CN105971042B - The oscillation damping method of excavator, excavator - Google Patents
The oscillation damping method of excavator, excavator Download PDFInfo
- Publication number
- CN105971042B CN105971042B CN201610054809.1A CN201610054809A CN105971042B CN 105971042 B CN105971042 B CN 105971042B CN 201610054809 A CN201610054809 A CN 201610054809A CN 105971042 B CN105971042 B CN 105971042B
- Authority
- CN
- China
- Prior art keywords
- excavator
- attachment
- rotation
- vibration
- pitch axis
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Classifications
-
- 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
- E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- 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
-
- 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
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Landscapes
- 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 excavator for having vibration-damping function.Revolving body (4) is turned round relative to crawler belt (2).Attachment (12) is installed on revolving body (4).Detection is on the basis of revolving body (4) around pitch axis, that is, y-axis rotation θy, according to detected rotation, control attachment (12).
Description
Technical field
This application claims the priority based on Japanese patent application filed on March 10th, 2015 the 2015-047497th.
The entire content of this Japanese application is incorporated by reference in this manual.
The present invention relates to a kind of excavators.
Background technique
Excavator have referred to as the running body of crawler belt, upper rotation, rotate upper rotation relative to running body
Slewing equipment and the attachment for being installed on upper rotation.In hydraulic actuated excavator, as the power of upper rotation, dipper, move
The power of arm and scraper bowl, utilization are hydraulic.
In operation, the car body of excavator is acutely shaken via attachment by the reaction force from ground and manipulating object
It is dynamic.Without carrying effectively except vibration (vibration damping) mechanism in previous excavator, therefore once generate vibration, driver (operator)
Need interruption operation until controlling vibration.
Also, the vibration in operation not only brings sense of discomfort to driver, but also due to the vibration, it is possible to cause to generate
Tracks' slip, thus it is also not preferred from a security viewpoint.
Patent document 1: Japanese Unexamined Patent Publication 2007-307917 bulletin
Patent document 2: No. 06/033401 pamphlet of International Publication No.
Summary of the invention
The present invention is completed in view of related project, and a kind of one of exemplary purpose of embodiment is mentions
For a kind of excavator for having vibration-damping function.
One embodiment of the present invention is related to a kind of excavator.Excavator has: crawler belt；Upper rotation, relative to
Crawler belt revolution；Attachment is installed on upper rotation；Pitching test section, detection is on the basis of upper rotation around the rotation of pitch axis
Turn；And vibration correction portion controls attachment according to the rotation that pitching test section detects.
By controlling the posture of attachment, the position of centre of gravity and/or moment of inertia of excavator entirety can be changed.Therefore, lead to
Monitoring is crossed around the rotary motion of pitch axis, attachment is controlled according to the rotary motion, so as to inhibit to vibrate.
For the detection of pitching test section around the angle of pitch axis on the basis of upper rotation, vibration correction portion can be according to angle
Control attachment.
For the detection of pitching test section around the angular speed of pitch axis on the basis of upper rotation, vibration correction portion can be according to angle
Speed control attachment.
For the detection of pitching test section around the angular acceleration of pitch axis on the basis of upper rotation, vibration correction portion can basis
Angular acceleration controls attachment.
Attachment may include swing arm, dipper, scraper bowl.Vibration correction portion can be in prescribed limit in the position of scraper bowl
Attachment is controlled under restrictive condition.
Thereby, it is possible to prevent the phenomenon that scraper bowl except vibration control in order to tamper.
In addition, any combination or of the invention of the constitutive requirements more than being replaced mutually between method, apparatus, system etc.
Constitutive requirements or the mode of performance, also as effective means of the invention.
Invention effect
In accordance with the invention it is possible to inhibit the vibration of excavator.
Detailed description of the invention
Fig. 1 is the perspective view for indicating the appearance of the excavator of an example of the construction machinery as embodiment.
Fig. 2 is the figure for illustrating the vibration attenuation mechanism of excavator of embodiment.
Fig. 3 is the control block diagram of the excavator of embodiment.
Fig. 4 is the outside drawing for indicating the coordinate system of excavator.
Fig. 5 is the block diagram in vibration correction portion.
Fig. 6 is the figure for indicating to have the movement of the excavator in vibration correction portion of Fig. 5.
Fig. 7 is the block diagram of electric system or hydraulic system of the excavator of embodiment etc..
Fig. 8 is the block diagram in the vibration correction portion of the 1st variation.
In figure: 1- excavator, 2- crawler belt, 2A, 2B- hydraulic motor travel motor, 3- swing mechanism, 4- revolving body, 4a- drive
Room, 5- swing arm, 6- dipper, 7- swing arm cylinder, 8- dipper cylinder, 9- scraper bowl cylinder, 10- scraper bowl, 11- engine, 12- attachment, 14- main pump,
15- pioneer pump, 16- high-pressure and hydraulic pipeline, 17- control valve, 21- rotary fluid motor, 25- pilot line, 26- operating device,
27,28- fluid pressure line, 29- pressure sensor, 30- controller, 31- electromagnetic proportional valve, the center 40-, 42- center of gravity, 500- are hydraulic
Driver, 502- drive member, 504- pitching test section, 510- vibration correction portion, 511- center of gravity operational part, 512,514- multiplication
Device, 516,518- integrator, 520- converter section, 530- sensor, S1- rotation information.
Specific embodiment
Hereinafter, with reference to attached drawing, the present invention will be described according to preferred embodiment.To each shown in the drawings identical or
Same constitutive requirements, component handle additional the same symbol, and appropriate the repetitive description thereof will be omitted.Also, embodiment is simultaneously non-limiting
Invention, and only illustrate, all features described in embodiment or combinations thereof are not necessarily limited to essence of the invention.
In this specification, feelings that " state that components A is connect with part B " is physically directly connected in addition to components A and part B
Other than condition, further includes components A and part B has virtually no impact on status of electrically connecting between those components, or do not damage and pass through
Those components in conjunction with and the function that can play or effect via other component the case where being indirectly connected with.
Fig. 1 is the perspective view of the appearance of the excavator 1 of an example for indicating the construction machinery as embodiment.Excavator 1
Mainly have crawler belt (also referred to as walking mechanism) 2 and upper rotation (hereinafter, also referred to as revolving body) 4, the top is returned
Swivel 4 is rotatably equipped on the top of crawler belt 2 via swing mechanism 3.
Swing arm 5, dipper 6 and scraper bowl 10 are installed on revolving body 4,6 annular of dipper is connected to the front end of swing arm 5,
10 annular of scraper bowl is connected to the front end of dipper 6.Scraper bowl 10 is the equipment for capturing the hanging objects such as sand, steel.Swing arm 5,
Dipper 6 and scraper bowl 10 are referred to as attachment 12, are hydraulically driven respectively by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9.And
And be provided with the driver's cabin 4a for accommodating driver on revolving body 4 and wait power sources for generating hydraulic engine 11, it drives
The position of member's operation scraper bowl 10 or excitation actuating and release movement.Engine 11 is for example made of diesel motor.
Fig. 2 is the figure for illustrating the vibration attenuation mechanism of excavator of embodiment.
Consider the vibration of the excavator 1 centered on arbitrary point 40.Define the angle φ centered on the point 40.With (i)
Indicate the gradient φ of the car body under A-stage and the state of attachment 12.
Consider that car body because of the reaction force from attachment 12, has the torque (moment of momentum) around pitch axis, gradient φ
The case where (ii) is changed to from (i).At this point, the posture of attachment 12 is changed into the state (ii) that vibration becomes smaller by excavator 1.
More specifically, detection is on the basis of revolving body 4 around the rotation of pitch axis (y).Moreover, to eliminate and around pitch axis
(y) mode of the corresponding vibration of rotation controls attachment 12.In addition, the posture of attachment 12 shown in Fig. 2 is an example.
Changed by changing position, the posture of attachment 12 to the direction for the vibration for eliminating excavator 1 according to the excavator 1
The whole position of centre of gravity 42 of excavator 1 and/or change moment of inertia, thus, it is possible to inhibit to vibrate.
Additionally, it is preferred that excavator 1 by do not make substantially scraper bowl 10 be displaced in a manner of, in other words, at its coordinate (x, y, z)
Attachment 12 is controlled under the restrictive condition in prescribed limit.The position x, y, z of scraper bowl 10 herein refers to the rule of rotary body 4
Relative coordinate on the basis of (such as rotary shaft of swing arm 5) is set in positioning, and not θ3.Prescribed limit can be to start except vibration control
At the time of scraper bowl 10 position on the basis of determine.By the way that this restrictive condition is arranged, without the larger position for changing scraper bowl 10
It sets, so that it may realize except vibration, can prevent scraper bowl 10 from tampering.
It can use various Mechanics Phenomenons, mechanism in above-mentioned vibration damping.For example, can be passed through in a manner of eliminating vibration
Attachment 12 generates reverse vibration to inhibit to vibrate.
Alternatively, can use the principle analogized to illustrate with swing.When shaking swing, become maximum most lower in angular speed
It stands at the time of point, center of gravity is got higher.And it squats down in angular speed as zero top point (both ends of vibration), center of gravity is lower.If
The movement is repeated, then Amplitude amplification.In the excavator 1 of embodiment, by carrying out opposite to that movement, can decay vibration
It is dynamic.
Then, the block diagram of excavator 1 is illustrated.Fig. 3 is the control block diagram of the excavator 1 of embodiment.Excavator 1
Have hydraulic unit driver 500, drive member 502, pitching test section 504 and vibration correction portion 510.Each piece of function passes through electricity
Or mechanical or a combination thereof is realized, does not limit each piece of structure and the implementation method of function.
Hydraulic unit driver 500 be drive Fig. 1 attachment 12 driver, specifically, include swing arm cylinder 7, dipper cylinder 8 with
And scraper bowl cylinder 9.In fact, the independent control for carrying out swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, but simplify herein and as one
Control system indicates.
Illustrate the coordinate system of excavator 1 herein.Fig. 4 is the outside drawing for indicating the coordinate system of excavator 1.4 phase of revolving body
Crawler belt 2 is turned round around rotating shaft.On the basis of revolving body 4, roll shaft x, pitch axis y, yaw axis z (coordinate system x, y, z) are defined.
Rotation angle on the basis of revolving body 4 around pitch axis (y-axis) is defined as θy, angular speed is defined as ωy, by angular acceleration
It is defined as ωy’。
Also, the angular coordinate theta of definition expression swing arm 5, dipper 6,10 respective positions of scraper bowl1~θ3.θ is θ1~θ3's
Combination indicates the whole position (posture) of attachment 12.
Return to Fig. 3.Pitching test section 504 detects on the basis of revolving body 4 around the rotation of pitch axis Y, and exports rotation letter
Cease S1.Rotation information S1 can be angle, θy, angular velocity omegay, angular acceleration ωy' any or their any combination.Make
It can use gyro sensor for pitching test section 504.
Vibration correction portion 510 receive rotation information S1, based on pitching test section 504 detect rotation and according to driver
Operation input attachment 12 controlling value θCNT, control attachment 12.Controlling value θCNTIncluding based on driver swing arm, dipper,
The respective operational order θ of scraper bowlCNT1~θCNT3。
Vibration correction portion 510 receives controlling value θCNT, and Corrective control value, the value is quiveringly generated to eliminate, exports school
Controlling value (instruction value) θ after justREF.Instruction value θREFAlso it may include and swing arm axis (θ1), dipper axis (θ2), scraper bowl axis (θ3)
Corresponding value (θREF1, θREF2, θREF3).It is preferred that vibration correction portion 510 is in such a way that the coordinate of scraper bowl 10 is in prescribed limit
Generate instruction value θREF。
Drive member 502 is according to the instruction value θ generated of vibration correction portion 510REFTo control hydraulic unit driver 500.
Fig. 5 is the block diagram in vibration correction portion 510.The some or all of vibration correction portion 510 can be mainly by CPU etc.
Operation component is constituted.
