JPH10317417A - Posture-controller for multi-joint working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily change the working range while excavating soil, by computing instruction signals so as to keep a certain relation of the posture of a second boom and the posture of an arm and outputting the instruction signal to a flow rate control valve of the second boom. SOLUTION: Respective rotatory angles of the second boom and the arm are detected as a state quantity regarding the posture of a front device by angular detectors 6b, 6c. A control unit 7 outputs electric signals to control the posture of the front device through the signals of the angular detectors 6b, 6c and the signals of the operation lever device 5c for the arm. That is, the control unit 7 computes instruction signals so that the posture of the second boom and the posture of the arm can be kept in a certain relation and outputs the instruction signals to the electromagnetic drive part 9b of the flow rate control valve 4b of the second boom. In this way, the working range can be easily changed while executing excavating works.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an articulated work machine called a two-piece boom type work machine having an articulated front device including a two-piece boom, and more particularly to a posture of a second boom of a two-piece boom. The present invention relates to a posture control device for an articulated work machine, which facilitates control of the front device and facilitates changing the posture of a front device.

[0002]

2. Description of the Related Art In general, a hydraulic shovel has four working members as a front device: a boom, an arm, a bucket, and a swivel. These working members are driven by respective actuators, and these actuators are operated by moving operating levers.

[0003] Incidentally, one lever can be moved in the front-back direction and the left-right direction, and two actuators can be operated at the same time. Therefore, in a hydraulic excavator, two actuators are required to operate three actuators of a front device and four actuators of a swing motor.
It has a book operating lever. By operating these manually, the four actuators can be operated simultaneously.

[0004] The vehicle also has two actuators for driving the right and left traveling devices for traveling.
To operate these, two operation levers are provided, and these are operated with both hands. However, when the front actuator is operated as described above, both hands are occupied, so that the lever operation for the traveling device cannot be performed. To this end, pedals are provided for the operating levers for the traveling devices, and the two traveling devices can be operated with both feet. In this manner, in the hydraulic excavator, the operation can be performed by simultaneously operating the six actuators by using both hands and both feet.

[0005] In recent years, the use of hydraulic excavators has been further expanded, and there has been an increasing demand for further improvement in workability by expanding the work range. There is a two-piece boom type hydraulic excavator as a working machine having a new front structure for that purpose. This is, for example, the actual
As shown in Japanese Patent No. 752, the boom is divided into a first boom and a second boom, and the second boom is attached to the first boom so as to be rotatable in the vertical direction. The working range can be expanded by changing the mounting angle of the second boom.

In this two-piece boom type excavator, a new operating device for operating the actuator of the second boom is required. However, when a new operating device is provided for the second boom, the operator operates a total of seven actuators with five operating devices. As described above, both hands and feet of the operator are blocked to operate the conventional six actuators. Therefore, in order to operate the actuator of the second boom, the operation of any other actuator must be stopped, and the operating device for the second boom must be operated with an empty hand or foot.

Here, when an operating lever is employed as the operating device for the second boom, the operation of another operating lever is stopped in order to operate the second boom.
Therefore, the two actuators cannot be operated.
As a result, the combined operation of the front device becomes impossible, and the work efficiency is greatly reduced. For this reason, in a two-piece boom type hydraulic excavator of an actual machine, a foot-operated pedal is employed as an operating device for the second boom.

[0008]

However, the conventional two-piece boom type hydraulic excavator has the following problems.

In the two-piece boom type excavator, when excavation work is performed far from the vehicle body, the second boom is operated so that the angle between the first boom and the second boom is increased. By lowering one boom, the bucket is positioned far from the vehicle body, and when excavating near the vehicle body, the second boom is operated so that the angle between the first boom and the second boom is reduced. Raising the boom positions the bucket near the vehicle body, thereby changing the attitude of the front device, and changing the working range from far away to near the vehicle body.

When the working range is changed by using the second boom, the working range is changed (operation of the second boom) and excavation work (operation of the first boom and the arm) in parallel or in order to increase the working efficiency. Preferably, they can be performed simultaneously. However, the operation of the second boom is performed by operating the pedal with the foot as described above, and the operation of the first boom and the arm is performed by operating the operation lever with both hands. Simultaneous operation of the three actuators by simultaneously moving the operating lever and foot pedal, which is a very difficult operation requiring skill. For this reason, conventionally, the operation of the second boom for changing the work range has been interrupted by the excavation work and performed alone, and the excavation work could not be performed efficiently.

An object of the present invention is to provide a posture control device of a multi-joint working machine capable of easily changing a work range while performing excavation work and performing excavation work efficiently.

