DD247937A1 - METHOD AND DEVICE FOR OPERATING WORK DEVICES ON ANY MATHEMATICALLY FORMULATABLE MOTION TRACKS - Google Patents

Abstract

The invention relates to all technical problems in which work equipment or points of work equipment must be guided on any mathematically formulatable trajectories. The solution according to the invention makes it possible to guide work tools to any mathematically formulated trajectories lying in the action area of the installation. Due to the sensible arrangement and linking of a device on the basis of a step-by-step method, according to the invention the exact guidance of a working device on any mathematically formulated trajectories is made possible. The device essentially consists of actual value encoders, operating device and setpoint controller, which are connected to the central unit. The inventive solution is in principle applicable in almost all areas of technology. Fig. 1

Description

For this 3 pages drawings

Field of application of the invention

The solution according to the invention is in principle applicable to all technical problems in which implements or points of implements must be guided on any mathematically formulated trajectories.

A preferred field of application is the management of equipment on forklifts or manipulators with hydraulically or electrically driven mechanisms.

The guide is independent of the angle of inclination of the entire system.

Through the combination of different curves movements can be programmed in the work cycle, whereby both the absolute angle and the relative angle, determined by the position of the actuators, can be the basis for the respective angle assignment. Guiding can be done by controlling 2.3 or more jib parts.

The inventive solution of an excavator control allows z. B. the automatic production of geometrically defined Erdaushübe in several meaningful steps.

Characteristic of the known technical solutions

There are basically two options for guiding implements on given trajectories:

- Leadership through appropriately designed mechanisms and

- Guidance by means of a suitable control of the drives.

a) Leadership through appropriately designed mechanisms

Due to complicated guide mechanisms, telescopic devices, positive gear between the arms u.a. the implements are set to z.T. only approximate straight lines led.

A disadvantage is the high design effort for the mechanisms and that the leadership is possible only on straight lines. The straight lines can only be traversed in certain parts of the movement range and the inclination angle of the basic unit must be taken into account.

For example E 02 F 3/32 DE 1634978

DE 1800045

3/38 DE 2501779

b) Position reproduction of the implement

By means of a complicated steering mechanism or with a "Depth Monitoring System", which determines the height of the implement by measuring the inclination angle of the boom with a simple geometric equation, the excavator operator is constantly the lane or the height of the implement displayed.

The disadvantage is that the position of the implement is only displayed and is not automatically controlled. For example, E02 F5 / 02 WO81 / 02904 E02F 3/32 DE 2851942

c) guidance by means of suitable control of the drives

There are several options for controlling the drives:

- The linear guide is achieved with a double-slider system, which is linked to the arms, for the control of the hydraulic cylinders.

The disadvantage is only approximate linear guidance in strongly restricted parts of the range of motion of the system. For example, E02 F3 / 42 GB 1004162

- The implement is guided on a laser beam between an out of the plant laser transmitter and a laser receiver in the system by means of a complicated control system. The high cost of laser technology and the separately necessary further movement of the laser transmitter are disadvantageous.

Only a straight-line guide with a limited variable inclination angle is possible (laser transmitter is located outside the system).

For example, EO02F3 / 28 DE 3032821

- The inclination angle α, β and γ and the angular velocities # ' β and y of the boom parts of an on position are determined. The control for the linear guidance is carried out on the difference between the actual and the calculated target speeds under the conditions a + β + γ = const, ά + β + γ = 0. The disadvantage is that only a straight line is possible.

Eg E 02 F 3/42 DE 2940445

Object of the invention

The solution according to the invention is intended to create a possibility for direct angular allocation of the jib parts in the guidance of working devices on any trajectories lying in the operating range of the system. This angle assignment is the basis for a guidance of work equipment, which is independent of the speed, gear position and the load on the implement and after a load-related deviation from the given path allows a return of the implement to the web. The o. G. Angle assignment is to carry out a method for guiding the implement on any tracks, eg. B. for the production of geometrically defined Erdaushübe allow. The complexity of the mechanisms should be reduced.

Explanation of the essence of the invention

For a better understanding, the following drawings are used:

Fig. 1: Bahnboschreibung for arbitrary curves Fig.2: Device for guiding implements Fig.3: Path description for the straight line

On a basic unit (10), z. B. excavator, one or more arms (1.2) are articulated in a known manner in the point (A) in series, by actuators (4, 5), z. B. hydraulic cylinders are moved. On the outer arm (2) a working device (3) in the point (L) is rotatably mounted. The implement (3) is driven directly or via the mechanism (11) by the actuator (6), e.g.

hydraulic working cylinder, moved.

These are the angles of inclination of the booms (1,1 ₁ ) (2,1 ₂ ) and the implement (3,1 ₃ ) (α), (/ 3) and (δ).

On the boom (2) and the implement (3) are each an actual value transmitter (7), ζ. As inclinometer, attached, which are connected to the central unit (9).

On the boom (1) of the setpoint controller (8) is fixed, which is controlled by the central unit (9).

To guide the guide point (P) of the implement (3) on any mathematically formulatable trajectory (B), wiez. B. indicated in Fig. 1, the data of the trajectory (B) in the XY coordinate system with the zero point coordinates (X ₀ ), (Y ₀ ) with the operating device (12) in the central unit (9) is input, with the actual value generators ( 7), ζ. B. inclination angle, the absolute or relative angle of the boom (2) and the implement (3) determined in a known manner and passed to the central unit (9). In the central unit (9) with the relationship for the respective curve to be described

y = f (x) I

Y ₀ + I ₁ sin α - I ₂ cos / 3 - I ₃ cos δ - I ₄ ... = f (li cosa + I ₂ sin / 3 + l ₃ sin + I ₄ ... - X ₀ )

the angle (α) corresponding to the angles (/ 3), (δ) ... determined. The number (I,) corresponds to the leading point, z. B. (P, L), existing boom number.

For simple curves, the relationship (II) can be solved directly after (α). In general, an approximation method is used to search the zero (α) of equation (II)

f {a) = f (x) -y = 0 (III)

used. Since the guidance is made in small steps, (a) of the previous step gives a good initial approximation. The thus determined angle (α) is set by the setpoint controller (8). After this setpoint adjustment, for example, the angle (/ 3) is slightly changed, with the actual value encoders (7) ζ. As inclinometer, the absolute or relative angle of the boom (2) and the implement (3) are determined, etc .., Until the trajectory (B) is traversed in the action area.

The points (K,), ζ. B. in Fig. 1 (Κι) to (K ₄ ), the starting or end points of the corresponding Bah η sections. The starting point (K ₁ ) is approached in the first step of the method as described above by the corresponding angle assignment with the leading point (P).

Thereafter, the first path section is traversed to the point (K ₂ ) in accordance with the relationship (I) defined therefor, whereby it is constantly checked on the (x) or (y) coordinate (a) or (h) whether the point (K) K ₂ ) is reached. Then the next track section is traversed, etc., until the trajectory (B) is completed. This process is controlled manually or with a computer program implemented in the central unit (9).

The same procedure also applies to β = f (a, δ), δ = f ( α , β) and the relative angle assignment with correspondingly changed equations. In the Relativwinkelzuordnung there is the disadvantage that the inclination angle of the basic unit (10) must be taken into account.

A direct solution of the equation (II) for the straight line with the zero height (n) and the inclination angle (γ) according to FIG. 3 is described in the exemplary embodiment.

embodiment

A form of realization of the solution according to the invention is shown in FIG. 2. Here are hinged in a known manner to a basic unit 10, eg excavator, at the point Azwei boom 1.2 with the lengths I ₁ and I ₂ and the inclination angles α and / 3, the be driven with the hydraulic working cylinders 4, 5. At point L of the boom 2, the implement 3, length I ₃ , inclination angle δ, mounted and is connected to the actuator 6, z. B. hydraulic cylinder, driven by the mechanism 11. On the boom 2 and the implement 3 are each an actual value 7, z. B. inclination angle, mounted to determine the absolute angle. On the boom 1 of the central unit 9 controlled setpoint controller 8 is attached. If now any trajectory B, z. B. a straight line, according to Fig. 3 with the zero height η relative to the point A and the inclination angle y from the point P, are traversed, the data is entered with the operating device, the actual value 7, z. As inclinometer, the absolute angle β and δ of the boom 2 and the implement 3 to the central unit 9. In the central unit 9 z. B. with a direct solution of the equation II for the straight line

= 2 arc tan

I · * V- /

- tan

the corresponding angle α determined and given to the setpoint controller 8, which adjusts this value. Thereafter, z. B. with the actuator 5, z. B. hydraulic cylinder, the angle β slightly changed, the actual value 7, z. B.

Tilt angle, give the absolute angle β and S to the central unit 9 ... etc., until the through the corresponding points K, certain part of the trajectory B is passed. As mentioned above, at each step with the distance a or the height h, the achievement of the respective end point K is checked.

For the movement to horizontal height = h and vertical distance = a can be saved by further simplifying the relationship Il operation time.

It turns out

ίρ cos / 3 + 1-, coscf-h '

CL = arc sin - = η *

and ""

-- viii

a - Ip sin / b - 1_ sin σ

oL - arc cos * <

To guide the point L falls in the equations corresponding terms with I3 away.

Claims (12)

Invention claim: 1. A method for guiding implements on any mathematically formulated trajectories (B), characterized in that the inclination angle of cantilevers are controlled in accordance with each other in different track sections. 2. A method for guiding work equipment according to item 1, characterized in that in a work cycle, the trajectory (B) is changed in any number of sensibly defined steps. 3. A method for guiding implements according to the items 1 and 2, characterized in that the change of the trajectory sections at predetermined start or end points (Kj) takes place. 4. A method of operating implements according to the items 1 to 3, characterized in that the achievement of the starting or end points (Kj) checked at each control step with a simple geometric equation for the distance (a) and the height (h) becomes. 5. A method for guiding implements according to the items 1 to 4, characterized in that in i cantilever parts i - 1 absolute or relative angles are determined and an angle is adjusted accordingly in each control step. 6. A method for guiding implements according to points 1 to 5, characterized in that after the angle adjustment according to point 5 at each control step, a different angle is changed in suitable for carrying out the method. 7. Apparatus for carrying out the method according to the items 1 to 6, characterized in that the actual value transmitter (7), ζ. B. inclinometer, the operating device (12) and the setpoint controller (8) to the central unit (9) are connected. 8. The device according to item 7, characterized in that in the central unit (9) corresponding calculation rules for the angle to be controlled, the distance (a), and the height (h) and a control program for the end of the working cycle are implemented. 9. Device according to the points 7 and 8, characterized in that the actual value transmitter (7), ζ. Β. Tilt angle, both as absolute and as a relative angle can be performed. 10. Device according to the points 7 and 9, characterized in that the setpoint from the setpoint (8) angle can be both an absolute and a relative angle. 11. The device according to points 7 to 10, characterized in that the guide point (P) with the articulation point (A) by a series circuit of any number of cantilevers (T, 2,3, ...) may be connected. 12. Device according to the points 7 to 11, characterized in that the guide point (P) may also be a coupling points of a linkage.