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    • 107. 发明申请
    • CONTROLLER FOR EXCAVATORS
    • 挖掘机控制器
    • WO1997008395A1
    • 1997-03-06
    • PCT/JP1996002431
    • 1996-08-30
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.FUNATO, Kouji
    • E02F05/14
    • E02F9/2203E02F3/205E02F3/26
    • In order to improve the durability of a tooth edge of an excavator and thereby an excavation efficiency thereof as well, a penetration force control unit (70) controls a hydraulic winch HWD so that a detected penetration force attains a set level, whereby the speed of the excavator (10) is controlled. A descending speed control unit (50) is adapted to control the hydraulic winch HWD so that a detected descending speed attains a set level, whereby the speed of the excavator (10) is controlled. When a detected level of the descending speed exceeds a predetermined level during a control operation of the penetration force control unit (70), a selection unit (80) shifts the control operation to that by the descending speed control unit (50). The descending speed control unit (50) is adapted to control the descending speed by a proportional integration control operation, while the penetration force control unit (70) is adapted to control the penetration force by a proportional differentiation control operation.
    • 为了提高挖掘机的齿缘的耐久性,从而提高挖掘效率,贯穿力控制单元(70)控制液压绞盘HWD,使得检测到的穿透力达到设定水平, 挖掘机(10)被控制。 下降速度控制单元(50)适于控制液压绞盘HWD,使得检测到的下降速度达到设定水平,从而控制挖掘机(10)的速度。 当在穿透力控制单元(70)的控制操作期间检测到的下降速度的水平超过预定水平时,选择单元(80)将控制操作移动到下降速度控制单元(50)的控制操作。 下降速度控制单元(50)适于通过比例积分控制操作来控制下降速度,而穿透力控制单元(70)适于通过比例微分控制操作来控制穿透力。
    • 108. 发明申请
    • EXCAVATION REGION SETTING APPARATUS FOR CONTROLLING REGION LIMITED EXCAVATION BY CONSTRUCTION MACHINE
    • 用于控制区域的挖掘区设置装置由施工机械进行有限的挖掘
    • WO1997007296A1
    • 1997-02-27
    • PCT/JP1996002251
    • 1996-08-08
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.WATANABE, HiroshiHIRATA, ToichiHAGA, MasakazuFUJISHIMA, Kazuo
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.
    • E02F03/43
    • E02F3/437E02F3/32E02F9/2285E02F9/2296E02F9/26
    • In an excavation region setting apparatus for controlling the region limited excavation by a construction machine, which is adapted to calculate a target speed vector Vc for use in controlling a front unit (1A), on the basis of a vehicle body (1B), restrict when the front unit approaches a boundary of a preset excavation region the moving speed thereof in the direction approaching the same boundary, by correcting the target speed vector, and move the front unit along the mentioned boundary, an outer reference 80 is set first in the horizontal direction in a position outside a hydraulic shovel body, and a depth hr between the outer reference and the boundary of the excavation region is then set by using a setter (7), for the purpose of setting the excavation region. The front unit (1A) is then moved, and, when the position of a front reference 70 agrees with that of the outer reference, an outer reference setting switch (71) is pressed. Consequently, a control unit (9) computes a height hf between a vehicle body reference point O and the outer reference, and then a height hs of a boundary surface of the excavation region with respect to the vehicle body reference point O on the basis of this depth hr by using the height hf as a correction value, and set the excavation region based on the vehicle body (1B), on the basis of which the target speed vector Vc is calculated. This enables the setting of an excavation region suitable for an excavation control operation in which computation is carried out on the basis of the vehicle reference to be done, and a highly reliable control operation to be carried out.
    • 在用于基于车体(1B)计算用于计算用于控制前单元(1A)的目标速度向量Vc的建筑机械的区域限制挖掘控制的挖掘区域设定装置中,限制 当前单元通过校正目标速度向量接近预设挖掘区域的边界移动速度,并且沿着所述边界移动前单元时,首先将外参考点80设置在 为了设定挖掘区域,通过使用设定器(7)来设定在液压挖掘机体外侧的位置的水平方向和外部基准与挖掘区域的边界之间的深度hr。 然后,前部单元(1A)移动,并且当前部基准70的位置与外部基准的位置一致时,按下外部基准设定开关(71)。 因此,控制单元(9)计算车体参考点o0和外部基准之间的高度hf,然后计算挖掘区域相对于车体的边界面的高度hs 基于该深度hr,通过使用高度hf作为校正值,并且基于车身(1B)设定挖掘区域,基于该目标速度矢量 计算Vc。 由此,能够基于要完成的车辆基准来设定适合于进行计算的挖掘控制动作的挖掘区域,以及要进行高可靠性的控制动作。
    • 109. 发明申请
    • PRIME MOVER ROTATIONAL SPEED CONTROL DEVICE
    • PRIME MOVER旋转速度控制装置
    • WO1996028651A1
    • 1996-09-19
    • PCT/JP1996000671
    • 1996-03-15
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.NAKAMURA, KeiichiroSUNAMURA, KazuhiroTAKEGAHARA, HidefumiYOSHINAGA, Shigehiro
    • F02D01/08
    • F02D31/007
    • A prime mover rotational speed control device that can not only improve the reliability and stability of a rotational speed control but also remarkably reduce power consumption by imparting an electric motor such as a stepping motor a mechanical retaining force by a worm gear. The device is provided between a governor lever (3) of a governor (2) and an output shaft (21A) of a stepping motor (21) a reduction gear (22) comprising a worm gear (25) comprising in turn a worm (23) and a worm wheel (24) and a rotating lever (27) connected to a rotating shaft (26) of the worm wheel (24) at its proximal end and to the governor lever (3) via a link (7) at its distal end, and the worm (23) is integrated with the output shaft (21A) of the stepping motor (21). In a case where the stepping motor is out of step, the revolution of the worm gear (25) is automatically restricted by virtue of a self-locking action acting between the worm (23) and the worm wheel (24).
    • 原动机转速控制装置不仅可以提高转速控制的可靠性和稳定性,而且通过使诸如步进电动机的电动机由蜗轮机械保持力来显着地降低功耗。 该装置设置在调速器(2)的调速器杆(3)和步进电机(21)的输出轴(21A)之间,减速齿轮(22)包括蜗轮(25),蜗轮(25)又包括蜗杆 23)以及在其近端处连接到蜗轮(24)的旋转轴(26)的蜗轮(24)和旋转杆(27),并且经由连杆(7)在调节杆(3)处连接到调速器杆 其远端和蜗杆(23)与步进马达(21)的输出轴(21A)一体化。 在步进电动机失步的情况下,由于蜗杆(23)和蜗轮(24)之间的自锁动作,蜗轮(25)的旋转自动受到限制。
    • 110. 发明申请
    • DRIVING CONTROLLER OF HYDRAULIC MACHINE
    • 液压机驱动控制器
    • WO1994027052A1
    • 1994-11-24
    • PCT/JP1994000744
    • 1994-05-06
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.SUNAMURA, KazuhiroTAKEGAHARA, HidefumiHIRATA, Toichi
    • HITACHI CONSTRUCTION MACHINERY CO., LTD.
    • F15B20/00
    • F15B20/00E02F9/22E02F9/2285F15B21/087Y10T137/87209
    • When a solenoid proportional valve (91A) of a direction control valve (8A) is left open due to failure and an operator makes a reverse lever operation for operating an operation lever (4A) in an x2 direction, a low level signal is outputted from an operation position sensor (30A2) and a high level signal is outputted from operation position sensors (30A1, 30B1, 30B2). Since the output of an AND circuit (6b2) becomes a low level signal and the output of an AND circuit (6b1) becomes a high level signal, a change-over signal is outputted from an amplification circuit (6h) to a solenoid change-over valve (121), so that the solenoid change-over valve (121) is switched to a right side position in the figure to allow a pilot line (51) to keep communicating with a tank (97). The change-over signal is not outputted from the amplification circuit (6h) to a solenoid change-over valve (122), and the solenoid change-over valve (122) is kept at a left side position in the figure. Accordingly, the pilot line (52) keeps communicating with a pilot pump (96). At this time, a driving signal from a metering calculation portion (6a) is inputted to a solenoid proportional valve (92A) of a direction control valve and the solenoid proportional valve (92A) is excited, so that a secondary pilot pressure is given from the solenoid proportional valve (92A) to a pilot operation portion (22A) of the direction control valve (8A). Because a primary pilot pressure to the solenoid proportional valve (91A) is reduced by the solenoid change-over valve (121) to the tank pressure, the direction control valve (8A), that has existed at the left side position in the figure, is switched to the left and can be easily returned to a neutral position.
    • 当方向控制阀(8A)的电磁比例阀(91A)由于故障而打开,并且操作者进行用于在x2方向上操作操作杆(4A)的反转杆操作时,从 从操作位置传感器(30A1,30B1,30B2)输出操作位置传感器(30A2)和高电平信号。 由于AND电路(6b2)的输出变为低电平信号,AND电路(6b1)的输出变为高电平信号,所以转换信号从放大电路(6h)输出到电磁变换信号 (121),使得电磁转换阀(121)切换到图中的右侧位置,以允许先导管线(51)与罐(97)保持连通。 转换信号不从放大电路(6h)输出到电磁转换阀(122),电磁转换阀(122)保持在图中的左侧位置。 因此,先导管路52与导向泵(96)保持连通。 此时,来自计量计算部(6a)的驱动信号被输入到方向控制阀的电磁比例阀(92A),电磁比例阀(92A)被激励,从而从 电磁比例阀(92A)连接到方向控制阀(8A)的先导操作部分(22A)。 由于电磁比例阀(91A)的初级先导压力被电磁转换阀(121)减小到油箱压力,所以在图中左侧位置存在的方向控制阀(8A) 被切换到左侧并且可以容易地返回到中立位置。