JP2798220B2 - Excavator hydraulic control - Google Patents
Excavator hydraulic controlInfo
- Publication number
- JP2798220B2 JP2798220B2 JP15166990A JP15166990A JP2798220B2 JP 2798220 B2 JP2798220 B2 JP 2798220B2 JP 15166990 A JP15166990 A JP 15166990A JP 15166990 A JP15166990 A JP 15166990A JP 2798220 B2 JP2798220 B2 JP 2798220B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- valve
- switching valve
- electromagnetic switching
- winch drum
- 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.)
- Expired - Fee Related
Links
Landscapes
- Earth Drilling (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は，ボーリングマシン等の掘削機械の油圧制御
装置に関するものである。Description: TECHNICAL FIELD The present invention relates to a hydraulic control device for an excavating machine such as a boring machine.
（従来の技術） 従来のボーリングマシンのウインチは機械式で，クラ
ツチ及びブレーキも機械方式であり，オペレータが第７
図に例示する煩雑な操作を経験と勘に頼って行ってい
る。(Prior art) The winch of a conventional boring machine is mechanical, and the clutch and brake are also mechanical.
The complicated operation illustrated in the figure is performed based on experience and intuition.
第８図は，ウインチが油圧式の場合の油圧制御装置の
従来例であり，（５）がウインチドラム，（11）が同ウ
インチドラム（１）の駆動軸を駆動する伝動装置，（1
2）が同駆動系の油圧モータ，（46）が同ウインチドラ
ム（５）のブレーキシリンダ，（47）が上記駆動軸とウ
インチドラム（５）との間を断接するクラツチシリン
ダ，（43）が同ブレーキシリンダ（46）及び同クラツチ
シリンダ（47）の第２油圧式手動操作弁，（43a）（43
b）が同油圧式手動操作弁（43）と上記ブレーキシリン
ダ（46）及び上記クラツチシリンダ（47）とを連絡する
油路，（24）が油圧ポンプ，（22）が同油圧ポンプ（2
4）を駆動するエンジン，（21）が上記油圧モータ（1
2）と上記油圧ポンプ（24）とを連絡する油圧回路に介
装した方向切換弁，（35）が第１油圧式操作弁，（37）
が同第１油圧式操作弁（35）及び上記第２油圧式手動操
作弁（43）の油圧ポンプ，（25）が上記油圧ポンプ（2
4）の流量制御シリンダ，（35a）（35b）が上記第１油
圧式操作弁（35）から上記方向切換弁（21）両側のパイ
ロツトポートへ延びた油路，（27）がシヤトル弁で，ウ
インチのブレーキ操作，クラツチ操作をオペレータの手
動操作で行っている。FIG. 8 shows a conventional example of a hydraulic control device in which the winch is of a hydraulic type. (5) is a winch drum, (11) is a transmission for driving the drive shaft of the winch drum (1), (1)
2) is a hydraulic motor of the same drive system, (46) is a brake cylinder of the winch drum (5), (47) is a clutch cylinder for connecting and disconnecting the drive shaft and the winch drum (5), and (43) is a clutch cylinder. The second hydraulic manually operated valves of the brake cylinder (46) and the clutch cylinder (47), (43a) (43
b) is an oil passage connecting the hydraulic manually operated valve (43) with the brake cylinder (46) and the clutch cylinder (47), (24) is a hydraulic pump, and (22) is a hydraulic pump (2).
4) The engine that drives, (21) is the hydraulic motor (1)
A directional control valve interposed in a hydraulic circuit that communicates between 2) and the hydraulic pump (24), (35) is a first hydraulically operated valve, (37)
Are the hydraulic pumps of the first hydraulically operated valve (35) and the second hydraulically operated valve (43), and (25) is the hydraulic pump (2).
4) The flow control cylinder, (35a) and (35b) are oil passages extending from the first hydraulic control valve (35) to the pilot ports on both sides of the directional control valve (21), and (27) is a shuttle valve. The winch brake operation and clutch operation are performed manually by the operator.
（発明が解決しようとする課題） 掘削機械の制御装置が前記のように機械式であって
も，油圧式であっても，ウインチのブレーキ操作，クラ
ツチ操作をオペレータの手動操作で行っており，操作が
煩雑で，掘削効率を低下させる上に，オペレータの負担
を増大させるという問題があった。(Problems to be Solved by the Invention) Regardless of whether the control device of the excavating machine is mechanical or hydraulic as described above, the winch brake operation and the clutch operation are performed manually by an operator. The operation is complicated, the excavation efficiency is reduced, and the burden on the operator is increased.
本発明は前記の問題点に鑑み提案するものであり，そ
の目的とする処は，掘削効率を向上できる上に，オペレ
ータの負担を軽減できる掘削機械の油圧制御装置を提供
しようとする点にある。The present invention has been made in view of the above problems, and has as its object to provide a hydraulic control device for an excavating machine capable of improving the excavating efficiency and reducing the burden on an operator. .
（課題を解決するための手段） 上記の目的を達成するために，本発明は，ウインチド
ラムからブーム上の滑車を経て垂下したワイヤロープの
下端部に掘削装置を取付け，同掘削装置の落下及び持ち
上げにより土砂を掘削，排土する掘削機械において，油
圧ポンプと前記ウインチドラムを駆動する油圧モータと
を連絡する油圧回路に介装した方向切換弁と，第１油圧
式手動操作弁と上記方向切換弁両端のパイロツトポート
とを連絡する油圧回路に介装した第１電磁切換弁及び第
２電磁切換弁と，第２油圧式手動操作弁とウインチドラ
ム用クラツチシリンダとを連絡する油圧回路に介装した
第３電磁切換弁と，同第２油圧式手動操作弁とウインチ
ドラム用ブレーキシリンダとを連絡する油圧回路に介装
した第４電磁切換弁と，上記第1,第２油圧式手動操作弁
の上流側の油圧源回路と上記油圧ポンプの流量制御シリ
ンダとを連絡する油圧回路に介装した電磁比例減圧弁及
び第５電磁切換弁と，上記第１油圧式手動操作弁の上流
側油圧源回路に介装した第６電磁切換弁と，上記第２油
圧式手動操作弁の上流側油圧源回路に介装した第７電磁
切換弁とを具えている。(Means for Solving the Problems) In order to achieve the above object, the present invention attaches a digging device to the lower end of a wire rope that hangs from a winch drum via a pulley on a boom, A directional switching valve interposed in a hydraulic circuit for communicating a hydraulic pump and a hydraulic motor for driving the winch drum, a first hydraulic manually operated valve, and the directional switching in an excavating machine for excavating and discharging earth and sand by lifting. A first electromagnetic switching valve and a second electromagnetic switching valve interposed in a hydraulic circuit that communicates with pilot ports at both ends of the valve, and a hydraulic circuit that communicates a second hydraulic manually operated valve and a winch drum clutch cylinder. A third electromagnetic switching valve, a fourth electromagnetic switching valve interposed in a hydraulic circuit that connects the second hydraulic manually operated valve and the winch drum brake cylinder, and the first and second hydraulic switching valves. An electromagnetic proportional pressure reducing valve and a fifth electromagnetic switching valve interposed in a hydraulic circuit that connects a hydraulic power source circuit upstream of the dynamic operation valve and a flow control cylinder of the hydraulic pump; and an upstream of the first hydraulic manually operated valve. A sixth electromagnetic switching valve interposed in the side hydraulic power source circuit, and a seventh electromagnetic switching valve interposed in the upstream hydraulic power source circuit of the second hydraulic manually operated valve.
（作用） 本発明の掘削機械の油圧制御装置は前記のように構成
されており， 手動制御の場合には，制御装置からの制御信号によ
り，第１電磁切換弁〜第５電磁切換弁をOFFにし，第6,
第７電磁切換弁をONにして，方向切換弁とブレーキシリ
ンダとクラツチシリンダとを第1,第２油圧式手動操作弁
の操作通りに操作する。(Operation) The hydraulic control device for an excavating machine according to the present invention is configured as described above. In the case of manual control, the first to fifth electromagnetic switching valves are turned off by a control signal from the control device. And the sixth,
The seventh electromagnetic switching valve is turned ON, and the direction switching valve, the brake cylinder, and the clutch cylinder are operated as operated by the first and second hydraulic type manually operated valves.
自動運転の場合には，制御装置からの制御信号によ
り，第１電磁切換弁〜第７電磁切換弁と電磁比例減圧弁
とを順次作動させて，自動運転を行う。つまり第１電磁
切換弁〜第４電磁切換弁をON,OFFさせて，方向切換弁と
ブレーキシリンダとクラツチシリンダとを手動操作弁に
無関係に作動，停止させる。また第５電磁切換弁の作動
により，油圧ポンプから吐出される圧油の流量を電磁比
例減圧弁の減圧調整により変えて，油圧モータの速度を
制御する。In the case of automatic operation, automatic operation is performed by sequentially operating the first to seventh electromagnetic switching valves and the electromagnetic proportional pressure reducing valve according to a control signal from the control device. That is, the first to fourth electromagnetic switching valves are turned on and off, and the direction switching valve, the brake cylinder, and the clutch cylinder are operated and stopped independently of the manually operated valve. The speed of the hydraulic motor is controlled by changing the flow rate of the pressure oil discharged from the hydraulic pump by adjusting the pressure of the electromagnetic proportional pressure reducing valve by operating the fifth electromagnetic switching valve.
（実施例） 次に本発明の掘削機械の油圧制御装置の一実施例を第
１図乃至第６図に示す一実施例により説明すると，第１
図の（１）が掘削機械本体，（２）が同掘削機械本体
（１）に設けたチユーブ用把持装置，第1,3図の（３）
が上記掘削機械本体（１）上に設置した俯仰可能なブー
ム，（15）が上記掘削機械本体（１）上に設置したウイ
ンチ，（５）がウインチドラム，第２図の（12）が同ウ
インチドラム（５）の油圧モータ，（11）が同油圧モー
タ（12）の回転をウインチドラム（５）に伝える回転伝
動装置，（10）が上記ウインチドラム（５）の回転検出
器，第１図の（８）が上記ブーム（３）の上端部に取付
けた滑車，（４）が上記ウインチドラム（５）から上記
滑車（８）を経て垂下したワイヤロープ，（６）が同ワ
イヤロープ（４）の下端部（先端部）に取付けた掘削装
置（ハンマグラブ），（７）が上記ブーム（３）の上部
に取付けた排土装置，（９）が上記チユーブ用把持装置
（２）により把持されチユーブ，（13）が上記掘削装置
（６）の上限位置を検出する上限検出器である。(Embodiment) Next, an embodiment of the hydraulic control apparatus for an excavating machine according to the present invention will be described with reference to an embodiment shown in FIGS. 1 to 6.
(1) of the figure is an excavating machine main body, (2) is a tube gripping device provided in the excavating machine main body (1), and (3) of FIGS.
Is a boom that can be raised and lowered installed on the excavating machine main body (1), (15) is a winch installed on the excavating machine main body (1), (5) is a winch drum, and (12) in FIG. A hydraulic motor for the winch drum (5); (11) a rotary transmission for transmitting the rotation of the hydraulic motor (12) to the winch drum (5); (10) a rotation detector for the winch drum (5); (8) is a pulley attached to the upper end of the boom (3), (4) is a wire rope hanging down from the winch drum (5) via the pulley (8), and (6) is a wire rope (6). An excavator (hammag rub) attached to the lower end (tip) of (4), an earth removal device (7) attached to the upper part of the boom (3), and (9) gripped by the tube gripper (2). The tube (13) detects the upper limit position of the drilling rig (6). An upper limit detector.
第４図は，掘削機械の油圧制御回路を示している。同
４図中，（22）がエンジン，（23）がエンジンコントロ
ーラ，（24）が同エンジン（22）により駆動される油圧
ポンプ，（25）が同油圧ポンプ（24）の流量制御シリン
ダ，（21）が同油圧ポンプ（24）と上記油圧モータ（1
2）との間に介装した方向切換弁，（21a）（21b）が同
方向切換弁（21）のパイロツトポート，（29）が同方向
切換弁（21）と上記油圧モータ（12）との間の油圧回路
に介装したシヤトル弁，（30）が同シヤトル弁（29）に
接続した圧力変換器，（46）が上記ウインチドラム
（５）のブレーキシリンダ，（47）が上記回転伝動装置
（11）の駆動軸と上記ウインチドラム（５）との間を断
接するクラツチシリンダである。また（37）が油圧ポン
プ，（35）が油圧モータ（12）の第１油圧式手動操作
弁，（35a）（35b）が油路，（43）が上記ブレーキシリ
ンダ（46）及び上記クラツチシリンダ（47）の第２油圧
式手動操作弁，（43a）（43b）が油路，（31）（32）が
上記方向切換弁（21）の第1,第２電磁切換弁（SOL1,SOL
2），（33）がシヤトル弁，（34）が圧力スイツチ，（2
6）が上記流量制御シリンダ（25）の第５電磁切換弁（S
OL5），（28）が電磁比例減圧弁，（38）が上記油圧ポ
ンプ（37）と上記手動操作弁（35）との間に介装した第
６電磁切換弁（SOL6），（39）が上記クラツチシリンダ
（47）の第３電磁切換弁（SOL3），（41）がシヤトル
弁，（42）が圧力スイツチ，（40）が上記ブレーキシリ
ンダ（46）の第４電磁切換弁（SOL4），（44）が上記油
圧ポンプ（37）と上記手動操作弁（43）との間に介装し
た第７電磁切換弁（SOL7）である。また第５図の（50）
が制御装置で，同制御装置（50）は，上記の圧力スイツ
チ（34）と圧力スイツチ（42）と上限検出器（13）と圧
力変換器（30）と回転検出器（10）とエンジンコントロ
ーラ（23）と接続するとともに，上記の電磁切換弁（3
1）（32）（39）（40）（26）（38）（44）と電磁比例
減圧弁（28）とに接続している。そして油圧ポンプ（2
4）は，エンジン（22）により駆動されて，圧油を吐出
する。また流量制御シリンダ（25）は，油圧ポンプ（2
4）からの圧油の吐出量を制御し，油圧が「０」のとき
に吐出流量が最小になる。またエンジンコントローラ
（23）は，エンジン（22）の回転を制御装置（50）から
の制御信号により制御するとともに，エンジン（22）の
回転数を検出して，得られた検出信号を制御装置（50）
へ送る。上記油圧ポンプ（24）から吐出された圧油は，
方向切換弁（21）を経て油圧モータ（12）へ送られて，
同油圧モータ（12）が回転する。また油圧モータ（12）
の第１油圧式手動操作弁（35）は，油圧ポンプ（37）→
第６電磁切換弁（38）からの圧油を油路（35a）（35b）
の何れか一方→第1,第２電磁切換弁（31）（32）の何れ
か一方→方向切換弁（21）のパイロツトポート（21a）
（21b）の何れか一方へ送って，同方向切換弁（21）を
切り換える。上記第６電磁切換弁（38）は，通常は油圧
