Slewing Controller, Slewing Control Method, and Construction Machine

• US 20080065298A1
• Filed: 09/22/2005
• Published: 03/13/2008
• Est. Priority Date: 09/24/2004
• Status: Active Grant

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Kawaguchi, Tadashi
• Granted Patent: US 7,869,923 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/384 the boom being pivotable relative to the frame about a vertical axis
• CPC Class Codes: E02F 9/128 Braking systems
• CPC Class Codes: E02F 9/2207 for reducing or compensating oscillations
• CPC Class Codes: E02F 9/2214 for reducing the shock generated at the stroke end

Abstract

In an excavator equipped with an offset boom, an offset command value generating means 56 of a rotation control device 50 offsets a second boom 62 arranged on a distal end side in a rotation direction relative to a first boom arranged on a proximal end side when an acceleration start judging means 53 judges that a rotation operation is started, and offsets the second boom 62 in a reverse rotation direction when a deceleration start judging means 54 judges that a rotation deceleration operation is started. Accordingly, when a rotation acceleration is performed using a reaction force generated in the offset, clearances between members of a work machine can be contracted in advance in the rotation direction, while when the rotation deceleration operation is performed, these clearances can be contracted in advance in the rotation reverse direction, thereby reducing an impact in the acceleration and deceleration.

Claims

1. A rotation control device that controls a rotary body that is equipped with an offset mechanism including a distal-end side work member, wherein the rotation control device is adapted to move the offset mechanism in conjunction with a rotation operation of the rotary body.

2. The rotation control device according to claim 1, wherein the rotation control device offsets the distal-end side work member in a rotation direction in conjunction with the rotation operation when the rotation operation or an acceleration operation is started.

3. The rotation control device according to claim 1, wherein the rotation control device offsets the distal-end side work member in a reverse rotation direction in conjunction with the rotation operation when a rotation deceleration operation is started.

4. The rotation control device according to claim 1, wherein the rotation control device offsets the distal-end side work member in a reverse rotation direction in conjunction with the rotation operation just before the rotation is stopped.

5. The rotation control device according to claim 4, wherein an offset change amount is adjustable in accordance with a rotation state of the rotary body.

6. The rotation control device according to claim 1, wherein a generated offset is corrected toward an initial value.

10. The rotation control device according to claim 2, wherein a generated offset is corrected toward an initial value.

11. The rotation control device according to claim 3, wherein a generated offset is corrected toward an initial value.

12. The rotation control device according to claim 4, wherein a generated offset is corrected toward an initial value.

13. The rotation control device according to claim 5, wherein a generated offset is corrected toward an initial value.

7. A rotation control method for controlling a rotary body that is equipped with an offset mechanism including a distal-end side work member, the method comprising:

moving the offset mechanism in conjunction with a rotation operation of the rotary body.

8. A construction machine, comprising:

a rotary body that is equipped with an offset mechanism including a distal-end side work member; and

a rotation control device that controls the rotary body,

wherein the rotation control device is adapted to move the offset mechanism in conjunction with a rotation operation of the rotary body.

9. The construction machine according to claim 8, wherein

the offset mechanism includes a proximal-end side work member supported on the rotary body and a distal-end side work member that is coupled to the proximal-end side work member, the distal-end side work member being offset, and

the rotary body is rotated by an electric motor.