JPS60181429A - Excavating angle controller for excavator - Google Patents

Abstract

PURPOSE:To always keep a bucket at a given of relief angle, by a method wherein the operating direction of the claw tip of an excavating part, such as bucket, and the given angle of the bucket are determined, and based on a deviation between a given angle and an actual bucket angle, the bucket is held at a given angle. CONSTITUTION:Angles theta1, theta2 and theta3 of a boom 2, an arm 3, and a bucket 4 are detected, and based on such detecting signals theta1, theta2 and theta3 and a fixed value, positions X and Y of a current claw tip are determined by a computing controller 16. From difference between preceding read-in and current boom angles, arm angles, and bucket angles, the speed of the bucket and the vector of the claw tip are determined, and a given angle alpha1 and an angle of relief alpha2 of the bucket are determined. An electromagnetic valve 12 for bucket is controlled so that a deviation between a set bucket angle of relief alpha2 and an actual bucket angle of relief alpha2 is controlled to zero valve. This permits the bucket to be held at an efficient angle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an excavation angle control device for an excavator that holds an excavation part such as a packet at a predetermined angle with respect to an excavation surface during excavation work using an excavator.

[Background of the invention]

When excavating earth and sand using an excavator, the earth and sand are excavated at an arbitrary angle relative to the horizontal plane pressure, and the angle of the excavating part of the excavator relative to this arbitrary excavation surface is an important factor that affects excavation efficiency. It becomes a factor. This will be explained with respect to a hydraulic excavator.

FIG. 1 is a side view of a schematic configuration of a hydraulic excavator. In the figure, 1 is the main body of the hydraulic excavator, 2 is the boom rotatably attached to the main body L, 3 is the arm rotatably attached to the boom 2, and 4 is the packet rotatably attached to the arm 3. It is. 5 indicates the toe of packet 4. 6 is a boom cylinder that swings the boom, 7 is an arm cylinder that swings the arm, and 8 is a packet cylinder that swings the packet.

The boom 2, the arm 3, and the packet 4 are driven by a boom cylinder 6, an arm cylinder 7, and a packet cylinder 8, respectively, so that the toe 5 of the packet 4 digs into the earth and sand. Excavation is performed from the button. Now, if excavation is performed at an arbitrary angle α1 with respect to the horizontal plane hK, an arbitrary excavated surface B will be formed.

In such excavation work, the angle of the packet 4 with respect to the excavation surface B (this is referred to as a relief angle) has a large effect on excavation efficiency. That is, assuming that the reference line of the packet 4 is taken as the back surface thereof, the relief angle α2 between the excavation surface B and the back surface of the packet becomes a factor that influences the excavation efficiency. This clearance angle α2 varies depending on the soil quality and other conditions and is determined empirically, but is usually set to an angle of about 40 degrees. By excavating while maintaining the defined relief angle α2, excavation can be carried out with small force and high speed, and therefore the excavation efficiency becomes extremely high.

However, the poom 2 is at the fulcrum C on the main body l.

oscillating (arc) movement centered on , arm 3 oscillating (arc) movement centered on fulcrum C2 on boom z, packet 4
performs a swinging (arc) movement around the fulcrum C3 on the arm 3, so the mutual movements are intricately related, and the excavation work is carried out while maintaining the excavation angle of the packet 4 at a constant relief angle α2. This is almost impossible even for experienced workers, and therefore it has been difficult to further improve excavation efficiency.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and its purpose is to provide an excavator which can solve the above-mentioned conventional problems, can carry out excavation effectively, and can improve excavation efficiency. To provide drilling angle control device.

[Summary of the invention]

In order to achieve the above object, the present invention calculates the moving direction of the excavating part of an excavator, calculates the angle of the excavating part with the highest excavation efficiency with respect to this moving direction, and then calculates the angle of the excavating part with respect to this moving direction. The present invention is characterized in that the deviation between the angle and the actual angle of the excavation part is determined, and the excavation part is driven based on this deviation so that the angle becomes an efficient angular pressure.

[Embodiments of the invention]

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 2 is a system diagram of a packet excavation angle control device according to an embodiment of the present invention. In the figure, 8 is the same packet cylinder as shown in Figure 1, IQ is the oil pressure source, and 11 is the oil field source lO.
A control valve 12 is an electromagnetic valve connected in parallel to the control valve 11, and the control valve 12 is connected to the control valve 11 in parallel to operate the packet cylinder 8 manually. 13 is a boom angle detector for detecting the angle of the poom 2; 14 is an arm angle detector for detecting the angle of the arm 3; and 15 is a packet angle detector for detecting the angle of the packet 4. 16 is each angle detector 13,
This is an arithmetic processing device that inputs the detection signals of 14.15 and performs necessary calculations, and is configured using a microcomputer. Reference numeral 17 denotes a changeover switch interposed between the electromagnetic valve 12 and the arithmetic processing unit 16, which is closed when the packet is automatically controlled and opened when the packet is manually operated.

Next, the operation of this embodiment will be explained with reference to the 7p-chart shown in FIG. 3 and the diagram shown in FIG. 4. When the changeover switch 17 is open, the solenoid valve 12 is not used and the packet is driven solely by manually operating the control valve 11.

When the changeover switch 17 is closed to automatically control the angle of the packet, the following operation is performed. First, the arithmetic processing unit 16 determines whether the changeover switch 17 is ON or OFF (step Ss shown in FIG. 3). Since the changeover switch 17 is closed, the process is done manually @8. , each angle detector 13, 14 . .

The boom angle, arm angle and packet angle detected in step 15 are taken in and stored in a predetermined location in the RAM (Random Access Command Memory) of the microcomputer, and 1 is added to the number of other predetermined locations. In other words, the number stored in another predetermined location is 1 for the first reading.
1 The second time will be 2. Next, by looking at the number of other predetermined locations mentioned above, it is determined whether or not this is the first reading. If this is the first reading, the process starts with the timer in step Ss.
The program moves to a routine and waits for the elapse of a predetermined minute time (this minute time sum will be described later). After the predetermined minute time has passed, the process proceeds to step 8. Returning to , the boom angle, arm angle, and packet angle at that time are read, and 1 is added to the number of other predetermined addresses (the number of addresses becomes 2). Therefore, in the next process, step @S4, it is determined that this is not the first reading, and the process moves to step S6. In step S6, the position of the toe 5 of the packet 4 at this time is calculated. This calculation will be explained based on the diagram shown in FIG.

FIG. 4 is a diagram connecting each fulcrum C1, C2, C3 and the toe 5 shown in FIG. , is the distance between the fulcrums C1°02, 2 is the distance between the fulcrums "2m08," and 13 is the distance between the fulcrums C3 and the toe 5. θ.

θ2. θ3 is the boom angle detector 13. The angle detected by the arm angle detector 14 and the packet angle detector 15,! , is the distance between the fulcrum C1 and the intersection of the horizontal plane A and the perpendicular (this intersection is taken as the origin) when a perpendicular is drawn from the fulcrum C1 to both people horizontally. Here, when the coordinates (x, y) of the toe 5 are calculated, X and Y become as shown in the following equation.

X=7. ω6θ, +ノ2sin(01+02)−IJ
3 sin (e 1 + θ yuzushi + 03) Y ” l > l
1sia191-12m5(a 1+θ2)+! 3rd morning (
θ1+02+03) In this way, step 8. The position of the toe 5 is calculated. In addition, the distance is ノh, ノ1sJ2e ノ.

Needless to say, it is known.

Next, the process moves to hand J18v. In step $7, subtract the boom angle, arm angle, and bucket angle that were read last time (first time) and stored from the boom angle, arm angle, and bucket angle that were read this time (second time), respectively. Calculate the displacement of boom 2, arm 3, and kerato 4. Next, calculate the speed of boom 2, arm 3, and packet 4 from this displacement and the minute elapsed time of the timer in step S (step 8s). ).Next, in step S, each fulcrum C
1, C2, C, and the toe 5 (note that the distance 13 between the fulcrum C3 and the toe 5 is already known, so there is no need to calculate it). Distance j4 between fulcrum C□ and toe 5 and distance between fulcrum C2 and toe 5! , can be determined by calculating the following equation.

J, = J, “-1-A!,”-27,67, CO3
19° Processing then moves to step 810. Step 810
Then, the direction and magnitude of the movement of the boom 2, arm 3, bucket, and toe 4 relative to the toe 5, that is, the vector V1 at the toe 5 of the boom 2, arm 3, and packet 4.
．． V,,V3 is seen. Vector ■1 is a line segment (C,
, 5) In the indentation angle direction, hand JIFf S is the size obtained by multiplying the speed determined in 8 by the distance Jj4 determined in step S, and the vector v2 is in the direction perpendicular to the line segment (C2, 5) IC. ,
And the size is the speed determined in step S8 multiplied by the distance 14, and the vector ■3 is perpendicular to the line segment (Ca, 5), and the size is the speed determined in step S8 multiplied by the distance 13. It's the size. Each of these vectors v1°V2. V is synthesized and determined as vector) v ■4 (step S11
). Since the method of calculating each of these vectors and the composite vector of each vector is well known, a description thereof will be omitted.

Step 8m, the resultant vector) #V 4 indicates the direction of operation of the toe 5, and this resultant vector v, lOX
The angle with respect to the axis is the angle α shown in Figure 1.

is equal to Therefore, by setting the relief angle α2 in advance, determining the angle of the composite vector v4 with respect to the It is possible to adjust the angle between the two people horizontally. Then, from the angle of the back surface of the packet and the structure of the packet 4, a predetermined angle of the packet that allows efficient excavation is calculated (step S1). Next, the current packet angle read in step S3 is 0. and the above predetermined angle are compared (step S
1. ), if both match, the process returns to step 8. Return to If the two do not match, the process moves to step 814, calculates the deviation between the two, outputs this deviation, and returns to step S1.
Return to When the deviation of both angles is output, current is supplied to the solenoid of the solenoid valve 12 according to this deviation, and the solenoid of the solenoid valve 1
2 is operated to supply pressure oil to the packet cylinder 8, and the packet 4 is driven to the above-mentioned predetermined angle.

The numerical value of the address storing the boom angle, arm angle, packet angle, and number of readings in the RAM is set to 0, and the process returns to step S and VC. Also, in the second and subsequent readings, the timer routine in step S is not executed, and the minute time is used in step S.
The required processing time from to step S1 is obtained.

Therefore, conversely, the time set in the timer routine of step Ss becomes the required processing time.

As described above, in this embodiment, the operation direction of the packet toe and the predetermined angle of the packet with respect to this operation direction are determined in the arithmetic processing unit, and the packet is held at a predetermined angle based on the deviation between this predetermined angle and the actual packet angle. As a result, the packet angle can be set to an angle that maintains a predetermined clearance angle at all times, and excavation efficiency can be improved.

In addition, in the above-mentioned example, although the packet of a hydraulic excavator was illustrated and explained as an excavation part, it is not limited to this.
It is also applicable to other excavators and excavators (for example, rippers) K. Also, it goes without saying that the reference line for the relief angle at the excavated portion can be set as appropriate, not only on the back side of the packet. Furthermore, the arithmetic processing unit can also be configured using an analog/4G circuit. Furthermore, the amount of displacement of each link mechanism such as the boom, arm, packet, etc. can be obtained by measuring the expansion and contraction of the rond of each cylinder without using an angle detector. Furthermore, if a servo valve is used instead of a solenoid valve, hunting can be prevented and accurate control can be performed.

〔Effect of the invention〕

As described above, in the present invention, the moving direction of the excavated part is calculated, the predetermined angle of the excavated part determined by the clearance angle with respect to this moving direction is determined, and the predetermined angle and the actual angle of the excavated part are calculated. Since the excavating part is driven based on the deviation and the excavating part is always held at the predetermined angle, the excavation can be carried out effectively and the excavation efficiency can be improved.

[Brief explanation of the drawing]

Fig. 1 is a side view of the schematic configuration of a hydraulic excavator, Fig. 2 is a system diagram of a packet excavation angle control device according to an embodiment of the present invention, and Fig. 3 is for explaining the operation of the device shown in Fig. 2. FIG. 4 is a diagram for explaining the calculations in the procedure shown in FIG. 3. 2°゛°“...Boom, 3...Arm, 4...
...Packet, 5...Toe, 8...
・Packet cylinder, 12... Solenoid valve, 13.
...Boom angle detector, 14...Arm angle detector, 15...Packet angle detector, 16...
... Arithmetic processing unit, 17... Changeover switch. Figure 1? Figure 2 Figure 3

Claims (1)

[Claims] In an excavator equipped with an excavator at a predetermined location of a link mechanism, a first calculation means for calculating a moving direction of the excavator;
a second calculation means for calculating a predetermined angle of the excavation part with respect to the movement direction calculated by the first calculation means; and a combination of the predetermined angle calculated by the second calculation means and the actual angle of the excavation part. third calculation means for calculating the deviation of;
An excavation angle control device for an excavator, comprising: a drive means for driving the excavation section based on the deviation calculated by the third calculation means.