ポンプ（37）からの圧油を手動操作弁（35）のポート
（35c）へ導いているが，制御装置（50）からの制御信
号がOFFになれば，第１油圧式手動操作弁（35）のポー
ト（35c）をタンクへ連通する。上記油圧ポンプ（37）
もエンジンにより駆動される。また第５電磁切換弁（2
6）は，通常は油路（35a）（35b）の圧油をシヤトル弁
（27）で選択することにより流量制御シリンダ（25）へ
導いているが，制御装置（50）からの制御信号により作
動して，電磁比例減圧弁（28）により減圧した圧油を流
量制御シリンダ（25）へ導く。また電磁比例減圧弁（2
8）は，油圧ポンプ（37）からの圧油を制御装置（5
0）］からの制御信号により減圧する。またシヤトル弁
（29）は，油圧モータ（12）の駆動圧力を高圧選択し
て，それを圧力変換器（30）へ導く。この圧力変換器
（30）からの信号は，制御装置（50）へ送られる。また
シヤトル弁（33）は，第１油圧式手動弁（35）を油路
（35a）（35b）の圧力を高圧選択して，それを圧力スイ
ツチ（34）へ導く。この圧力スイツチ（34）からの信号
は，制御装置（50）へ送られる。ブレーキシリンダ（4
6）は，圧力が「０」のとき，ばね作用によりウインチ
ドラム（５）を制動する。クラツチシリンダ（47）は，
圧力が「０」のとき，油圧モータ（12）の回転をウイン
チドラム（５）に伝えないが，圧力が高くなると，油圧
モータ（12）の回転をウインチドラム（５）に伝える。
またブレーキシリンダ（46）及びクラツチシリンダ（4
7）は，第２油圧式操作弁（43）により操作され，同各
シリンダ（46）（47）への圧油は，油路（43a）（43b）
を経て送られる。第3,第４電磁切換弁（39）（40）は，
通常は第２油圧式操操作弁（43）の圧力を油路（43a）
（43b）を経てブレーキシリンダ（46）及びクラツチシ
リンダ（47）へ導くが，制御装置（50）からの制御信号
によりそれぞれが別個に作動して，油圧ポンプ（37）か
らの圧油をブレーキシリンダ（46）及びクラツチシリン
ダ（47）へ直接導く。また第７電磁切換弁（44）は，通
常は油圧ポンプ（37）からの圧油を第２油圧式手動操作
弁（43）のポート（43c）へ導いているが，制御装置（5
0）からの制御信号がOFFになれば，ポート（43c）とタ
ンクとを連通する。またシヤトル弁（41）は，第２油圧
式手動操作弁（43）の油路（43a）（43b）の圧油を選択
して，それを圧力スイツチ（42）へ導く。この圧力スイ
ツチ（34）からの信号は，制御装置（50）へ送られる。
第６図は上記制御装置（50）の制御フロー図である。FIG. 4 shows a hydraulic control circuit of the excavating machine. In FIG. 4, (22) is an engine, (23) is an engine controller, (24) is a hydraulic pump driven by the engine (22), (25) is a flow control cylinder of the hydraulic pump (24), 21) The hydraulic pump (24) and the hydraulic motor (1)
2) A directional control valve interposed between the directional control valve, (21a) and (21b) are pilot ports of the directional control valve (21), and (29) is a directional control valve (21) and the hydraulic motor (12). (30) is a pressure transducer connected to the shuttle valve (29), (46) is a brake cylinder of the winch drum (5), and (47) is a rotary transmission. A clutch cylinder for connecting and disconnecting the drive shaft of the device (11) and the winch drum (5). Also, (37) is a hydraulic pump, (35) is a first hydraulic manually operated valve of a hydraulic motor (12), (35a) and (35b) are oil paths, and (43) is the brake cylinder (46) and the clutch cylinder. The second hydraulically operated valve (47), (43a) and (43b) are oil passages, and (31) and (32) are the first and second solenoid-operated directional control valves (SOL1, SOL1) of the directional control valve (21).
2) and (33) are shuttle valves, (34) are pressure switches, (2)
6) is the fifth solenoid-operated directional control valve (S
OL5) and (28) are electromagnetic proportional pressure reducing valves, and (38) is a sixth electromagnetic switching valve (SOL6) and (39) interposed between the hydraulic pump (37) and the manually operated valve (35). The third electromagnetic switching valve (SOL3) of the clutch cylinder (47), (41) is a shuttle valve, (42) is a pressure switch, (40) is a fourth electromagnetic switching valve (SOL4) of the brake cylinder (46), (44) is a seventh electromagnetic switching valve (SOL7) interposed between the hydraulic pump (37) and the manually operated valve (43). Also, (50) in FIG.
Is a control device, and the control device (50) is composed of the above-mentioned pressure switch (34), pressure switch (42), upper limit detector (13), pressure converter (30), rotation detector (10), and engine controller. (23) and the above-mentioned solenoid valve (3
1) Connected to (32) (39) (40) (26) (38) (44) and the proportional pressure reducing valve (28). And a hydraulic pump (2
4) is driven by the engine (22) to discharge pressure oil. The flow control cylinder (25) is connected to the hydraulic pump (2
The discharge amount of the pressure oil from 4) is controlled, and the discharge flow rate is minimized when the hydraulic pressure is “0”. The engine controller (23) controls the rotation of the engine (22) with a control signal from the control device (50), detects the number of revolutions of the engine (22), and outputs the obtained detection signal to the control device ( 50)
Send to The pressure oil discharged from the hydraulic pump (24)
It is sent to the hydraulic motor (12) via the directional valve (21),
The hydraulic motor (12) rotates. Also hydraulic motor (12)
The first hydraulic manually operated valve (35) of the hydraulic pump (37) →
The hydraulic oil from the sixth electromagnetic switching valve (38) is supplied to the oil passages (35a) (35b).
Either one of → the first and second electromagnetic switching valves (31) and (32) → the pilot port (21a) of the directional switching valve (21)
(21b) to switch the same-way switching valve (21). The sixth electromagnetic switching valve (38) normally guides hydraulic oil from the hydraulic pump (37) to the port (35c) of the manually operated valve (35). When turned off, the port (35c) of the first hydraulic manually operated valve (35) is connected to the tank. The above hydraulic pump (37)
Is also driven by the engine. In addition, the fifth electromagnetic switching valve (2
In 6), normally, the pressure oil in the oil passages (35a) (35b) is guided to the flow control cylinder (25) by selecting with the shuttle valve (27), but it is controlled by the control signal from the control device (50). When activated, the pressure oil depressurized by the electromagnetic proportional pressure reducing valve (28) is guided to the flow control cylinder (25). Electromagnetic proportional pressure reducing valve (2
8) The pressure oil from the hydraulic pump (37) is
0)]. Further, the shuttle valve (29) selects the driving pressure of the hydraulic motor (12) at a high pressure and guides it to the pressure transducer (30). The signal from the pressure transducer (30) is sent to the control device (50). Further, the shuttle valve (33) selects the first hydraulic manual valve (35) at a high pressure in the oil passages (35a) (35b) and guides it to the pressure switch (34). The signal from the pressure switch (34) is sent to the control device (50). Brake cylinder (4
6) When the pressure is "0", the winch drum (5) is braked by a spring action. The clutch cylinder (47)
When the pressure is "0", the rotation of the hydraulic motor (12) is not transmitted to the winch drum (5), but when the pressure becomes high, the rotation of the hydraulic motor (12) is transmitted to the winch drum (5).
In addition, brake cylinder (46) and clutch cylinder (4
7) is operated by the second hydraulic operation valve (43), and the pressure oil to each of the cylinders (46) (47) is supplied to the oil passages (43a) (43b).
Sent through. The third and fourth solenoid-operated directional control valves (39) and (40)
Normally, the pressure of the second hydraulic control valve (43) is increased by the oil passage (43a).
(43b) to the brake cylinder (46) and the clutch cylinder (47), but each operates independently according to the control signal from the control device (50), and pressurizes the hydraulic oil from the hydraulic pump (37) to the brake cylinder. (46) and lead directly to the clutch cylinder (47). The seventh electromagnetic switching valve (44) normally guides hydraulic oil from the hydraulic pump (37) to the port (43c) of the second hydraulic manually operated valve (43).
When the control signal from (0) turns OFF, the port (43c) and the tank are connected. In addition, the shuttle valve (41) selects the pressure oil in the oil passages (43a) and (43b) of the second hydraulic manually operated valve (43) and guides it to the pressure switch (42). The signal from the pressure switch (34) is sent to the control device (50).
FIG. 6 is a control flow chart of the control device (50).
次に前記第１図乃至第６図に示す掘削機械の油圧制御
装置の作用を具体的に説明する。第１図のウインチドラ
ム（５）を巻上方向に駆動して，ワイヤロープ（４）を
巻き上げ，掘削装置（６）を上限位置まで持ち上げて，
掘削した土砂を排土し，次いでウインチドラム（５）を
駆動系から解放して，ワイヤロープ（４）を繰り出し，
掘削装置（６）をチユーブ（９）内へ落下させて，同チ
ユーブ（９）内の土砂を掘削し，次いでウインチドラム
（５）を巻上方向に駆動して，ワイヤロープ（４）を巻
き上げ，掘削装置（６）を上限位置まで持ち上げて，排
土する。それからも上記の作用を繰り返し行って，チユ
ーブ（９）内の土砂を次々に掘削してゆく。Next, the operation of the hydraulic control device of the excavating machine shown in FIGS. 1 to 6 will be specifically described. The winch drum (5) in FIG. 1 is driven in the hoisting direction, the wire rope (4) is hoisted, and the excavator (6) is raised to the upper limit position.
The excavated earth and sand is discharged, then the winch drum (5) is released from the drive train, and the wire rope (4) is paid out.
The excavator (6) is dropped into the tube (9) to excavate the earth and sand in the tube (9), and then the winch drum (5) is driven in the hoisting direction to wind up the wire rope (4). , Lift the excavator (6) to the upper limit position and discharge the soil. Then, the above operation is repeated to excavate the earth and sand in the tube (9) one after another.
次に油圧制御系の作用を第4,5図により説明する。 Next, the operation of the hydraulic control system will be described with reference to FIGS.
（ｉ）手動制御の場合には，第６図に示すように制御装
置（50）からの制御信号により，第１電磁切換弁（SOL
1）（31）と第２電磁切換弁（SOL2）（32）と第３電磁
切換弁（SOL3）（39）と第４電磁切換弁（SOL4）（40）
と第５電磁切換弁（SOL5）（26）とをOFFにし，第６電
磁切換弁（SOL6）（38）と第７電磁切換弁（SOL7）（4
4）とをONにして，方向切換弁（21）とブレーキシリン
ダ（46）とクラツチシリンダ（47）とを第1,第２油圧式
手動操作弁（35）（43）の操作通りに（オペレータの操
作通りに）操作する。第１油圧式手動操作弁（35）の非
操作時，油圧ポンプ（24）から吐出される圧油の流量
は，最小の状態にあるが，第１油圧式手動操作弁（35）
の操作時には，油圧ポンプ（24）から吐出される圧油の
流量が増加して，油圧モータ（12）の回転が速くなる。
また第２油圧式手動操作弁（43）の非操作時には，ブレ
ーキシリンダ（46）が制動方向に作動して，ウインチド
ラム（５）が制動，固定されているが，第２油圧式手動
操作弁（43）の操作時には，クラツチシリンダ（47）が
接続方向に作動して，油圧モータ（12）の駆動軸とウイ
ンチドラム（５）とが接続されるとともに，ブレーキシ
リンダ（46）が制動解除方向に作動し，ウインチドラム
（５）の制動が解除されて，ウインチドラム（５）が駆
動される。(I) In the case of manual control, the first solenoid-operated directional control valve (SOL) is controlled by a control signal from the control device (50) as shown in FIG.
1) (31), 2nd electromagnetic switching valve (SOL2) (32), 3rd electromagnetic switching valve (SOL3) (39), 4th electromagnetic switching valve (SOL4) (40)
And the fifth electromagnetic directional control valve (SOL5) (26) are turned off, and the sixth electromagnetic directional control valve (SOL6) (38) and the seventh electromagnetic directional control valve (SOL7) (4)
4) is turned ON, and the direction switching valve (21), the brake cylinder (46), and the clutch cylinder (47) are operated according to the operation of the first and second hydraulic manually operated valves (35), (43) (operator). Operation). When the first hydraulic manually operated valve (35) is not operated, the flow rate of the hydraulic oil discharged from the hydraulic pump (24) is in a minimum state, but the first hydraulic manually operated valve (35)
During the operation, the flow rate of the pressure oil discharged from the hydraulic pump (24) increases, and the rotation of the hydraulic motor (12) increases.
When the second hydraulic manually operated valve (43) is not operated, the brake cylinder (46) operates in the braking direction and the winch drum (5) is braked and fixed. In the operation of (43), the clutch cylinder (47) operates in the connection direction, the drive shaft of the hydraulic motor (12) and the winch drum (5) are connected, and the brake cylinder (46) is moved in the brake release direction. , The braking of the winch drum (5) is released, and the winch drum (5) is driven.
（ii）自動運転の場合には，第６図に示すように制御装
置（50）からの制御信号により，第１電磁切換弁（SOL
1）（31）〜第７電磁切換弁（SOL7）（44）と電磁比例
減圧弁（28）とを順次作動させて，自動運転を行う。つ
まり第１電磁切換弁（SOL1）（31）〜第４電磁切換弁
（SOL4）（40）をON,OFFさせることにより，方向切換弁
（21）とブレーキシリンダ（46）とクラツチシリンダ
（47）とを手動操作弁に無関係に作動，停止させる。ま
た第５電磁切換弁（SOL5）（26）の作動により，油圧ポ
ンプ（24）から吐出される圧油の流量を電磁比例減圧弁
（28）の減圧調整により変えて，油圧モート（12）の速
度を制御する。(Ii) In the case of automatic operation, as shown in FIG. 6, the first solenoid-operated switching valve (SOL) is controlled by a control signal from the control device (50).
1) Automatic operation is performed by sequentially operating the (31) -the seventh electromagnetic switching valve (SOL7) (44) and the electromagnetic proportional pressure reducing valve (28). That is, the first directional control valve (SOL1) (31) to the fourth directional control valve (SOL4) (40) are turned ON / OFF, so that the directional control valve (21), the brake cylinder (46), and the clutch cylinder (47). Are started and stopped independently of the manually operated valve. By operating the fifth electromagnetic switching valve (SOL5) (26), the flow rate of the hydraulic oil discharged from the hydraulic pump (24) is changed by the pressure reduction of the electromagnetic proportional pressure reducing valve (28), and the hydraulic moat (12) is changed. Control the speed.
