WO1996034154A1 - Dispositif amortisseur des mouvements de tangage pour engin de chantier a partie superieure pivotante - Google Patents

Dispositif amortisseur des mouvements de tangage pour engin de chantier a partie superieure pivotante Download PDF

Info

Publication number
WO1996034154A1
WO1996034154A1 PCT/JP1996/001130 JP9601130W WO9634154A1 WO 1996034154 A1 WO1996034154 A1 WO 1996034154A1 JP 9601130 W JP9601130 W JP 9601130W WO 9634154 A1 WO9634154 A1 WO 9634154A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating body
rotation speed
pitching
hydraulic motor
rotation
Prior art date
Application number
PCT/JP1996/001130
Other languages
English (en)
Japanese (ja)
Inventor
Koichiro Itow
Masauemon Kajikawa
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Publication of WO1996034154A1 publication Critical patent/WO1996034154A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/08—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces characterised by use of gyroscopes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system

Definitions

  • 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.
  • 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.
  • 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.
  • the operator operates the boom 4, arm 5, and baguette 6 operating levers to drive the work equipment.
  • 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.
  • 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.
  • 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.
  • 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,
  • 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.
  • 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.
  • 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.
  • 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.
  • the mounting position ⁇ 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.
  • 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.
  • the effect will be greater and the maintenance from the rear of the vehicle will be better.
  • the visibility behind the vehicle body is not impaired.
  • 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;
  • 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.
  • the gyro moment is generated around the gyro axis and the XY perpendicular to the precession axis, as described above.
  • active gyro moment can be generated to actively control pitching.
  • 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.
  • 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.
  • the angular velocity control is stopped when the brission angle becomes a predetermined value or more.
  • the angular velocity control is stopped when the brission angle becomes a predetermined value or more.
  • 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.
  • a second arithmetic unit that outputs the data to the second arithmetic unit.
  • 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.
  • the second arithmetic unit 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
  • a cutting command may be output to the clutch to cause the rotation body to coast.
  • 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.
  • 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 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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,
  • 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.
  • the tilt angle control hydraulic motor 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.
  • 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.
  • 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.
  • the tilt angle control type hydraulic motor when 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.
  • 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.
  • 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.
  • a rotation sleeve of a gyro stabilizer receives a moment about an axis perpendicular to the axis, a moment (about a so-called gyro-motor) is formed.
  • a moment about a so-called gyro-motor
  • passive gyro moments are used to suppress pitching.
  • the hydraulic excavator 1 has one gyro-stabilizer 10 (hereinafter, referred to as a stabilizer 10) on the upper-part turning body 2.
  • a stabilizer 10 gyro-stabilizer 10
  • the gyro axis J of the stabilizer 10 is parallel to the turning axis S.
  • 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.
  • 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 ⁇ . appear.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • the rotation directions of the two rotating bodies 11 around the respective gyro axes J are opposite to each other.
  • 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.
  • 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.
  • 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.
  • 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.
  • each gyro axis J is parallel to the turning WS, or each axis P is turning to the turning tt S. May be used.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • three or more small stabilizers 10 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.
  • 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.
  • 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.
  • 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.
  • a hydraulic motor or an electric motor is 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. .
  • 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 ⁇ ⁇ 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.
  • the action based on the gyro effect is applied to pitching active vibration.
  • the rotation angle of gyro tt J around WP 0 ⁇ (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 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.
  • a gyroscope and a potentiometer are used as the pitching angular velocity detector 16 and the p-angle detector 15, respectively.
  • 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.
  • 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.
  • 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.
  • the directional control valve 31 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.
  • 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 ⁇ of the axis P when the pitching angular velocity ⁇ ⁇
  • 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 ⁇ , 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
  • 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 ⁇ ⁇ is a large positive value and the ⁇ angle 0 ⁇ 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 ⁇ . 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 ⁇ is stopped because the pitching angular velocity ⁇ ⁇ is within the range of the above-mentioned insensitivity setting value. There is a need to.
  • the rotation control of the shaft ⁇ is temporarily stopped because the ⁇ angle ⁇ is larger than the allowable maximum value ⁇ . 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.
  • the hydraulic motor 14a is rotationally driven to rotate the shaft P at the predetermined angular velocity ⁇ , and the gyro moment MJ proportional to the angular velocity ⁇ is changed to the pitching angular velocity. Occurs in the opposite direction to q.
  • 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.
  • an electric motor is used as the shaft drive motor 14
  • a DC motor is used as the electric motor, but the operation and effects of the AC motor do not change.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ in proportion to the pitching angular acceleration.
  • the D / A 28 is a DZA converter that outputs a command signal S3 of the angular velocity ⁇ , and converts digital data of a bit (where ⁇ ⁇ ⁇ is a natural number of 2 or more) output from the CPU 21. Convert to analog signal.
  • ⁇ the smoother the control of angular velocity ⁇ .
  • the servo amplifier 38 inputs the command signal S3 of the angular velocity ⁇ and the rotation speed (which corresponds to the angular velocity ⁇ ) 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.
  • 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.
  • the motor angular velocity detector 19 for example, a tachometer or a pulse generator can be used.
  • the command signal S 3 for the angular velocity ⁇ ⁇ 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.
  • the current signal becomes a positive current signal
  • 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 ⁇ ) 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.
  • 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 ⁇ — ⁇ angular acceleration—0”. Based on this, the control flow will be described.
  • Step 1 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.
  • Step 1 1 2 Input the p angle 0p from the p angle detector 15 and compare this p angle 0 ⁇ 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.
  • 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. .
  • a positive angular velocity command signal S3 is output to the servo amplifier 38.
  • 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.
  • 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 ⁇ q. 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.
  • 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. .
  • ttP rotates at an angular velocity ⁇ having a magnitude proportional to the pitching angular acceleration otq, and a gyro moment MJ having a magnitude proportional to the angular velocity ⁇ is generated in a direction opposite to the pitching angular acceleration aq.
  • 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.
  • 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.
  • 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 ⁇ ⁇ 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 ⁇ ⁇ ).
  • 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.
  • 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.
  • 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.
  • 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 ⁇ ⁇ of the gyro axis J around the WP is controlled so as to be a predetermined value.
  • the generated gyro moment MJ can control the pitching.
  • the biting angle detector 17 may be, for example, an inclinometer or a gyrocompass.
  • the pitching angular velocity signal output from the pitching angular velocity detector 16 of the previous embodiment may be obtained by integration.
  • FIG. 24 shows a block diagram of the control configuration of the embodiment in that case.
  • the pitching angle 0 q, the pitching angular velocity ⁇ 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.
  • a hydraulic motor 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the hydraulic motor 12a rotates in a predetermined direction.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • coasting operation the inertial moment of the rotating body 11
  • 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.
  • 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.
  • 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.
  • 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.
  • the hydraulic oil flowing out of the hydraulic motor 12b is drained to the tank 34 via the pipelines 46, 48b and 48a.
  • the hydraulic motor 12b rotates in a predetermined direction.
  • 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.
  • the direction switching valve 43 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.
  • Step 13 0 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 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 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 ⁇ ⁇ . 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.
  • 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.
  • the rotation speed of the hydraulic motor 12b is set to be lower than the maximum rotation speed ⁇ .
  • the magnitude of the gyro moment M J generated when the gyro axis J is rotated around the axis ⁇ at an angular velocity ⁇ ⁇ 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 ⁇ for obtaining the command value of the angular velocity ⁇ 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.
  • 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).
  • 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.
  • 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.
  • the hydraulic excavator has been described as an example, but the same applies to other upper swing type construction machines.
  • the crawler-type lower traveling body may be a wheel-type traveling body.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Civil Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Operation Control Of Excavators (AREA)
  • Working Measures On Existing Buildindgs (AREA)
  • Machine Tool Units (AREA)
  • Sawing (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

Ce dispositif d'amortissement des mouvements de tangage d'un engin de chantier peut assurer un amortissement efficace des vibrations en supprimant le tangage sans qu'il soit nécessaire de réaliser une structure plus importante du véhicule. A cette fin, un stabilisateur gyroscopique (10) monté sur la partie supérieure pivotante (2) de l'engin comprend un rotor (11) présentant un moment d'inertie élevé. Ce rotor est conçu pour tourner à une vitesse élevée selon un axe gyroscopique (J) par l'effet d'un moteur d'entraînement (12). Un support (13) maintient le rotor (11) tout en autorisant un mouvement pendulaire de celui-ci selon l'axe de précession (P) coupant à la perpendiculaire l'axe gyroscopique (J) dans des conditions telles que soit l'axe gyroscopique (J), soit l'axe de précession (P) se trouve parallèle à l'axe de pivotement (S) tandis que l'autre se trouve à la perpendiculaire de l'axe de tangage de la partie supérieure pivotante (2) de l'engin.
PCT/JP1996/001130 1995-04-27 1996-04-25 Dispositif amortisseur des mouvements de tangage pour engin de chantier a partie superieure pivotante WO1996034154A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7127293A JPH08297026A (ja) 1995-04-27 1995-04-27 上部旋回式建設機械のピッチング制振装置
JP7/127293 1995-04-27

Publications (1)

Publication Number Publication Date
WO1996034154A1 true WO1996034154A1 (fr) 1996-10-31

Family

ID=14956385

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/001130 WO1996034154A1 (fr) 1995-04-27 1996-04-25 Dispositif amortisseur des mouvements de tangage pour engin de chantier a partie superieure pivotante

Country Status (4)

Country Link
JP (1) JPH08297026A (fr)
KR (1) KR960037996A (fr)
TW (1) TW328554B (fr)
WO (1) WO1996034154A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009010727A1 (fr) * 2007-07-17 2009-01-22 The Royal Shakespeare Company Amortisseur d'oscillations
FR2930615A1 (fr) * 2008-04-28 2009-10-30 Peugeot Citroen Automobiles Sa Dispositif gyroscopique antivibratoire et vehicule automobile utilisant le dispositif
WO2012032321A1 (fr) * 2010-09-07 2012-03-15 The Royal Shakespeare Company Amortisseur d'oscillations
CN106013316A (zh) * 2015-03-26 2016-10-12 住友重机械工业株式会社 挖土机
EP2557011A4 (fr) * 2010-03-25 2018-04-18 Mitsubishi Nichiyu Forklift Co., Ltd. Véhicule industriel
CN114485565A (zh) * 2021-12-31 2022-05-13 潍柴动力股份有限公司 液压泵马达用机械式斜盘倾角指示器及液压泵马达

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101402667B1 (ko) * 2012-07-27 2014-06-03 현대중공업 주식회사 굴삭기 선회각 계측 시스템
JP6671849B2 (ja) * 2015-03-10 2020-03-25 住友重機械工業株式会社 ショベル、ショベルの制振方法
JP6671848B2 (ja) * 2015-03-10 2020-03-25 住友重機械工業株式会社 ショベル
CN112762902B (zh) * 2020-12-24 2022-08-23 张志高 一种市政建设用多功能定点测绘工具

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05272585A (ja) * 1992-03-30 1993-10-19 Mitsubishi Heavy Ind Ltd 回転揺れ制振装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05272585A (ja) * 1992-03-30 1993-10-19 Mitsubishi Heavy Ind Ltd 回転揺れ制振装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009010727A1 (fr) * 2007-07-17 2009-01-22 The Royal Shakespeare Company Amortisseur d'oscillations
FR2930615A1 (fr) * 2008-04-28 2009-10-30 Peugeot Citroen Automobiles Sa Dispositif gyroscopique antivibratoire et vehicule automobile utilisant le dispositif
EP2557011A4 (fr) * 2010-03-25 2018-04-18 Mitsubishi Nichiyu Forklift Co., Ltd. Véhicule industriel
WO2012032321A1 (fr) * 2010-09-07 2012-03-15 The Royal Shakespeare Company Amortisseur d'oscillations
CN106013316A (zh) * 2015-03-26 2016-10-12 住友重机械工业株式会社 挖土机
CN114485565A (zh) * 2021-12-31 2022-05-13 潍柴动力股份有限公司 液压泵马达用机械式斜盘倾角指示器及液压泵马达
CN114485565B (zh) * 2021-12-31 2024-05-17 潍柴动力股份有限公司 液压泵马达用机械式斜盘倾角指示器及液压泵马达

Also Published As

Publication number Publication date
KR960037996A (ko) 1996-11-19
TW328554B (en) 1998-03-21
JPH08297026A (ja) 1996-11-12

Similar Documents

Publication Publication Date Title
WO2018021321A1 (fr) Unité de commande et système d'entraînement hydraulique
JP2012122327A (ja) 旋回制御装置、旋回制御方法、および建設機械
WO2019053936A1 (fr) Engin de chantier
WO1996034154A1 (fr) Dispositif amortisseur des mouvements de tangage pour engin de chantier a partie superieure pivotante
JP2020165255A (ja) ショベル
CN112411662B (zh) 挖土机
JP2020165259A (ja) ショベル
CN112384663A (zh) 挖土机
JPH07180192A (ja) 油圧シヨベルの転倒防止装置
US20220154426A1 (en) Excavator
CN116438356A (zh) 施工机械及施工机械用控制装置
JPH08297027A (ja) 走行作業車両の制振装置
JP6674862B2 (ja) 転倒防止装置
JP7232622B2 (ja) 作業機械
JP2019173504A (ja) 油圧式作業機械
WO1996034155A1 (fr) Dispositif de pivotement destine a faire tourner un engin de construction du type a structure superieure
US10519626B2 (en) System and method for controlling machine
JP2021156085A (ja) ショベル
JPH08244682A (ja) 船舶の動搖防止装置
JP6349068B2 (ja) 重心可変装置
JP2003155759A (ja) 建設機械の駆動制御装置
JPH0418165B2 (fr)
JP2015078541A (ja) 重心可変装置
JP2003194150A (ja) 油圧作業機の振動抑制装置
WO2024070255A1 (fr) Engin de chantier électrique

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): CN US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): BE DE FR GB IT

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase