JPH08297026A - Pitching-damping apparatus of upper part slewing construction machine - Google Patents

Abstract

PURPOSE: To obtain an effective damping action suppressing pitching without making a vehicle body bulky in size, by mounting a gyro stabilizer supporting a rotary body in a freely oscillating fashion to an upper slewing body around a precession shaft orthogonal to a gyro shaft of the rotary body. CONSTITUTION: A supporting member 13 of a gyro stabilizer 10 is mounted on an upper slewing body 2 so that a gyro shaft J is parallel to a slewing shaft S and a precession shaft P is orthogonal to the slewing shaft S. An axis Q generated by a gyro moment M becomes parallel to a horizontal pitching axis which is orthogonal to the longitudinal direction of the slewing body 2 and a working machine. When a hydraulic shovel 1 pitches, a moment M is generated to the gyro shaft J, so that the gyro shaft J is rotated about the axis Q. In consequence, the gyro moment M balancing with the moment M is generated in the opposite direction. The pitching of the hydraulic shovel 1 can be damped by this gyro moment M.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gyro stabilizer device applied to suppress pitching of an upper-slewing construction machine.

[0002]

2. Description of the Related Art A so-called upper swing type, such as a hydraulic excavator or a mobile crane, has an upper swing body which is rotatable about a swing axis on a vehicle body of a construction machine, and a work machine is provided on the upper swing body. Construction machinery is widely used in the market. In such an upper revolving construction machine, a moment is applied to the front of the upper revolving structure during work by the working machine, which causes front-back swing, that is, pitching. This situation will be described by taking a hydraulic excavator as an example. The hydraulic excavator normally has a configuration as shown in FIG. In this figure, a hydraulic excavator 1 has an upper revolving superstructure 2 which is rotatable on a lower traveling body 3, and a boom 4 which is swingable in a vertical plane on the front end side of the upper revolving superstructure 2. An arm 5 is provided at the tip of the boom 4, and a bucket 6 is provided at the tip of the arm 5 so as to be swingable in the vertical plane. When excavating with the hydraulic excavator 1, the operator drives the work machine by operating the work machine operating levers of the boom 4, the arm 5 and the bucket 6. At this time, since the working machine is rocked or stopped in the vertical direction in association with the excavation work, the entire vehicle body vibrates for pitching. As shown by the arrow B in FIG. 33, this pitching vibrates in the front-back direction of the upper revolving superstructure 2 facing the working machine, with the point C where the revolving axis S intersects the ground surface as a fulcrum.

Such vibration of the vehicle body not only makes the operator uncomfortable to ride, but also makes it difficult to operate the working machine. In addition, there is a problem that vibration tends to cause loosening, wear, and the like of the mounting portion of each component of the vehicle body. Conventionally, in order to reduce this pitching, a counterweight 7 is provided at the rear end of the upper swing body 2 to increase the inertia inertia of the vehicle body with respect to pitching. Therefore, in order to suppress the pitching as much as possible, the larger the weight of the counter weight 7, the better.

[0004]

However, if the weight of the counterweight 7 is increased, the output of the hydraulic motor, the hydraulic pump, etc. for turning drive must also be increased. As a result, the size of each component increases and the vehicle body increases. The whole becomes large and expensive. Further, in the hydraulic excavator, the rear weight becomes large, and there are problems that the excavating force of the bucket blade edge is reduced, and the risk of falling backward is increased. In order to solve the above problems, the present invention is capable of suppressing pitching without increasing the size of the entire vehicle body, obtaining an effective vibration damping action, and maintaining maintainability. It is an object of the present invention to provide a pitching vibration damping device.

[0005]

In order to achieve the above object, a pitching vibration damping device for an upper swing type construction machine according to the present invention is capable of swinging horizontally on a lower traveling body 3 around a swing axis S. An upper revolving construction machine 1 having a large upper revolving superstructure 2 and a working machine attached so that a moment is applied to the upper revolving superstructure 2 has a large moment of inertia,
Moreover, the support member 13 that swingably supports the rotating body 11 around the rotating body 11 that is rotating at high speed around the gyro axis J by the drive motor 12 and the precession axis P that is orthogonal to the gyro axis J of the rotating body 11. The gyro stabilizer 10 having the above is mounted on the upper swing body 2, and one of the gyro axis J and the precession axis P is made parallel to the swing axis S and the other one is set as the upper swing body. It is arranged parallel to the moment axis direction of the second work machine.

Further, an effective damping moment can be obtained by canceling the turning component and the lateral (so-called rolling) component of the gyro moment and making use of only the moment relating to the damping of pitching. Therefore, in the above-described pitching vibration damping device for the upper swing type construction machine, at least two or more of the gyro stabilizers 10 are provided, and at least one of the gyro stabilizers 10 has the rotating body 11 in the rotation direction about the gyro axis J. May be rotated in the opposite direction to the other rotating body 11.

The large mass (moment of inertia) of the gyro stabilizer device can be used as a part of the counter weight. Therefore, in the above-described pitching vibration damping device for the upper swing type construction machine, the gyro stabilizer 10 includes the upper swing body 2 located behind the swing axis S.
It is better to place it above. Further, at least two or more small gyro stabilizer devices may be dispersed and used to obtain visibility behind the vehicle body. Therefore, when two or more gyro stabilizers 10 are provided, it is preferable that the gyro stabilizers 10 are provided rearward of the turning axis S and at the side end portion or the rear end portion of the upper turning body 2.

Further, if the angular velocity around the precession axis is actively controlled so as to approach the control target value, the vibration can be controlled more stably. Therefore, in the above-described pitching vibration damping device for the upper swing type construction machine, the pitching angular velocity detector 16 attached to the support member 13 of the gyro stabilizer 10 and detecting the pitching angular velocity 16
And a precession angle detector 15 for detecting a rotation angle of the rotating body 11 around the precession axis P, a pitching angular velocity detected by the pitching angular velocity detector 16 and a precession angle detected by the precession angle detector 15. And calculates a command value of the precession axis rotational angular velocity obtained from at least one of the pitching angular velocity, the differential value of the pitching angular velocity, and the integral value of the pitching angular velocity, and the precession angle input is calculated in advance. When it is smaller than the allowable maximum value of the determined predetermined size, the arithmetic unit 20 that outputs the precession shaft rotation angular velocity command of the calculated value, and the power signal is output based on the precession shaft rotation angular velocity command. And the motor drive device 30 for controlling the precession axis P by this power signal. Rotating body 11 may be attached to the precession axis drive motor 14 which rotates the on Ri.

Further, when the angular velocity about the precession axis is actively controlled, it is possible to obtain a stable gyro moment if the angular velocity is controlled accurately by feedback control. Therefore, the above-described pitching vibration damping device for the upper swing type construction machine includes the rotation speed detector (19) for detecting the rotation speed of the rotating body 11 around the precession axis P, and the precession axis from the arithmetic unit 20. It is preferable to provide a motor drive device 30 that compares the rotational angular velocity command with the rotational speed from the rotational speed detector (19) and outputs a power signal of the precession shaft drive motor 14 so that this deviation becomes smaller. .

Further, the pressure oil supply to the hydraulic motor for rotating the rotating body used in the gyro stabilizer device is temporarily stopped, and this amount is supplied to another working machine or a hydraulic actuator for traveling, thereby temporarily It is possible to cope with the increase in the load. Therefore, in the above-described pitching damping device for the upper-slewing construction machine, the drive motor 12 has the hydraulic motor 12a.
Which is the pitching vibration damping device,
Clutch 40 added between 2a and the rotating body 11
And a working machine or traveling actuator 66, operating state input means 41 for outputting a signal indicating a load state of the actuator 66, and whether or not pressure oil discharged from the hydraulic pump 33 is supplied to the hydraulic motor 12a. When it is determined that at least the output of the actuator 66 needs to be increased based on the directional switching valve 42 for switching the switch and the signal indicating the load state input from the operating state input means 41, a disconnection command is output to the clutch 40, and It is preferable to include the arithmetic unit 50 that outputs a command to the direction switching valve 42 to switch the pressure oil from the hydraulic pump 33 to the tank or to switch the pressure oil from the hydraulic pump 33 to the actuator 66.

When the pressure oil supply to the hydraulic motor is temporarily stopped and the gyro stabilizer is coasted as described above, the rotation speed is detected and monitored so that the gyro stabilizer enters within a predetermined range. , It is possible to stabilize the magnitude of the gyro moment. Therefore, the above-described pitching vibration damping device for the upper swing type construction machine is provided with the rotating body 11
Attached to the rotation speed detector 55 for detecting the rotation speed of the rotating body 11, and the rotation speed input from the rotation speed detector 55 when the clutch 40 is in a disengaged state and the rotation speed is a predetermined minimum rotation. Clutch 4 when the speed is lower
The connection command is output to 0 to accelerate the rotation of the rotating body 11,
Further, when the rotation speed is higher than a predetermined maximum rotation speed, it is preferable to include a calculation device 50 that outputs a disconnection command to the clutch 40 to rotate the rotating body 11 by inertia.

Further, if the hydraulic motor for rotating the rotating body used in the above-mentioned gyro stabilizer is temporarily used as a hydraulic pump and is used as an auxiliary to the main pump, other working machines or traveling machines can be used. It is easy to easily deal with a temporary increase in load from the hydraulic actuator. Therefore, the above-described pitching damping device for the upper-slewing construction machine is a pitching damping device in which the drive motor 12 is the hydraulic motor 12a, and the working machine or traveling actuator 66 and the load state of the actuator 66. Operating state input means 41 for outputting a signal indicating
3 is supplied to the hydraulic motor 12a, or the hydraulic oil generated when the hydraulic motor 12a is driven is supplied to the actuator 66. Input means 41
When it is determined that at least the output of the actuator 66 needs to be increased by the signal indicating the load state input from the actuator, the direction switching valve is configured to supply the pressure oil generated when the hydraulic motor 12a is driven to the actuator 66. It is desirable to include an arithmetic unit 50 that outputs a command to 43.

Also when the hydraulic motor for rotating the rotating body used in the gyro stabilizer device is used as a hydraulic pump, when the rotating speed of the rotating body exceeds a predetermined range, the number of rotations is detected. The gyro moment can be stabilized in size by monitoring and making it within a predetermined range. Therefore, the above-described pitching damping device for the upper swing type construction machine is provided with the hydraulic motor 12
a clutch 40 provided between a and the rotating body 11,
The rotation speed detector 55 attached to the rotating body 11 to detect the rotation speed of the rotating body 11 and the rotation speed detector 5 when the hydraulic motor 12a is driven by the rotating body 11
When the rotation speed input from 5 is smaller than a predetermined minimum rotation speed that is determined in advance, or when the rotation speed is greater than a predetermined maximum rotation speed that is determined in advance, the rotating body 11 is rotated by inertia. It is preferable to provide the clutch 40 with the arithmetic unit 50 that outputs a disconnection command.

Further, if a hydraulic motor whose rotation speed can be controlled by changing the inclination angle of the swash plate or the swash shaft is used as the hydraulic motor for rotating the rotating body, the rotation speed can be accurately controlled to be constant, and the gyroscope can be controlled. The magnitude of the moment can be stabilized. Therefore, the above-described pitching damping device for the upper swing type construction machine is the hydraulic motor 1
2a or the driving motor 12 is a pitching vibration damping device which is a hydraulic motor 12b capable of controlling the rotation speed by changing the inclination angle of the swash plate or the swash shaft, which is attached to the rotating body 11 to rotate. When the rotation speed detector 55 for detecting the rotation speed of the body 11 and the rotation speed input from the rotation speed detector 55 become higher than a predetermined maximum rotation speed determined in advance, the rotation speed is the maximum rotation speed. It is preferable to include the arithmetic unit 50 that outputs a command for controlling the inclination angle of the swash plate or the swash shaft of the hydraulic motor 12b so as not to exceed the speed.

As the hydraulic motor for rotating the rotating body, a hydraulic motor whose rotation speed can be controlled by changing the inclination angle of the swash plate or the oblique shaft is used, and this hydraulic motor is temporarily used for the hydraulic pump. In this case, it is better to control the inclination angle of the swash plate or the swash shaft so that the discharge amount from the hydraulic motor becomes constant. Therefore, the above-described pitching damping device for the upper swing type construction machine is provided with the hydraulic motor 12
a is a pitching vibration damping device which is a hydraulic motor 12b capable of controlling the rotation speed by changing the inclination angle of the swash plate or the swash shaft, and is attached to the rotating body 11 to change the rotating speed of the rotating body 11. A rotation speed detector 55 for detecting and a hydraulic motor 12b driven by inertial rotation of the rotating body 11.
Is discharging pressure oil, the swash plate or the swash shaft of the hydraulic motor 12b corresponds to the change in the rotation speed input from the rotation speed detector 55 so that the discharge amount from the hydraulic motor 12b becomes constant. Arithmetic device 5 for outputting a command to control the tilt angle
It is preferable to have 0 and.

Further, in the above-described pitching vibration damping device for the upper swing type construction machine, the rotating body 11 or the drive motor 12 has a large moment of inertia different from that of the components of the gyro stabilizer 10 and rotates at high speed. It may be the equipment 60 equipped with a construction machine.

Further, in the above-described pitching vibration damping device for the upper swing type construction machine, the construction machine-equipped device 60 may be the engine 63.

[0018]

The gyro stabilizer device is provided on the upper swing body, and the supporting member of the gyro stabilizer device is attached so that the axis orthogonal to the gyro axis and the precession axis is parallel to the pitching axis of the upper swing body. When the external force moment generated by the pitching of the construction machine causes the gyro shaft to rotate around the pitching axis, the gyro effect causes the rotating body of the gyro stabilizer to rotate around the precession axis. Further, due to the rotation of the rotating body around the precession axis, a gyro moment that passively balances the external force moment in the opposite direction to the external force moment is generated around the pitching axis. This gyro moment acts to suppress pitching.

When a plurality of gyro stabilizer devices are arranged and at least one or more of the gyro stabilizer devices rotate in the opposite rotation directions to each other, the components of each gyro moment other than the pitching direction are canceled by each other. You can fit. At this time, only the moment that is a combination of the respective moments in the damping vibrations of the pitching acts, and effective damping becomes possible.

Further, if the gyro stabilizer having a large mass is arranged on the upper revolving structure at the rear of the revolving shaft, it can be used as a part of the counter weight, so that the weight of the entire vehicle body can be reduced and the overall size can be reduced. .
In particular, if it is provided in the vicinity of the counterweight, its effect will be great and maintainability from the rear part of the vehicle body will be good. further,
When the gyro stabilizer device is configured by using a plurality of small gyro stabilizers, and these are dispersed and arranged at the rear end portion and the rear side surface end portion of the upper swing body, the visibility of the rear of the vehicle body is not impaired, Also, the maintainability from the side and the rear is improved.

When the precession shaft of the gyro stabilizer is rotated by the drive motor, a gyro moment is generated around the axis orthogonal to the gyro axis and the precession shaft as described above. In this way, it is possible to actively generate a gyro moment and actively suppress pitching. At this time, the precession axis angular velocity can be controlled to generate an optimum gyro moment so that the pitching angle, the pitching angular velocity, the pitching angular acceleration, and the like reach predetermined control target values, so that pitching can be suppressed more effectively. can do. When controlling the precession axis angular velocity, if the precession angle becomes equal to or larger than a predetermined value, the angular velocity control is stopped. This prevents the upper swing body from swinging largely due to the gyro moment in the swing direction during work.

When a hydraulic motor is used as a drive motor for rotating the rotating body, a clutch is provided between the rotating body and the drive motor, and a direction switching valve for switching supply or stop of supply of pressure oil to the hydraulic motor is provided. When there is a demand for a temporary increase in the output of the working machine of the construction machine or traveling, the supply of pressure oil to the hydraulic motor is stopped, and the amount of oil corresponding to this is supplied to the working machine and the traveling. As a result, it is possible to temporarily increase the output of the work machine and traveling, and it is possible to perform work efficiently. At this time, when the clutch is disengaged, the rotary body can maintain the angular momentum by inertial driving, so that the gyro moment is generated by this angular momentum, and the pitching vibration can be suppressed by this.

Further, a direction switching valve is provided for switching the supply direction of the pressure oil to the rotation hydraulic motor of the rotating body between the forward direction and the reverse direction, and the hydraulic motor is supplied with the pressure oil and is rotated as a motor to the above direction. Switch the switching valve in the opposite direction. Then, this hydraulic motor continues inertial rotation by the energy accumulated in the rotating body by the flywheel effect, sucks oil from the tank, and discharges it as pressure oil. At this time, this hydraulic motor acts as a hydraulic pump. Therefore, as mentioned above, when there is a demand for temporary increase in the output of the working machine of the construction machine or traveling, the hydraulic motor is used as an auxiliary pump of the main pump to meet the above-mentioned temporary increase in the output. Can respond more effectively.

When the rotational speed of the rotating body becomes lower than a predetermined value during the inertial operation of the rotating body or the operation in the hydraulic pump mode, the mode operation is canceled and the acceleration operation by the normal hydraulic motor is performed. To do. As a result, it is possible to prevent the rotation speed of the rotating body from decreasing and the damping performance of pitching to decrease. Further, when the rotation speed of the rotating body exceeds a predetermined value, inertial operation of the rotating body is performed to prevent the rotation speed of the rotating body from further increasing. Therefore, the angular momentum of the rotating body can be maintained constant. As a result, the gyro moment is less affected by the speed change of the rotating body, and the pitching can be stably suppressed. Also,
It is possible to prevent the equipment from being damaged due to the rotation speed exceeding a predetermined value.

Further, when a hydraulic motor capable of controlling the swash plate and the swash shaft is used as the rotation hydraulic motor for the rotator, the swash plate and the swash shaft can be controlled to stabilize the rotation speed of the rotor more accurately. You can Therefore, the influence of the gyro moment on the speed change of the rotating body can be reduced, and as a result, pitching can be suppressed more stably. Similarly, when using a hydraulic motor capable of controlling the swash plate and the swash shaft in the hydraulic pump mode, if the swash plate and the swash shaft are controlled in accordance with the change in the rotation speed of the rotating body, the discharge amount of the pump becomes constant. can do. Therefore, it is possible to eliminate the influence of the change in the rotation speed of the rotating body on the discharge amount of the pump. Therefore, even when used in the hydraulic pump mode, the speed stability of the working machine and traveling is good.

In a control algorithm in which the angular velocity command of the precession axis is calculated by multiplying the magnitude of the pitching angular acceleration by a proportional constant, the magnitude of the gyro moment is affected by the change in the rotational speed of the rotating body. The magnitude of the above-mentioned proportional constant is corrected so as not to correspond to the change in the rotation speed of the rotating body. As a result, the generated gyro moment can be controlled with high accuracy, and the damping effect of pitching is further improved.

By using electric equipment, control equipment, and other rotating equipment mounted on a construction machine, which are usually used for high-speed rotation, as a gyro stabilizer, the number of mounted equipment can be reduced. It is possible to reduce weight and improve maintainability.

[0028]

EXAMPLES Examples will be described below with reference to the drawings using an example of a hydraulic excavator. However, the operation and effect are the same even in the case of other upper swing type construction machines. Further, although the crawler belt type lower traveling body is shown in the following drawings of the hydraulic excavator, it may be a wheel type traveling body. In the first to fourth embodiments, when the rotation axis of the gyro stabilizer receives a moment about an axis perpendicular to the axis, a moment (so-called gyro moment) that balances with the moment is passively generated. An example is shown that suppresses pitching by using a passive gyro moment. First, a first embodiment will be described based on FIGS. 1 to 3. 1 and 2 respectively show a side view and a plan view of a hydraulic excavator 1 provided with a gyro stabilizer 10 on an upper swing body 2. In this embodiment, one gyro stabilizer 10 is provided, and the gyro axis J thereof is parallel to the turning axis S.

FIG. 3 is a perspective view showing the details of the gyro stabilizer 10. In FIG. 3, the rotating body 11 has a large moment of inertia and is rotated at high speed around the gyro axis J by the drive motor 12. The rotating body 11 is supported by a support member 13 so as to be rotatable around an axis P (hereinafter referred to as a precession axis) orthogonal to the gyro axis J. Now, an external force causes a moment M, which causes a gyro axis J and a precession axis P.
It is assumed that the gyro axis J is rotated at an angular velocity ωq around an axis Q that is orthogonal to. At this time, the gyro moment M
J has a magnitude proportional to the product of the angular momentum of the rotating body 11 and the angular velocity ωq, and is generated in the direction opposite to the moment M.

As shown in FIGS. 1 and 2, in this embodiment, the supporting member of the gyro stabilizer 10 is arranged so that the gyro axis J is parallel to the swivel axis S and the precession axis P is orthogonal to the swivel axis S. 13 is attached to the upper swing body 2. At this time, the axis Q on which the gyro moment MJ is generated
Is parallel to a horizontal axis (hereinafter referred to as a pitching axis) orthogonal to the longitudinal direction of the upper swing body 2 and the working machine. When the hydraulic excavator 1 is pitched in the direction of B shown in the figure, a moment M acts on the gyro shaft J and the gyro shaft J rotates about the axis Q.
A gyro moment MJ balanced with is generated in the opposite direction. The gyro moment MJ can suppress the pitching of the hydraulic excavator 1. By providing a proper spring element and damper element (both not shown) on the precession shaft, the pitching can be suppressed more effectively.

The support member 13 of the gyro stabilizer 10 is attached to the upper swing body 2 so that the gyro axis J is orthogonal to the swivel axis S and the precession axis P is parallel to the swivel axis S. Is also good. This embodiment is shown in FIGS. 4 and 5, and only the attachment direction of the gyro stabilizer 10 is different from the above embodiment. Even in this mounting direction, the axis Q is parallel to the pitching axis, and
As described above, the gyro moment MJ balanced with the moment M acting on the gyro axis J is generated around the axis Q in the opposite direction as described above. Therefore, the pitching of the hydraulic excavator 1 can be suppressed by the gyro moment MJ.

Next, in the second embodiment, a case where a plurality of gyro stabilizers are provided on the upper swing body 2 will be described. First, an example in which two gyro stabilizers are provided will be described. FIG. 7 shows a plan view of the hydraulic excavator 1.
FIG. 8 is an explanatory diagram of the two gyro stabilizers 10. In this embodiment, two gyro stabilizers 10 are used.
Each gyro axis J becomes parallel to the swivel axis S,
The support member 13 is attached to the upper swing body 2 so that each axis Q is parallel to the pitching axis. At this time, the two precession axes P are parallel to each other and orthogonal to the turning axis S.

The two gyro stabilizers 10 each have a rotating body 11 that rotates at high speed around each gyro axis J and a motor 12 that drives the rotating body 11 as described above. It is supported by a support member 13 so as to be rotatable around. Here, the rotation directions of the two rotating bodies 11 around the gyro axes J are opposite to each other. At this time, when the moment M about the axis Q acts on each gyro axis J by pitching, the two rotating bodies 11 are precessed in the opposite directions around each precession axis P.
Then, MJ1 and MJ2 are generated so that the combined moment of the gyro moments MJ1 and MJ2 is balanced with the moment M. As described above, since the two rotating bodies 11 are precessed in the opposite directions to each other,
The components of the gyro moments MJ1 and MJ2 other than those in the pitching direction cancel each other out, leaving a moment in the direction of damping pitching.

As described above, the pitching can be suppressed even if the two gyro stabilizers 10 are provided. At this time,
If the rotation directions of the respective rotating bodies 11 around the gyro axes J are opposite to each other, the damping effect of the pitching becomes larger. In addition, two gyro stabilizer 10
Similar to the example shown in FIG. 4 of the first embodiment, the support member 1 is so arranged that each precession axis P is parallel to the swivel axis S and each axis Q is parallel to the pitching axis.
3 may be attached to the upper swing body 2. At this time, the two gyro axes J are parallel to each other and are orthogonal to the turning axis S. The action and effect in this case are the same as those described above.

Further, three or more gyro stabilizers can be provided on the upper swing body 2. There are two directions in which the gyro stabilizers are attached, as in the case of the above-described two cases. Even if each gyro axis J is parallel to the swivel axis S, or each precession axis P is swivel axis. It may be parallel to S. The action and effect at this time are the same as those described above. Furthermore, a plurality of rotating bodies 1
If one or more of 1 is rotated around each gyro axis J in the opposite direction to the others, the components other than the pitching direction of each gyro moment MJ generated during the pre-session can be canceled out each other. , The damping effect of pitching can be further increased.

Next, a third embodiment will be described with reference to FIGS. 9 to 12. As described above, in order to generate a large gyro moment, the gyro stabilizer needs to have a large angular momentum, which causes the rotating body having a relatively large inertia moment to rotate at a high speed. Therefore, the gyro stabilizer that can suppress the pitching of the construction machine has a relatively large mass. This embodiment shows an example in which this large mass is used as a part of the counter weight. 9 and 10
Shows the installable range of the gyro stabilizer, and shows a side view and a plan view of the hydraulic excavator 1, respectively. Here, the installable range R is shown by an area bordered by diagonal lines, and the upper revolving superstructure 2 at the rear of the revolving axis S is shown.
Part of. When the gyro stabilizer is used as a part of the counter weight, it is more effective to provide the gyro stabilizer at the rear part of the installable range R as close to the counter weight 7 as possible.

11 and 12 show an embodiment in which one gyro stabilizer 10 is provided in the rear portion near the counter weight 7 based on the above reason, and a side view and a plan view thereof are respectively shown. . The figure shows a case where the gyro axis J of the gyro stabilizer 10 is parallel to the swivel axis S, but the present invention is not limited to this, and the precession axis P is the swivel axis S as shown in the previous embodiment.
Even if they are parallel to each other, the action and effect are the same. By arranging the gyro stabilizer 10 in this way, the weight of the counter weight 7 can be reduced, so that the weight of the entire vehicle body can be reduced, and since the counter weight 7 is disposed closer from the rear side, maintainability is also improved.

The fourth embodiment shows an example of improving the visibility by eliminating the deterioration of the visibility behind the vehicle body due to the gyro stabilizer provided at the rear portion of the upper swing body. 13 and 14 show a side view and a plan view of this embodiment, respectively. In this figure, a small gyro stabilizer 1
At the same time that two 0s are provided, these two are attached to the rear side end of the upper swing body 2 separately. At this time, the gyro stabilizer 10 may be attached in the same direction as described above, and the operation is also the same. Further, when three or more small gyro stabilizers 10 are provided, they may be separately attached to the vicinity of the rear portion of the upper swing body 2 and the end portion of the rear side surface in the same manner as described above.

In order to suppress the pitching by using only one gyro stabilizer, it tends to be large as described above, so that the arrangement often deteriorates the visibility behind the vehicle body. In order to solve this, as described above, one gyro stabilizer is arranged in place of a plurality of smaller gyro stabilizers, and the gyro moment synthesized by these is equivalently one. It can be distributed to be equivalent to the moment. As a result, the protrusion of the upper part of the upper revolving structure 2 is reduced, and the rear view can be secured between the gyro stabilizers, so that the visibility behind the vehicle body is improved.

Further, since a plurality of small gyro stabilizers 10 are provided in the vicinity of the counter weight 7 at the rear of the vehicle in a distributed manner near the counter weight 7 and at the end portion of the rear side surface, the weight of the entire vehicle body can be reduced and the rear and side surfaces can be improved. The maintainability of will also be improved.

Next, a fifth embodiment will be described with reference to FIGS. 15 to 24. The fifth embodiment shows a case where the angular velocity of the precession axis of the gyro stabilizer is controlled to actively control the gyro moment that suppresses pitching. FIG. 15 shows the gyro stabilizer part in this case, and FIG. 16 shows one embodiment of a control configuration block diagram for controlling the precession axis at that time. First, the gyro stabilizer unit will be described with reference to FIG. Since the gyro stabilizer 10 is the same as that of the previous embodiment, the description thereof is omitted here, and a different configuration from the above is described. The precession shaft drive motor 14 rotationally drives the rotating body 11 of the gyro stabilizer 10 around the precession shaft P, and for example, a hydraulic motor or an electric motor can be used. The pitching angular velocity detector 16 detects the angular velocity ω of the rotation angle θq about the axis Q of the gyro axis J when the moment M generated by the pitch rotates the gyro axis J around the axis Q.
It detects q.

The operation of the gyro stabilizer 10 based on the gyro effect will be briefly described below. The gyro axis J is rotated about the precession axis P in a predetermined direction in an angular velocity ωp.
When rotated by, the formula “MJ = ωp × I ×” is provided around the axis Q orthogonal to the gyro axis J and the precession axis P.
A gyro moment MJ represented by ".omega.k" is generated in a direction corresponding to the direction of the angular velocity .omega.p. Here, I is the moment of inertia of the rotating body 11, ωk is the angular velocity of the rotating body 11, and “I × ωk” represents the angular momentum of the rotating body 11. Therefore, when the angular momentum of the rotating body 11 is constant, the magnitude of the gyro moment MJ generated can be controlled by controlling the magnitude of the angular velocity ω p of the gyro axis J rotating around the precession axis P. .

In this embodiment, the action based on the gyro effect described above is applied to active damping of pitching. However, when the rotation angle θp of the gyro axis J about the precession axis P (hereinafter referred to as the precession angle) becomes close to 90 degrees, in other words, when the gyro axis J becomes substantially horizontal, the gyro moment MJ is in the horizontal plane. Only works. Therefore, the damping effect of the pitching is completely eliminated, and only the component other than the pitching direction, in this case, the turning direction (so-called yawing) component is generated. Therefore, it is necessary to control the precession angle within a predetermined maximum allowable angle.

The control configuration for controlling the precession axis will be described below with reference to FIG. The pitching angular velocity detector 16 detects the pitching angular velocity and outputs this angular velocity signal to the arithmetic unit 20, and the precession angle detector 15 detects the precession angle and outputs this angular signal to the arithmetic unit 20. Based on the pitching angular velocity signal and the precession angle signal, the arithmetic unit 20 calculates a rotation command of the precession axis drive motor 14 that rotationally drives the rotating body 11 around the precession axis P, and outputs this rotation command to the motor. Output to the driving device 30. The motor drive device 30 outputs a drive power signal for the precession shaft drive motor 14 based on the rotation command.

Next, the specific structure and operation of this embodiment will be described in detail with reference to FIGS. 17 and 18.
FIG. 17 shows an embodiment of a control circuit block diagram for controlling the precession shaft by the hydraulic motor. In this embodiment, a gyroscope and a potentiometer are used as the pitching angular velocity detector 16 and the precession angle detector 15, respectively, but the present invention is not limited to this, and other detectors having equivalent functions may be used. Is also good.

The arithmetic unit 20 is, for example, a microcomputer system having a microcomputer (hereinafter, referred to as CPU) as a center. The CPU 21 is a general microcomputer, and includes a storage device, an arithmetic processing device, an execution control device, an input / output interface unit, etc. inside. In addition, the arithmetic unit 20 further includes a ROM 22 for storing system programs and the like, a RAM 23 for storing arithmetic results and control data, A / D 24 and A / D 25 of A / D converters for inputting analog signals from the gyroscope and potentiometer. ,
It is composed of an output register 26 for outputting a command signal to the direction switching valve 31 for driving the hydraulic motor, a bus 27 for the CPU 21 to input and output data, and the like.

The hydraulic motor 14a is a precession shaft drive motor 14 for rotating the gyro shaft J around the precession shaft P, and the direction switching valve 31 is the hydraulic motor 1.
The direction of the pressure oil that drives 4a is switched. Further, the hydraulic pump 33 supplies pressure oil to the hydraulic motor 14a, and a working machine and traveling device driving hydraulic pump mounted on a hydraulic excavator or the like may be used.

The motor forward rotation command S1 output from the output register 26 is the operation solenoid 3 of the direction switching valve 31.
The motor negative rotation command S2 is also connected to the operation solenoid 31e of the direction switching valve 31. When neither the motor positive rotation command S1 nor the motor negative rotation command S2 is output, the directional switching valve 31 is in the neutral position 31b, so the pressure oil discharged from the hydraulic pump 33 is not supplied to the hydraulic motor 14a. Therefore, the hydraulic motor 14a is stopped. The motor forward rotation command S1 is the operation solenoid 31
When it is output to d, the direction switching valve 31 is switched to the position of 31a, the pressure oil from the hydraulic pump 33 flows into the forward rotation side port of the hydraulic motor 14a via the pipe 35, and the outflow oil is It is drained to the tank 34 via the line 36. At this time, the hydraulic motor 14a rotates forward at a predetermined angular velocity proportional to the amount of oil flowing in. Further, when the motor negative rotation command S2 is output to the operation solenoid 31e, the direction switching valve 31 is switched to the position 31c, and the pressure oil from the hydraulic pump 33 is negatively rotated by the hydraulic motor 14a via the line 36. The oil that flows into the side port is drained to the tank 34 via the pipe 35. At this time, the hydraulic motor 14a negatively rotates at a predetermined angular velocity proportional to the amount of inflowing oil.

