JPS5836696B2 - Yuatsushiyobernadono Bucket Tokisekiseigiyosouchi - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is applicable to construction machines such as oil excavators, loader excavators, tractor shovels, etc., which use a plurality of hydraulic cylinders to control the movement trajectory of packets, and which requires fewer operations than before. The present invention relates to a control device that can easily and automatically control the movement trajectory of a packet by operating a lever.

As shown in FIG. 1, the front attachment of a hydraulic excavator or the like includes a boom 2, one end of which is pivoted to the base of the main body 1.
An arm 3 whose intermediate portion is pivoted at the other end of the boom 2 and a packet 4 pivoted at the tip of the arm 3 form a link mechanism.

The link mechanism includes a boom cylinder 5 and an arm cylinder 6.
The excavation work is performed by suitably combining the displacements of the packet cylinder 7 and the displacement of the packet cylinder 7, and the mechanism is suitable for producing strong force for simple excavation work.

However, when moving the cutting edge of the packet 4 along a straight line, such as when working on a slope or horizontally excavating the bottom of a trench, the operator must move each of the three cylinders using the operating levers located in the operator's cab 8. This is an extremely complicated operation that requires skill.

For this reason, hydraulic excavators suitable for straight-line excavation are required.
Various inventions have been made in the past.

For example, (1) the front attachment mechanism itself is changed to a shape suitable for straight excavation.

This method includes Japanese Patent Publication No. 49-34768 and U.S. Pat. S. P3
, 792, 786, which has a parallelogram link, or one which moves the packet linearly by extending and retracting the boom based on the principle of a telescoping boom of a hydraulic truck crane.

(2) The leg automatically swings so that the packet trajectory moves in a straight line with respect to the front attachment of the current X.

This method includes Japanese Patent Publication No. 47-177 and Japanese Unexamined Patent Publication No. 48232.
No. 04 uses a miniature model with a reduced front attachment of a hydraulic excavator, etc., and moves the packet part manually or automatically along a slope member, so that the actual packet moves in the same way. [
There is also the so-called "master-slave method", and the so-called "trajectory memory method 1" in which the excavation trajectory and bucket angle are given in advance and the operator's instructions are used to draw the exact trajectory. It is similar to an analog computer that issues instructions based on pre-calculated information on slopes where the stroke of the boom cylinder must be changed in advance in response to changes in the stroke of the arm cylinder. There is one that uses a function generator as a trajectory calculation mechanism.

However, in the case of (1), the link mechanism itself of the front attachment is changed, resulting in the link mechanism becoming more complicated and heavier, or becoming unstable in strength, resulting in a mechanism that is completely unsuitable for heavy excavation.

Furthermore, in the case of (2), according to Japanese Patent Publication No. 47-177, the operator must constantly give packet position signals during excavation work, resulting in significant operator fatigue; According to the above, slope excavation can be carried out simply by turning on the automatic switch, but on the other hand, the operator cannot control the speed according to the excavation situation, and if an abnormal condition occurs, it is not possible to immediately deal with it and proceed with excavation. .

In addition, in the "trajectory memory method", if an analog computer or the like that issues instructions based on pre-calculated data as described in Japanese Patent Publication No. 50-603 is used as the trajectory calculation mechanism, the device will be very costly. It has the disadvantage of being expensive and lacking in versatility.

The present invention has been made in view of the above, and is based on the F-trajectory storage method.
The cost is reduced by using a model link mechanism similar to the front attachment of a hydraulic excavator, etc., which always moves while maintaining the desired positional relationship of each link, instead of calculating in advance using a function generator such as an analog computer. It is an object of the present invention to provide a trajectory control device and to allow an operator to easily control packet trajectories with the feeling of operating a conventional excavator without any loss of the original functions of a hydraulic excavator.

The invention will be explained below with reference to the drawings.

In FIG. 1, the hydraulic excavator main body 1 is mounted on a G.
Angle α with respect to L.

h from the boom foot pivot point P1.

Consider the case of excavating in a straight line 9 thousand planes apart.

Let P2 be the pivot point of boom 2 and arm 3, P3 be the center of rotation of buckets 1 and 4 at the tip of arm 3, and T be the cutting edge of packet 4.

Referring to FIG. 2, the angle S is a constant angle determined by the packet shape, and δ is the angle between the 1,000 planes 9 and the direction of the packet cutting edge.

(hereinafter δ is referred to as the excavation angle).

Thinking two-dimensionally, let plane 9 be the excavation line XX, set a line LL that passes through point P3 and parallel to the excavation line XX, and let the distance between the XX line and the LL line be h, then h = l3sin ( β+δ)・・・・・・・・・
...It can be expressed as (1).

Therefore, if the excavation angle δ is constant, h is constant, and in order for the packet cutting edge T to move on the XX line, the packet rotation center point P3 only needs to move on the LL line.

During excavation work, it is easy for the operator to visually control the excavation angle δ to a constant tenon, and later we will discuss a method for automatically controlling δ to a constant value, but first, a method to control the P3 point so that it moves on the LL line. I will explain about it.

In Figure 2, the line passing through point P1 and perpendicular to the XX line is YY
Make it a line and set the XX coordinates.

G through point P1. Let the line parallel to L be the HH line, and also P
, the line passing through the point and parallel to the X axis is the AA line, and the P1 point and P2
The line passing through point P2 and P3 is line CC, and the line passing through point P3 and packet cutting edge T is line DD.
Line.

Now the angle between the HH line and the AA line is α.

, the angle between the HH line and the BB line is a boom angle α1, the angle between the BB line and the CC line is an arm angle α2, and the angle between the CC line and the DD line is a packet angle α3.

However, the signs of α1, α2, and α3 are α in FIG.

, α1 are set to be positive, and α2, α3 are set to be negative.

The distance between the AA line and the XX line is h. Then, h is It can be expressed as

In formula (2), l1, 112, α. , ho are constant, so in order to make h constant, keep h constant,
What is necessary is to derive the relationship between α1 and α2 and control so that α1 and α2 maintain that relationship.

α1 and α2 are values that change by operating the boom cylinder 5 and arm cylinder 6, respectively. In the case of straight excavation, the arm cylinder 6 is mainly operated and the boom cylinder 5 is operated incidentally. Because there are many
The case where the arm cylinder 6 is manually operated will be explained as an example.

First, the arm cylinder 6 is manually operated to change the arm angle α2, the arm angle α2 is detected, and equation (2) is expressed as (1).
) Calculate the boom angle α1 corresponding to the arm angle α2 from α, which is determined by substituting h in the equation, and α2, and if the boom angle is controlled to become α1, the P3 point will be on the L line. It will move.

As described above, in the conventional method, it was necessary to provide a complex function generator such as an analog computer as a calculation mechanism for analyzing equation (2).

Therefore, in the present invention, we focus on the fact that the mechanism expressed by 0) in the above equation (2) is the link mechanism itself of the front attachment of a hydraulically operated excavator.
By configuring a model link mechanism similar to this front attachment so as to always maintain the relationship that each link should take, we adopted a method for controlling packet trajectories without using a complicated function generator.

This model link mechanism is shown in Figure 3. In the figure, link 10 and link 11 correspond to boom 2 and arm 3, respectively, and point P1' is a fixed point of the model link mechanism and corresponds to pivot point P1 of boom 2. do.

The link 10 is pivotably mounted around this fixed point P1'.

The point P2' corresponds to the pivot point P2 between the boom 2 and the arm 3, and the link 11 is pivotally connected to the link 10 about the point P2'.

The P3' point corresponds to the pivot point P3 between the arm 3 and the packet 4, and the P3 point corresponds to the trajectory LL line L/L/
It is slidably held in a groove of a guide member 12a that restrains the guide member 12a from moving along a line.

In the figure, α1', αh, and ho correspond to α1, α2, h, and ho in Figure 2, respectively, and the A/A/ line,
The B' line, the C/C/ line, the X/X/ line, and the Y'Y line correspond to the AA line, BB line, CC line, XX line, and YY line, respectively.

FIG. 5 shows an embodiment of the present invention using the model link mechanism shown in FIG. 3. In the figure, the same reference numerals as in FIGS. 2 and 3 indicate the same parts or parts corresponding thereto.

18a shows the model linkage mechanism of FIG. They are connected by a rotation angle transmission means, and the model link angle α
2' is always displaced in accordance with the displacement of the arm angle α2 so as to maintain α2−α2′.

Reference numeral 19 indicates a directional switching valve for the arm cylinder 6, 20 indicates a servo valve for the boom cylinder 5, and 21 indicates a directional switching valve for the packet cylinder 7.

Detectors such as potentiometers for detecting the boom angle α1 and model link angle α1' are provided at the pivot points P1 and P1', and these detectors calculate the angular difference between α1 and α1' and generate electricity. It is connected to a servo amplifier 22a that operates the servo valve 20 based on a signal.

23a is a changeover switch for switching the operation of the boom cylinder 5 between automatic and manual operation, and 24a is a manual operation lever for operating the servo valve 20.

In the embodiment of FIG. 5 configured as described above, when the directional control valve 19 of the arm cylinder 6 is manually operated, the arm 3 first rotates around the point P2.

Therefore, although the arm angle α2 changes, as described above, the link angle 4 of the model link mechanism 18a is always displaced to α22α2' by the remote rotation angle transmission means.

At this time, the link 11 rotates around the P2' point, the P3' point moves along the L/p line along the guide member 12a, and the Q link 10 also rotates around the fixed point P1', resulting in a model link angle α1. ′ also changes.

This α1' is the angle that must be taken when the boom angle α, moves on the LL line because the P3' point moves on the L/L/ line.

The detectors installed at point P1 and point P1' are respectively boom angle α.
1 and the model link angle α1' are detected and the servo amplifier 2
2a, and the servo amplifier 22a sends an electric signal to α1 and α.
1', the difference is amplified, and an output is generated.

The servo valve 20 is operated by this output, and the boom cylinder 5 is driven by the pressure oil from the oil pressure reduction, and the boom 2
is rotated around point P1, and the boom angle α1 is set to α1-α1'.

Therefore, the packet rotation center point P3 moves on the LL line.

Further, when the changeover switch 23a is switched from the automatic position shown in the figure to the manual position, normal excavation can be performed by manually operating the boom, arm, and packet operation levers.

In the above embodiments, the packet 4 was operated manually, so strictly speaking, the excavation surface will not become flat unless the excavation angle δ is properly controlled to be constant.

Next, a control method for automatically keeping the excavation angle δ constant will be described.

It can be seen that in order to keep the excavation angle δ constant, it is sufficient to keep the angle δ+β constant as shown in FIG.

Therefore, this can be realized by using a model link mechanism as shown in FIG.

In FIG. 4, the same reference numerals as in FIG. 3 indicate the same or corresponding parts.

In the figure, link 13 has been added to the model link mechanism of FIG. 3, and link 13 corresponds to packet 4 of FIG. 2.

Also, the tip T' of the link 13, the angle β'+δ', α3',
I}'D' lines correspond to the packet cutting edge T1 angle β+δ, α3, and DD line in FIG. 2, respectively.

A slider 14 is pivotally attached to the tip T' of the link 13, and the slider 14 is connected to the guide member 1 provided along the X/X/ line.
It is restrained to slide on 2b.

Therefore, the tip T' of the link 13 always moves on the XX line.

Further, the relative angle β'+-d between the link 13 and the slider 14 can be adjusted and fixed to a predetermined value using means such as bolts and nuts.

Therefore, if β'+δ' is fixed at a predetermined value, when the tip T' of the link 13 moves on the X/X/ line, the link 13 always maintains a predetermined angle with respect to the X/X/ line. .

In addition, in order to adjust and fix the relative angle β'+δ' between the link 13 and the slider 14 to a predetermined value by remote control, the excavation angle adjustment lever link 13 is installed in the driver's seat using either a cell cylinder or a potentiometer and a servo motor. The connection may be made by a remote rotation angle transmission means such as.

An embodiment of the present invention using a model link mechanism as shown in FIG. 4 is shown in FIG.

In the figures, the same reference numerals as in FIGS. 4 and 5 indicate the same or corresponding parts.

18b is a model link mechanism shown in FIG. 4, and 2lb is a servo valve of the packet cylinder 7.

Detectors such as potentiometers for detecting the packet angle α3 and the model link angle α3' are provided at the pivot points P3 and P3', and these detectors calculate the difference between α3 and α3' and output the result using electrical signals. It is connected to a servo amplifier 22b that operates the servo valve 21b.

23b is a changeover switch for switching between automatic and manual operation of the packet cylinder 7, and 24b is a manual operation lever for operating the servo valve 2lb.

In the embodiment shown in FIG. 6 constructed as described above, when the switching valve of the arm cylinder 6 is manually operated, the arm angle .alpha.2-.alpha.2' is maintained in the same manner as in the embodiment shown in FIG. Then, the link 11 rotates, and the tip T' of the link 13 moves on the X/X/ line while keeping β'+δ' constant.

At this time, the angle detector installed at point P3' detects α3', and the angle detector installed at point P3 detects the packet angle α3.
Detect.

α3 and α3' are compared by the servo amplifier 22b, and when an amplified electric signal is output from the amplifier 22b based on the difference, the servo valve 2lb is operated, the packet cylinder 7 is driven, and the packet angle α3 is ′ is controlled to a value equal to ′.

Therefore, the packet cutting edge T moves on the excavation surface 9 and β
+δ - β' + δ' is constant, and the excavation angle δ is kept constant.

Further, when the changeover switches 23a and 23b are switched from the illustrated position to the manual position, normal excavation work can be performed by manually operating the boom, arm, and packet control levers.

In the embodiments shown in FIGS. 5 and 6, when the arm cylinder 6 is manually operated, the arm angle α2 is noted, and using this as an input, the model link angle α2' is equally displaced, and the boom angle α1 or the boom angle α1 and embodying the value that the packet angle α3 should take on the model link mechanism, detecting this value, comparing it with the actual value, emitting the difference as an output, and operating the boom cylinder 5 or the boom cylinder 5 and the packet cylinder 7; The angles at which the boom 2 and the packet 4 are displaced were controlled to be equal to the calculated values, but we focused on the displacement of the arm cylinder 6 as the displacement corresponding to the arm angle α2, and added each cylinder to the model link mechanism. By providing a similar one, the value that each cylinder should take in response to the displacement of the arm cylinder 6 is realized on the model link mechanism, this value is detected, and the displacement of each cylinder is adjusted to be equal to this detected value. By controlling , packet trajectory control similar to that shown in FIGS. 5 and 6 can be performed.

However, in actual straight-line excavation work, it is necessary to cut into the excavated surface little by little, and the guide member 12 described in the above embodiment requires a mechanism to move in parallel by a desired amount.

An example of this is shown in FIG.

In the figures, the same reference numerals as in FIGS. 3 and 4 indicate the same or corresponding parts.

The guide member 12 forms a parallelogram link together with the link 26, the link 29a, and the link 29b, and is provided with a device 30 that can freely adjust the angle between adjacent links, for example, the angle θ between the link 29a and the link 26. There is.

Furthermore, since the stator 28 installed at both ends of the link 26 is configured to be movable on the grooves 2γa and 27b provided on the model link mechanism, both ends of the link 26 can be moved to any position on the grooves 27a and 27b, respectively. It can be fixed in position and the link 26 can be set at a desired inclination angle.

Therefore, if the device shown in FIG. 7 is
When added to the model link mechanism shown in the figure, by adjusting the angle θ, the guide member 12 can be moved in parallel, and the amount of cut into the excavated surface can be easily adjusted.

Furthermore, by moving the stator 28, the angle of the excavation surface can be set as desired.

In the above embodiments, only straight line excavation has been described, but the guide member 12 in the embodiments of FIGS. 3 and 5 has been described.
By making a into any straight or curved shape, it becomes possible to easily trace and excavate along any desired trajectory, and also in the embodiments shown in FIGS. 4 and 6, the guide member 1
If the curvature of 2b is within the range in which the slider 14 can slide, it can be applied to curved excavation.

In this specification, only excavation work has been described so far, but the present invention can also be applied to other work performed with a hydraulic excavator.

Next, as one of other embodiments, loading work into the dump truck 16 will be described.

FIG. 8 shows this embodiment.

In the figure, the broken line indicates the attitude of the front attachment immediately after excavation, and the solid line indicates the position where the upper rotating body 1a loads the excavator onto the dump truck 16 relative to the traveling body 1b from the plane of the broken line. This is the posture of the front attachment in a plane after turning by a predetermined angle.

Dump truck 16 from the position immediately after excavation as shown in the figure.
While turning to the position where the excavated soil is loaded, the attitude of the front attachment must change from the state shown by the broken line to the state shown by the solid line.

In this case, the operator is responsible for the swing, boom, arm,
Four operating levers for the packet must be operated in combination, and this operation is extremely complex and requires skill.

Therefore, the present invention is applied to this. In FIG. 8, a line connecting the position of the center of rotation of the packet in the attitude immediately after excavation and the position of the center of rotation of the packet in the attitude of loading the dump truck 16 is defined as line LL.

Similarly, draw a line connecting each position of the packet cutting edge with
X-ray.

Then, the model link mechanism 18a or 18b described in the embodiments of FIGS. 3 and 4 is provided to guide the guide member 1.
2 along the trajectory on the model link mechanism similar to the LL line or XX line, the two operating levers for swing and arm, or the three operating levers including the packet operating lever, can be operated. Accordingly, loading work onto the dump truck 16 can be easily performed.

When the guide member 12 is set on the XX line, the packet edge angle δ can be automatically maintained at an angle that prevents the excavated soil in the packet from falling.

In the explanation in Ima\, the active link operated by the operator using the manual operating lever was described as the arm 3, but when loading an excavator onto the dump truck 16, the active link operated by the operator using the manual operating lever may be used. Boom 2 is used instead of arm 3, and arm 3 is used as a driven link that is automatically restrained so as to be displaced in response to the displacement of the driving link.
Alternatively, it is more suitable to use arm 3 and packet 4.

This is because in the case of the above-mentioned dump truck loading work, the movement of the boom 2 is the main movement, and the movement of the arm 3 is incidental.

In addition, it is generally preferable to place the model link mechanism in the operator's cab 8 to facilitate maintenance and inspection and adjustment by the operator, but if there is a problem with space or other issues,
The present invention has the following effects as described above.

(1) Slope work, dump truck loading work, or excavation work where the packet cutting edge follows a predetermined straight or curved trajectory can be easily performed by operating fewer operating levers than in the past.

(2) Since the speed control method is the same as the control method of conventional hydraulic excavators, the operator can perform operations with the same feeling as before.

(3) By using a simple model link mechanism without using a function generator such as an analog computer, we provide a highly reliable and low-cost packet trajectory automatic control device that does not impair the original functions of hydraulic excavators, etc. be able to.

(4) It is possible to excavate by cutting into the excavation surface little by little, and the inclination angle of the excavation surface can be freely selected.

[Brief explanation of drawings]

Figure 1 is a diagram showing the state in which a hydraulic excavator excavates a flat surface in a straight line, Figure 2 is a diagram confirming the operation of the link mechanism that constitutes the front attachment of the hydraulic excavator, and Figure 3
The figure shows one embodiment of the model link mechanism used in the present invention, FIG. 4 shows another embodiment of the model link mechanism, and FIG. 5 shows the present invention using the model link mechanism of FIG. 3. FIG. 6 is a diagram showing another embodiment of the present invention using the model link mechanism shown in FIG. 4. FIG. FIG. 8 is a diagram showing a mechanism added to the link mechanism, and is a diagram showing a case where the present invention is applied to loading work into a dump truck or the like. 1... Hydraulic excavator main body, 1a... Upper rotating body, 1b... Lower swinging body, 2...
・Boom, 3... Arm, 4... Packet, 5... Boom cylinder, 6...
Arm cylinder, 7...Packet cylinder, 1
0...Model link corresponding to the boom, 11.
...Model link drawn on the arm, 12...
... Guide member, 13 ... Model link corresponding to a packet, 18a, 18b ... Model link mechanism, 2222a, 22b ... Servo amplifier, 26 ... ...Link parallel to the guide member, 2
9a, 29b...Links connecting the guide member and both ends of the link parallel thereto.

Claims (1)

[Claims] 1. In a hydraulic excavator or the like that controls the movement trajectory of a packet by appropriately combining the displacements of a boom cylinder, an arm cylinder, and a packet cylinder, one of the boom cylinder and the arm cylinder is manually operated, When a boom or arm that is displaced by operation is the active link, and a boom or arm or a boom and a packet or an arm and a packet that are displaced in response to the displacement of the active link are used as the driven link, the angle of the active link or the displacement corresponding to this. a detection mechanism that detects the value of a model link mechanism having a means for restraining the packet cutting edge or a point corresponding thereto on a trajectory similar to the trajectory in which the packet cutting edge or a point corresponding thereto should move; and a driven link angle on the model linkage mechanism or the like. A detection mechanism that detects the displacement value corresponding to A packet trajectory control device for a hydraulic excavator or the like, comprising a mechanism for controlling the actual displacement value to equal the displacement of the driven link on the model link mechanism. 2 The active link and the model link are connected by a remote rotation angle transmission means so that the active link angle and the corresponding model link angle are always equal, and the model link is moved on a trajectory similar to the trajectory in which the packet rotation center point should move. A guide member is provided in the model link mechanism to restrain the point corresponding to the center of packet rotation on the mechanism from moving, and when the driving link is displaced, the difference between the model link angle corresponding to the driven link and the actual driven link angle is detected. A packet trajectory control device for a hydraulic excavator or the like according to claim 1, further comprising a mechanism for displacing the driven link angle by an amount corresponding to the difference in leverage. 3 The active link and the model link are connected by a remote rotation angle transmission means so that the active link angle and the corresponding model link angle are always equal, and the model link mechanism is moved on a trajectory similar to the trajectory that the packet cutting edge should move. A model link mechanism is provided with a guide member for restraining movement of a slider provided at a point corresponding to a packet cutting edge, and a means for adjusting and fixing an angle formed between a model link corresponding to a packet and the slider. , when the driving link is displaced, a mechanism is provided to detect the angular difference between the angle of the model link corresponding to the driven link and the actual driven link, and to displace the driven link angle by an amount corresponding to this difference. A packet trajectory supporting leg device for a hydraulic excavator according to claim 1. 4 A parallelogram link mechanism is formed by the above-mentioned guide member provided in the model link mechanism, a link parallel to the guide member, and two links connecting both ends of the guide member and the link parallel to this. Alternatively, the angle formed by two adjacent links can be freely adjusted and fixed, and the link parallel to the guide member can be fixed at any position on the model link mechanism to set the inclination angle to a desired angle. Claims 2 and 3, characterized in that
A packet trajectory control device for a hydraulic excavator, etc., as described in 2.