JPS5847833A - Control apparatus of liquid pressure operation type drilling machine - Google Patents
Control apparatus of liquid pressure operation type drilling machineInfo
- Publication number
- JPS5847833A JPS5847833A JP57149852A JP14985282A JPS5847833A JP S5847833 A JPS5847833 A JP S5847833A JP 57149852 A JP57149852 A JP 57149852A JP 14985282 A JP14985282 A JP 14985282A JP S5847833 A JPS5847833 A JP S5847833A
- Authority
- JP
- Japan
- Prior art keywords
- cylinder
- control device
- arm
- working
- bending
- 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.)
- Pending
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
- E02F3/36—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
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- 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
- E02F9/26—Indicating devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発ｗＡは、昇降用シリンダに１って作動される主アー
ムと、主アームに枢着してあって屈曲用シリンダによっ
て作動される屈曲アームと、屈曲アームに枢着してあっ
てシ璽ペル用シリンダに１って作動される作業装置（１
１１に、ショベル）とを有する液圧作動式掘削機の制御
装置であって、すべてのシリンダに至る０作動媒体通路
に１それぞれ１手動多方弁を設は良形式のｔＯＫ関する
。DETAILED DESCRIPTION OF THE INVENTION The invention wA includes a main arm operated by a lifting cylinder, a bending arm pivotally connected to the main arm and actuated by a bending cylinder, and a bending arm pivoted to the bending arm. A working device (1
11, a control device for a hydraulically operated excavator having an excavator (excavator), in which one manual multi-way valve is installed in each of the working medium passages leading to all cylinders, is of a good type.
どの種のパワーシ曹ペルを使用して、表面を剥離するよ
うな態様で士を掘削する場合、作業装置は、作業範囲に
おいて直線に沿って案内しなければならない。作業装置
を支持する屈曲アームは、主アームのまわ９に旋回運動
を行うので、作業装置線、直線運動で杖なく円弧運動を
行う。それにも拘らず、直線運動を維持するには、屈曲
アームの旋回運動中、主アームを上昇して、即ち、より
強く傾斜させて、屈曲アームの円弧運動に対応して屈曲
アームの枢動点を上方へずらし、更に、シ璽ベル用シリ
ンダによって作業装置を調整しなければならない０即ち
、掘削機の上述の運動を実施するには、３つの制御弁を
同時に作動する必要がある。When using any type of power excavator to excavate a surface in such a manner as to strip the surface, the working device must be guided along a straight line in the working area. The bending arm supporting the working device performs a pivoting motion around the main arm 9, so that the working device performs an arcuate motion without a stick in a linear motion. Nevertheless, in order to maintain a linear motion, during the pivoting movement of the flexing arm, the main arm must be raised, i.e. tilted more strongly, so that the pivot point of the flexing arm corresponds to the arcuate movement of the flexing arm. In order to carry out the above-mentioned movement of the excavator in which the excavator has to be shifted upwards and the working device must also be adjusted by means of the sealing cylinder, it is necessary to actuate three control valves simultaneously.
従って、本尭ＩｊｉＯ目的は、冒頭に述べた種類の掘削
機における直線運動の実施を自動化することＫある。The aim is therefore to automate the implementation of linear movements in excavators of the type mentioned at the outset.
この目的鉱、本発明にもとづき、屈曲アームの旋回運動
中に作業装置を直線ＫＧって運動せしめる危め、所望の
直線に対する作業装置の迎角管一定に保持する検知装置
’［−’／Ｗベル用シサシリンダめに設け、昇降用シリ
ンダの圧力を一定に保持する圧力制御装置を昇降用シリ
ンダのために設けることに１つて、達成される０
即ち、本発明の基本的考え方は、作業装置が地面に加え
る圧力が、全作業期間中、はぼ一定となるよう、所望の
直線に対する作業装置の迎角を一定に保持することにあ
る０この圧力は、屈曲アームを介して主アームに作用す
る０従って、作業中履−アームＯ職闘運動にもとず龜、
主アームに加わる圧力が増加すると直ちに、圧力制御装
置は、昇降用シリンダの圧力を一定に保持するので、王
アームは偏移し、従って、作業装置は所望の直線路上に
保持される。従って、比較的簡単な装置によって、上述
の直線運動の実施上自動化できる０即ち、掘削機の通常
の制御方式を自動運動方式に切換えｎばよい〇一般に、
電磁弁を使用するので、この切換は、液圧的または電気
的に行うことができる。According to the present invention, this target is provided with a detection device which prevents the working device from moving in a straight line during the pivoting movement of the bending arm and keeps the angle of attack of the working device constant with respect to the desired straight line. This can be achieved by providing a pressure control device for the bell scissor cylinder to keep the pressure of the lifting cylinder constant. It consists in keeping the angle of attack of the working device constant with respect to the desired straight line, so that the pressure applied to the ground remains approximately constant during the entire working period.This pressure acts on the main arm via the bending arm. 0 Therefore, based on the work shoes-arm O occupation movement,
As soon as the pressure on the main arm increases, the pressure control device keeps the pressure in the lifting cylinder constant so that the king arm is deflected and thus the working device is kept on the desired straight path. Therefore, it is possible to automate the above-mentioned linear motion using a relatively simple device.In other words, it is sufficient to switch the ordinary control method of the excavator to an automatic movement method.In general,
Using a solenoid valve, this switching can be performed hydraulically or electrically.
本発明の有利な実施例を従属クレームに示し次。Advantageous embodiments of the invention are set out in the dependent claims.
即ち、作業装置の迎角は、姿勢に依存の位置検知器（好
ましくは、振ｐ子形センサ）に１って検知できる０位置
検知器は、作業装置の回転位置の寮際値を表わす電気信
号を発生する。この電気信号は、手動設定可能な目標値
信号と比較する。カニくして、ドライバ回路および電磁
弁を介してショベル用シｖｙｉｔ調整して迎角管一定に
保持する調節量を形成する０
しかしながら、別の実施例にもとづき、作業装置の走行
長さに関連する迎角を示す関数を、屈曲アームＯｗＡ転
速度を考慮して、寸法および回転角に依存して計算する
こともで龜る０対応して、ショベル用シリンダが）９３
Ｍされる◎この場合、上記シリンダの伸長位置を検知し
なければならない〇履−アーム０＠藺這動中、直線運動
を維持すゐため、主アームも調節するので、主アームの
旋回運動も検知して、ショベル用シリンダを調節するこ
とＫより、作業装置の迎角を一定に保持できる。That is, the angle of attack of the working device can be detected by a position sensor (preferably a pendulum type sensor) that depends on the posture. Generate a signal. This electrical signal is compared with a manually settable setpoint value signal. However, according to another embodiment, it is possible to adjust the displacement for the excavator via the driver circuit and the solenoid valve to form an adjustment variable that keeps the angle of attack constant. It is also possible to calculate the function indicating the angle of attack depending on the dimensions and the angle of rotation, taking into account the rolling speed of the bending arm OwA.
◎In this case, the extended position of the cylinder mentioned above must be detected.〇-Arm 0＠During crawling, linear motion is maintained, so the main arm is also adjusted, so the rotational movement of the main arm is also adjusted. By detecting this and adjusting the shovel cylinder, the angle of attack of the working device can be kept constant.
即ち、寸法および運動ジオメトリから計算した上記関数
のデータは、ショベル用シリンダの、即ち、作業装置の
調節目標値を表わし、一方、検知装置ｉｆ、ｆｌＪＬｔ
！、シ璽ベル層シリンダ０ピストンーツドに関連ＯｍＷ
ｔ値を供給する。That is, the data of the above function calculated from the dimensions and kinematic geometry represent the adjustment target value of the excavator cylinder, i.e. of the working device, while the sensing devices if, flJLt
! , related to the seal layer cylinder 0 piston point OmW
Provide the t value.
別の有利な実施例では、主アームの昇降用シリンダの年
力鉱、リリーフ弁によって一定に保持する０このリリー
フ伸縮、昇降用シリンダの浮動状ｉ＊ａ制御弁七して設
けてあｐ、昇降用シリンダの圧力が設定最大圧力よｊ％
大龜くなると、タンクに対して開いて、昇降用シリンダ
の圧力を一定に保持し、その結果、主アー五拡、所望の
直線運動を達成するため、上方へ偏移することになる。In another advantageous embodiment, the pressure of the lifting cylinder of the main arm is kept constant by means of a relief valve; The pressure of the lifting cylinder is % higher than the set maximum pressure.
When the barrel becomes large, it opens against the tank and maintains the pressure of the lifting cylinder constant, so that the main arm 5 expands and deflects upwards to achieve the desired linear movement.
本！！明の実施例を、図面を参照して以下に説明する。Book! ! A specific embodiment will be described below with reference to the drawings.
第１図に、全知のパワーショベルを示した。この場合、
ショベル１０ａ、屈曲アーム１１に旋回自在ＫＮＲ付け
てあ！？ＳＩｔ曲７−ム１１は、パワーシロベルの単体
１３ＫＪｆ＠自在に配設した主アーム１２Ｋｍ１転自在
に枢着しである。Figure 1 shows an omniscient power shovel. in this case,
Excavator 10a has a rotatable KNR attached to the bending arm 11! ? SIt song 7-Mom 11 is a single unit of Power Shirobel 13KJf @ freely disposed main arm 12Km1 rotatably pivoted.
回転軸１４のまわりの主アーム１２の調整は、昇降用シ
リンダＩＳＫ！つて行い、枢動軸１６の壕わ９の屈曲ア
ーム１１の旋回は、屈曲用シリンダ１１によって行い、
継手１＠のまわりのショベル１ａの旋回は、ショベル用
シリンダ１９によって行う◇
掘削は、表面を剥離する態様で直線２０に沿って行う◇
屈曲アーム紘、継手１６のまわｐに旋回する際、円弧を
描くのて、所望の直線運動中、主アーム１２ｔより強く
傾斜させ、ショベル１０を調整しなければならない０図
示の実施例では、直線２０は水平である。しかしながら
、斜面を掘削する場合、直線は傾斜していてもよい・第
２図において、主アーム１２の昇降用シリンダ１！！は
、作動媒体通路１ｓａ ａ １！１１を介して慣用の多
方弁ＩＳ＠ＫＩＩ続しである０パワーシヨベルの運転手
は、この多方弁によって、昇降用シリンダｌｉｔ手動で
作動して、主アーム１２を所望位置に旋回させることが
できる。同様に、ショベル用シリンダ１９には、作動媒
体通路１ｈを介して、多方弁１−・が接続しである０屈
−用シリンダ１１ｔ１この種の多方弁によって作動する
。Adjustment of the main arm 12 around the rotation axis 14 is performed using the lifting cylinder ISK! The bending arm 11 of the groove 9 of the pivot shaft 16 is rotated by the bending cylinder 11,
Swinging of the shovel 1a around the joint 1@ is carried out by the shovel cylinder 19◇ Excavation is carried out along the straight line 20 in a manner that peels off the surface◇
When the bending arm 16 pivots around the joint 16, it draws a circular arc, and during the desired linear movement, the excavator 10 must be adjusted by tilting more strongly than the main arm 12t. 20 is horizontal. However, when excavating a slope, the straight line may be inclined. In FIG. 2, the lifting cylinder 1 of the main arm 12! ! is connected to the conventional multi-way valve IS@KII via the working medium passage 1sa a 1!11. The driver of the power shovel manually operates the lifting cylinder lit using this multi-way valve to move the main arm 12. It can be rotated to a desired position. Similarly, the shovel cylinder 19 is connected to a multi-way valve 1 through the working medium passage 1h, and the zero-bending cylinder 11t1 is operated by this type of multi-way valve.
ｉ［ＩＩＩ運動を行うための補助回路は、ショベル１゜
に設は九振ｐ子形センナ２ｓｔ−含む。振ｐ子形センナ
のアームは、ポテンシ画メータ２６のタップに機械的に
作用し、そＯ結果、ショベルの迎角αに依存して、即ち
、ショベルの回転位置に依存して、比較回路２１に実際
値として供給される電気信号がボテンシ画メータ２・ｎ
ｉｃ形成される。比較回路２１の第２人力Ｋｄ、ポテン
シ璽メータ２−によって手動設定できる信号が供給され
る。The auxiliary circuit for performing the i[III motion includes a nine-stroke p-type sensor 2st-type installed in the shovel 1°. The arm of the pendulum sensor mechanically acts on the tap of the potentiometer 26, so that depending on the angle of attack α of the shovel, i.e. depending on the rotational position of the shovel, the comparison circuit 21 The electric signal supplied as an actual value to the potentiometer 2.n
IC is formed. A signal that can be manually set is supplied by the second human power Kd of the comparator circuit 21 and the potentiometer 2-.
即ち、Ｓ／ＩＩベル１・の所望の迎角が、ポテンＶＷメ
ータ２＠によって目標値として与えらｎる０比較回路２
１における目標値−実際値比較によって、調節量が作ら
れ、リード！Ｉ２９を介してドラ１２回路Ｂｏｖｃ供給
される０ドライバ回路は、多分弁１ｓ４ＩＶＣ並列の電
磁式比例弁３１に接続しである０シｌベル用シリンダ１
ｓは、調節量にもとづ龜、比例弁３１によって作動され
、その結果、所望の直線に対するショベルの迎角は常に
一定に保持される０
出力３４を１一方で社タンク３５に、他方では逆止め弁
３６ｔ−介して作動媒体通路１５ｂＫ接続した吐出弁３
３が、昇降用シリンダ１５の多方弁１５ａに並列に設け
である。従って、昇降用シリンダ１５のピストンは、吐
出弁３３によって浮動状態に保持される０逆止め弁３６
は、作動媒体の吸引に役立つ。吐出弁３３は、所定圧に
設定されている。この所定圧を越えると、吐出弁は、設
定圧に１どるまで、タンク３５に対して開く０吐出弁３
８０所定圧の設定は、ドライバ回路３１に：電圧を供給
するボテンシ冒メータ３７に！つて行う◎ボテンシ璽メ
ータｓ１によって、地面の性状に依存してシ璽ペルの所
望の押圧力を定めることができる〇
自動運動を実施する場合、多方弁１１・によって屈曲用
シリンダー７を作動する◎この場合、屈曲アームの円弧
運動によりて、シ曹ベルが地面に加見る圧力、即ち、吐
出弁３３の設定力を越えると、吐出弁３３が、再び設定
力に適するまで、開龜、その結果、主アームが偏移する
・運動中にシ曹ベルの迎角管一定に保持することによっ
て、シ璽ベルの圧力が本質的に一定に保持されるので、
シ薗ベル１０は本質的な直線運動を行う◎この場合、−
手１＠は、運動の進行に伴う主アーム１２の偏移Ｖｃよ
って、作業箱ＩＩＩ・の終端の方向へずれる。That is, the desired angle of attack of the S/II bell 1 is given as a target value by the potentiometer VW meter 2.
By comparing the target value and actual value in step 1, the adjustment amount is created and lead! The 0 driver circuit supplied to the driver 12 circuit Bovc through I29 is probably connected to the solenoid proportional valve 31 in parallel with the valve 1s4IVC.
s is actuated by the proportional valve 31 on the basis of the adjustment amount, so that the angle of attack of the excavator with respect to the desired straight line is always kept constant. Discharge valve 3 connected to working medium passage 15bK via check valve 36t
3 is provided in parallel with the multi-way valve 15a of the lifting cylinder 15. Therefore, the piston of the lifting cylinder 15 is held in a floating state by the discharge valve 33.
serves for suction of the working medium. The discharge valve 33 is set to a predetermined pressure. When this predetermined pressure is exceeded, the discharge valve 3 opens with respect to the tank 35 until the pressure returns to the set pressure.
80 The predetermined pressure is set to the driver circuit 31: to the potentiometer 37 that supplies voltage! ◎The desired pressing force of the seal can be determined depending on the nature of the ground using the potentiometer s1.When performing automatic movement, the bending cylinder 7 is actuated by the multi-way valve 11.◎ In this case, due to the arcuate movement of the bending arm, when the pressure exerted by the dispensing bell on the ground exceeds the set force of the discharge valve 33, the discharge valve 33 opens until the set force is again suitable. By keeping the angle of attack of the cylinder constant during deflection/movement of the main arm, the pressure in the cylinder remains essentially constant;
Shizono Bell 10 performs essentially linear motion ◎ In this case, -
The hand 1@ is displaced in the direction of the end of the work box III. due to the displacement Vc of the main arm 12 as the movement progresses.
かくして、極めてＪＬ％／％近似で直線運動が行われる
０第２図には、更に、リレー作動式スイッチ４０ｍ、４
・ｂ 、 ４０ａが設けである０これらのスイッチによ
って自動調節機構をオン・オフで亀、シリンダの作動を
、多方弁１１ｂ 、 １−・によって、再び手動で行う
仁とかで亀る０Thus, linear motion is carried out in a very close approximation to JL%/%.
・b, 40a are provided. These switches turn the automatic adjustment mechanism on and off, and the cylinder operation is manually controlled again using the multi-way valve 11b, 1-.
第１図線、液圧式パワーシ璽ベルの略図、第２図は、シ
璽ベルＯ［１ｍｌ運動を自動化するための電気−液圧式
制御機構の回路図である。
１０・・ｅ・シ胃ベル、１１・・−・屈曲アーム、１２
＠−・拳主アーム、１５・・・曽昇降用シリンダ、１７
・−・轡屈曲用シリンダ、１９・・・・シ曹ベル用シリ
ンダ、２０拳・拳・Ｉ［Ｉ！。
２ｓ・・・・位置検知器、３３・・・・吐出弁。
代理人山川政樹（はか１名）
ＦＩＧ、１FIG. 1 is a schematic diagram of the hydraulic power seal; FIG. 2 is a circuit diagram of the electro-hydraulic control mechanism for automating the movement of the seal. 10... e. stomach bell, 11... bending arm, 12
@-・Fist arm, 15...Cylinder for lifting and lowering, 17
・-・Cylinder for bending, 19・・Cylinder for bending, 20 Fist・Fist・I [I! . 2s...Position detector, 33...Discharge valve. Agent Masaki Yamakawa (1 person) FIG, 1
Claims (1)
主アームと、主アームに枢着してあって屈−周シνン〆
によって作動される屈−アームと、屈―アームに枢着し
てあってシｌベル用シリンダによって作動１れる作業装
置（４１に、シ璽ペル）とを有する＃Ａ削機の制−装置
であって、すべてのシリンダの作動媒体通路にφ動多分
弁を設けた形式０％ＯＫお−て、履−アーム０旋關這動
中に作業装置を直線に浦りて運動せしめるため〜所望の
直線（２ｏ）に対すゐ作業装置Ｏ迎角を一定に保持する
検知装置がＶ冒ベル用シリンダ（１１）０ために設妙て
あ夛、昇降用シリンダ（１１） ０圧力を一定に保持す
る圧力制御装置が上記昇降用シリンダのために設けであ
ることｔ−特徴とする制御装置〇（２）迎角を一定に保
持す為検知装置が、作業装置に設けた姿勢依存の位置検
知器であることを特徴とする特許請求Ｏ範５１１１１項
記載の制御装置◇（萄位置検知器が、振ｐ子廖検知器（
２ｓ）である仁装置０ （４）ｌｉｅ子形槍形検知器ｓ）が、目標値発生器とし
て電気回路に後続してあり、迎角の目標値線、ボテンシ
璽メータ（２８）Ｋ設定で龜ること１に特徴とする特許
請求の範８嬉３項記載Ｏ制御装置０（荀比較回路（２Ｔ
）Ｋおける目標値−実際値比較から、シロベル用シリン
ダ（ＩＩ）Ｋ至る作動媒体通路を制御する電磁制御式多
方弁に供給される調節量會作載Ｏ制御装置０ （６）多方弁が、比例弁（３１）であることｔ４Ｉ徴と
する特許請求０１１！１第Ｓ項記載の制御装置。 （η迎角を一定に保持する検知装置が、シロベル用シリ
ンダ（１１）Ｋ結合したストローク依存の検知器であり
、シロベル用シリンダの運動は、作業装置が所望の直線
ｆｃｆａって通過した長さに１つて調節すゐことｔ特徴
とする特許請求の範囲第１項記載Ｏ制御装置。 （荀シ曹ベル用シリンダを屈曲アーム（１１）の旋回に
依存して作動することｔ４Ｉ黴とする特許請求の範囲第
７項記載の制御装置〇 （９）シ璽ペル用シリンダを履自アーム（１１）および
主アーム（１２）の旋ａに依存して作動することを特徴
とする特許請求Ｏ範囲第７項記載Ｏ制御装置。 （１０）吐出弁Ｃｕ）が、昇降用シリンダ（１ｓ）を浮
動状態に保持し、吐出弁は、所定最高圧に設定できる仁
とｔ４Ｉ黴とする特許請求の範Ｓ第１〜１９項の１９に
記載の制御装置０ （１１）吐出弁（ｕ）が、電子制御式吐出弁であり、そ
Ｏ最大圧は、ポテンＧ／１１メータ（３７）によって調
節で龜ること１ｓ黴とする特許請求の範囲第１０項記載
の制御装置。 （１３）吐出弁（ｕ）および比例弁（３１）が、制御用
多方弁（１ｋ 、 ＩＳ＠）Ｋ並＾に設けてあり、吐出
弁および比例弁ｔ）リガする電気回路が、リレースイッ
チ（４０ｍ 、４０％ 、４０ｍ ）に１って賦活さ
れ為ことを時機とすＴｏ轡許請京の範囲第１〜１１項０
１つに記載の制御装置０[Scope of Claims] (υAt least %1) A main arm operated by a lifting cylinder; a bending arm pivotally connected to the main arm and actuated by a bending-circumferential movement; A control device for #A cutting machine having a working device (41, cylinder) pivotally mounted on the bending arm and actuated by a cylinder for the cylinder, the control device for the #A cutting machine having a working device (41, cylinder) which is pivotally connected to the bending arm and actuated by the cylinder for the cylinder, and in which the working medium of all the cylinders is In order to move the working device in a straight line while the shoe arm is rotating, the working device should be moved in a straight line (2o) to the desired straight line (2o). A detection device that keeps the angle of attack constant is installed in the elevation cylinder (11), and a pressure control device that keeps the pressure constant is installed in the elevation cylinder (11). Patent claim O characterized in that the detection device is an attitude-dependent position detector provided in the working device to maintain the angle of attack constant. The control device described in Section 51111 ◇ (the hip position detector is a pendulum position detector (
2s) is followed by an electric circuit as a setpoint value generator, and a potentiometer (28) with K setting follows the setpoint value line for the angle of attack. O control device 0 (sun comparison circuit (2T) described in claim 8 and paragraph 3 characterized in that
) From the target value-actual value comparison at K, the adjustment amount supplied to the electromagnetically controlled multi-way valve that controls the working medium passage leading to the cylinder (II) K for Shirobel is determined by the on-board O control device 0. (6) The multi-way valve is The control device according to Clause S of Patent Claim 011!1, characterized in that it is a proportional valve (31). (The detection device that keeps the angle of attack constant is a stroke-dependent detector connected to the cylinder for white bell (11) K, and the movement of the cylinder for white bell is the length that the work equipment passes along the desired straight line fcfa. A control device according to claim 1, characterized in that the cylinder for the cylinder is operated depending on the rotation of the bending arm (11). The control device according to claim 7 (9) The scope of claim O, characterized in that the seal cylinder is operated depending on the rotation a of the self-arm (11) and the main arm (12). O control device according to Clause 7. (10) The scope of the patent claim, in which the discharge valve Cu) holds the lifting cylinder (1s) in a floating state, and the discharge valve has a pressure that can be set to a predetermined maximum pressure. Control device 0 according to item 19 of items 1 to 19 of S. The control device according to claim 10, wherein the discharge valve (u) and the proportional valve (31) are provided in the same manner as the control multi-way valve (1k, IS@) K. Yes, the discharge valve and the proportional valve t) The triggering electric circuit is activated by the relay switch (40m, 40%, 40m).
Control device 0 according to one
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19813134064 DE3134064A1 (en) | 1981-08-28 | 1981-08-28 | Control arrangement for a hydraulically actuated excavator |
| DE31340644 | 1981-08-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5847833A true JPS5847833A (en) | 1983-03-19 |
Family
ID=6140331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57149852A Pending JPS5847833A (en) | 1981-08-28 | 1982-08-28 | Control apparatus of liquid pressure operation type drilling machine |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JPS5847833A (en) |
| DE (1) | DE3134064A1 (en) |
| FR (1) | FR2512085A1 (en) |
| IT (1) | IT1153567B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61290608A (en) * | 1985-06-17 | 1986-12-20 | モレツクス インコ−ポレ−テツド | Apparatus for manufacturing electric harness |
| JPS6244907A (en) * | 1985-08-22 | 1987-02-26 | モレツクス インコ−ポレ−テツド | Method and apparatus for manufacturing electric cable harness |
| US4701683A (en) * | 1984-05-18 | 1987-10-20 | Sanyo Electric Co., Ltd. | Inverter circuit for converting DC power to pulse wave power |
| JPS63236827A (en) * | 1987-03-23 | 1988-10-03 | Kobe Steel Ltd | Controller for excavator |
| JPH02262288A (en) * | 1989-03-31 | 1990-10-25 | Asahi Seiki Kogyo Kk | terminal manufacturing machine |
| WO1991002125A1 (en) * | 1989-08-02 | 1991-02-21 | Kabushiki Kaisha Komatsu Seisakusho | Linear excavation control apparatus in hydraulic excavator |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4888890A (en) * | 1988-11-14 | 1989-12-26 | Spectra-Physics, Inc. | Laser control of excavating machine digging depth |
| FR2655673A1 (en) * | 1989-12-07 | 1991-06-14 | Masse Serge | "Retromatic" automatic device for keeping the values of the working angle and height of the bucket constant regardless of the position of the oscillating arm of a hydraulic digger |
| DE4009163A1 (en) * | 1990-03-02 | 1991-09-05 | Schwing Gmbh F | EXCAVATORS WITH AUTOMATIC PARALLEL POSITIONING HIS HAND-CONTROLLABLE WORK TOOL AND ARM SYSTEM THROUGH SENSORS |
| US7222444B2 (en) * | 2004-10-21 | 2007-05-29 | Deere & Company | Coordinated linkage system for a work vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT309344B (en) * | 1968-04-18 | 1973-08-10 | Schwing Friedrich | Backhoe |
| DE2851942C2 (en) * | 1978-12-01 | 1983-08-18 | Friedrich Wilh. Schwing Gmbh, 4690 Herne | Excavator |
-
1981
- 1981-08-28 DE DE19813134064 patent/DE3134064A1/en active Granted
-
1982
- 1982-08-20 FR FR8214390A patent/FR2512085A1/en active Granted
- 1982-08-27 IT IT23022/82A patent/IT1153567B/en active
- 1982-08-28 JP JP57149852A patent/JPS5847833A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4701683A (en) * | 1984-05-18 | 1987-10-20 | Sanyo Electric Co., Ltd. | Inverter circuit for converting DC power to pulse wave power |
| JPS61290608A (en) * | 1985-06-17 | 1986-12-20 | モレツクス インコ−ポレ−テツド | Apparatus for manufacturing electric harness |
| JPS6244907A (en) * | 1985-08-22 | 1987-02-26 | モレツクス インコ−ポレ−テツド | Method and apparatus for manufacturing electric cable harness |
| JPS63236827A (en) * | 1987-03-23 | 1988-10-03 | Kobe Steel Ltd | Controller for excavator |
| JPH02262288A (en) * | 1989-03-31 | 1990-10-25 | Asahi Seiki Kogyo Kk | terminal manufacturing machine |
| WO1991002125A1 (en) * | 1989-08-02 | 1991-02-21 | Kabushiki Kaisha Komatsu Seisakusho | Linear excavation control apparatus in hydraulic excavator |
| US5598648A (en) * | 1989-08-02 | 1997-02-04 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling straight excavating operation with hydraulic excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| IT8223022A1 (en) | 1984-02-27 |
| IT8223022A0 (en) | 1982-08-27 |
| FR2512085B3 (en) | 1984-11-23 |
| DE3134064C2 (en) | 1990-05-31 |
| IT1153567B (en) | 1987-01-14 |
| DE3134064A1 (en) | 1983-03-10 |
| FR2512085A1 (en) | 1983-03-04 |
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