In this composition example, vibration correction portion 510 controls the X of the center of gravity of excavator 1 in a manner of eliminating the vibration of excavator 1
Coordinate, Z coordinate.Also, angular velocity omega in this example embodiment, is utilized as rotation information S1y。
Indicate angular velocity omegayRotation information S1 be input in vibration correction portion 510.Center of gravity operational part 511 is according to rotation
Information S1, the X-coordinate of the center of gravity of operation excavator 1, Z coordinate in a manner of eliminating vibration.
For example, vibration correction portion 510 may include multiplier 512,514 and integrator 516,518, the multiplier 512,
514 by angular velocity omegayWith coefficient (gain) Kx、KyIt is multiplied, the output of 516,518 pairs of multipliers 512,514 of the integrator carries out
Integral, and generate the target value X of center of gravityREF、ZREF。
Converter section 520 becomes coordinate X with the position of centre of gravity of excavator 1REF, ZREFMode generate instruction attachment 12 position
Instruction value θREF.Controlling value θCNTGeneration according to have 3DOF (θ1~θ3) attachment 12 mechanism inverse kinematics come into
Row.Input has the operation input θ of driver in converter section 520CNT1~θCNT3, converter section 520 can be with from θCNT1~θCNT3Position
It moves the mode to become smaller and generates instruction value θREF1~θREF3.Also, it is preferred that converter section 520 does not change actually in the position of scraper bowl 10
Restrictive condition under, generate instruction value θREF1~θREF3。
Converter section 520 is when without vibration damping, by operational order θCNT1~θCNT3Directly as instruction value θREF1~θREF3Come
Output.
Drive member 502 includes the value of feedback θ for generating the current state for indicating attachment 12FBSensor 530.Drive member
502 with value of feedback θFBClose to instruction value θREFMode control the cylinder body of attachment 12.
Subtracter 532 generates θREFWith θFBError delta θ.Multiplier 534 is multiplied by error delta θ and COEFFICIENT K, is generated
Speed command ωREF.I.e., the drive member 502 of Fig. 5 can be understood as carrying out the component of P control.Certainly, converter section 520 can be with
Cylinder body is controlled by PI control or PID control.The feedback control is carried out respectively to swing arm axis, dipper axis, scraper bowl axis.
It is the configuration example in vibration correction portion 510 above.Then, which is illustrated.
Fig. 6 is the figure for indicating to have the movement of the excavator 1 in vibration correction portion 510 of Fig. 5.Rotation angle θ is shown in Fig. 6y、
Angular velocity omegay, center of gravity target position XREF、ZREF, attachment 12 state θCNT.Solid line is without except the rotation in the case of vibration control
Rotational angle thetayWaveform, single dotted broken line be carry out except vibration control when rotation angle θyWaveform.
If with a certain θyVibration is generated, then angular velocity omega is detected by pitching test section 504y.511 operation of center of gravity operational part
The target position X of center of gravityREF、ZREF.Converter section 520 becomes target position X with center of gravityREF、ZREFMode generate instruction value θREF。
Controlling value θ in Fig. 6REFIt outlines to be one-dimensional, but actually controlling value θREFFor three-dimensional.By the control, θ is vibratedyWith single-point
Mode shown in scribing line and be suppressed.
Then, the whole structure of excavator 1 is illustrated.
Fig. 7 is the electric system of the excavator 1 of embodiment or the block diagram of hydraulic system etc..In addition, use is dual in Fig. 7
The system that line indicates mechanical transfer power, indicates hydraulic system with heavy line, steerable system is represented by dashed line, indicated with fine line
Electric system.
Engine 11 as mechanical driving portion is connected to main pump 14 and pioneer pump 15 as hydraulic pump.It is passed through on main pump 14
Control valve 17 is connected with by high-pressure and hydraulic pipeline 16.In addition, supplying hydraulic hydraulic circuit to hydraulic unit driver is arranged system in pairs
System, in this case, main pump 14 include 2 hydraulic pumps.In this explanation in order to make it easy to understand, to main pump be single system the case where into
Row explanation.
Control valve 17 is connected with via high-pressure and hydraulic pipeline 16 on main pump 14.Control valve 17 is the liquid carried out in excavator 1
The device of the control of pressure system.In addition to being connected with the hydraulic motor travel motor for driving crawler belt 2 shown in FIG. 1 on control valve 17
Other than 2A and 2B, it is connected with swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 via high-pressure and hydraulic pipeline, control valve 17 is according to driving
The operation input control supply of member is hydraulic to these cylinder bodies.
Control valve 17 is the device for carrying out the control of the hydraulic system in excavator 1.It is useful in addition to connecting on control valve 17
Other than hydraulic motor (hydraulic motor travel motor) 2A and 2B for driving crawler belt 2 shown in FIG. 1, it is connected with via high-pressure and hydraulic pipeline
Swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9, control valve 17 are supplied according to the control of the operation input of driver to the liquid of these cylinder bodies
Pressure.
Also, for driving the rotary fluid motor 21 of swing mechanism 3 to be connected to control valve 17.Rotary fluid motor 21 passes through
Control valve 17 is connected to by the hydraulic circuit of rotation control device, but the hydraulic circuit of rotation control device is not shown in Fig. 7, and
Simplified.
Operating device 26 (operating member) is connected with via pilot line 25 on pioneer pump 15.Operating device 26 is for grasping
Make the operating device of crawler belt 2, swing mechanism 3, swing arm 5, dipper 6 and scraper bowl 10, and is operated by driver.Operating device
It is connected with control valve 17 via fluid pressure line 27 on 26, also, is connected with pressure sensor 29 via fluid pressure line 28.
Hydraulic (the primary side hydraulic) behaviour be converted to driver that operating device 26 will be supplied by pilot line 25
Work amount is corresponding hydraulic (primary side hydraulic) to be exported.The hydraulic of primary side exported from operating device 26 passes through fluid pressure line
While 27 supplies to control valve 17, it is detected by pressure sensor 29.In addition, drawing fluid pressure line by 1 line in Fig. 7
27, but there are in fact left hydraulic motor travel motor, right hydraulic motor travel motor, the control instruction value respectively turned round fluid pressure line.
Operating device 26 includes 3 input unit 26A~26C.Input unit 26A~26C be pedal or control stick, it is defeated
Enter device 26A~26C and is connected to control valve 17 and pressure sensor 29 via fluid pressure line 27 and 28.Pressure sensor 29
It is connected to the controller 30 for carrying out the drive control of electric system.In present embodiment, input unit 26A is as revolution operating stick
It plays a role, input unit 26B plays a role as the operating stick of attachment.Input unit 26C is walking control stick or steps on
Plate.
Controller 30 is the main control unit for carrying out the drive control of excavator.Controller 30 is by including CPU (Central
Processing Unit) and internal storage arithmetic processing apparatus constitute, CPU by execute is stored in internal storage
Drive control is realized with program.
The input of controller 30 has the rotation information ω from pitching test section 504y, attachment 23 from sensor 530
Location information θFB, operational order θ from pressure sensor 29CNT。
The vibration correction portion 510 of Fig. 2 is installed in the controller 30, the state of instruction attachment 12 is generated by digital operation
Instruction value θREF.Moreover, a part of drive member 502 shown in fig. 5 is equipped in controller 30, as swing arm axis, dipper
The speed value ω of axis, scraper bowl axisREFOutput.
Pilot line 25 branches into electromagnetic proportional valve 31 by switching valve 32.Electromagnetic proportional valve 31 be equivalent to electric system with
The interface of hydraulic system.Hydraulic conversion from pilot line 25 can be by electromagnetic proportional valve 31 with its swash plate angle of electric control
With the control signal ω from controller 30REFIt is corresponding hydraulic and export.Electromagnetic proportional valve 31 can be Pressure reducing ratio example valve.It is real
Electromagnetic proportional valve 31 is set by 3 axis of attachment 12 on border.Control valve 17 is according to the pressure of the fluid pressure line from electromagnetic proportional valve 31
Power controls swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9.
The above are the block diagrams that excavator 1 is whole.
More than, according to embodiment, the present invention is described.It will be understood by those skilled in the art that the present invention does not limit
In above embodiment, various design alterations can be carried out, various modifications example may be implemented, and these variations also belong to this
The range of invention.Hereinafter, being illustrated to such variation.
