CN105756111B - Construction machinery - Google Patents
Construction machinery Download PDFInfo
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- CN105756111B CN105756111B CN201610007289.9A CN201610007289A CN105756111B CN 105756111 B CN105756111 B CN 105756111B CN 201610007289 A CN201610007289 A CN 201610007289A CN 105756111 B CN105756111 B CN 105756111B
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- swing arm
- speed
- dipper
- speed gain
- construction machinery
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- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention provides a kind of construction machinery, which is easy to make the position of work package to be moved along target trajectory.In the present invention, swing arm is installed in upper rotation, dipper is installed in the front end of swing arm.Work package is constituted by swing arm and dipper.Driving device drives work package.Operating device is operated by operator.The position of the position of sensor detecting work component.By position closer to the ratio between operating quantity of the angular speed relative to operating device of the base portion then swing arm of swing arm it is higher in a manner of control the driving device.
Description
This application claims the priority based on Japanese patent application filed in 6 days January in 2015 the 2015-000777th.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of construction machineries for operating device being operable to that swing arm and dipper is made to act.
Background technology
A kind of track control device of construction machinery is disclosed in following patent documents 1.In the track control device, with
The rotary motion of each swing arm and dipper corrects swing arm angular speed in the self-braking mode of end of travel of swing arm cylinder and dipper cylinder
And dipper angular speed.As a result, round and smooth continuous action can be carried out near swing arm cylinder and dipper cylinder end of travel.
Patent document 1：Japanese Unexamined Patent Publication 10-121507 bulletins
In general hydraulic actuated excavator, the angular speed of swing arm and dipper is determined according to the operation angle of operating lever.With shovel
The relevant movement speed of upper and lower directions and front-rear direction of the front end of bucket has non-linear relative to the angular speed of swing arm and dipper
Relationship.As an example, the ratio between the angular speed by the speed of the upper and lower directions of bucket front-end relative to swing arm and dipper is defined as
Mechanicalness speed gain.Posture of the mechanicalness speed gain dependent on swing arm and dipper.For example, base of the scraper bowl closer to swing arm
Portion, mechanicalness speed gain more reduce.If mechanicalness speed gain reduce, scraper bowl towards upper and lower directions movement relative to behaviour
Making the operating quantity of bar becomes slow.
Sometimes the work moved into enforcement scraper bowl along the target trajectory across the different region of mechanicalness speed gain.
The smaller region of mechanicalness speed gain must increase if the position of scraper bowl is deviated from target trajectory and be back to target trajectory
Operation operating quantity.In this way, since the operating quantity for making scraper bowl return to target trajectory changes, therefore, it is difficult to make scraper bowl along mesh
Mark track movement.
Invention content
The purpose of the present invention is to provide a kind of construction machines for being easy that the position of work package is made to move along target trajectory
Tool.
A viewpoint according to the present invention, provides a kind of construction machinery, and the construction machinery has：
Work package, including being installed on the swing arm of upper rotation and being installed on the dipper of the front end of the swing arm；
Driving device drives the work package；
Operating device is operated by operator；
Sensor detects the position of the position of the work package；And
Control device, with the position closer to the base portion then swing arm of the swing arm angular speed relative to described
The higher mode of the ratio between operating quantity of operating device controls the driving device.
Invention effect
In general, position close to swing arm base portion when, then the angular speed of swing arm relative to operating device operating quantity it
It is more reduced than (mechanicalness speed gain).By position closer to the control in a manner of then mechanicalness speed gain is higher of the base portion of swing arm
Driving device processed, therefore operator can not go the reduction of consciousness mechanicalness speed gain and the position of work package is made to move
It is dynamic.Therefore, it is easy that position is made to move along target trajectory.
Description of the drawings
Fig. 1 is the side view of the construction machinery based on embodiment.
Fig. 2 is the skeleton diagram of the hydraulic control system of the construction machinery based on embodiment.
Fig. 3 is the figure for being illustrated to the coordinate system of posture and the definition of various parameters that define work package.
Fig. 4 A are the curve graphs of an example for the track for indicating position AP when usual operator operates, and Fig. 4 B are
Indicate the curve graph of the time change of angle, θ 1, Fig. 4 C are the curve graphs for the time change for indicating mechanicalness speed gain.
Fig. 5 A are the curve graph indicated with the front-rear direction position dependence of the relevant mechanicalness speed gain of swing arm, Fig. 5 B
It is the curve graph indicated with the upper and lower directions position dependence of the relevant mechanicalness speed gain of dipper.
Fig. 6 is the block diagram for indicating to drive the function of the work package of the construction machinery based on embodiment.
Fig. 7 is the block diagram for indicating to drive the function of the work package of the construction machinery based on other embodiment.
Fig. 8 is the block diagram for indicating to drive the function of the work package of the construction machinery based on another embodiment.
Fig. 9 is the block diagram for indicating to drive the function of the work package of the construction machinery based on another other embodiment.
