JPH0565660B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a posture control device for a hydraulic excavator.

(Prior Art) As shown in FIG. 1, in a conventional hydraulic excavator, a linked operation is performed in which a boom 3 is moved while an arm 2 is operated in order to push the bucket 1 forward substantially horizontally.

(Problem to be Solved by the Invention) In the conventional hydraulic excavator, in order to push the bucket 1 forward in a substantially horizontal direction, a linked operation is performed in which the boom 3 is moved while operating the arm 2, which is a very sophisticated operation. The problem was that it required technology.

In addition, in the conventional automatic horizontal extrusion mechanism that automatically performs the above operation, the automatic extrusion signal to the boom 3 takes priority during automatic horizontal extrusion, and the operator operates the boom lever (see 12 in Figures 2 and 4). However, there was a problem that this was ignored.

The present invention has been proposed in view of the above-mentioned problems, and its purpose is to simplify the leveling work that requires a high degree of skill, and to enable even non-skilled operators to perform the leveling work. Able to work efficiently. Another object of the present invention is to provide an attitude control device for a hydraulic excavator that allows the operator to preferentially operate the boom in any direction based on his/her judgment even during leveling work.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a boom attached to a bell body so that it can be raised and raised, a boom cylinder for raising and lowering the boom, and a boom that can be raised and raised on the boom. An attached arm, a boom cylinder for raising and raising the arm, a control valve for the arm provided in the hydraulic circuit of the boom cylinder, a boom lever for operating the control valve for the boom, and a hydraulic circuit for the arm cylinder. A control valve for the arm provided, an arm lever for operating the control valve for the arm, and when the arm lever is operated to the extension side, the arm cylinder is operated to the extension side, and the boom cylinder is operated to the contraction side, respectively. and a control device for moving an attachment forward in a substantially horizontal direction, wherein the control device includes a boom lever angle converter connected to the boom lever, and an arm connected to the arm lever. and a lever angle converter for the arm, the arm control valve controlled by the output signal from the arm lever angle converter is connected to the arm lever angle converter, and the arm control valve is controlled by the output signal from the arm lever angle converter. An automatic leveling signal generator is connected to the output side, and an adder for controlling the boom control valve is connected to the output side of the automatic leveling signal generator and the output side of the boom lever angle converter. Connected. The present invention also provides a boom attached to a hydraulic excavator main body so as to be able to be lifted up and down, a boom cylinder for raising and lowering the boom, an arm that is attached to the boom so that the arm can be raised and raised, and an arm cylinder for raising and lowering the arm. A boom control valve provided in the hydraulic circuit of the boom cylinder, a boom lever that operates the boom control valve, an arm control valve provided in the hydraulic circuit of the arm cylinder, and the arm control valve. A hydraulic system comprising an arm lever, and a control device that operates the arm cylinder to the extension side and the boom cylinder to the contraction side when the arm lever is operated to the extension side, respectively, to move the attachment forward in a substantially horizontal direction. In the excavator attitude control device, the control device includes a boom lever angle-pressure converter connected to the boom lever, and a boom lever angle-pressure converter connected to the arm lever,
Connect the arm lever angle-pressure converter to the pilot connection port of the arm control valve via pilot piping, and connect the branch pipe branched from the arm extension side pilot piping of the arm lever lever angle-pressure converter. Connect to one input port of the shuttle valve via a solenoid valve, and connect the boom lever angle-pressure converter to the other input port of the shuttle valve via the boom retraction side pilot piping. The output port is connected to the contraction side pilot connection port of the boom control valve via a pilot pipe.

The present invention also provides a boom attached to a hydraulic excavator main body so as to be able to be lifted up and down, a boom cylinder for raising and lowering the boom, an arm that is attached to the boom so that the arm can be raised and raised, and an arm cylinder for raising and lowering the arm. A boom control valve provided in the hydraulic circuit of the boom cylinder, a boom lever that operates the boom control valve, an arm control valve provided in the hydraulic circuit of the arm cylinder, and the arm control valve. A hydraulic system comprising an arm lever, and a control device that operates the arm cylinder to the extension side and the boom cylinder to the contraction side when the arm lever is operated to the extension side, respectively, to move the attachment forward in a substantially horizontal direction. In the excavator attitude control device, the control device includes a boom lever angular displacement converter connected to the boom lever, an arm lever angular displacement converter connected to the arm lever, and the boom lever angular displacement converter. the boom control rod of the arm lever angle displacement converter, the arm control valve directly connected to the arm control rod, and the arm control rod of the arm lever angle displacement converter; A boom retraction control rod that connects to each of the boom control rods when the boom control rod is operated to the retraction side, a boom retraction control valve that is operated by the boom retraction control rod, and a boom retraction control valve that connects the boom control rod to the retraction side. It consists of a boom extension control rod that is connected to the same rod when the boom is operated to the extension side, and a boom extension control valve that is operated by the same rod.

(Function) The posture control device for a hydraulic excavator of the present invention is configured as described above, and when the arm lever is operated to the arm cylinder extension side, the boom cylinder is retracted in response to the extension operation of the arm cylinder. Then, a bracket, such as a bucket, is pushed forward in the horizontal direction, and automatic leveling work is automatically performed.

(Embodiments) (First Embodiment) Next, the attitude control device for a hydraulic excavator of the present invention will be explained using a first embodiment of an electric pilot system shown in Figs. 2 and 3. 11 in Fig. 2 is an arm lever. The arm lever 11 outputs an arm lever angle signal 31a corresponding to the operating angle, and the arm lever angle signal 31a is input to the arm lever angle converter 31 and converted into an arm control signal 31b. Further, the arm control signal 31b is inputted to the arm control valve 6 and simultaneously inputted to the automatic leveling signal generator 33. Further, the automatic horizontal extrusion signal 33a converted by the automatic horizontal leveling signal generator 33 is input to the adder 34.

12 is a boom lever;
is the boom lever angle signal 3 corresponding to the operating angle.
2a, and outputs the same boom lever angle signal 32a.
is input to the boom lever angle converter 32,
The boom control signal 32b is converted into an adder 34.
is input to.

The adder 34 outputs the automatic horizontal extrusion signal 33a.
and the boom control signal 32b, and the resulting boom control signal 34a is output to the control valve 10. 4 is the arm cylinder, 5
is the boom cylinder.

FIG. 2 shows the automatic leveling signal generator 33.
FIG. 2 is an explanatory diagram showing how a horizontal extrusion signal is generated.

Next, the operation of the hydraulic excavator attitude control device shown in FIGS. 2 and 3 will be explained in detail.

When the arm lever 11 is operated, an arm lever angle signal 31a corresponding to the operating angle is generated. This arm lever angle signal 31a is converted into an arm control signal 31b by the arm lever angle converter 31, and the arm control signal 31b is input to the arm control valve 6, and the arm control valve 6 receives the arm control signal 31b. 31b, the arm cylinder 4 is operated.

On the other hand, the arm control signal 31b is input to the automatic leveling signal generator 33. The automatic leveling signal generator 33 does not generate the automatic horizontal pushing signal 33a when the arm lever 11 is tilted to the arm cylinder retraction side as shown in FIG.
When the arm lever 11 is tilted to the arm cylinder extension side, it has a function of generating an automatic horizontal extrusion signal 33a having a magnitude proportional to the arm control signal 31b, and at this time, the automatic horizontal extrusion signal 33a is input to the adder 34. be done.

Further, when the boom lever 12 is operated, a boom lever angle signal 32a corresponding to the operating angle is generated. This boom lever angle signal 32a is converted into a boom control signal 3 by a boom lever angle converter 32.
2b, and the same boom control signal 32b is input to the adder 34.

The adder 34 outputs the automatic horizontal extrusion signal 33a.
and the boom control signal 32b, and the resulting boom control signal 34a is input to the boom control valve 10, which is controlled and the boom cylinder 5 is operated.

In other words, when the arm lever 11 is operated in the extension direction, the arm cylinder 4 is operated in the extension direction and the arm 2 is raised.At the same time, the boom control signal 34a obtained from the automatic leveling signal generator 33 and the adder 34 Boom control valve 10
is controlled, and the boom 3 is lowered. the result,
Arm 2 and boom 3 work together to perform automatic leveling work. Furthermore, when the boom lever 12 is operated during automatic leveling work, the automatic horizontal push signal 33a and the boom control signal 32b are input to the boom control valve 10, so that the descending speed of the boom 3 can be adjusted as desired by the operator. It will be increased. .

