JP2012097544A5 - - Google Patents
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- JP2012097544A5 JP2012097544A5 JP2010248765A JP2010248765A JP2012097544A5 JP 2012097544 A5 JP2012097544 A5 JP 2012097544A5 JP 2010248765 A JP2010248765 A JP 2010248765A JP 2010248765 A JP2010248765 A JP 2010248765A JP 2012097544 A5 JP2012097544 A5 JP 2012097544A5
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- boom
- value
- control device
- operation control
- work machine
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Claims (6)
前記第１ブームの動作速度を指令する第１ブーム操作手段と、前記第２ブームの動作速度を指令する第２ブーム操作手段と、前記アームの動作速度を指令するアーム操作手段とを備えた作業機械の操作制御装置において、
前記第１ブーム操作手段からの操作信号である速度指令値に第１ブーム比例ゲインを乗じた第１の値と、前記アーム操作手段からの操作信号である速度指令値にアーム比例ゲインを乗じた第２の値と、前記第１の値と前記第２の値とを演算して第１の速度指令値を算出し、前記第２ブーム操作手段からの操作信号である第２の速度指令値と前記第１の速度指令値とを加算して前記第２ブームの速度指令値を算出し、この算出した速度指令値を前記第２ブームシリンダに出力する第２ブーム指令手段を備えた
ことを特徴とする作業機械の操作制御装置。 A traveling body provided with a traveling device, a revolving body provided on an upper portion of the traveling body, a first boom rotatably attached to the revolving body, and a rotationally attached to the first boom. A second boom, an arm pivotably attached to the second boom, a first boom cylinder for driving the first boom, a second boom cylinder for driving the second boom, and an arm for driving the arm Provided in a work machine with a hydraulic drive circuit including a cylinder,
Work comprising first boom operating means for commanding the operating speed of the first boom, second boom operating means for commanding the operating speed of the second boom, and arm operating means for commanding the operating speed of the arm In the machine operation control device,
A speed command value that is an operation signal from the first boom operating means is multiplied by a first boom proportional gain, and a speed command value that is an operation signal from the arm operating means is multiplied by an arm proportional gain. A second speed command value that is an operation signal from the second boom operating means is calculated by calculating a second value, the first value, and the second value to calculate a first speed command value. And a second boom command means for calculating the second boom speed command value by adding the first speed command value and outputting the calculated speed command value to the second boom cylinder. An operation control device for a working machine.
前記第２ブーム指令手段は、前記第１の速度指令値を算出する演算手段として、前記第１の値と前記第２の値とを加算する加算手段を備える
ことを特徴とする作業機械の操作制御装置。 The operation control device for the work machine according to claim 1,
The second boom command means includes an addition means for adding the first value and the second value as calculation means for calculating the first speed command value. Control device.
前記第２ブーム指令手段は、前記第１の速度指令値を算出する演算手段として、
前記第１の値を２乗した値と前記第２の値を２乗した値とを加算し、その加算値を開平する２乗和開平手段を備える
ことを特徴とする作業機械の操作制御装置。 The operation control device for the work machine according to claim 1,
The second boom command means is a calculation means for calculating the first speed command value.
An operation control device for a work machine comprising: a square sum square rooting means for adding a square value of the first value and a square value of the second value, and square rooting the sum value. .
前記第２ブーム指令手段の有効・無効を切り替える切換手段をさらに備え、
前記切換手段を無効とした場合には前記第２の速度指令値に基づいて前記第２ブームシリンダを駆動する
ことを特徴とする作業機械の操作制御装置。 The operation control device for a work machine according to any one of claims 1 to 3,
A switching means for switching between valid and invalid of the second boom command means;
The operation control device for a work machine, wherein the second boom cylinder is driven based on the second speed command value when the switching unit is disabled.
前記第１ブーム操作手段及び前記アーム操作手段が上下前後に揺動可能な操作レバーであって、
前記操作レバーは、上下方向への揺動で前記第１ブームの動作速度を指令し、前後方向への揺動で前記アームの動作速度を指令する
ことを特徴とする作業機械の操作制御装置。 The operation control device for a work machine according to any one of claims 1 to 4,
The first boom operation means and the arm operation means are operation levers that can swing up and down, and
The operation control device for a work machine, wherein the operating lever commands the operating speed of the first boom by swinging in the vertical direction, and commands the operating speed of the arm by swinging in the front-rear direction.
前記第２ブーム操作手段は操作ペダル装置である
ことを特徴とする作業機械の操作制御装置。 The operation control device for a work machine according to any one of claims 1 to 5,
The operation control device for a work machine, wherein the second boom operation means is an operation pedal device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010248765A JP5600830B2 (en) | 2010-11-05 | 2010-11-05 | Operation control device for work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010248765A JP5600830B2 (en) | 2010-11-05 | 2010-11-05 | Operation control device for work machine |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2012097544A JP2012097544A (en) | 2012-05-24 |
| JP2012097544A5 true JP2012097544A5 (en) | 2012-12-20 |
| JP5600830B2 JP5600830B2 (en) | 2014-10-08 |
Family
ID=46389758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010248765A Expired - Fee Related JP5600830B2 (en) | 2010-11-05 | 2010-11-05 | Operation control device for work machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5600830B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7318414B2 (en) * | 2019-08-21 | 2023-08-01 | コベルコ建機株式会社 | working machine |
| JP7405723B2 (en) * | 2020-10-13 | 2023-12-26 | 株式会社竹内製作所 | work vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05202532A (en) * | 1992-01-24 | 1993-08-10 | Komatsu Ltd | Work operating device of articulated construction machine |
| JPH1088626A (en) * | 1996-09-17 | 1998-04-07 | Hitachi Constr Mach Co Ltd | Operation driving device for two-piece boom type working machine |
| JPH11336115A (en) * | 1998-05-26 | 1999-12-07 | Hitachi Constr Mach Co Ltd | Controller for articulated working machine |
| JP2000265497A (en) * | 1999-03-18 | 2000-09-26 | Hitachi Constr Mach Co Ltd | Operational drive device for two-piece boom type working machinery |
| JP2010189921A (en) * | 2009-02-18 | 2010-09-02 | Caterpillar Japan Ltd | Working device control circuit and working machine |
-
2010
- 2010-11-05 JP JP2010248765A patent/JP5600830B2/en not_active Expired - Fee Related
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