JP2614625B2 - Excavator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an excavator such as a hydraulic shovel.

[Conventional technology]

An excavator, such as a hydraulic shovel, includes a boom, an arm, and a bucket that form a front attachment, and actuators such as a boom cylinder, an arm cylinder, and a bucket cylinder that respectively drive the boom, the arm, and the bucket. An operating device such as an operating lever for a boom, an operating lever for an arm, an operating lever for a bucket, and the like for instructing the drive of the actuator is provided.

When excavating earth and sand, the operator operates each operating lever to appropriately rotate the boom cylinder, the arm cylinder, and the bucket cylinder to perform the excavation operation.

[Problems to be solved by the invention]

In the case of the conventional hydraulic shovel performed as described above, in the case of performing straight excavation such as slope excavation or excavation forming a fixed trajectory such as curved excavation,
Since the operation must be performed by operating the three operation levers in a delicate combination, a considerable level of skill is required, increasing the fatigue of the operator and making it difficult to improve the operability.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances in the related art, and an object of the present invention is to provide an excavating machine capable of improving operability when excavating to form a fixed trajectory.

[Means for solving the problem]

In order to achieve this object, the present invention provides a boom, an arm, and a bucket for forming a front attachment, a boom cylinder, an arm cylinder, a bucket cylinder for driving the boom, the arm, and the bucket, respectively, and a rotation of the boom. Boom angle detection means for detecting a moving angle, arm angle detection means for detecting a rotation angle of an arm, bucket angle detection means for detecting a rotation angle of a bucket, and a boom flow control means for controlling driving of a boom cylinder. Arm flow control means for controlling the driving of the arm cylinder,
A bucket flow rate control means for controlling the driving of the bucket cylinder and a setting means for setting a bucket excavation direction are provided. The boom rotation angle output from the boom angle detection means and the boom rotation angle output from the arm angle detection means are provided. The boom target angular velocity required for excavating at a predetermined speed based on the pivot angle of the arm, the pivot angle of the bucket output from the bucket angle detecting means, and the excavation direction output from the setting means. And an arm target angular velocity, and a bucket-to-ground angle is determined based on the boom rotation angle, the arm rotation angle, and the bucket rotation angle, and a ground-angle deviation that keeps the bucket-to-ground angle constant is calculated. A control device;
Instructing means for instructing execution of the operation of the control device, the control means performs the above-described operation according to the instruction of the instructing means, and outputs a signal corresponding to the boom target angular velocity to the boom flow rate control means, A signal corresponding to the arm target angular velocity is output to the arm flow rate control means, and a signal corresponding to the ground angle deviation is output to the bucket flow rate control means.

[Action]

Since the present invention is configured as described above, at the time of excavation, the indicating means and the setting means may be operated, whereby the control device calculates the boom target angular velocity and the arm target angular velocity, and The deviation is calculated, and a signal corresponding to the value of each target angular velocity is output to each of the boom flow control means and the arm flow control means, and is output to a bucket flow control means corresponding to the ground angle deviation. Accordingly, the boom and the arm are automatically driven and driven according to the excavation direction set by the setting means, and the bucket ground angle is kept constant, so that the bucket operating lever is not operated. In some cases, a linear automatic excavation operation can be performed, and an excavation operation that forms a curved trajectory can be performed by operating a bucket operation lever.

〔Example〕

 Hereinafter, an excavator according to the present invention will be described with reference to the drawings.

FIG. 1 is a side view showing an overall configuration of a hydraulic shovel cited as an embodiment of the present invention, FIG. 2 is a block diagram showing a connection relationship of basic components provided in the hydraulic shovel shown in FIG. 1, and FIG. The figure is a flowchart showing the contents processed by the control device shown in FIG.

The embodiment shown in FIG. 1 comprises a revolving superstructure 1 forming a main body,
A boom 2 rotatably connected to the revolving unit 1, an arm 3 rotatably connected to the boom 2, and a bucket 4 rotatably connected to the arm 3. Actuators such as a boom cylinder 5 for driving the boom 2, an arm cylinder 6 for driving the arm 3, and a bucket cylinder 4a for driving the bucket 4 are provided. The boom 2, the arm 3, and the bucket 4 form a front attachment, which is a working body of the hydraulic shovel.

In addition, as shown in FIG.
Boom angle detecting means 7 for detecting the turning angle of the arm 3, arm angle detecting means 8 for detecting the turning angle of the arm 3, and bucket angle detecting means 9 for detecting the turning angle of the bucket 4. As shown in FIG. 1, the boom angle detecting means 7 sets the upward rotation (+) and the downward rotation (-) with respect to an axis OX parallel to the horizontal plane as an angle signal ω _1.
Outputs, arm angle detecting means 8, the counter-clockwise direction relative to the axis perpendicular to the axis OB of FIG. 1 (+), the clockwise (-) and outputs the angle signal omega ₂ as, Baketsuto angle detecting means 9 outputs the angle to reach the axis perpendicular to the axis AB of Figure 1 the edge AP of Baketsuto 4 as a reference as the angle signal omega _3.

