Operation control device for three-joint type excavator
First Claim
1. An operation control system for a 3-articulation type excavator (1) comprising an excavator body (99), a 3-articulation type work front (2) having a first arm (3) rotatably attached to said excavator body, a second arm (4) rotatably attached to said first arm and a third arm (5) rotatably attached to said second arm, and a hydraulic drive system (260, 261) including a first arm actuator (7) for driving said first arm, a second arm actuator (8) for driving said second arm, and a third arm actuator (9) for driving said third arm, wherein said operation control system comprises:
- two operating means (11,
12) for operating said first arm (3), said second arm (4) and said third arm (5), andcommand calculating means (131,) including an imaginarily provided virtual 2-articulation type work front having a virtual first arm (13 or 13A) and a virtual second arm (14) and a preset relationship in movement between said virtual second arm (14) and said actual third arm (5) for determining respective command values for said actual first arm, said actual second arm and said actual third arm, such that said actual third arm (5) is moved correspondingly to movement of said virtual second arm (14) resulted when said two operating means (11,
12) functions respectively as first operating means (11) for said virtual first arm (13 or 13A) and second operating means (12) for said virtual second arm (14), and outputting those command values as driving command signals for said hydraulic drive system (260,
261).
1 Assignment
0 Petitions
Accused Products
Abstract
Two control lever units 11, 12 for operating a first arm 3, a second arm 4 and a third arm 5 of a 3-articulation work front 2 are provided, and signals 132, 133 from the two control lever units are sent to a controller 131. On condition that a virtual 2-articulation type work front comprising a virtual first arm 13 and a virtual second arm 14 is imaginarily provided and the relationship in movement between the virtual second arm and the actual third arm is set in advance as if both the arms constitute a rigid body together, the controller 131 determines respective command values ω1, ω2 and ω3 for the actual first arm 3, the actual second arm 4 and the actual third arm 5 so that an intended angular speed of the actual third arm is provided by an angular speed of the virtual second arm resulted when the two control lever units are manipulated to function respectively as first operating means 11 for the virtual first arm and second operating means 12 for the virtual second arm 14. The command values are output as driving command signals to proportional pressure reducing valves 129, 130 of a hydraulic drive system. Operators having an ordinary skill can operate the 3-articulation type work front 2 with a similar operating feeling as obtained with 2-articulation type work fronts.
10 Citations
7 Claims
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1. An operation control system for a 3-articulation type excavator (1) comprising an excavator body (99), a 3-articulation type work front (2) having a first arm (3) rotatably attached to said excavator body, a second arm (4) rotatably attached to said first arm and a third arm (5) rotatably attached to said second arm, and a hydraulic drive system (260, 261) including a first arm actuator (7) for driving said first arm, a second arm actuator (8) for driving said second arm, and a third arm actuator (9) for driving said third arm, wherein said operation control system comprises:
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two operating means (11,
12) for operating said first arm (3), said second arm (4) and said third arm (5), andcommand calculating means (131,) including an imaginarily provided virtual 2-articulation type work front having a virtual first arm (13 or 13A) and a virtual second arm (14) and a preset relationship in movement between said virtual second arm (14) and said actual third arm (5) for determining respective command values for said actual first arm, said actual second arm and said actual third arm, such that said actual third arm (5) is moved correspondingly to movement of said virtual second arm (14) resulted when said two operating means (11,
12) functions respectively as first operating means (11) for said virtual first arm (13 or 13A) and second operating means (12) for said virtual second arm (14), and outputting those command values as driving command signals for said hydraulic drive system (260,
261). - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification