraulic excavator or the like.

In the conventional swing boom type work machine, the entire work machine is swing driven left and right by swing driving a swing bracket supporting a work machine base end by a swing cylinder. In addition, by combining the swing of the work machine and the swing of the upper swing body, the bucket position of the work machine tip can be offset-moved from side to side (for example, see Patent Document 1). The swing boom type work machine is lighter than the offset boom type work machine provided with the parallel link mechanism, and thus has the advantage that the working speed is high, the body stability is good, and the work volume is large.

[Patent Document 1]

Japanese Patent Laid-Open No. 63-206535 (Page 2, Fig. 2)

[Patent Document 2]

Japanese Patent Application Laid-Open No. 10-18339

However, there is a problem described below in the prior art.

That is, in the groove excavation work in pipe work or the like, since the excavation and the clay are repeated while moving the vehicle (normally backward) intermittently, it is necessary to return the bucket to the excavation position frequently. However, in the conventional swing hydraulic excavator, since the bucket at the tip of the work machine is moved to the excavation position by looking at the eyes, the alignment is roughly rough and the groove precision is rough. Moreover, even if the bucket is moved to the excavation position with high precision, if the driving plane of the work machine is inclined with respect to the excavation plan line of the groove, the groove is inclined off the excavation plan line. In order to carry out excavation consistent with the planned line, it is necessary to take a posture in which the driving plane of the work machine coincides with the vehicle driving direction (hereinafter, referred to as an "offset groove excavation posture"). This is not good.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a swing control device for a swing hydraulic excavator that can easily move a work machine to an excavation position and easily take an offset groove excavation posture.

1 is a side view of a swing hydraulic excavator according to a first embodiment of the present invention.

2 is a plan view of a swing hydraulic excavator according to the first embodiment of the present invention.

3 is an explanatory diagram of a swing mechanism according to the first embodiment of the present invention.

4 is an explanatory diagram of a side groove excavation work.

5 is a block diagram of a swing drive system and a swing drive system according to the first embodiment of the present invention.

6 is an output characteristic diagram of the controller according to the first embodiment of the present invention.

7 is a block diagram of a swing drive system and a swing drive system according to a second embodiment of the present invention.

8 is an explanatory diagram of output characteristics of the controller according to the second embodiment of the present invention.

9 is an operation explanatory diagram of another embodiment of the present invention.

10 is an output characteristic diagram of a controller of another embodiment of the present invention.

11 is an operation explanatory diagram of another embodiment of the present invention.

(Explanation of symbols for the main parts of the drawing)

One … Swing hydraulic shovel 2... Undercarriage

3…. Upper swing structure 4. Working machine

10... Swing bracket 17. Swing cylinder

18. Swing angle sensor 19. Swivel Angle Sensor

20... Engine 21,22. Hydraulic pump

25…. Swing control valve 26. Swivel Operation Valve

29. Turning motor 30. Swing operation pedal

31,33... Pilot valve 32. Swing operation lever

40,50... controller

41A, 41B, 42A, 42B, 51A, 51B, 52A, 52B... Proportional solenoid valve

43. Monitor panel 44. Indicator

45.. Input

In order to achieve the above object, the first invention is pivotally mounted on an upper portion of a lower traveling body, and is pivotally driven by a turning driving means driven in accordance with an operation of the turning operation means, and a front end of the upper turning body. A swing control device for a swing hydraulic excavator having a proximal end portion swingably mounted to a side and swing driven by a swing drive means driven according to an operation of a swing operation means, the swing control device comprising: swinging the upper swing body A turning angle detector for detecting an angle; Indicator; And a controller which calculates a current offset amount in the left and right directions of the vehicle body at the base of the work machine based on the turning angle signal input from the turning angle detector, and displays the calculation result on the display.

According to the above configuration, the current offset amount of the base of the work machine is displayed on the display, so that the turning movement to the excavation position corresponding to the offset amount can be performed accurately by confirming the display contents, and the operation can be facilitated, and the workability can be improved. .

In addition, the second invention based on the first invention includes a swing angle detector for detecting a swing angle of the work machine, and the controller calculates a difference between the swing angle and the swing angle, and displays the calculation result on the display. We do with configuration to say.

According to the above configuration, the difference between the turning angle and the swing angle is displayed so that the turning plane or the swing is operated so that the difference becomes zero so that the offset groove digging posture in which the driving plane of the work machine coincides with the front-back direction of the lower traveling body can be easily taken. By matching the offset amount to the desired amount, the operation having the offset groove excavation posture is accurately and easily carried out by confirming the display contents, thereby improving the accuracy of the groove excavation work at the offset and improving the workability. .

