JP2000303492A - Front controller for construction machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform correction control capable of smoothly correcting without making large variations in command value for a working device when manual intervention to a posture of the working device is made in a front controller of construction machinery, returning to an original posture by returning a manually operated device and fitting to an operating sense of an operator. SOLUTION: In a control unit, a target bucket angle is calculated from a pivoting angle and a target bucket ground angle detected by angle detectors 8a and 8b by a target bucket angle operation section 9f. A correcting quantity of the target bucket angle is calculated from a control signal S4c of a bucket control lever by a target bucket angle correcting quantity operation section 9g. The target bucket angle is corrected by adding a correcting quantity to the target bucket angle in a target bucket angle correction section 9h, the target bucket angle is obtained after it is corrected, and a flow controlling valve 5c is driven so as to obtain the angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a front control device for a construction machine such as a hydraulic shovel, and more particularly to a front control for a construction machine that performs a work while controlling a hydraulic actuator to control a posture of a work implement to a target posture. The present invention relates to a device and a recording medium on which a control program of the control device is recorded.

[0002]

2. Description of the Related Art In a hydraulic excavator, which is a typical example of a construction machine, various front control devices have been proposed in order to facilitate work performed by a front device. For example, in a high-precision linear excavation operation using a hydraulic excavator, an operator needs to operate a boom, an arm, and a bucket at the same time, which requires skill, and an automatic trajectory control device is required to facilitate such operation. Has been proposed. In addition, in a loading operation in an excavation and loading operation, a bucket attitude control device that controls the attitude of a bucket (work implement) to be kept constant has been proposed.

In the above-described control device, there are cases where the operator wants to manually change the excavation trajectory or bucket posture during automatic control. In this case, various proposals have been made on how to reflect the signal of the manual intervention in the control.

For example, Japanese Patent Laying-Open No. 61-204423 proposes a control for maintaining a constant bucket attitude and giving priority to a lever signal during manual intervention.

Japanese Patent Application Laid-Open No. 56-152011 proposes a method in which, when performing a manual correction operation of trajectory control, a control signal is gradually reduced at the time of manual intervention and a signal by a lever is gradually increased. ing.

Japanese Unexamined Patent Publication No. 4-14531 discloses that, when a bucket tip position deviates vertically from a target trajectory in trajectory control, the deviation is corrected by an operation signal of a position correction lever.
It has been proposed to make it easy to return to the original target trajectory and to perform a correction operation suitable for the operational feeling of the operator.

[0007]

However, the above prior art has the following disadvantages.

In the method disclosed in Japanese Patent Application Laid-Open No. 61-204423, in which the lever signal is prioritized during manual intervention, the control signal is issued when the control signal and the lever signal have opposite directions of the actuator operation. A sharp shock occurs due to a sudden change from the lever signal to the lever signal.

As disclosed in JP-A-56-152011, in the method of gradually decreasing the control signal during manual intervention, a slight delay occurs until the target position is corrected, and the operation feeling is poor. Become.

In the invention disclosed in Japanese Patent Application Laid-Open No. 4-14531, since the vertical displacement of the target trajectory is corrected by operating the position correction lever, it is easy to return to the original target trajectory. In addition, since a sudden change in the command value is suppressed, no shock due to input of the lever signal occurs. However, since the control target is limited to the vertical position correction of the target trajectory, the same problem as the above two prior arts remains in manual input for correcting the posture of the bucket (work implement).

It is an object of the present invention to provide a tool that does not significantly change during manual intervention in the posture of the work tool, makes a smooth correction, and returns to the original posture immediately after returning the manual operation means. Another object of the present invention is to provide a front control device for a construction machine capable of performing a correction operation according to an operator's operation feeling.

[0012]

(1) In order to achieve the above object, the present invention provides a plurality of driven members including a plurality of vertically rotatable front members constituting an articulated front device. A member, a plurality of hydraulic actuators respectively driving the plurality of driven members, a plurality of operation lever means for instructing the operation of the plurality of driven members, and driving in accordance with operation signals of the plurality of operation lever means A construction tool having a plurality of flow control valves for controlling the flow rate of hydraulic oil supplied to the plurality of hydraulic actuators, a work implement posture control means for controlling a work implement at the front end of the front device to a target posture. In the front control device of a construction machine that performs the work while controlling the work implement to the target posture,
A manual operation unit that outputs an operation signal according to the operation amount; a posture correction amount calculation unit that calculates a correction amount of the posture of the work tool according to the operation signal from the manual operation unit; Command value correcting means for correcting a command value of the flow control valve so as to change from the target posture by the correction amount.

As described above, the manual operation means, the posture correction amount calculating means and the command value correcting means are provided, and the correction amount of the posture of the work implement according to the operation signal of the manual operation means is calculated instead of the speed command. By correcting the command value of the flow control valve using the correction amount, the operation amount of the manual operation means is proportional to the correction amount, so that the command value for the work implement does not greatly change, and the correction can be performed smoothly and manually. As soon as the operating means is returned, it returns to its original posture, and a correction operation suitable for the operator's operational feeling can be performed.

(2) In order to achieve the above object,
The present invention provides a multi-joint type front device, a plurality of driven members including a plurality of vertically rotatable front members, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation lever means for instructing the operation of a plurality of driven members; and (A) detecting means for detecting a state quantity relating to the position and attitude of the front device; (b) a target excavation surface when excavating by the front device and the front device; Setting means for setting a target posture of the tip implement, (c) instruction means for instructing start of control, and (d) receiving a signal from the detection means and an instruction from the instruction means. Control means for calculating a command value of a corresponding one of the plurality of flow control valves so as to move the work implement in the target posture along the target excavation surface, and driving these flow control valves. A front control device for a construction machine that performs excavation work so as to obtain the target excavation surface while controlling the work implement to the target posture, (e) manual operation means for outputting an operation signal according to an operation amount; (F) posture correction amount calculating means for calculating a correction amount of the posture of the work implement in accordance with an operation signal from the manual operation means; and (g) the control means corrects the posture of the work implement to correct the posture of the work implement. The command value of the flow control valve is corrected so as to change from the target posture by the amount.

In the trajectory control for performing the excavation work so as to obtain the target excavation surface while controlling the work implement to the target posture in the present invention thus configured, the manual operation means as described in (1) above is used. Since the amount of operation and the amount of correction are proportional, the command value for the work implement does not change significantly, correction can be performed smoothly, and when the manual operation means is returned, it returns to the original posture immediately, and the correction according to the operator's operation feeling Can operate.

(3) In the above (1) or (2), preferably, the posture correction amount calculating means calculates the correction amount by multiplying a value corresponding to the operation signal by a linear or non-linear coefficient. And

Thus, the posture correction amount calculating means can calculate the correction amount according to the operation signal.

(4) Further, in the above (2), preferably, the control means calculates a target operation amount of the work implement for holding the work implement in the target posture based on a signal from the detection means. The target operation amount of the work implement is corrected by the correction amount.

Thus, the control means can correct the command value of the flow control valve so that the posture of the work implement changes by a correction amount with respect to the target posture.

(5) To achieve the above object,
The present invention provides a multi-joint type front device, a plurality of driven members including a plurality of vertically rotatable front members, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation lever means for instructing the operation of a plurality of driven members; and A front control device for a construction machine including a flow control valve, comprising: a detection unit configured to detect a state quantity related to a position and an orientation of the front device; and an instruction unit configured to instruct a start of control. The operation of the front device is controlled so as to obtain a target excavation surface while controlling the work implement at the front end of the front device to a target posture in response to a signal from the controller and an instruction from the instruction means. And (a) receiving the signal from the detection means and the instruction from the instruction means, and moving the work implement in the target posture along the target excavation surface. First calculating means for calculating a command value of a corresponding one of the plurality of flow control valves so as to move; and (b) calculating a correction amount of a posture of the work implement in accordance with an operation signal from a manual operating means. Second calculation means and (c) third calculation means for correcting the command value of the flow control valve so that the posture of the work implement changes from the target posture by the correction amount.

By constructing the front control device using such a recording medium, the operation amount of the manual operation means is proportional to the correction amount as described in the above (1) and (2). The command value does not largely change, the correction can be performed smoothly, and when the manual operation means is returned, the posture is immediately returned to the original posture, and the correction operation suitable for the operator's operational feeling can be performed.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a hydraulic shovel will be described below with reference to FIGS.

In FIG. 1, a hydraulic drive device mounted on a hydraulic excavator to which the present invention is applied includes a hydraulic pump 2 and
Boom cylinder 3a, arm cylinder 3b, bucket cylinder 3 driven by pressure oil from hydraulic pump 2
c, a plurality of hydraulic actuators including a turning motor 3d and left and right traveling motors 3e and 3f, a plurality of operating lever devices 4a to 4f provided corresponding to each of the hydraulic actuators 3a to 3f, and an operating lever device 4a. ~
4f, a plurality of flow control valves 5a to 5f for controlling the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3f, the hydraulic pump 2 and the flow control valve 5a.
And a relief valve 6 that opens when the pressure between the pressures of 5 f and 5 f exceeds a set value.

In the present embodiment, the operation lever device 4a
Reference numerals 4f to 4f denote electric lever devices which output electric signals as operation signals, and flow control valves 5a to 5f are electro-hydraulic operation systems provided with electro-hydraulic conversion means for converting electric signals into pilot pressure, for example, a proportional solenoid valve. It is a valve.

As shown in FIG. 2, the hydraulic excavator includes a multi-joint type front device 1A including a boom 1a, an arm 1b, and a bucket 1c which rotate vertically, an upper revolving unit 1d, and a lower traveling unit 1e. And the base end of the boom 1a of the front device 1A is pointed to the front of the upper swing body 1d. The boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d, and the lower traveling body 1e are respectively a boom cylinder 3a, an arm cylinder 3
b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f, which constitute driven members respectively driven by the operation lever device 4a.
４4f.

The above-described hydraulic excavator is provided with the front control device according to the present embodiment. This front control device is provided at each of the turning fulcrums of the setting device 7 and the boom 1a, the arm 1b, and the bucket 1c, and detects an angle of rotation as a state quantity relating to the position and the attitude of the front device 1A. Devices 8a, 8b, 8c, operation signals of operation lever devices 4a to 4f, angle detectors 8a,
8b and 8c, and the signal from the setting unit 7,
The control unit 9 performs predetermined arithmetic processing and controls the flow control valves 5a to 5f.

The setting device 7 outputs a setting signal to the control unit 9 by operating means such as a switch provided on an operation panel or a grip of an operating lever, and outputs a position of a target digging surface, a gradient of the target digging surface, a target bucket. Ground angle (described later)
And other instructions such as a display unit may be provided on the operation panel.

In this embodiment, the setting device 7 is used to set the slope of the target excavation surface, and the setting of the position of the target excavation surface and the target bucket-to-ground angle are performed by the operation lever (hereinafter referred to as the arm When the operation lever is neutral, the target excavation surface and the target bucket-to-ground angle are always calculated and updated based on the position of the bucket tip and the bucket angle at that time. The control is started when the arm operating lever is operated from the neutral position, and the control is ended when the arm operating lever returns to the neutral position.

FIG. 3 shows the configuration of the control unit 9. The control unit 9 is configured by a microcomputer and includes an input unit 91, a central processing unit (CPU) 92, a read-only memory (ROM) 93, a random access memory (RAM) 94, and an output unit 95. I have. The input unit 91 receives operation signals from the operation lever devices 4a to 4f, instruction signals (setting signals and main switch signals) from the setting device 7, and signals from the angle detectors 8a, 8b, 8c, and performs A / D conversion. I do. The ROM 93 is a recording medium in which a control program (described later) is stored.
The input unit 9 according to the control program stored in the OM 93
Predetermined arithmetic processing is performed on the signal taken in from step 1.
The RAM 94 temporarily stores numerical values during the operation. The output unit 95 generates an output signal according to the calculation result of the CPU 92, and outputs the signal to the flow control valves 5a to 5f.

An outline of a control program stored in the ROM 93 of the control unit 9 is shown in a functional block diagram in FIG.
The control unit 9 includes a setting unit 97 for setting a target excavation surface and a target bucket-to-ground angle, and an excavation control unit 98.

The setting section 97 calculates the setting of the target excavation surface and the target bucket-to-ground angle based on the instruction from the setting device 7 and the operation signal of the arm operation lever. One example will be described with reference to FIG.

In FIG. 5, after the tip of the bucket 1c is moved to the position of the target excavation surface F by the operation of the operator so that the posture of the target bucket 1c is attained, the arm operating lever is returned to the neutral position. 97 calculates the tip position of the bucket 1c and the bucket ground angle Φ at that time. Here, the bucket-to-ground angle Φ is the angle of the bottom surface of the bucket 1c with respect to the horizontal plane. The setting unit 97 simultaneously calculates the target excavation surface Fc using the gradient θ of the target excavation surface Fc set by the instruction from the setting device 7. The details of these operations will be described below.

The control unit 9 stores the dimensions of the front device 1A and the body 1B, and the setting unit 97 stores these data and the rotation angles α, β, γ detected by the angle detectors 8a, 8b, 8c. Is used to calculate the position of the tip of the bucket 1c. At this time, the position of the tip of the bucket 1c is obtained, for example, as a coordinate value (X1, Z1) in the XZ coordinate system with the origin of the pivot point of the boom 1a. The XZ coordinate system is an orthogonal coordinate system fixed to the main body 1B, and is assumed to be in a plane perpendicular to the ground. From the rotation angles α, β, γ, the coordinate values (X1, Z1) in the XZ coordinate system are represented by the distance L1 between the rotation fulcrum of the boom 1a and the rotation fulcrum of the arm 1b, the rotation fulcrum of the arm 1b and the bucket 1c. The distance between the rotation fulcrum of the bucket 1c and the tip of the bucket 1c is L3.
Then, it can be obtained from the following equation.

X1 = L1cosα + L2cos (α + β) + L3cos (α + β + γ) (1) Z1 = −L1sinα−L2sin (α + β) −L3si (α + β + γ) (2) The gradient of the target excavation surface Fc input from the setting device 7 θ
And the equation of the target excavation surface Fc is as follows.

Z = X · tan θ + Z 1−X 1 · tan θ (3) Further, the bucket-to-ground angle, that is, the angle Φ of the bottom surface of the bucket with respect to the horizontal plane is Φ = −α−β−γ-ang 1 (4). As described above, when the arm operation lever is at the neutral position, the target excavation surface Fc is a surface that always passes through the position (X1, Z1) of the bucket tip at that time and has the gradient θ set by the setting device 7, Further, the bucket-to-ground angle Φ at that time is continuously updated as the target bucket-to-ground angle Φc, and when the arm operating lever is operated, the latest target excavation surface F
The control is started with c and the target bucket ground angle Φc.

Next, an overall outline of the signal processing of the control unit 9 will be described with reference to FIG. FIG. 6 is a processing flow of the entire signal processing of the control unit 9.

In FIG. 6, the setting device 7 has a main switch 7a. When the main switch 7a is off, the setting device 7 is in a normal mode, and processes signals so as to operate according to operation signals of the operation lever devices 4a to 4c. Flow control valves 5a-5
output to c. When the main switch 7a is turned on, the control mode is set. When the operating lever of the operating lever device 4b for the arm is not operated, the control is turned off, and the operating lever devices 4a and 4c for the boom and the bucket are controlled. The signal is processed so as to perform the operation according to the operation signal, and is output to the corresponding flow control valves 5a and 5c. When the arm operation lever is operated, the control is turned ON, and the excavation control unit 9 responds to an operation signal from the arm operation lever device 4b.
The signal is processed so as to operate in accordance with the command by the trajectory control calculation by 8 and output to the flow control valves 5a and 5b. In addition, a signal is processed to correct the bucket angle by manual intervention with respect to the operation signal from the bucket operation lever device 4c, and is output to the flow control valve 5c.

FIG. 7 shows the details of the processing function of the excavation control unit 98. 7, the excavation control unit 98 includes a target arm tip speed vector calculation unit 9a, a target boom / arm angular speed calculation unit 9b, and a target boom / arm cylinder speed calculation unit 9.
c, boom / arm flow control valve command value calculator 9d, boom / arm flow control valve drive calculator 9e, target bucket angle calculator 9f, target bucket angle correction amount calculator 9g, target bucket angle corrector 9h, target bucket It has the functions of a cylinder speed calculator 9i, a bucket flow control valve command value calculator 9j, and a bucket flow control valve drive calculator 9k. In the figure, an operation signal from the arm operation lever device 4b (hereinafter, referred to as an arm lever signal) is represented by S4b, and an operation signal from the bucket operation lever device 4C (hereinafter, a bucket lever signal) is represented by S4c. ing.

The target arm tip speed vector computing section 9a calculates a target movement trajectory Fac (where the arm tip moves from the target excavation plane Fc on a plane separated by a vertical distance between the target excavation plane Fc (bucket tip) and the arm tip). The absolute value Va of the target value of the velocity vector at the tip of the arm, that is, the moving speed of the tip of the arm is calculated and determined from the input value of the arm lever signal S4b. This may be set to Va by multiplying the input value of the arm lever signal S4b by an appropriate gain. Next, this Va
The target arm tip speed vector (Vax, Vaz) is expressed by the following equation using the target excavation plane Fc and the gradient θ of the target excavation plane Fc.

Vax = Va · cos θ (5) Vaz = Va · sin θ (6) Also, the target velocity vector (Vax, Va) at the tip of the arm.
When the target boom angular velocity for obtaining z) is α ′ and the target arm angular velocity is β ′, the target arm tip speed vector (Va) is obtained from the dimensions of each part of the front device 1A and the rotation angles α, β, γ.
x, Vaz) is represented by the following equation.

Vax = −L1sinα · α′−L2sin (α + β) · (α ′ + β ′) (7) Vaz = −L1cosα · α′-L2cos (α + β) · (α ′ + β ′) (8) Target The boom / arm angular velocity calculator 9b establishes simultaneous equations from the above equations (5), (6), (7), and (8), and calculates α ′ and β ′.

Target boom / arm cylinder speed calculator 9
In c, the target boom angular velocity is α ′ and the target arm angular velocity is β
'And the boom 1a from the link structure of the boom 1a and the arm 1b.
a, Calculate the target cylinder speeds Vsb and Vsa of the arm 1b.

Boom / arm flow control valve command value calculator 9
In step d, a command value for the boom and the arm flow control valve is calculated from the relationship between the boom and arm cylinder speed and the flow control valve command value as shown in FIGS.

Boom / arm flow control valve drive calculator 9e
Then, the flow control valves 5a and 5b are driven by the command values obtained by the boom / arm flow control valve command value calculation unit 9d.

The target bucket angle calculator 9f calculates a target bucket angle γc from the rotation angles α and β detected by the angle detectors 8a and 8b and the target bucket ground angle Φc. The target bucket angle γc is obtained by modifying the equation (4) and using the following equation.

Γc = −Φ−α−β−ang1 (9) The target bucket angle correction amount calculation unit 9g calculates the correction amount of the target bucket angle γc from the operation signal S4c of the bucket operation lever.

Here, the operation signal S of the bucket operation lever is
If the neutral signal of 4c is S4c0, this signal and the operation signal S4
The target bucket angle correction amount δγc is calculated by the following equation by multiplying the deviation δS4c from c by a preset gain G1.
If the bucket operation lever is not operated, the correction amount of the target bucket angle is naturally zero.

Δγc = δS4c × G1 (10) FIG. 9 shows an example of the gain G1. The gain G1 is an example of a linear coefficient. In this case, the correction amount δγc of the target bucket angle is linearly proportional to the bucket operation lever signal deviation δS4c. However, the gain G1 may be a non-linear coefficient as shown by a one-dot chain line or a two-dot chain line in FIG. 9. In the case of the one-dot chain line, fine operability is improved, and in the case of the two-dot chain line, the lever operation amount is increased. Even when the number is small, reliable correction with good response can be performed. In addition, an upper limit may be set for the correction amount Δγc of the target bucket angle so that the correction amount does not increase when the lever operation amount exceeds a certain value. FIG. 9 shows an example in which the upper limit is set to ± 3 °.

The target bucket angle corrector 9h corrects the target bucket angle γc by adding the correction amount δγc to the output value γc from the target bucket angle calculator 9f, and obtains the corrected target bucket angle γc ′.

Γc ′ = γc + δγc (11) Note that, instead of adding the correction amount δγc to the output value γc from the target bucket angle calculator 9f, the correction amount δγc is set as shown by a two-dot chain line in FIG. Bucket angle calculator 9f
And the correction amount Δγc is added to the target bucket-to-ground angle Φc to correct the target bucket-to-ground angle Φc itself. In this case, the same result is obtained.

The target bucket cylinder speed calculator 9i compares the rotation angle γ detected by the angle detector 8c with the corrected target bucket angle γc + δγc calculated by the target bucket angle corrector 9h, and calculates a deviation δγ ( = Γc + δγc−
γ) is multiplied by a preset gain G2 to calculate a target bucket cylinder speed Vsv.

Vsv = δγ × G2 (12) The bucket flow rate control valve command value calculator 9i calculates the relationship between the bucket cylinder speed and the flow rate control valve command value as shown in FIG. The command value to the bucket flow control valve is calculated.

In the bucket flow rate control valve drive calculation section 9j,
The flow control valve 5c is driven by the command value obtained by the bucket flow control valve command value calculation unit 9i.

According to the present embodiment configured as described above, when the operation lever of the bucket operation lever device 4c is operated during excavation control, the target bucket angle γc is corrected according to the operation amount. Therefore, the operation amount of the operation lever and the correction amount Δγc of the bucket angle are proportional to each other, so that a correction operation suitable for the operator's operation feeling can be performed, and the operation feeling is improved. Further, since the position is corrected, fine adjustment of the target bucket angle is easily performed, and workability is improved. Furthermore,
When the operation of the bucket operation lever is stopped, the bucket immediately returns to the original position of the target bucket-to-ground angle Φ, so that the operability is improved without setting the target value again.

Another embodiment of the present invention will be described with reference to FIGS. FIGS. 10 to 12 show the processing flow of the entire signal processing of the control unit, similarly to FIG.

In the above embodiment, the control is started when the arm operating lever is operated, and the control is ended when the arm operating lever becomes neutral. FIG. A start switch 7b is provided, and the control is performed by an instruction from the control start switch 7b.

That is, when the main switch 7a is ON and in the control mode, when the control start switch 7b is OFF, the control is turned OFF, and the operation of the operation lever devices 4a to 4c according to the operation signal of the operation lever device is performed. When the control start switch 7b is turned on, the control is turned on, and the signal is processed so as to operate in accordance with the command by the trajectory control calculation by the excavation control unit 98 in response to the operation signal from the operation lever device 4b of the arm. In addition, a signal is processed to correct the bucket angle by manual intervention in response to the operation signal from the bucket operation lever device 4c.

FIG. 11 shows a setting device 7 provided with a control start switch 7c to determine whether or not to start and end the control by operating the arm operating lever, so that the control start switch 7b can be used to instruct the control start switch 7b.

That is, when the main switch 7a is ON and in the control mode, when the control start switch 7b is OFF, the control is turned OFF, and the operation of the operation lever devices 4a to 4c according to the operation signal of the operation lever device is performed. When the control start switch 7b is turned on, the control is kept off when the operation lever of the arm operation lever device 4b is not operated, and the operation lever devices 4a, 4b of the boom and bucket are operated. 4c, the signal is processed so as to operate according to the operation signal of the operation lever device. When the arm operation lever is operated, the control is turned ON, and the excavation control unit responds to the operation signal from the operation lever device 4b of the arm. 9
The signal is processed so as to operate in accordance with the instruction by the trajectory control calculation by 8 and the signal is processed to correct the bucket angle by manual intervention with respect to the operation signal from the bucket operating lever device 4c.

Further, in the above embodiment, the correction amount is calculated based on the deviation from when the bucket operation lever signal is neutral. However, FIG. 12 provides a correction start switch 9c for switching whether or not to perform the correction calculation. The correction is started by an instruction from the correction start switch 7d.

That is, when the main switch 7a is ON and in the control mode, the control is turned OFF when the operation lever of the arm operation lever device 4b is not operated, and the operation is performed on the operation lever devices 4a to 4c. A signal is processed so as to operate according to the operation signal of the lever device. When the arm operation lever is operated, the control is turned ON. When the correction start switch 7d is OFF, the operation lever device 4b of the arm is operated.
Is processed so as to operate in accordance with the command by the trajectory control calculation by the excavation control unit 98, and the bucket angle correction process by manual intervention is performed for the operation signal from the bucket operation lever device 4c. When the switch is invalidated and the correction start switch 7d is turned on, the excavation control unit 98 responds to an operation signal from the operation lever device 4b of the arm.
The signal is processed so as to operate in accordance with the instruction by the trajectory control calculation by the controller, and the signal is processed so as to correct the bucket angle by manual intervention with respect to the operation signal from the bucket operating lever device 4c.

The details of the construction machine front control device of the present invention are not limited to the above-described embodiment, and various modifications are possible. For example, in the above-described embodiment, a goniometer that detects a rotation angle is used as a unit that detects a state quantity related to the position and posture of the front device 1A, but a stroke of a cylinder may be detected.

In the excavation control unit of the control unit 9, the positional deviation between the bucket tip 1c and the target excavation surface and the positional deviation between the arm tip and the target movement locus of the arm tip are fed back to improve the control accuracy. You may.

In the above embodiment, simple position feedback is used for controlling the bucket angle. However, when calculating the target bucket cylinder speed, the target bucket cylinder speed is calculated from the boom angular speed and the arm angular speed, and this is used as a feedforward control. May be added.

Further, in the above embodiment, the operation lever device for the bucket is also used as the operation lever device for correcting the target bucket angle. However, the operation lever device for correcting the target bucket angle may be provided exclusively.

In the above embodiment, the target digging surface and the target bucket angle are set using values calculated based on the bucket tip position and the bucket angle when the arm operating lever is in the neutral position. The calculation may be performed based on the bucket tip position and the bucket angle when the bucket angular velocity is 0. Alternatively, the target excavation surface and the target bucket-to-ground angle may be set by the setting device 7.

In the above embodiment, the electric lever system is used as the operation lever device. However, the present invention may be applied to a device provided with a hydraulic pilot type operation lever device.

[0068]

According to the present invention, when the manual operation means is operated during the excavation control, the posture of the work implement is corrected according to the operation amount. A correction operation suitable for the operator's operation feeling can be performed in proportion to the correction amount of the posture, and the operation feeling is improved. In addition, since the position is corrected, fine adjustment of the posture of the work implement is easily performed, and workability is improved. Further, when the operation of the manual operation means is stopped, the work implement immediately returns to the original posture, so that it is not necessary to set the target posture again, and the operability is improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a front control device of a construction machine according to one embodiment of the present invention, together with a hydraulic drive device thereof.

FIG. 2 is a diagram showing the appearance of a hydraulic shovel to which the present invention is applied.

FIG. 3 is a diagram showing a hardware configuration of a control unit.

FIG. 4 is a functional block diagram illustrating processing functions of a control unit.

FIG. 5 is an explanatory diagram of dimensions of each member of a hydraulic shovel, a rotation angle of a front member, a target excavation surface, a bucket ground angle, and a coordinate system.

FIG. 6 is a processing flow showing an overall outline of signal processing of a control unit.

FIG. 7 is a functional block diagram illustrating processing functions of an excavation control unit.

FIG. 8 is a diagram illustrating a relationship between a flow control valve command value and a cylinder speed.

FIG. 9 is a diagram showing a correction gain used for obtaining a correction amount from a deviation of a bucket operation signal.

FIG. 10 is a process flow showing an overall outline of signal processing in a control unit of a front control device according to another embodiment of the present invention.

FIG. 11 is a process flow showing an overall outline of signal processing in a control unit of a front control device according to still another embodiment of the present invention.

FIG. 12 is a processing flow showing an overall outline of signal processing in a control unit of a front control device according to still another embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1A Front device 1B Body 1a Boom 1b Arm 1c Bucket 1d Upper revolving structure 1e Lower traveling structure 2 Hydraulic pump 3a-3f Hydraulic actuator 4a-4f Operating lever device 5a-5f Flow control valve 6 Relief valve 7 Setting device 7a Main switch 7b control Start switch 7c Control start switch 7d Correction start switch 8a to 8c Angle detector 9 Control unit 9a Target arm tip speed vector calculator 9b Target boom / arm angular speed calculator 9c Target boom / arm cylinder speed calculator 9d Boom / arm flow control Valve command value calculation unit 9e Boom / arm flow control valve drive calculation unit 9f Target bucket angle calculation unit 9g Target bucket angle correction amount calculation unit 9h Target bucket angle correction unit 9i Target bucket cylinder speed calculation unit 9j Bucket flow control valve Decree value calculating section 9k bucket flow control valve drive calculation unit 90 setting unit 91 excavation control unit

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masakazu Haga 650, Kandamachi, Tsuchiura-shi, Ibaraki F-term in the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (Reference) 2D003 AA01 AB03 AB04 BA01 BA02 BA06 BB07 BB10 CA02 DA03 DA04 DB04 DB05 DC02 DC03 FA02

Claims (5)

[Claims] A plurality of driven members including a plurality of vertically rotatable front members constituting a multi-joint type front device; a plurality of hydraulic actuators respectively driving the plurality of driven members; A plurality of operation lever means for instructing the operation of the plurality of driven members, and a plurality of control levers which are driven in accordance with operation signals of the plurality of operation lever means and control a flow rate of pressure oil supplied to the plurality of hydraulic actuators A work implement attitude control means for controlling a work implement at the front end of the front device to a target orientation, and performing work while controlling the work implement to the target orientation. In the front control device, a manual operation unit that outputs an operation signal according to an operation amount, and a figure that calculates a correction amount of a posture of the work implement according to an operation signal from the manual operation unit Front control for a construction machine, comprising: a correction amount calculating means; and a command value correcting means for correcting a command value of the flow control valve so that the posture of the work implement changes from the target posture by the correction amount. apparatus. 2. A plurality of driven members including a plurality of vertically rotatable front members constituting an articulated front device, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation lever means for instructing the operation of the plurality of driven members, and a plurality of control levers which are driven in accordance with operation signals of the plurality of operation lever means and control a flow rate of pressure oil supplied to the plurality of hydraulic actuators (A) detecting means for detecting a state quantity relating to the position and orientation of the front device; (b) a target excavation surface and the front when excavating by the front device. Setting means for setting a target posture of the work implement at the tip of the device; (c) instruction means for instructing start of control; and (d) signals from the detection means and instructions from the instruction means. Control means for receiving a command value of a corresponding one of the plurality of flow control valves so as to move the work implement in the target posture along the target excavation surface, and controlling these flow control valves; (E) manual operation means for outputting an operation signal corresponding to an operation amount, wherein the front control device of the construction machine performs an excavation operation so as to obtain the target excavation surface while controlling the work tool to the target posture. (F) posture correction amount calculating means for calculating a correction amount of the posture of the work implement in accordance with an operation signal from the manual operation means, and (g) the control means comprises: A front control device for a construction machine, wherein a command value of the flow control valve is corrected so as to change from the target posture by the correction amount. 3. The front control device for a construction machine according to claim 1, wherein the attitude correction amount calculating means calculates the correction amount by multiplying a value corresponding to the operation signal by a linear or non-linear coefficient. A front control device for a construction machine. 4. The front control device for a construction machine according to claim 2, wherein the control means calculates a target operation amount of the work implement for holding the work implement in the target posture based on a signal from the detection means. And a target operation amount of the work implement is corrected by the correction amount. 5. A plurality of driven members including a plurality of vertically rotatable front members constituting an articulated front device, a plurality of hydraulic actuators respectively driving the plurality of driven members, A plurality of operation lever means for instructing the operation of the plurality of driven members, and a plurality of control levers which are driven in accordance with operation signals of the plurality of operation lever means and control a flow rate of pressure oil supplied to the plurality of hydraulic actuators A flow control valve for a construction machine, comprising: a detection unit configured to detect a state quantity related to a position and a posture of the front device; and an instruction unit configured to instruct a start of control. Receiving the signal from the means and the instruction from the instruction means, controlling the operation of the front device so as to obtain a target excavation surface while controlling the work implement at the front end of the front device to a target posture. And (a) receiving the signal from the detection means and the instruction from the instruction means, and moving the work implement in the target posture along the target excavation surface. First calculating means for calculating a command value of a corresponding one of the plurality of flow control valves so as to move; and (b) calculating a correction amount of a posture of the work implement in accordance with an operation signal from a manual operating means. And (c) third computing means for correcting the command value of the flow control valve so that the posture of the work implement changes from the target posture by the correction amount. Medium.