JPH0250258B2 - - Google Patents
Info
- Publication number
- JPH0250258B2 JPH0250258B2 JP1502281A JP1502281A JPH0250258B2 JP H0250258 B2 JPH0250258 B2 JP H0250258B2 JP 1502281 A JP1502281 A JP 1502281A JP 1502281 A JP1502281 A JP 1502281A JP H0250258 B2 JPH0250258 B2 JP H0250258B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- control valve
- boom
- valve
- arm
- 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
Links
- 230000007935 neutral effect Effects 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- 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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
-
- 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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
- E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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)
Description
【発明の詳細な説明】
この発明は油圧シヨベル等のフロント姿勢制御
装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a front posture control device for a hydraulic excavator or the like.
第１図は従来のローダ油圧シヨベルのフロント
部を示す図である。図において１は油圧シヨベル
本体、２は本体１に枢着されたブーム、３はブー
ム２の先端に枢着されたアーム、４はアーム３の
先端に枢着されたバケツト、５はブーム２を俯仰
動するブームシリンダ、６はアーム３を揺動する
アームシリンダ、７はバケツト４を回動するバケ
ツトシリンダ、８〜１０は油圧ポンプ、１１〜１
３はブームシリンダ５、アームシリンダ６、バケ
ツトシリンダ７を制御する方向切換弁である。 FIG. 1 is a diagram showing the front part of a conventional loader hydraulic excavator. In the figure, 1 is the main body of a hydraulic excavator, 2 is a boom pivotally connected to the main body 1, 3 is an arm pivotally connected to the tip of the boom 2, 4 is a bucket pivotally attached to the tip of the arm 3, and 5 is the boom 2. A boom cylinder that moves up and down, 6 an arm cylinder that swings the arm 3, 7 a bucket cylinder that rotates the bucket 4, 8 to 10 hydraulic pumps, 11 to 1
3 is a directional switching valve that controls the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7.
このような油圧シヨベルにおいては、バケツト
４を水平に押出して掘削するとき（水平押出操作
時）のように、アーム３の先端が所定の軌跡を描
くような制御（軌跡制御）をする必要があり、ま
たバケツト２を仰動してバケツト４を上方に移動
するとき（ブーム上げ操作時）に、バケツト４の
開口部が常に上方を向くようにして、バケツト４
内の土砂がこぼれないようにする場合のように、
バケツト４が垂直方向となす角（バケツト角）を
所定値に保つ制御（バケツト角制御）をする必要
がある。しかしながら、このような制御をするに
は、方向切換弁１１〜１３を同時に操作しなけれ
ばならないため、操作が非常に面倒であるととも
に、このような操作にはかなりの熟練を要する。
そこで、第２図、第３図に示すようなフロント姿
勢制御装置が考えられる。 In such a hydraulic excavator, it is necessary to control the tip of the arm 3 to draw a predetermined trajectory (trajectory control), as when excavating by pushing the bucket 4 horizontally (during horizontal pushing operation). Also, when moving the bucket 4 upward by raising the bucket 2 (during boom raising operation), make sure that the opening of the bucket 4 always faces upward.
As in the case of preventing internal dirt from spilling out,
It is necessary to perform control (bucket angle control) to maintain the angle (bucket angle) that the bucket 4 makes with the vertical direction at a predetermined value. However, in order to perform such control, the directional control valves 11 to 13 must be operated at the same time, which is very troublesome to operate and requires considerable skill.
Therefore, a front attitude control device as shown in FIGS. 2 and 3 can be considered.
