WO1997008395A1 - Circuit de commande d'excavateur - Google Patents

Circuit de commande d'excavateur Download PDF

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Publication number
WO1997008395A1
WO1997008395A1 PCT/JP1996/002431 JP9602431W WO9708395A1 WO 1997008395 A1 WO1997008395 A1 WO 1997008395A1 JP 9602431 W JP9602431 W JP 9602431W WO 9708395 A1 WO9708395 A1 WO 9708395A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
speed
penetration
value
descent speed
Prior art date
Application number
PCT/JP1996/002431
Other languages
English (en)
Japanese (ja)
Inventor
Kouji Funato
Original Assignee
Hitachi Construction Machinery Co., 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 Hitachi Construction Machinery Co., Ltd. filed Critical Hitachi Construction Machinery Co., Ltd.
Priority to DE69621767T priority Critical patent/DE69621767T2/de
Priority to EP96928698A priority patent/EP0790356B1/fr
Publication of WO1997008395A1 publication Critical patent/WO1997008395A1/fr

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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
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/20—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels
    • E02F3/205—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels with tools that only loosen the material, i.e. mill-type wheels with a pair of digging wheels, e.g. slotting machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches

Definitions

  • the present invention relates to a device for controlling a penetration force (digging load) and a penetration speed (descent speed) of a drilling device to set values.
  • a digging speed control device for a digging device disclosed in Japanese Patent Publication No. Hei 7-26414 As a control device of a digging device used for a continuous wall method, an earth drill digging method, etc., a digging speed control device for a digging device disclosed in Japanese Patent Publication No. Hei 7-26414 is known. It has been done.
  • This speed control device has a speed control unit that changes the speed of the punch device by changing the reduction ratio so that the excavator descends at the set speed, and a speed control unit that controls the tooth tip load to the upper limit value.
  • a load control unit that changes the speed of the pinch device by changing the reduction ratio, and switches to load control when the tooth tip load exceeds the upper limit value during operation by speed control.
  • a penetration force and speed control device of a drilling rig disclosed in Japanese Patent Publication No. 3-8202 16 is known.
  • this speed control device a control unit that adjusts the speed of the winch device by adjusting the braking force so that the excavator descends at the set speed, and a control device of the winch device so that the penetration input becomes the set penetration input.
  • It has a load control unit that adjusts the speed by controlling the breaker, and switches to speed control when the speed exceeds a predetermined value during operation under load control.
  • the upper limit value of the excavation speed has to be determined according to the excavation capacity of excavated earth and sand, and the speed control is switched to the speed control even if the set value of the tooth tip load is reduced with emphasis on excavation efficiency. At this time, the excavated earth and sand is smoothly discharged, and the durability of the tip of the excavator is prevented from being deteriorated.
  • Japanese Patent Publication No. 3-800210 does not disclose specific circuit configurations for speed control and penetration control.
  • Japanese Patent Publication No. 7 — 2 6 4 1 4 states that speed control is proportional-integral control. It is disclosed that the feed-forward control is added to the feed-forward control in addition to the proportional-integral control, and the tip load (penetration input) control is performed by the proportional control. Therefore, it is conceivable to apply such a control method to the control device disclosed in Japanese Patent Publication No. 3-82021.
  • tooth tip load control controls the tip load at the upper limit by adjusting the descent speed of an excavator with a weight of several tens of tons. In this case, the responsiveness is poor and cannot be put to practical use.
  • An object of the present invention is to provide a control device for an excavator that improves the durability of the tip of the excavator and also improves the excavation efficiency. Disclosure of the invention
  • a control device for an excavator includes: a winch device that moves up and down the excavator; a penetrating input detecting unit that detects a penetrating input of the excavating device; and a penetrating force detected by the penetrating input detecting unit.
  • Penetration control means for controlling the winch device so that it becomes an input
  • descent speed detection means for detecting the descent speed of the excavator, and descent speed detected by the descent speed detection device become the set descent speed
  • the descending speed control means for controlling the winch device and the selecting means for shifting to the control by the descending speed control means when the detected value of the descending speed exceeds a predetermined value during the control by the penetration input control means.
  • the descent speed control means controls the descent speed by proportional integral control
  • the penetration control means controls the penetration force by proportional differential control.
  • the penetration input control means controls the speed of the excavator by controlling the hydraulic winch device so that the detected penetration input becomes the set penetration input.
  • the descent speed control means controls the speed of the excavator by controlling the hydraulic winch device so that the detected descent speed becomes the set descent speed. If the detected value of the descent speed exceeds a predetermined value during the control by the penetration input control means, the selection means shifts to the control by the descent speed control means.
  • the descent speed control means controls the descent speed by proportional integral control, and the penetration control means controls the penetration force by proportional differential control.
  • a control device for an excavator includes a hydraulic source for discharging hydraulic oil, a hydraulic source, The winch hydraulic motor connected by the first and second oil passages, the control valve arranged in the middle of the first and second oil passages, and the return side of the drilling rig while descending A counterweight provided in the second oil passage, and a pressure adjusting means for adjusting the pressure in the second oil passage between the counter valve and the hydraulic motor; Penetrating input detecting means for detecting the penetrating input of the drilling rig, penetrating control means for controlling the pressure adjusting means so as to make the deviation between the penetrating input detected by the penetrating input detecting means and the set penetrating input zero, A descent speed detecting means for detecting the descent speed of the excavator, and a descent speed control means for controlling the pressure adjusting means so that a deviation between the descent speed detected by the descent speed detection device and the set descent speed is set to zero. And the descent speed during control by the Selecting means for
  • the selection device shifts to the control by the descent speed control device.
  • the speed control is performed by adjusting the pressure of the second oil passage by the pressure adjusting means. Reducing the pressure in the oil passage increases the rotational speed of the hydraulic motor, and increasing the pressure decreases the rotational speed.
  • the descent speed control means controls the descent speed by proportional integral control
  • the penetration force control means controls the penetration force by proportional differential control
  • the control is shifted to the control by the descent speed control means, and at least the descent speed is controlled by the selection means.
  • the control may be shifted to the control by the penetrating control means when the detected value of the signal becomes equal to or less than a second predetermined value which is smaller than the first predetermined value.
  • control device of the excavator includes a winch device that moves up and down the excavator, a penetrating input detecting unit that detects a penetrating input of the excavating device, and a penetrating input detected by the penetrating input detecting unit.
  • Penetration control means for controlling the winch device, descent speed detection means for detecting the descent speed of the excavator, and descent speed detected by the descent speed detection device so that the set descent speed becomes the set descent speed.
  • the descending speed control means for controlling the winch device; and if the detected value of the descending speed exceeds the first predetermined value during the control by the penetration input control means, the control is shifted to the control by the descending speed control means. At least the detected value of the descent speed is the first predetermined value.
  • hysteresis is provided for the condition value for switching from the penetration control to speed control and vice versa. After the transition to the speed control exceeding the first predetermined value, when the descent speed decreases to the second predetermined value smaller than the first predetermined value, the control is switched to the penetration control.
  • the above-described penetrating input detecting means may be a drilling load detecting means for detecting, as a penetrating input, a true value of the excavating load received by the excavator when excavating the ground.
  • a control device for a drilling rig includes a winch device for raising and lowering the drilling rig, a digging load detecting means for detecting a true value of a digging load received by the drilling rig when digging the ground.
  • Excavation load control means for controlling the winch device so that the excavation load detected by the excavation load detection means becomes the set excavation load; descending speed detection means for detecting the descent speed of the excavation device; and descent speed detection.
  • the penetrating control means controls the speed of the excavator by controlling the winch device so that the detected penetrating input becomes the set penetrating input.
  • the descent speed control means controls the speed of the excavator by controlling the hydraulic winch device so that the detected descent speed becomes the set descent speed. If the detected value of the descent speed exceeds the predetermined value during the control by the penetration input control means, the selection means shifts to the control by the descent speed control means.
  • the selection means switches to speed control by the descent speed control means when the detected value of the penetrating input is equal to or less than the first predetermined value of the penetrating input.
  • the control is switched to the penetration control by the penetration control means. If the detected value of the descent speed exceeds the first predetermined speed value during the penetration control, the control by the descent speed control means is performed.
  • the detected value of the descent speed becomes equal to or less than the second speed predetermined value that is smaller than the first speed predetermined value and the detected value of the penetration force is larger than the first predetermined value.
  • the control may be shifted to the control by the penetration input control means when the penetration input is equal to or more than the predetermined value.
  • the selection means switches to the speed control by the descent speed control means, and during the speed control, the detection value of the penetration force is changed to the first penetration value.
  • the control is switched to the penetration control by the penetration control means.
  • the control by the descent speed control means is performed. It moves and the detected value of the descent speed becomes equal to or less than the second predetermined speed value smaller than the first predetermined speed value, and the second detection value of the penetration input is larger than the first predetermined penetration value.
  • the control may be shifted to the control by the penetration input control means when the penetration input exceeds a predetermined value.
  • the control device for an excavator according to the present invention has the following effects.
  • the descent speed control means which controls the speed of the excavator so that the detected descent speed becomes the set descent speed, controls the descent speed by proportional-integral control so that the detected excavation load becomes the set excavation load.
  • the penetrating control means for controlling the speed of the excavator controls the descent speed by proportional differential control, so that the accuracy and stability of the speed control unit are improved and the response of the penetrating input control means is improved. The workability of descending the drilling rig at a very low speed is improved.
  • the size and cost can be reduced as compared with the case where a speed reduction mechanism with two types of reduction ratios, high and low, is provided.
  • heat can be generated in the brake device, as in the case of obtaining a very low speed by adjusting the mechanical braking force, the resulting decrease in durability, and the deterioration in maintenance. And other factors can be prevented, resulting in lower initial costs and lower running costs.
  • FIG. 1 is a configuration diagram showing an example of a control device for a drilling rig according to the present invention.
  • Figure 2 is a block diagram showing a detailed example of the controller of Figure 1,
  • FIG. 3 is a flowchart for explaining a selection procedure of the selection unit of the controller.
  • FIG. 4A to 4F are graphs illustrating the switching conditions between the penetration input control and the speed control.
  • FIG. 5 is a graph illustrating the N value and the excavation speed, and
  • FIG. 6 is a configuration diagram of a control device showing another embodiment. BEST MODE FOR CARRYING OUT THE INVENTION
  • the drilling rig is lifted and lowered by a hydraulic winch device HWD.
  • the hydraulic oil of a hydraulic pressure source 1 composed of a hydraulic pump and a relief valve is guided to a hydraulic motor 3 via a gantrol valve 2.
  • a gantrol valve 2. f
  • Control valve 2 and hydraulic motor 3 are connected by oil passages 4 and 5, and oil passage 5 is a counterbalance valve composed of pressure regulating valve 6a and check valve 6b. 6 will be provided.
  • the pressure regulating valve 6a opens according to the pressure of the oil passage 4 and closes when no pressure is generated in the oil passage 4 to prevent the ⁇ inch from escaping.
  • the output of the hydraulic motor 3 is decelerated by the speed reducer 7 and drives the hoisting drum 8 to rotate.
  • the control valve 2 may be of a manual switching type, a hydraulic pipe switching type, or an electromagnetic switching type. The above is the description of the hydraulic winch device HWD.
  • the hoisting drum 8 retracts the wire rope 9 and extends it to raise and lower the excavator 10.
  • the wire rope 9 is routed through the sheaves 12 of the boom 11, the rotation speed of the sheaves 12 is detected by the excavation speed detector 21, and the rope speed, that is, the The elevating speed is detected.
  • the lifting force of the boom 1 1 is detected by the beam lifting force detector 2 2, and the angle of the boom 1 1 1 is detected by the boom angle meter 2 3, and the lifting load is calculated from the lifting force and the boom angle. .
  • the penetrating input is calculated by subtracting the weight of the excavator 10 from the suspended load. Note that the penetrating input is also called the tooth tip load or the excavation load.
  • Reference numeral 13 denotes a make-up valve that supplies pressurized oil from the tank so that the oil passage 4 does not become negative pressure.
  • a pressure adjusting device PCD that adjusts the pressure of the oil passage 5 in order to finely control the speed of the hydraulic motor 3 is provided.
  • the pressure adjusting device PCD is provided between the oil passage 4 and the oil passage 5, an electromagnetic proportional valve 31, which is operated to open when the pressure of the oil passage 5 is reduced, and an oil passage 4.
  • the check valve 32 for inhibiting the flow of pressurized oil to the oil passage 5, the relief valve 33 for applying back pressure to the return oil from the proportional solenoid valve 31 and the pressure in the oil passage 5
  • Electromagnetic proportional valve 34 which is operated to the open side when increasing
  • check valve 35 which prevents the pressure oil in oil line 5 from flowing to electromagnetic proportional valve 34 side, oil line 4 and oil line
  • a solenoid on-off valve for shutting off an oil passage between the solenoid valve and the solenoid valve.
  • the solenoid proportional valves 31, 34 and the solenoid on-off valve 36 are opened and closed by a command signal from the controller 40.
  • the controller 40 has an excavating speed detector 21, a boom angle meter 23, a boom undulating force detector 22, and a speed upper limit setting unit 4 1 for setting the excavating speed upper limit of the excavator 10.
  • a load upper limit setting unit 42 that sets the excavation load upper limit of the excavator 10
  • a mode switch 43 that instructs the slow speed mode using the pressure adjusting device PCD
  • the excavator 10 Drilling rig own weight setting section 4 4 that sets the own weight of each is connected to each.
  • the electromagnetic opening / closing valve 36 is closed.
  • the excavation speed is switched to the speed control when the excavation speed exceeds the first predetermined value (speed upper limit value) during the penetration input control, and the excavation speed is changed to the second predetermined value (the first predetermined value X) during the speed control.
  • control that switches to penetration control is included, and the controller 40 is configured as shown in FIG.
  • Fig. 2 is a block diagram showing the processing performed by the controller 40.
  • the controller 40 has an actual suspension load calculating unit 45, a speed control unit 50, a penetration input control unit 70, a selection unit 80, and an output unit 90.
  • the actual lifting load calculation unit 45 receives the boom angle detected by the boom angle meter 23 and the undulation force detected by the undulation force detector 22 and calculates the actual lifting load using a well-known calculation formula. .
  • the speed control unit 50 calculates a deviation ⁇ V between the speed upper limit value Vt output from the speed upper limit value setting unit 41 and the actual speed Vr output from the excavation speed detector 21.
  • a multiplier 5 2 that multiplies the deviation ⁇ by the gain K p, an integrator 5 3 that integrates the deviation AV, and a multiplier 5 4 that multiplies the output of the integrator 5 3 by the gain K i.
  • the multiplier 5 2 An adder 55 that outputs the speed control command Nv by adding the output Kp ⁇ ⁇ and the output Ki ⁇ ⁇ of the multiplier 54.
  • the speed control command signal Nv corresponding to the deviation between the detected excavation speed Vr and the speed upper limit set value Vt is output so that the speed upper limit set value set in the above is obtained.
  • the speed controller 50 employs the proportional-integral control method.
  • the penetrating input control unit 70 is a deflector 7 that calculates the deviation Wr between the actual suspension load Wt from the actual suspension load calculation unit 45 and the own weight Wo set in the excavator own weight setting unit 44.
  • a deviation unit 72 that calculates the deviation AW between the output Wr of the deviation unit 71 and the upper limit WL of the penetration input
  • a multiplier 73 that multiplies the deviation by the gain Kpw
  • the memory 74 stores the deviation AWOL of the deviation AWOL, the deviation between the previous deviation AWOL stored in the memory 74 and the current deviation
  • a deviation calculator 75 that calculates WD, and the gain K dw is used as the deviation.
  • the penetration input corresponding to the deviation between the detected excavation load W r and the upper limit WL so that the excavation load becomes the upper limit WL set in the load upper limit setting unit 42.
  • the penetration input control unit 70 employs the proportional differential control method.
  • the selection section 80 selects one of the output Nv of the speed control section 50 and the output Nw of the penetration input control section 70 and inputs it to the output section 90.
  • the penetrating force control is selected at the time of starting the apparatus, and the control mode is switched between the penetrating force control and the excavating speed control according to the excavating speed and the excavating load.
  • the selecting operation of the selecting section 80 has hysteresis.
  • the control mode is switched as shown in the flowchart of FIG.
  • the control mode switching will be described with reference to the flowchart of FIG.
  • the initial state is the tsunami input control, and the state flag is set to 0 in step S1.
  • step S2 If the slow speed mode has been set in step S2, the previous control state is determined in step S3. If the previous state is the penetration control, the process proceeds to step S4. If the calculated excavation load Wr is less than (upper limit WLZ4), the process proceeds to step S9 and the excavation speed control is performed. Switch. At this time, the status flag is set to 1. In the above flow, if the excavation load Wr is less than (excavation upper limit WL / 4) when the slow speed mode is set at startup and the mode is switched to penetration control, the mode is switched to speed control. It is shown that.
  • step S5 the excavation speed Vr exceeds the upper speed limit Vt and the excavation load Wr is less than the upper limit WL. If so, switch to speed control in step S9.
  • the excavation load Wr is equal to or more than (upper limit WL / 4) and the excavation speed Vr is set to the upper speed limit V when the slow speed mode is set at startup and the control is switched to penetration control. This indicates that the control is switched to the speed control if it exceeds t.
  • step S3 after switching to speed control in step S9, the status flag is 1, and the process proceeds to step S7.
  • the speed control is continuously executed in step S9.
  • the above flow shows that when the excavation load Wr is equal to or less than the (excavation upper limit WL / 2), the speed control is maintained when the input control is switched to the speed control. .
  • the excavation load Wr exceeds (load upper limit WL / 2) in step S7, the process proceeds to step S8, and the excavation load Wr is less than the upper load limit WL and It is determined whether the excavation speed Vr has exceeded (the speed upper limit value VtxO.7).
  • the speed control is continuously executed in the step S9.
  • the excavation load Wr exceeds the (excavation upper limit value WL2)
  • the excavation speed Vr becomes equal to (the velocity upper limit value VtX) when switching from the penetration input control to the speed control. If it is larger than 0.7), it indicates that the speed control is still available.
  • the process proceeds to the step S6 to switch to the penetration control. I see. At this time, the status flag is set to 0.
  • step S1 When the excavation load Wr is less than (excavation upper limit value W L4), switch to speed control.
  • the process proceeds from step S1 to step S4 to step S9, which is the hatched area in FIG. 4A.
  • step S1 When the excavation load Wr is equal to or greater than the excavation upper limit value W L / 4 and the excavation speed Vr is equal to or less than the speed upper limit value Vt, the penetration input control remains.
  • step S5 the process proceeds from step S1 to step S5 to step S6, which is the hatched area in FIG. 4C.
  • the penetrating input control is maintained (in the flowchart of FIG. It is time to proceed to step S6, which is the hatched area in FIG. 4D.
  • Step S7 to step S9 in the flowchart of FIG. 3
  • the speed control remains even when the excavation speed Vr is higher than (speed upper limit Vt.0.7) (flow chart in Fig. 3).
  • Step S7 to Step S8 to Step S9) after switching from inrush input control to speed control, the range of speed control expands as shown in Fig. 4F due to hysteresis.
  • the threshold value for the speed is set such that the upper speed limit Vt is set as the first threshold value and (the upper speed limit VtxO.7) is set as the second threshold value.
  • the control switches from the penetration control to the speed control.
  • r exceeds (load upper limit WL / 2), control switches to penetration control.
  • the threshold values for the excavation load are such that (load upper limit WL / 4) is set as the first threshold and (load upper limit WL / 2) is set as the second threshold.
  • Nuki input system If the excavation load Wr detected during operation is less than the first threshold value W LZ4, the mode is switched to speed control, and the excavation load Wr exceeds the second threshold value WLZ 2 during speed control. If the speed is equal to or lower than (speed upper limit value VtX 0.7), the control is switched to the penetration control.
  • the output unit 90 includes an integrator 91 that integrates the output signal of the selection unit 80, a sign determiner 92 that determines the sign of the output Nc of the integrator 91, and an output Nc of the integrator 91.
  • a constant current amplifier 93 that outputs a constant current as a predetermined voltage, and a switch 9 that closes the contact a or the contact b based on the result of the judgment from the sign judging device 92.
  • a is connected to the proportional solenoid valve 3 4
  • the contact b is connected to the proportional solenoid valve 31.
  • a signal corresponding to the speed deviation signal Nv or the load deviation signal Nw is applied to the electromagnetic proportional valves 31 and 34 via the contacts a and b.
  • the operation of the control device of the excavator configured as described above will be described in detail.
  • the operator selects the low-speed mode using the mode switch 43 and operates the control pulp 2 to the neutral position. (In some cases, the control pulp 2 may be opened by a predetermined amount on the lower side. ), Set the upper limit value Vt of the excavating speed of the excavator 10 in the upper speed limit value setting unit 4 1, set the upper limit value WL of the excavating load in the excavation load upper limit value setting unit 4 2, and set the own weight setting unit 4 4. Set the own weight W o of the drilling rig 10 with.
  • the actual lifting load calculating section 45 is based on the boom angle detected by the hoisting force detector 22 and the boom angle detected by the boom angle meter 23, and a known calculating method is used. Calculate the load W t.
  • the deviator 71 calculates the excavation load Wr that the excavator 10 would receive from the ground based on the difference between the actual suspension load Wt and the own weight Wo of the excavator 10. Further, the deviation device 72 calculates the deviation between the load upper limit WL set by the excavation load upper limit setting section 42 and the excavation load Wr.
  • the multiplier 73 outputs a value obtained by multiplying the deviation AW by the gain ⁇ w.
  • the deviation AW is stored in the memory 74 as the previous deviation AWOL, the deviation between the current deviation and the previous deviation AWOL is calculated by the deviator 75, and the multiplier 76 is gay to the deviation AWD. Multiply by K dw and output.
  • the adder 77 outputs an excavation control command signal Nw which is a result of adding the proportional term Kpw'AW and the derivative term Kdw'AWD.
  • the operation of the speed controller 50 is as follows. Deviation between the descent speed Vr detected by the excavation speed detector 21 and the upper limit Vt set by the speed upper limit setting unit 41 It is calculated by the vessel 51.
  • the multiplier 52 multiplies the deviation ⁇ by the gain Kp and outputs Kp ⁇ AV.
  • the integrator 53 integrates the deviation ⁇ , and the multiplier 54 multiplies the integrated value ⁇ by the gain K i.
  • the deviation unit 55 adds the proportional term K p .AV output from the multiplier 52 to the integral term K i i ⁇ ⁇ output from the multiplier 54 to generate the speed control command signal N v. Output.
  • the selection unit 80 selects one of the speed control command signal Nv and the penetration control command signal Nw and inputs the selected signal to the output unit 90.
  • the excavation control command signal Nw input to the output section 90 becomes positive, and the sign judge 92 determines that the switch 94 has the b contact.
  • the rotation speed of the drum 8 increases, and the digging load by the digging device 10 increases.
  • the amount of pressure oil leaking from the oil passage 5 is positively increased, and the rotation speed of the hydraulic motor 3 is increased at a speed higher than the fine speed rotation of the hydraulic motor 3 due to the leak from each hydraulic device.
  • the opening of the proportional solenoid valve 31 depends on the magnitude of the command signal Nw or Nv.
  • the very low rotational speed of the hydraulic motor 3 is an extremely low rotational speed at which the excavator 10 descends at, for example, 0.5 cmZmin.
  • the excavation control command signal Nw input to the output unit 90 becomes negative, and the sign contactor 92 switches the switch 94 to the a contact.
  • the valve is closed, thereby closing the electromagnetic proportional valve 31 and operating the electromagnetic proportional valve 34 to the open side to increase the pressure in the oil passage 5 and reduce the speed of the hydraulic motor 3.
  • the rotation speed of the drum 8 decreases, and the digging load by the digging device 10 decreases. That is, by increasing the pressure in the oil passage 5, the hydraulic brake is applied to the fine-speed rotation of the hydraulic motor 3 due to the leak from each hydraulic device, and the rotation speed of the hydraulic motor 3 is reduced.
  • the excavation load control is performed by adjusting the speed of the excavator 10 within a range where the excavation load does not exceed the upper limit WL. If the descent speed of the excavator 10 exceeds the first predetermined value Vt during the excavation load control, the selector 80 closes the contact b, and issues the speed control command Nv from the speed controller 50. select. When the contact b of the selection section 80 is closed (speed control):
  • the speed control unit 50 issues a positive speed control command Nv. Output.
  • the switch 94 of the output section 90 closes the contact b, closes the solenoid proportional valve 34, and operates the solenoid proportional valve 31 to the open side to reduce the pressure in the oil passage 5 and to close the hydraulic motor 3. Increase the speed. As a result, the rotation speed of the drum 8 is increased, and the descent speed of the excavator 10 is increased.
  • the opening of the proportional solenoid valve 34 depends on the magnitude of the command signal Nw or Nv.
  • the descent speed of the excavator 10 falls within the range between the first predetermined speed Vt and the second predetermined speed (VtxO.7).
  • the contact b of the selector 80 is closed due to hysteresis, the following control is performed.
  • the actual excavation speed Vr becomes slower than the set speed Vt, and the speed control command Nv becomes positive.
  • the switch 94 of the output unit 90 closes the contact b, closes the solenoid proportional valve 34, and operates the solenoid proportional valve 31 to the open side to reduce the pressure in the oil passage 5 and the hydraulic motor 3 Speed up. As a result, the rotation speed of the drum 8 increases, and the descent speed of the excavator 10 increases. If the N value of the ground increases and the descent speed Vr falls below the second predetermined value (VtxO.7) and the excavation load Wr is equal to or greater than the upper limit value Z2, The selector 80 closes the contact point a and selects the excavation control command Nw from the excavation controller 70.
  • the proportional differential control method is used for the penetration control unit 70 and the proportional-integral control method is used for the speed control unit 50, so the responsiveness of the excavation load control is improved, and the accuracy of the speed control is improved. Can be stabilized.
  • the basic mode is the digging load control mode in which the digging load is constant, as shown in Fig. 5, the digging speed is slower on the ground with a higher N value, and In this case, the excavation speed increases. In soft ground, the excavation speed becomes too high and the excavated soil may exceed the capacity of the discharge pump. Therefore, when the excavation speed exceeds the specified value (upper limit), the excavation load control Switch to speed control.
  • the speed control the descent speed of the excavator 10 is controlled so that the set excavation speed is achieved.If the upper limit of the descent speed is determined according to the capacity of the sediment discharge pump, the sediment will Emitted properly.
  • the hydraulic winch device is used to adjust the pressure in the oil passage 5 on the return side during the lowering to achieve fine speed control.
  • a normal-speed winch power mechanism consisting of a hydraulic motor and a deceleration mechanism with a reduced speed ratio.
  • the fine-speed winch power mechanism is used for fine-speed control.
  • the structure is simplified and the cost can be reduced as compared with the method using the power mechanism.
  • the mechanical braking force is adjusted to achieve a slow speed, the heat generated by the brake device and the accompanying
  • a problem such as a decrease in durability occurs, such a problem is solved according to the above embodiment.
  • the excavator used in the continuous wall method has a weight of several tens of tons, and a large-capacity brake device is used.However, heat generation and durability are major obstacles in practical use. .
  • a hydraulic winch device When a hydraulic winch device is used to adjust the pressure in the oil path 5 on the return side during lowering to achieve fine speed control, a pair of oil paths 4 and A circuit is provided to leak from the oil passage connecting tank 5 to the tank, and a solenoid proportional valve 31 is installed in that circuit, and a circuit that introduces hydraulic oil from hydraulic source 1 to oil passage 5 An electromagnetic proportional valve 34 was installed in the circuit, and the pressure in the oil passage 5 was adjusted by controlling the opening and closing of the pair of electromagnetic proportional valves 31 and 34.
  • Machine hydraulic winch device The fine speed controller PCD can be added very easily.
  • the pressure control device PCD is omitted from the hydraulic winch device HWD in Fig. 1, and the hydraulic winch high-speed drive system HD1 used for normal work and the fine speed control are used.
  • the hydraulic winch fine-speed drive system HD2 to be used is switched by a clutch.
  • the hydraulic motor high-speed drive system HD1 is composed of the hydraulic motor 3 and the speed reducer 7 in FIG. 1, and the hydraulic winch fine speed drive system HD2 is composed of the hydraulic motor 3A and the speed reducer 7A.
  • the capacity of the hydraulic motor 3 A is smaller than the capacity of the hydraulic motor 3, and the reduction ratio of the speed reducer 7 A is larger than that of the speed reducer 7.
  • a clutch 14 is provided between the speed reducer 7 and the drum 8, and a clutch 14A is provided between the speed reducer 7A and the drum 8.
  • the winch fine-speed drive system HD 2 is a hydraulic pump 1 A and an electromagnetic proportional control valve 2 that controls the amount and direction of hydraulic oil supplied from the hydraulic pump 1 A to the hydraulic motor 3 A. A is provided.
  • the operation of the electromagnetic proportional control valve 2A is controlled by a command signal from the controller 40A.
  • the controller 4 O A has the same configuration as in Fig. 2, and the excavation speed detector
  • the respective detection signals are inputted from a boom hoisting force detector 22 and a boom angle meter 23, and a speed upper limit value setting section 41 and a digging load upper limit value setting section 4 2 , And the signal input mode set from the mode switch 43 and the weight setting section 44 are input.
  • one of the clutches may be connected by a manual operating device (not shown) and the other clutch may be shut off.
  • the clutch 14 is connected by connecting the clutch 14A.
  • the clutch 14A may be connected to shut off the clutch 14 when the low-speed control mode is selected.
  • the switching amount and the switching direction of the electromagnetic proportional control valve 2A are controlled by the speed control command NV or the digging control command Nw from the controller 40A, and the digging load is being controlled.
  • the mode is switched to speed control.
  • the descent speed is equal to or less than the second predetermined value (upper limit X 0.7). Nana Then, it is controlled to switch to excavation load control.
  • the rotational speed of the hydraulic motors 3 and 3 A is adjusted by pressure adjustment or switching of the reduction ratio, respectively.
  • this is disclosed in Japanese Patent Publication No. 3-820216.
  • the mechanical braking force may be adjusted to obtain a fine speed.
  • the actual suspension load is calculated from the boom hoisting force and the boom angle, and the excavation load is obtained by subtracting the own weight of the known excavator 10 from the actual suspension load.
  • the excavation load will be detected as excessive and the actual excavation load will decrease even though it is small. Control may be performed to reduce the speed. Therefore, if the load state of the power source that applies the driving force to the excavation bit of the excavator 10 is detected and the detected value is compared with the upper limit of the excavation load, the reliability of the excavation load control is improved. Is improved. If a hydraulic motor is used as the power source, the digging load can be detected from the pressure of the hydraulic motor, and if it is an electric motor, the digging load can be detected from the current value.
  • the electromagnetic proportional valve 34 when increasing the speed in accordance with the positive or negative of the command signal Nw or Nv, the electromagnetic proportional valve 34 is closed and the electromagnetic proportional valve 31 is adjusted according to the amount of acceleration.
  • the proportional valve 31 is closed and the proportional valve 34 is opened according to the deceleration amount.However, it is also possible to control as follows. You. In other words, when the desired minute speed cannot be obtained due to the small amount of leakage from the existing circuit, it is possible to respond by opening the solenoid proportional valve 31 by a predetermined amount in advance.
  • the command signal Nw or ⁇ decelerates by reducing the opening of the solenoid proportional valve 31 at the time of a deceleration command, and still decelerates even when the solenoid proportional valve 31 is completely closed.
  • the electromagnetic proportional valve 34 may be opened when the measure is output. Or conversely, if the desired amount of leakage cannot be obtained due to the large amount of leakage from the existing circuit, it is possible to respond by opening the solenoid proportional valve 34 by a predetermined amount in advance. However, in this case, when the command signal Nw or ⁇ is commanded to increase the speed, the opening of the proportional solenoid valve 34 is reduced to increase the speed, and the speed is still increased even when the solenoid proportional valve 34 is completely closed.
  • the electromagnetic proportional valve 31 may be opened when the command is output. Industrial applicability
  • the control device of the excavator controls the penetration input (excavation load) and the penetration speed (descent speed) of the excavator to a set value such as a continuous wall method or an earth drill excavation method. It can be used for the winch equipment of excavators.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

Pour prolonger la durée du tranchant des dents d'un excavateur et donc son efficacité d'excavation, un module de commande (70) de force de pénétration commande un treuil hydraulique (HWD) de façon qu'une force de pénétration détectée atteigne un niveau donné, ce qui permet de commander la vitesse de cet excavateur (10). Un module de commande (50) de vitesse de descente est conçu pour commander ce treuil hydraulique (HWD) de façon qu'une vitesse de descente détectée atteigne un niveau donné, ce qui permet de commander la vitesse de cet excavateur (10). Quand le niveau de descente détecté dépasse un niveau prédéterminé pendant une opération de commande propre au module de commande (70) de force de pénétration, un module de sélection (80) remplace cette opération de commande par celle du module de commande (50) de vitesse de descente, lequel est conçu pour commander cette vitesse par une opération de commande par intégration proportionnelle, alors que le module de commande (70) de force de pénétration est conçu pour commander cette dernière force par une opération de commande par différenciation proportionnelle.
PCT/JP1996/002431 1995-08-31 1996-08-30 Circuit de commande d'excavateur WO1997008395A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE69621767T DE69621767T2 (de) 1995-08-31 1996-08-30 Steuersystem für einen bagger
EP96928698A EP0790356B1 (fr) 1995-08-31 1996-08-30 Circuit de commande d'excavateur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/223713 1995-08-31
JP7223713A JP3068772B2 (ja) 1995-08-31 1995-08-31 掘削装置の制御装置

Publications (1)

Publication Number Publication Date
WO1997008395A1 true WO1997008395A1 (fr) 1997-03-06

Family

ID=16802508

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/002431 WO1997008395A1 (fr) 1995-08-31 1996-08-30 Circuit de commande d'excavateur

Country Status (6)

Country Link
EP (1) EP0790356B1 (fr)
JP (1) JP3068772B2 (fr)
KR (1) KR100439892B1 (fr)
CN (1) CN1070973C (fr)
DE (1) DE69621767T2 (fr)
WO (1) WO1997008395A1 (fr)

Cited By (1)

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EP3819434A1 (fr) * 2019-11-06 2021-05-12 BAUER Maschinen GmbH Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol

Families Citing this family (8)

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Publication number Priority date Publication date Assignee Title
JP4527860B2 (ja) * 2000-08-30 2010-08-18 株式会社タダノ クレーンの油圧ウインチの速度制御方法および同装置
DE10116342C2 (de) * 2001-04-02 2003-02-27 Bauer Maschinen Gmbh Hubwinde
DE10256923B4 (de) * 2002-12-05 2013-10-24 Liebherr-France S.A. Verfahren und Vorrichtung zur Bewegungsdämpfung von Hydraulikzylindern mobiler Arbeitsmaschinen
CN102153027B (zh) * 2011-04-12 2013-01-30 武汉船用机械有限责任公司 一种液压绞车无级调节恒张力装置
ITTO20110834A1 (it) * 2011-09-20 2013-03-21 Soilmec Spa Sistema di controllo per una macchina di scavo e/o perforazione di terreni e macchina di scavo e/o perforazione comprendente tale sistema.
US9850637B2 (en) 2014-03-24 2017-12-26 Soilmec S.P.A. Digging equipment with relative improved hydraulic system
CN110593336A (zh) * 2019-08-28 2019-12-20 上海中联重科桩工机械有限公司 控制工程机械掘进的方法、装置和系统及工程机械
WO2023192958A2 (fr) * 2022-03-30 2023-10-05 Vermeer Manufacturing Company Systèmes et procédés de fonctionnement de machines d'excavation

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JPH0595988U (ja) * 1991-10-17 1993-12-27 住友建機株式会社 巻上装置の負荷落下防止装置
JPH06322768A (ja) * 1991-06-11 1994-11-22 Bauer Spezialtiefbau Gmbh 深穴ボーリング装置およびそのボーリング工具の前進速度を制御する方法
JPH0726414B2 (ja) * 1991-07-31 1995-03-22 株式会社神戸製鋼所 掘削機の掘削速度制御装置
JP3080216B2 (ja) * 1996-11-14 2000-08-21 藤川金属株式会社 自動販売機の破砕・分離加工装置
JP7086243B2 (ja) * 2021-03-01 2022-06-17 能美防災株式会社 表示制御装置

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JPH06322768A (ja) * 1991-06-11 1994-11-22 Bauer Spezialtiefbau Gmbh 深穴ボーリング装置およびそのボーリング工具の前進速度を制御する方法
JPH0726414B2 (ja) * 1991-07-31 1995-03-22 株式会社神戸製鋼所 掘削機の掘削速度制御装置
JPH0595988U (ja) * 1991-10-17 1993-12-27 住友建機株式会社 巻上装置の負荷落下防止装置
JP3080216B2 (ja) * 1996-11-14 2000-08-21 藤川金属株式会社 自動販売機の破砕・分離加工装置
JP7086243B2 (ja) * 2021-03-01 2022-06-17 能美防災株式会社 表示制御装置

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EP3819434A1 (fr) * 2019-11-06 2021-05-12 BAUER Maschinen GmbH Procédé et dispositif de fraisage de paroi de fente permettant de créer une fente fraisée dans le sol
WO2021089603A1 (fr) * 2019-11-06 2021-05-14 Bauer Maschinen Gmbh Procédé et dispositif de coupe de tranchée destinés à la création d'une tranchée dans le sol
CN114555889A (zh) * 2019-11-06 2022-05-27 包尔机械有限公司 用于在土壤中产生铣削槽的方法和槽壁铣削装置

Also Published As

Publication number Publication date
EP0790356B1 (fr) 2002-06-12
DE69621767D1 (de) 2002-07-18
KR970707352A (ko) 1997-12-01
EP0790356A4 (fr) 1999-12-22
CN1070973C (zh) 2001-09-12
EP0790356A1 (fr) 1997-08-20
CN1166191A (zh) 1997-11-26
JP3068772B2 (ja) 2000-07-24
KR100439892B1 (ko) 2004-11-03
JPH0967829A (ja) 1997-03-11
DE69621767T2 (de) 2003-01-30

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