(the 1st variation)
Fig. 8 is the block diagram of the vibration correction portion 510a of the 1st variation.
In the variation, angle, θ is utilized as rotation information S1y.Center of gravity operational part 511a include multiplier 512a,
514a, described multiplier 512a, 514a are by angle, θyWith COEFFICIENT Kx、KyIt is multiplied, and generates the coordinates of targets X of center of gravityREF, ZREF.It is logical
Crossing this composition example can also inhibit to vibrate.
(the 2nd variation)
Center of gravity operational part 511 can be according to angular acceleration ωy' X-coordinate, the Z coordinate of center of gravity are controlled, to replace angular speed
ωy, angle, θy。
(the 3rd variation)
Center of gravity operational part 511 can be according to angular velocity omegay, angle, θy, angular acceleration ωy' any combination, to center of gravity
Coordinate carries out operation.In this case, synthesis is according to angular velocity omegay, angle, θy, angular acceleration ωy' calculate barycentric coodinates.
(the 4th variation)
Vibration correction portion 510 can have moment of inertia operational part, to replace center of gravity operational part 511.Moment of inertia operation
Portion controls the moment of inertia of excavator 1, to inhibit to vibrate.In this case, converter section 520 is transported with obtaining by moment of inertia operational part
The mode of the moment of inertia of calculation generates instruction value θREF?.
(the 5th variation)
It in embodiment, is illustrated according to hydraulic actuated excavator, but the present invention is readily applicable in revolution utilize electricity
The mixing excavator of motivation.
According to embodiment, using specific sentence, the present invention is described, but embodiment only shows the present invention
Principle, application, embodiment can be imposed in the range of not departing from the thought of the invention of claims defined
The change of various deformation example or configuration.
Claims (6)
1. a kind of excavator, which is characterized in that have:
Crawler belt；
Upper rotation is turned round relative to crawler belt；
Attachment is installed on the upper rotation；
Rotation detection portion, detection is on the basis of the upper rotation around the rotation of pitch axis；And
Control unit controls the cylinder body of the attachment, with the rotation for inhibiting the rotation detection portion to detect.
2. excavator according to claim 1, which is characterized in that
Rotation detection portion detection on the basis of the upper rotation around the angle of pitch axis,
The control unit controls the attachment according to the angle.
3. excavator according to claim 1 or 2, which is characterized in that
Rotation detection portion detection on the basis of the upper rotation around the angular speed of pitch axis,
The control unit controls the attachment according to the angular speed.
4. excavator according to claim 1 or 2, which is characterized in that
Rotation detection portion detection on the basis of the upper rotation around the angular acceleration of pitch axis,
The control unit controls the attachment according to the angular acceleration.
5. excavator according to claim 1 or 2, which is characterized in that
The attachment includes swing arm, dipper and scraper bowl,
Under the control unit is in the restrictive condition in prescribed limit in the position of the scraper bowl, the attachment is controlled.
6. a kind of oscillation damping method, is the oscillation damping method for having the excavator of crawler belt, upper rotation and attachment, feature exists
In having following steps:
It detects on the basis of the upper rotation around the rotation of pitch axis, and
The attachment is controlled, to eliminate the rotary motion around the pitch axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015047497A JP6671849B2 (en) | 2015-03-10 | 2015-03-10 | Excavator, Excavator damping method |
| JP2015-047497 | 2015-03-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105971042A CN105971042A (en) | 2016-09-28 |
| CN105971042B true CN105971042B (en) | 2019-01-11 |
Family
ID=56898079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610054809.1A Active CN105971042B (en) | 2015-03-10 | 2016-01-27 | The oscillation damping method of excavator, excavator |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6671849B2 (en) |
| CN (1) | CN105971042B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106438514B (en) * | 2016-10-31 | 2017-12-15 | 广西柳工机械股份有限公司 | Loading machine side dumping hydraulic system |
| KR102537157B1 (en) * | 2017-06-21 | 2023-05-25 | 스미도모쥬기가이고교 가부시키가이샤 | shovel |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08297026A (en) * | 1995-04-27 | 1996-11-12 | Komatsu Ltd | Pitching-damping apparatus of upper part slewing construction machine |
| JP3885354B2 (en) * | 1998-03-31 | 2007-02-21 | 井関農機株式会社 | Attitude control device for agricultural vehicles |
| JP2003184133A (en) * | 2001-12-20 | 2003-07-03 | Hitachi Constr Mach Co Ltd | Vibration suppressing equipment for hydraulic work machine |
| JP4647325B2 (en) * | 2004-02-10 | 2011-03-09 | 株式会社小松製作所 | Construction machine work machine control device, construction machine work machine control method, and program for causing computer to execute the method |
| EP2543777B1 (en) * | 2010-03-05 | 2017-10-04 | Komatsu Ltd. | Damper operation control device for a work vehicle, and damper operation control method |
| JP5546427B2 (en) * | 2010-11-22 | 2014-07-09 | 日立建機株式会社 | Work machine ambient monitoring device |
| US8548689B2 (en) * | 2010-11-23 | 2013-10-01 | Caterpillar Inc. | Implement induced machine pitch detection |
| JP5851037B2 (en) * | 2012-07-20 | 2016-02-03 | 日立建機株式会社 | Work machine |
| CA2828008C (en) * | 2012-09-21 | 2021-06-22 | Harnischfeger Technologies, Inc. | Rope shovel |
| US8909437B2 (en) * | 2012-10-17 | 2014-12-09 | Caterpillar Inc. | Payload Estimation system |
| JP2014114778A (en) * | 2012-12-11 | 2014-06-26 | Hitachi Constr Mach Co Ltd | Working vehicle |
| JP6193264B2 (en) * | 2012-12-25 | 2017-09-06 | 住友重機械工業株式会社 | Motor drive device for electric forklift and electric forklift using the same |
| JP2014152564A (en) * | 2013-02-13 | 2014-08-25 | Fujii Corporation Kk | Snow remover |
-
2015
- 2015-03-10 JP JP2015047497A patent/JP6671849B2/en active Active
-
2016
- 2016-01-27 CN CN201610054809.1A patent/CN105971042B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP6671849B2 (en) | 2020-03-25 |
| JP2016166505A (en) | 2016-09-15 |
| CN105971042A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101985343B (en) | Crane for covering a load suspended on a load rope | |
| KR102353868B1 (en) | shovel | |
| JP2009167673A (en) | Work device | |
| CN1655076B (en) | Controller for work implement of construction machinery, method for controlling construction machinery, and program allowing computer to execute this method | |
| JP5145356B2 (en) | Motion control system | |
| WO2013056517A1 (en) | Pumper truck and method, controller, and apparatus for controlling pumper truck boom vibration | |
| US10858800B2 (en) | Excavator and method of controlling the same | |
| CN106625684B (en) | System and method for analyzing and controlling coupling dynamic characteristics of robot | |
| WO2003096522A1 (en) | Rotatingly driving device of construction machinery | |
| CN105971042B (en) | The oscillation damping method of excavator, excavator | |
| CN102792031A (en) | Hybrid system of construction machine | |
| JP2010066962A (en) | Operation device | |
| US11692334B2 (en) | Excavator | |
| JP2009064419A (en) | Servo-control system for hydraulic unit feeding hydraulic fluid to vibrator | |
| Kamezaki et al. | Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery | |
| JP2013189767A (en) | Electrically driven turning device | |
| JP6671848B2 (en) | Excavator | |
| CN107251409A (en) | Slewing equipment | |
| JP2011221617A (en) | Inner force sense controller, inner force sense generation device and inner force sense control method for operation member of working machine | |
| CN103395698B (en) | Safety control method, device and system for execution actions of crawling crane | |
| WO1996034154A1 (en) | Pitching damping device for an upper portion swinging construction machine | |
| CN109689980A (en) | Excavator | |
| WO2013117053A1 (en) | Method and device for controlling travelling direction of engineering mechanical equipment | |
| JP6851701B2 (en) | Excavator | |
| JP2019143379A (en) | Revolving control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |