WO1989009310A1

WO1989009310A1 - Swing brake control apparatus for a power shovel

Info

Publication number: WO1989009310A1
Application number: PCT/JP1989/000304
Authority: WO
Inventors: Hidenori Kitoh
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1988-03-22
Filing date: 1989-03-22
Publication date: 1989-10-05
Also published as: EP0366805A1; KR900700701A; EP0366805A4

Abstract

A swing brake control apparatus for a power shovel, which shifts a swing lever in the neutral position even when a microprocessor for controlling operation of a swing brake operation runs away so that the swing brake can reliably be exerted and which can stop an upper swing member at the predetermined position without being affected by an external force, such as gravity, during a minor swinging operation on a slop. The swing brake control apparatus has a swing lever signal generator (1) for outputting a swing lever signal (a) when the swing lever is shifted from the swinging position to the neutral position and a swing brake operation signal generator (2) for receiving the swing lever signal to output a swing brake operation signal (h) to the swing brake operation unit (3).

Description

Specification

Power brake swivel brake controller

TECHNICAL FIELD OF THE INVENTION

The present invention relates to a turning brake control device for a power shovel having a structure in which an excavating work unit is rotatably mounted on a traveling body.

BACKGROUND OF THE INVENTION

The swing brake control device for applying a braking force to the upper revolving superstructure of the power shovel is intended for the operation of the power shovel over time. When the revolving brake is activated at the same time, the revolving lever for pivoting the upper revolving unit is moved to the "neutral" position to stop the revolving superstructure from rotating. It is designed to operate automatically and brake the upper revolving superstructure in the event of footing. The lever is activated a few seconds after it is shifted from the swing lever position to the "neutral" position to the "neutral" position to prevent a sudden stop of the upper rotating body.

Conventionally, the swing brake force is the time from when the swing lever force is shifted from the "swing" position to the "neutral" position until the swing brake control device operates. Since the lay-out time is constant, when turning on a slope, the turning direction of the upper-part turning body is determined by fine turning (slow turning). In this case, during the swing brake delay time, the upper swing body swivels due to gravity and oil leak of the hydraulic motor. In other words, stopping in the direction of the target is an inevitable force.

In addition, conventionally, when controlling the above-described swing brake control device using a microphone opening processor, for some reason, for example, noise or static electricity, etc. If the microprocessor runs out of control because it cannot execute the operation according to the program, the binary value: 0 N — 0 The control signal of FF is unstable. Could only output a fixed output of 0 N or 0 FF. For this reason, the control function of the rotating brake control device was completely lost, and a dangerous state was created, and work had to be stopped.

Summary of the Invention

The present invention has been made in view of the above circumstances, and a first object of the present invention is to provide a microphone opening processor for controlling the operation of a swing brake actuator. Even in the case of a runaway, the swing brake can be activated within a few seconds after the swing lever force has been shifted to the "neutral" position and the "neutral" position.旋回 ο to provide a power brake swivel brake control device

Further, a second object of the present invention is to provide a swivel brake even when the upper swivel body falls below a predetermined swivel speed, even within the swivel brake delay time. By operating the brakes, the upper revolving unit in the revolving brake delay time will not be able to fly freely, and it will not be possible to perform fine turning operations on slopes. Position the upper revolving unit accurately during the upper turning operation. The purpose is to provide a power brake swivel brake device which can be used with the power brake.

Further, a third object of the present invention is to provide a swing brake dyke according to the swing speed of the upper swing body at the time when the swing lever is shifted from the swing position to the neutral position. By changing the delay time, if the turning speed is slow, the turning brake delay time should be shortened, especially when performing fine turning operations on slopes. When the swing lever is shifted from the swing position to the neutral position, the swing blade of the power level is not affected by external force such as gravity. The key is to provide equipment.

According to a first aspect of the present invention, in order to achieve the above-described objects, when the turning lever is shifted to the neutral position, the turning lever signal is transmitted from the turning lever signal transmitter. A power that is configured to output a swing brake operation signal to the swing brake actuator when the output swing lever signal is input. A swing brake control device for the upper revolving superstructure of the shovel, and a microcontroller for outputting a swing brake operation signal to the swing brake actuator. A microprocessor, a microphone processor monitoring means for monitoring the microprocessor, and a microprocessor are provided in parallel with each other. A hardware circuit corresponding to the arithmetic function of the microprocessor, and The output of the microphone processor is switched from the output of the microphone processor to the output of the hardware circuit in accordance with the operation of the microphone processor monitoring means. Turning of power level including switching circuit A turn brake control is provided.

To achieve the above object, according to a second aspect of the present invention, a microphone port processor and a Z or hardware circuit according to the first aspect are provided. Turning speed detecting means for detecting a turning speed of the upper turning body when the turning lever is shifted to the neutral position and thereafter, and outputting a turning speed signal corresponding to the detected turning speed; and Then, by inputting the power of the turning speed detecting means, the turning speed signal output from the turning speed signal and the turning lever signal output from the turning lever signal transmitter, the turning brake is generated. And a turning brake signal control means for outputting a turning brake signal to the key actuating device. A turning brake control device for a power brake, characterized by including a turning brake signal control means, is provided. It is.

Eye!! According to a third aspect of the present invention, in order to achieve sti- sed objectives, the turning brake it signal generating means according to the second aspect is characterized in that the turning speed signal is set in advance. The swing brake control device of the power shovel, which is configured to output the swing brake signal when the value falls below Device is provided.

According to a fourth aspect of the present invention, in order to achieve the above objects, the turning brake signal generating means according to the second aspect is arranged so that the turning brake signal generating means responds to the value of the turning speed signal. A novel feature is that it is configured to output a swivel brake signal at the set delay time. A swing brake control device for the vehicle is provided. The foregoing and other objects, aspects, and advantages of the present invention are described in the following description and examples where preferred embodiments are shown by way of example which are consistent with the principles of the invention. Will be apparent to those of skill in the art when described in conjunction with the drawings.

Brief description of the drawings

FIG. 1 is a block diagram schematically showing a main part of the first embodiment of the present invention.

FIG. 2 is a block diagram schematically showing a main part of the second embodiment of the present invention.

FIG. 3 is a block diagram schematically showing a main part of the third embodiment of the present invention.

FIGS. 4 and 5 are timing diagrams of the specific examples shown in FIGS. 2 and 3, respectively.

Detailed description of preferred examples

Hereinafter, first to third specific examples of the present invention will be described with reference to the accompanying drawings.

First, a first embodiment of the present invention will be described with reference to FIG.

In FIG. 1, reference numeral 1 denotes a turning lever and a signal transmitter for operating the turning of the upper turning body (not shown) of the power shovel. When the swing lever (not shown) is shifted to the neutral position, the swing lever signal a is output.

Reference number 2 is the power brake swivel brake. The swing brake signal generator 2 outputs a swing brake activation signal to the swing brake actuator 3 in response to the swing lever signal a. , And a delay circuit 22 as a hardware circuit. This delay circuit 22 is

ΠP.7 It plays a role equivalent to the arithmetic function of the processor.

Reference numeral 23 is a dog dog as a monitoring means of the microprocessor 21, and the microprocessor 21 outputs the power. The normal signal "1" or abnormal signal "0" of the signal c is input. This microprocessor 21 is unreset when the signal d output from the watchdot 7 23 is a normal signal "1". Reset when the error signal is "0". In addition, watchdog 23 outputs normal signal "1" when signal c is normal signal "1" and abnormal signal "0" when signal c is abnormal signal "0". .

Reference numeral 24 denotes an AND circuit, and the output signal b of the microphone processor 21 and the output signal d from the watchdog 23 are input to this input side. When a normal signal "1" of signals b and d is input, a signal f which becomes a normal signal "1" is output.

At the input side of the N0R circuit 25, the watchdog 23, the output signal d from the delay circuit 22 and the output signal e from the delay circuit 22 are input. And outputs a signal g.

Reference numeral 26 denotes a 0 R circuit, and on the input side, output signals from the AND circuit 24 and the NOR circuit 25, respectively.

"f" and "g" are input so as to output a signal h to the swing brake actuator 3.

The operation of the first specific example of the above-described configuration will be described below. When the micro processor 21 is operating normally, turn to the input side of the microphone port processor 21. From the lever signal transmitter 1 to the neutral position When the turning lever signal a of the signal "1" is input, the microprocessor 21 outputs the signal c of the normal signal "1" to the dog dog 23. As a result, the watchdog 23 also outputs the signal d of the normal signal "1", so that the microprocessor 21 is not reset. Therefore, to one input side of the AND circuit 24, the signal b as the operation result of the microprocessor 21 1 is output to the microprocessor port 2. At this time, the output signal d (normal signal "1") of the dog dog 23 is input to the other input side of the AND circuit 24. Sa Therefore, the AND circuit 24 outputs the operation result of the microprocessor 21 as a signal f.

On the other hand, the N0R circuit 25 outputs the signal g of "0" since the output signal d of the watchdog force is a normal signal "1". Thus, the OR circuit 7 outputs the output signal of the AND circuit 24, that is, the function of the micro processor 21. The calculation result is output as the symbol h, and the swing brake actuator 3 is controlled in accordance with the calculation result of the micro-mouth sensor 21.

Next, the operation when the microprocessor 21 runs out of control will be described.

When the microphone processor 21 goes out of control, the output signal C of the microphone port processor 21 is not a normal signal, so that 23 outputs the signal d of the abnormal signal "0". Therefore, the microphone opening processor is reset by this abnormal signal d. At this time, an abnormal signal from watch dog 23 is applied to one input side of the AND circuit 24.

Since "0" is input, the AND circuit 24 outputs a signal f of "0". The turning lever signal a is output, but the signal a is delayed by a few seconds by the delay circuit 22 and output from the delay circuit 22 as a signal e. In the case of G, the watchdog 23 is connected to the input side of the N0R circuit 25,

Since the signal d of “0” is input, a signal (inverted) according to the output signal e from the delay circuit 22 is output as the output signal g of the N0R circuit. .

At this time, since the signal f of “0” from the AND circuit 24 is input to one input side of the 0 R circuit 26, the output side of the OR circuit 26 is swirled. The signal from the lever signal transmitter 1 is inverted, and the signal h delayed several seconds by the delay circuit 22 is output. Turning according to this inverted signal h The brake actuator 3 is controlled.

Subsequently, a second specific example of the present invention will be described below with reference to FIGS. 2 and 4.

In FIG. 2, the same reference numerals and components with the same reference numerals as those in FIG. 1 are the same elements having the same functions as those of the above-described first specific example. The explanation is omitted in order to avoid duplication.

In FIG. 2, the reference numeral 2◦ indicates that the turning lever (not shown) has been shifted from the turning position to the neutral position as in the case of the conventional control device of this type. The swing brake control device outputs the swing brake operation signal to the swing brake actuator 3 in response to the swing lever signal a output from the swing lever signal transmitter 1. It is.

Reference numeral 5 denotes an FZV converter, which controls the rotation of a swivel motor (not shown) for swiveling the upper revolving structure of a power level not shown. Receiving the pulse signal i from the turning speed sensor 4 to be up-converted, the pulse signal i is converted into a voltage according to the cycle, and the variable voltage signal j Is output. Reference numeral 6 denotes a reference voltage generator for generating a reference voltage signal V for defining the minimum turning speed of the upper-part turning body. The turning brake control device 20 of the second specific example is a turning brake control device. Receiving the turning lever signal a output from the ft-number transmitter 1, the turning lever is shifted from the turning position to the neutral position. And a variable voltage from the swing brake signal transmitter 201 that outputs the swing brake signal b after a preset time, and the FZV converter 5 described above. The signal i and the reference voltage signal V from the reference voltage generator 6 are input respectively, and these comparators compare these voltage signals and output a comparison signal k. A NAND circuit 203 to which the comparison signal k and the swivel lever signal a are input, and a NAND signal from the NAND circuit 203 and the swivel brake signal transmission The swivel brake signal b from the device 201 is input, and the AND signal h (turning brake actuation signal) is output to the swivel brake actuating device 3 in accordance with them. And an AND circuit 204.

The operation of the second specific example having the above-described configuration will be described below. The turning lever signal a from the turning lever signal transmitter 1 is a binary signal of “〇” or “1”. When the upper revolving superstructure of the power bell which does not perform the revolving operation is "0", the NAND circuit 203 does not depend on the comparison signal k from the comparator 202. Outputs "1" as NAND signal J ?. —At this time, since the swing lever signal a is “0”, the swing brake signal b from the swing brake signal transmitter 2.01 is a brake release signal. Is "1". This indicates that A

The ND circuit 204 receives the turning brake signal “b” and the NAND signal “j” signal of “1” respectively, and the turning brake actuating device is received. Output the swing brake release signal h of the swing brake release signal "1" to the unit 3.

Next, the operation when the swing brake is activated Fig. 3

This will be described with reference to a graph shown in FIG.

When the turning lever signal a changes to “0” force and “1”, that is, the turning lever (not shown) is shifted from the turning position to the neutral position, the FZV con- The voltage signal j of the bar 5 force and the like decreases as the swing speed of the upper swing body decreases, and this decreases after a lapse of time t2 since the swing lever signal a changes. When the reference voltage signal V becomes smaller than the reference voltage signal V from the reference voltage generator 6, the comparison signal k of the comparator 202 changes to “high” and “1”. At this time, t ₂ is the swing brake signal—the delay time of the swing brake signal b from the oscillator signal generator 201.

Show t! Is determined regardless of

When the comparison signal k becomes "1", both the signals a and k input to the NAND circuits 20 and 3 become "1", so that the NAND signal j? , And the AND signal h of the AND circuit 204 becomes "0", and the swing brake operating device 3 is activated.

When the swing lever signal a becomes “1”, the swing brake signal b, the NAND ff signal, and the AND signal h become “0” at the same time. The display switches to "1" and the swing brake is released.

In addition, when the swing speed of the upper swing body is high, that is, If the turning lever is shifted to the neutral position when the voltage signal j from the FZV converter 5 is large, as shown in the right side of FIG. j Breakfast is the time t ₃ turning between the reference voltage signal V that Do small Ku Ri by Les over key signal b of de I-les-I Thailand-time t, good Ri Ri Do rather long, in this case, turning lever The time that elapses from the shift to the neutral position until the swivel brake is activated will be longer than the delay time described above.

If the swivel brake signal b from the swivel brake signal transmitter 201 becomes "0" before the NAND signal becomes "0", the AND signal h is output at that time. Becomes "◦" and the swing brake is activated.

As described above, when the swing lever is shifted from the swing position to the neutral position, and the swing speed of the upper swing body falls below the set value, the swing brake delay time is set in the swing brake delay time. Even so, the swing brake operates.

Next, a third specific example of the present invention will be described with reference to FIGS. 3 and 5. FIG. In the third specific example, the same members as those of the second specific example shown in FIG. 2 are denoted by the same reference numerals and the same reference symbols, and the same members are used to avoid duplication. The explanation is omitted.

In FIG. 3, reference numeral 3 ◦ denotes a swing brake control device similar to 20 in FIG. 2, and a swing lever signal output from a swing lever signal transmitter 1. After receiving the integrator 301 that integrates a and the swivel lever symbol a, that is, swivel When the lever is shifted from its turning position to the neutral position, an output is output according to the turning speed of the upper turning body at that moment.

A sample output circuit 302 holding the voltage signal j from the FZV converter 5 and a sample output from the sample hold circuit 302 The swivel brake signal b ′ output from the pull-hold signal m and the integrator 3-1 is input respectively, and these two signals are compared and compared. A comparator 303 for outputting a signal n, and the turning lever signal a and the comparison signal n are inputted respectively, and the signals are inputted in accordance with these signals. And a NAND circuit 304 for outputting the swing brake operation signal h to the swing brake actuator.

In the above configuration, since the turning lever signal a at the time of turning is “NAND”, the NAND circuit 304 receives the comparison signal n of the inverter, the rotor 3 3 2, and the like. Regardless, the NAND circuit 304 outputs the signal h of the rotation brake release “1” to the rotation brake actuator 3.

Next, the operation at the time of turning brake operation will be described with reference to a timing diagram shown in FIG.

When the turning lever (not shown) is shifted from the turning position to the neutral position, this signal is output when the turning lever signal a is "0" and "1". As a result, the output of the integrator 301, that is, the integration signal b 'gradually changes from "◦" to "1" with time. At this time, the sample-and-hold circuit 302 outputs the FV at the time when the turning lever signal a changes from “0” to “1”. It keeps the output of the compass, 5th, that is, the voltage proportional to the turning speed of the upper turning body when the turning lever is shifted from the turning position to the neutral position. And outputs the sample hold signal m.The comparator 303 always compares the integrated signal b 'with the above sample hold signal m. Ri output of the integration signal b 'is raised, after the pivoting lever first signal a has elapsed et Teka change time t _4, when the sub emission pull Ho Ichiru de circuit 3 0 2 Ru exceeds the voltage that holds And the comparison signal η from the comparator 303 becomes “1”. In the NAND circuit 304, since the turning lever signal a is "1-", the NAND signal h becomes "0" when the comparison signal becomes "1" due to the comparison signal π, and the turning brake actuator is turned on. 3 is operating state 0

As described above, the swing brake is applied after the delay time corresponding to the swing speed of the upper swing body when the swing lever is shifted from the swing position to the neutral position. Actuator is activated.

Claims

The scope of the claims

1. When the swivel lever signal output from the swivel lever signal transmitter when the swivel lever is shifted to the neutral position is input, the swivel lever is turned on. A swing brake control device for the upper revolving superstructure of the pour shovel configured to output the swing brake operation sign to the brake actuation device. A microprocessor for outputting a swing brake activation signal to the swing brake actuator, and for monitoring the microprocessor. The micro processor monitoring means of the present invention is provided in parallel with the microprocessor of the microprocessor, and the harness corresponding to the arithmetic function of the microprocessor of the microprocessor is provided. The door circuit and the microphone port according to the operation of the processor monitoring means described above. A swing brake control device for a power level including a switching circuit for switching from an output of a processor to an output of the hardware circuit.

2. The power brake swivel brake control device according to claim 1, wherein the microprocessor and / or the hard disk is a swing brake control device. The air circuit detects the turning speed of the upper turning body when the turning lever is shifted from the turning position to the neutral position, and detects the turning speed of the upper turning body after that, and responds to the detected turning speed. A turning speed detecting means for outputting a turning speed signal, and a turning speed signal output from the turning speed detecting means and a turning lever signal output from a speaker. When the swing lever signal is input, the swing brake is actuated to the swing brake actuator. A turning brake control device for a power level, comprising: a turning brake signal control means for outputting a signal.

3. The turning brake control device for a power shovel according to claim 2, wherein the turning brake signal generating means sets the turning speed signal in advance. The power brake level is designed to output a swing brake signal when the swing brake signal falls below the set value.

4. The turning brake control means for a power shovel according to claim 2, wherein the turning brake signal generating means responds to a value of the turning speed signal. The power-belt swivel brake is characterized in that it is configured to output the swivel brake signal with the delay time set in advance. Rake controller.

5. The power shovel turning brake control device according to claim 3, wherein the turning speed detecting means detects a turning speed of an upper turning body of the power shovel. A turning speed sensor that detects and outputs a turning speed signal corresponding to the detected turning speed, and an FZV converter that converts the turning speed signal from the sensor into a voltage signal and outputs the voltage signal. And the swivel lever operating signal generating device receives the swivel lever signal output from the swivel lever signal transmitter, and moves the swivel lever from the swiveling position to the neutral position. A swivel brake signal that outputs a swivel brake signal at a preset time after the shift A transmitter; a reference voltage generator for generating a reference voltage signal for defining a minimum swing speed of the upper swing body;

A voltage signal from an FZV converter and the reference voltage signal are input, the voltage signals are compared, and a comparator that outputs a comparison signal is provided. And a swivel brake signal from the swivel brake signal transmitter and a NAND circuit that outputs a NAND signal when the swivel lever signal is input to the NAND circuit. And a circuit for receiving a signal and outputting an AND signal to the swing brake operating device according to the signal. Bell swivel brake control.

6. The turning brake control device for a power shovel according to claim 4, wherein the turning speed detecting means is a turning speed of an upper turning body of the power shovel. And outputs a turning speed signal corresponding to the detected turning speed, and an FZV connector which converts the turning speed signal from the sensor into a voltage signal and outputs the voltage signal. And a swivel brake actuating signal generator that integrates the swivel lever signal output from the swivel lever signal transmitter and outputs an integrated signal. At the moment when the turning lever is shifted from the turning position to the neutral position, the turning lever receives a turning lever signal and responds to the turning speed of the upper turning body at that time. The output FZV converter is a sensor that holds the voltage signal from the evening. The pull-hold circuit and the sample-hold circuit output from the sample-hold circuit And a comparator that receives the current signal and the integration signal output from the integrator, compares the two signals, and outputs a comparison signal. And a NAND circuit that receives a turning lever signal and the comparison signal and outputs a NAND signal to the turning brake operating device in accordance with these signals. Power brake swing control device.