In short, in this embodiment, both the arm 2 and the boom 3 are moved by simply operating the arm lever 11, making it easy for a skilled operator to level the bucket 1 forward in a substantially horizontal direction. Even if it is not, leveling work can be done efficiently.
Further, even during automatic leveling work, the boom 3 is operated with priority in any direction (raising or lowering direction) according to the judgment of the operator.

(Second Embodiment) Next, the attitude control device for a hydraulic excavator of the present invention will be explained using a second embodiment of the hydraulic pilot system shown in FIG. 4. 4 is an arm cylinder, 5 is a boom cylinder, and 6 is an arm control. valve, 6
a is the extension side connection port of the arm cylinder 4, 7 is the pressure reducing valve, 7a is the primary pressure port of the pressure reducing valve 7, 7b is the secondary pressure port of the pressure reducing valve 7, 8 is the solenoid valve, 8a is the input port of the solenoid valve 8 , 8b is the output port of the solenoid valve 8, 9 is the shuttle valve, 9a, 9b is the shuttle valve 9
9c is the output port of the shuttle valve 9, 10 is the boom control valve, 10a
is the retraction side pilot connection port of the boom control valve 10.

11 is the arm lever, 12 is the boom lever, 1
3 is the arm extension side pilot piping, 14 is the boom retraction side pilot piping, 15, 16, 17 are the pilot piping, 18 is the automatic/manual leveling switch, 18a, 18b are its contacts, 26 is the solenoid for the solenoid valve, 27 is a lever angle-pressure converter for the arm, and 28 is a lever angle-pressure converter for the boom.

In the above attitude control device, the arm lever angle -
The pressure transducer 27 is connected to the pilot connection port of the arm control valve 6 via a pilot pipe, and a branch pipe branched from the arm extension side pilot pipe 13 of the arm lever lever angle-pressure converter 27 is connected to the pressure reducing valve 7 and It is connected to one input port 9a of the shuttle valve 9 via the solenoid valve 8, and the boom lever angle-pressure converter 28 is connected to the other input port 9b of the shuttle valve 9 via the boom retraction side pilot piping 14. , an output port 9c of the shuttle valve 9 is connected to a contraction side pilot connection port 10a of a boom control valve 10 via a pilot pipe 16.

Next, the operation of the hydraulic excavator attitude control device shown in FIG. 4 will be explained in detail.

When the arm lever 11 is operated to the extension side, a pilot pressure corresponding to the lever angle is generated in the arm extension side pilot pipe 13. This pilot pressure is guided to the pressure reducing valve 7 via the primary pressure port 7a of the pressure reducing valve 7, and the secondary pressure port 7b of the pressure reducing valve 7 receives the pilot pressure (arm lever angle signal) is generated. This arm lever angle signal is input to the solenoid valve 8. The same solenoid valve 8
The tank pressure signal is also input, but the leveling automatic/manual changeover switch 18 is connected to the automatic side contact 18.
b and when the arm lever 11 is being operated, an arm lever angle signal is input to the input port 9a of the shuttle valve 9.

On the other hand, the boom retraction side pilot pressure is input to the input port 9b of the shuttle valve 9.
Of the two signals, the higher pressure is applied to the retraction side pilot connection port 1 of the boom control valve 10.
Input to 0a, boom control valve 1
0 moves to the contraction side and the boom 3 descends.

In addition, in this attitude control device, the pressure corresponding to the operation amount of the arm lever 11 is input to the retraction side pilot connection port 10a of the boom control valve 10 until the pressure set in the pressure reducing valve 7 is reached, so that the lowering speed of the boom 3 is reduced. follows the operator's wishes.

In this embodiment as well, both the arm 2 and the boom 3 are moved simply by operating the arm lever 11, and the work of leveling the bucket 1 in a substantially horizontal direction forward becomes easy, and even an unskilled operator can do it. , leveling work can be done efficiently. In addition, the shuttle valve 9 sends the higher signal of the boom lever angle signal and the arm lever angle signal to the retraction side pilot connection port 10 of the boom control valve 10.
Since input is made to a, even during automatic leveling work,
Depending on the operator's judgment, the boom 3 is operated with priority in any direction (raising or lowering direction).

(Third Embodiment) Next, the attitude control device for a hydraulic excavator of the present invention will be explained using a third embodiment of the mechanical linkage system shown in FIG. Do, 21
is the boom control rod, 22 is the boom extension control rod, 23 is the arm control valve, 24 is the boom retraction control valve, 25 is the boom extension control valve, 29
3 is an angular displacement converter for the arm lever, and 30 is an angular displacement converter for the boom lever.

The arm control rod 19 is connected to the arm lever 11 via an angular displacement converter 29 for the arm lever. The arm control rod 19 is branched into two directions, one of which is directly connected to the arm control valve 23.
The other side faces the boom retraction control rod 20.

The boom control rod 21 is connected to the boom lever 12 via a boom lever angular displacement converter 30. The boom control rod 21 is branched into two directions, one side facing the boom extension control rod 22 and the other side facing the boom retraction control rod 20.
is facing.

The boom retraction control rod 20 is directly connected to the boom retraction control valve 24, and the boom extension control rod 22 is directly connected to the boom extension control valve 25. The retraction control valve 24 is connected to the boom cylinder 5 and is connected to the arm control valve 23.
is connected to the arm cylinder 4.

Next, the operation of the hydraulic excavator posture control device shown in FIG. 5 will be explained in detail.

When the arm lever 11 is tilted toward the arm extension side, the arm control rod 19 moves toward the arm extension side (see arrow 19a). Therefore, the arm control valve 23 is switched to the arm extension side, and the arm cylinder 4 is operated in the extension direction. At the same time, the boom retraction control rod 20 facing the arm control rod 19 moves in the same direction, the boom retraction control valve 24 switches, and the boom cylinder 5 operates in the retraction direction.

In other words, the boom 3 and the arm 2 are operated in conjunction with each other by the arm lever 11, and automatic leveling work is performed. During the automatic leveling work, when the boom lever 12 is operated to the retracting side, the boom control rod 21 moves to the boom retracting side (arrow 1
2a), the boom retraction control rod 20 opposite it moves further. Also, when the boom lever 12 is operated to the extension side, the boom control rod 21 moves to the boom extension side, and the boom extension control rod 22 opposite thereto moves to the boom extension side.
is pressed, the boom extension control valve 25 is switched, and the boom cylinder 5 is operated in the extension direction.

In this embodiment as well, both the arm 2 and the boom 3 are moved simply by operating the arm lever 11, and the work of leveling the bucket 1 in a substantially horizontal direction forward becomes easy, and even an unskilled operator can do it. , leveling work can be done efficiently. Further, even during automatic leveling work, the boom 3 is operated with priority in any direction (raising or lowering direction) according to the judgment of the operator.

(Effects of the Invention) In the hydraulic excavator attitude control device of the present invention, when the arm lever is operated to the arm cylinder extension side as described above, the boom cylinder is retracted in accordance with the extension operation of the arm cylinder, and the bracket is For example, the bucket is pushed forward in the horizontal direction and the automatic leveling work is automatically performed, so even an unskilled operator can efficiently perform the leveling work. Furthermore, even during leveling work, the boom can be operated in any direction with priority based on the operator's judgment.

[Brief explanation of the drawing]

Fig. 1 is a side view showing a conventional hydraulic excavator, Fig. 2 is a control system diagram showing a first embodiment of the attitude control device for a hydraulic excavator of the present invention, and Fig. 3 is an automatic leveling of the attitude control device. An explanatory diagram showing how the horizontal push signal is generated in the signal generator, Fig. 4 is a control system diagram showing a second embodiment of the attitude control device, and Fig. 5 shows a third embodiment of the attitude control device. It is a mechanism system diagram. 1...Attachment (bucket), 2...Arm, 3...Boom, 4...Arm cylinder, 5
... Boom cylinder, 6 ... Control valve for arm, 10 ... Control valve for boom, 11 ... Arm lever, 12 ... Boom lever, 31 ... Lever angle converter for arm, 32 ...
...32...Lever angle converter for boom, 33...
automatic leveling signal generator, 34...adder; 8
... Solenoid valve, 9 ... Shuttle valve, 9a ... One input port of shuttle valve 9, 9b ... Other input port of shuttle valve 9, 9c ... Output port of shuttle valve 9, 10a ... For boom Retraction side pilot connection port of control valve 10, 13...
Arm extension side pilot piping, 14... Boom retraction side pilot piping, 16... Pilot piping, 27
...Lever angle-pressure converter for arm, 28...
Lever angle-pressure transducer for boom. 19...Arm control rod, 20...Boom retraction control rod, 21...Boom control rod, 22...Boom extension control rod,
23... Control valve for arm, 24...
...Boom retraction control valve, 25...Boom extension control valve, 29...Angle displacement converter for arm lever, 30...Angle displacement converter for boom lever.

Claims (1)

[Scope of Claims] 1. A boom attached to the main body of a hydraulic excavator so that it can be lifted up and down, a boom cylinder for raising and lowering the boom, an arm that is attached to the boom so that it can be lifted up and down, and an arm cylinder for raising and raising the arm. and a boom control valve provided in the hydraulic circuit of the boom cylinder, a boom lever for operating the boom control valve, an arm control valve provided in the hydraulic circuit of the arm cylinder, and a boom control valve. An arm lever to be operated, and a control device that operates the arm cylinder to the extension side and the boom cylinder to the contraction side when the arm lever is operated to the extension side, respectively, to move the attachment approximately horizontally forward. In the attitude control device for a hydraulic excavator, the control device includes a boom lever angle converter connected to the boom lever, and an arm lever angle converter connected to the arm lever, and the control device includes a boom lever angle converter connected to the arm lever, and the arm lever The arm control valve controlled by the output signal from the arm lever angle converter is connected to the angle converter, and an automatic leveling signal generator is connected to the output side of the arm lever angle converter, An attitude control device for a hydraulic excavator, characterized in that an adder for controlling the boom control valve is connected to an output side of the automatic leveling signal generator and an output side of the boom lever angle converter. 2. A boom mounted on the hydraulic excavator body so that it can be raised and raised, a boom cylinder for raising and lowering the boom, an arm that is mounted on the boom so that it can be raised and raised, an arm cylinder for raising and lowering the arm, and a boom cylinder for raising and lowering the boom. A boom control valve provided in the hydraulic circuit, a boom lever that operates the boom control valve, an arm control valve provided in the hydraulic circuit of the arm cylinder, and an arm lever that operates the arm control valve; Posture of a hydraulic excavator comprising a control device that moves the attachment approximately horizontally forward by operating the arm cylinder to the extension side and the boom cylinder to the retraction side when the arm lever is operated to the extension side. The control device includes a boom lever angle-to-pressure transducer connected to the boom lever;
an arm lever angle-pressure transducer connected to the arm lever;
A pressure transducer is connected to the pilot connection port of the control valve for the arm via a pilot pipe, and a branch pipe branched from the arm extension side pilot pipe of the lever angle-pressure converter for the arm lever is shuttled via a solenoid valve. Connect the lever angle-pressure converter for the boom to the other input port of the same shuttle valve via the boom retraction side pilot piping, and connect the output port of the shuttle valve to the pilot piping. An attitude control device for a hydraulic excavator, characterized in that the control valve is connected to the retraction side pilot connection port of the boom control valve through the boom control valve. 3. A boom mounted on the hydraulic excavator body so that it can be raised and raised, a boom cylinder for raising and lowering the boom, an arm that is mounted on the boom so that it can be raised and raised, an arm cylinder for raising and lowering the arm, and a boom cylinder for raising and lowering the boom. A boom control valve provided in the hydraulic circuit, a boom lever that operates the boom control valve, an arm control valve provided in the hydraulic circuit of the arm cylinder, and an arm lever that operates the arm control valve; Posture of a hydraulic excavator comprising a control device that moves the attachment approximately horizontally forward by operating the arm cylinder to the extension side and the boom cylinder to the retraction side when the arm lever is operated to the extension side. In the control device, the control device includes a boom lever angular displacement converter connected to the boom lever, an arm lever angular displacement converter connected to the arm lever, and a boom control of the boom lever angular displacement converter. the arm control rod of the arm lever angle displacement converter, the arm control valve directly connected to the arm control rod, and the boom control rod when the arm control rod is operated to the extension side. a boom retraction control rod that is connected to each rod when the boom retraction control rod is operated to the retraction side; a boom retraction control valve that is operated by the boom retraction control rod; and a boom retraction control valve that is operated by the boom retraction control rod; 1. A posture control device for a hydraulic excavator, comprising a boom extension control rod that is connected to the boom extension control rod when operated, and a boom extension control valve that is operated by the rod.