また圧力変換器（30）により，掘削装置（６）持ち上
げ時の圧力をモニタし，油圧モータ（12）の駆動圧力が
上昇したときを起点として掘削装置（６）が上限検出器
（13）に接触するまでのウインチドラム（５）の回転数
を回転検出器（10）により検出し，ワイヤロープ（４）
の巻取り長さを求めて，第３図の掘削深さＤを測定す
る。掘削装置（６）の落下時にも，ウインチドラム
（５）の回転数を検出して，掘削装置（６）の高さを測
定する。以上の測定結果から掘削装置（６）の位置を求
め，その結果に基づいて第６図の自動運転を行う。The pressure transducer (30) monitors the pressure at the time of lifting the excavator (6), and when the drive pressure of the hydraulic motor (12) rises, the excavator (6) detects the pressure at the upper limit detector (13). The number of rotations of the winch drum (5) until contact is detected by the rotation detector (10), and the wire rope (4)
Then, the excavation depth D shown in FIG. 3 is measured. Even when the excavator (6) falls, the rotation speed of the winch drum (5) is detected to measure the height of the excavator (6). The position of the excavator (6) is determined from the above measurement results, and the automatic operation shown in FIG. 6 is performed based on the results.
以上の自動運転時，オペレータが異常を感じたり，自
動運転を中断したいときには，非常停止釦スイツチ（図
示せず）を押すか，第1,第２油圧式手動操作弁（35）
（43）の何れか一方を操作して，圧力スイツチ（34）
（42）の何れか一方を作動させ，そのとき得られる信号
を制御装置（50）へ送って，自動運転を停止させる。In the above automatic operation, when the operator feels abnormal or wants to interrupt the automatic operation, he or she presses an emergency stop button switch (not shown) or operates the first and second hydraulic manually operated valves (35).
Operate either one of (43) and the pressure switch (34)
Activate either one of (42) and send the signal obtained at that time to the control device (50) to stop the automatic operation.
また自動運転を停止させたり，手動運転で油圧力を必
要としなくなったりした場合には，制御装置（50）の制
御信号をエンジンコントローラ（23）へ送り，エンジン
（22）の回転を低回転に切り換えて，省エネルギーを図
る。When automatic operation is stopped or manual operation no longer requires oil pressure, the control signal of the control device (50) is sent to the engine controller (23) to reduce the rotation of the engine (22) to low speed. Switch to save energy.
（発明の効果） 本発明の掘削機械の油圧制御装置は前記のように手動
操作時，オペレータは，ブレーキもクラツチも操作する
必要がなくて，手動操作を簡略化できる。また自動運転
時，オペレータは，自動運転の監視及び安全確保に専念
すればよくて，掘削機械の掘削効率を向上できる上に，
オペレータの負担を軽減できる効果がある。(Effect of the Invention) The hydraulic control device for an excavating machine according to the present invention does not need to operate the brake and the clutch at the time of manual operation as described above, and the manual operation can be simplified. At the time of automatic operation, the operator only needs to concentrate on monitoring the automatic operation and ensuring safety.
This has the effect of reducing the burden on the operator.
第１図は本発明に係わる掘削機械の油圧制御装置の一実
施例を示す側面図，第２図はウインチドラムの駆動系を
示し側面図，第３図は掘削装置と掘削個所との位置関係
を示す説明図，第４図は油圧制御装置の油圧回路図，第
５図は同油圧制御装置の制御ブロツク線図，第６図は同
油圧制御装置の制御フロー図，第７図は従来の掘削機械
の掘削手順を示す説明図，第８図は従来の掘削機械の油
圧制御装置の油圧回路図である。 （５）……ウインチドラム，（６）……掘削装置，（1
0）……回転検出器，（12）……油圧モータ，（13）…
…上限検出器，（15）……ウインチ，（21）……方向切
換弁，（23）……エンジンコントローラ，（25）……流
量制御シリンダ，（26）……第５電磁切換弁，（28）…
…電磁比例減圧弁，（31）……第１電磁切換弁，（32）
……第２電磁切換弁，（38）……第６電磁切換弁，（3
9）……第３電磁切換弁，（40）……第４電磁切換弁，
（44）……第７電磁切換弁，（35）……第１油圧式操作
弁，（43）……第２油圧式操作弁，（50）……制御装
置。FIG. 1 is a side view showing an embodiment of a hydraulic control device for an excavating machine according to the present invention, FIG. 2 is a side view showing a drive system of a winch drum, and FIG. 3 is a positional relationship between the excavating device and an excavation point. FIG. 4 is a hydraulic circuit diagram of the hydraulic control device, FIG. 5 is a control block diagram of the hydraulic control device, FIG. 6 is a control flow diagram of the hydraulic control device, and FIG. FIG. 8 is an explanatory diagram showing the excavation procedure of the excavator, and FIG. 8 is a hydraulic circuit diagram of a conventional hydraulic control device for the excavator. (5) Winch drum, (6) Drilling rig, (1
0) Rotation detector, (12) Hydraulic motor, (13)
... upper limit detector, (15) ... winch, (21) ... directional control valve, (23) ... engine controller, (25) ... flow control cylinder, (26) ... fifth electromagnetic directional control valve, ( 28)…
… Electromagnetic proportional pressure reducing valve, (31) …… First electromagnetic switching valve, (32)
... Second solenoid-operated directional control valve, (38)… Sixth solenoid-operated directional control valve, (3)
9) ... third solenoid-operated switching valve, (40) ... fourth solenoid-operated switching valve,
(44)... The seventh electromagnetic switching valve, (35)... The first hydraulically operated valve, (43)... The second hydraulically operated valve, (50).