In addition, the third invention is the upper swing structure pivotally mounted by the swing drive means that is pivotally mounted on the upper portion of the lower travel body, and driven in accordance with the operation of the swing operation means, and the proximal end of the upper swing body is left and right A swing control apparatus for a swing hydraulic excavator equipped with a work machine, which is mounted so as to be swingably swingable and swing driven by a swing driving means driven in accordance with an operation of a swing operating means, the swing control device detecting swing angle of the upper swing body. Angle detector; A swing angle detector for detecting a swing angle of the work machine; Stop position setting means for setting a stop position of the swing drive and the swing drive; And stopping the swing drive means and the swing drive means at the stop position of the set value based on the swing angle signal input from the swing angle detector, the swing angle signal input from the swing angle detector, and the set value set by the stop position setting means. It is set as the structure provided with the controller which calculates and outputs the command signal.

According to the above configuration, regardless of manual operation and automatic control, turning and swing driving are stopped at the set stop positions of swing driving and swing driving, respectively, so that excavation or excavation work in the same position is easy by setting the desired excavation position or the excavation position. Done. Further, by setting the offset groove excavation posture as the stop position, the workability of the groove excavation work at the offset can be greatly improved.

Further, the fourth invention based on the third invention has an input device in which the stop position setting means instructs the indicator and the stop position memory, and the controller is configured to determine the base of the work machine based on the turn angle signal input from the turn angle detector. It calculates the current offset amount in the left and right direction of the vehicle body, displays the calculation result on the display, and stores the detected values of the swing angle detector and the swing angle detector when the input unit stores the memory as the set values. Doing.

According to the said structure, the workability of offset groove excavation can be improved. That is, by confirming the display contents, the turning movement operation with good precision to the excavation position corresponding to the desired offset amount can be facilitated, so that the desired offset groove excavation posture can be easily taken. It is easy to store as a position, and thus the work stops at the excavation position corresponding to the desired offset amount irrespective of manual operation or automatic operation, thereby making it easy to operate the groove excavation at the offset and improve the workability. .

In addition, the fifth invention is an upper swing structure pivotally mounted by a swing drive means which is pivotally mounted on an upper portion of a lower travel body and is driven in accordance with the operation of the swing operation means, and a proximal end portion at a front end of the upper swing structure. A swing control device of a swing hydraulic excavator equipped with a work machine mounted swingably from side to side and swing driven by a swing driving means driven according to an operation of a swing operating means, the swing control device comprising: detecting a swing angle of the upper swing body; Pivot angle detector; A swing angle detector for detecting a swing angle of the work machine; A swing manipulation means manipulation amount detector for detecting the manipulation amount of the swing manipulation means; A swing manipulation means manipulation amount detector for detecting an manipulation amount of the swing manipulation means; And a manipulated-variable signal of any one of a manipulated-variable signal inputted from the swing operating means manipulated-variable detector and a manipulated-variable signal inputted from the swing operated means manipulated-variable detector, a swinging-angle signal inputted from the turning-angle detector, and a swing input from the swing-angle detector. On the basis of the angle signal, while maintaining the attitude that the driving plane of the work machine coincides with the front-rear direction of the lower traveling body, the controller is provided with a controller capable of calculating and outputting a command signal for simultaneously controlling the turning drive means and the swing drive means. have.

According to the above configuration, the driving plane of the work machine is operated by either one of the swing operation means and the swing operation means to rotate and swing drive while maintaining the offset groove excavation posture coinciding with the front and rear direction of the lower traveling body. The movement of the work machine can be operated very easily. Further, when the work machine moves, the work machine does not protrude greatly to the left and right sides of itself, so that there is no fear of contact with the wall, the traffic vehicle, or the like, and the operation of the operator becomes easy.

Further, in the sixth invention based on the invention of any one of the third to fifth inventions, the swing driving means is constituted by a hydraulic actuator, and the operation of controlling the flow rate of the hydraulic oil supplied to the hydraulic actuator in accordance with the operation amount. And a proportional solenoid valve capable of controlling a pilot pressure for operating the operation valve, and the controller controls the flow rate of the operation valve by outputting the command signal to the proportional solenoid valve. have.

In addition, according to the seventh invention based on the invention of any one of the third to fifth inventions, the swing drive means is constituted by a hydraulic actuator, and an operation valve for controlling the flow rate of the pressure oil supplied to the hydraulic actuator according to the operation amount; A proportional solenoid valve capable of controlling the pilot pressure for operating the operation valve is provided, and the controller is configured to control the flow rate of the operation valve by outputting the command signal to the proportional solenoid valve.

According to the above configuration, the hydraulic actuator is driven by using a general-purpose proportional solenoid valve without using a special device to construct the control system, thereby making it a low cost device.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment is described in detail with reference to drawings.

In addition, in this specification, each direction of back, front, left, right, and up and down means each direction of back, front, left, right, and up and down of the swing type hydraulic shovel which mounts the swing control apparatus of this invention, unless it mentions specially.

First, the first embodiment of the present invention will be described with reference to FIGS. 1 to 6.

As shown in FIG. 1 and FIG. 2, the hydraulic excavator 1 is pivotally mounted on the lower traveling body 2 which has a crawler-type traveling apparatus to the left and right, and the upper traveling body of this lower traveling body 2. As shown in FIG. The upper swing structure 3 and the work machine 4 attached to the front end of the upper swing structure 3 are provided. In addition, the cab 5 is mounted on the left side of the front portion of the upper swing body 3, and a counter weight 6 is mounted on the rear end of the upper swing body 3. The rear part of the upper swing body 3 of the hydraulic shovel 1, which is the rear small swing type, has a substantially semi-circular cylindrical shape so as to be able to swing within the maximum rear radius.

The work machine 4 includes a boom 11 mounted on the swing bracket 10 so that the proximal end can be undulated, and an arm mounted at the distal end of the boom 11 so that the proximal end can be rotated. (12), the bucket 13 is attached to the distal end portion of the arm 12 as a work tool. The work machine 4 also includes a boom cylinder 14 fitted between the swing bracket 10 and the boom 11, an arm cylinder 15 fitted between the boom 11 and the arm 12, and an arm. The bucket cylinder 16 is inserted between the 12 and the bucket 13, and the work machine 4 is driven by the expansion and contraction of these hydraulic cylinders 14, 15, and 16. As shown in FIG.

As shown in FIG. 3, the swing bracket 10 which supports the boom 11 which becomes the base end of the work machine 4 is a pin of the up-down direction to the support bracket 8 provided in the front-end | tip part of the upper swing body 3. (9) is mounted so as to swing left and right. In addition, the work machine 4 is operated by the telescopic drive of the swing cylinder 17 fitted between the tip end of the lever 10a protruding to the right side (upper side in FIG. 3) of the swing bracket 10 and the upper swing body 3. ) Is swing driven together with the swing bracket 10.

The front end of the upper swing body 3 is equipped with a swing angle sensor 18 for detecting the swing angle of the swing bracket 10, that is, the swing angle α in the left and right directions of the work machine 4, In the lower part of the sieve 3, a swing angle sensor 19 for detecting the swing angle θ of the upper swing body 3 is mounted (see Fig. 1). Each of the angle sensors 18 and 19 mainly comprises a potentiometer. That is, in this embodiment, turning angle (theta) makes clockwise (right turn) positive angle from the front front of the lower traveling body 2, and swing angle (alpha) is the front of the upper turning body (3). Make counterclockwise (left swing) positive angle from the front.

As described above, since the hydraulic excavator 1 is a swing hydraulic excavator equipped with the swing boom type work machine 4, for example, as shown in FIG. 4, the work machine 4 is swinged by the swing angle α _O to the left. And turning the upper swing body 3 so that the swing angle θ _{O in} the right direction opposite to the swing direction is approximately the angle α _O , so that the line unit value of the work machine 4 is right from the center of the body width. The offset movement is possible, and the groove excavation over the wall edge on the right side of the vehicle body can be easily performed.

As shown in FIG. 5, the discharge side of the variable displacement hydraulic pump 21 which rotates using the engine 20 as a drive source, and the hydraulic pump 22 which produces pilot pressure is connected to the pipe lines 23 and 24, respectively. . The pipeline 23 is connected to the swing control valve 25, the swing control valve 26 and other control valves (not shown) (for example, a boom control valve or a female control valve, etc.) and discharged from the hydraulic pump 21. Is supplied to these control valves. The swing control valve 25 is connected to the swing cylinder 17 via the pipelines 27A and 27B on the secondary side. The swing control valve 26 is connected to the swing motor 29 via the secondary conduits 28A and 28B.