Label declaration
10- lower running bodies, 11- swing mechanisms, 12- upper rotations, 13- swing arms, 14- swing arm cylinders, 15- dippers, 16-
Dipper cylinder, 17- scraper bowls, 18- scraper bowl cylinders, 19,20,21- hydraulic motors, 23- work packages, 25- control valves, 26- hydraulic pumps,
29- attitude sensors, 30- control devices, 31- operating devices, 33- driving devices, 34- hydraulic circuits, 35- power generate dress
It setting, 130- swing arm vectors, 141,142- fluid pressure lines, 150- dipper vectors, 151- acts on point vector, and 161,162- hydraulic tubes
Road, 170- scraper bowl vectors, 181,182- fluid pressure lines, 251- direction switch valves, 252- flow rate regulating valves, 253- regeneration valves,
271,272,273,274,275,276- pressure sensors, 291,292,293- angular transducers, 301- operating quantity test sections,
302- position detection parts, 303- rate request value correction units, 304- correction coefficient determining sections, 305- driving portions, the positions 306--school
Positive coefficient corresponds to table, 307- discharge-amount correction units, 308- regenerant flow correction units, and 309- loads determination unit, 311- operating levers,
AP- positions, CFa, CFb- correction coefficient, CV- command values, CVa- dipper command values, CVb- swing arm command values, DQC- discharge-amounts
Command value, the tracks L-, MGa, MGb- mechanicalness speed gain, OA- operating quantity, the operating quantity of OAa- dippers, the behaviour of OAb- swing arms
It measures, RFC- regenerant flow command values, SCa, SCb- control signal, the speed in the directions z of Vz- positions, WCa- dippers angle speed
Degree command value, WCb- swing arm angular speed command values, WRa- dipper angular speed required values, WRb- swing arm angular speed required values, Wa,
Wb, Wc- angular speed.
Specific implementation mode
The side view of construction machinery based on embodiment is shown in Fig. 1.On lower running body 10, via swing mechanism 11
And it can be pivotally equipped with upper rotation 12.The work packages such as upper rotation 12 and swing arm 13, dipper 15 and scraper bowl 17
Connection.Work package is hydraulically driven by hydraulic cylinders such as swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinders 18.By swing arm 13,
Dipper 15 and scraper bowl 17 constitute the attachment of excavation.In addition, other than the attachment of excavation, can also link broken attached
The attachment etc. of part, lifting magnet.
The skeleton diagram of the hydraulic control system of construction machinery based on embodiment is shown in Fig. 2.Hydraulic circuit is to swing arm cylinder
14, dipper cylinder 16 and scraper bowl cylinder 18 supply working oil.Moreover, the hydraulic circuit also supplies work to hydraulic motor 19,20 and 21
Oil.Hydraulic motor 19,20 respectively drives 2 crawler belts of lower running body 10 (Fig. 1).Hydraulic motor 21 makes upper rotation 12
(Fig. 1) is turned round.
Hydraulic circuit includes hydraulic pump 26 and control valve 25.By power generation arrangement 35, hydraulic pump 26 is driven.Power
The internal combustion engine such as diesel motor is used in generation device 35.Hydraulic pump 26 supplies the working oil of high pressure to control valve 25.Control
Valve 25 includes direction switch valve 251, flow rate regulating valve 252, regeneration valve 253 etc..Direction switch valve 251 switches to hydraulic cylinder and liquid
The flow direction of the working oil of pressure motor supply.Flow rate regulating valve 252 adjusts the stream of the working oil supplied to hydraulic cylinder and hydraulic motor
Amount.Direction switch valve 251 and flow rate regulating valve 252 are prepared according to each hydraulic cylinder and each hydraulic motor.Regeneration valve 253
Slave arm cylinder 14 or dipper cylinder 16 when swing arm 13 or dipper 15 decline is set to separately flow into dipper cylinder back to the oil return in tank
16 or swing arm cylinder 14.Working oil increases towards the flow of dipper cylinder 16 or swing arm cylinder 14 as a result,.
The floor chamber of swing arm cylinder 14 and bar room are connect via fluid pressure line 141 and fluid pressure line 142 with control valve 25 respectively.
The floor chamber of dipper cylinder 16 and bar room are connect via fluid pressure line 161 and fluid pressure line 162 with control valve 25 respectively.Scraper bowl cylinder 18
Floor chamber and bar room connect respectively with control valve 25 via fluid pressure line 181 and fluid pressure line 182.
Pressure sensor 271,272 measures the working oil supplied to the floor chamber of swing arm cylinder 14 and bar room or respectively the bottom of from
The pressure of the working oil of portion room and the discharge of bar room.Pressure sensor 273,274 measures the floor chamber and bar to dipper cylinder 16 respectively
The pressure of the working oil of room supply or the working oil being discharged from floor chamber and bar room.Pressure sensor 275,276 measure respectively to
The pressure of the working oil or the working oil being discharged from floor chamber and bar room of the floor chamber of scraper bowl cylinder 18 and the supply of bar room.Pressure passes
The measurement result of sensor 271~276 is input to control device 30.
Operating device 31 includes the operating lever 311 operated by operator.Operating device 31 generates and operating lever 311
Operating quantity OA first pilot or electric signal accordingly.Elder generation's pilot corresponding with operating quantity OA or electric signal are input to control device 30.
Control device 30 is generated according to the operating quantity OA inputted from operating device 31 for driving by swing arm cylinder 14, dipper cylinder
16 and scraper bowl cylinder 18 constitute hydraulic cylinder command value CV.Moreover, control device 30 is generated according to operating quantity OA for driving liquid
The command value CV of pressure motor 19~21.Elder generation's pilot corresponding with command value CV or electric signal are imparted to control valve 25.Can be one
Part control valve 25 is endowed first pilot, and other control valves 25 are endowed the structure of electric signal.For example, can be cut for direction
Valve of the valve 251 using fluid pressure type is changed, and the valve of electromagnetic type is used for flow rate regulating valve 252.According to command value CV control controls
Valve 25, hydraulic cylinder and hydraulic motor 19~21 are acted as a result,.
Control device 30 also controls the rotating speed of power generation arrangement 35 and the inclined plate inclination angle of hydraulic pump 26.It controls as a result,
The discharge-amount of working oil from hydraulic pump 26.
With reference to figure 3, illustrated to defining the coordinate system of posture of work package.Connect in upper rotation 12 (Fig. 1)
Have swing arm 13.It is linked with dipper 15 in the front end of swing arm 13, scraper bowl 17 is linked in the front end of dipper 15.Construction machinery is matched
When being placed on horizontal plane, define using the point of contact towards upper rotation 12 of swing arm 13 as origin, and by horizontal direction
Forward direction of the front as x-axis, and the positive xz rectangular coordinate systems by vertical top as z-axis.
It will be from origin towards the positive angulation of the swing arm vector 130 of swing arm 13 and the point of contact of dipper 15 and z-axis
It is indicated with θ 1.By the point of contact of slave arm 13 and dipper 15 towards the dipper vector 150 of dipper 15 and the point of contact of scraper bowl 17 with
130 angulation of swing arm vector is indicated with θ 2.It will be from the point of contact of dipper 15 and scraper bowl 17 towards the front end as scraper bowl 17
Scraper bowl vector 170 and 150 angulation of dipper vector of position AP indicated with θ 3.By the company of slave arm 13 and dipper 15
The effect point vector 151 of node towards position AP are indicated with 130 angulation of swing arm vector with θ 4.
Angular transducer 291 measures angle, θ 1, and angular transducer 292 measures angle, θ 2, and angular transducer 293 measures angle
θ3.Angle, θ 4 can calculate angle, θ by the length of angle, θ 2, angle, θ 3, the length of dipper vector 150 and scraper bowl vector 170
4.In the state that the relative position relation of dipper 15 and scraper bowl 17 is fixed, i.e., work in the state that angle, θ 3 is constant
When, can angle, θ 4 be calculated by the measured value of angle, θ 2.By the angle, θ 1 that is measured by angular transducer 291,292,293, θ 2,
θ 3 determines the posture of work package.Angular transducer 291,292,293 is referred to as attitude sensor 29.
The position (x, z) of position AP passes through angle, θ 1, angle, θ 4, the length of swing arm vector 130 and effect point vector 151
Length come monodrome determination.In other words, angle, θ 1 and θ 4 are found out by the position (x, z) of position AP.Therefore, angle, θ 1 and angle
θ 4 is spent to indicate come following formula using function A and function B.
[numerical expression 1]
θ 1=B (x, z)
θ 4=A (x, z) ... (1)
When angle, θ 3 is constant, the angular speed of dipper 15 is equal with the effect angular speed of point vector 151.Therefore, the angle of swing arm
The angular speed Wa following formulas of speed Wb and dipper indicate.
[numerical expression 2]
With reference to figure 4A~Fig. 4 C, by the construction machinery based on comparative example, for into exercising position AP (Fig. 3) along level
The example for the action (horizontal stretch action) that face is moved in front illustrates.In horizontal stretch action, it is assumed that angle, θ 3 (Fig. 3)
To be constant, and angle, θ 1 and angle, θ 2 (Fig. 3) variation.That is, swing arm cylinder 14 and dipper cylinder 16 (Fig. 2) are acted, and scraper bowl cylinder
18 (Fig. 2) are without action.
Fig. 4 A indicate an example of the track of the position AP when operator of general proficiency operates.Position AP's
Actual path L is indicated with solid line.Although known to operator by make position AP along the linear movement of z=0 in a manner of operate,
But in position AP close to the region of the base portion of swing arm 13, the track L of position AP is greatly deviated from from the track as target.
Fig. 4 B indicate the time change of angle, θ 1.Horizontal axis indicate since operation pass through the time, the longitudinal axis indicate swing arm
13 angle, θ 1.The variation A1 of actual angle, θ 1 is indicated with heavy line.In order to refer to, indicated with fine line for making position
Variation A2s of the AP along the angle, θ 1 of the ideal swing arm 13 of the linear movement of z=0.When being more than t1 by the time, although must make
Angle, θ 1 drastically becomes smaller as shown in variation A2, but the reduction of the angle, θ 1 based on practical operation is slow such as variation A1.
The time change of mechanicalness speed gain is shown in Fig. 4 C.Horizontal axis indicate since operation pass through the time, indulge
Axis indicates mechanicalness speed gain.Mechanicalness speed gain means the speed of position AP relative to the angle of swing arm and dipper speed
The ratio between degree.In mechanicalness speed gain comprising with the mechanicalness speed gain of the velocity correlation of the upper and lower directions of position AP and
With the mechanicalness speed gain of velocity correlation in the front-back direction.In Fig. 4 C, the speed phase in the directions z (upper and lower directions) of position AP
The ratio between angular speed for swing arm is shown as mechanicalness speed gain.
Passing through the time ratio t2 more forwardly of periods, mechanicalness speed gain is nearly constant.But passing through time ratio
The periods of t2 more posteriorly, with the increase by the time, mechanicalness speed gain slowly reduces.It means that relative to base
Become slow in the movement of the operating quantity of the operating device of operator, position AP towards the directions z.Therefore, as shown in Figure 4 A, recognize
For near the base portion of swing arm 13, even if position AP is not quickly returned to being detached from operator from target trajectory as mesh yet
Target track.
It, as shown in Figure 4 B, must when being more than t1 by the time in order to make position AP be moved along the track as target
The angle, θ 1 of swing arm must be made drastically to reduce.But in example shown in Fig. 4 B, the reduction of angle, θ 1 is compared with ideal variation
Slowly.It means that operator is unaware that the movement of position AP becomes slow and the operating quantity of operating lever is made slowly to become
Change.
Front-rear direction position dependence with the relevant mechanicalness speed gain of swing arm is shown in Fig. 5 A.Before and after horizontal axis indicates
The position (x coordinate) in direction, the longitudinal axis indicate angular speed Wbs the ratio between of the speed Vz in the directions z of position AP relative to swing arm.It can
Know as x coordinate becomes smaller, i.e., as position AP is close to the base portion of swing arm 13, is dropped with the relevant mechanicalness speed gain of swing arm
It is low.It is less than front-rear direction location-dependent query with upper and lower directions position (z coordinate) dependence of the relevant mechanicalness speed gain of swing arm
Property.
Show to drive the block diagram of the function of the work package of the construction machinery based on embodiment in Fig. 6.With reference to figure 6, for
The angle, θ 3 (Fig. 3) for carrying out scraper bowl 17 remains steady state value, and makes the angle, θ 1 (Fig. 3) of swing arm 13 and the angle, θ 2 of dipper 15
The example of the work of (Fig. 3) variation illustrates.
Each operating quantity OA of swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18 (Fig. 2) is input to control from operating device 31
Device 30.Attitude sensor 29 detects the posture for the work package 23 being made of swing arm 13, dipper 15 and scraper bowl 17, testing result
It is input to control device 30.Attitude sensor 29 includes angular transducer 291,292,293 (Fig. 3), the posture of work package 23
Testing result include angle, θ 1, θ 2 and θ 3.According to angle, θ 1, θ 2 and θ 3, the x coordinate and z that can calculate position AP are sat
Mark.
33 controlled device 30 of driving device controls, and thus drives work package 23.Driving device 33 is generated comprising power
Device 35 (Fig. 2), hydraulic circuit 34, swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinder 18.Hydraulic circuit 34 includes hydraulic pump 26, control
Valve 25 (Fig. 2) processed etc..
According to the control signal SCb for the swing arm for the carrying out self-control device 30 and control signal SCa of dipper, hydraulic circuit
34 are acted.It is supplied to swing arm cylinder 14 by the working oil of the flow of control signal SCb instructions, is referred to by control signal SCa as a result,
The working oil of the flow shown is supplied to dipper cylinder 16.In the present embodiment, since scraper bowl cylinder 18 is not driven, omit about
The explanation of the control of scraper bowl cylinder 18.
Control device 30 with position AP (Fig. 3) closer to the base portion then swing arm 13 of swing arm 13 angular speed Wb relative to behaviour
Make the higher modes of the ratio between the operating quantity OA of device 31 and controls the driving device 33.Thereby, it is possible to compensate to be based on effect shown in fig. 5
The variation of the mechanicalness speed gain of the position of point AP.The speed of position AP is referred to as " input relative to the ratio between operating quantity OA
Output speed gain ".Input and output speed gain also includes the upper and lower with position AP in the same manner as mechanicalness speed gain
To velocity correlation input and output speed gain and with the relevant input and output speed gain of front-rear direction.Control device 30
In such a way that the position of input and output speed gain and position AP independently become uniform, make the angular speed of swing arm 13 relative to
The ratio between operating quantity OA of operating device 31 changes according to the position of position AP.
If becoming uniform with the relevant input and output speed gain of upper and lower directions, the size and position AP of operating quantity OA
Upper and lower directions movement speed between position of the relationship independent of position AP.Therefore, even if position AP is close dynamic
The base portion of arm 13 is also easy that position AP is made to move along the track as target.
In Fig. 5 A, as mechanicalness speed gain, angles of the speed Vz in the directions z of position AP relative to swing arm 13 is shown
The ratio between speed Wb (the mechanicalness speed gain with the relevant upper and lower directions of swing arm), but the speed of position AP is relative to dipper 15
The ratio between angular speed Wa also rely on the position of position AP (with the relevant mechanicalness speed gain of dipper) and change.
Upper and lower directions position dependence with the relevant mechanicalness speed gain of dipper is shown in Fig. 5 B.Horizontal axis indicates up and down
Direction position (z coordinate), the longitudinal axis indicate and the relevant mechanicalness speed gain in the front-back direction of dipper.It understands to become with z coordinate
It is small, i.e., as the position of position AP is lower, reduced with the relevant mechanicalness speed gain in the front-back direction of dipper.Therefore, excellent
In a manner of selecting the ratio between operating quantity OA by the angular speed Wa of the position of position AP more low then dipper 15 relative to dipper 15 higher
Control the driving device 33.By carrying out the control, can make and the relevant input and output speed gain of front-rear direction and position
The height of AP independently equably approaches.With the front-rear direction position (x of the relevant mechanicalness speed gain in the front-back direction of dipper
Coordinate) dependence be less than upper and lower directions position (z coordinate) dependence.
When making position AP move forward and backward, preferably pair with the relevant input and output speed gain of upper and lower directions into
Row correction equably approaches, when making position AP vertically move, preferably pair with front-rear direction it is relevant input it is defeated
Go out speed gain to be corrected equably to approach.Thereby, it is possible to promptly correcting action point AP from the track as target
Offset.
It is still corrected and the relevant input of front-rear direction about correction and the relevant input and output speed gain of upper and lower directions
The selection of output speed gain can be carried out with being set to the select button of operating device 31.Furthermore, it is possible to make control device
30 have the function of detecting the moving direction of position AP.At this point, according to the testing result of the moving direction of position AP, control
Device 30 automatically selects correction and the relevant input and output speed gain of upper and lower directions or correction are relevant with front-rear direction
Input and output speed gain.
Then, the processing performed by control device 30 is described in detail.As shown in fig. 6, control device 30
Including operating quantity test section 301, position detection part 302, rate request value correction unit 303, correction coefficient determining section 304 and driving
Portion 305.The function of each section is for example realized by executing computer program by central processing unit (CPU).Moreover, being filled in control
It sets and stores position-correction coefficient in 30 storage device and correspond to table 306.It corresponds in position-correction coefficient and makees defined in table 306
With the correspondence between the position and correction coefficient of point AP.Table 306 is corresponded to by position-correction coefficient, it can be according to effect
The current location of point AP finds out correction coefficient.Table 306 can also be corresponded to instead of position-correction coefficient, defined according to position AP
Position find out the function of correction coefficient.
Operating quantity test section 301 generates swing arm angular speed required value WRb according to the operating quantity OA inputted from operating device 31
And dipper angular speed required value WRa.As an example, swing arm angular speed required value WRb and dipper angular speed required value WRa respectively with
Operating quantity OA relative to swing arm 13 and the operating quantity OA relative to dipper 15 are proportional.
Position detection part 302 calculates position AP's according to the angle, θ 1, θ 2, θ 3 that are detected by attitude sensor 29
X coordinate and z coordinate.The x coordinate and z coordinate of position AP is input to correction coefficient determining section 304.
Correction coefficient determining section 304 corresponds to table 306 and generates according to the position of position AP, reference position-correction coefficient
The correction coefficient CFb of the swing arm and correction coefficient CFa of dipper.The correction coefficient CFb and CFa generated is input to speed and wants
Evaluation correction unit 303.
Rate request value correction unit 303 is according to correction coefficient CFb, CFa come to swing arm angular speed required value WRb and dipper angle
Rate request value WRa is corrected operation, to generate swing arm angular speed command value WCb and dipper angular speed command value WCa.Tool
Body, by following calculating formula, swing arm angular speed command value WCb and dipper angular speed command value WCa can be found out.
[numerical expression 3]
WCb=CFb × WRb
WCa=CFa × WRa ... (3)
Driving portion 305 is according to swing arm angular speed command value WCb and dipper angular speed command value WCa, respectively by swing arm
The control signal SCa of control signal SCb and dipper is sent to driving device 33.The direction switch valve 251 of driving device 33 and
Flow rate regulating valve 252 is acted according to control signal SCb, SCa, thus fast with swing arm angular speed command value WCb and dipper angle
The working oil of the degree corresponding flows of command value WCa is supplied to swing arm cylinder 14 and dipper cylinder 16.As a result, the angular speed Wb of swing arm 13
And the angular speed Wc of dipper 15 is roughly the same with swing arm angular speed command value WCb and dipper angular speed command value WCa respectively.
Then, the position of position AP and the relationship of correction coefficient CFb, CFa are illustrated.As shown in Figure 4 A, exist
In horizontal stretch action, offsets of the corrective action point AP towards the directions z is needed, therefore be conceived to the speed in the directions z of position AP
Degree.In formula (2), as restrictive condition, the speed in the directions x is made to become zero.If being set as the dx/dt=dz/dt=0 of formula (2),
Following formula can be obtained.
[numerical expression 4]
With the angular speed Wb of the swing arm 13 and relevant mechanicalness speed gain MGb and MGa of the angular speed Wa of dipper 15 according to
Formula (4) following formula indicates.
[numerical expression 5]
Correction coefficient CFb, CFa is determined in a manner of meeting following formula.
[numerical expression 6]
MGb × CFb=Cb
MGa × CFa=Ca ... (6)
Here, Cb and Ca is constant.
Swing arm cylinder 14 and dipper cylinder 16 are fast with swing arm angle respectively with the angular speed Wa of the angular speed Wb of swing arm 13 and dipper 15
Mode consistent degree command value WCb and dipper angular speed command value WCa is acted, therefore it can be assumed that meets Wb=WCb, Wa
=WCa.Under this condition, the speed in the directions z of position AP is indicated according to formula (5), (3), (6) come following formula.
[numerical expression 7]
Such as by formula (7) it is found that the speed Vz and swing arm angular speed required value WRb in the directions z of position AP and dipper angle speed
It is proportional to spend required value WRa.Correction coefficient CFb, CFa can be determined according to formula (5) and formula (6).The function on the right of formula (5)
Gb (x, z) and ga (x, z) is the function of the position (x, z) of position AP, therefore correction coefficient CFb, CFa depends on position AP
Position.
Swing arm angular speed required value WRb and dipper angular speed required value WRa respectively with the operating quantity OAb and dipper of swing arm 13
15 operating quantity OAa is correspondingly generated, and proportional to operating quantity OAb and OAa.Therefore, swing arm angular speed required value WRb and bucket
Bar angular speed required value WRa being capable of following formula expression.
[numerical expression 8]
WRb=C1b × OAb
WRa=C1a × OAa ... (8)
Here, C1a, C1b are proportionality constant.According to formula (7) and formula (8), the speed following formula of position AP indicates.