第２図において１４，１５はブームシリンダ５
のロツド押出側油路、ロツド引込側油路、１６は
油路１４から油路１５に流れる油量を外部からの
信号に応じて制御可能な流量制御弁で、流量制御
弁１６に送られる信号が零のときには、流量制御
弁１６を流れる油量は零となる。１７は流量制御
弁１６と油路１５との間に設けられた逆止弁で、
逆止弁１７は油路１４から油路１５への流れを許
す。１８は逆止弁１７と流量制御弁１６との間の
油路１９とタンクとを接続する油路、２０は演算
装置で、演算装置２０は本体・ブーム相対変位信
号α1、ブーム・アーム相対変位信号α2を入力し、
アーム３の先端の軌跡が水平となるように流量制
御弁１６を制御する制御信号I1を出力する。２１
は演算装置２０と流量制御弁１６との間に設けら
れたスイツチである。 In Fig. 2, 14 and 15 are boom cylinders 5
The rod extrusion side oil passage, the rod retraction side oil passage 16 are flow control valves that can control the amount of oil flowing from the oil passage 14 to the oil passage 15 according to external signals, and the signal sent to the flow control valve 16 When is zero, the amount of oil flowing through the flow control valve 16 is zero. 17 is a check valve provided between the flow control valve 16 and the oil passage 15;
The check valve 17 allows flow from the oil passage 14 to the oil passage 15. 18 is an oil passage connecting the oil passage 19 between the check valve 17 and the flow rate control valve 16 and the tank; 20 is a calculation device; Input the displacement signal α 2 ,
A control signal I 1 is output to control the flow rate control valve 16 so that the trajectory of the tip of the arm 3 is horizontal. 21
is a switch provided between the arithmetic unit 20 and the flow rate control valve 16.
このフロント姿勢制御装置においては、スイツ
チ２１がオフのときには、流量制御弁１６を流れ
る油量は零であるから、方向切換弁１１を操作す
ることにより、ブーム２を手動操作することがで
きる。また、スイツチ２１をオンにして、アーム
３を上方に揺動したときには、ブーム２の自重お
よびブーム２に作用する掘削抵抗のために、油路
１４に圧力が発生するとともに、制御信号I1に応
じて流量制御弁１６が開くから、油路１４の油が
制御信号I2に応じた油量だけ流量制御弁１６を流
れる。このため、ブーム２が制御信号I1に応じて
俯動し、アーム３の先端の軌跡が水平となる。 In this front attitude control device, when the switch 21 is off, the amount of oil flowing through the flow rate control valve 16 is zero, so the boom 2 can be manually operated by operating the directional control valve 11. Furthermore, when the switch 21 is turned on and the arm 3 is swung upward, pressure is generated in the oil passage 14 due to the weight of the boom 2 and the excavation resistance acting on the boom 2, and the control signal I1 is Since the flow control valve 16 opens accordingly, the oil in the oil passage 14 flows through the flow control valve 16 in an amount corresponding to the control signal I2 . Therefore, the boom 2 moves downward in response to the control signal I1 , and the trajectory of the tip of the arm 3 becomes horizontal.
第３図において２２，２３はバケツトシリンダ
７のロツド押出側油路、ロツド引込側油路、２４
は油路２２から油路２３に流れる油量を外部から
の信号に応じて制御可能な流量制御弁で、流量制
御弁２４に送られる信号が零のときには、流量制
御弁２４を流れる油量は零となる。２５は流量制
御弁２４と油路２３との間に設けられた逆止弁
で、逆止弁２５は油路２２から油路２３への流れ
を許す。２６は逆止弁２５と流量制御弁２４との
間の油路２７とタンクとを接続する油路、２８は
演算装置で、演算装置２８は変位信号α1，α2およ
びアーム・バケツト相対変位信号α3を入力し、バ
ケツト４の開口部が常に上方に向くように流量制
御弁２４を制御する制御信号I2を出力する。２９
は演算装置２８と流量制御弁２４との間に設けら
れたスイツチである。 In FIG. 3, 22 and 23 are the rod extrusion side oil passage of the bucket cylinder 7, the rod retraction side oil passage, and 24
is a flow control valve that can control the amount of oil flowing from the oil path 22 to the oil path 23 according to an external signal; when the signal sent to the flow control valve 24 is zero, the amount of oil flowing through the flow control valve 24 is It becomes zero. 25 is a check valve provided between the flow rate control valve 24 and the oil passage 23, and the check valve 25 allows flow from the oil passage 22 to the oil passage 23. 26 is an oil passage connecting the oil passage 27 between the check valve 25 and the flow rate control valve 24 and the tank; 28 is a calculation device; A signal α 3 is inputted, and a control signal I 2 is outputted to control the flow rate control valve 24 so that the opening of the bucket 4 always faces upward. 29
is a switch provided between the arithmetic unit 28 and the flow rate control valve 24.
このフロント姿勢制御装置においては、スイツ
チ２９がオフのときには、流量制御弁２４を流れ
る油量が零であるから、方向切換弁１３を操作す
ることにより、バケツト４を手動操作することが
できる。また、スイツチ２９をオンにして、ブー
ム２を仰動したときには、バケツト４およびバケ
ツト４内の土砂の重量により、油路２２に圧力が
発生するとともに、制御信号I2に応じて流量制御
弁２４が開くから、油路２２の油が制御信号I2に
応じた油量だけ流量制御弁２４を流れる。このた
め、バケツト４が制御信号I2に応じて下方に回動
し、バケツト４の開口部が常に上方を向く。 In this front attitude control device, when the switch 29 is off, the amount of oil flowing through the flow rate control valve 24 is zero, so the bucket 4 can be manually operated by operating the directional control valve 13. When the switch 29 is turned on and the boom 2 is moved up and down, pressure is generated in the oil passage 22 due to the weight of the bucket 4 and the earth and sand in the bucket 4, and the flow rate control valve 24 is turned on in response to the control signal I2 . is opened, the oil in the oil passage 22 flows through the flow rate control valve 24 in an amount corresponding to the control signal I2 . Therefore, the bucket bag 4 rotates downward in response to the control signal I2 , and the opening of the bag bag 4 always faces upward.
しかしながら、第２図、第３図に示したフロン
ト姿勢制御装置においては、それぞれ軌跡制御、
バケツト角制御の一方のみしか自動的に行なうこ
とができない。また、流量制御弁、逆止弁をそれ
ぞれ２つ設けて、軌跡制御およびバケツト角制御
の両方を可能にすることも考えられるが、この場
合には高価な電気制御の流量制御弁を２つ必要と
するから、コストが高くなる。 However, in the front attitude control devices shown in FIGS. 2 and 3, trajectory control and
Only one side of bucket angle control can be performed automatically. It is also possible to provide two flow control valves and two check valves to enable both trajectory control and bucket angle control, but in this case two expensive electrically controlled flow control valves would be required. Therefore, the cost will be high.
この発明は上述の問題点を解決するためになさ
れたもので、軌跡制御およびバケツト角制御の両
方を自動的に行なうことができ、かつ安価な油圧
シヨベル等のフロント姿勢制御装置を提供するこ
とを目的とする。 This invention was made in order to solve the above-mentioned problems, and it is an object of the present invention to provide an inexpensive front attitude control device for a hydraulic excavator, etc., which can automatically perform both trajectory control and bucket angle control. purpose.
この目的を達成するため、この発明においては
外部からの信号に応じて通過流量を制御可能な流
量制御弁と、その流量制御弁に接続された逆止弁
と、その逆止弁と上記流量制御弁との間の油路と
タンクとを接続する油路と、制御モード選択信号
Ｘが第一状態のときブームシリンダに接続された
両油路と上記流量制御弁、上記逆止弁とを接続
し、上記信号Ｘが第二状態のときバケツトシリン
ダに接続された両油路と上記流量制御弁、上記逆
止弁とを接続する切換弁と、フロントの姿勢信号
を入力して、上記信号Ｘが第一状態のとき上記ア
ームの先端が所定軌跡を描くように上記流量制御
弁を制御する信号を出力し、上記信号Ｘが第二状
態のときバケツト角が所定値に保つように上記流
量制御弁を制御する信号を出力する演算装置とを
設ける。 In order to achieve this object, the present invention includes a flow control valve capable of controlling a passing flow rate according to an external signal, a check valve connected to the flow control valve, and a check valve and the flow control valve connected to the flow control valve. An oil passage that connects the oil passage between the valve and the tank, and both oil passages connected to the boom cylinder when the control mode selection signal X is in the first state, are connected to the flow rate control valve and the check valve. Then, when the signal When X is in the first state, a signal for controlling the flow rate control valve is output so that the tip of the arm draws a predetermined trajectory, and when the signal X is in the second state, the flow rate is controlled so that the bucket angle is maintained at a predetermined value. and an arithmetic device that outputs a signal to control the control valve.
第４図はこの発明に係る油圧シヨベルのフロン
ト姿勢制御装置を示す図である。図において３０
は外部からの信号に応じて通過流量を制御可能な
流量制御弁、３１は流量制御弁３０に接続された
逆止弁で、逆止弁３１は流量制御弁３０側からの
流れを許す。３２は逆止弁３１と流量制御弁３０
との間の油路３３とタンクとを接続する油路、３
４は制御モード選択信号Ｘを出力する制御モード
選択信号発生器で、方向切換弁１１が中立位置に
あり、かつ方向切換弁１２がアーム押出位置にあ
るとき、信号Ｘは第一状態となり、方向切換弁１
３が中立位置にあり、かつ方向切換弁１１がブー
ム上げ位置にあるとき、信号Ｘは第二状態にな
る。３５ａ，３５ｂは切換弁で、信号Ｘが第一状
態のとき、切換弁３５ａ，３５ｂはＡ位置とな
り、油路１４と流量制御弁３０とが接続されると
ともに、逆止弁３１と油路１５とが接続され、信
号Ｘが第二状態のとき、切換弁３５ａ，３５ｂは
Ｂ位置となり、油路２２と流量制御弁３０とが接
続されるとともに、逆止弁３１と油路２３とが接
続される。３６は演算装置で、演算装置３６は信
号Ｘが第一状態のとき、信号α1，α2を入力して、
アーム３の先端の軌跡が水平となるように流量制
御弁３０を制御する信号I3を出力し、信号Ｘが第
二状態のとき、信号α1，α2，α3を入力して、バケ
ツト４の開口部が常に上方を向くように流量制御
弁３０を制御する制御信号I4を出力する。３７は
演算装置３６と流量制御弁３０との間に設けられ
たスイツチである。 FIG. 4 is a diagram showing a front posture control device for a hydraulic excavator according to the present invention. 30 in the figure
31 is a check valve connected to the flow control valve 30, and the check valve 31 allows flow from the flow control valve 30 side. 32 is a check valve 31 and a flow control valve 30
An oil passage connecting the oil passage 33 between the tank and the tank, 3
4 is a control mode selection signal generator that outputs a control mode selection signal X. When the direction switching valve 11 is in the neutral position and the direction switching valve 12 is in the arm pushing position, the signal Switching valve 1
3 is in the neutral position and the directional control valve 11 is in the boom up position, the signal X is in the second state. 35a and 35b are switching valves, and when the signal is connected, and when the signal be done. 36 is an arithmetic device; when the signal X is in the first state, the arithmetic device 36 inputs the signals α 1 and α 2 ;
Output the signal I3 to control the flow rate control valve 30 so that the locus of the tip of the arm 3 is horizontal, and when the signal X is in the second state, input the signals α1 , α2 , α3 to control the bucket. A control signal I4 is output to control the flow rate control valve 30 so that the opening of the flow rate control valve 30 always faces upward. 37 is a switch provided between the arithmetic unit 36 and the flow rate control valve 30.
このフロント姿勢制御装置においては、スイツ
チ３７がオフのときには、流量制御弁３０を流れ
る油量が零であるから、方向切換弁１１，１３を
操作することにより、信号Ｘにかかわらず、ブー
ム２、バケツト４を手動操作することができる。
また、スイツチ３７をオンにし、かつ方向切換弁
１２をアーム押出位置にして、アーム３を上方に
揺動したときには、信号Ｘが第一状態となるので
切換弁３５ａ，３５ｂがＡ位置となり、油路１４
と流量制御弁３０とが接続され、逆止弁３１と油
路１５とが接続されるとともに、制御信号I3に応
じて流量制御弁３０が開くから、油路１４の油が
制御信号I3に応じた油量だけ流量制御弁３０を流
れる。このため、ブーム２が制御信号I3に応じて
俯動し、アーム３の先端の軌跡が水平となる。さ
らに、スイツチ３７をオンにし、かつ方向切換弁
１１をブーム上げ位置にして、ブーム２を仰動し
たときには、信号Ｘが第二状態となるので、切換
弁３５ａ，３５ｂがＢ位置となり、油路２２と流
量制御弁３０とが接続され、逆止弁３１が油路２
３とが接続されるとともに、制御信号I4に応じて
流量制御弁３０が開くから、油路２２の油が制御
信号I4に応じた油量だけ流量制御弁３０を流れ
る。このため、バケツト４が制御信号I4に応じて
下方に回動して、バケツト４の開口部が常に上方
を向く。したがつて、方向切換弁１２をアーム押
出位置にして、アーム３を上方に揺動したのち、
方向切換弁１１をブーム上げ位置にして、ブーム
２を仰動するだけで、水平押出操作とそれに続く
ブーム上げ操作を行なうことができる。 In this front attitude control device, when the switch 37 is off, the amount of oil flowing through the flow control valve 30 is zero, so by operating the directional control valves 11 and 13, the boom 2, Bucket 4 can be operated manually.
Furthermore, when the switch 37 is turned on, the directional control valve 12 is set to the arm push-out position, and the arm 3 is swung upward, the signal Road 14
and the flow rate control valve 30 are connected, the check valve 31 and the oil passage 15 are connected, and the flow rate control valve 30 is opened in response to the control signal I 3 , so that the oil in the oil passage 14 is connected to the oil passage 14 according to the control signal I 3 . Flows through the flow control valve 30 in an amount corresponding to the amount of oil. Therefore, the boom 2 moves downward in response to the control signal I3 , and the trajectory of the tip of the arm 3 becomes horizontal. Furthermore, when the switch 37 is turned on and the directional control valve 11 is set to the boom up position to raise the boom 2, the signal 22 and the flow control valve 30 are connected, and the check valve 31 is connected to the oil passage 2.
3 is connected and the flow control valve 30 is opened in response to the control signal I4 , so that the oil in the oil passage 22 flows through the flow control valve 30 in an amount corresponding to the control signal I4 . Therefore, the bucket bag 4 rotates downward in response to the control signal I4 , so that the opening of the bag bag 4 always faces upward. Therefore, after setting the directional control valve 12 to the arm push-out position and swinging the arm 3 upward,
By simply setting the directional control valve 11 to the boom-up position and moving the boom 2 up and down, a horizontal push-out operation and a subsequent boom-up operation can be performed.
なお、上述実施例においては、ローダ油圧シヨ
ベルについて説明したが、排土板、法面整形板な
どを有する油圧シヨベル、クレーン用フツクを有
する油圧シヨベル、サーボローダ等のマテハン用
クレーン等にもこの発明を適用することができ
る。また、上述実施例においては、軌跡制御とし
て水平押出操作の場合について説明し、バケツト
角制御としてブーム上げ操作の場合について説明
したが、他の軌跡制御、バケツト角制御を行なう
場合にもこの発明を適用することができる。さら
に、上述実施例においては、演算装置３６に姿勢
信号として相対変位信号α1，α2，α3を入力した
が、本体１、ブーム２、アーム３、バケツト４が
垂直方向となす角に応じた信号を入力してもよ
い。また、相対変位信号α1，α2，α3はそれぞれの
部材のなす角に応じた信号でもよく、ブームシリ
ンダ５、アームシリンダ６、バケツトシリンダ７
の伸長量に応じた信号でもよい。 In the above embodiment, a loader hydraulic excavator was described, but the present invention can also be applied to a hydraulic excavator having an earth removal plate, a slope shaping plate, etc., a hydraulic excavator having a crane hook, a material handling crane such as a servo loader, etc. Can be applied. Furthermore, in the above embodiments, the case of horizontal extrusion operation was explained as trajectory control, and the case of boom raising operation was explained as bucket angle control, but the present invention can also be applied when performing other trajectory control or bucket angle control. Can be applied. Further, in the above embodiment, relative displacement signals α 1 , α 2 , α 3 are input as posture signals to the arithmetic unit 36. You may also input a signal. Further, the relative displacement signals α 1 , α 2 , α 3 may be signals corresponding to the angles formed by the respective members, and the relative displacement signals α 1 , α 2 , α 3 may be signals corresponding to the angles formed by the respective members.
The signal may be a signal corresponding to the amount of expansion.
以上説明したように、この発明に係る油圧シヨ
ベル等のフロント姿勢制御装置においては、軌跡
制御およびバケツト角制御の両方を自動的に行な
うことができるとともに、高価な電磁制御の流量
制御弁が１つで済むから、コストが安価であり、
さらに従来の油圧回路にわずかな変更を加えるだ
けで実施することが可能である。このように、こ
の発明の効果は顕著である。 As explained above, the front posture control device for a hydraulic excavator, etc. according to the present invention is capable of automatically performing both trajectory control and bucket angle control, and only requires one expensive electromagnetic control flow rate control valve. The cost is low because it only requires
Furthermore, it can be implemented with only slight changes to conventional hydraulic circuits. As described above, the effects of this invention are remarkable.
第１図は従来のローダ油圧シヨベルのフロント
部を示す図、第２図、第３図はそれぞれ油圧シヨ
ベルのフロント姿勢制御装置を示す図、第４図は
この発明に係る油圧シヨベルのフロント姿勢制御
装置を示す図である。
１…油圧シヨベル本体、２…ブーム、３…アー
ム、４…バケツト、５…ブームシリンダ、６…ア
ームシリンダ、７…バケツトシリンダ、１１〜１
３…方向切換弁、１４…ロツド押出側油路、１５
…ロツド引込側油路、２２…ロツド押出側油路、
２３…ロツド引込側油路、３０…流量制御弁、３
１…逆止弁、３２，３３…油路、３４…制御モー
ド選択信号発生器、３５ａ，３５ｂ…切換弁、３
６…演算装置。
FIG. 1 is a diagram showing the front part of a conventional loader hydraulic excavator, FIGS. 2 and 3 are diagrams each showing a front attitude control device for a hydraulic excavator, and FIG. 4 is a front attitude control for a hydraulic excavator according to the present invention. It is a figure showing an apparatus. 1...Hydraulic excavator body, 2...Boom, 3...Arm, 4...Bucket, 5...Boom cylinder, 6...Arm cylinder, 7...Bucket cylinder, 11-1
3... Directional switching valve, 14... Rod extrusion side oil passage, 15
...Rod retraction side oil passage, 22...Rod extrusion side oil passage,
23...Rod lead-in side oil passage, 30...Flow rate control valve, 3
1... Check valve, 32, 33... Oil path, 34... Control mode selection signal generator, 35a, 35b... Switching valve, 3
6...Arithmetic device.
Claims (1)
動されるブームと、そのブームの先端に枢着され
てアームシリンダによつて揺動されるアームと、
そのアームの先端に枢着されてバケツトシリンダ
により回動されるバケツトとを有する油圧シヨベ
ル等のフロント姿勢制御装置において、外部から
の信号に応じて通過流量を制御可能な流量制御弁
と、その流量制御弁に接続された逆止弁と、その
逆止弁と上記流量制御弁との間の油路とタンクと
を接続する油路と、制御モード選択信号Ｘが第一
状態のとき上記ブームシリンダに接続された両油
路と上記流量制御弁、上記逆止弁とを接続し、上
記信号Ｘが第二状態のとき上記バケツトシリンダ
に接続された両油路と上記流量制御弁、上記逆止
弁とを接続する切換弁と、フロントの姿勢信号を
入力して、上記信号Ｘが第一状態のとき上記アー
ムの先端が所定軌跡を描くように上記流量制御弁
を制御する信号を出力し、上記信号Ｘが第二状態
のときバケツト角が所定値を保つように上記流量
制御弁を制御する信号を出力する演算装置とを具
備することを特徴とする油圧シヨベル等のフロン
ト姿勢制御装置。 ２ 上記ブームの方向切換弁が中立位置にありか
つ上記アームの方向切換弁がアーム押出位置にあ
るとき上記信号Ｘを第一状態にし、上記バケツト
の方向切換弁が中立位置にありかつ上記ブームの
方向切換弁がブーム上げ位置にあるとき上記信号
Ｘを第二状態とすることを特徴とする特許請求の
範囲第１項記載の油圧シヨベル等のフロント姿勢
制御装置。[Claims] 1. A boom that is pivotally attached to the main body and is moved up and down by a boom cylinder; an arm that is pivoted to the tip of the boom and is swung by an arm cylinder;
In a front attitude control device for a hydraulic excavator or the like having a bucket pivotally attached to the tip of the arm and rotated by a bucket cylinder, there is provided a flow rate control valve capable of controlling a passing flow rate in response to an external signal; A check valve connected to the flow control valve, an oil path connecting the tank to an oil path between the check valve and the flow control valve, and the boom when the control mode selection signal X is in the first state. Both oil passages connected to the cylinder, the flow control valve, and the check valve are connected, and when the signal X is in a second state, the oil passages connected to the bucket cylinder, the flow control valve, and the A switching valve that connects the check valve and a front attitude signal are input, and when the signal and a calculation device that outputs a signal for controlling the flow rate control valve so that the bucket angle remains at a predetermined value when the signal X is in a second state. . 2 When the directional control valve of the boom is in the neutral position and the directional control valve of the arm is in the arm push-out position, the signal A front posture control device for a hydraulic excavator or the like as claimed in claim 1, wherein the signal X is in a second state when the directional control valve is in the boom-up position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1502281A JPS57130639A (en) | 1981-02-05 | 1981-02-05 | Controller for front attitude of oil-pressure shovel, etc. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1502281A JPS57130639A (en) | 1981-02-05 | 1981-02-05 | Controller for front attitude of oil-pressure shovel, etc. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57130639A JPS57130639A (en) | 1982-08-13 |
| JPH0250258B2 true JPH0250258B2 (en) | 1990-11-01 |
Family
ID=11877214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1502281A Granted JPS57130639A (en) | 1981-02-05 | 1981-02-05 | Controller for front attitude of oil-pressure shovel, etc. |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57130639A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2817574B1 (en) * | 2000-12-04 | 2003-10-10 | Faucheux Ind Soc | FRONT LOADER FOR CARRIER |
| FI123932B (en) | 2006-08-16 | 2013-12-31 | John Deere Forestry Oy | Control of a boom structure and one to the same with a hinge attached tool |
| US8862340B2 (en) | 2012-12-20 | 2014-10-14 | Caterpillar Forest Products, Inc. | Linkage end effecter tracking mechanism for slopes |
-
1981
- 1981-02-05 JP JP1502281A patent/JPS57130639A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57130639A (en) | 1982-08-13 |
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