The conduit 24 is a pilot valve 31 operated by the swing operation pedal 30, a pilot valve 33 operated by the swing operation lever 32, and other pilot valves not shown (e.g., boom operation pilot). Valves, female pilot valves, etc.), and the pilot pressure discharged from the hydraulic pump 22 is supplied to these pilot valves. The pilot valve 31 is provided with the pressure reduction parts 31a and 31b, and the pilot valve 33 is equipped with the pressure reduction parts 33a and 33b.

The pressure reduction part 31a is connected to the operation part 25a of the swing control valve 25 via the pilot pipe line 34A, controls the supplied pilot pressure, switches the swing control valve 25, and swing cylinder 17 Elongate (left swing). The pressure reduction part 31b is connected to the operation part 25b of the swing control valve 25 via the pilot pipe line 34B, controls the supplied pilot pressure, switches the swing control valve 25, and swing cylinder 17 To zoom out.

The decompression unit 33a is connected to the operation unit 26a of the swing operation valve 26 through the pilot pipe line 35A, controls the supplied pilot pressure to switch the swing operation valve 26, and the swing motor 29. Drive to turn left. The pressure reduction part 33b is connected to the operation part 26b of the swing operation valve 26 via the pilot pipe line 35B, controls the supplied pilot pressure, switches the swing operation valve 26, and the swing motor 29 Drive to make a priority.

The pilot pipelines 34A, 34B, 35A, 35B have proportional solenoid valves 41A, 41B, 42A, 42B driven by the command signals i _αA , i _αB , i _θA , i _θB from the controller 40. Each is fitted. The swing angle sensor 18 and the swing angle sensor 19 are connected to the controller 40, and the controller 40 is the swing angle signal α and the swing angle sensor 19 from the swing angle sensor 18. Based on the turning angle signal θ from, the command signals i _αA , i _αB , i _θA , i _θB to the proportional solenoid valves 41A, 41B, 42A, 42B are calculated and output.

The monitor panel 43 is connected to the controller 40, and various signals are transmitted and received between the controller 40. The monitor panel 43 includes a display 44 and an input device 45. The display 44 has an offset amount from the center of the body width of the base end (swing center) of the work machine 4 calculated on the basis of the turning angle θ, and the difference between the turning angle θ and the swing angle α. Various state quantities, set values, and the like of the vehicle starting from < the angle between the vehicle body front-rear direction and the driving plane of the work machine 4 > are displayed. The input device 45 is provided with a plurality of switches, and the switching of the display contents of the display 44, input and change of set values such as the stop position, work mode (manual mode, set value stop mode, fully automatic control mode, etc.) Switching or the like is performed.

As an example of setting value input contents by the input device 45, the current turning angle θ _n and the swing angle α _n can be stored as the setting values θ _O , α _O of the stop position. That is, the upper swing body 3 and the work machine 4 are positioned by operating the swing operation lever 32 and the swing operation pedal 30 so as to have a desired offset amount in the "manual mode" in advance, and the input unit 45 at that position. By operating a desired setting switch (not shown) provided in the above), the current turning angle θ _n and the swing angle α _n are stored as setting values θ _O , α _O. Controller 40 when the turning angle θ _O and the swing angle α _{O at the} time of performing the offset excavation as shown in FIG. 4 are stored as the set values of the stop positions, and the work mode is switched to the “set value stop mode”. Will be described with reference to FIG. 6 as well.

The movement of the work machine 4 between the excavation position and the excavation position to the dump truck is usually performed by turning drive. When returning the work machine 4 to the excavation position, the operator rotates the upper swing body 3 to the right by operating the pressure reducing portion 33b of the pilot valve 33 through the swing operation lever 32. As shown in Fig. 6A, when the position immediately before the predetermined angle d _θ from the set turning angle θ _O is set to the position θ ₁ , a proportional solenoid valve 42B capable of controlling the pilot pressure of the preferred command signal (i _θB), to) is the turning angle (θ) position (θ ₁₎ than is immediately before the 100% output signal <opening amount of the proportional solenoid valve (42B) is fully opened> and a, position (θ ₁ As the angle of rotation is close to the setting angle of rotation (θ _O ), it gradually decreases from 100% to m% in response to the rotation angle (θ), and from m% to 0% in the setting angle of rotation (θ _O ). have. Here, m% is the turning operation and the valve 26, by urgently turning suddenly stopped by closing the to be at a slow revolution speed (ω _θO) enough not to give an unpleasant feeling to the operator, for example, the output of 10%, a predetermined angle (d _θ) Is set to an angular range sufficient to decelerate to the turning speed ω _θO even when the turning speed ω _θ is maximum.

