JPH11181838A - Automatically operated shovel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatically operated shovel permitting the quick and reliable transfer form automatic operation to manual operation. SOLUTION: This shovel is equipped with operation lever portions 7, 70 for outputting operation signals for operating each portion of the hydraulic shovel by the operation of the operation lever 7; automatic operation control sections 5, 6 for outputting hydraulic signals for repeating a series of operations from excavation to earth discharge taught to the hydraulic shovel; a control valve to be driven by operation signals or hydraulic signals; and actuators driven by oil pressure to be output from the control valve, which operate each portion of the hydraulic shovel. In this case, means 9 for detecting operation signal is provided, and the automatic operation control sections 5, 6 stop the output of the hydraulic signals when an operation signal is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly, to an automatic driving shovel capable of quickly and reliably switching from automatic driving to manual driving.

[0002]

2. Description of the Related Art Conventionally, a hydraulic excavator is known as a typical example of construction equipment. In recent years, when a series of operations from excavation to dumping is monotonously repeated by a hydraulic excavator, the operation is automatically performed by automatic operation. Work is being done. For example, Japanese Patent Publication No. 54-7121 teaches a series of operations from excavation to earth removal, and repeatedly reproduces the taught operations to automatically perform a series of operations from excavation to earth removal by a hydraulic shovel. Is disclosed.

[0003]

By the way, the self-driving shovel teaches the operation procedure to the self-driving shovel,
When confirming whether or not to operate according to the teaching contents, there are cases where it is desired to change the teaching contents during automatic operation. In such a case, usually, the operator takes an operation procedure of pressing the stop button of the automatic operation, switching to the manual operation in the cab, and operating the operation lever to move the posture of the automatic operation shovel to the teaching position. However, there is a problem that the operation becomes complicated.

The present invention has been made in view of the above-mentioned problems of the conventional automatic operation shovel, and has made it possible to quickly and surely shift from automatic operation to manual operation when performing operation confirmation or the like in automatic operation after teaching. It is intended to provide an automatic driving shovel.

[0005]

The present invention employs the following means in order to solve the above-mentioned problems.

[0006] An operation lever section for outputting an operation signal for operating each section of the excavator by operating the operation lever, and a series of operations from excavation to earth removal taught by the excavator are repeatedly performed by a regeneration operation. Operation control unit that outputs a hydraulic signal for the control unit, a control valve that is driven by the operation signal or the hydraulic signal, and an actuator that is driven by pressure oil output from the control valve and operates each part of the hydraulic shovel And a means for detecting the operation signal, wherein the automatic operation control unit stops outputting the hydraulic signal when the operation signal is detected.

Further, in the automatic driving shovel according to claim 1, the control valve is connected via a selection means for selecting and outputting a larger one of the operation signal and the hydraulic pressure signal. It is characterized by the following.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS.

FIG. 5 is a perspective view showing a working state of the automatic driving shovel according to the present embodiment. In the figure, 1 is a debris storage location, 2 is a hydraulic excavator that crushes debris stored in the debris storage location 1 and discharges it to a crusher 3 described below, 3 is a crusher, and 4 is an automatic operation of the hydraulic shovel 2 by remote control. Is a remote control device installed at an arbitrary place suitable for performing the operation.

The hydraulic excavator 2 includes a traveling body 20, a revolving body 21 rotatably provided on the traveling body 20, and a revolving body 2.
A boom 22 provided to be capable of elevating movement;
Arm 23 rotatably provided at the tip of
3, a bucket 24 rotatably provided at the tip of the cylinder 3, cylinders 25, 26, 27 for elevating the bucket 24, the arm 23, and the boom 22, respectively; , And an antenna 29 for transmitting and receiving signals to and from the remote control device 4.

The crusher 3 includes a traveling body 30, a frame 31 provided on the traveling body 30, a hopper 32 provided on the frame 31, and a crushing section 33 provided below the hopper 32. And a conveyor 34 provided below the crushing unit 33. Reference numeral 35 denotes debris crushed by the crushing machine 3.

The remote control device 4 includes a support table 40,
The playback operation unit 42 fixed to the support base 40 is operated during teaching, but is mounted in the cab during normal teaching, and is provided so as to be mechanically and electrically connectable to the main body of the remote operation device 4 during playback. Teaching operation unit 41 and hydraulic excavator 2
Antenna 4 that transmits and receives signals to and from antenna 29
And 3. In addition, the teaching operation unit 41 includes a display unit 44 that displays a teaching result. Ka, K
b,... K (n−1), Kn represent the trajectory at the tip of the bucket 24 during teaching or reproduction.

FIG. 1 is a block diagram showing an outline of a functional configuration of the automatic driving shovel according to the present embodiment.

In FIG. 1, reference numeral 5 denotes an automatic operation controller mounted on the excavator 2 for automatically operating the excavator 2; 51, a teaching processing unit for executing a teaching process in response to a command from the teaching operation unit 41; Is a teaching position storage unit that stores an angle signal from the angle sensor 10 described later as teaching position data in any of a plurality of postures of the excavator 2 as a result of the teaching processing, and 53 stores a playback command during a playback operation. A command interpreter unit for interpreting the playback command and instructing the teaching position storage unit 52 to output predetermined teaching position data;
Reference numeral 55 denotes a teaching position output processing unit for outputting the teaching position data, and reference numeral 56 interpolates the teaching position data output from the teaching position output processing unit 55 by calculation so that the operation of the excavator 2 operates smoothly. A servo pre-processing unit 57 that generates and outputs the teaching position data, and compares the teaching position data interpolated from the servo pre-processing unit 56 with the current position data output from a current position calculation unit 58 described below to compare the hydraulic pressure. A servo control unit 58 that outputs a control signal for controlling the excavator 2 to a predetermined position, a current position 58 that calculates an output from an angle sensor 10 described later provided in each unit of the hydraulic excavator 2 into predetermined current position data The operation unit 59 receives a start or stop command from the remote control device 4 or inputs a stop command from a pressure switch described later to execute a command interpreter. The part 54 is a playback start and stop processing unit for transmitting a start signal or a stop signal.

Reference numeral 6 denotes an electromagnetic proportional pressure reducing valve which is controlled by a control signal output from the servo control unit 57 and outputs pressure oil from a hydraulic pump (not shown). Reference numeral 7 denotes an operation command for operating each part of the hydraulic shovel. Operation lever, 70
Is a switching valve for outputting pressure oil from a hydraulic pump (not shown) in accordance with the operation of the operation lever 7, and 8 is an electromagnetic proportional pressure reducing valve 6.
Alternatively, a shuttle valve 9 for selecting and outputting the higher pressure oil signal of the pressure oil signal output from the switching valve 70, and when the operation lever 7 is operated, detects a hydraulic signal from the switching valve 70, The pressure switch 10 outputs a detection signal to the regeneration start / stop processing unit 59. The rotation switch 10 rotates between the swing body 21 and the boom 22, the boom 22 and the arm 23, the arm 23 and the bucket 24, and the rotation of the swing body 21. It is an angle sensor that detects an angle.

In FIG. 1, the same parts as those shown in FIG. 5 are denoted by the same reference numerals, and description thereof will be omitted.

Here, the interpolation processing of the servo pre-processing unit 56 will be described.

The servo preprocessor 56 first obtains and holds the current position data A via the angle sensor 10, the current position calculator 58, and the servo controller 57. Next, the target teaching position data B is output from the teaching position output processing unit 55.
Read. Here, for example, 1/10 of the difference C
And outputs the position data of the current position data A + the difference C / 10 to the servo control unit 57. Next, after a certain time, the servo pre-processing unit 56 determines that the current position data A + the difference 2
(C / 10) is output to the servo control unit 57. Thereafter, the same processing is repeated to output the current position data A + the difference C (= teaching position data B) to the servo control unit 57, and the interpolation processing for the teaching position data B is completed. In the same manner, an interpolation process is performed every time each teaching position data is output.

FIG. 2 is a diagram showing an example of a playback command stored in the playback command storage unit 53.

In the figure, L1 indicates a line label instead of a command, MOVE indicates a command for instructing an operation, P1
To Pn are labels indicating the angle information of each joint provided in each part of the excavator 2 of the MOVE command, GOTOL1.
Is a command for instructing that execution be restarted from the line label L1. Teaching position data, which is a parameter of each of the labels P1 to Pn, is stored in the teaching position storage unit 52.

FIG. 3 is a diagram showing an example of the teaching position data stored in the teaching position storage section 52.

In the drawing, P1 to Pn correspond to the labels P1 to Pn, and the boom angle, the arm angle, the bucket angle, and the turning angle to be taken by each part of the hydraulic shovel corresponding to each of the labels P1 to Pn. A value has been set.

Next, the operation of the automatic driving shovel according to this embodiment will be described with reference to FIG. During playback after teaching,
A start instruction from the reproduction operation unit 42 of the remote operation device 4 is output to the command interpreter unit 54 via the reproduction start / stop processing unit 59. Upon receiving the start instruction, the command interpreter unit 54 sequentially reads out and interprets the reproduction commands shown in FIG. 3 stored in the reproduction command storage unit 53. For example, when the command is a MOVE command, the command The teaching position data as a parameter corresponding to each of the labels P1 to Pn is output from the teaching position storage unit 52 to the teaching position output processing unit 55. The output teaching position data is input to the servo pre-processing unit 56, where the hydraulic excavator 2 is operated so as to operate at a smooth speed, and the interpolated teaching position data is created as described above. The interpolated teaching position data is input to the servo control unit 57, while the current position calculation unit 58 calculates the sensor signal detected by the angle sensor 10 to obtain the current position data, and inputs the data to the servo control unit 57. . The servo controller 57 performs a predetermined servo control based on the target interpolated teaching position data and the detected current position data, outputs a control signal to the electromagnetic proportional pressure reducing valve 6, and causes the automatic operation to be executed.

When checking the operation, if it is desired to stop the automatic operation and move the hydraulic excavator to the teaching position by the manual operation, since the automatic operation is being performed, the electromagnetic proportional pressure-reducing valve 6 applies a pressure from a hydraulic pump (not shown) to the electromagnetic pressure reducing valve 6. Oil is supplied, and pressure oil output from the electromagnetic proportional pressure reducing valve 6 based on a control signal from the automatic operation controller 5 is sent to the shuttle valve 8. Here, when the operation lever 7 is operated, the operation lever 7
The switching valve 70 connected to the valve operates in conjunction with the switching valve 70.
Since hydraulic oil is supplied from a hydraulic pump (not shown), when the operating lever 7 is operated, the hydraulic oil is sent to the shuttle valve 8. The pressure oil is similarly sent to the pressure switch 9, and the operation of the operation lever 7 from the pressure switch 9 is transmitted to the regeneration start / stop processing unit 59 of the automatic operation controller 5. The reproduction start / stop processing unit 59 transmits a stop signal to the command interpreter unit 54 to stop the operation of the automatic operation controller 5.

On the other hand, from the shuttle valve 8, the operation lever 7
The pressure oil output from the switching valve 70 by the operation and the pressure oil from the electromagnetic proportional pressure reducing valve 6 output by the control signal of the automatic operation controller 5 are input, and the higher oil pressure is output as the control pressure. By operating the operation lever 7, the output of the control signal from the automatic operation controller 5 to the electromagnetic proportional pressure reducing valve 6 is stopped. Therefore, the shuttle valve 8 outputs only the pressure oil output from the switching valve 70, Manual operation is started quickly and reliably.

The operation of the hydraulic circuit of the automatic shovel according to the present embodiment will be described with reference to FIG.

FIG. 4 is a diagram showing a hydraulic circuit for driving various actuators controlled by an automatic operation controller or various operation levers.

In this figure, 71, 72, 73, 74
1 corresponds to the operation lever 7 shown in FIG. 1, 71 is an operation lever for operating the bucket, 72 is an operation lever for operating the arm, 73 is an operation lever for operating the boom, and 74 is an operation lever for operating the revolving unit. is there. 701, 702, 70
Reference numerals 3 and 704 correspond to the switching valve 70 shown in FIG. 2, and are provided corresponding to the operation levers 71, 72, 73 and 74, respectively. 611, 612, 621, 622, 631, 6
32, 641, 642 correspond to the electromagnetic proportional pressure reducing valve 6 shown in FIG. 2, the electromagnetic proportional pressure reducing valves 611, 612 are bucket control, the electromagnetic proportional pressure reducing valves 621, 622 are arm control, and the electromagnetic proportional pressure reducing valves 631, 632 are boom. The control and the electromagnetic proportional pressure reducing valves 641 and 642 are related to the revolving structure control, respectively. 81
1,812,821,822,831,832,84
1, 842 corresponds to the shuttle valve 8 shown in FIG.
Reference numerals 1 and 822 are related to arm control, shuttle valves 831 and 832 are related to boom control, and shuttle valves 841 and 842 are related to swing body control. 911, 912, 921, 922, 9
31, 932, 941, 942 correspond to the pressure switch 9 shown in FIG. 2, pressure switches 911, 912 are bucket control, pressure switches 921, 922 are arm control, pressure switches 931, 932 are boom control, pressure switch 9
Reference numerals 41 and 942 relate to the swing body control. 101, 102,
103 and 104 are shuttle valves 811 to 812, respectively.
Switching valves controlled by hydraulic signals from 821 to 822, 831 to 832, 841 to 842, 25, 26, 2
7 corresponds to the bucket cylinder, arm cylinder, and boom cylinder shown in FIG. 1, respectively, and 111 is a hydraulic motor for driving the revolving unit.

In the figure, portions connected by solid lines represent electric circuits, and portions connected by dotted lines represent hydraulic circuits.

Here, for example, when the operating lever 71 is operated to operate the bucket, the switching valve 701 connected to the operating lever 71 operates in conjunction with it. Switching valve 701
Is supplied with pressure oil from a pump 12. When the operation lever 71 is in the neutral state, the switching valve 701 is closed, and the pressure oil is not sent further. However, when the operation lever 71 is operated and the switching valve 701 moves to the right, the pressure oil is The pressure oil is sent to the shuttle valve 811, and when it moves to the left, the pressure oil is sent to the shuttle valve 812. This pressure oil is a pressure switch 9
11 or 912, the operation of the operation lever 71 is performed.
Is transmitted to

Similarly, when the operation levers 72, 73, 74 are moved, the pressure switches 821-822, 831
The signals are transmitted to the automatic operation controller 10 by the signals from 832, 841 to 842.

On the other hand, electromagnetic proportional pressure reducing valves 611-612, 621-62
2, 631 to 632, 641 to 642 operate. For example, when pressure oil from the pump 12 is supplied to the electromagnetic proportional pressure reducing valve 611 and the control signal is OFF, the electromagnetic proportional pressure reducing valve 611 is closed and pressure oil is not sent first, but the control signal is When it is ON, the electromagnetic proportional pressure reducing valve 611 moves to the right, and the pressure oil is sent to the shuttle valve 811.

The pressure oil output from the switching valve 701 by the operation of the operation lever 71 and the pressure oil from the electromagnetic proportional pressure reducing valve 611 output by the control signal of the automatic operation controller 5 are input to the shuttle valve 811. Is output as the control pressure of the switching valve 101.

Similarly, pressure oil from the switching valve 701 by the operation lever 71 and the pressure oil from the electromagnetic proportional pressure reducing valve 612 is selected and supplied to the switching valve 101 as the control pressure by the shuttle valve 812. High pressure oil is supplied to the switching valve 101 from the hydraulic pump 13, and the hydraulic cylinder 25 operates by operating the switching valve 101 by the pressure supplied from the shuttle valve 811 or 812.

Similarly, the hydraulic cylinders 26, 27 and the hydraulic motor 111 can be selectively operated by the operation levers 72, 73, 74 or the automatic operation controller 5.

When any one of the operation levers 71 to 74 is operated, the operation is detected by one of the pressure switches 911 to 942 to stop the operation of the automatic operation controller 5 and to quickly start the manual operation. be able to.

[0037]

As described above, according to the present invention, when the operation lever is operated to perform the manual operation, the operation signal is immediately detected and the control signal from the automatic operation control unit is stopped. Can shift to manual operation. In addition, since the automatic operation can be stopped by operating the operation lever, the operation can be performed easily and reliably as compared with the operation of the automatic operation stop button or the like.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an outline of a functional configuration of an automatic driving shovel according to an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a playback command stored in a playback command storage unit 53 shown in FIG.

FIG. 3 is a diagram illustrating an example of teaching position data stored in a teaching position storage unit 52 illustrated in FIG. 1;

FIG. 4 is a view showing a hydraulic circuit which is controlled by an automatic operation controller and an operation lever and drives various actuators according to the embodiment.

FIG. 5 is a perspective view showing a working state of the automatic driving shovel according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Mudstone 2 Hydraulic excavator 25, 26, 27 Hydraulic cylinder 3 Crusher 4 Remote control device 41 Teaching operation part 42 Reproduction operation part 5 Automatic operation controller 52 Teaching position storage part 53 Reproduction command storage part 54 Command interpreter part 56 Servo preprocessing part 57 Servo control unit 58 Current position calculation unit 59 Regeneration start / stop processing unit 6 Electromagnetic proportional pressure reducing valve 7 Operating lever 70 Switching valve 8 Shuttle valve 9 Pressure switch 10 Angle sensor 101, 102, 103, 104 Switching valve 111 Hydraulic motor

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Seiji Yamashita 650, Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. Inside Tsuchiura Factory

Claims (2)

[Claims] 1. An operation lever section for outputting an operation signal for operating each section of a hydraulic shovel by operating an operation lever, and a series of operations from excavation to dumping of the hydraulic shovel taught by a regeneration operation. An automatic operation control unit that outputs a hydraulic signal for performing repetition; a control valve that is driven by the operation signal or the hydraulic signal; and a unit that is driven by pressure oil that is output from the control valve to operate each unit of the hydraulic shovel. An automatic driving shovel comprising: an automatic driving shovel comprising: means for detecting the operation signal; wherein the automatic driving control unit stops outputting the hydraulic signal when the operation signal is detected. Driving excavator. 2. The control valve according to claim 1, wherein the control valve is connected via a selection unit that selects and outputs a larger one of the operation signal and the hydraulic pressure signal. Self-driving excavator.