[0012]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides a first boom rotatably attached to an upper swing body, a second boom rotatably attached to the first boom, and a second boom attached to the first boom.
An articulated front device including a plurality of front members including an arm rotatably attached to a boom; a plurality of hydraulic actuators for driving the plurality of front members to move the front device; A plurality of flow control valves for controlling the flow rate of the pressure oil supplied to the actuator, and a posture control device for a multi-joint working machine including an operation unit for instructing the operation of the front device,
(A) state quantity detecting means for detecting a state quantity related to the attitude of the front device; and (b) at least the attitude of the second boom and the attitude of the arm are constant based on at least the state quantity detected by the state quantity detecting means. And a calculation control means for calculating a command signal of at least the second boom so as to maintain the relationship, and outputting the command signal to the flow control valve of the second boom.

As described above, by calculating and outputting a command signal so that the attitude of the second boom and the attitude of the arm are maintained in a constant relationship, if the arm is pulled forward to perform excavation work, The posture of the second boom changes accordingly, and the work range can be easily changed while performing the excavation work.

(2) In the above (1), preferably,
The arithmetic control means calculates the command signal so that when the angle of the arm with respect to the second boom increases or decreases, the angle of the second boom with respect to the first boom also increases or decreases accordingly.

As a result, if the angle of the arm is reduced by pulling the arm toward the front, the angle of the second boom is correspondingly reduced, so that the posture of the arm suitable for excavation work in the working range near the vehicle body (front). can get.

(3) In the above (1), preferably, the arithmetic and control means preferably controls the command so that the angle of the arm with respect to the second boom and the angle of the second boom with respect to the first boom are kept substantially the same. Calculate the signal.

As a result, if the angle of the arm is reduced by pulling the arm forward, the angle of the second boom is correspondingly reduced, so that an arm posture suitable for excavation work can be obtained in a work range near the vehicle body.

(4) Further, in the above (1), preferably, the arithmetic control means further calculates the command signal such that the attitude of the first boom and the attitude of the second boom are maintained in a fixed relationship. .

As described above, the command signal is calculated and output so that the attitude of the first boom and the attitude of the second boom are maintained in a constant relationship. Since the postures of the two booms are also changed, it is possible to easily perform an upward operation such as a loading operation.

(5) In the above (4), preferably,
When the angle of the first boom with respect to the upper revolving structure increases or decreases near the raising end of the first boom, the arithmetic control means calculates the command signal so that the angle of the second boom with respect to the first boom increases or decreases accordingly. .

As a result, when the first boom is raised, the angle of the second boom also increases near the raising end, and the tip of the arm moves upward.
A posture suitable for the loading operation can be easily obtained.

(6) In the above (1), preferably, the calculation control means calculates the command signal by a feedback control calculation based on the state quantity detected by the state quantity detection means.

By performing the feedback control calculation in this manner, reproducible attitude control can be performed.

(7) Further, in the above (1), preferably, the arithmetic and control means preferably calculates position feedback control based on the state quantity detected by the state quantity detecting means and feedforwards based on a signal from the operating means. The command signal is calculated by the control calculation.

By adding the feed-forward control operation, the attitude control with excellent responsiveness can be performed.

(8) In the above (1), preferably, the operation means has an operation lever device for instructing the operation of the first boom and an operation lever device for instructing the operation of the arm. The arithmetic control means calculates only the command signal of the second boom.

Thus, in a two-piece boom type excavator having a normal operation lever device, the working range can be easily changed while performing excavation work.

(9) In the above (1), the operation means may include an operation lever device for instructing a movement vector of a predetermined portion of the front device. In this case, the arithmetic control means The signal of the operation lever device is input, and further, the command signal of the first boom and the arm is calculated.

Thus, the trajectory control of the front device can be performed by using the operation lever device for instructing the movement vector, and the work range can be easily controlled while performing the excavation work in the two-piece boom type excavator for performing the trajectory control. Can be changed.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention is shown in FIGS.
This will be described with reference to FIG.

In FIG. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a first boom cylinder 3a, a second boom cylinder 3b, an arm cylinder 3c driven by hydraulic oil from the hydraulic pump 2. It has a plurality of hydraulic actuators including a bucket cylinder 3d, and a plurality of flow control valves 4a to 4d for controlling the flow rate of pressure oil supplied to the hydraulic actuators 3a to 3d. The flow control valves 4a to 4d are electromagnetic switching valves having electromagnetic drive units 9a to 9d, respectively.

As shown in FIG. 2, the hydraulic excavator includes a first boom 1a and a second
This is a two-piece boom type hydraulic excavator including a multi-joint type front device 1A including a boom 1b, an arm 1c, and a bucket 1d, and a vehicle body 1B including an upper revolving unit 1e and a lower traveling unit 1f. The base end of the first boom 1a is supported by the front part of the upper swing body 1e so as to be rotatable in the vertical direction. Also, the first boom 1a, the second boom 1b, the arm 1c, and the bucket 1d are respectively
It is driven by a first boom cylinder 3a, a second boom cylinder 3b, an arm cylinder 3c, and a bucket cylinder 3d.

The attitude control device of the present embodiment is provided in the above-described hydraulic excavator. This attitude control device
Operation lever devices 5a, 5c, and 5d for instructing the operations of the first boom 1a, the arm 1c, and the bucket 1d, respectively, and the rotation levers of the second boom 1b and the arm 1c, respectively, are provided.
The angle detectors 6b and 6c that detect the respective rotation angles as the state quantities related to the attitude of the front device 1A, the signals of the angle detectors 6b and 6c, and the signal of the arm operating lever device 5c are input to the front device 1A. And a control unit 7 that outputs an electric signal for controlling the attitude of the vehicle.

The processing contents of the control unit 7 are shown in FIGS.
This will be described with reference to FIG.

In this embodiment, as shown in FIG.
The angle θ2 of the second boom 1b with respect to the boom 1a (hereinafter, referred to as
Simply referred to as the angle θ2 of the second boom 1b) and the second boom 1
b of the arm 1c (hereinafter simply referred to as the arm 1c).
When the angle θ3 of the arm 1c is increased or decreased, the angle θ2 of the second boom 1b is increased or decreased accordingly, and the angle θ2 of the second boom 1b is increased or decreased by operating only the operation lever device 5c of the arm 1c. The two booms 1b and the arm 1c are simultaneously operated in a fixed relationship.

FIG. 4 is a functional block diagram showing the processing contents of the control unit 7, and FIG. 5 is a flowchart showing the processing contents of the control unit 7. Hereinafter, the processing content will be described according to the procedure of the flowchart shown in FIG.

In FIG. 5, first, in step 100, the angles θ2 and θ3 of the second boom 1b and the arm 1c are read from the corresponding angle detectors 6b and 6c.

Next, in step 110, the operation signal u3 of the arm 1c is read from the corresponding operation lever device 5c. This operation signal u3 corresponds to the target cylinder speed of the arm cylinder 3c.

Next, in step 120, the target cylinder speed u3 of the arm cylinder 3c is converted into the target angular speed v3 of the arm 1c by the block 70a shown in FIG.
This conversion is performed by a geometric calculation based on the link configuration between the arm cylinder 3c and the arm 1c using the angle θ3 of the arm 1c.

Next, in step 130, the feed-forward control signal v2ff of the second boom is calculated by v2ff = v3.

Next, in step 140, the deviation between the angle θ3 of the arm 1c and the actual angle θ2 of the second boom is multiplied by the control gain K2 by the adder 70b and the block 70c shown in FIG. 4, and v2fb = K2 · ( θ3-θ2) and the feedback control signal v2fb of the second boom 1b.

Next, in step 150, the feed-forward control signal v2ff is added by the adder 70d shown in FIG.
And the feedback control signal v2fb to obtain v2 = v2ff + v2fb and the second boom control signal v2. This second boom control signal v2 corresponds to the target angular velocity of the second boom 1b.

Next, in step 160, the target angular velocity v2 of the second boom 1b is converted into the target cylinder velocity u2 of the second boom cylinder 3b by the block 70e shown in FIG. I do. This conversion is performed by an inverse geometric operation based on the link configuration between the second boom cylinder 3b and the second boom 1b, using the angle θ2 of the second boom 1b.

Next, in step 180, this command value u2
Is output to the electromagnetic drive unit 9b of the flow control valve 4b of the second boom 1b, and the process returns to the beginning.

In the present embodiment configured as described above, the attitude of the second boom 1b is determined in accordance with the change in the attitude of the arm 1c. Operation of the apparatus 1A can be performed.

Further, the posture of the second boom 1b is determined in accordance with the posture change of the arm 1c so that the angle θ3 of the arm 1c and the angle θ2 of the second boom 1b are kept the same, so that the excavation work is performed. The working range can be easily changed while performing.

That is, when the arm 1c is extended forward to perform excavation work far away from the vehicle body 1B, the arm 1c
The angle θ of the second boom 1b is proportional to the increase of the angle θ3 of the second boom 1b.
2, the first boom 1a is also lowered, and the bucket 1d is positioned far from the vehicle body 1B as shown by a thin line in FIG. 3, so that it is possible to perform digging work at a distance. Conversely, when the arm 1c is pulled forward to perform an excavation operation near the vehicle body, the angle θ2 of the second boom 1b also decreases in proportion to the decrease of the angle θ3 of the arm 1c, and the first boom 1a is raised accordingly. As a result, the bucket 1d is positioned near the vehicle body as shown by the thick line in FIG.