To control the rotation around the precession axis P and suppress the pitching stably, the pitching angle θq,
This is possible by obtaining a control output that minimizes a preset control target function based on the pitching angular velocity ωq, the pitching angular acceleration αq, and the like. For example, the pitching angle θq, the pitching angular velocity ωq, and the pitching angular acceleration α are determined by the generally well-known PID control.
There is a method of controlling q etc. to reach a predetermined target value.
An embodiment of the PID control will be specifically described below, but it goes without saying that the control method and the algorithm thereof are not limited to this.

First, for simplification of the description, a case where the pitching angular velocity ωq is set as the control target will be described, and it is assumed that the control target in this case is set to "pitching angular velocity ωq = 0", for example. FIG. 18 shows an arithmetic processing flowchart of the CPU 21 for explaining one embodiment of this control, and the control flow will be described below with reference to FIG.

(Step 100) The pitching angular velocity ωq is input from the pitching angular velocity detector 16, and step 1
Go to 01. (Step 101) The pitching angular velocity ωq is compared with the dead zone setting value stored in advance in the memory (ROM 22 or RAM 23). This dead zone setting value is for preventing the pitching vibration from being controlled by controlling the angular velocity ωp of the precession axis P when the pitching angular velocity ωq is in a small range to some extent. It is set to a predetermined range including. In this step, if the polarity of the pitching angular velocity ωq is positive and the absolute value of the pitching angular velocity ωq is larger than the dead zone set value, the process proceeds to step 105, and if not, the process proceeds to step 102.

(Step 102) Pitching angular velocity ωq
Is compared with the dead zone setting value above, and the pitching angular velocity ωq
Is negative and the absolute value of the pitching angular velocity ωq is larger than the dead zone set value, the process proceeds to step 103. Otherwise, the process proceeds to step 107. (Step 103) The precession angle θp is input from the precession angle detector 15, and this precession angle θp is compared with the allowable maximum value θpMAX stored in the memory (ROM 22 or RAM 23) in advance. This allowable maximum value θpMAX is the gyro moment M as described above.
In order to reduce the components of J other than those in the pitching direction as much as possible to enhance the damping effect of pitching, it is set so that it is possible to determine whether the precession angle is within a predetermined allowable angle. If the precession angle θp is less than or equal to the allowable maximum value θpMAX, step 104
Otherwise go to step 107.

(Step 104) The state at this point is
The pitching angular velocity ωq has a large negative value, and the precession angle θp is in the controllable range of the allowable maximum value θpMAX or less. Therefore, in this step, the negative rotation command S2 of the hydraulic motor 14a is output so as to generate the gyro moment MJ in the direction opposite to the pitching angular velocity ωq. As a result, the directional control valve 31
Is switched to the position of 31c, and the hydraulic motor 14a negatively rotates at a precession shaft rotation angular velocity ωp of a predetermined magnitude. However, here, it is assumed that the polarities of the respective controls are set so that the gyro moment MJ is generated in the direction opposite to the negative pitching angular velocity ωq when the hydraulic motor 14a rotates in the negative direction. After that, the process returns to the first step 100 to repeat the above.

(Step 105) The precession angle θp is input from the precession angle detector 15, and this precession angle θp is compared with the allowable maximum value θpMAX. The precession angle θp is the maximum allowable value θpMAX
In the following cases, the process proceeds to step 106, and when not, the process proceeds to step 107.

(Step 106) The state at this point is
The pitching angular velocity ωq has a large positive value, and the precession angle θp is in the controllable range of the allowable maximum value θpMAX or less. Therefore, in this step, the forward rotation command S1 of the hydraulic motor 14a is output so as to generate the gyro moment MJ in the direction opposite to the pitching angular velocity ωq. As a result, the directional control valve 31
Is switched to the position of 31a, and the hydraulic motor 14a is normally rotated at a precession shaft rotation angular velocity ωp of a predetermined magnitude. After that, the process returns to the first step 100 to repeat the above. Similarly, when the hydraulic motor 14a rotates forward, the gyro moment MJ has a positive pitching angular velocity ω.
It is assumed that the polarity of each control is set so that it will occur in the opposite direction to q.

(Step 107) The state when this step is reached from step 102 is the pitching angular velocity ωq.
Is within the range of the dead zone setting value, it is necessary to stop the rotation control of the precession axis P. Further, in the state when this step is reached from step 103 or step 105, the precession angle θp is equal to or more than the allowable maximum value θpMAX, so it is necessary to temporarily stop the rotation control of the precession axis P. . Therefore, in this step, the output of the positive rotation command S1 and the negative rotation command S2 of the hydraulic motor 14a is stopped. After that, the process returns to the first step 100 to repeat the above.

In steps 104 and 106 described above, the hydraulic motor 14a is rotationally driven to rotate the precession shaft at an angular velocity ωp of a predetermined magnitude, and the gyro moment MJ proportional to the angular velocity ωp is opposite to the pitching angular velocity ωq. Occurs in the direction. Then, in steps 101 and 102, the pitching angular velocity ωq
The hydraulic motor 14a is rotationally driven until becomes a value near 0, which is extremely small, and when it becomes a value near 0, the rotation of the hydraulic motor 14a is stopped in step 107 to stop the generation of the gyro moment MJ. In this way, when the control is performed according to the above-described calculation processing flow, the gyro moment MJ is generated in the direction of decreasing the pitching angular velocity ωq, and the pitching can be suppressed.

Next, an embodiment in which an electric motor is used as the precession shaft drive motor 14 will be described.
FIG. 19 shows a block diagram of the precession axis control circuit. In this embodiment, a DC motor is used as the electric motor, but the operation and effect of the AC motor are the same. Here, the DC motor 14b and the DC motor drive amplifier 32, which are different in configuration from the above hydraulic motor, will be described. The DC motor 14b is for controlling the rotation of the precession shaft like the hydraulic motor 14a described above, and the motor is driven at an angular velocity proportional to the magnitude of the DC voltage applied between the terminals A1 and A2 of the armature coil A. It rotates. Here, the DC motor 14b rotates positively when a voltage that is positive with respect to the terminal A1 is applied to the terminal A1, and the DC motor 14b rotates negatively when a voltage that is negative with respect to the terminal A1 is applied. Suppose you do.

The DC motor drive amplifier 32 is the DC motor 1
4b is a power amplifier for driving the motor 4b.
Is input and the DC motor 14b is driven so as to rotate in the rotation direction corresponding to this command signal. When the motor forward rotation command S1 is output from the arithmetic unit 20,
The DC motor drive amplifier 32 applies a predetermined positive voltage to the terminal A1 with respect to A2 so that the DC motor 14b rotates positively at a preset angular velocity. When the motor negative rotation command S2 is output, the electric motor drive amplifier 32
Applies a negative predetermined voltage to the terminal A1 so that the DC motor 14b rotates negatively at a preset angular velocity.

Now, with such a structure, the DC motor 14b
When the control target in the case of controlling is set to "pitching angular velocity ωq = 0" as described above, the calculation processing flowchart of the CPU 21 may be exactly the same as that of FIG. 18 described above. At this time, the action and effect are the same.
In the above description of the control flow, if a plurality of gyro stabilizers are provided and one or more of the gyroscopes rotate in the opposite direction to the other, in order to reduce the pitching angular velocity ωq. It is necessary to consider the polarity of the rotation command of the precession shaft drive motor 14. That is, the rotation commands S1 and S2 of the precession shaft drive motor 14 described above may be output in reverse to each other for the gyro-stabilizer in which the rotation direction of the rotating body is the opposite direction.

Next, an example of controlling the precession axis so that the command value of the angular velocity ωp of the precession axis is proportional to the pitching angular acceleration αq in the same configuration as in FIG. 16 will be described. The control goal in this case is
When K is a constant of proportionality, it is expressed by the mathematical expression “angular velocity ωp−K × angular acceleration αq = 0”. This is explained for the following reasons. As described above, the moment M generated by the pitching is proportional to the pitching angular acceleration αq, while the gyro moment MJ generated by the rotation control of the precession axis is proportional to the angular velocity ωp. Therefore, if the angular velocity ωp is controlled so that the moment M and the gyro moment MJ are proportional to each other, that is, the magnitudes are equal and opposite directions, when the pitching angular velocity ωq as in the previous embodiment is set as the control target. Compared with this, pitching can be controlled more stably.

FIG. 20 shows an example of a control circuit block diagram by a hydraulic motor for controlling the angular velocity ωp so as to be proportional to the pitching angular acceleration αq. In this figure, the structure different from that of FIG. 17 described above will be described below. The D / A 28 is a D / A converter that outputs a command signal S3 having an angular velocity ωp, and converts N-bit (N is a natural number of 2 or more) digital data output from the CPU 21 into an analog signal. The larger N is, the smoother the control of the angular velocity ωp becomes. Servo amplifier 3
8 inputs the command signal S3 of the angular velocity .omega.p, and at the same time, inputs the rotational speed (which corresponds to the angular velocity .omega.p of the precession shaft) signal S4 of the hydraulic motor 14a.
The output current is controlled so that the deviation between the two signals becomes zero. This output current signal is supplied to the flow control servo valve 37.
Is connected to the operation solenoid 37d.

The flow rate control servo valve 37 controls the flow rate output by the flow rate control servo valve 37. The flow rate control servo valve 37 controls the displacement amount of the spool therein in proportion to the magnitude of the output current signal of the servo amplifier 38 input to the operation solenoid 37d. By controlling, the flow rate is controlled. Here, when the current signal of the operation solenoid 37d is 0, the flow rate control servo valve 37 is in the neutral position 37b, and the pressure oil discharged from the hydraulic pump 33 at this time is input from the pressure oil input port and is directly returned to the return port. Is drained to the tank 34. The two ports on the actuator side are connected to an inflow port at the time of positive rotation and an inflow port at the time of negative rotation of the hydraulic motor 14a via a pipe line 35 and a pipe line 36, respectively.

A motor angular velocity detector 19 for detecting the rotation speed is attached to the hydraulic motor 14a, and the motor angular velocity signal S4 output from the motor angular velocity detector 19 is connected to the feedback input terminal of the servo amplifier 38. As the motor angular velocity detector 19, for example, a tacho generator or a pulse generator can be used.

Here, the operation of the servo amplifier 38, the flow control servo valve 37 and the hydraulic motor 14a will be described.
The command signal S3 of the angular velocity .omega.p is an analog voltage signal that swings positively and negatively around 0V. It is assumed that a positive voltage signal is output as the command signal S3 when the hydraulic motor 14a rotates in the positive direction, and a negative voltage signal is output as the command signal S3 when the hydraulic motor 14a rotates in the negative direction. Now, when the command signal S3 of a positive voltage signal is input to the servo amplifier 38, the servo amplifier 38 uses the flow control servo valve 37 so that the deviation between the command signal S3 and the rotation speed S4 of the hydraulic motor 14a becomes small. And outputs a current signal to the operation solenoid 37d.

At this time, the current signal becomes a positive current signal,
The spool of the flow control servo valve 37 moves to the side of 37a by a displacement amount according to the magnitude of the current signal. Therefore, the pressure oil having a flow rate proportional to the displacement amount flows into the inflow port of the hydraulic motor 14a during the normal rotation of the hydraulic motor 14a through the pipe 35, flows out from the port on the opposite side, and enters the tank 34 through the pipe 36. Drain. The hydraulic motor 14a rotates forward at a rotation speed proportional to the flow rate, and this rotation speed signal (corresponding to the angular speed ωp of the precession axis) S4 is fed back to the servo amplifier 38. In this way, the forward rotation command signal S3
The hydraulic motor 14a is feedback-controlled so that the hydraulic motor 14a rotates normally following the above.

On the contrary, when the command signal S3 of the negative voltage signal is input to the servo amplifier 38, the servo amplifier 38 uses the flow rate so that the deviation between the command signal S3 and the rotation speed S4 of the hydraulic motor 14a becomes small. A current signal is output to the operation solenoid 37d of the control servo valve 37. At this time, the current signal becomes a negative current signal, and the spool of the flow control servo valve 37 moves to the side of 37c by the displacement amount according to the magnitude of the current signal. Therefore, the pressure oil having a flow rate proportional to the displacement amount flows into the inflow port of the hydraulic motor 14a during the negative rotation of the hydraulic motor 14a through the pipe line 36, and flows out from the port on the opposite side to the pipe line 35.
Drain to the tank 34 via. Hydraulic motor 14a
Negatively rotates at a rotation speed proportional to the flow rate, and this rotation speed signal S4 is fed back to the servo amplifier 38. In this manner, the hydraulic motor 14a is feedback-controlled so that the hydraulic motor 14a also negatively rotates following the negative rotation command signal S3.

The control target according to the above configuration is expressed by the mathematical expression “angular velocity ω
FIG. 21 shows a calculation processing flowchart in the case of being expressed by “p−K × angular acceleration αq = 0”. Based on this
The control flow will be described. (Step 110) The pitching angular velocity ωq is input from the pitching angular velocity detector 16, and the process proceeds to step 111. (Step 111) Pitching angular acceleration αq is calculated from pitching angular velocity ωq. To obtain the pitching angular acceleration αq, for example, when the pitching angular velocity ωq changes by Δωq during the minute time Δt, the mathematical expression “αq = Δωq
÷ Δt ”can be approximately calculated. After this, the process proceeds to step 112.

(Step 112) The precession angle θp is input from the precession angle detector 15, and the precession angle θp and the memory (ROM 22 or R are stored in advance).
The maximum allowable value θpMAX stored in AM23) is compared. This allowable maximum value θpMAX is the same as that described above. If the precession angle θp is equal to or less than the maximum allowable value θpMAX, the process proceeds to step 113, and if not, the process proceeds to step 115. (Step 113) Angular velocity command value V of the precession axis
θ is obtained by the mathematical expression “Vθ = K × αq”. here,
αq is the pitching angular acceleration obtained in the previous step,
K is a positive constant set to a predetermined value so that stable vibration can be suppressed. Then, the process proceeds to step 114.

(Step 114) Pitching angular acceleration α
The angular velocity command signal S3 of the hydraulic motor 14a corresponding to the angular velocity command value Vθ obtained above is output so as to generate the gyro moment MJ in the direction opposite to q. As a result, for example, when the pitching angular acceleration αq is positive, the positive angular velocity command signal S3 is output to the servo amplifier 38.
As a result, the hydraulic motor 14a rotates forward at an angular velocity proportional to the magnitude of the positive angular velocity command signal S3, and also following the command signal S3. Here, the hydraulic motor 14a
It is assumed that the polarities of the respective controls are set so that the gyro moment MJ is generated in the direction opposite to the positive pitching angular acceleration αq when the positive rotation occurs. The same applies when the pitching angular acceleration αq is negative. After this, the process returns to the first step 110 and the above is repeated.

(Step 115) Precession angle θ
Since p is equal to or larger than the maximum allowable value θpMAX, the rotation control of the precession axis P is temporarily stopped. Therefore, in this step, the angular velocity command signal S3 of the hydraulic motor 14a is
Output is stopped. After this, the process is the first step 110.
Return to and repeat the above.

In step 113, the angular velocity command value Vθ of the precession axis proportional to the pitching angular acceleration αq is obtained, and in step 114, the angular velocity command signal S3 corresponding to this angular velocity command value Vθ is output to the servo amplifier 38. It The servo amplifier 38 and the flow rate control servo valve 37 control the hydraulic motor 14a to rotate in a rotation direction matching the sign of the angular velocity command signal S3 and at an angular velocity proportional to its magnitude. As a result, the precession axis P rotates at an angular velocity ωp having a magnitude proportional to the pitching angular acceleration αq, and a gyro moment MJ having a magnitude proportional to the angular velocity ωp is generated in a direction opposite to the pitching angular acceleration αq. In this way, when the control is performed according to the above calculation processing flow, the gyro moment MJ is generated in the direction of decreasing the pitching angular acceleration αq, and the pitching can be more stably damped.

An electric servomotor 14b may be used in place of the hydraulic motor 14a of the above embodiment, and one embodiment will be described below. FIG. 22 shows the DC servo motor 14b.
FIG. 3 is a block diagram of a control circuit of an embodiment using the same and a servo amplifier 39 for driving the same, and a configuration different from the previous embodiment will be described below. The DC servo motor 14b is for controlling the rotation of the precession axis, and has its armature coil A
The motor rotates at an angular velocity proportional to the magnitude of the DC voltage applied between the terminals A1 and A2. Here, terminal A
The DC servo motor 14b rotates positively when a voltage whose 1 is positive with respect to A2 is applied, and the DC servo motor 14b is applied when a voltage whose terminal A1 is negative with respect to A2 is applied.
Is assumed to rotate negatively. The servo amplifier 39 inputs the command signal S3 of the precession axis angular velocity ωp output from the D / A 28 of the arithmetic unit 20, and at the same time, rotates the DC servomotor 14b (this corresponds to the angular velocity ωp of the precession axis). The signal S4 is input and the output voltage is controlled so that the deviation between these two signals becomes zero. This output voltage signal is applied to the DC servo motor 14b.
Is connected to terminals A1 and A2 of the armature coil A.

With such a structure, the DC servo motor 14b
In the same way as above, the control target for controlling
When “K × angular acceleration αq = 0” is set, the calculation processing flowchart of the CPU 21 may be exactly the same as that of FIG. 21 described above. At this time, the action and effect remain unchanged. In addition, even when a plurality of gyro stabilizers are provided and one or more of the rotators rotate in the opposite direction to the other, the gyro stabilizer having the rotator rotating in the opposite direction to the other gyros. May output the polarity of the rotation command S3 of the precession axis drive motor 14 in the control flow described above in reverse.

In the above description, the pitching angular velocity ω
An example has been shown in which the rotational speed around the precession axis P is controlled by setting q or the pitching angular acceleration αq to a predetermined value as a control target. In addition to this, it is also possible to set the pitching angle θq to a predetermined value as a control target, and the block diagram of the control configuration in this case is shown in FIG. In the example of FIG. 23, the pitching angle detector 17 is provided in the gyro stabilizer part, and the pitching angle signal detected by this is input to the arithmetic device 20, and the arithmetic device 20 receives the pitching angle θ.
The angular velocity ω p of the gyro axis J about the precession axis P is controlled so that q becomes a predetermined value. As a result, the generated gyro moment MJ can suppress pitching. Here, the pitching angle detector 17 may be, for example, an inclinometer or a gyro compass, or may be obtained by integrating the pitching angular velocity signal output from the pitching angular velocity detector 16 of the previous embodiment. .

Generally, pitching is further improved by combining control targets based on pitching angle θq, pitching angular velocity ωq, pitching angular acceleration αq, and the like to obtain a control output that minimizes a preset control target function. It is well known that it can be suppressed stably. FIG. 24 shows a control configuration block diagram of an embodiment in that case. In this example, the pitching angle θq, the pitching angular velocity ωq, and the pitching angular acceleration αq are obtained as the pitching angle detector 17, the pitching angular velocity detector 16, and the pitching, respectively. The angular acceleration detector 18 detects it. For example, these detectors may integrate the pitching angular velocity signal to obtain the pitching angle as described above, or may differentiate the pitching angular velocity signal to obtain the pitching angular acceleration. The other configurations are the same as those described above, but the arithmetic unit 20 is, for example, a microcomputer system, which outputs a motor angular velocity command signal based on the arithmetic result, and the motor drive unit 30 is a motor drive servo amplifier. The precession axis drive motor 14 is a servomotor that rotationally drives the gyro axis J around the precession axis P.

With the above configuration, the arithmetic processing flowchart for controlling the angular velocity ωp about the precession axis P using a control target function that combines control targets based on the pitching angle θq, the pitching angular velocity ωq, the pitching angular acceleration αq, etc. , Not specifically shown here. However, as described above, the angular velocity ω is adjusted while various corrections are made by the generally well-known PID control.
An optimal control signal for p can be obtained. Furthermore,
By using other control methods, for example, an optimal control algorithm based on a statistical method or a control algorithm based on fuzzy theory, an optimal control signal with an angular velocity ω p that can suppress pitching more effectively and stably can be obtained.

The next sixth embodiment is a case where a hydraulic motor is used as the gyro stabilizer driving motor 12, and when a hydraulic actuator for a working machine or a traveling machine requires an increase in output, it is used for driving the gyro stabilizer. Temporarily stop the pressure oil supply to the hydraulic motor, or
An example in which the hydraulic motor can be used as a hydraulic pump will be shown. This utilizes that the rotating body of the gyro stabilizer has a large moment of inertia, and therefore the rotating body rotating at a high speed stores a large amount of energy by the flywheel effect. For example, a hydraulic pump that supplies pressure oil to the gyro stabilizer driving hydraulic motor is usually shared with a main hydraulic pump that supplies pressure oil to a hydraulic actuator for a working machine of a construction machine or for traveling, It is desirable in terms of economy and installation space.
In this case, when it is necessary to increase the output of the work machine or traveling, the supply to the hydraulic motor for driving the gyro stabilizer is temporarily stopped, and the surplus hydraulic pump output is used for the hydraulic actuator for working machine and traveling. You can turn to.
Alternatively, the output can be increased by operating the hydraulic motor as a hydraulic pump by utilizing the stored energy of the rotating body of the gyro stabilizer and turning this output to a hydraulic actuator for a working machine or traveling.

FIG. 25 shows the gyro stabilizer part of the present embodiment. In this figure, the gyro stabilizer drive motor 12 is a hydraulic motor, and rotates the rotating body 11 at high speed via the clutch 40. FIG. 26 shows an example of a control circuit block diagram of the hydraulic motor in this case, which will be described in detail with reference to this figure. The arithmetic unit 50 is composed of, for example, a microcomputer system,
The main part has the same configuration as that of the arithmetic unit 20 described above.
Therefore, the main parts of the configurations of the arithmetic device 50 and the arithmetic device 20 may be shared. Operation solenoid part 4 of directional control valve 42
The switching signal S5 output to 2c and the clutch connection / disconnection switching signal S6 output to the clutch 40 are both signals output from an output register (not shown) of the arithmetic unit 50, and are, for example, 1-bit on or off. It is a signal.

The direction switching valve 42 switches between supplying or stopping the supply of the pressure oil discharged from the hydraulic pump 33 to the hydraulic motor 12a.
The switching signal S5 is input to 2c. An output port of the direction switching valve 42 on the hydraulic motor 12a side is connected to an inflow port of the hydraulic motor 12a via a pipe 45. Further, the pressure oil discharged from the hydraulic pump 33 is guided to the input port of the direction switching valve 42 via the pipe line 47, and also, for example, the traveling direction switching valve 44 via the pipe line 49.
To the input port of. Here, the direction switching valve 44 drives the traveling hydraulic actuator 66, and the same applies to the direction switching valve and the hydraulic actuator for the working machine.

When the switching signal S5 is the pressure oil supply signal, the direction switching valve 42 switches to the position 42a,
The pressure oil discharged from the hydraulic pump 33 flows into the hydraulic motor 12a via the conduit 45, and the pressure oil flowing out from the hydraulic motor 12a is drained to the tank 34. At this time, the hydraulic motor rotates in a predetermined direction. When the switching signal S5 is the pressure oil supply stop signal, the directional switching valve 42 is set to 42b.
The pressure oil discharged from the hydraulic pump 33 is not supplied from the direction switching valve 42 to the front, and the rotation of the hydraulic motor 12a is stopped. At this time, the hydraulic motor 1
The oil amount supplied to 2a is supplied to the working machine or traveling direction switching valve and the working machine or traveling hydraulic actuator via the pipe line 49. The direction switching valve 42
A relief valve 67 is provided so that the pressure at the input port of does not exceed a specified value.

The clutch 40 transmits or disconnects the driving force of the hydraulic motor 12a to the rotating body 11 and is activated by the clutch connection / disconnection switching signal S6 output from the arithmetic unit 50. When the clutch 40 is disengaged, the rotating body 11 can rotate by inertia due to its flywheel effect. The operating state input means 41 inputs a signal representing a load state of a working machine of a construction machine or traveling to the arithmetic unit 50. This input load status signal is the current output status of the work machine and traveling and the necessity of increasing the output,
It shows the output status of the hydraulic pump by detecting the engine speed. Further, the operating state input means 41 may be a switch that can be operated by the operator when it is determined that the output of the work machine or the traveling needs to be increased.

A calculation processing flowchart in this embodiment will be described with reference to FIG. (Step 120) A load state signal is input from the operating state input means 41, and the process proceeds to step 121. (Step 121) Based on the input load state signal, it is judged whether or not the pressure oil supply to the gyro stabilizer driving hydraulic motor 12a is stopped. If it is stopped, the routine proceeds to step 122, and if not, the routine proceeds to step 123. As a method of making the above determination, for example, when the excavating force of the working machine of the hydraulic excavator is insufficient, when the traveling speed is desired to be further increased, or when the engine speed is decreasing, the pressure oil to the hydraulic motor 12a is reduced. It is decided to stop the supply. (Step 122) At the same time as outputting the clutch 40 disengagement command, the gyro stabilizer drive hydraulic motor 12a
Outputs a pressure oil supply stop command to. (Step 123) A pressure oil supply command is output to the gyro stabilizer driving hydraulic motor 12a, and at the same time, a clutch connection command is output.

The operation of such a configuration is as follows. If the load on the work equipment or traveling temporarily increases and the output needs to be increased accordingly, the clutch 4
At the same time that 0 is cut off, a pressure oil supply stop command to the gyro stabilizer drive hydraulic motor 12a is output to the switching valve 42. As a result, the hydraulic pump 33 causes the hydraulic motor 12 to move.
The pressure oil supplied to a can be supplied to the working machine or traveling hydraulic actuator. As a result, the output of the work machine or traveling is increased, and efficient work can be performed. Further, at this time, the gyro stabilizer 10 inertially rotates due to the moment of inertia of the rotating body 11 (hereinafter referred to as inertial operation), so that vibration control of pitching by the gyro moment can be performed. If the vibration suppression control is performed for a long time during the coasting operation, the accumulated energy of the rotating body 11 is consumed and the rotation speed decreases. Therefore, coasting should be performed only for a short time only when necessary.

Further, as a next embodiment, not only the pressure oil supply to the gyro stabilizer driving hydraulic motor 12a is stopped as described above, but also the auxiliary function of the main hydraulic pump 33 is used by using this hydraulic motor as a hydraulic pump. An example will be described. The gyro stabilizer in this case is shown in FIG. 28, and an example of a control circuit block diagram of the hydraulic motor is shown in FIG. 28. Below, a configuration different from the above embodiment will be described. The rotation speed detector 55 detects the rotation speed of the rotating body 11 and is attached to the rotating body 11 side when viewed from the clutch 40. The rotation speed signal S9 is input to the arithmetic unit 50.

Further, when the clutch 40 is disengaged, the rotating body 11 and the rotation speed detector 55 perform a inertial motion, whereby the gyro moment of the gyro stabilizer can be generated. The hydraulic motor 12b can control its rotation speed by controlling the inclination angle of the swash plate or the swash shaft, and the inclination angle of the swash plate or the swash shaft is proportional to the flow rate output by the flow rate control servo valve 68. ing. The tilt angle control command signal S8 output from the arithmetic unit 50 is connected to the operation solenoid 68a of the flow control servo valve 68, and the flow control servo valve 68 is proportional to the magnitude of the current of the tilt angle control command signal S8. Output flow rate is controlled.

The direction switching valve 43 is a switching valve for switching the hydraulic motor 12b to the pump mode or the motor mode, and the switching signal S7 output from the arithmetic unit 50 is input to the operation solenoid portion 43c thereof. The two output ports of the direction switching valve 43 on the hydraulic motor 12b side are connected to the inflow port and the outflow port of the hydraulic motor 12b via the conduits 45 and 46, respectively. When the switching signal S7 is in the motor mode, the direction switching valve 43 switches to the position 43b, and the pressure oil discharged from the hydraulic pump 33 is supplied to the pipe line 47.
To the directional control valve 43, and further to the hydraulic motor 12b via the pipe 45. Then, the pressure oil flowing out from the hydraulic motor 12b is drained to the tank 34 via the pipe line 46, the pipe line 48b and the pipe line 48a. In this way, the hydraulic motor 12b rotates in the predetermined direction. At this time, the pressure oil discharged from the hydraulic pump 33 passes through the conduit 49, for example, the traveling direction switching valve 44 and the hydraulic motor 66.
And is drained to the tank 34 via 48a.

When the switching signal S7 is in the pump mode, the direction switching valve 43 is at the position 43a. At the same time, when the clutch 40 is connected, the rotating body 11 is inertially moved by the stored energy, so that the hydraulic motor 12b is driven and continues to rotate in the same direction as in the motor mode. As a result, the oil in the tank 34 is sucked into the inflow port of the hydraulic motor 12b via the pipeline 48a, the pipeline 48b, the direction switching valve 43a and the pipeline 45, and the hydraulic motor 1 coasting.
It is discharged as pressure oil by 2b. This means that the hydraulic motor 12b is operating as a hydraulic pump, and the pressure oil discharged from the hydraulic motor 12b is guided to the pipe line 46, the direction switching valve 43a and the pipe line 47, and this pressure oil and the hydraulic pump. 33 merges with the pressure oil discharged from 33, and
It flows into the directional control valve for working machines and traveling via 9 through.

A calculation processing flowchart of an embodiment of the calculation device 50 having the above-mentioned configuration will be described with reference to FIG. (Step 130) From the rotation speed detector 55 to the rotating body 11
The rotation speed signal S9 is input and the process proceeds to step 131. (Step 131) It is determined whether or not the magnitude of the rotation speed signal S9 of the rotating body is smaller than a predetermined minimum rotation speed ωKL. If it is smaller, the routine proceeds to step 132, and if not, the routine proceeds to step 137. (Step 132) If the state at this time is the pump mode, the clutch disengagement is output as the command signal S6 to the clutch 40, and the rotating body 11 performs the coasting operation. Since the hydraulic motor 12b is disconnected from the rotating body 11, the hydraulic motor 12b loses the rotational energy to discharge the pressure oil and stops, and the pump mode is released. If the state at this time is the motor mode, the hydraulic motor 12b is directly rotated in the motor mode.
Go to step 133.

(Step 133) Operating state input means 41
The load state signal is input from the and the process proceeds to step 134. (Step 134) It is determined whether or not there is a request for traveling or an increase in the output of the working machine by looking at the load state signal. When there is a request, the process proceeds to step 135, and when there is no request, the process proceeds to step 136. (Step 135) The inertia operation or the motor mode operation is continued. Then, the process returns to step 130 and the above steps are repeated. (Step 136) In the coasting operation, the motor mode is output as the switching signal S7 to the operation solenoid portion 43c of the direction switching valve 43, and then the clutch connection is output as the command signal S6 to the clutch 40 to set the motor mode, The rotating body 11 is accelerated. Then, the process returns to step 130 and the above steps are repeated.

(Step 137) The magnitude of the rotation speed signal S9 of the rotating body 11 is determined by the predetermined maximum rotation speed ωKH.
Determine if it is larger, and if there are many, step 13
8. If not, proceed to step 139. (Step 138) The tilt angle control command signal S8 is output to control the tilt angle of the swash plate or the shaft of the hydraulic motor 12b so that the rotational speed of the hydraulic motor 12b becomes a predetermined speed. When the hydraulic motor 12b is of a type that cannot control the inclination angle of the swash plate or the swash shaft, clutch disconnection may be output to the command signal S6 to the clutch 40 to perform coasting. After this, the process proceeds to step 139.

(Step 139) Operating state input means 41
To input a load state signal, and the process proceeds to step 140. (Step 140) By looking at the load state signal, it is judged whether or not there is a request for traveling or an increase in the output of the working machine. When there is a request, the process proceeds to step 141, and when there is no request, the process proceeds to step 142. (Step 141) After outputting the pump mode as the switching signal S7 to the operation solenoid portion 43c of the direction switching valve 43, the clutch connection is output as the command signal S6 to the clutch 40 to put it in the pump mode. Then, it proceeds to step 142. (Step 142) The tilt angle control command signal S8 is output in accordance with the change amount of the rotation speed signal S9 of the rotating body 11 so that the discharge amount of the hydraulic pump becomes constant, and the swash plate or the swash shaft of the hydraulic motor 12b is output. Control the tilt angle of. here,
The rotation speed of the hydraulic motor 12b is set to be lower than the maximum rotation speed ωKH.

Incidentally, as described above, the magnitude of the gyro moment MJ generated when the gyro axis J is rotated about the precession axis P at the angular velocity ωp is proportional to the angular momentum of the rotating body 11. Therefore, when the rotation speed of the rotating body 11 changes, the magnitude of the generated gyro moment MJ also changes, so that a stable gyro moment cannot be obtained. Therefore, pitching cannot be stably suppressed. In such a case, by changing the magnitude of the proportional constant K for obtaining the command value of the angular velocity ωp in the previous embodiment, the magnitude of the proportional constant K is changed so as to reduce the influence of the change in the rotation speed of the rotating body 11. The impact can be reduced.

In the seventh embodiment, of the equipment 60 mounted on a construction machine or the like, for example, an equipment which is normally used in a high speed rotation among electric equipment is used as a gyro stabilizer. Is shown. Among these rotating machines, those having a certain amount of large angular momentum can be used as a gyro stabilizer by providing a precession axis P orthogonal to its rotation axis (referred to as a gyro axis J). An example thereof is shown in FIG. 31, which will be described below. When the generator 62 is driven by the hydraulic motor 61, since the generator 62 usually has a rotor with a large moment of inertia, it can be used as the rotating body 11 of the gyro stabilizer 10. On the contrary, when the hydraulic pump is driven by the electric motor, the armature of the electric motor can be used as the rotating body 11 of the gyro stabilizer 10. The rotation axis of such an electric device is a gyro axis J,
An electric device is supported so as to be swingable around an axis orthogonal to this, and this is referred to as a precession axis P.

In this way, when the normally used high-speed rotating electric equipment is used as a gyro stabilizer,
The number of electric devices and control devices mounted on the construction machine can be reduced, and the maintainability can be improved by reducing the weight of the vehicle body and securing a space between the devices.

FIG. 32 shows an example in which another rotating device is used in the equipment 60 mounted on the construction machine. In this example, an engine is used. The engine 63 is provided to have an auxiliary function separately from the main engine, and is provided to drive, for example, the hydraulic pump 64, the generator, and the like. A gyro axis J is used as a rotation axis of the engine 63 and the hydraulic pump 64, and the engine 63, the hydraulic pump 64, and the like are supported so as to be swingable around an axis orthogonal to the gyro axis J, and this is used as a precession axis P. With this configuration, the engine 63 can be used as the rotating body 11 of the gyro stabilizer 10. Also in this example, since it is not necessary to newly provide another gyro stabilizer, the weight of the vehicle body and the maintainability can be improved.

[0097]

Since the gyro stabilizer device is provided on the upper swing body and the gyro moment is passively generated in the direction opposite to the moment of the external force generated by the pitching of the construction machine, the gyro moment can suppress the pitching. . As a result, the size of the vehicle body can be reduced rather than suppressing the pitching by increasing the counter weight or the like. When arranging a plurality of gyro stabilizer devices, if at least one or more of the gyro stabilizer devices are rotated in opposite directions to each other, the gyro moment components other than the pitching direction cancel each other out. Therefore, only a moment that is a combination of the respective moments in the pitching damping direction acts, and effective damping is possible.

Further, if the gyro stabilizer having a large mass is arranged on the upper revolving structure at the rear of the revolving shaft, it can be used as a part of the counter weight, so that the weight of the entire vehicle body can be reduced and the overall size can be reduced. .
In particular, if it is provided in the vicinity of the counterweight, its effect will be great and maintainability from the rear part of the vehicle body will be good. further,
When the gyro stabilizer device is configured by using a plurality of small gyro stabilizers, and these are dispersed and arranged at the rear end portion and the rear side surface end portion of the upper swing body, the visibility of the rear of the vehicle body is not impaired, Also, the maintainability from the side and the rear is improved.

Further, the precession shaft of the gyro stabilizer device is rotated by the drive motor, whereby the gyro moment can be actively generated to suppress the pitching. At this time, the pitching angle,
Since the precession axis angular velocity can be controlled to generate an optimum gyro moment so that the pitching angular velocity, the pitching angular acceleration, and the like have predetermined control target values, pitching can be more effectively suppressed. When controlling the precession axis angular velocity, if the precession angle becomes equal to or larger than a predetermined value, the angular velocity control is stopped. As a result, there is less risk that the upper swing body will suddenly turn due to a gyro moment in the turning direction during work.

When a hydraulic motor is used as a drive motor for rotating the rotating body, a clutch is provided between the rotating body and the drive motor, and a direction switching valve for switching supply or stop of supply of pressure oil to the hydraulic motor is provided. It can respond to the demand for temporary increase in output of construction machinery, working machines and traveling. That is, if there is a request for the temporary increase in output, the supply of pressure oil to the hydraulic motor can be stopped, and the amount of oil corresponding to this can be supplied to the working machine or the traveling person, so the work becomes efficient. . At this time, since the clutch is disengaged, the rotating body can be inertially driven to maintain the angular momentum, and the gyro moment is generated by this angular momentum, whereby the pitching vibration can be suppressed.

If a direction switching valve for switching the supply direction of the pressure oil to the rotation hydraulic motor of the rotating body is switched to the forward direction or the reverse direction, this hydraulic motor can be used as a hydraulic pump. Therefore, when there is a demand for temporary increase in the output of the working machine of construction machinery or traveling as described above, the hydraulic motor is used as an auxiliary pump of the main pump to meet the demand for the temporary increase in output. Can respond more effectively.

When the rotational speed of the rotating body becomes equal to or lower than a predetermined value during the inertial operation of the rotating body or the operation in the hydraulic pump mode, the mode operation is canceled and the normal hydraulic motor acceleration operation is performed. As a result, it is possible to prevent the rotation speed of the rotating body from decreasing and the vibration damping ability of the pitching to decrease. Further, when the rotational speed of the rotating body exceeds a predetermined value, the rotational operation of the rotating body is performed so as to prevent the rotating speed of the rotating body from further increasing, so that the angular momentum of the rotating body can be kept constant. As a result, the influence of the gyro moment on the speed change of the rotating body can be reduced, and as a result, pitching can be stably suppressed.

Further, when a hydraulic motor capable of controlling the swash plate and the swash shaft is used as the rotation hydraulic motor of the rotator, the swash plate and the swash shaft are controlled to stabilize the rotation speed of the rotator with higher accuracy. You can Therefore, the influence of the gyro moment on the speed change of the rotating body can be reduced, and as a result, pitching can be suppressed more stably. Further, when a hydraulic motor capable of controlling the swash plate and the swash shaft is also used, it is possible to prevent the discharge amount of the pump from changing due to the change of the rotation speed of the rotating body when the hydraulic motor is used in the hydraulic pump mode. Therefore, even when used in the hydraulic pump mode, the speed stability of the working machine and traveling is good.

Then, in a control algorithm in which the angular velocity command of the precession axis is calculated by multiplying the magnitude of the pitching angular acceleration by a proportional constant, the magnitude of the gyro moment is affected by the change in the rotational speed of the rotating body. In order to prevent this, the magnitude of the proportional constant is corrected in accordance with the change in the rotation speed of the rotating body. As a result, the accuracy of the generated gyro moment is improved, and the damping effect of pitching is further improved.

Since the number of the equipment to be mounted can be reduced by using the electric equipment, the control equipment, and the other rotating equipment mounted on the construction machine, which are usually used at high speed rotation, as the gyro stabilizer, the number of the mounted equipment can be reduced. The weight can be reduced and the maintainability can be improved.

[Brief description of drawings]

FIG. 1 is a side view of a hydraulic excavator to which a gyro stabilizer device of a first embodiment according to the present invention is attached.

FIG. 2 is a plan view of the hydraulic excavator to which the gyro stabilizer device of the first embodiment according to the present invention is attached.

FIG. 3 is an explanatory diagram of a gyro stabilizer device of a first embodiment according to the present invention.

FIG. 4 is a side view of a hydraulic excavator showing another example of the first embodiment according to the present invention.

FIG. 5 is a plan view of a hydraulic excavator showing another example of the first embodiment according to the present invention.

FIG. 6 is an explanatory diagram of a gyro stabilizer device representing another example of the first embodiment according to the present invention.

FIG. 7 is a plan view of a hydraulic excavator to which a gyro stabilizer device of a second embodiment according to the present invention is attached.

FIG. 8 is an explanatory diagram of a gyro stabilizer device according to a second embodiment of the present invention.

FIG. 9 is a side view of a hydraulic excavator for explaining a third embodiment according to the present invention.

FIG. 10 is a plan view of a hydraulic excavator for explaining a third embodiment according to the present invention.

FIG. 11 is a side view of a hydraulic excavator to which a gyro stabilizer device of a third embodiment according to the present invention is attached.

FIG. 12 is a plan view of a hydraulic excavator to which a gyro stabilizer device of a third embodiment according to the present invention is attached.

FIG. 13 is a side view of the hydraulic excavator to which the gyro stabilizer device of the fourth embodiment according to the present invention is attached.

FIG. 14 is a plan view of a hydraulic excavator to which a gyro stabilizer device of a fourth embodiment according to the present invention is attached.

FIG. 15 is an explanatory diagram of a gyro stabilizer device of a fifth embodiment according to the present invention.

FIG. 16 is a block diagram of a precession axis control function of the fifth embodiment according to the present invention.

FIG. 17 is a block diagram of a precession axis control circuit using a hydraulic motor according to a fifth embodiment of the present invention.

FIG. 18 is a flowchart of a precession axis control of the fifth embodiment according to the present invention.

FIG. 19 is a block diagram of a precession axis control circuit using an electric motor according to a fifth embodiment of the present invention.

FIG. 20 is a block diagram of a precession axis control circuit by a hydraulic motor of another example of the fifth embodiment according to the present invention.

FIG. 21 is a precession axis control flowchart of another example of the fifth embodiment according to the present invention.

FIG. 22 is a block diagram of a precession axis control circuit using an electric motor according to another example of the fifth embodiment of the present invention.

FIG. 23 is a block diagram of a precession axis control function of the second example of the fifth example according to the present invention.

FIG. 24 is a block diagram of a precession axis control function of the third example of the fifth example according to the present invention.

FIG. 25 is an explanatory diagram of a gyro stabilizer device according to a sixth embodiment of the present invention.

FIG. 26 is a block diagram of a rotary body rotation control circuit by a hydraulic motor according to a sixth embodiment of the present invention.

FIG. 27 is a flowchart for rotating body rotation control by the hydraulic motor according to the sixth embodiment of the present invention.

FIG. 28 is an explanatory diagram of a gyro stabilizer device of another example of the sixth embodiment according to the present invention.

FIG. 29 is a block diagram of a rotary body rotation control circuit by a hydraulic motor of another example of the sixth embodiment according to the present invention.

FIG. 30 is a rotary body rotation control flowchart by a hydraulic motor of another example of the sixth embodiment according to the present invention.

FIG. 31 is an explanatory diagram of an example in which the electric device of the seventh embodiment according to the present invention is used as a gyro stabilizer device.

FIG. 32 is an explanatory diagram of an example in which the engine of the eighth embodiment according to the present invention is used as a gyro stabilizer device.

FIG. 33 is an explanatory diagram of pitching during excavation of a conventional hydraulic excavator.

