WO1999016980A1 - Pelle hydraulique - Google Patents
Pelle hydraulique Download PDFInfo
- Publication number
- WO1999016980A1 WO1999016980A1 PCT/JP1998/004402 JP9804402W WO9916980A1 WO 1999016980 A1 WO1999016980 A1 WO 1999016980A1 JP 9804402 W JP9804402 W JP 9804402W WO 9916980 A1 WO9916980 A1 WO 9916980A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work machine
- boom
- hydraulic
- turning
- angle
- Prior art date
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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
Definitions
- the present invention relates to a hydraulic excavator having a work implement provided with a soil discharging machine on one side of a traveling direction of a traveling body and vertically swingably supported at a front portion of a revolving body.
- Hydraulic shovels are mainly used for civil works such as burying drainage pipes underground or excavating drainage trenches.
- pipelines for lifelines such as water, gas, electricity, and communication wiring have become buried underground due to congestion, so new pipes can be buried underground,
- work must be done carefully so as not to damage or cut the existing buried facilities. For this reason, it is necessary to arrange watchmen and carefully work while paying attention to the signals from the workers, which significantly reduces the work efficiency.
- a control signal is output to decelerate the lowering operation of the work equipment when detecting that the work equipment is moving, and to stop the lowering operation of the work equipment when detecting that the work equipment is shifting from the quasi-dangerous area to the dangerous area.
- G The invention of a working depth limiting device equipped with a mouth is disclosed. To have.
- the turning radius of the Hydraulic shovels with small and multifunctional features such as blades with blades set to approximately the vehicle width, have come to be used frequently.
- the above-mentioned working depth limiting device is used for such a hydraulic shovel, when a danger area is provided below a predetermined depth position, the danger is set in an area where interference with the earth removal plate does not occur. The area is set. This eliminates the need for the work equipment to care for interference between the existing buried equipment and the earth removal plate.- Operators can concentrate on excavation work with the work equipment and improve work efficiency. It can be.
- the burial depth be set to a predetermined depth. Therefore, when excavating these pipes or laying new pipes near existing pipes, etc., select a hydraulic excavator with a maximum excavation depth slightly higher than the above burial depth. Dispatch to work site.
- the burial depth is not always buried at a desired depth in many cases. In such a case, since the pipes and the like are generally buried deeper, the excavator may not be able to perform the desired excavation or laying work.
- the maximum excavation depth of the work equipment is shallower than the depth achieved by the mechanical capacity of the work equipment.
- the depth is determined by the interference prevention function of 25 to avoid interference with the earth plate.
- the work machine is determined by the original mechanical capacity of the work machine, that is, the expansion and contraction of the boom cylinder, which is set so that the boom does not interfere with the traveling body, because the hydraulic shovel has the earth removal function. Therefore, it is limited to a depth that is shallower than the maximum excavation depth to be achieved.
- the present invention has been made in view of the current situation in the prior art. And a hydraulic excavator capable of increasing the excavation depth to a level at which the mechanical capability inherent to the working machine can be sufficiently exerted when performing excavation work using a hydraulic excavator working machine equipped with an earth removal plate. For this purpose.
- the present invention sets a dangerous area set at least in the vicinity including at least the upper side of the earth removal plate attached to one side of the traveling direction of the traveling body, It is prohibited by a single operator to prevent a specified part of the machine from entering the danger area, and the turning position of the turning body does not come into contact with the earth removal plate due to the downward movement of the work machine.
- the operating means When the operating means is operated, the prohibition of entry of the work machine into the danger area at a predetermined position is released, or a turning angle detecting means for detecting a turning angle of the revolving body is provided.
- the detected turning angle of the revolving structure indicates that the rotating position of the work implement and the mounting position of the earth removal plate are almost on the opposite side of the center of the turning surface, Work implements to remove the ban on entering It is those that control.
- the present invention is configured as described above, during a normal excavation operation by the work machine, the excavation work is performed by performing the forward excavation work in a state where the work machine is positioned at the front of the traveling body with the turning position of the revolving superstructure.
- the control means exhibits an interference prevention function that prohibits a certain part of the work machine from entering the hazardous area, the operator concentrates on the excavation work without having to worry about the work machine interfering with the earth removal plate. it can.
- the turning position of the slender body does not come into contact with the earth removal plate due to the downward movement of the work machine, that is, the work
- the operator rotates the turning body to a position where the turning position of the machine and the mounting position of the earth removal plate are almost opposite to each other across the turning center, and the operator operates the release operation means or controls the operation.
- the control operation of the means removes the prohibition of the work equipment from entering the danger area at a predetermined location, so that the maximum excavation depth by the work equipment can be made as large as possible with simple operation with little increase in cost. You.
- FIG. 1 is a hydraulic circuit diagram of a hydraulic shovel according to an embodiment of the present invention
- FIG. 2 is a block diagram showing a configuration of a controller of the present embodiment
- Fig. 4 is a flowchart showing the interference prevention processing operation of the con- troller of this embodiment
- Fig. 5 is an excavation work operation of the turning body in the forward (a) and backward (b) directions.
- FIG. 6 is a main part control circuit diagram according to a modification of the present embodiment
- FIG. 7 is a hydraulic circuit diagram of a hydraulic shovel according to another embodiment
- FIG. 8 is a control circuit according to another embodiment.
- 9 is a flowchart showing an interference prevention processing operation of the controller.
- 1 is a traveling body that can be moved by the peripheral surfaces of a pair of crawler belts provided on the left and right ends so as to be movable.
- the turning body supported so that it can be turned 3 is an earth removal surface that is movably attached to the front of the traveling structure 1, and 4 is the vertical direction as a whole,
- This is a work machine that is installed so that it can swing and partially bend.
- Reference numerals 5 to 7 and 4 1 denote the components of the work implement 4
- 5 denotes a first boom that is swingably mounted on the turning body 2 in a vertical direction
- 6 denotes a tip of the first boom 5.
- the second boom held parallel to the first boom 5 via a link mechanism movably mounted in the left and right direction by an offset cylinder described later, and 7 is the tip of the second boom 6
- An arm 41 is attached to the arm 7 so as to be swingable in the vertical direction
- a bucket 41 is attached to the tip of the arm 7 so as to be movable in the vertical direction.
- reference numerals 8 to 11 and 18 to 20 denote hydraulic actuators for driving the traveling body 1, the revolving body 2, and the work implement 4.
- 10 and 11 are boom cylinders, offset cylinders and arm cylinders which extend and retract to move the first boom 5, the second boom 6, the arm 7 and the bucket 41, respectively.
- Yo And bucket cylinders 1, 18, 19, and 20 are a turning motor, a right running motor, and a left running motor for driving the left and right crawler tracks of the turning body 2 and the running body 1, respectively.
- 23 to 26 and 34 to 36 are directional switching valves for switching the direction and flow rate of hydraulic oil supplied from a driving hydraulic pump, which will be described later, to each of the hydraulic actuators.
- 24, 25 and 26 are boom directional switching valves, packet directional switching valves, offset directional switching valves and arm directional switching valves, and 34, 35, and 36, respectively.
- a boom angle sensor which is provided on the rotatable part of the boom and detects the surface movement angle of the first boom 5 with respect to the turning body 2, 17 is a pilot output from a boom operation pilot valve 27.
- Solenoid pressure reducing valve installed in the middle of the pipeline, 40 is a switching switch Controllers for controlling the opening and closing operation of the electromagnetic proportional pressure reducing valve 17 based on the operation signal from the switch 37 and the detection signal from the boom angle sensor 38, This is a cab provided at the top.
- reference numerals 40a to 40c denote components of the controller 40
- reference numeral 40a denotes an operation signal from the switching switch 37 and a boom angle sensor 38.
- the input section which receives the detection signal of the boom angle sensor 38, recognizes the surface movement angle of the first boom 5 with respect to the revolving unit 2 based on the detection signal from the boom angle sensor 38, and sets it at the top of the earth removal plate 3.
- the pilot pressure signal corresponding to the operation direction and operation amount is output as the boom operation pilot.
- the pressure is applied to the pilot pressure receiving chamber of the boom direction switching valve 23 from the valve 27, and the boom direction switching valve 23 is switched to the right or left, whereby the boom cylinder 18 expands and contracts.
- Boom 5 swings up and down.
- a pilot pressure signal corresponding to the operation direction and the operation amount is transmitted from the bucket operation port opening valve 29.
- the bucket directional switching valve 24 switches to the right or left, whereby the bucket cylinder 11 expands and contracts.
- Bucket 41 moves up and down.
- a pilot pressure signal corresponding to the operation direction and operation amount is output to the turning operation pilot valve. From 3 1 is applied to the pilot pressure receiving chamber of the turning direction switching valve 3 4, and the turning direction switching valve 34 switches to the right or left, thereby turning the turning motor 18 to the right or left.
- the turning position of the turning body 2 changes.
- the operation direction a pilot pressure signal corresponding to the operation amount is applied from the arm operation pilot valve 28 to the pilot pressure receiving chamber of the arm direction switching valve 26, and the arm direction switching valve 26. Switches to the right or left, which causes the arm cylinder 10 to expand and contract, and the arm 7 to work in the vertical direction.
- the pilot port pressure signal according to the operation direction and the operation amount is output to the left and right travel operation pilots.
- Right or left traveling direction switching valves 35, 36 from pilot valve 3 2> 33 are applied to pilot pressure receiving chambers, and right or left traveling direction switching valves 35> 36 are right Or switch to the left.! 0 causes the right or left running motor 1 9> 20 to turn right or left, and the right and left of the vehicle 1 moves forward and backward.
- a pilot pressure signal corresponding to the operation direction and the operation amount is transmitted from the offset operation pilot valve 30 to the offset. Is provided to the pilot pressure receiving chamber of the directional control valve 25, and the directional control valve 25 for offset is switched to the right or left, whereby the offset cylinder 9 expands and contracts. 2
- the swinging position of boom 6 is deviated left and right.
- the operator operates the operating machine 4 by operating the operation means (12, 13, 13 and 16) as described above, and performs 20 civil works such as excavation and loading of earth and sand.
- the controller 40 monitors the movement of the work implement 4 and controls the switching operation of the boom directional control valve 2 3 so that the work implement 4 does not interfere with the earth removal plate 3 during the civil engineering work. are doing.
- the operation of the controller 40 for controlling the opening and closing of the electromagnetic proportional pressure reducing valve will be described with reference to the flowchart shown in FIG.
- the boom angle signal detected by the boom angle sensor 38 is input to the input section 40a of the controller -0, and is converted into boom angle data by the calculation section 40b, and the first boom 5 is dangerous. It is compared with the limit angle, which indicates the limit to reach the top of the area. Then, it is determined whether or not the first boom 5 is approaching the dangerous area within a predetermined range of the surface movement angle from the upper end of the dangerous area (S
- the operator selects the switch.
- the switch 37 is turned on, and it is determined whether or not the ON signal from the switching switch 37 is being input to the input section 40a (S2). If the determination result is negative, a control signal is output from the output section 40 so that the throttle amount of the electromagnetic proportional pressure reducing valve 17 becomes larger as the angle difference between the boom angle and the limit angle becomes smaller (S3). . If the judgment result of the hand fi Sl is no or the judgment result of the hand S2 is true, a control signal for fully opening the electromagnetic proportional pressure reducing valve 17 is output from one output section 40c (S4).
- the arithmetic unit 0b converts the boom angle signal detected by the boom angle sensor 38 input to the input unit 40a into boom angle data (arithmetic means) and converts it into the first boom.
- the first boom 5 is approaching the dangerous area within a predetermined rotation angle range from the upper end of the dangerous area by comparing 5 with the limit angle indicating the limit to reach the upper end of the predetermined dangerous area. Determine whether or not.
- the electromagnetic proportional pressure reducing valve 17 is fully opened. 4 performs an operation according to a desired operation state of the operation means (12, 13, 33) by the operator.
- the operator When the civil engineering work is performed with the work implement 4 facing the traveling object 1, the operator does not turn on the switching switch 37, so that the first boom 5 is within a predetermined rotation angle range from the upper end of the danger area. If the II boom of the first boom 5 approaches the danger zone at ⁇ and the II boom of the first boom 5 reaches a value within the predetermined range of the surface movement angle from the limit angle, the first boom 5 will continue to descend below the danger zone ⁇ and the earth will be discharged Since there is a risk of interfering with the plate 3, as the angle difference between the boom angle and the limit angle becomes smaller, that is, as the first boom 5 approaches the dangerous area, the throttle amount of the electromagnetic proportional pressure reducing valve 17 becomes larger.
- Such a control signal is output from the output section 40c to suppress the lowering operation of the first boom 5 and prevent interference with the earth removal plate 3 (danger area entry prohibition control means).
- the work implement 4 stops at the maximum excavation depth Hd1 that can be excavated as shown in Fig. 5 (a), and the operator operates the right operation lever 12 in the direction to lower the first boom 5 further.
- the first boom 5 cannot descend any further.
- the operator when the working machine 4 is facing in front of the running body 1 which is a blade 3 attached, co emissions by preventing interference from bets roller 4 0, the operator - according to the right operating lever 1 2 The operation can reliably prevent the first boom 5 from lowering too much and interfering with the earth discharging ⁇ 3.
- the interference prevention function of the controller 40 is released by switching the switching switch 37 of the operator.
- the work implement 4 (the first boom 5) can descend beyond the limit angle to its mechanical descending limit.
- the maximum excavation depth at this time is naturally H d 2, which is deeper than H d l.
- the minimum contraction of the first boom cylinder 15 when the switching switch 37 is not pressed is L 1
- the minimum contraction of the first boom cylinder 5 when the switching switch 37 is not pressed is L 1. If L 2, then LI> L 2.
- the electromagnetic proportional pressure reduction occurs in the middle of the pie port line to one pressure receiving chamber of the boom directional switching valve 23 that receives the pie port hydraulic pressure output from the boom operation pilot valve 27.
- the electromagnetic proportional pressure reducing valve becomes closer as the first boom 5 approaches the danger area.
- a control was performed to increase the amount of throttling of 1 mm so that no hydraulic impulse occurred in the first boom 5 and the hydraulic line leading to it, but when the work machine 4 was not so strong Ignoring this hydraulic impulse Instead of 17, a cheaper solenoid on-off valve can be used.
- the boom angle signal detected by the boom angle sensor 538 is input to the controller 40 together with the operation signal from the switching switch 37.
- the controller 40 continuously calculates the boom angle based on the boom angle signal from the boom-angle sensor 38 and compares the boom angle with the limit angle. If the first boom 5 is far from the danger zone and the boom angle does not reach the limit angle> 0, an open signal (0) is output from the controller 140 to the solenoid on-off valve 17 '. I do.
- the pie port hydraulic pressure output from the boom operation pilot valve 27 reaches the pressure receiving chamber of one of the boom directional switching valves 23 without being blocked by the solenoid on-off valve 17 ′, and the pressure is reduced. Switch to the switching position in the boom lowering direction. In this case, the operator one by operating the respective operating lever one 1, 5 2, etc. right operating lever, thereby the desired operation on the work vehicle 4.
- the controller 40 sends a close signal (C) to the solenoid on-off valve 17 '. Is output.
- the close signal 20 (C) is output to the solenoid on-off valve 1 ⁇ ′
- the solenoid on-off valve 17 ′ switches to the left position shown in FIG. 6 and the boom output from the pilot operation valve 27
- the hydraulic pressure in the downward direction is blocked by the solenoid on-off valve 17 ′, does not reach the pressure receiving chamber of one of the boom direction switching valves 23, and the other pressure receiving chamber of the pilot port is connected to the oil tank.
- the boom directional control valve 23 switches to the neutral position 25 , the first boom 5 stops at that position, that is, the boundary of the danger area. This prevents the lower part of the first boom 5 from contacting the upper edge of the earth removal plate 3.
- the content ⁇ The output of the closing signal (C) from the solenoid valve 40 to the solenoid on-off valve 17 ′ is prevented, and the pilot oil pressure output from the boom operation pilot valve 27 is applied to the boom.
- the revolving unit 2 when the excavation work having the excavation depth deeper than the originally planned excavation depth is required, the revolving unit 2 is turned by approximately 180 ° and the work implement 4 is displaced by the earth removal plate 3. After turning the non-existent vehicle 1 in the rear direction, simply pressing the changeover switch 37 will lower the work implement 4 further to perform the excavation work at the deeper maximum excavation depth Hd2. Can do o
- reference numeral 39 denotes a turning angle sensor provided at a plane contact portion between the traveling body 1 and the upper turning body 2.
- the turning angle signal of the revolving unit 2 detected by the turning angle sensor 39 is input to the input section 40a of the controller 40 together with the boom angle signal detected by the boom angle sensor 38.