Here, when the arm is pulled forward, in a conventional hydraulic excavator using a monoboom, the angle φ of the arm with respect to the ground becomes small as shown in FIG. Become. On the other hand, in the present invention, since the angle θ2 of the second boom is reduced as shown in FIG. 7, the angle φ of the arm with respect to the ground is increased, and the arm is in a posture suitable for excavation. That is, the workability of the machine one class lower is obtained in the front work area near the vehicle body.

As described above, according to the present embodiment, the work range can be easily changed without performing complicated compound operations while performing excavation work, and the reach of the front device of the two-piece boom type hydraulic excavator can be achieved. Excavation work can be performed efficiently by making the most of

A second embodiment of the present invention will be described with reference to FIGS. In the drawings, members that are the same as the members illustrated in FIGS. 1 and 2 are denoted by the same reference numerals. In the present embodiment, the present invention is applied to an operation lever device that vectorally teaches the operation direction of the front device tip.

8 and 9, the hydraulic excavator to which the present invention is applied has an operation lever device 8 for teaching a movement vector (speed vector) of an arm tip and a rotation operation as an operation lever device. The signal of the lever device 8 is input to a control unit 7A that outputs an electric signal for performing trajectory control.

The operating lever device 8 includes one operating lever 8a.
As shown in FIG. 10, the operation lever 8a is tilted to teach the movement vector (velocity vector) of the tip of the arm, and by rotating the operation lever 8a, the bucket 1 is rotated.
The rotation operation (angular velocity vector) of d is taught. In the main body 8b of the operation lever device 8, for example, the X of the operation lever 8a
A potentiometer that detects the amount of tilt in the direction and the amount of tilt in the Y direction and a potentiometer that detects the rotation angle of the operation lever are built in. The tilt amount of the operating lever 8a in the Y direction is detected as a teaching speed component Uy at the tip of the arm in the Y direction, and the rotation angle of the operating lever is detected as a teaching angular speed Uz of the rotating operation of the bucket 1d. The components Ux and Uy and the rotation teaching angular velocity Uz are input to the control unit 7A as an operation signal of the arm tip and an operation signal of the bucket, respectively.

The attitude control device of the present embodiment is provided in such a hydraulic excavator. In addition to the angle detectors 6b and 6c provided in the first embodiment, the first boom 1a,
Each of the buckets 1d further includes angle detectors 6a and 6d which are provided at respective pivot points and detect the respective rotation angles as state quantities relating to the attitude of the front device 1A. The signals of these angle detectors 6a and 6d are also provided. It is input to the control unit 7A.

FIG. 1 shows the processing contents of the control unit 7A.
This will be described with reference to FIGS.

In the present embodiment, as shown in FIG. 11, in the trajectory control, the angle θ2 of the second boom 1b and the arm 1c
When the angle θ3 of the arm 1c increases or decreases by keeping the same angle θ3 of the arm 1c, the angle θ2 of the second boom 1b increases or decreases accordingly, and the target trajectory r based on the teaching of the operating lever device 8 (see FIG. 12). The attitude of the front device 1A is determined to be one.

FIG. 12 is a functional block diagram showing the processing contents of the control unit 7A, and FIG. 13 is a flowchart showing the processing contents of the control unit 7A. Hereinafter, the processing content will be described according to the procedure of the flowchart shown in FIG.

In FIG. 12, first, in step 200, the first boom 1a, the second boom 1b, the arm 1c,
Angle detector 6 corresponding to angles θ1 to θ4 of bucket 1d
Read from a to 6d. Here, the angle θ2 of the second boom
And the angle θ3 of the arm is as described above, and the angle θ1 of the first boom 1a is the angle of the first boom 1a (with respect to the horizontal direction) with respect to the upper turning pair 1e, and the bucket 1d
Is the angle of the bucket 1d with respect to the arm 1c.

Next, in step 210, the operation signals Ux and Uy of the arm tip and the operation signal Uz of the bucket are read from the operation lever device 8.

Next, in step 220, the operation vector Ux, Uy at the tip of the arm is subjected to coordinate transformation to obtain the taught velocity vector a at the tip of the arm by the block 70h shown in FIG. The speed vector a is multiplied by the gain Kff, and the end of the arm
A feedforward control vector Uff that operates in proportion to x and Uy is calculated as Uff = Kff · a.

Next, in step 230, the deviation d between the target trajectory r of the arm tip and the current point of the arm tip as shown in FIG. 14 is calculated by the block 70j shown in FIG.
The block 70k calculates the feedback control vector Ufb such that the tip of the arm moves along the target trajectory r by multiplying the deviation d by the gain Kfb as follows: Ufb = Kfb · d.

Here, in block 70j, the teaching speed vector a of the arm tip obtained from the operation signals Ux and Uy of the arm tip, the angle θ1 of the first boom, and the angle θ of the second boom
2. The target trajectory r is obtained by using the arm angle θ3, and the position of the current point of the arm tip is obtained by using the same angles θ1 to θ3, and the distance between the target trajectory r and the current point of the arm tip is defined as a deviation d. Ask.

Next, in step 240, the feed-forward control vector Uff obtained in step 220 and the feedback control vector Ufb obtained in step 230 are added by the adder 701 shown in FIG. 12 as V = Uff + Ufb, and FIG. An arm tip control vector V as shown in FIG.

Next, in step 250, the angle θ of the second boom 1b is determined by the block 70m in FIG.
2 and the angle θ3 of the arm 1c are kept constant (the angle θ2 of the second boom 1b and the angle θ3 of the arm 1c are kept the same). First boom cylinder 3 for obtaining
a, the target cylinder speeds u1, u2, u3 of the second boom cylinder 3b and the arm cylinder 3c are calculated,
Boom, second boom, and arm command values. This calculation is performed by the geometric calculation of the front device 1A using the angles θ1 to θ3 of the first boom 1a, the second boom 1b, and the arm 1c.

Next, in step 260, the target cylinder speed u1 is determined by the blocks 7w, 7x and 7y shown in FIG.
To u3 are converted into angular velocities v1 to v3 of the bucket 1d.
These conversions are performed by a geometric operation based on the related link configuration using the first boom angle θ1, the second boom angle θ2, and the arm angle θ3, respectively.

Next, in step 270, the feed-forward control signal Vzff of the bucket is calculated by the block 70q shown in FIG. 12 using the bucket operation signal Uz and the angular speeds v1 to v3 of the bucket 1d according to calculate.

Next, in step 271, a target value Zr of the bucket angle is obtained by integrating the bucket operation signal Uz by a block 70r shown in FIG. 12, and by using the angles θ1 to θ4 by a block 70s shown in FIG. The actual measured value Z (absolute angle) of the bucket angle is calculated, and the adder 70t and the block 70u shown in FIG. 12 calculate the bucket feedback control signal Vzfb from the deviation between the target value Zr and the measured value Z as shown in FIG. , Vzfb = Kzfb · (Zr−Z).

Next, in step 272, the target bucket angular velocity Vz as a whole is calculated from the feedforward control signal Vzff and the feedback control signal Vzfb according to the following equation: Vz = Vzff + Vzfb. In FIG. 12, this calculation is performed at block 70
In q, the calculation is performed together with the calculation in the procedure 270.

Next, in step 280, the target angular speed Vz of the bucket is converted into the target cylinder speed u4 of the bucket cylinder 3d by the block 70v shown in FIG. 12, and this is set as the command value of the bucket 1d. This conversion is performed by an inverse geometric operation based on the link configuration between the bucket, the cylinder 3d, and the bucket 1d.

Next, in step 290, command values u1 to u
4 is output to the electromagnetic drive units 9a to 9d of the flow control valves 4a to 4d, and the process returns to the beginning.

In the present embodiment configured as described above, regarding the trajectory control of the tip of the arm, the angle θ of the second boom 1b
By keeping the angle θ3 between the arm 2c and the arm 1c the same, the posture of the second boom 1b is determined according to the posture change of the arm 1c, and the first boom, the second boom,
The attitude of the front device with respect to the arm can be determined as one.

Further, the attitude of the second boom 1b is determined in accordance with the attitude change of the arm 1c so that the angle θ3 of the arm 1c and the angle θ2 of the second boom 1b are kept the same. Similar to the embodiment, the work range can be easily changed while performing the excavation work, and the excavation work can be efficiently performed by maximizing the reach of the front device of the two-piece boom type excavator. it can.

FIGS. 15 to 19 show a third embodiment of the present invention.
This will be described below. In the drawings, members that are the same as the members illustrated in FIGS. 1 and 2 are denoted by the same reference numerals.

In FIG. 15, the attitude control device of the present embodiment is provided at each of the first and second booms 1a, 1b, and 1c, and is a state quantity related to the attitude of the front device 1A. Angle detectors 6a, 6b, 6c for detecting
The signals a, 6b, and 6c are input to the control unit 7B.

FIG. 1 shows the processing contents in the control unit 7B.
This will be described with reference to FIGS.

In the present embodiment, as shown in FIG. 16, as in the first embodiment, the angle θ2 of the second boom 1b and the angle θ3 of the arm 1c are maintained in a fixed relationship, and as shown in FIG. By maintaining the angle θ1 of the first boom 1a and the angle θ2 of the second boom 1b in a constant relationship near the raising end of the first boom 1a, the first boom 1a,
The second boom is simultaneously operated by operating the operation lever devices 5a and 5c corresponding to the arm 1c.

FIG. 18 is a functional block diagram showing the processing contents of the control unit 7B, and FIG. 19 is a flowchart showing the processing contents of the control unit 7B. Hereinafter, the processing content will be described according to the procedure of the flowchart shown in FIG.

In FIG. 19, first, in step 300, the angles θ1 to θ3 of the first boom 1a, the second boom 1b, and the arm 1c are read from the corresponding angle detectors 6a to 6c.

Next, in step 310, the second boom posture calculating section 7a based on the first boom posture shown in FIG.
To obtain the target angle θ2r1. Here, the operation unit 7
In a, the relationship between the angle θ1 and the target angle θ2r1 is set such that when the angle θ1 of the first boom increases near the raising end of the first boom, the target angle θ2r1 of the second boom increases accordingly. ing.

Next, in step 320, the target angle θ2r3 is obtained by the second boom posture calculating section 7b based on the arm posture shown in FIG. The relationship between the angle θ3 and the target angle θ2r3 is set in the calculation unit 7b such that when the angle θ3 of the arm increases, the target angle θ2r3 of the second boom increases accordingly.

Next, in step 330, the maximum value θ2r of these target angles is calculated by the maximum value calculating section 7c shown in FIG.
Is obtained and set as the target angle of the second boom.

Next, in step 340, the adder 7d and the multiplier 7e shown in FIG.
The difference between 2r and the measured angle θ2 is multiplied by a gain to determine a command value u2 of the second boom.

Next, in step 150, the command value u2
Is output to the electromagnetic drive unit 9b of the flow control valve 4b of the second boom 1b, and the process returns to the beginning.

In the present embodiment configured as described above, similarly to the first embodiment, the attitude of the second boom 1b is determined according to the change in the attitude of the arm 1c. Front device 1A with one less input 3
Operation can be performed, and the second operation can be performed according to the angle θ3 of the arm 1c.
Since the angle θ2 of the boom 1b is determined, the work range can be easily changed while performing the excavation work.

When the first boom is raised near the raising end of the first boom 1a, the angle θ2 of the second boom also increases, and the bucket 1d moves upward. Thereafter, a posture suitable for the loading operation can be easily obtained.

FIG. 20 to FIG. 24 show a fourth embodiment of the present invention.
This will be described below. In the figure, the same reference numerals are given to members and functions equivalent to those shown in FIGS. 1, 2, 18, and the like. The present embodiment is a case in which an operation lever device different from the operation lever device of the second embodiment is used to perform vector teaching of the operation direction of the front device front end. Similarly, attitude control is performed.

In FIG. 20, a hydraulic excavator to which the present invention is applied has an operation lever device 80a for teaching an X-direction component of a movement vector (speed vector) of a bucket tip as an operation lever device, and a movement vector (bucket) of a bucket tip. An operation lever device 80c for teaching the Y-direction component of the velocity vector) and an operation lever device 80d for teaching the rotation of the bucket 1d.
The signals a, 80c, and 80d are input to a control unit 7C that outputs an electric signal for performing trajectory control.

The attitude control device according to the present embodiment is provided in such a hydraulic excavator, and similarly to the second embodiment, each of the first boom 1a, the second boom 1b, the arm 1c, and the bucket 1d has a pivot point. And angle detectors 6a, 6b, 6c, 6d for detecting respective rotation angles as state quantities relating to the attitude of the front device 1A, and signals of these angle detectors 6a, 6b, 6c, 6d are also provided. It is input to the control unit 7C.

FIG. 2 shows the processing contents in the control unit 7C.
This will be described with reference to FIGS.

In this embodiment, as shown in FIGS. 21 and 22, in the trajectory control similar to that of the second embodiment, the third
By determining the angle θ2 of the second boom 1b from the angle θ1 of the first boom 1a and the angle θ3 of the arm 1c in the same manner as in the embodiment, the posture of the front device 1A with respect to the target locus r (see FIG. 12). Decide on one. However, in the present embodiment, as described above, the operation lever devices are the two operation lever devices 80a and 80 for teaching the speed component.
The second embodiment differs from the second embodiment in that 0c is used and the teaching position of the movement vector is the tip of the bucket.

FIG. 23 is a functional block diagram showing the processing contents of the control unit 7C, and FIG. 24 is a flowchart showing the processing contents of the control unit 7C. Hereinafter, the processing content will be described according to the procedure of the flowchart shown in FIG.

In FIG. 24, first, in step 400, the first boom 1a, the second boom 1b, the arm 1c,
Angle detector 6 corresponding to angles θ1 to θ4 of bucket 1d
Read from a to 6d.

Next, in step 402, the X direction component ux and the Y direction component yy of the movement vector (speed vector) of the bucket tip taught by the operation lever devices 5a and 5c
Read.

Next, in step 403, the integration positions 7f and 7g shown in FIG.
Find r and Yr.

Next, in step 404, the target angle θ1r of the first boom 1a is calculated by the coordinate conversion unit 7h shown in FIG.
And the target angle θ3r of the arm 1c. This calculation is
Using the second boom angle θ2 and the bucket angle θ4, the calculation is performed by a geometric calculation based on the related link configuration.

In step 405, the differences between the target angles θ1r and θ3r and the measurement angles θ1 and θ3 are multiplied by a gain by the adders 7i and 7j and the multipliers 7k and 71 shown in FIG. The value u1 and the command value u3 of the arm are obtained.

Next, in step 410, the second boom posture calculating section 7a based on the first boom posture shown in FIG.
To obtain the target angle θ2r1.

Next, in step 420, the target angle θ2r3 is obtained by the second boom posture calculating section 7b based on the arm posture shown in FIG.

Next, in step 430, the maximum value calculation unit 7c shown in FIG.
Is obtained and set as the target angle of the second boom.

Next, in step 440, the adder 7d and the multiplier 7e shown in FIG.
The difference between 2r and the measured angle θ2 of the second boom is multiplied by a gain to determine a command value u2 of the second boom.

Next, in step 450, command values u1, u
2 and u3 are used as electromagnetic drive units 9a to 9 of the flow control valves 4a to 4c.
c and return to the beginning.

In the present embodiment configured as described above, regarding the trajectory control of the tip of the bucket, the angle θ2 of the second boom 1b is changed to the angle θ3 of the arm 1c and the angle θ3 of the first boom 1a.
By determining with 1, the posture of the front device with respect to the first boom, the second boom, and the arm with respect to the target locus r can be determined to be one.

The second angle is set according to the angle θ3 of the arm 1c.
If the angle θ2 of the boom 1b is determined and the first boom 1a is raised near the raising end of the first boom 1a,
Accordingly, the angle θ2 of the second boom 1b also increases, so that the work range can be easily changed while performing the excavation work as in the first embodiment, and the excavation work can be performed efficiently. At the same time, as in the third embodiment, after the excavation work near the vehicle body, by raising the first boom, it is possible to easily obtain a posture suitable for the loading work.

In the above embodiment, the angle detectors 6a to 6d are used as the state quantity detecting means for detecting the state quantity relating to the attitude of the front device.
A stroke meter that detects the stroke position of the second boom cylinder, arm cylinder, or bucket cylinder may be used.

[0104]

According to the present invention, since the attitude of the second boom and the attitude of the arm are controlled to have a fixed relationship,
The work range can be easily changed without performing complicated compound operations while performing the excavation work, making the most of the reach of the front device of the two-piece boom type excavator to perform the excavation work efficiently be able to.

Further, according to the present invention, since the attitude of the first boom and the attitude of the second boom are controlled so as to have a fixed relationship, the first boom is raised after excavation work near the vehicle body. A posture suitable for the loading operation can be easily obtained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a posture control device of a two-piece boom type excavator according to a first embodiment of the present invention, together with a hydraulic circuit thereof.

FIG. 2 is a diagram illustrating an appearance of a two-piece boom type hydraulic shovel according to the first embodiment.

FIG. 3 is a diagram for explaining an operation of attitude control according to the first embodiment.

FIG. 4 is a functional block diagram showing processing contents of a control unit.

FIG. 5 is a flowchart illustrating processing contents of a control unit.

FIG. 6 is a diagram illustrating a digging posture in a work area in front of a conventional mono-boom type excavator.

FIG. 7 is a diagram illustrating a digging posture in a working area in front of a two-piece boom type hydraulic shovel of the present invention.

FIG. 8 is a diagram showing a trajectory control device incorporating a posture control device of a two-piece boom type excavator according to a second embodiment of the present invention, together with its hydraulic circuit.

FIG. 9 is a diagram illustrating an appearance of a two-piece boom type hydraulic shovel according to a second embodiment.

FIG. 10 is a diagram illustrating a relationship between an operation input of trajectory control and a corresponding bucket operation in a two-piece boom type excavator according to the second embodiment.

FIG. 11 is a diagram illustrating an operation of attitude control according to the second embodiment.

FIG. 12 is a functional block diagram showing processing contents of a control unit.

FIG. 13 is a flowchart showing processing contents of a control unit.

FIG. 14 is a diagram illustrating a control method of trajectory control according to the second embodiment.

FIG. 15 is a view showing a posture control device of a two-piece boom type hydraulic shovel according to a third embodiment of the present invention together with a hydraulic circuit thereof.

FIG. 16 is a diagram illustrating an operation of attitude control according to the third embodiment.

FIG. 17 is a view for explaining the attitude control operation of the third embodiment.

FIG. 18 is a functional block diagram showing processing contents of a control unit.

FIG. 19 is a flowchart showing processing contents of a control unit.

FIG. 20 is a diagram showing a trajectory control device incorporating a posture control device of a two-piece boom type excavator according to a fourth embodiment of the present invention, together with its hydraulic circuit.

FIG. 21 is a diagram illustrating an operation of attitude control according to a fourth embodiment.

FIG. 22 is a diagram illustrating an operation of attitude control according to the fourth embodiment.

FIG. 23 is a functional block diagram showing processing contents of a control unit.

FIG. 24 is a flowchart showing the processing contents of a control unit.

[Explanation of symbols]

 Reference Signs List 1A Front device 1B Body 1a First boom 1b Second boom 1c Arm 1d Bucket 1e Upper revolving unit 1f Lower traveling unit 2 Hydraulic pump 3a-3d Hydraulic actuator 4a-4d Flow control valve 5a-5d Operating lever device 6a-6d Angle detection Unit 7 Control unit 9a to 9d Electromagnetic drive unit

Claims (9)

[Claims] 1. A first boom rotatably attached to an upper revolving structure, a second boom rotatably attached to the first boom, and an arm rotatably attached to the second boom. An articulated front device including a plurality of front members, a plurality of hydraulic actuators for driving the plurality of front members to move the front device, and controlling a flow rate of hydraulic oil supplied to the plurality of hydraulic actuators A plurality of flow control valves to be operated and an operation means for instructing the operation of the front device, the posture control device for an articulated work machine, comprising: (a) state amount detection means for detecting a state amount related to the posture of the front device; And (b) at least based on the state quantity detected by the state quantity detection means, a small amount so that the attitude of the second boom and the attitude of the arm are maintained in a constant relationship. Both calculate the instruction signal of the second boom, articulated work machine attitude control device, characterized in that it comprises a calculation control means for outputting a flow control valve of the second boom. 2. The attitude control device for an articulated work machine according to claim 1, wherein said arithmetic control means is adapted to increase or decrease the angle of the arm with respect to the second boom, and accordingly, adjust the angle of the second boom with respect to the first boom. A posture control device for a multi-joint working machine, wherein the command signal is calculated so as to increase or decrease. 3. The attitude control device for an articulated working machine according to claim 1, wherein said arithmetic control means keeps the angle of the arm with respect to the second boom and the angle of the second boom with respect to the first boom substantially the same. A posture control device for a multi-joint working machine characterized by calculating the command signal as described above. 4. An attitude control device for an articulated work machine according to claim 1, wherein said arithmetic control means further controls said command signal such that the attitude of said first boom and the attitude of said second boom are maintained in a fixed relationship. A posture control device for a multi-joint working machine, wherein 5. An attitude control device for an articulated work machine according to claim 4, wherein said arithmetic control means responds to an increase or decrease in the angle of the first boom with respect to the upper revolving unit near the raising end of the first boom. A command signal for calculating an angle of the second boom with respect to the first boom. 6. The attitude control device for an articulated work machine according to claim 1, wherein the arithmetic control means calculates the command signal by performing feedback control based on a state quantity detected by the state quantity detection means. An attitude control device for an articulated working machine, characterized by the following. 7. The attitude control device for an articulated working machine according to claim 1, wherein said arithmetic control means calculates a position feedback control based on the state quantity detected by said state quantity detection means and outputs a signal from said operation means. An attitude control device for a multi-joint working machine, wherein the command signal is calculated by performing feedforward control based on the command signal. 8. The attitude control device for an articulated working machine according to claim 1, wherein said operation means includes an operation lever device for instructing operation of said first boom, and an operation lever device for instructing operation of said arm. Wherein the arithmetic control means calculates only the command signal of the second boom. 9. The attitude control device for an articulated work machine according to claim 1, wherein said operation means has an operation lever device for instructing a movement vector of a predetermined portion of said front device, and said arithmetic control means includes: An attitude control device for a multi-joint working machine, characterized by inputting a signal of the operation lever device and calculating a command signal of the first boom and the arm.