Also for the left turn, the command signal i _θA to the proportional solenoid valve 42A is set to the same characteristic (not shown).

Since the work machine 4 can be moved by swing driving, as shown in FIG. 6 (b), the position (α ₁ ) is positioned immediately before the predetermined angle d _α from the set swing angle α _O. In this case, the command signal i _αB to the proportional solenoid valve 41B capable of controlling the pilot pressure of the swing is 100% of the output signal when the swing angle α is just before the position α ₁ . The opening amount of 41B becomes completely open>, and gradually decreases from 100% to n% in response to the swing angle α as the approach swing angle α _O is approached from the position α ₁ . It is set as the characteristic which becomes n% to 0% in angle (alpha) O. Here, n% is an output of, for example, about 5%, which _{results in a} swing speed (ω _αO ) that is slow enough to cause an operator to be unpleasant and no overflow occurs even if the swing control valve 25 is urgently closed. The predetermined angle d _α is set to an angle range sufficient to decelerate to the swing speed ω _αO even when the swing speed ω _α is maximum.

As for the left swing, the command signal i _{alpha A} to the proportional solenoid valve 41A is set to the same characteristic (not shown).

Since the command signals i _αA , i _αB , i _θA , i _θB from the controller 40 in the “set value stop mode” become the output characteristics, the predetermined angle d of the turning angle θ _{O which} is the set value of the stop position is given. _θ ) The pilot pressure gradually throttles from the front, and the pilot pressure is cut off at the turning angle θ _O so that even if the operator continues to operate the turning control lever 32, the turning drive is at the set turning angle θ _O. Stop deceleration. Similarly, the pilot pressure is gradually throttled just before the predetermined angle d _α of the swing angle α _O , which is the set value of the stop position, and the pilot pressure is cut off at the swing angle α _O , whereby the operator operates the swing operation pedal 30. Even if the operation is continued, the swing drive decelerates and stops at the swing angle α _O which is the set value.

The effect by this embodiment is demonstrated.

Offset positioning operation in the "manual mode" becomes easy. That is, by displaying the current "offset amount" of the base of the work machine 4 on the display unit 44, the amount of turning movement to the excavation position corresponding to the offset amount can be confirmed by numerical display, not by self-measuring. The turning movement in the "manual mode" becomes accurate and the operation becomes easy.

In addition, since the difference between the turning angle θ and the swing angle α is displayed on the indicator 44, the driving plane of the work machine 4 is made to coincide with the vehicle driving direction by turning or swinging so that the difference becomes zero. Can be. In other words, it is easy to confirm the display contents and take an accurate "offset groove excavation posture".

In addition, by matching the displayed "offset amount" to a desired amount and matching the displayed "car" to zero, the bucket 13 of the work machine 4 matches the excavation position in the "offset groove excavation posture". The driving plane of (4) can be aligned on the excavation plan line. According to this, groove excavation which requires precision is performed easily.

In addition, by using a general-purpose proportional solenoid valves 41A, 41B, 42A, 42B and potentiometers <swing angle sensor 18, turning angle sensor 19> without using a special device to construct a control system. Since it is comprised, it becomes a low cost apparatus.

In addition, by switching the operation mode to the "set value stop mode", even if the operator continues to operate, the turning drive and the swing drive can be stopped at the set values θ _O and α _O , respectively. The same work machine drive plane can be matched, and the excavation operation at the same place becomes easy. Of course, the topdressing position can be set, in which case the topdressing operation at the same place becomes easy. Further, the excavation position and the excavation position may be set together.

In addition, since the turning angle θ and the swing angle α in the desired "offset groove digging posture" are stored as the set values of the stop positions, it is possible to stop at the same "offset groove digging posture" every time. Excavation becomes easy and workability can be improved significantly.

In addition, the stop control by the "set value stop mode" stops after decelerating immediately before a predetermined angle, so that the impact at the time of stopping is small, the operator is not uncomfortable, and no overflow occurs, and workability is good.

Next, 2nd Embodiment of this invention is described using FIG.7 and FIG.8.

In addition, the same code | symbol is attached | subjected to the structure same as 1st Embodiment, and description is abbreviate | omitted.

In the first embodiment, although the pilot valve 31 operated by the swing operation pedal 30 and the pilot valve 33 operated by the swing operation lever 32 are examples of the hydraulically controlled drive system, the second embodiment In this aspect, the present invention is applied to an electrically controlled drive system using a detector for electrically detecting the amount of operation of the swing operation pedal 30 and the amount of operation of the swing operation lever 32, respectively.

As shown in FIG. 7, the controller 50 controls the pedal operation amount signal δ _α from the pedal operation amount sensor 53 for detecting the operation amount of the swing operation pedal 30 and the swing angle signal from the swing angle sensor 18. Command signal to the proportional solenoid valves 51A, 51B provided in the pilot conduits 55A, 55B connecting the operating portions 25a, 25b of the swing control valve 25 and the hydraulic pump 22 based on (α), respectively. i _αA , i _αB ) is calculated and output.

Further, the controller 50 is based on the lever operation amount signal δ _θ from the lever operation amount sensor 54 and the turning angle signal θ from the turning angle sensor 19 to detect the operation amount of the swing operation lever 32. Command signals i _θA and i _θB to the proportional solenoid valves 52A and 52B provided in the pilot conduits 56A and 56B connecting the operating portions 26a and 26b of the swing control valve 26 and the hydraulic pump 22, respectively. ) Is calculated and output.

Typically has the controller 50, the swing pedal operation amount (δ _α) command signal (i _αA, i _αB) and the turning lever operation amount command signal (i _θA, i _θB) which is approximately proportional to (δ _θ) that is substantially proportional to the time action Outputs On the other hand, the command signals i _αA , i _αB , i _θA , i _θB from the controller 50 in the “set value stop mode” are as shown in FIG. 8 for the set values θ _O and α _O of the stop position. Output characteristics. That is, the command signals i _αA and i _αB have gain characteristics κ having characteristics similar to those of the output characteristics described with reference to FIG. 6 in the swing command reference values s _αA and s _αB which are approximately proportional to the swing pedal manipulated value δ _α . _αA, and as the product of the κ _αB) <Fig. 8 (a) reference>, command signal (i _θA, i _θB) is a turning lever operation amount (turning command reference value (s _θA, s _θB) which is approximately proportional to δ _θ) Is multiplied by the gain characteristics κ _{θ A} and κ _{θ B} having characteristics similar to those of the output characteristics described with reference to FIG. 6 (see FIG. 8 (b)).

Thereby, also in the electrically controlled drive system of the second embodiment, the same effects as in the case of the hydraulically controlled drive system of the first embodiment are obtained, and the swing angle sensor 18 and the turning angle sensor ( By adding 19), a swing control device capable of controlling the display of the offset amount and the stop at the set value can be constituted, thereby obtaining a very low cost control device.

In addition, this invention is not limited to the said embodiment, It does not matter even if it adds a change and correction within the scope of this invention.

For example, although it described as an example of the characteristic which decreases linearly as an output characteristic in the vicinity of a set value, if it is not linear, if it is a characteristic which gradually decreases toward a set value, it may be a characteristic of a curve or a bending line. According to this, the impact at the time of change, such as deceleration start, can be made very small, and the operability of an operator can be improved.

Although the present turning angle θ _n and swing angle α _n are stored as setting values θ _O and α _O as stop values stored in the “set value stop mode”, the desired turning angle ( θ) and swing angle α (θ = α in the case of offset groove digging posture) may be inputted from the input unit 45 and stored therein, or a desired offset amount may be inputted from the input unit 45 to correspond to the offset amount. It may be converted into the turning angle θ and the swing angle α to store this. In this case, a numeric keypad and a data storage switch may be provided as switches of the input device 45 so as to store data of the set values θ _O and α _O in the “data setting mode”. When the data of the desired offset amount is stored, the swing angle θ _O and the swing angle α _O corresponding to the offset amount may be obtained and stored based on the distance between the swing center and the swing center.

In addition, as the set values stored in the "set value stop mode", as shown in Fig. 9, two offset positions h1 and h2 are stored and alternately placed at positions h1 and h2 when the clay is returned to the excavation position after the clay is released. It may be configured to stop. According to this, the groove | channel wider than the width | variety of the bucket 13 can be excavated precisely and easily.

Further, in the second embodiment, for example, in the &quot; full automatic control mode &quot;, the motor moves from any current turning position θ _n and swing position α _n to the set value θ _O , α _O in the excavation position and stops, for example. It is also possible to configure the controller 50 to automatically generate and output the command signals i _αA , i _αB , i _θA , i _θB as shown in FIG. 10. At this time, it is good to move at a predetermined speed. According to this, the operator can operate the swing operation lever 32 or the swing operation pedal 30 such as a start switch installed in the input unit 45 without operating the swing operation pedal 30 and the swing operation lever 32. By the one touch operation of &quot; trigger signal &quot;, the work machine 4 can be moved from an arbitrary position to a desired excavation position, and the operation is easy and the workability can be improved.

In the second embodiment, one of the driving operation members &quot; swing operation lever 32 or swing operation pedal 30 &quot; The "Offset Groove Excavation Posture Mode" function, which is a drive control capable of moving the work machine 4 at all times by maintaining the turning angle θ = swing angle α with the other drive as the longitudinal type, can be added. Can be. In this case, when moving the work machine 4 by this function from the state of the "swivel angle (theta) ≠ the swing angle (alpha)", as shown in FIG. After moving to "(theta) = (alpha)", drive control which keeps "(theta) = (alpha)" may be performed. That is, when the right to move the working machine 4 is provided, as shown in Fig. 11 (a), for example, the point (P ₁₎ and "θ>α" in the first left swing drive to "θ = by from conditions such as after moving to the α "may moving to maintain" θ = α ', also, that from the state of "θ <α", such as (P _2), first, first, go to "θ = α" by the time the driving After that, it is good to keep moving "? = Alpha". As shown in 11 (b) cases also to left to move the working machine (4), the point (P ₃₎ and such "θ>α", first, left-turn driving the "θ = α" by from the state of It is good to move after holding to "(theta) = (alpha)", and from "(theta) <(alpha)" like the point (P4), it moves to "(theta) = (alpha)" by the swinging drive first, and then moves to "(theta) = (alpha)". It is good to move by keeping.

According to this, the driving plane of the work machine 4 always coincides with the vehicle driving direction even when turning, so that the work machine 4 does not protrude greatly in the left and right directions of the car body. There is no fear that the work machine 4 will come into contact with the wall or the passing vehicle. In addition, by matching the "offset amount" indicated by the "offset groove excavation posture mode" to a desired amount, the bucket 13 of the work machine 4 can be easily matched to the excavation position, thereby improving workability. Can be.

Instead of providing the hydraulic pump 22 for generating the pilot pressure, a pressure reducing valve may be provided in the conduit 23 to obtain the pilot pressure.

In addition, by connecting a controller having a switch or a volume to the controller (40, 50), it is possible to adjust the angle (d _β , d _α ), m%, n%, etc. of the output characteristics according to the operator's preference Also good.

The angle sensors 18 and 19 have been described as examples of potentiometers, but are not limited to potentiometers, and an encoder may be used.

The swing drive means is not limited to the hydraulic cylinder 17, but may be a hydraulic motor, a drive motor, an electric cylinder, or the like. Similarly, the turning drive means is not limited to the hydraulic motor 29, but may be an electric motor. In the case of an electric motor or an electric cylinder, the controller can control the speed through the servo amplifier.

As described above, according to the present invention, since the offset amount of the work machine base is displayed on the display, the pivoting movement to the groove excavation position corresponding to the offset amount can be performed accurately and easily by confirming the display contents. In addition, since the difference between the turning angle and the swing angle is displayed on the indicator, by checking the display contents, the offset groove excavation posture in which the driving plane of the work machine coincides with the front and rear direction of the vehicle body can be easily taken, and workability can be improved. have.

Further, even if the operation of the operator is continued, the turning drive and the swing drive can be stopped at desired positions, respectively, so that excavation of the same place is easy. In addition, by setting the offset groove excavation posture as the stop position, it is very easy to move the work machine from the discharging position to the offset groove excavation posture, and the workability of the groove excavation work at the offset position can be greatly improved. Further, if the movement to the stop position and stop are automatically performed by one-touch operation, the operation becomes easier and the workability can be improved.

Claims (7)

An upper swing body 3 rotatably mounted on an upper portion of the lower running body 2 and pivotally driven by a swing driving means 29 driven in accordance with the operation of the swing operation means 32; Swing type hydraulic pressure provided with the work machine 4 which is proximately mounted to the front-end part of (3) by the swing drive means 17 which is mounted so that a base end can swing left and right and drives according to the operation of the swing operation means 30. In shovel swing control: A swing angle detector (19) for detecting a swing angle (θ) of the upper swing body (3); Indicator 44; And On the basis of the turning angle signal θ input from the turning angle detector 19, the current offset amount in the left and right directions of the vehicle body at the base end of the work machine 4 is calculated, and the calculation result is displayed on the display 44. Swing control device of a swing-type hydraulic shovel, characterized in that it comprises a controller (40). The method according to claim 1, further comprising a swing angle detector (18) for detecting the swing angle (α) of the work machine (4), The controller (40) calculates the difference between the swing angle (θ) and the swing angle (α), and displays the calculation result on the display (40) swing control device of a hydraulic excavator. An upper swinging structure (3) rotatably mounted on the upper portion of the lower traveling body (2) and pivotally driven by the swinging driving means (29) for driving in accordance with the operation of the swinging operation means (32); It is provided with the work machine 4 which is proximately mounted to the front-end part of the upper swing body 3 and swing-driven by the swing drive means 17 which drives according to the operation of the swing operation means 30. In the swing control of a swing hydraulic excavator: A swing angle detector (19) for detecting a swing angle (θ) of the upper swing body (3); A swing angle detector (18) for detecting a swing angle (α) of the work machine (4); Stop position setting means (43) for setting stop positions of swing driving and swing driving; And The swing angle signal? Input from the swing angle detector 19, the swing angle signal? Input from the swing angle detector 18, and the set value? ₀ set by the stop position setting means 45. α ₀₎ to the set value (θ _0, α ₀₎ command signal (i _θA, i _θB, i _αA, i _αB), respectively stop the swing drive means 29 and the swing drive mechanism (17) in the stop position of the basis of the Swing type hydraulic excavator swing control device characterized in that it comprises a controller for outputting the output. 4. The stop position setting means (43) according to claim 3, wherein the stop position setting means (43) has an indicator (44) and an input unit (45) for instructing stop position storage, The controller 40 calculates a current offset amount in the vehicle body left and right directions of the base of the work machine 4 based on the turning angle signal θ input from the turning angle detector 19, and calculates the result of the display. (44) and storing the detected values of the swing angle detector (19) and the swing angle detector (18) when the input device (45) instructed to store them as the set values (θ ₀ , α ₀ ). Swing control device of the swing-type hydraulic excavator characterized in that. An upper swing body 3 rotatably mounted on an upper portion of the lower running body 2 and pivotally driven by a swing driving means 29 driven in accordance with the operation of the swing operation means 32; Swing type hydraulic pressure provided with the work machine 4 which is proximately mounted to the front-end part of (3) by the swing drive means 17 which is mounted so that a base end can swing left and right and drives according to the operation of the swing operation means 30. In shovel swing control: A swing angle detector (19) for detecting a swing angle (θ) of the upper swing body (3); A swing angle detector (18) for detecting a swing angle (α) of the work machine (4); A swing operation means manipulated variable detector 54 for detecting an operation amount δ _θ of the swing operation means 32; A swing manipulation means manipulation amount detector 53 for detecting an manipulation amount δ _α of the swing manipulation means 30; And MV signal of either the MV signal δ _θ input from the swing operation means MV detector 54 and the MV signal δ _α input from the swing MV detector 53, the pivot angle detector 19 The driving plane of the work machine 4 coincides with the front and rear directions of the lower traveling body 2 on the basis of the turning angle signal θ input from the swing angle signal θ and the swing angle signal α input from the swing angle detector 18. A controller 50 capable of calculating and outputting command signals i _{θ A} , i _{θ B} , i _{α A} , i _{α B} for simultaneously controlling the swing drive means 29 and the swing drive means 17 while maintaining the posture. Swing control device of a swing-type hydraulic shovel, characterized in that. 6. The swing drive means according to any one of claims 3 to 5, comprising a hydraulic actuator (17), An operation valve 25 for controlling the flow rate of the pressure oil supplied to the hydraulic actuator 17 according to the operation amount; In addition to the proportional solenoid valve (41A, 41B) that can control the pilot pressure for operating the operation valve 25, The controller 40 controls the flow rate of the operation valve 25 by outputting the command signals i _αA and i _αB to the proportional solenoid valves 41A and 41B. Control unit. 6. The swing driving means according to any one of claims 3 to 5, comprising a hydraulic actuator (29), An operation valve 26 for controlling the flow rate of the pressure oil supplied to the hydraulic actuator 29 according to the operation amount; In addition to the proportional solenoid valves 42A and 42B capable of controlling the pilot pressure for operating the operation valve 26, The controller 40 controls the flow rate of the operation valve 26 by outputting the command signals i _θA and i _θB to the proportional solenoid valves 42A and 42B. Control unit.