- the boom angle signal detected by the boom angle sensor 38 is converted into boom angle data by the arithmetic section 40b, and the first boom 5 Is compared to a limit angle indicating the limit at which the top of the danger area is reached. Then, it is determined whether or not the first boom 5 is approaching the danger area within a predetermined plane movement angle range from the upper end of the danger area (S11). If the determination result is Yea, the angle of the turning five angles of ⁇ body 2 detected by ⁇ angle sensor one 3 9 (1 8 0 ' ⁇ ⁇ ) ( ⁇ is not rather large predetermined angle) It is compared with the range, and it is determined whether or not it is within the angle range-(S12) (entering determination means).
- the working machine 4 is parallel to the first boom 5 via a link mechanism attached to the tip of the first boom 5 so as to be movable in the left and right direction by an offset cylinder 19.
- the present invention is not limited to the Z5, but can be similarly applied to a hydraulic excavator equipped with a working machine having a rotatable arm at the end of a boom.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98945533A EP0955415A4 (en) | 1997-10-01 | 1998-09-30 | HYDRAULIC EXCAVATOR |
JP51997399A JP3681409B2 (ja) | 1997-10-01 | 1998-09-30 | 油圧ショベル |
AU92800/98A AU735431B2 (en) | 1997-10-01 | 1998-09-30 | Hydraulic excavator |
NZ336119A NZ336119A (en) | 1997-10-01 | 1998-09-30 | Hydraulic excavator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9/268721 | 1997-10-01 | ||
JP26872197 | 1997-10-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999016980A1 true WO1999016980A1 (fr) | 1999-04-08 |
Family
ID=17462431
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1998/004402 WO1999016980A1 (fr) | 1997-10-01 | 1998-09-30 | Pelle hydraulique |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0955415A4 (ja) |
JP (1) | JP3681409B2 (ja) |
AU (1) | AU735431B2 (ja) |
NZ (1) | NZ336119A (ja) |
WO (1) | WO1999016980A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2917591B1 (en) | 2012-11-07 | 2018-10-17 | Parker Hannifin Corporation | Smooth control of hydraulic actuator |
JP7201877B2 (ja) * | 2020-03-24 | 2023-01-10 | 株式会社日立建機ティエラ | 建設機械 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS51101302A (en) * | 1975-03-03 | 1976-09-07 | Kubota Ltd | Haidosochifusetsuno zensenkaigatabatsukuhoo |
JPH06313329A (ja) * | 1993-04-30 | 1994-11-08 | Hitachi Constr Mach Co Ltd | 作業機の制御装置 |
JPH07109746A (ja) * | 1993-10-12 | 1995-04-25 | Hitachi Constr Mach Co Ltd | 作業機の運転室干渉防止装置 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09242110A (ja) * | 1996-03-12 | 1997-09-16 | Hitachi Constr Mach Co Ltd | 油圧式建設機械の干渉防止装置 |
-
1998
- 1998-09-30 EP EP98945533A patent/EP0955415A4/en not_active Withdrawn
- 1998-09-30 AU AU92800/98A patent/AU735431B2/en not_active Ceased
- 1998-09-30 NZ NZ336119A patent/NZ336119A/xx unknown
- 1998-09-30 JP JP51997399A patent/JP3681409B2/ja not_active Expired - Fee Related
- 1998-09-30 WO PCT/JP1998/004402 patent/WO1999016980A1/ja not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS51101302A (en) * | 1975-03-03 | 1976-09-07 | Kubota Ltd | Haidosochifusetsuno zensenkaigatabatsukuhoo |
JPH06313329A (ja) * | 1993-04-30 | 1994-11-08 | Hitachi Constr Mach Co Ltd | 作業機の制御装置 |
JPH07109746A (ja) * | 1993-10-12 | 1995-04-25 | Hitachi Constr Mach Co Ltd | 作業機の運転室干渉防止装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0955415A4 * |
Also Published As
Publication number | Publication date |
---|---|
NZ336119A (en) | 2000-10-27 |
EP0955415A4 (en) | 2001-01-17 |
JP3681409B2 (ja) | 2005-08-10 |
AU9280098A (en) | 1999-04-23 |
AU735431B2 (en) | 2001-07-05 |
EP0955415A1 (en) | 1999-11-10 |
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