Claims (1)
垂下したワイヤロープの下端部に掘削装置を取付け，同
掘削装置の落下及び持ち上げにより土砂を掘削，排土す
る掘削機械において，油圧ポンプと前記ウインチドラム
を駆動する油圧モータとを連絡する油圧回路に介装した
方向切換弁と，第１油圧式手動操作弁と上記方向切換弁
両端のパイロツトポートとを連絡する油圧回路に介装し
た第１電磁切換弁及び第２電磁切換弁と，第２油圧式手
動操作弁とウインチドラム用クラツチシリンダとを連絡
する油圧回路に介装した第３電磁切換弁と，同第２油圧
式手動操作弁とウインチドラム用ブレーキシリンダとを
連絡する油圧回路に介装した第４電磁切換弁と，上記第
1,第２油圧式手動操作弁の上流側の油圧源回路と上記油
圧ポンプの流量制御シリンダとを連絡する油圧回路に介
装した電磁比例減圧弁及び第５電磁切換弁と，上記第１
油圧式手動操作弁の上流側油圧源回路に介装した第６電
磁切換弁と，上記第２油圧式手動操作弁の上流側油圧源
回路に介装した第７電磁切換弁とを具えていることを特
徴とした掘削機械の油圧制御装置。An excavator is mounted on a lower end of a wire rope suspended from a winch drum via a pulley on a boom, and excavates and excavates earth and sand by dropping and lifting the excavator. A directional switching valve interposed in a hydraulic circuit that communicates with a hydraulic motor that drives a winch drum, and a first hydraulic circuit interposed in a hydraulic circuit that communicates a first hydraulic manually operated valve with pilot ports at both ends of the directional switching valve. An electromagnetic switching valve and a second electromagnetic switching valve, a third electromagnetic switching valve interposed in a hydraulic circuit connecting the second hydraulic manually operated valve and the winch drum clutch cylinder, and a second hydraulic manually operated valve. A fourth electromagnetic switching valve interposed in a hydraulic circuit for communicating with a winch drum brake cylinder;
1, an electromagnetic proportional pressure-reducing valve and a fifth electromagnetic switching valve interposed in a hydraulic circuit that connects a hydraulic power source circuit upstream of the second hydraulic manually operated valve and a flow control cylinder of the hydraulic pump;
A sixth electromagnetic switching valve interposed in the upstream hydraulic source circuit of the hydraulic manual operation valve, and a seventh electromagnetic switching valve interposed in the upstream hydraulic source circuit of the second hydraulic manual operation valve are provided. A hydraulic control device for an excavating machine, characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15166990A JP2798220B2 (en) | 1990-06-12 | 1990-06-12 | Excavator hydraulic control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15166990A JP2798220B2 (en) | 1990-06-12 | 1990-06-12 | Excavator hydraulic control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0444591A JPH0444591A (en) | 1992-02-14 |
| JP2798220B2 true JP2798220B2 (en) | 1998-09-17 |
Family
ID=15523651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15166990A Expired - Fee Related JP2798220B2 (en) | 1990-06-12 | 1990-06-12 | Excavator hydraulic control |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2798220B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393423A (en) * | 2016-08-25 | 2017-02-15 | 宁波建工广天构件有限公司 | Full-automatic hydraulic tensioning device and use method thereof |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5580725B2 (en) | 2010-12-20 | 2014-08-27 | 株式会社神戸製鋼所 | Manufacturing method of dust core and dust core obtained by the manufacturing method |
| EP2659828B1 (en) | 2011-11-25 | 2015-07-01 | Olympus Medical Systems Corp. | Endoscope |
-
1990
- 1990-06-12 JP JP15166990A patent/JP2798220B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106393423A (en) * | 2016-08-25 | 2017-02-15 | 宁波建工广天构件有限公司 | Full-automatic hydraulic tensioning device and use method thereof |
| CN106393423B (en) * | 2016-08-25 | 2018-11-02 | 宁波建工广天构件有限公司 | A kind of fully automatic hydraulic tensioning equipment and its application method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0444591A (en) | 1992-02-14 |
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|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |