WO1996034154A1 - Pitching damping device for an upper portion swinging construction machine - Google Patents

Abstract

A pitching damping device for a construction machine that can provide an effective vibration damping action by suppressing pitching without making a vehicle body larger. To this end, a gyrostabilizer (10) mounted on an upper swinging body (2) comprises a rotary body (11) having a great inertia moment and adapted to rotate at a high speed around a gyro axis (J) by means of a driving motor (12), and a support member (13) for rockingly supporting the rotary body (11) about a precession axis (P) intersecting perpendicularly to the gyro shaft (J), wherein one of the gyro axis (J) and the precession axis (P) is disposed in parallel to a swing axis (S), while the other is disposed perpendicularly to a pitching axis of the upper swinging body (2).

Description

 Pollution damping device for top-turning construction machinery

 The present invention relates to a device for damping pitching of an upper swing type construction machine, and more particularly to a damping device to which a gyro stabilizer is applied. Background technology

 A so-called upper-swing construction machine, such as a hydraulic shovel or a mobile crane, has an upper-slewing body that can be swiveled around a swirl glaze on the body of the construction machine and has a working machine on the upper-slewing body. , Are heavily used. In such an upper revolving construction machine, a moment is applied in front of the upper revolving superstructure at the time of work by the work machine, and this causes a swing in the front-rear direction, that is, pitching. About this pitching

FIG. 33 shows an example of a hydraulic excavator. The hydraulic excavator 1 has an upper swing body 2 that can swing on a lower traveling body 3, and a boom 4 that can swing in a vertical plane at the front end side of the upper swing body 2. An arm 5 is provided at the end of the boom 4 and a baguette 6 is provided at the end of the arm 5 so as to be swingable in a vertical plane. During excavation work, the operator operates the boom 4, arm 5, and baguette 6 operating levers to drive the work equipment. At this time, the work machine swings or stops vertically in the excavation work, so that the entire vehicle body vibrates in pitching. This pitching oscillates in the front-rear direction of the upper revolving superstructure 2 facing the work machine with the point C at which the revolving axis S intersects the ground surface as a fulcrum, as shown by the arrow B.

Such vibration of the vehicle body not only makes the rider uncomfortable but also makes it difficult for the operator to operate the work machine. In addition, there is a problem that the vibration tends to cause abrasion, etc. of the mounting portion of each body part due to vibration. Conventionally, in order to reduce this pitching, a counterweight 7 is installed at the rear end of the upper swing body 2. In addition, the inertia of the vehicle body against pitching is increased. Therefore, in order to suppress the pitching as much as possible, it is better to use the counterweight 7 as much as possible.

 However, if the weight of the counterweight 7 is increased, the output of the hydraulic motor and hydraulic pump for turning drive must also be increased. It becomes something. Also, in the case of a hydraulic excavator, a problem arises in that the rear weight increases, and the excavating force of the bucket edge decreases. Disclosure of the invention

 The present invention has been made in order to solve the problems of the conventional technology, and it is possible to suppress pitching without increasing the size of the entire vehicle body, to obtain an effective vibration damping action, and to improve maintainability. The purpose of the present invention is to provide a pitching vibration control device for an upper swing type construction machine which is not impaired.

 The pitching vibration control device of the upper swing type construction machine according to the present invention,

An upper revolving construction and throwing machine having an upper revolving structure mounted on a lower traveling structure and capable of revolving horizontally about a revolving axis, and a working machine mounted so that a moment is applied to the upper revolving structure. ,

Attach the gyro stabilizer to the upper rotating body,

The gyro stabilizer has a large kinetic moment, a rotating body that rotates at high speed around the gyro tt by the drive motor, and a support that movably supports the rotative body around a pre-set axis orthogonal to the gyro axle. And a member,

It is characterized in that one of the gyroscopic axis and the precession glaze is arranged parallel to the pivot axis, and the other one is arranged perpendicular to the pitch axis of the upper revolving superstructure.

With such a configuration, the external force moment generated by pitching of the construction machine rotates the gyro shaft around the pitching axis, so that the rotating body is rotated around the precession axis by the gyroscopic effect. Furthermore, the rotation of the rotating body around the pre-set sleeve causes the external force moment to rotate in the opposite direction to the above-mentioned external force moment around the pitching W. / JP96 / 01130 1 3 — Matching gyro moment is generated passively. The gyro moment acts to suppress pitching.

 Further, the pitching vibration suppression device has a plurality of gyro stabilizers attached, and at least one of the plurality of gyro stabilizers includes a rotating body that rotates in a direction opposite to a rotating body that rotates at high speed around the gyro mouth axis. Is also good.

 With such a configuration, components other than the pitching direction of each gyro moment can be canceled each other. At this time, only the moment that combines the moments in the pitching damping direction acts, and effective damping is possible. In other words, an effective damping moment can be obtained by canceling the turning component and the left-right direction (so-called rolling) component of the gyro moment and utilizing only the moment related to the damping of pitching.

 Further, the mounting position 鼸 of the gyro stabilizer may be on the upper revolving superstructure and behind the revolving axis. Furthermore, the attachment position of the plurality of gyro stabilizers may be at the side end or the rear end of the upper revolving unit and behind the revolving shaft.

 With this configuration, the gyro stabilizer having a large mass can be used as a part of the counterweight, so that the weight of the vehicle body can be reduced and the overall size can be reduced. In particular, when installed near the counterweight, the effect will be greater and the maintenance from the rear of the vehicle will be better. In addition, by using multiple components and distributing them, the visibility behind the vehicle body is not impaired.

 Further, the pitching vibration suppression device is attached to a support member, and detects a pitching angular velocity, and a pitching angular velocity detector;

A precession angle detector for detecting a precession angle, which is a rotation angle of the rotating body around the precession sleeve;

Based on at least one of the detected pitching angular velocity, the differential value of the detected pitching angular velocity, and the integrated value of the detected pitching angular velocity, the command of the pre-set three-axis rotation angular velocity is calculated based on at least one of the values and detected. If the set bristle angle is smaller than the maximum allowable value stored in advance, the bristle shaft rotation angular velocity command value is output. The first computing equipment to power,

A motor driving device that outputs a power signal based on the precession shaft rotation angular velocity command value;

A pre-set shaft drive motor for rotating the rotating body about the pre-set shaft by a power signal may be provided.

 With such a configuration, the gyro moment is generated around the gyro axis and the XY perpendicular to the precession axis, as described above. In this way, active gyro moment can be generated to actively control pitching. In this case, the optimal gyro moment can be generated so that the pitch angle, the angular velocity, and the angular acceleration are controlled to the control target values by controlling the angular velocity of the blissation shaft, so that the pitching is more effectively controlled. Can be shaken.

 Further, the pitching vibration suppression device includes a rotation speed detector for detecting a rotation speed of the rotating body around the pre-set shaft,

A motor drive device may be provided that inputs a command value of the rotation angle speed of the blission shaft and the detected rotational speed and outputs an excitation signal of the bristle sleeve drive motor such that the deviation is reduced.

 With such a configuration, when controlling the bristle shaft angular velocity, the angular velocity control is stopped when the brission angle becomes a predetermined value or more. Thus, it is possible to prevent the upper swing body from turning significantly due to the gyro moment in the turning direction during the work. That is, when actively controlling the bristle shaft angular velocity, it is possible to obtain a stable gyro moment by controlling the angular velocity with high accuracy by feedback control.

 In the pitching damping device, the driving motor is a hydraulic motor,

A clutch disposed between the hydraulic motor and the rotating body; a working machine or traveling actuator; an operating state input means for outputting a signal of the load state of the actuator; and hydraulic oil; A hydraulic pump that discharges pressure, a directional switching valve that switches and supplies discharged hydraulic oil to a hydraulic motor or an actuator, If it is determined based on the load state signal that at least the output of the actuator needs to be increased at least, a disconnection command is output to the clutch, and a command to switch the discharged oil to the tank or the actuator is sent to the direction switching valve. And a second arithmetic unit that outputs the data to the second arithmetic unit.

 With this configuration, when there is a request for a temporary increase in the output of the working machine or traveling, the supply of the hydraulic oil to the hydraulic motor is stopped, and the amount of oil is supplied to the working machine or traveling. This makes it possible to temporarily increase the output of the working machine and traveling, thereby enabling efficient work.

 Further, the pitching vibration suppression device includes a rotating body rotation speed detector that is fed by the rotating body and detects a rotating speed of the rotating body.

When the clutch is in the disengaged state and the rotational speed from the rotational speed detector is smaller than the previously stored ft small rotational speed, the second arithmetic unit outputs a connection command to the clutch to rotate the rotational body. Accelerate

When the rotation speed from the rotation speed detector is higher than the maximum rotation speed stored in advance, a cutting command may be output to the clutch to cause the rotation body to coast.

 With this configuration, even when the clutch is disconnected, the rotating body can maintain the angular momentum by coasting. Since the gyro moment is generated by this angular momentum, pitching can be suppressed. As described above, when the rotation speed is detected and monitored, and the rotation speed falls within a predetermined range, the size of the gyro moment can be stabilized.

 In the pitching damping device, the driving motor is a hydraulic motor,

A hydraulic pump, a continuous rotation state input means, a hydraulic pump that discharges hydraulic oil, and a hydraulic oil that is discharged or a hydraulic oil that is generated when the hydraulic motor is driven is switched to the hydraulic motor and supplied. A directional valve,

When it is determined based on the load state signal that at least the output of the actuator needs to be increased at least, a second control device that outputs to the directional control valve a command to supply the actuator with pressure oil generated when the hydraulic motor is driven. May be used. According to this configuration, the direction switching valve for switching the pressure oil supply direction to the hydraulic motor in the forward or reverse direction is provided, and the direction switch valve is switched in the reverse direction while the hydraulic motor is supplied with the pressure oil and rotates as a motor. . Then, the hydraulic motor succeeds the inertial rotation by the energy accumulated in the rotating body by the flywheel effect, sucks oil from the tank, and discharges it as pressure oil. At this time, the hydraulic motor is acting as a hydraulic pump. Therefore, as described above, when there is a request for a temporary increase in the output of a work machine or traveling, a hydraulic motor is used as an auxiliary pump for the main pump, and the demand for a temporary increase in output is further increased. Can respond effectively.

 Further, the pitching vibration suppression device includes a clutch and a rotating body rotation speed detector, and the second arithmetic unit is configured such that the hydraulic motor is driven by the rotating body, and the rotation speed input from the rotation speed detector is adjusted. If the rotation speed is smaller than the previously stored minimum rotation speed, or if the rotation speed input from the rotating body rotation speed detector is larger than the previously stored maximum rotation speed,

A cutting command may be output to the clutch to cause the rotating body to coast.

 With this configuration, when the rotating speed of the rotating body falls below a predetermined value during the coasting operation of the rotating body or during the operation in the hydraulic pump mode, these modes of operation are canceled and the acceleration operation by the normal hydraulic motor is performed. Perform Thus, it is possible to prevent the rotational speed of the rotating body from decreasing and the vibration damping ability of pitching from decreasing. In addition, when the rotation speed exceeds a predetermined value, the coasting operation is performed to prevent the rotation speed from increasing and the angular momentum of the rotating body can be maintained constant. As a result, the gyro moment is less affected by the change in the speed of the rotating body, and the pitching can be stably damped. In addition, the device can be prevented from being damaged due to the rotation speed exceeding a predetermined speed.

 Further, the pitching damping device is a tilt angle control type hydraulic motor in which the hydraulic motor controls the rotation speed by controlling the sloping angle of the swash plate or the oblique axis,

Reduce the rotating speed detector,

The second arithmetic unit determines that the input rotation speed does not exceed the maximum rotation speed when the rotation speed input from the rotating body rotation speed detector is higher than the maximum rotation speed stored in advance. Thus, a control command for the tilt angle may be output.

 According to such a configuration, since the tilt angle control hydraulic motor is used, the rotation speed of the rotating body can be stabilized more accurately by controlling the swash plate and the tilt axis. As a result, the effect of the gyro moment on the speed of the rotating body can be reduced, and the pitching can be more stably suppressed.

 Further, the pitching vibration suppression device has a configuration in which the hydraulic motor is a tilt angle control type hydraulic motor, and the second arithmetic unit has a configuration in which the tilt angle control type hydraulic motor is driven by inertial rotation of the rotating body to discharge pressure oil. Alternatively, a tilt angle control command may be output in response to a change in the rotation speed input from the rotating body rotation speed detector so that the discharge amount from the tilt angle control hydraulic motor is constant.

 According to this configuration, when the tilt angle control type hydraulic motor is used in the hydraulic pump mode, the tilt angle is controlled according to the change in the rotation speed of the rotating body, so that the discharge amount in the pump mode is made constant. Can be. As a result, the effect of the change in the rotating speed of the rotating body on the discharge amount can be reduced, and the working machine and traveling speed are stable even when used in the pump mode.

 The gyro-stabilizer is mounted on a construction machine and has a rotating device that has a rotor that rotates at high speed with a large rotational moment, a precession axis that is orthogonal to the rotation axis of the rotating device, and a bristle axis that is orthogonal to the rotation axis. A construction machine-equipped device including a support member for rotatably supporting a rotating device around the device may be used. Further, the rotating device may be an engine.

 With this configuration, the number of mounted devices can be reduced, so that the weight of the vehicle body can be reduced and maintainability can be improved. BRIEF DESCRIPTION OF THE FIGURES

 FIG. 1 is a side view of a hydraulic shovel to which a gyro stabilizer device according to a first embodiment of the present invention is attached.

Fig. 2 is a plan view of the excavator of Fig. 1, FIG. 3 is a perspective view of a gyro stabilizer device according to the first embodiment,

FIG. 4 is a side view of a hydraulic excavator showing another example of attachment of the gyro stabilizer device of the first embodiment,

Fig. 5 is a plan view of the excavator of Fig. 4,

FIG. 6 is a perspective view of another example of a gyro-stabilizer device according to the first embodiment, FIG. 7 is a plan view of an hydraulic excavator around two gyro-stabilizer devices according to a second embodiment of the present invention,

FIG. 8 is a perspective view of two gyro stabilizer devices according to the second embodiment,

FIG. 9 is a side view of a hydraulic excavator showing an installable range of the gyro stabilizer device according to the third embodiment of the present invention,

FIG. 10 is a plan view of the excavator of FIG. 9,

FIG. 11 is a side view of a hydraulic shovel showing an example of mounting a gyro stabilizer device according to the third embodiment,

FIG. 12 is a plan view of the excavator of FIG. 11,

FIG. 13 is a side view of a hydraulic shovel according to a fourth embodiment of the present invention, to which a gyro stabilizer device is separately attached.

FIG. 14 is a plan view of the excavator of FIG. 13,

FIG. 15 is a perspective view of a gyro stabilizer device according to a fifth embodiment of the present invention, FIG. 16 is a block diagram of a control function of a bristle shaft according to a fifth embodiment,

FIG. 17 shows a control circuit block of the pre-set tt by the hydraulic motor according to the fifth embodiment.

FIG. 18 is a flowchart of the arithmetic processing by the CPU according to the fifth embodiment.

FIG. 19 is a block diagram of the control circuit of the pre-set tt by the electric motor according to the fifth embodiment.

FIG. 20 is a block diagram of a control circuit for a bristle shaft by a hydraulic motor according to another example of the fifth embodiment,

FIG. 21 is a control flow chart of a recession axis according to another example of the fifth embodiment, FIG. 22 is a control circuit block diagram of a pre-set shaft by an electric motor according to another example of the fifth embodiment,

Fig. 23 is a block diagram of the control function of the second embodiment of the fifth embodiment. Fig. 24 is a block diagram of the control function of the third embodiment of the fifth embodiment. FIG. 26 is a perspective view of a gyro-stabilizer device SI according to a sixth embodiment of the invention, FIG. 26 is a block diagram of a rotating body control circuit by a hydraulic motor according to a sixth embodiment, and FIG. 27 is rotation by a hydraulic motor according to a sixth embodiment. FIG. 28 is a perspective view of a gyro-stabilizer device B according to another example of the sixth embodiment, and FIG. 29 is a rotating body control circuit by a hydraulic motor according to another example of the sixth embodiment. Block diagram FIG. 30 is a flowchart of a rotating body control by a hydraulic motor according to another example of the sixth embodiment. FIG. 31 is a seventh embodiment of the present invention, in which an electric device is used as a gyro stabilizer armor. Perspective view of the case,

FIG. 32 is a perspective view of an eighth embodiment of the present invention, in which an engine is used as a gyro stabilizer unit S,

FIG. 33 is an explanatory diagram of pitching during excavation of a hydraulic excavator according to the related art. BEST MODE FOR CARRYING OUT THE INVENTION

 Preferred embodiments of the pitching damping device B of the upper-swing type construction machine according to the present invention will be described below in detail with reference to the accompanying drawings.

 In the first to fourth embodiments, when a rotation sleeve of a gyro stabilizer (hereinafter, simply referred to as a “tabilizer”) receives a moment about an axis perpendicular to the axis, a moment (about a so-called gyro-motor) is formed. In this example, passive gyro moments are used to suppress pitching.

In FIGS. 1 and 2 showing the first embodiment, the hydraulic excavator 1 has one gyro-stabilizer 10 (hereinafter, referred to as a stabilizer 10) on the upper-part turning body 2. I have. The gyro axis J of the stabilizer 10 is parallel to the turning axis S. In FIG. 3, the rotating body 11 has a large elastic moment, and is rotated around the gyro axis J at a high speed by the drive motor 12 of the stabilizer 10. The rotating body 11 is supported by a support member 13 so as to be rotatable around an axis P orthogonal to the gyro axis J. This orthogonal XY is a blissing axis, but is simply referred to as "axis P-". Moment M is generated by an external force, and the gyro axis J and the gyro axis Q are orthogonal to the XY P. Suppose that the axis J is rotated at an angular velocity oq.At this time, the gyro moment MJ has a magnitude proportional to the product of the angular momentum and the angular velocity of the rotating body 11 and is opposite to the moment Μ. appear.

 In this embodiment, the support member 13 of the stabilizer 10 is attached to the upper revolving unit 2 such that the gyro axis J is parallel to the revolving axis S and the axis P is orthogonal to the revolving axis S. At this time, the axis Q at which the gyro moment M J is generated is parallel to a horizontal axis orthogonal to the longitudinal direction of the upper-part turning body 2 and the working machine (hereinafter, referred to as a pitching axis). When the excavator 1 is pitched in the direction of arrow B, the moment M acts on the gyro J, and the gyro shaft J rotates around the axis Q, so that the gyro moment MJ that balances with the moment M is in the opposite direction. Occurs. That is, pitching of the excavator 1 can be controlled by the gyro moment M J. By providing an appropriate spring element and damper element (both not shown) on the shaft P, pitching can be more effectively suppressed.

 The stabilizer 10 may have the support member 13 attached to the upper revolving unit 2 such that the gyroscopic axis J is orthogonal to the revolving axis S and the axis P is parallel to the revolving sleeve S. FIG. 4 and FIG. 5 show this attachment example, and only the attachment direction of the stabilizer 10 is different from the above embodiment. Even in this mounting direction, the pong Q is parallel to the pitching axis, and the gyro moment MJ, which balances with the moment M acting on the gyro axis J as shown in FIG. Occurs in the opposite direction. Thereby, pitching of the excavator 1 can be damped.

Next, according to the second embodiment, when a plurality of stabilizers are provided in the upper Will be described. In FIGS. 7 and 8, the two stabilizers 10 are supported by their supporting members 13 so that each gyroscopic axis J is parallel to the turning axis S and each axis Q is parallel to the pitching axis. Is attached to the upper rotating body 2. At this time, the two axes P are parallel to each other and orthogonal to the turning axis S.

 Each of the two stabilizers 10 has a rotating body 11 and a drive motor 12, and each rotating body 11 is supported by a support member 13 so as to be rotatable around an axis P. Here, the rotation directions of the two rotating bodies 11 around the respective gyro axes J are opposite to each other. At this time, when the moment M around the axis Q acts on each gyro axis J by pitching, the two rotating bodies 11 are precessed around the respective axes P in opposite directions. Then, a moment obtained by combining the respective gyro moments M J1 and M J2 is generated so as to be in proportion to the moment M. Therefore, since the two rotating bodies 11 are precessed in the opposite directions, the components other than the pitching directions of the gyro moments M J1 and M J2 cancel each other out, and the moment in the direction of damping the pitching. Remains.

 As described above, even if two stabilizers 10 are provided, pitching can be suppressed. At this time, if the rotation directions of the respective rotators 11 around the gyro axes J are made to be opposite to each other, the vibration damping effect of pitching becomes greater. The two stabilizers 10 are connected to the support member 13 such that each axis P is parallel to the pivot axis S and each tt Q is parallel to the biting axis, as in FIG. It may be attached to the upper rotating body 2. At this time, the two gyro axes J are parallel to each other and orthogonal to the turning axis S. The operation and effect in this case are the same as described above.

Also, three or more stabilizers can be provided on the upper-part turning body 2. There are two ways to attach the stabilizer, as in the above two cases.Each gyro axis J is parallel to the turning WS, or each axis P is turning to the turning tt S. May be used. Furthermore, when one or more of the plurality of rotating bodies 1 1 are rotated around each gyro axis J in the opposite direction to the other, the pitching direction of each gyro moment MJ generated at the time of the pre-set as described above. Components can cancel each other out As a result, the pitching damping effect can be further increased.

 Next, a third embodiment will be described. As described above, in order to generate a large gyro moment, the stabilizer needs to have a large angular momentum. Therefore, a rotating body having a relatively large indignation moment is rotated at a high speed. Let me do it. Therefore, stabilizers that can control pitching of construction machinery have a relatively large K amount. This embodiment shows an example in which this large amount of K is used as a part of the counterweight.

 9 and 10, the installable range R of the stabilizer 10 is a region indicated by oblique lines, and is the upper revolving unit 2 behind the revolving axis S. In the case where the stabilizer 10 is used as a part of the counterweight 7, the effect is greater when the stabilizer 10 is provided at the rear of the installable range R near the counterweight 7. FIGS. 11 and 12 show an example in which the stabilizer 10 is provided at the rear part near the counterweight 7 based on the above reason. Although the case where the gyroscopic axis J is parallel to the turning axis S is shown, the invention is not limited to this, and the axis P may be parallel to the turning ttS. When the stabilizers 10 are arranged as described above, the weight of the counterweight 7 can be reduced, so that the weight of the entire vehicle body can be reduced and the maintainability can be improved.o

 The fourth embodiment is an example in which visibility deterioration behind the vehicle body due to the provision of the stabilizer 10 at the rear of the upper swing body 2 is improved. In FIGS. 13 and 14, two small stabilizers 10 are provided, and the two small stabilizers 10 are separately attached to the rear side of the upper revolving unit 2. The direction of each stabilizer 10 may be the same as in the above embodiment, and the operation is also the same. When three or more small stabilizers 10 are thrown, they may be separately attached to the vicinity of the rear portion of the upper swing body 2 and the end portion of the rear side surface in the same manner as described above.

In order to control pitching with only one stabilizer 10, the pitching tends to be large. Therefore, the layout often deteriorates the visibility behind the vehicle body. To solve this, as described above, one stabilizer 10 is In addition to arranging the gyro moments in place of the stabilizers, the gyro moments synthesized by these components can be dispersed so as to be equivalent to the gyro moment when one gyro moment is equivalent. As a result, the protrusion of the upper part of the upper revolving superstructure 2 is reduced, and the rear view can be secured from between the stabilizers 10, so that the visibility behind the vehicle body is improved. Also, by disposing a plurality of small stabilizers 10 in the vicinity of the counterweight 7 at the rear of the vehicle body and at the end of the rear side surface, it is possible to reduce the weight of the whole vehicle body as described above, Serviceability is also improved.

 Next, a fifth embodiment will be described with reference to FIGS. The present embodiment is a case where the angular velocity of the pre-set shaft of the stabilizer is controlled to actively control a gyro moment that suppresses pitching.

 In FIG. 15, a bristle shaft drive motor 14 (hereinafter referred to as a shaft drive motor 14) drives the rotating body 11 of the stabilizer 10 to rotate around the axis P. For example, a hydraulic motor or an electric motor is used. Can be used. The pitching angular velocity detector 16 detects the angular velocity of the gyro axis J at the rotation angle 0 q around the axis Q when the moment M generated by pitching rotates the gyro axis J around the axis Q. .

 Here, the operation of the stabilizer 10 based on the gyro effect will be briefly described. When the gyro axis J is rotated around the axis P in a predetermined direction at an angular velocity ω ρ, the formula `` MJ = ω ρ x I ω \ ί j around the gyro axis J and the axis Q orthogonal to tt P A gyro moment MJ expressed by the following equation is generated in the direction corresponding to the direction of the angular velocity ω ρ where I is the moment of inertia of the rotating body 11, and <uk is the angular velocity of the rotating body 11. , IX IXJ represents the amount of angular movement of the rotating body 11. Therefore, when the angular momentum of the rotating body 11 is constant, the magnitude of the angular velocity ω ρ rotating about the axis P of the gyro axis J is determined. By controlling the magnitude of the gyration moment MJ, the magnitude of the generated gyro moment MJ can be controlled.

In the present embodiment, the action based on the gyro effect is applied to pitching active vibration. However, the rotation angle of gyro tt J around WP 0 ρ (hereinafter Later, when this is called the pre-set angle, or P-angle for short), is close to 90 degrees, that is, when the gyro te J is nearly horizontal, the gyro moment MJ works only in the horizontal plane. Therefore, the vibration damping effect of pitching is completely lost, and only the component other than the pitching direction, in this case, the turning direction (so-called joing) component is generated. Therefore, it is necessary to control the p angle within a predetermined maximum allowable angle. The control configuration for controlling the pre-set axis will be described below with reference to FIG. The pitching angular velocity detector 16 detects the pitching angular velocity and outputs this angular velocity signal to the first arithmetic unit 20. The p angle detector (pre-set angle detector) 15 detects the p angle and outputs this angle signal to the first arithmetic unit S20. The first processing unit 20 calculates a rotation command of the shaft drive motor 14 that drives the rotating body 11 to rotate around the axis P based on the pitching angular velocity signal and the p-angle signal, and drives the rotation command. Output to device 30. The motor drive device 30 outputs a drive power signal for the shaft drive motor 14 based on the rotation command.

 Next, a specific configuration and operation of the present embodiment will be described in detail with reference to FIGS. In the present embodiment, a gyroscope and a potentiometer are used as the pitching angular velocity detector 16 and the p-angle detector 15, respectively. However, the present invention is not limited to this. May be used.

 The first arithmetic unit 20 is, for example, a CPU system configured with a microcomputer (hereinafter referred to as CPU) as a center. The CPU 21 is a general CPU, and includes a K storage device, an arithmetic processing device, an execution control device, an input / output interface unit, and the like. In addition, the first arithmetic unit 20 also has a ROM 22 for storing system programs and the like, a RAM 23 for storing arithmetic results and control data, and analog signals from the gyroscope and potentiometer. A / D converter A / D 24 and AZD 25, output register 26 for outputting command signal to directional control valve 31 for hydraulic motor drive, and CPU 21 for data input / output It consists of buses 27 and so on.

Hydraulic motor 14a is a shaft drive motor for rotating gyro shaft J around axis P The direction switching valve 31 switches the direction of the pressure oil that drives the hydraulic motor 14a. Further, the hydraulic pump 33 supplies pressure oil to the hydraulic motor 14a, so that a working machine and a traveling device driving hydraulic pump mounted on a hydraulic shovel or the like may be used.

 The motor forward rotation command S 1 output from the output register 26 is connected to the operation solenoid 31 d of the directional control valve 31, and the motor negative rotation command S 2 is also connected to the operation solenoid 31 of the directional control valve 31. 3 1 e is kneaded. When neither the motor normal rotation command S 1 nor the motor negative rotation command S 2 is output, the directional control valve 31 is in the neutral position 31b, and the hydraulic oil discharged from the hydraulic pump 33 is hydraulic motor. The hydraulic motor 14a is stopped because it is not supplied to 14a. When the motor forward rotation command S 1 is output to the operation solenoid 31 d, the directional control valve 31 is switched to the position 31 a, and the hydraulic oil from the hydraulic pump 33 is supplied to the pipeline 35 Flows into the port on the positive rotation side of the hydraulic motor 14a through the port, and the outflow oil is drained to the tank 34 via the pipe 36. At this time, the hydraulic motor 14a rotates forward at a predetermined angular velocity proportional to the amount of oil flowing in. Also, when the motor negative rotation command S 2 is output to the operation solenoid 31 e, the direction switching valve 31 is switched to the position 31 c, and the hydraulic oil from the hydraulic pump 33 is supplied to the pipeline 36. The oil flows into the port on the negative rotation side of the hydraulic motor 14a through the port, and the oil that flows out is drained to the tank 34 via the line 35. At this time, the hydraulic motor 14a performs negative rotation at a predetermined angular velocity proportional to the amount of oil flowing in.

 In order to control the rotation around the axis P to suppress the pitching stably, it is necessary to reduce the preset control objective function based on the pitching angle 0 q, the pitching angular velocity o> q, the pitching angular acceleration, etc. This is made possible by obtaining a control output. For example, there is a method of controlling the pitching angle 0 q or the like to a predetermined target value by generally well-known PID control. Hereinafter, one embodiment of the PID control will be described in detail, but it goes without saying that the control method and the algorithm thereof are not limited thereto.

First, for simplicity of explanation, the case where the pitching angular velocity o> q is the control target is described. However, it is assumed that the control target in this case is set to, for example, "pitching angular velocity _W q = 0". The control flow will be described with reference to FIG.

 (Step 100) Input the pitching angular velocity from the pitching angular velocity detector 16 and proceed to Step 101.

 (Step 101) The pitching angular velocity is compared with the dead zone set value stored in advance in the memory (ROM 22 or RAM 23). The dead angle setting value is used to prevent the pitching vibration from being controlled by controlling the angular velocity ωρ of the axis P when the pitching angular velocity ω <| It is set to a predetermined range including the value. In this step, if the polarity of the pitching angular velocity ω q is positive and the absolute value of the pitching angular velocity is larger than the dead zone set value, the process proceeds to step 105, and if not, the process proceeds to step 102.

 (Step 10 2) Compare the pitching angular velocity o> q with the above dead zone setting value.If the pitching angular velocity has a negative polarity and the absolute value of the pitching angular velocity is larger than the dead band specified value, step 103 If not, go to step 107.

 (Step 103) The p angle 0p is input from the p angle detector 15 and the p angle 0p is compared with the allowable maximum value 0pMAX previously stored in the memory. The permissible maximum value 0 pMAX is within the allowable angle where the p-angle is allowable in order to minimize the components other than the pitching direction of the gyro moment MJ as described above to increase the pitching damping effect. It is set so that it can be determined whether or not it is included. If the p-angle 0 is equal to or smaller than the permissible maximum value 0pMAX, proceed to step 104; otherwise, proceed to step 107.

(Step 104) The state at this point is a state in which the pitching angular velocity is a large negative 值, and the p angle 0 P is in the controllable range equal to or less than the allowable maximum value 0PMAX. Therefore, in this step, the negative rotation command S2 of the hydraulic motor 14a is output so as to generate the gyro moment MJ in the direction opposite to the pitching angular velocity. As a result, the directional control valve 3 1 is switched to the position of 3 1 c and the hydraulic pressure 6/011

 1 17-The motor 14a rotates negatively at a precession shaft rotation angular velocity ωρ of a predetermined magnitude. However, here, it is assumed that the polarity of each control is set so that the gyro moment M J is generated in the opposite direction to the negative pitching angular velocity when the hydraulic motor 14a performs the negative rotation. Thereafter, the process returns to the first step 100 and repeats the above.

 (Step 105) The p angle 0p is input from the p angle detector 15 and the p angle 0P is compared with the allowable maximum value 0PMAX. If the p angle 0 p is equal to or smaller than the permissible maximum value 0 pMAX, the process proceeds to step 106; otherwise, the process proceeds to step 107.

 (Step 106) The state at this point is a state in which the pitching angular velocity ω <ι is a large positive value and the ρ angle 0 ρ is within the controllable range of the allowable maximum value 0 PMAX or less. . Therefore, the normal rotation command S1 of the hydraulic motor 14a is output so as to generate the gyro moment MJ in the direction opposite to the pitching angular velocity. As a result, the directional control valve 31 is switched to the position 31a, and the hydraulic motor 14a rotates forward at a predetermined magnitude of the precession shaft rotational angular velocity ωρ. Thereafter, the process returns to the first step 100 and repeats the above. Similarly, it is assumed that the polarity of each control is set so that the gyro moment MJ is generated in the direction opposite to the positive pitching angular velocity when the hydraulic motor 14a rotates forward.

 (Step 107) When this step is reached from step 102, the rotation control of axis Ρ is stopped because the pitching angular velocity ω <ι is within the range of the above-mentioned insensitivity setting value. There is a need to. In addition, when the robot comes to this step from step 103 or step 105, the rotation control of the shaft Ρ is temporarily stopped because the ρ angle θρ is larger than the allowable maximum value βρΜΑΧ. There is a need. Therefore, in this step, the output of the positive rotation command S1 and the negative rotation command S2 of the hydraulic motor 14a is stopped. Thereafter, the process returns to the first step 100 and repeats the above.

In the above steps 104 and 106, the hydraulic motor 14a is rotationally driven to rotate the shaft P at the predetermined angular velocity ωρ, and the gyro moment MJ proportional to the angular velocity ωρ is changed to the pitching angular velocity. Occurs in the opposite direction to q. And In steps 101 and 102, the hydraulic motor 14a is rotationally driven until the pitching angular velocity becomes a very small value in the vicinity of 0, and when it becomes a value in the vicinity of 0, the hydraulic motor 14a in step 107 Stops the gyro-moment MJ. Gyro moment MJ is generated in the direction in which pitching angular velocity o> q is reduced by performing control in accordance with the above-described arithmetic processing flow, and pitching is suppressed a3.

 Next, an embodiment in which an electric motor is used as the shaft drive motor 14 will be described with reference to FIG. In this example, a DC motor is used as the electric motor, but the operation and effects of the AC motor do not change. Here, a DC motor 14b and a DC motor drive amplifier 32, which are different from the configuration in the case of the above-described hydraulic motor, will be described. The DC motor 14b is used for controlling the rotation of the shaft P in the same manner as the hydraulic motor 14a described above, and is proportional to the magnitude of the DC voltage applied between the terminals A1 and A2 of the armature coil A. The motor rotates at the exemplified angular velocity. When a voltage at which terminal A 1 is positive with respect to A 2 is applied, DC motor 14 b rotates forward. When a voltage at which terminal A 1 is negative with respect to A 2 is applied, DC motor 1 4 b 4b is assumed to rotate negatively. The DC motor drive amplifier 3 2 is a power amplifier that drives the DC motor 14 b, and inputs the positive rotation command S 1 and the negative rotation command S 2 of the motor output from the first arithmetic unit 20, and Motor coarsely moves so that DC motor 14b rotates in the direction of rotation corresponding to the command signal. When the forward rotation command S 1 of the motor is output from the first arithmetic unit 20, the DC motor drive amplifier 32 drives the terminal A 1 to A so that the DC motor 14 b rotates forward at a preset angular velocity. A predetermined positive voltage is applied to 2. Also, when the motor negative rotation command S2 is output, the electric motor drive amplifier 32 connects the terminal A1 to A2 so that the DC motor 14b rotates negatively at the angular velocity set in advance. Then, a predetermined negative voltage is applied.

When the control target for controlling the DC motor 14b with such a configuration is set to ピ ッ チ Pitching angular velocity o) q = 0 '' as described above, the arithmetic processing flowchart of the CPU 21 is completely the same as that shown in Fig. 18. It may be the same. At this time, the action and effect do not change . In the above description of the control flow, if a plurality of stabilizers 10 are provided and one or more of the rotating bodies 11 are rotated in the opposite direction to the others, the pitching angular velocity It is necessary to consider the polarity of the rotation command of the shaft drive motor 14 to reduce the angle. That is, for the stabilizer in which the rotating direction of the rotating body is opposite to that of the other, the rotation commands S 1 and S 2 of the shaft drive motor 14 described above may be output in opposite directions.

 Next, a description will be given of an embodiment in which is controlled in such a manner that the command value of the angular velocity ωρ is proportional to the pitching angular acceleration a q in the same configuration as in FIG. In this case, the control target is expressed by the equation “Angular velocity ωρ — Χ 加速度 angular acceleration = 0”, where K is a proportional constant. This is explained for the following reasons. As described above, the moment M generated by pitching is proportional to the pitching angular acceleration a q, while the gyro moment MJ generated by the rotation control of the shaft P is proportional to the angular velocity ωρ. Therefore, if the angular velocity ωρ is controlled so that the moment Μ and the gyro moment MJ are proportional, in other words, the magnitudes are equal and opposite, the pitching angular velocity 6> q as in the previous embodiment is obtained. Pitching can be controlled more stably than when the control target is.

 FIG. 20 shows an embodiment of a control circuit block diagram of a hydraulic motor for controlling the angular velocity ωρ in proportion to the pitching angular acceleration. In this figure, the structure different from the above-mentioned FIG. 17 is sharpened below. The D / A 28 is a DZA converter that outputs a command signal S3 of the angular velocity ωρ, and converts digital data of a bit (where と す る is a natural number of 2 or more) output from the CPU 21. Convert to analog signal. The larger Ν, the smoother the control of angular velocity ωρ. The servo amplifier 38 inputs the command signal S3 of the angular velocity ωρ and the rotation speed (which corresponds to the angular velocity ωρ) signal S4 of the hydraulic motor 14a at the same time as the command signal S3, and the deviation of the two signals is The output current is controlled so that it becomes zero. This output current signal is connected to the operation solenoid 37 d of the flow control servo valve 37.

The flow control servo valve 37 controls the output flow rate. The flow rate is controlled by controlling the amount of displacement of the spool inside the servo amplifier 38 in proportion to the magnitude of the output current signal of the servo amplifier 38 input to 37d. When the current signal of the operation solenoid 37 d is 0, the flow control servo valve 37 is in the neutral position 11 37 b, and the hydraulic oil discharged from the hydraulic pump 33 at this time is the hydraulic oil input port. And is drained from the return port to tank 34 as it is. The two ports on the side of the factory are connected to the inlet port of the hydraulic motor 14a during the forward rotation and the inlet port during the negative rotation of the hydraulic motor 14a via lines 35 and 36, respectively. A motor angular velocity detector 19 for detecting the rotational speed is attached to the hydraulic motor 14a, and the motor angular velocity signal S4 output from the motor angular velocity detector 19 is connected to the feedback input terminal of the servo amplifier 38. Control. As the motor angular velocity detector 19, for example, a tachometer or a pulse generator can be used.

 Here, the operation of the servo amplifier 38, the flow control servo valve 37 and the hydraulic motor 14a will be described. The command signal S 3 for the angular velocity ω ρ is an analog voltage signal that swings positive and negative around 0 V. It is assumed that a positive voltage signal is output as the command signal S3 when the hydraulic motor 14a rotates forward, and a negative voltage signal is output as the command signal S3 when the hydraulic motor 14a rotates negatively. Now, when a command signal S 3 of a positive voltage signal is input to the servo amplifier 38, the servo amplifier 38 is set so that the deviation between the command signal S 3 and the rotation speed S 4 of the hydraulic motor 14 a is reduced. Outputs a current signal to the operation solenoid 37d.

At this time, the current signal becomes a positive current signal, and the spool of the flow control servo valve 37 moves to the 37a side by a displacement amount according to the magnitude of the current signal. Therefore, pressure oil having a flow rate proportional to this displacement flows into the inflow port during the forward rotation of the hydraulic motor 14a via the line 35, flows out of the port on the opposite side, and flows through the line 3 Drain to tank 34 via 6. The hydraulic motor 14a rotates forward at a rotation speed proportional to the above flow rate, and the rotation speed signal (corresponding to the angular speed ωρ) S4 is fed back to the servo amplifier 38. In this manner, the hydraulic motor 14a is feedback-controlled so that the hydraulic motor 14a rotates forward following the forward rotation command signal S3. Conversely, when the command signal S3 of the negative voltage signal is input to the servo amplifier 38, the servo amplifier 3 is controlled so that the deviation between the command signal S3 and the rotation speed S4 of the hydraulic motor 14a is reduced. 8 outputs a current signal to the operation solenoid 37 d of the flow control servo valve 37. At this time, the S flow signal becomes a negative current signal, and the spool of the flow control servo valve 37 moves to the 37c side by a displacement amount according to the magnitude of the current signal. Therefore, the pressure oil having a flow rate proportional to this displacement flows into the inflow port during the negative rotation of the hydraulic motor 14a via the line 36, flows out of the port on the opposite side, and flows through the line 35. Drain to tank 3-4 through. The hydraulic motor 14a performs negative rotation at a rotation speed proportional to the above flow rate, and the rotation speed signal S4 is fed back to the servo amplifier 38. In this manner, the feedback control of the hydraulic motor 14a is similarly performed so that the hydraulic motor 14a performs the negative rotation following the negative rotation command signal S3.

 FIG. 21 shows a flowchart of a calculation process in a case where the control target having the above configuration is expressed by the expression “angular velocity ωρ—ΚΧangular acceleration—0”. Based on this, the control flow will be described.

 (Step 1 10) Input the pitching angular velocity o q from the pitching angular velocity detector 16, and proceed to Step 11.

 (Step 1 1 1) Calculate the pitching angular acceleration aq from the pitching angular velocity o> q. In order to obtain the pitching angular acceleration aq, for example, when the pitching angular velocity changes by Δ during the minute time At, it can be approximately obtained by the equation “aq = Δω (ΐΔAt)”. After that, go to step 1 1 2.

 (Step 1 1 2) Input the p angle 0p from the p angle detector 15 and compare this p angle 0 ρ with the maximum allowable value 0 pMAX previously stored in the memory (ROM 22 or RAM 23). Compare. This allowable maximum value 0PMAX is the same as described above. If the p angle 0 p is equal to or smaller than the permissible maximum value 0pMAX, proceed to step 113. Otherwise, proceed to step 115.

(Step 1 13) Calculate the angular velocity command value V 0 of the axis P by the equation rV 0 = KX aq j. Where is the pitching angular acceleration obtained in the previous step, and K is It is a positive constant set to a predetermined value so that the vibration can be stably suppressed. After this, go to step 1 14.

 (Step 1 14) The angular velocity command signal S3 of the hydraulic motor 14 a corresponding to the angular velocity command value V 0 obtained above is output so as to generate the gyro moment MJ in the direction opposite to the pitching angular acceleration aq. . As a result, for example, when the pitching angular acceleration a q is positive, a positive angular velocity command signal S3 is output to the servo amplifier 38. As a result, the hydraulic motor 14a rotates forward with an angular velocity proportional to the magnitude of the positive angular velocity command signal S3, and following this command signal S3. Here, it is assumed that the polarity of each control is set so that when the hydraulic motor 14a rotates forward, the gyro MJ is generated in the direction opposite to the positive pitching angular acceleration αq. The same applies to the case where the pitching angular acceleration is negative. Thereafter, the process returns to the first step 110 and repeats the above.

 (Step 1 15) The rotation control of the axis P is temporarily stopped because the p angle 0 p is equal to or larger than the allowable maximum value 0 PMAX. Therefore, in this step, the output of the angular velocity command signal S3 of the hydraulic motor 14a is stopped. Thereafter, the process returns to the first step 110 and repeats the above.

 In step 113, an angular velocity command value proportional to the pitching angular acceleration is obtained, and in step 114, an angular velocity command signal S3 corresponding to the angular velocity command value V0 is output to the servo amplifier 38. The servo amplifier 38 and the flow control servo valve 37 control the hydraulic motor 14a to rotate in the rotation direction that matches the sign of the angular velocity command signal S3 and at an angular velocity proportional to the magnitude. . As a result, ttP rotates at an angular velocity ωρ having a magnitude proportional to the pitching angular acceleration otq, and a gyro moment MJ having a magnitude proportional to the angular velocity ωρ is generated in a direction opposite to the pitching angular acceleration aq. In this way, the gyro moment MJ is generated in the direction in which the pitching angular acceleration a q is reduced, and the pitching can be more stably damped.

Use electric servomotor 14b instead of hydraulic motor 14a in the above embodiment Next, an embodiment will be described. FIG. 22 is a block diagram of a control circuit of an embodiment using a DC servomotor 14b and a servo amplifier 39 for driving the same, and a configuration different from the previous embodiment will be described. The DC servo motor 14b is used to control the rotation of the axis P. The motor rotates at an angular velocity proportional to the magnitude of the DC voltage applied between the terminals A1 and A2 of the armature coil A. Here, when a voltage at terminal A1 that is positive with respect to A2 is applied, DC servo motor 14b rotates positively, and a voltage at which terminal A1 is negative with respect to A2 is applied. Then, it is assumed that the DC servo motor 14b rotates negatively.

 The servo amplifier 39 inputs the command signal S 3 of the angular velocity ω 出力 output from the DZA 28 of the first arithmetic unit 20 and at the same time, rotates the DC servo motor 14 b at the rotational speed (corresponding to the angular velocity ω ρ). The signal S4 is input, and the output voltage is controlled so that the difference between the two signals becomes zero. This output voltage signal is connected to the terminals A1 and A2 of the armature coil A of the DC servomotor 14b.

 When the control target for controlling the DC servo motor 14 b in such a configuration is set to “angular velocity ω ρ — K x angular acceleration aq = 0” as described above, the calculation processing flow of the CPU 21 May be exactly the same as in FIG. Also, when the rotation of one or more of the rotating bodies 11 of the plurality of stabilizers is made to rotate in the opposite direction to the other, the polarity of the rotation command S 3 may be output in the same manner as described above.

In the description so far, an example has been described in which the rotation speed around the axis P is controlled with the control target of setting the pitching angular velocity yq or the pitching angular acceleration aq to a predetermined value. In addition, the control target can be to set the pitching angle 0 q to a predetermined value, and a control configuration block diagram in this case is shown in FIG. In the example of FIG. 23, the pitching angle detector 17 is provided in the stabilizer section, and the pitching angle signal detected by this is input to the first arithmetic unit 20. The first arithmetic unit 20 calculates the pitching angle 0 q The angular velocity ω ρ of the gyro axis J around the WP is controlled so as to be a predetermined value. As a result, the generated gyro moment MJ can control the pitching. Here, the biting angle detector 17 may be, for example, an inclinometer or a gyrocompass. Alternatively, the pitching angular velocity signal output from the pitching angular velocity detector 16 of the previous embodiment may be obtained by integration.

 —In general, pitching is achieved by combining control objectives based on pitching angle 0 q, pitching angular velocity, pitching angular acceleration aq, etc., to obtain a control output that minimizes a preset control objective function. It is well known that it can be suppressed more stably. FIG. 24 shows a block diagram of the control configuration of the embodiment in that case. In this example, the pitching angle 0 q, the pitching angular velocity ω q, and the pitching angular acceleration are respectively represented by a pitching angle detector 17 Detector 16 and pitching angular acceleration detector 18 are used for detection. These detectors may obtain the pitching angle by integrating the pitching angular velocity signal, for example, as described above, or may obtain the pitching angular acceleration by differentiating the pitching angular velocity signal. The other configuration is the same as that described above, except that the first arithmetic unit 20 is, for example, a CPU system, which outputs a motor angular velocity command signal based on the arithmetic result, and the motor drive unit 30 is a motor drive servo. The shaft drive motor 14 is an amplifier, and is a servomotor for rotating the gyro shaft J around the axis P. The flowchart of the arithmetic processing when the angular velocity ω ρ around the WP is controlled using the control target function combining the control objectives based on the pitching angle 0 q and the like with the above configuration is specifically shown here. Absent. However, as described above, an optimal control signal of the angular velocity ωρ can be obtained while performing various corrections by the generally well-known PID control. Furthermore, if other control methods such as an optimal control algorithm based on a statistical method and a control algorithm based on fuzzy theory are used, an optimal control signal of an angular velocity ω ρ that can more effectively and stably control pitching can be obtained. can get.

In the following sixth embodiment, when a hydraulic motor is used as the drive motor 12, when the hydraulic actuator for work equipment or traveling needs output increase, the pressure to the drive motor 12 is increased. An example is shown in which the oil supply can be temporarily stopped or the drive motor 12 can be used as a hydraulic bomb. This is because the rotating body 1 Because it has a ment, it utilizes the fact that a rotating body rotating at high speed stores a large amount of energy due to the flywheel effect. For example, a hydraulic pump that supplies hydraulic oil to the drive motors 1 and 2 is usually shared with a main hydraulic pump that supplies hydraulic oil to a working machine for construction equipment or a hydraulic actuator for traveling. It is desirable in terms of economy and installation space. In this case, when it becomes necessary to increase the output of the working machine or traveling, the supply to the drive motor 12 is temporarily stopped, and the surplus hydraulic pump output is used for the working machine or traveling hydraulic actuator. Can be turned to Alternatively, the output can be increased by operating the drive motor 12 as a hydraulic pump using the accumulated energy of the rotating body 11 and turning this output to a hydraulic machine for work equipment or traveling. .

 FIG. 25 shows the stabilizer section of the present embodiment. The drive motor 12 is a hydraulic motor and rotates the rotating body 11 at high speed via the clutch 40. FIG. 26 shows an example of a control circuit block diagram in this case, which will be described with reference to FIG. The second computing device 50 is composed of, for example, a CPU system, and its main part has the same configuration as that of the first computing device 20. Therefore, the main parts of the configuration of the second arithmetic unit 50 and the first arithmetic unit 20 may be shared. The switching signal S 5 output to the operating solenoid section 42 c of the directional switching valve 42 and the clutch switching signal S 6 output to the clutch 40 are both output registers of the second arithmetic unit 50 (see FIG. (Not shown), each of which is, for example, a 1-bit on or off signal.

The directional control valve 42 switches between supplying or stopping supply of the hydraulic oil discharged from the hydraulic pump 33 to the hydraulic motor 12a. The signal S5 is input. The output port on the hydraulic motor 12 a side of the directional control valve 42 is connected to the inflow port of the hydraulic motor 12 a via the conduit 45. The hydraulic oil discharged from the hydraulic pump 33 is guided to the input port of the directional control valve 42 via a pipe 47 and the input of the traveling directional control valve 44 via a pipe 49. Guided to power port. Here, the directional control valve 44 drives the traveling hydraulic actuator 66, and the directional switching valve for the work equipment and the hydraulic actuator are used. It is the same even if it exists.

 When the switching signal S 5 is a pressure oil supply signal, the direction switching valve 42 switches to the position of 42 a, and the pressure oil from the hydraulic pump 33 passes through the hydraulic motor 1 2 via the line 45. The pressure oil flowing into a and flowing out of the hydraulic motor 12 a is drained to the tank 34. At this time, the hydraulic motor 12a rotates in a predetermined direction. When the switching signal S 5 is the hydraulic oil supply stop signal, the direction switching valve 42 switches to the position 4 2 b, and the hydraulic oil from the hydraulic pump 33 is supplied from the direction switching valve 42 to the end. No, the rotation of the hydraulic motor 1 a stops overnight. At this time, the amount of the oil supplied to the hydraulic motor 12a is supplied to the directional changeover valves 42, 44 and the hydraulic actuators 66 for work equipment and traveling via the pipeline 49. Is done. In addition, a relief valve 67 is provided so that the pressure at the input port of the direction switching valve 42 does not become larger than a specified value.

 The clutch 40 transmits or interrupts the driving force of the hydraulic motor 12a to the rotating body 11, and is activated by a clutch connection / disconnection switching signal S6 output from the second arithmetic unit 50. When the clutch 40 is disengaged, the rotating body 11 can coast by its flywheel effect. The operating state input means 41 is for inputting a signal indicating a working machine of the construction machine or a load state of traveling to the second arithmetic unit 50. The input load state signal indicates the current output status of the working machine and traveling, the necessity of adding the output, the output status of the hydraulic pump based on the detection of the engine speed, and the like. The operation state input means 41 may be a switch that can be operated when the operator determines that the output of the working machine or the traveling needs to be increased.

 The operation processing flowchart in this embodiment will be described with reference to FIG. (Step 1 220) Input the load state signal from the operation state input means 4 1, and proceed to Step 1 2 1.

(Step 1 2 1) Based on the input load state signal, it is determined whether or not to stop supplying hydraulic oil to the hydraulic motor 1 2 a.If so, proceed to Step 1 22 and otherwise. Goes to step 1 2 3. For example, when the excavator's excavating power is insufficient, when the traveling speed needs to be further increased, the engine speed can be determined. When the pressure drops, stop supplying hydraulic oil to the hydraulic motor 12a.

 (Step 1 2 2) At the same time as outputting the command to disconnect the clutch 40, output the command to stop supplying hydraulic oil to the hydraulic motor 12 a.

 (Step 1 2 3) At the same time as outputting the hydraulic oil supply command to the hydraulic motor 12 a, output the clutch connection command.

 The operation in such a configuration is as follows. If the load on the work equipment and traveling increases temporarily and the output needs to increase, the clutch 40 is disconnected and the switching valve 42 is supplied with hydraulic oil to the hydraulic motor 12 a. Outputs stop command. As a result, the hydraulic oil supplied from the hydraulic pump 33 to the hydraulic motor 12a can be supplied to the working machine or traveling hydraulic actuator 66. As a result, the output of the working machine or traveling is increased, and efficient work can be performed. Also, at this time, the stabilizer 10 coasts due to the inertial moment of the rotating body 11 (hereinafter, referred to as coasting operation), so that the pitching vibration control by the gyro moment can be performed. If the vibration suppression control is performed for a long time during the coasting operation, the stored energy of the rotating body 11 will be consumed and the rotation speed will decrease. Therefore, coasting should be performed only when necessary and only for a short time.

Still another example is an example in which not only the supply of hydraulic oil to the hydraulic motor 12a is stopped but also the auxiliary function of the main hydraulic pump 33 is provided by using the hydraulic motor 12a as a hydraulic pump. Will be described. In FIGS. 28 and 29, the rotating body rotation speed detector 55 detects the rotating speed of the rotating body 11 and is attached to the rotating body 11 as viewed from the clutch 40. The rotation speed signal S 9 is input to the second arithmetic unit 50. When the clutch 40 is disconnected, the rotating body 11 and the rotating body rotation speed detector 55 perform inertial motion, and the gyro moment of the stabilizer 10 can be generated. The tilt angle control type hydraulic motor 12b (hereinafter referred to as "hydraulic motor 12b") can control the rotation speed by controlling the tilt angle of a swash plate or a tilt axis, and the tilt angle is controlled by a flow control servo valve. 6 8 is proportional to the output flow rate. Flow control Slope output from the second processing unit 50 to the operation solenoid 68 a of the servo valve 68 The angle control command signal S 8 is connected, and the output flow rate of the flow control servo valve 68 is controlled in proportion to the magnitude of the current of the tilt angle control command signal S 8.

 The direction switching valve 43 is a switching valve that switches the hydraulic motor 12b to the pump mode or the motor mode, and receives a switching signal S7 from the second arithmetic unit 50 into its operation solenoid part 43c. Is done. The two output ports on the hydraulic motor 12 b side of the directional control valve 43 are connected to the inflow port and the outflow port of the hydraulic motor 12 b via lines 45 and 46, respectively. When the switching signal S7 is in the motor mode, the direction switching valve 43 switches to the position of 43b, and the hydraulic oil from the hydraulic pump 33 is supplied to the pipeline 47, the direction switching valve 43, and the pipeline. It flows into the hydraulic motor 1 2b via 4 5. Then, the hydraulic oil flowing out of the hydraulic motor 12b is drained to the tank 34 via the pipelines 46, 48b and 48a. Thus, the hydraulic motor 12b rotates in a predetermined direction. At this time, the pressure oil from the hydraulic pump 33 is guided to the traveling directional control valve 44 and the hydraulic motor 66 via the pipe 49, and is drained to the tank 34 via the pipe 48a. Is done.

 When the switching signal S7 is in the pump mode, the direction switching valve 43 is in the position of 43a. At the same time, when the clutch 40 is engaged, the rotating body 11 is coasting due to its accumulated energy, so that the hydraulic motor 12b is driven to move in the same direction as in the motor mode. Continue the rotation. As a result, the oil in the tank 34 is sucked into the inflow port of the hydraulic motor 12b via the pipes 48a and 48b, the directional control valve 43a and the pipe 45, It is discharged as pressurized oil by the hydraulic motor 12b that is coasting. This indicates that the hydraulic motor 12b is operating as a hydraulic pump, and the hydraulic oil from the hydraulic motor 12b is guided to the line 46, the direction switching valve 43a, and the line 47. The pressurized oil and the pressurized oil discharged from the hydraulic pump 33 merge to flow into the direction switch valve for the working machine or traveling through the pipe 49.

An operation processing flowchart of one embodiment of the second dropping device 50 having the above configuration will be described with reference to FIG. (Step 13 0) The rotating speed signal S 9 of the rotating body 11 is input from the rotating body rotation speed detector 55, and the process proceeds to step 13 1.

 (Step 1 3 1) It is determined whether the magnitude of the rotation speed signal S 9 is smaller than the predetermined minimum rotation speed o) KL.If smaller, proceed to Step 1 32, otherwise, go to Step 13. Proceed to 1 3 7.

 (Step 1332) If the state at this time is the pump mode, the clutch disconnection is output as the command signal S6 to the clutch 40, and the rotating body 11 performs coasting operation. Since the hydraulic motor 12b is disconnected from the rotating body 11, the hydraulic motor 12b loses rotational energy and stops, and the pump mode is released. If the state at this time is the motor mode, the hydraulic motor 12 b is rotated in the motor mode as it is, and the process proceeds to step 13.

 (Step 1 3 3) A load state signal is input from the operation state input means 4 1, and the process proceeds to Step 1 3 4.

 (Step 13 4) Check the load state signal to determine whether there is a request for running or an increase in the output of the work equipment. If there is a request, go to step 1 35, otherwise go to step 1 36.

 (Step 1 35) Perform the above-mentioned coasting or motor mode operation. After that, return to step 130 and repeat the above.

 (Step 1 3 6) During coasting operation, the motor mode is output as the switching signal S 7 to the operation solenoid section 4 3 c of the directional switching valve 43, and then the clutch is output as the command signal S 6 to the clutch 40. Outputs the connection mode to the motor mode and accelerates the rotating body 1 1. Then, return to step 130 and repeat the above.

 (Step 1 3 7) It is determined whether or not the magnitude of the rotational speed signal S 9 of the rotating body 11 is larger than a predetermined maximum rotational speed ω 、 .If it is large, the process proceeds to Step 1 3 8, otherwise. If so, go to step 1 39.

(Step 1 3 8) Outputs the tilt angle control command signal S 8 to control the tilt angle of the swash plate or the tilt axis of the hydraulic motor 12 b so that the rotation speed of the hydraulic motor 12 b becomes a predetermined speed. I do. The hydraulic motor 12b cannot control the tilt angle of its swash plate or swash axis. In the case of the eve, the clutch disengagement may be output to the command signal S6 to the clutch 40 to perform the coasting operation. Then, go to step 1 39.

 (Step 1 39) Input the load state signal from the operation state input means 41, and proceed to Step 140.

 (Step 140) Referring to the load state signal, it is determined whether there is a request to increase the output of the traveling machine or the working machine. If there is a request, go to step 14 1. If not, go to step 14 2.

 (Step 14 1) After outputting the pump mode as the switching signal S 7 to the operation solenoid section 4 3 c, the clutch connection is output as the command signal S 6 to the clutch 40 and the pump mode is entered. I do. Next, proceed to Steps 14 2.

 (Step 1 4 2) Outputs the tilt angle control command signal S 8 in accordance with the change in the rotation speed signal S 9 of the rotating body 11 so that the amount discharged as the hydraulic pump becomes constant, and the hydraulic motor 1 2 Control the angle of inclination of the swash plate or the oblique axis of b. Here, the rotation speed of the hydraulic motor 12b is set to be lower than the maximum rotation speed ωω.

 As described above, the magnitude of the gyro moment M J generated when the gyro axis J is rotated around the axis Ρ at an angular velocity ω ρ is proportional to the angular momentum of the rotating body 11. Therefore, when the rotation speed of the rotating body 11 changes, the magnitude of the generated gyro moment M J also changes, so that a stable gyro moment cannot be obtained. For this reason, pitching cannot be controlled stably. In such a case, the magnitude of the proportionality constant た for obtaining the command value of the angular velocity ωρ is changed so as to reduce the influence of the change in the rotation speed of the rotating body 11.

 The seventh embodiment is an example in which among the equipment 60 mounted on a construction machine or the like, for example, among the electric equipment, the equipment normally used while rotating at high speed is used as the stabilizer 10. is there. Among these rotating devices, those having a relatively large angular momentum can be used by providing an axis P orthogonal to the rotating wheel (referred to as a gyro axis J).

In FIG. 31, when the generator 62 is driven by the hydraulic motor 61, Since the electric machine 62 usually has a large-moment rotor, it can be used as the rotating body 11. Conversely, when the hydraulic pump is driven by an automatic motor, the armature of the electric motor can be used as the rotating body 11. The rotation axis of such an electric device is referred to as a gyroscopic axis J, and the electric device is supported so as to be freely movable around an axis perpendicular thereto, and this is referred to as an axis P. As described above, by using the normally used high-speed rotating electrical equipment as the stabilizer 10, it is possible to reduce the number of pneumatic equipment and control equipment mounted on construction machinery, reduce the weight of the vehicle body and reduce The maintenance of the space can be improved by securing the space.

 FIG. 32 shows an eighth embodiment in which, as the stabilizer 10, an engine 63, which is another rotating device, is used among the construction machine mounted devices 60. The engine 63 is provided to have an auxiliary function separately from the main engine, and is provided to drive the hydraulic pump 64, the generator, and the like. The rotation axis of the engine 63 and the hydraulic pump 64 is a gyro axis J, and the engine 63 and the hydraulic pump 64 are supported so as to be freely movable around an axis perpendicular to the gyro axis J. do. With this configuration, the engine 63 can be used as the rotating body 11. Also in this example, it is not necessary to newly provide another stabilizer 10, so that the weight of the vehicle body and the maintainability can be improved.

 In the above embodiment, the hydraulic excavator has been described as an example, but the same applies to other upper swing type construction machines. Further, the crawler-type lower traveling body may be a wheel-type traveling body. Industrial applicability

 INDUSTRIAL APPLICABILITY The present invention can suppress pitching without increasing the size of the entire vehicle body, obtain an effective damping action, and is useful as a biting damping device for a top-turning construction machine that does not impair maintainability. It is.

Claims

The scope of the claims

1. An upper revolving unit (2) mounted on the lower traveling unit (3) and capable of turning horizontally about the revolving axis (S), and a moment is applied to the upper revolving unit (2). An upper swing type construction machine having a work machine attached to

A gyro stabilizer (10) is attached to the upper revolving superstructure (2),

The gyro stabilizer (10) has a large elastic moment, and is orthogonal to the rotating body (11) that rotates at high speed around the gyro shaft (J) by the drive motor (12) and the gyro shaft (J). A support member (13) for swingably supporting the rotating body (11) around a bristletion axis (P);

One of the gyro shaft U) and the pre-set shaft (P) is arranged in parallel with the revolving shaft (S), and the other is perpendicular to the pitching axis of the upper revolving structure (2). A biting vibration control device for an upper swing type construction machine characterized by being arranged.

2. The pitching vibration damping device for an upper swing type construction machine according to claim 1, wherein a plurality of the gyro stabilizers (10) are attached, and at least one of the plurality of gyro stabilizers (10) is provided. Is characterized by comprising a rotating body (11) rotating in a direction opposite to the rotating body (11) rotating at high speed around the gyroscopic axis (J).

3. The pitching damping device for an upper swing type construction machine according to any one of claims 1 and 2,

The gyro-stabilizer (10) is attached to the upper revolving unit (2) at a position rearward of the rotation axis (S).

4. The biting damping device for an upper swing type construction machine according to claim 2, wherein the attachment position of the gyro stabilizer (10) is a side end of the upper swing body (2). And at the rear end or the rear end of the swirl glaze (S).

5. The pitching vibration damping device for an upper swing type construction machine according to claim 1, wherein: a pitching angular velocity detector (16) attached to the support member (13) to detect a pitching angular velocity;

A precession angle detector (15) for detecting a precession angle that is a rotation angle of the rotating body (11) about the precession axis (P);

A command value for a pre-set shaft rotation angular velocity is calculated based on at least one of the detected pitching angular velocity, the differential value of the detected pitching angular velocity, and the integrated value of the detected pitching angular velocity. A first arithmetic unit (20) that outputs the bristle shaft rotation angular velocity command value when the detected precession angle is smaller than an allowable maximum value stored in advance;

A motor driving device (30) for outputting a power signal based on the pre-set XY rotation angular velocity command value;

A bristle shaft drive motor (14) for rotating the rotating body (11) around the bristle shaft (P) in response to the light signal.

6. The pitching vibration damping device for an upper swing type construction machine according to claim 5, wherein a rotation speed detector (19) for detecting a rotation speed of the rotating body (11) about the pre-set shaft (P);

A motor drive device (30) that receives the precession shaft rotation angular velocity command value and the detected rotation speed and outputs a power signal of the precession shaft drive motor (14) so as to reduce the Terracotta difference; It is characterized by the following.

7. In the case of biting vibration suppression of the upper swing type construction machine according to any one of the scopes 1, 2, 5, and 6,

The drive motor (12) is a hydraulic motor (12a), A clutch U0) disposed between the hydraulic motor (12a) and the rotating body (11), a working machine or traveling actuator (66);

An operation state input means (41) for outputting a signal indicating a load state of the actuator (66); a hydraulic pump (33) for discharging hydraulic oil;

A directional control valve (42) for switching and supplying the discharged hydraulic oil to the hydraulic motor (12a) or the actuator (66);

When it is determined based on the load state signal that at least the output of the actuator (66) needs to be increased, a disconnection command is output to the clutch (40), and the discharged pressure oil is stored in the tank (34). ) Or a second arithmetic unit S (50) for outputting a command to switch to the actuator (66) to the direction switching valve (42).

8. The pitching vibration damping and concealment method for an upper swing type construction machine according to claim 7, wherein a rotating body rotation speed detection attached to the rotating body (11) and detecting a rotating speed of the rotating body (11). Vessel (55),

When the clutch (40) is in the disconnected state and the rotation speed from the rotating body rotation speed detector (55) is smaller than the previously stored minimum rotation speed, the second arithmetic unit (50) may be configured to: A connection command is output to (40) to accelerate the rotation of the rotating body (11). If the rotating speed from the rotating body rotation speed detector (55) is higher than the maximum rotation speed previously stored, It is characterized in that a cutting command is output to the clutch (40) and the rotating body (11) is coasted.

9. The pitching damping device for an upper swing type construction machine according to any one of claims 1, 2, 5, and 6,

The expulsion motor (12) is a hydraulic motor (12a),

Actuator (66) for working equipment or for traveling,

A continuous rotation state input means (41) for outputting a signal indicating a load state of the actuator (66); a hydraulic pump (33) for discharging hydraulic oil; A directional switching valve (43) for supplying the discharged hydraulic oil to the hydraulic motor (12a) or for supplying hydraulic oil generated when the hydraulic motor (12a) is driven to the actuator (66); ,

When it is determined based on the load state signal that at least the output of the actuator (66) needs to be increased, a command to supply the hydraulic oil generated when the hydraulic motor (12a) is driven to the actuator (66) is issued. A second arithmetic unit IB (50) for outputting to the direction switching valve (43).

10. The pitching vibration damping device for an upper swing type construction machine according to claim 9, wherein: a clutch (40) disposed between the hydraulic motor (12a) and the rotating body (11); A rotating body rotation speed detector (55) taken by the body (11) to detect a rotating speed of the rotating body (11);

The second arithmetic unit (50) is configured to record in advance the rotation speed inputted from the rotating body rotation speed detector (55) when the hydraulic motor (12a) is driven by the rotating body (11). If it is less than the useful minimum rotation speed,

Alternatively, if the rotation speed input from the rotating body rotation speed detector (55) is larger than the previously useful {large rotation speed,

A special feature is that a cutting command is output to the E-clutch (40) to coast the rotating body (11).

11. The pitching vibration damping device for an upper swing type construction machine according to claim 7, wherein the hydraulic motor (12a) controls a rotation angle by controlling a tilt angle of a swash plate or a glaze. Type hydraulic motor (12b)

A rotating body rotation speed detector (55) attached to the front E rotating body (11) and detecting a rotating speed of the rotating body (11);

The second arithmetic unit (50) is configured to determine whether the input rotation speed is higher than the maximum rotation speed stored in advance if the rotation speed input from the rotary body rotation speed detector (55) is higher than the maximum rotation speed. It is characterized in that the tilt angle control command is output so as not to exceed the maximum rotation speed.

12. The pitching vibration damping device for an upper swing type construction machine according to claim 9, wherein the hydraulic motor (12a) controls a rotation angle by controlling a tilt angle of a swash plate or a slanting slop. Hydraulic motor (12b)

A rotating body rotation speed detector (55) attached to the rotating body (11) and detecting a rotating speed of the rotating body (11);

When the rotation speed input from the rotating body rotation speed detector (55) is larger than the previously stored ft large rotation speed, the second arithmetic device (50) sets the input rotation speed to the maximum speed. It is characterized by outputting a control command of the inclination angle so as not to exceed the rotation speed.

1 3. The pitching vibration control device for an upper swing type construction machine according to any one of claims 1, 2, 5, and 6,

Said drive motor (12) is a tilt angle control type hydraulic motor (12b) for controlling a rotation speed by controlling a tilt angle of a swash plate or a slant axis;

A rotating body rotation speed detector (55) attached to the rotating body (11) and detecting a rotating speed of the rotating body (11);

When the rotation speed input from the rotating body rotation speed detector (55) is higher than the previously described maximum rotation speed, the inclination is adjusted so that the input rotation speed does not exceed the maximum rotation speed. A second arithmetic unit 8 (50) for outputting a control command for the angle.

14. The pitching vibration damping device for an upper-slewing construction machine according to claim 9, wherein the hydraulic motor (12a) controls a rotation angle by controlling a tilt angle of a tilt or a tilt axis. Type hydraulic motor (12b) A rotating body rotation speed detector (55) attached to the rotating body (11) and detecting a rotating speed of the rotating body (11);

The second arithmetic unit S (50) is configured such that when the tilt angle control type hydraulic motor (12b) is driven by the inertial rotation of the rotating body (11) to discharge pressure oil, the tilt angle control type The tilt angle control command is output in response to the change in the rotation speed input from the rotating body rotation speed detector (55) so that the discharge amount from the hydraulic motor (12b) becomes constant. It is characterized by

15. The pitching vibration control device for an upper swing type construction machine according to claim 10, wherein the hydraulic motor (12a) controls a rotation speed by controlling a tilt angle of a swash plate or a swash shaft. Hydraulic motor (12b)

The second arithmetic and control unit (50) is configured to: when the tilt angle control hydraulic motor (12b) is driven by the inertial rotation of the rotating body (11) to discharge pressure oil, the tilt angle control hydraulic motor (12). M. Outputting the tilt angle control command in response to a change in the rotation speed input from the rotating body rotation speed detector (55) so that the discharge amount from the night (12b) becomes constant. Is a feature.

16. The pitching vibration damping device for an upper swing type construction machine according to any one of claims 1 and 2,

The gyro stabilizer (10) is mounted on a construction machine (1), and has a rotating device (62) having a rotor that rotates at a high speed with a large indignation moment, and a rotation axis orthogonal to the rotation axis of the rotating device (62). A construction machine mounting device (1) that emphasizes a precession shaft (P) and a support member (13) that swingably supports the rotating device (62) around the precession shaft (P) orthogonal to the rotation shaft. 60).

17. In the pitching vibration control device for an upper swing type construction machine according to claim 16. The rotary device (62) is an engine (63).