[Explanation of symbols]

1 ... Construction machinery, 2 ... Upper swing body, 3 ... Lower traveling body, 4 ...
Boom, 5 ... Arm, 6 ... Bucket, 7 ... Counterweight, 10 ... Gyro stabilizer, 11 ... Rotating body,
12 ... Gyro stabilizer drive motor, 12a ... Gyro stabilizer drive hydraulic motor, 13 ... Gyro stabilizer support member, 14 ... Precession axis drive motor, 14a ... Hydraulic motor, 14b ... Electric motor, 15 ...
Precession angle detector, 16 ... Pitching angular velocity detector, 17 ... Pitching angle detector, 18 ... Pitching angular acceleration detector, 19 ... Rotational velocity detector, 20 ... Arithmetic unit, 21 ... CPU, 22 ... ROM, 23 ... RAM, 24
... A / D, 25 ... A / D, 26 ... Output register, 27 ...
Bus, 28 ... D / A, 30 ... Motor drive device, 31 ... Direction switching valve, 32 ... DC motor drive amplifier, 33 ... Hydraulic pump, 34 ... Tank, 35 ... Pipe line, 36 ... Pipe line, 37 ...
Flow control servo valve, 38 ... Servo amplifier, 39 ... Servo amplifier, 40 ... Clutch, 41 ... Operating state input means, 4
2 ... Direction switching valve, 43 ... Direction switching valve, 44 ... Direction switching valve, 45 ... Pipe line, 46 ... Pipe line, 47 ... Pipe line, 48 ... Pipe line, 49 ... Pipe line, 50 ... Arithmetic unit, 55 ... Rotating body rotation speed detector, 60 ... Hydraulic motor, 61 ... Generator, 62 ... Engine, 63 ... Hydraulic pump, 66 ... Hydraulic actuator, 67 ... Relief valve, 68 ... Flow control servo valve J ... Gyro shaft, P ... Pre Session axis, S ... turning axis,
C ... Ground point of turning axis, B ... Pitching direction, Q ... Gyro moment axis (pitching axis), M ... Moment, M
J… Gyro moment, MJ1, MJ2… Gyro moment, R… Installable range, θq… Pitching angle, ωq…
Pitching angular velocity, αq ... Pitching angular acceleration, θp ...
Precession angle, ωp… Precession angular velocity, ωk
… Rotating body rotation angular velocity

Claims (16)

[Claims] 1. An upper revolving structure (2) which is horizontally rotatable on a lower traveling structure (3) about a revolving axis (S), and an upper revolving structure.
In an upper-slewing construction machine (1) that has a work machine attached so that a moment is applied to (2), it has a large moment of inertia and a drive motor (12) rotates at high speed around the gyro axis (J). Revolving Rotating Body (11)
And a support member (13) for swingably supporting the rotating body (11) around a precession axis (P) orthogonal to the gyro axis (J) of the rotating body (11). ) Is mounted on the upper revolving structure (2), and one of the gyro axis (J) and the precession axis (P) is made parallel to the revolving axis (S) and the other one is revolving upward. A pitching damping device for an upper-slewing construction machine, which is arranged parallel to the moment axis of the working machine of the body (2). 2. The gyro stabilizer (10) according to claim 1, wherein at least two gyro stabilizers (10) are provided, and at least one gyro stabilizer (1) among them is provided.
The rotating body (11) of (0) rotates the rotation direction around the gyro axis (J) in the opposite direction to the other rotating bodies (11), and is a pitching vibration damping device for an upper-slewing construction machine. 3. The pitching machine for an upper-slewing construction machine according to claim 1, wherein the gyro stabilizer (10) is provided on an upper revolving structure (2) rearward of the swivel axis (S). Vibration control device. 4. The gyro stabilizer (10) according to claim 2, wherein the gyro stabilizer (10) is provided rearward of the swivel shaft (S) and at a side end portion or a rear end portion of the upper swing body (2). Pitching damping device for upper swing type construction machinery. 5. A pitching angular velocity detector (16) attached to a support member (13) of the gyro stabilizer (10) for detecting a pitching angular velocity, and a rotation of a precession shaft (P) of the rotating body (11). Input the precession angle detector (15) that detects the rotation angle of, the pitching angular velocity detected by the pitching angular velocity detector (16) and the precession angle detected by the precession angle detector (15), and The precession axis rotation angular velocity command value obtained from at least one of the angular velocity, the differential value of the pitching angular velocity, and the integral value of the pitching angular velocity is calculated, and the input precession angle is a predetermined magnitude that is predetermined. If it is smaller than the allowable maximum value of the depth, the arithmetic unit (20) that outputs the precession shaft rotation angular velocity command of the calculated value, and this presession The motor drive device (30) that outputs a power signal based on the shaft rotation angular velocity command, and the precession shaft drive motor (14) that rotates the rotating body (11) around the precession shaft (P) by this power signal. )
5. The method according to claim 1, 2, 3 or 4, characterized in that
A pitching damping device for the above-described upper swing type construction machine. 6. The rotation speed detector (19) for detecting the rotation speed of the rotating body (11) around the precession axis (P) according to claim 5, and the precession axis from the arithmetic unit (20). A precession shaft drive motor that compares the rotational angular velocity command with the rotational speed from the rotational speed detector (19) to reduce this deviation.
A pitching vibration damping device for an upper-slewing construction machine, comprising: a motor drive device (30) that outputs a power signal of (14). 7. A pitching damping device according to any one of claims 1 to 6, wherein the drive motor (12) is a hydraulic motor (12a). A clutch (40) provided between the body (11), a working machine or traveling actuator (66), and operating state input means (41) for outputting a signal indicating the load state of the actuator (66). And the pressure oil discharged from the hydraulic pump (33) to the hydraulic motor (12a).
When it is judged that at least the output of the actuator (66) needs to be increased by the directional switching valve (42) for switching whether to supply to the engine and the signal indicating the load condition input from the operating condition input means (41). In addition, a disconnection command is output to the clutch (40), and the directional switching valve switches the pressure oil from the hydraulic pump (33) to the tank or the pressure oil from the hydraulic pump (33) to the actuator (66). A pitching damping device for an upper-slewing construction machine, comprising: an arithmetic unit (50) for outputting a command to (42). 8. The rotating speed detector (55) attached to the rotating body (11) for detecting the rotating speed of the rotating body (11) according to claim 7, and the disengaged state of the clutch (40). , And the rotation speed detector (5
When the rotation speed input from 5) is smaller than a predetermined minimum rotation speed that is determined in advance, a connection command is output to the clutch (40) to accelerate the rotation of the rotating body (11), and the rotation speed is When the rotation speed is higher than a predetermined maximum rotation speed, the upper turning including the arithmetic unit (50) for outputting a disconnection command to the clutch (40) and inertially rotating the rotating body (11). Type vibration control device for construction machinery. 9. The pitching vibration damping device according to claim 1, wherein the drive motor (12) is a hydraulic motor (12a), and an actuator for working machine or traveling ( 66), operating state input means (41) that outputs a signal indicating the load state of the actuator (66), and pressure oil discharged from the hydraulic pump (33) to the hydraulic motor (12a).
To the actuator (66) or to supply the pressure oil generated when the hydraulic motor (12a) is driven to the actuator (66), and the operating state input means (41) The pressure oil generated when the hydraulic motor (12a) is driven is supplied to the actuator (66) when it is determined that at least the output of the actuator (66) needs to be increased by the signal indicating the load condition input from To output a command to the directional control valve (43)
0) and a pitching vibration control device for an upper-slewing construction machine. 10. The clutch (40) provided between the hydraulic motor (12a) and the rotary body (11) according to claim 9, and the rotary body (11) attached to the rotary body (11). When the hydraulic motor (12a) is driven by the rotating body (11) and the rotating speed detector (55) that detects the rotating speed of the When it is smaller than the predetermined minimum rotation speed,
Alternatively, when the rotation speed is higher than a predetermined maximum rotation speed determined in advance, an arithmetic unit (50) which outputs a disconnection command to the clutch (40) so as to inertially rotate the rotating body (11).
And a pitching damping device for an upper-slewing construction machine. 11. The pitching vibration damping device according to claim 7, wherein the hydraulic motor (12a) is a hydraulic motor (12b) capable of controlling its rotation speed by changing the inclination angle of the swash plate or the swash shaft. The rotation speed detector (55) attached to the rotating body (11) for detecting the rotation speed of the rotating body (11), and the rotation speed input from the rotation speed detector (55) are When the rotation speed becomes higher than the predetermined maximum rotation speed determined, a command for controlling the inclination angle of the swash plate or the swash shaft of the hydraulic motor (12b) is output so that the rotation speed does not exceed the maximum rotation speed. A pitching vibration damping device for an upper-slewing construction machine, comprising: a computing device (50). 12. The hydraulic motor (12b) according to any one of claims 1 to 6, wherein the drive motor (12) can control the rotation speed by changing the inclination angle of the swash plate or the swash shaft. A pitching vibration damping device, which is attached to the rotating body (11) and detects a rotating speed of the rotating body (11) by a rotation speed detector (55) and an input from the rotation speed detector (55). When the specified rotation speed becomes higher than a predetermined maximum rotation speed, the tilt angle of the swash plate or the swash shaft of the hydraulic motor (12b) is adjusted so that the rotation speed does not exceed this maximum rotation speed. A pitching vibration damping device for an upper swing construction machine, comprising: an arithmetic unit (50) for outputting a command to control. 13. The hydraulic motor according to claim 9, wherein
2a) is a pitching vibration damping device which is a hydraulic motor (12b) capable of controlling the rotation speed by changing the inclination angle of the swash plate or the swash shaft. A rotation speed detector (55) for detecting the rotation speed of (11) and a hydraulic motor (12) driven by inertial rotation of the rotating body (11).
When b) is discharging pressure oil, the hydraulic motor (12b) should be adjusted according to the change in rotation speed input from the rotation speed detector (55) so that the discharge amount from the hydraulic motor (12b) becomes constant. ) A swash plate or an arithmetic unit (50) for outputting a command to control the inclination angle of the swash shaft, and a pitching vibration damping device for an upper-swing construction machine. 14. The hydraulic motor according to claim 10.
(12a) is a pitching damping device which is a hydraulic motor (12b) capable of controlling the rotation speed by changing the inclination angle of the swash plate or the swash shaft, and is driven by the inertial rotation of the rotating body (11). Hydraulic motor
When the (12b) is discharging pressure oil, the hydraulic motor (12b) is adjusted so that the discharge rate from the hydraulic motor (12b) becomes constant. 12b)
A pitching damping device for an upper-slewing construction machine, comprising a computing device (50) for outputting a command for controlling the tilt angle of the swash plate or the swash shaft. 15. The large moment of inertia according to any one of claims 1 to 14, wherein the rotating body (11) or the drive motor (12) is different from a constituent device of the gyro stabilizer (10). Equipment equipped with a construction machine that rotates at high speed
A pitching damping device for an upper-slewing construction machine, which is (60). 16. The pitching vibration damping device for an upper-slewing construction machine according to claim 15, wherein the construction machine mounting device (60) is an engine (63).