JPS6010024A - Ground excavator - Google Patents

Abstract

PURPOSE:To permit the unmanned continuous excavation operations of the ground by a method in which the slewing and rocking angles of a power shovel are detected, the detected values are compared with set values, and each of oil- pressure cylinders is controlled so that the deviation between the detected value and the set value is zeroed. CONSTITUTION:A boom 2 is attached to a runner 1 in a vertically rocking and horizontally slewing manner, an arm 3 is pivotally attached to the tip of the boom 2, and a bucket 4 is pivotally attached to the tip of the arm 3. The rocking angle theta2 and slewing angle theta1 of the boom 2, the rocking angle theta3 of the arm 3, and the rocking angle theta4 of the bucket 4 are detected, and these detected values and preset angles theta1, theta2, theta3, and theta4 stored in a memory 10 provided to the vehicular body are put in a quadruple shaft servo amplifier 11. Output values to operate each oil-pressure cylinders 5, 6, 7, and 8 so that the deviation between the detected value and the preset value is zeroed are sent out of the amplifier 11. Excavation work can thus be continuously performed in an unmanned condition.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention includes a predetermined packet attached to a driveable vehicle via a boom and an arm.

The present invention relates to a land excavation rig adapted to follow the tip trajectory and corresponding instantaneous attitude thereof.

Recent development of urbanization, increase in traffic volume and urban gasification,
Work that requires land excavation equipment has rapidly increased for sewage maintenance, abolishment of utility poles, etc., but it is also important to repair roads or bury waste pipes, water pipes, telephone lines, power distribution lines, etc. buried under roads. When carrying out work such as repairing objects, installing branches, burying, etc., it is necessary to excavate the ground to a certain depth and in the correct route. For example, after crushing concrete or asphalt pavement, use a power shovel or the like to dig up the soil and pile it next to the dug trench, or is there a risk that the excavated soil will flow back into the hole due to rainwater, etc.? In addition, in areas where there is a risk of interfering with traffic, such as on roads within cities, they are loaded into dump trunks and temporarily transported to tsuchiomikamo.

Also the concrete or asphalt mentioned above? ! Conventionally, the work of crushing the pavement of t was to first cut both sides with a disc-shaped canter, and then crush the pavement with a breaker, etc.
Recently, this work has become possible to be done at high speed and quietly using a stabilizer equipped with a cutter and crusher attached to the outer periphery of a cylindrical drum.

However, the work of excavating the soil had to be carried out by an operator using a crane lift.

This work using a power shovel must be carried out efficiently in areas with heavy traffic, such as on city roads, during nighttime hours when there is less traffic. Accidents that damage underground enclosures often occur, and for seven reasons, it takes a lot of skill to operate a power shovel. I still need it. Strong lighting is necessary for the operator to see inside the reed iH, and sometimes it may damage the driving operations of passing vehicles at the construction site. It was hoped that the work would be automated.

For this reason, various technologies have been developed for automating excavation, for example, as described below.

First, as described in Japanese Patent Publication No. 54-7121, the IJ stationary excavation control device determines the cutting edge position from signals corresponding to the output of the footing device at the excavation start position and release position and the position of each movable part of the excavator. First, compare the output of the calculation circuit to calculate
It is a method in which the cutting edge of the Iso is moved to the digging start position 1〆5-, then the digging operation is performed, and then the release operation is performed, and the 0) operation is repeated and performed visually. Is the excavation operation between the two set positions, i.e., the starting position lI and the setting and release position setting, to follow a certain program?
．． 913 For example, the current position of the bucket and the set excavation start position or soil release t41] Because the route to the start position or the route during the excavation operation has not been specified, other objects such as dump trucks may be dumped. There is a risk of colliding with the truck's vessel, and the correct digging t1 may occur because the attitude and route of the bucket during excavation are not specified.
There are problems such as there is no guarantee that the money will be paid.

Tokukai Akira again! :1l-87504 [Play bank system automatic excavation (special)]
Playback by issue] Excavating damage during automatic excavation
When the excavation becomes too large and excavation is no longer possible, the excavator automatically removes the tip according to the excavation load. It is not intended to follow the instantaneous attitude of the bucket determined by
There is no guarantee that the sword will be made by a single swordsmith.

In addition, the "Power/Jiber's Eye IIW excavation system 01141 device" disclosed in Japanese Patent Application Laid-Open No. 113001 controls the hydraulic switching valves in a predetermined order in order to automatically adjust the depth of the excavation. In addition, the bucket opening is held horizontally from excavation loading photon to loading discharge operation, and the optimum 4') d! It's not something to cut down on.

In addition, the "automatic excavation control device for power shovels" disclosed in Japanese Patent Application Laid-open No. 52-64105 discloses a hydraulic switching valve based on detection signals corresponding to the operating states and load states of the boom, arm, and bucket, as well as programs for their operations and operating sequences. This method controls the excavation and removal of wide trenches in several pitches, and does not continuously scoop out soil into the desired shape.

An object of the present invention is to solve the above-mentioned problems and to provide a "land ms+" device gong which enables continuous power/gibel operation to be performed unmanned, accurately, and at high speed. The excavating equipment i', J has a boom mounted on a movable vehicle body so as to be able to rotate and tilt, at least one arm mounted on the boom in a pivot opening, In a land excavation equipment that is connected to a bucket attached to the first pivoting part of the arm, when the bucket follows a predetermined trajectory of the tip of the bucket and an instantaneous attitude corresponding to the trajectory, the boom of the boom is The instantaneous values of the turning angle and inclination angle to be taken and the instantaneous values of the rotational angles to be taken by the pivoting parts of the arm and bucket are calculated one after another, and the turning angle to be taken is calculated so that the bucket follows the trajectory and the instantaneous attitude. The turning angle, inclination angle, and rotation angle of removal are controlled based on the angle, inclination angle, and rotation angle.

The above-mentioned stabilizer operation is performed at low speed and under constant conditions, so there is no need for an operator to stand by, and the stabilizer can be easily operated automatically [i! Since it is also possible to perform double operation, when installing the stabilizer for land excavation according to the present invention at the rear, the entire trench excavation work will be carried out by two operators, and it will not be possible to perform the entire trench excavation work under adverse conditions such as civil engineering work at night. In the present situation where manual labor is required to carry out the work, it can be used very effectively.Hereinafter, an actual example of the "land excavation apparatus" according to the present invention will be described with reference to the drawings.

First, as shown in Figures 1 and 2, this land excavation equipment has a vehicle body 1 that can run, and a boom 2 that can rotate and tilt by moving around the body. , the arm 3 is pivotally mounted in series with the boom 2, the bucket 4 is pivotally mounted in series with the arm 6,
The excavated earth and sand loaded into the bucket 4 can be discharged from the bucket to a predetermined sanding location. Between the vehicle body 1 and the boom 2, there is a boom rotation actuator 5 and a boom tilting actuator 6, and between the boom 2 and the arm 6, there is an arm rotation actuator.
Between the arm 6 and the bucket 4, there is a bucket rotation actuator δ, respectively. In the above-mentioned embodiment, one arm 6 is illustrated as an example, but a plurality of arms may be attached to all the booms so as to be pivotable in 111-16 rows.

And this device Vf:, roughly, Figures 2 and 6 (I
As shown in Figure 4, when the bucket 4 excavates and pulls out, the instantaneous posture of the bucket is determined corresponding to each point on the predetermined trajectory of the tip of the hack throat and the trajectory of the tip of the tip. The turning angle θ1 and inclination angle 02 that the boom 2 should take when tracing, the rotation angle 08 that the pivoting part of the arm 6 should take, the rotation angle 04 that the pivoting part of the bucket 4 should take, and the The turning angle U1, inclination angle U2, rotation angle 03, and rotation angle θ of 7. ) Besa v1~
Activate the 2L actuators for the arm, arm, and bucket so that the voltage is +74? :tlj! I It is now available for wholesale.

Therefore, the trajectory of the packet 40 yuan- and the instantaneous attitude of the bucket determined corresponding to the trajectory will be explained. When excavating land and discharging earth and sand using this device, the boom 2 is rotated at a desired turning angle θ1 (4M l'i! 01=0), and during that time the vehicle body 1
The trajectory of the tip of the bucket 4 related to V and the instantaneous attitude of the bucket W' corresponding to the trajectory, the inclination angle 02 of the boom 2 with respect to the horizontal direction,
It is obtained from the rotation angle θ of the pivoting part of arm B with respect to the boom 2 and the rotation angle 04 of the pivoting part of the bucket 4 with respect to the arm 6.

Next, when the vehicle is traveling at a speed μ and the tip of the bucket excavates at a speed μ, the actual trajectory of the tip of the packet 4 is as shown by the chain line in FIG.
The distance traveled by the vehicle at each point on the trajectory is the distance traveled by the vehicle at each point on the trajectory.

Therefore, if the velocity 1 of the tip of the bucket 4 at each point on the trajectory is determined in advance, the actual trajectory and instantaneous posture of the tip of the bucket 4 can also be determined by the inclination angle θ2 of the boom 2 and the rotation angle θ3 of the arm 6 with respect to the vehicle body 1. and 40 rotation angles of the bucket.

In determining the actual trajectory of the tip of the bucket and its instantaneous attitude, the operations of a skilled operator can be captured and reproduced at regular intervals or on the vehicle's constant travel distance hf. It is also possible to draw the trajectory of the tip of the packet with the most efficient work efficiency and plot the point.The earthwork distance, vehicle speed, and excavation depth per one time determined by the shape of the bucket, as well as the previous excavation. From the trajectory of the packet cutting edge, that is, the shape of the soil surface after excavation,
It is also possible to calculate and plot the trajectory of the tip of the bucket and the attitude of the bucket corresponding to the trajectory.

In actual work, it may be possible to control each point plotted on the trajectory to be traced sequentially at fixed time intervals, but in that case, the load will fluctuate greatly, so there is no guarantee that the point will be reached after a predetermined time. Therefore, in order to perform digging efficiently, the bucket should follow a predetermined trajectory and posture either slowly or quickly depending on whether the bucket's digging load is heavy or light, and the It is also possible to operate with a constant output, that is, when the tip of the bucket reaches a certain point, the next reed is operated, for example, at maximum output. This allows the vehicle to run at the optimum speed depending on the terrain, which is more effective than giving a time command in advance.

Various methods can be considered to control the actuators of the boom, arm, and bucket so as to follow the predetermined locus and instantaneous attitude of the tip of the bucket 4, but the basic control method is described below. An example will be explained with reference to FIG. The sensor, actuator, and -f:11. It can be easily implemented with VC compatible electronic circuits or converters and processing software.

Let us first assume that each excavation cycle is performed with the vehicle speed at zero, ie, at a standstill.

The locus and instantaneous posture of the tip of the bucket 4 with respect to the vehicle body 1 in each cycle of excavation are predetermined (for example, the swing angle θ of the boom 2 corresponding to each predetermined point on the locus of the bucket, and the Calculate the values of θ2, arm 60 rotation angle θ, and bucket 40 times/1 angle θ4,
As a command value, the h delay device 11JP is written as follows: 1. .

let The command value for each point has the required accuracy n4 h! Round off the lower digits or make the number wider.

At the time of starting, the position i11 and attitude of the tip of the bucket are manually set as the digging MIJ start state V determined by the program, and the operation starts from this point in response to a start signal. Then, as with the method already widely used for general servo systems, the next destination θ, ~
The command value of θ is transferred from the storage device 10 to the four-axis servo amplifier 11.
of the boom, arm, and bucket so that the difference between that value and the actual values of θ and θ4 measured by the θ1 sensor to θ4 sensor 12 becomes 0. Move the eta 16.

In the above-mentioned control, the command value is stored at each point, but when the trajectory of the bucket is expressed by some formula, for example, a straight line or an arc, it can be expressed as a mathematical formula and stored in the U memory device 10. The command values may be sequentially obtained by calculating the command values with a calculation device (not shown) at the same time. However, if the calculation is performed in the middle of the work, the control time will be extended, so it is necessary to make sure that the calculation time is within the time determined by the work speed. A microcomputer with fast calculation speed is used for calculation, and 8
1, use a numerical table for B1 calculations such as trigonometric functions,
You can use various methods such as not making the calculations more elaborate than necessary, using a simple approximation of the calculation formula, and only abstracting the transitional sentences instead of calculating the total n of the entire calculation formula each time. .

In the above consideration, we did not take into account the speed of the tip of the bucket that follows the predetermined points on the 1-L trace of the light width 1 of the bucket 4. 84. If the soil is always of a constant hardness, the speed of the tip of the bucket of the large cigarette will increase (
However, the hardness of 12eI is not always constant, and it is normal for there to be soft spots and hard spots even during one cycle of excavation. Naturally, the excavation load will be lighter in areas where the soil is soft, and the excavation load will be heavier in areas where the soil is 1.

Therefore, it is necessary to actually command the tip speed of the bucket, that is, the time required for the tip of the bucket to move between 62 points adjacent to each predetermined point on the locus, depending on the state of the excavation load.

If you are trying to operate with a constant force during excavation, the heavy excavation load will indicate that the load sensor 14, for example, the bucket does not reach the predetermined position within the predetermined time, the zoom, the arm, and the ) (Load oil pressure of one of Kenoto's operating actuators, %6 < fL meeting, etc. (i
: Sensing! In response to the rise of the sensed negative dj] (by increasing or decreasing the command value generated from the command value generator 15 for the tip speed of the tip), The actuators for the tilt angle θ2 and the rotation angles θ3 and θ4 are actuated.

1 = 1'', the bucket speed command value generator 15 commands the tip speed of the bucket to move between a predetermined point p and the next point p, +1 on the trajectory drawn by the packet destination V. When the value is generated as a value, the four-axis servo amplifier 11 responds to that command by changing the value of θ, ~θ4 to the value θ1 at point 9.
(,,) ~0 state) to point 1), 5-1-I The actuator 16 of 01 to θ4 is operated to change the value at VC from θ1 (phase) to θ4 (A+11) within the time corresponding to the speed command value. Made by tlfIJ.

Further, the output from the load sensor 14 is compared with a reference value by the comparator 16, and when the excavation load of the bucket is less than a certain value, according to the predetermined program 17, the above-mentioned method νI! The command values of 01 to θ are read from the storage device 10 in a 11J cycle ([-'?rx"), and when the excavation load of the bucket exceeds the maximum value, another predetermined timer is set to 18Y. , In order to further promote the excavation, an impact force is applied by making a predetermined stroke of the tip of the bucket 4 ([- It is also possible to loosen the soil by performing a reciprocating motion in a direction perpendicular to the direction, rii, and a smoothing motion.In other words, in response to the excavation load exceeding a certain value Qξ, the above-mentioned inclination angle σ2 and rotation The actuators for angles v3 and θ4 are operated according to a predetermined program to achieve the reciprocating movement or the r angle
It makes the Yakuri interlock busy.

In the above embodiment V, each excavation cycle "i-1
I thought that the vehicle was stopped, but l old +111
& Yoaru Speed J. While running the 4j (4j) (there are some cases where the vehicle is running at a constant speed), take all of this into account and use the commands 0 and -04. It is only necessary to store the value in the machine 10. However, when excavating while the vehicle is running at speed 〃, the excavation operation may be performed too quickly because the excavation load is small. If the manochinda is not maintained with the traveling speed M, or the excavation operation is too slow, the amount of soil to be excavated is increasing, and the load on each excavation becomes more and more. If the excavation speed changes while the vehicle is moving at a speed table, the excavation trajectory will differ from the planned value, and the excavation foot will therefore change.For this purpose, the excavation depth must be Specify the amount of soil to be excavated per corner of the bucket and the amount of soil to be excavated per round, and always calculate the total amount of excavated volume and remaining amount of soil to be excavated.
It is possible to calculate the trajectory of the bucket from - and trace the optimal trenching route, and for this purpose it is necessary to memorize the trajectory of the bucket cutting edge that was excavated last time. It is necessary to change the vehicle speed when there is a large change in the amount of excavated soil per excavation due to the influence of excavation conditions.To do this, it is necessary to issue an alarm to the operator or display the appropriate value of the vehicle speed to the operator. The treatment can be paid. Another digging F
The appropriate vehicle speed can be fully calculated from the ILJ capability and displayed to the operator, or the work can be performed completely automatically by automatic gear shifting.

As a method to automatically control the vehicle speed, if the vehicle's running system is driven by a hydraulic motor or an electric motor instead of a mechanical/engine drive, the amount of oil in the gamma output motor or the excitation of the electric motor can be The trick is to change the traveling speed by fully controlling the electric current, and when traveling is performed by a hydraulic motor, and excavation is performed by a hydraulic motor or a hydraulic linter, the hydraulic distribution between traveling and excavation can be automatically changed. It is also possible to climb up and balance driving and digging.

Which of the above cases to choose depends on the trajectory and posture of Baga 7), and depending on the conditions, there are Yang 8 for which it is better to take a movement other than e or Kamiguchi. In any case, the predetermined trajectory and attitude of the bucket VC2'-what kind of motion should be given cannot be given in terms of coordinate points, but it can be given in the form of an equation or as a small rotational movement of the bucket. be able to. When the load becomes heavy, superimpose such a movement on the normal movement, or switch from the normal movement to the load processing movement to move the bucket, and to return from the load processing movement to the normal movement, it is necessary to move the bucket during the load processing movement. It can also be determined based on the load pressure.

Needless to say, it is also possible to provide a means for issuing an alarm when the load of the excavation 141J of the bucket becomes too high and the excavation series falls below a certain value.

Next, in order to adapt this excavation device to the PJr's desired excavation depth and desired vehicle travel speed, a digging depth setting device and a vehicle travel speed manual device are installed, and the excavation depth setting device and vehicle travel speed manual device are installed to match the excavation depth and the input vehicle speed. It is also possible to calculate the desired amount of finely divided soil based on the soil quality, and to make the bucket follow the trajectory and posture according to the desired amount of finely divided soil.

In addition, when discharging excavated soil by sequentially switching between multiple discharge positions according to a predetermined discharge order, this excavation equipment is equipped with a discharge position setting device, so that the discharge position and the order can be set at all positions. The discharge position setting device can specify a plurality of positions 2 for discharging the excavated soil to various types of dump trucks for transporting all the soil, and the order in which the excavated soil is to be discharged to the plurality of positions. By inputting the type of dump trunk, the excavated soil can be automatically discharged into that type of dump truck.

Since the land excavation device according to the present invention is constructed as described above, the predetermined ? In addition, the operation of the boom, arm, and bucket can be controlled to follow the trajectory of the tip of the bucket and the instantaneous posture corresponding to the trajectory, thereby enabling continuous power/yield operation to be performed automatically and at high speed. become able to.

[Brief explanation of the drawing]

FIG. 1 shows the entire embodiment 11 of a land excavation device according to the present invention.
11 side view, Figure 2 is the g-molecular plane view of Figure 1 when the boom rotation angle is θ, and Figure 6 is the g-molecular plane view of the bucket at the boom inclination angle θ2 and the rotation angles θ3 and θ4 of the arm and bucket, respectively. FIG. 4 is a circuit diagram for controlling the swing angle, inclination angle, and rotation angle of the boom, arm, and bucket. 1... Vehicle body 2... Boom 6... Arm 4... Bucket 5... Boom turning actuator 6...
Boom 1 Diagonal actuator 7 ... Arm rotation actuator 8 ... Packet rotation actuator Representative Patent attorney Isosai Fujimoto 2M Wow (T

Claims (1)

[Scope of Claims] 1. A boom mounted on a movable vehicle body in a tiltable manner; at least one arm mounted on a pivot in series with the boom; The machine, which is pivotally attached to the arm (4) while on a land excavation rig with a kerato (4), determines the trajectory of the tip of the packet set in advance and the instantaneous posture corresponding to that trajectory. The instantaneous values of the turning angle and inclination angle to be taken by the above-mentioned arm and the rotation angle to be taken by the front B arm and the pivoting part of the packet when tracing are calculated one after another. The actual turning angle, inclination angle, and rotation angle are controlled based on the turning angle, inclination angle, and rotation angle that should be taken to follow the trajectory and instantaneous attitude of the ball. Land excavation equipment. 2. In the description of the diα section 1 of the patent claim, the former Me
The bucket 7) has means for sensing the entire excavation load and means for controlling the inclination angle and rotation angle in response, and the control of the inclination angle and rotation angle changes the trajectory and attitude of the packet according to the excavation load. +J+ when it’s light! Land excavation equipment whose characteristics are that the cutting speed is fast, and when the digging load is heavy, the cutting speed is slow and the cutting speed is substantially constant. 6. The device according to claim 1, further comprising means for sensing the excavation load of the packet and a module for controlling the tilt angle and rotation angle in response thereto, and when the excavation load exceeds a certain value. The land excavation device is characterized in that when the tIJ mark is reached, the tIJ packet performs a reciprocating movement of a predetermined stroke along the trajectory and applies an impact force to advance the excavation. 4. Claim 1, wherein the device includes means for sensing the excavation load of the packet and means for fully controlling the inclination angle and rotation angle in response to the excavation load, and the excavation load is constant. 11. A device for excavating land 4, characterized in that when the value of VC is exceeded, the packet performs a jerking motion and excavates 1). 5. % allowance In the description of any one of claims 1 to 4, all features include means for issuing an alarm when the excavation load becomes heavy and the excavation speed becomes below a certain value. land drilling equipment. 6 In the scope of claim @1, the invention has an excavation depth setting device and a vehicle running speed manual device, and has a desired excavation depth that matches the excavation depth, vehicle speed, excavated soil quality, and excavation amount. A land excavation device characterized in that a driving noise is calculated, and the packet follows the trajectory and posture according to the desired driving amount.7. A land excavation device characterized by having a discharge position setting device for specifying excavated soil discharge positions and their order, and being able to sequentially switch the plurality of discharge positions according to a predetermined order.8. In claim 7, the discharge position setting device is configured to set a plurality of positions and heights at which excavated soil is discharged to various types of dump trunks of a dam for transporting all of the soil, and an order in which the excavated soil is discharged to the plurality of positions. The feature is that the excavated soil can be automatically discharged into the dump trunk of that type by manually selecting the type of dump truck. land drilling rig.