[numerical expression 9]
Constant Cb × the C1b and constant Ca × C1a of formula (9) are equivalent to input and output speed gain.That is, input and output speed
Gain is steady state value.In this way, for the input and output defined relative to the ratio between operating quantity OA with the movement speed of position AP
Speed gain is corrected using correction coefficient CFb, CFa of the position dependent on position AP, so as to make input and output
Speed gain is close to steady state value.
In the above-described embodiments, as input and output speed gain, the speed in the directions z (upper and lower directions) of position AP is used
Degree is relative to the ratio between operating quantity OA.By making the input and output speed gain can in horizontal stretch action close to steady state value
Position AP is set to be reduced from the offset of the track as target.When make position AP in the horizontal direction other than track movement when,
The direction of the speed of position AP as the basis as input and output speed gain, can be used the direction other than the directions z.Example
Such as, when position AP being made to move along the vertical direction, as input and output speed gain, it is preferable to use the directions x of position AP are (preceding
Rear direction) speed relative to the ratio between operating quantity OA.
In the above-described embodiments, make effect under conditions of will remain constant with 17 relevant angle, θ 3 (Fig. 3) of scraper bowl
Point AP movements, but change angle, θ 3 in action process sometimes.Make position AP in the horizontal direction or upper and lower directions movement
When, scraper bowl cylinder 18 (Fig. 1) can be made to be acted to change angle, θ 3.
When making scraper bowl cylinder 18 act, input and output speed gain includes with the movement speed of position AP relative to swing arm
The ratio between operating quantity come the 1st input and output speed gain, the operation with the movement speed of position AP relative to dipper that define
The ratio between amount come the 2nd input and output speed gain that defines and with the movement speed of position AP relative to scraper bowl operating quantity it
Than come the 3rd input and output speed gain that defines.Control device 30 is according to command value CV, by the 1st input and output speed gain,
The position of at least one of 2 input and output speed gains and the 3rd input and output speed gain based on position AP is corrected.
As an example, preferably it regard the input and output speed gain (before correction) most dramatically changed according to the position of position AP as school
Positive object.Thereby, it is possible to the positions with position AP, and the input and output speed gain of calibration object independently to be made equably to approach.
Then, with reference to figure 7, the control method of the work package of the construction machinery based on other embodiment is illustrated.
Hereinafter, the difference from Fig. 1~embodiment shown in fig. 6 is illustrated, and for common incomplete structure explanation.
The block diagram of the function of the work package of driving construction machinery is shown in Fig. 7.Control based on embodiment shown in Fig. 7
In device 30, there is discharge-amount correction unit 307 instead of rate request value correction unit 303 (Fig. 6).By operating quantity test section 301
The swing arm angular speed required value WRb and dipper angular speed required value WRa of generation are directly inputted to driving portion 305.Driving portion 305
Control signal SCb and the control of dipper of swing arm are exported according to swing arm angular speed required value WRb and dipper angular speed required value WRa
Signal SCa processed.
Discharge-amount correction unit 307 generates discharge-amount according to correction coefficient CFb, CFa of the position dependent on position AP and refers to
Enable value DQC.Driving portion 305 according to discharge-amount command value DQC, with come from hydraulic pump 26 (Fig. 2) working oil discharge-amount with spit
Mode consistent output command value DQC controls the rotating speed of power generation arrangement 35.
In embodiment shown in Fig. 7, by controlling the discharge-amount of the working oil from hydraulic pump 26, the angle of swing arm 13 is adjusted
The angular speed Wa of speed Wb and dipper 15.It is fast with the swing arm angle of embodiment shown in fig. 6 respectively with actual angular speed Wb and Wa
Mode equal degree command value WCb and dipper angular speed command value WCa controls the discharge-amount of the working oil from hydraulic pump 26.By
This can be such that input and output speed gain is approached independent of the position of position AP in the same manner as embodiment shown in fig. 6
Steady state value.
As an example, the state in the relatively small region of mechanicalness speed gain is located at position AP, by opposite
Ground increases discharge-amount, can improve input and output speed gain.As a result, it is possible to make input and output speed gain close to constant
Value.
In the embodiment shown in fig. 7, the discharge-amount of working oil is adjusted by controlling the rotating speed of power generation arrangement 35,
But discharge-amount can also be adjusted by the inclination angle of the inclined plate of change hydraulic pump 26 (Fig. 2).
Then, with reference to figure 8, the control method of the work package of the construction machinery based on another embodiment is illustrated.
Hereinafter, being illustrated for the difference from embodiment shown in Fig. 7, for common incomplete structure explanation.
The block diagram of the function of the work package of driving construction machinery is shown in Fig. 8.Control based on embodiment shown in Fig. 8
In device 30, there is regenerant flow correction unit 308 instead of discharge-amount correction unit 307 (Fig. 7).
Regenerant flow correction unit 308 generates recovery stream according to correction coefficient CFb, CFa of the position dependent on position AP
Measure command value RFC.Driving portion 305 is according to regenerant flow command value RFC control regeneration valves 253 (Fig. 2).For example, under dipper 15
When drop, swing arm cylinder 14 is flowed by the oil return in making from dipper cylinder 16 back to tank, it can be to 14 fuel feeding of swing arm cylinder
(boost).Thereby, it is possible to the mechanicalness for compensating the ratio between angular speed with the speed of position AP relative to swing arm 13 to define is fast
Spend the reduction of gain.
On the contrary, the mechanicalness for needing to compensate the ratio between angular speed with the speed of position AP relative to dipper 15 to define
It, can be by making slave arm cylinder 14 be flowed into dipper back to the oil return in tank when swing arm 13 declines when the reduction of speed gain
Cylinder 16 comes to 16 fuel feeding of dipper cylinder.So control regeneration valve 253, and adjust direction and the stream of the working oil for flowing through regeneration pipeline
Amount, so as to make input and output speed gain close to steady state value.
Then, with reference to figure 9, the control method of the work package of the construction machinery based on another other embodiment is said
It is bright.Hereinafter, being illustrated for the difference from embodiment shown in Fig. 8, for common incomplete structure explanation.
The block diagram of the function of the work package of driving construction machinery is shown in Fig. 9.In the embodiment shown in fig. 9, it controls
Device 30 has load determination unit 309.The testing result of pressure sensor 271~276 (Fig. 2) is input to load determination unit 309.
Determination unit 309 is loaded according to the swing arm cylinder 14, dipper cylinder 16 and scraper bowl detected by pressure sensor 271~276
The pressure of cylinder 18 calculates the load for being applied to position AP.Moreover, according to the load for being applied to position AP, judge current
Work is unloaded operation or loaded work piece.For example, when the load (or counter-force) for being applied to position AP is less than determinating reference value,
Judge current work for unloaded operation, when more than for determinating reference value, judges current work for loaded work piece.
When current work is unloaded operation, inputted by the regenerant flow command value RFC that regenerant flow correction unit 308 generates
To driving portion 305.When current work is loaded work piece, the regenerant flow command value RFC that is generated by regenerant flow correction unit 308
Driving portion 305 will not be input to.That is, when current work is unloaded operation, the function of correcting input and output speed gain is effective,
When current work is loaded work piece, the function of correcting input and output speed gain is invalid.
In the embodiment shown in fig. 8, the oil return in making from a side of dipper cylinder 16 and swing arm cylinder 14 back to tank passes through
Regeneration pipeline is flowed into another party.Thereby, it is possible to keep input and output speed gain and the position of position AP independently close permanent
Definite value, but digging force can reduce sometimes.
In the embodiment shown in fig. 9, when in the loaded work piece in excavation etc., the work(of input and output speed gain is corrected
Can be invalid, therefore the reduction of digging force can be prevented.When carrying out the unloaded operation of horizontal stretch action etc., input and output are corrected
The function of speed gain is effective, therefore can reduce the difference of the track of position AP and the track as target.
According to above example, the present invention is described, but the present invention is not limited to this.For example, can carry out each
Kind change, improvement, combination etc. are known to the skilled in the art.
Claims (13)
1. a kind of construction machinery, has：
Work package, including being installed on the swing arm of upper rotation and being installed on the dipper of the front end of the swing arm；
Driving device drives the work package；
Operating device is operated by operator；
Sensor detects the position of the position of the work package；And
Control device, with the position closer to the base portion then swing arm of the swing arm angular speed relative to the operation
The higher mode of the ratio between operating quantity of device controls the driving device.
2. construction machinery according to claim 1, wherein
The control device with the position closer to the base portion then dipper of the swing arm angular speed relative to described
The higher mode of the ratio between operating quantity controls the driving device.
3. a kind of construction machinery, has：
Work package, including being installed on the swing arm of upper rotation and being installed on the dipper of the front end of the swing arm；
Driving device drives the work package；
Operating device is operated by operator；
Sensor detects the position of the position of the work package；And
Control device controls the driving device according to the operating quantity inputted from the operating device,
The control device is according to the position of the position detected by the sensor, to the movement of the position
The ratio between the operating quantity of speed relative to the operating device is corrected come the speed gain defined.
4. construction machinery according to claim 3, wherein
The position of the control device and the position independently makes the speed gain close to steady state value.
5. construction machinery according to claim 3 or 4, wherein
The speed gain is with the position towards operating quantity of the movement speed relative to the operating device of upper and lower directions
The ratio between define.
6. construction machinery according to claim 3 or 4, wherein
Operating quantity of the speed gain with the position towards movement speed in the front-back direction relative to the operating device
The ratio between define.
7. construction machinery according to claim 3 or 4, wherein
The speed gain includes：Upper and lower directions speed gain, it is opposite with the movement speed of the position towards upper and lower directions
It is defined in the ratio between operating quantity of the operating device；And front-rear direction speed gain, with the position towards front-rear direction
The ratio between operating quantity of the movement speed relative to the operating device define,
The control device selects the speed of a side from the upper and lower directions speed gain and the front-rear direction speed gain
Gain, and school is carried out to the selected speed gain according to the position of the position detected by the sensor
Just.
8. construction machinery according to claim 3, wherein
The control device is relied on according to the operating quantity formation speed required value, and relative to the rate request value
Correction calculation in the position of the position thus generates speed value, and according to the speed value to control
State driving device.
9. construction machinery according to claim 8, wherein
The driving device includes：
Swing arm cylinder drives the swing arm；
Dipper cylinder drives the dipper；
Hydraulic pump, discharge working oil；
Control valve adjusts the working oil from the hydraulic pump towards the flowing of the swing arm cylinder and the dipper cylinder；And
Power generation arrangement drives the hydraulic pump,
The control device controls the control valve according to the speed value, thus corrects the speed gain.
10. construction machinery according to claim 9, wherein
The work package also includes the scraper bowl for the front end for being installed on the dipper,
The driving device also includes the scraper bowl cylinder for driving the scraper bowl,
The control valve also adjusts flowing of the working oil towards the scraper bowl cylinder,
The speed gain includes：1st speed gain, the behaviour with the movement speed of the position relative to the swing arm
It the ratio between measures to define；2nd speed gain, with the movement speed of the position relative to the dipper the operating quantity it
Than defining；And the 3rd speed gain, the ratio between described operating quantity with the movement speed of the position relative to the scraper bowl come
Definition,
The control device is according to the speed value, by the 1st speed gain, the 2nd speed gain and the described 3rd
At least one of speed gain is corrected according to the position of the position.
11. construction machinery according to claim 8, wherein
The driving device includes：
Swing arm cylinder drives the swing arm；
Dipper cylinder drives the dipper；
Hydraulic pump, discharge working oil；
Control valve adjusts the working oil from the hydraulic pump towards the flowing of the swing arm cylinder and the dipper cylinder；And
Power generation arrangement drives the hydraulic pump,
The control device controls the control valve according to the rate request value, and according to the institute detected by the sensor
The position of position is stated, the discharge-amount of the working oil from the hydraulic pump is controlled, thus corrects the speed gain.
12. construction machinery according to claim 8, wherein
The driving device includes：
Swing arm cylinder drives the swing arm；
Dipper cylinder drives the dipper；
Hydraulic pump, discharge working oil；
Flow rate regulating valve adjusts the working oil from the hydraulic pump towards the flowing of the swing arm cylinder and the dipper cylinder；
Power generation arrangement drives the hydraulic pump；
Regeneration pipeline, the oil return in making from the side in the swing arm cylinder and the dipper cylinder back to tank are flowed into another party；
And
Regeneration valve is set to the regeneration pipeline,
The control device, to control the flow rate regulating valve, and is detected according to the rate request value according to by the sensor
The position of the position gone out controls the regeneration valve, thus corrects the speed gain.
13. construction machinery according to claim 3, wherein
The control device judges that current work is unloaded operation or load work according to the load for being applied to the position
Make,
When current work is the unloaded operation, keep the function of the correction speed gain effective,
When current work is the loaded work piece, keep the function of the correction speed gain invalid.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015000777A JP6692568B2 (en) | 2015-01-06 | 2015-01-06 | Construction machinery |
| JP2015-000777 | 2015-01-06 |
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| Publication Number | Publication Date |
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| CN105756111A CN105756111A (en) | 2016-07-13 |
| CN105756111B true CN105756111B (en) | 2018-08-28 |
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| CN201610007289.9A Active CN105756111B (en) | 2015-01-06 | 2016-01-06 | Construction machinery |
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| JP (1) | JP6692568B2 (en) |
| CN (1) | CN105756111B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6555592B2 (en) * | 2016-09-28 | 2019-08-07 | 日立建機株式会社 | Work vehicle |
| JP6684240B2 (en) * | 2017-03-06 | 2020-04-22 | 日立建機株式会社 | Construction machinery |
| CN109790698B (en) * | 2017-09-13 | 2021-04-23 | 日立建机株式会社 | Working machine |
| JP7237792B2 (en) * | 2019-10-03 | 2023-03-13 | 日立建機株式会社 | construction machinery |
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| JPS6033940A (en) * | 1983-08-02 | 1985-02-21 | Hitachi Constr Mach Co Ltd | Controller for straight excavation by oil-pressure shovel |
| CN1165896A (en) * | 1996-04-26 | 1997-11-26 | 日立建机株式会社 | Path control device of building machinery |
| CN1950574A (en) * | 2004-05-13 | 2007-04-18 | 株式会社小松制作所 | Rotation control device, rotation control method, and construction machine |
| CN103348065A (en) * | 2011-02-03 | 2013-10-09 | 日立建机株式会社 | Hybrid construction machine |
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| EP0801174A1 (en) * | 1995-11-23 | 1997-10-15 | Samsung Heavy Industries Co., Ltd | Device and process for controlling the automatic operations of power excavators |
| JP3059378B2 (en) * | 1996-04-17 | 2000-07-04 | 住友建機株式会社 | Hydraulic excavator control circuit |
| JP3172447B2 (en) * | 1996-06-26 | 2001-06-04 | 日立建機株式会社 | Front control device for construction machinery |
| JP3749319B2 (en) * | 1996-10-17 | 2006-02-22 | 日立建機株式会社 | Trajectory control device for construction machinery |
| JP3767874B2 (en) * | 1997-09-27 | 2006-04-19 | コベルコ建機株式会社 | Hydraulic excavator control device and control method |
| JP2011043002A (en) * | 2009-08-24 | 2011-03-03 | Naomasa Nitta | Excavation support device |
| JP5855496B2 (en) * | 2012-02-29 | 2016-02-09 | 住友建機株式会社 | Construction machinery |
| JP5092060B1 (en) * | 2012-03-30 | 2012-12-05 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6033940A (en) * | 1983-08-02 | 1985-02-21 | Hitachi Constr Mach Co Ltd | Controller for straight excavation by oil-pressure shovel |
| CN1165896A (en) * | 1996-04-26 | 1997-11-26 | 日立建机株式会社 | Path control device of building machinery |
| CN1950574A (en) * | 2004-05-13 | 2007-04-18 | 株式会社小松制作所 | Rotation control device, rotation control method, and construction machine |
| CN103348065A (en) * | 2011-02-03 | 2013-10-09 | 日立建机株式会社 | Hybrid construction machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6692568B2 (en) | 2020-05-13 |
| CN105756111A (en) | 2016-07-13 |
| JP2016125284A (en) | 2016-07-11 |
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