Further, in this embodiment, as shown in FIG. 2, a boom flow control means for controlling the drive of the boom cylinder 5, for example, a flow control valve 13, and an arm flow control means for controlling the drive of the arm cylinder 6, for example, A flow control valve 14, and a bucket flow control means for controlling the driving of the bucket cylinder 4a;
For example the flow control valve 15, setting means for setting a direction of drilling of Baketsuto 4, consisting of a rotary Sui Tutsi for setting the speed v angle leading _p in a direction resulting in θ as or reference the edge AP of Baketsuto 4 of FIG. 1 A setting unit 12 is provided. The angle θ is (-) in the clockwise direction with respect to the edge AP, and (+) in the counterclockwise direction.

Further, in this embodiment, as shown in FIG. ₂ , each of the angle signals ω ₁ , ω ₂ , ω output from each of the angle detecting means 7, 8, 9
₃ and the angle θ output from the setting means 12, the boom target angular velocity dω ₁ / dt and the arm target angular velocity dω ₂ / dt necessary for excavating at the predetermined speed v _p are calculated. And the bucket-to-ground angle η, which is the angle between the plane parallel to the horizontal plane and the edge AP of the bucket 4, is determined based on the above-described angle signals ω ₁ , ω ₂ , ω ₃ , and this bucket-to-ground angle η is calculated. The control device 10 includes a control device 10 for calculating a ground angle deviation Δη to be kept constant, and an instruction unit 11 such as an on / off switch for instructing the control device 10 to execute the above-described calculation. The control device 10
It is composed of, for example, a micro computer having arithmetic and logical judgment functions.
It incorporates means for determining whether each stroke of the boom cylinder 5 and the arm cylinder 6 has reached a predetermined stroke end regulation value δ, and setting means for presetting the speed v _p in FIG. 1. I have.

In the embodiment configured as described above, the boom 2, the arm 3, and the bucket 4 can be appropriately rotated according to the operation of a boom operation lever, an arm operation lever, and a bucket operation lever (not shown). By instructing control execution by the instruction means 11 in FIG. 2, and setting the angle θ by the setting means 12, the processing exemplified in FIG. 3 is performed.

That is, as shown in step S1 of FIG.
10 reads the signal from the instruction means 11 and determines whether or not control is to be executed in step S2. Now that the signal has been input from the instruction means 11, this determination is satisfied, and the routine goes to step S3.
In this step S3, the angle θ set by the setting means 12 and the angle signals ω ₁ , ω ₂ , ω ₃ output from the angle detecting means 7, 8, 9
And read the boom target angular velocity dω ₁ /
Calculation for obtaining dt and the target arm angular velocity dω ₂ / dt is performed. First, the OB of FIG. 1 to L _1, AB as L _2, the arm 3 and the tip point A (x, y) when determining the coordinates _{of, x = L 1 cosω 1 +} L 2 sin (ω 1 + ω 2) ( 1) y = L ₁ sinω ₁ −L ₂ cos (ω ₁ + ω ₂ ) (2) Differentiating the equations (1) and (2) with respect to time t, the tip point A
Finding the speed of Becomes

Solving equation (3) for dω ₁ / dt and dω ₂ / dt gives: Becomes Here, dx / dt and dy / dt are obtained from the velocity v _p , the angle signals ω ₁ , ω ₂ , ω ₃ and the angle θ set by the setting unit 12. It is.

The boom rotation angular velocity dω ₁ / dt and the arm target angular velocity dω ₂ / dt are obtained from the above equations (4), (5), and (6).

After step S3, the process proceeds to step S4. In this step S4, the bucket-to-ground angle η illustrated in FIG. 1 is calculated based on the angle signals ω ₁ , ω ₂ , ω ₃ output from the angle detecting means 7, 8, 9 based on the following equation: η = ω ₁ + ω ₂ + ω ₃ Determined by (7). Next, the procedure proceeds to step S5, in which the calculation of step S4, that is, the calculation of equation (7), starts the control execution and determines whether it is the first calculation. When this judgment is satisfied, proceed to step S6,
The value η at that time is defined as the bucket-to-ground angle target value ηo, and the procedure S7
Move on to If the determination in step S5 is not satisfied, the process immediately proceeds to step S7. In this step S7, the ground angle deviation Δη is calculated by Δη = η−ηo (8). After the calculation in step S7, the determination in steps S8 to S15 is performed. Here, | ω ₁ max in step S8
- [omega] ₁ | <determination of δ, the difference is optimal regulation value δ as described above between the angle signals omega ₁ outputted from the angle signal omega ₁ max and the boom angle detecting means 7 can be detected at the time of maximum extension of the boom cylinder 5 It is determined whether or not the boom cylinder 5 has reached near the stroke end during extension. The determination of | ω ₁ −ω ₁ min | <δ in step S10 is based on the angle signal ω ₁ output from the boom angle detection means 7 and the angle signal ω ₁ min that can be detected when the boom cylinder 5 is in its maximum contraction.
Is determined to have reached the above-mentioned regulation value δ, that is, whether the boom cylinder 5 has reached near the stroke end during contraction. At the same time, in step S12 | ω ₂
max−ω ₂ | <δ determines whether or not the arm cylinder 6 has reached near the stroke end at the time of extension.
₂₋ ω ₂ min | <δ determines whether or not the arm cylinder 6 has reached near the stroke end during contraction.
Also, dω ₁ / dt ≦ 0 in step S9 indicates whether the boom cylinder 5 is in the contracting direction, dω ₁ / dt ≧ 0 in step S11 indicates whether the boom cylinder 5 is in the extending direction, and step S1
It is determined whether dω ₂ / dt ≦ 0 of 3 is in the direction in which the arm cylinder 6 contracts, and whether dω ₂ / dt ≧ 0 in step S15 is in the direction of extending the arm cylinder 6, respectively.

Then, according to the determination in steps S8 to S15, the boom cylinder
5, When the arm cylinder 6 is within the controllable range, the procedure S1
The process proceeds to step S6. If the control is not to be executed or the control is not possible, the process proceeds to step S17.

In step S16, a drive signal corresponding to each of the boom target angular velocity dω ₁ / dt and the arm target angular velocity dω ₂ / dt obtained in step S3 is output to the corresponding flow control valves 13, 14, and in step S7 A drive signal corresponding to the obtained ground angle deviation Δη is output to the flow control valve 15. As a result, the drive of the flow control valves 13, 14, and 15 is controlled, and the pressure oil of a hydraulic pump (not shown) is supplied to the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 4a via the flow control valves 13, 14, and 15. The boom 2 is automatically rotated at an angular velocity corresponding to the boom target angular velocity dω ₁ / dt, and the arm target angular velocity dω ₂ / dt
The arm 3 is automatically rotated at an angular velocity corresponding to the above, and the bucket 4 is kept so as to keep the ground angle η constant according to the ground angle deviation Δη. Therefore, the operator can automatically perform a straight excavation such as a slope excavation without having to operate each operation lever. In addition, by operating the bucket operating lever, excavation that forms a curved trajectory can be performed.

In step S17, the boom target angular velocity dω ₁ / dt = 0,
A drive signal corresponding to each of the arm target angular velocity dω ₂ / dt = 0 and the ground angle deviation Δη = 0 is output, that is, the control device 10 does not control the flow control valves 13, 14, and 15.

In the embodiment configured as described above, as described above, by operating the indicating means 11 and the setting means 12,
The boom and arm can be automatically driven, straight excavation can be performed automatically when the bucket operating lever is not operated, and curve excavation can be performed by appropriately operating the bucket operating lever. In any case, excavation that easily forms a fixed trajectory can be realized without requiring operation of the boom operation lever and the arm operation lever.

〔The invention's effect〕

Since the excavator according to the present invention is configured as described above, it is possible to easily perform excavation forming a fixed trajectory, reduce a feeling of fatigue of the operator, and improve operability.

[Brief description of the drawings]

FIG. 1 is a side view showing the overall configuration of a hydraulic shovel as an embodiment of the excavator according to the present invention, and FIG. 2 is a block diagram showing a connection relationship of basic components provided in the hydraulic shovel shown in FIG. FIGS. 3 and 3 are flowcharts showing the contents processed by the control device shown in FIG. DESCRIPTION OF SYMBOLS 1 ... Revolving body, 2 ... Boom, 3 ... Arm, 4 ... Bucket, 4a ... Bucket cylinder, 5 ... Boom cylinder, 6 ... Arm cylinder, 7 ... Boom angle detection means, 8 ... ... Arm angle detecting means, 9 ... Bucket angle detecting means, 10 ... Control device, 11 ... Instruction means, 12 ... Setting means, 13 ... Flow control valve (boom flow control means), 14
…… Flow control valve (flow control means for arm), 15… Flow control valve (flow control means for bucket).

Claims (1)

(57) [Claims] 1. A boom, an arm, and a bucket forming a front attachment, a boom cylinder, an arm cylinder, and a bucket cylinder for driving the boom, the arm, and the bucket, respectively, and a rotation angle of the boom are detected. Boom angle detection means, arm angle detection means for detecting the rotation angle of the arm, bucket angle detection means for detecting the rotation angle of the bucket, boom flow control means for controlling the driving of the boom cylinder, Arm flow control means for controlling the drive of the arm cylinder, bucket flow control means for controlling the drive of the bucket cylinder, and setting means for setting the excavation direction of the bucket, and the boom angle detection means Of the boom output from the arm, the arm output from the arm angle detection means A moving angle, a boom target angular velocity required for excavating at a predetermined speed, and an arm based on a bucket rotation angle output from the bucket angle detecting means and an excavation direction output from the setting means. A control device that calculates a target angular velocity, calculates a bucket-to-ground angle based on a boom rotation angle, an arm rotation angle, and a bucket rotation angle, and calculates a ground-angle deviation that keeps the bucket-ground angle constant. And instructing means for instructing execution of the operation of the control device. The control means performs the above operation in response to the instruction of the instructing means, and outputs a signal corresponding to the boom target angular velocity to the boom flow rate control means. And outputting a signal corresponding to the arm target angular velocity to the arm flow control means and outputting a signal corresponding to the ground angle deviation to the bucket flow control means. Work machine.