Excavating – Ditcher – Condition responsive
Patent
1996-06-19
1998-04-07
Melius, Terry Lee
Excavating
Ditcher
Condition responsive
37414, 414699, 36442407, E02F 502, G06F 770
Patent
active
057350663
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to a shovel machine having a plurality of arms, and more particularly to improving the operability of shovel machinery with a two-piece boom.
BACKGROUND ART
FIG. 7 shows a general conventional type of power shovel with a two-piece boom, wherein a first boom cylinder 2 which drives a first boom is connected to a vehicle frame 3 and the first boom 1, and a second boom cylinder 5 which drives a second boom 4 is connected to the first boom 1 and the second boom 4. That is to say, in this two-piece boom type of power shovel, each cylinder connects two adjacent working machines and, therefore, when one cylinder is driven, one working machine corresponding to that cylinder is driven in rotation.
Consequently, in this power shovel, as shown in FIG. 8, when second boom cylinder 5 is driven, second boom 4 moves, and only the angle .theta.2 formed by first boom 1 and second boom 4 changes.
Further, with this power shovel it has been normal to adopt the co-ordinate system shown in FIG. 9, end to carry out the position control shown in FIG. 10 or the velocity control shown in FIG. 11.
Thus, as shown in FIG. 9, track control has been considered in which the leading end of second boom 4 is adopted as a target position (xr, yr).
In the position control shown in FIG. 10, after the target position (xr, yr) has been determined, target angles .theta.ir (i=1,2 . . .) for each working machine corresponding to the target position are determined by coordinate conversion. Then, after obtaining angle sensor output .theta.ia (i=1,2 . . .) for each working machine, the difference ei between the two (=.theta.ir-.theta.ia) is determined for each shaft, and flow rate command values proportional to each ei are respectively applied to the cylinders of each shaft.
Further, in the velocity control shown in FIG. 11, after the target velocity (xr.sup.-, yr.sup.-) has been determined, the target velocity .theta.ir.sup.- of each shaft is determined by inverse Jacobjan matrix.
It should be noted that in this Specification the reference mark to indicate velocity is a dash (for example, xr.sup.- and yr.sup.-). In the figures it is marked with a dot (.cndot.).
Then, by the addition of various compensations to the target velocities .theta.ir.sup.- for each abovementioned shaft, .theta.io.sup.- is determined, and a non-linear link ratio (link gain) si.sup.- =f (.theta.i) .theta.ir.sup.- is determined. Also, flow rate command values proportional to each link gain si.sup.- are respectively applied to the cylinders of each shaft.
That is to say, the abovementioned controls take advantage of the characteristic whereby the angle or angular velocity of each working machine corresponds one to one with the position or velocity of each cylinder, and are comparatively easy for the operator to handle.
In contrast to the general link structure in such a two-piece boom type of power shovel, the present Applicant proposed, in Japanese Patent Application Hei 4-283538, a completely new link structure which has advantages in that, for example, the working machines can be folded compactly during running and transportation, and that an ultra-small and low turning position is possible because boom angles can be adopted freely.
FIG. 12 shows a power shovel having this new link structure, where 1 is the first boom, 2 is the first boom cylinder, 3 is the vehicle frame, 4 is the second boom, 5 is the second boom cylinder, 6 is the arm, 7 is the arm cylinder, 8 is the bucket, and 9 is the bucket cylinder.
In other words, this link structure is arranged in such a way that the first boom cylinder 2 connects to vehicle frame 3 and second boom 4, and the second boom cylinder 5 connects to second boom 4 and first boom 1; and the second boom 4 is driven by first boom cylinder 2 and second boom cylinder 5.
However, using this link mechanism, for example as shown in FIG. 13, when the second boom cylinder 5 is driven, both the first boom angle .theta.1 and the second boom angle .theta.2 change. That is to say, two working machines are moved
REFERENCES:
patent: 3900113 (1975-08-01), Bourges
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patent: 5257177 (1993-10-01), Bach et al.
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patent: 5446981 (1995-09-01), Kamada et al.
patent: 5490081 (1996-02-01), Kuromoto et al.
patent: 5598648 (1997-02-01), Moriya et al.
Nagira Atsushi
Tochizawa Mamoru
Beach Thomas A.
Komatsu Ltd.
Melius Terry Lee
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