JPS6229628A - Excavation controller for loading shovel - Google Patents

Abstract

PURPOSE:To improve operating property, working property, and safety, by operating a change-over switch manually in an automatic state even on the automatic control, and by working a working object independently in the non- control mode. CONSTITUTION:The manipulated variable of an operating lever is detected, and the output of operation signal according to the detected value is generated, and the output of the signal of automatic operation or manual operation is generated by the operation of an automatic/manual change-over switch 71. After that, when a bucket 5 is automatically and horizontally extruded, then the automatic/manual change-over switch 71 is set in automatic system, and the operating lever 50 for an arm is operated and is put in horizontal extrusion mode. Then, the change-over switch 71 is put in automatic system, and in the state, the boom-hoisting operation is released, and the arm-pushing operation only is performed to put the lever in the horizontal extrusion mode again. In this manner, from one change-over switch, automatic or manual operation can be easily selected, and even under automatic control, the manual operation can be optionally performed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an excavation control device for a loading shovel.

(Prior art) In loading excavators, for example,
As in Publication No. 28771, horizontal pushing is performed while holding the bucket at a constant height by automatically lowering the boom following the push of the arm, and when releasing the load scooped into the bucket, the boom A control device is known that automatically corrects the inclination angle of the bucket with respect to the arm in accordance with the lifting of the bucket to prevent the load from spilling.

When the above conventional control device performs automatic horizontal extrusion control,
First, change the changeover switch between manual and automatic horizontal extrusion to manual, move the bucket, arm, and boom to the target intransitive start position by manual operation, and then change the changeover switch to horizontal extrusion to move the bucket, arm, and boom to the target intransitive start position. The above starting position is fixed as the set value, and when the arm is pushed in this state, the boom cylinder is controlled to expand and contract based on the above set value in accordance with the arm push. Also, when correcting the bucket tilt angle, In the same way as above, change the switch between manual and automatic bucket tilt angle correction to manual,
Manually move the bucket, etc. to the target automatic control start position, then change the changeover switch to bucket tilt angle correction to fix the start position of the bucket as the set value, and in this state, raise the boom. By doing so, the bucket cylinder is controlled to expand and contract based on the above-mentioned set value in accordance with the raising of the boom.

Therefore, two automatic/manual changeover switches are required, one for horizontal extrusion and one for bucket inclination correction, and the switching operation is troublesome, and it is difficult to automatically perform horizontal extrusion or bucket inclination correction. For example, if there is a risk that the bucket will hit an obstacle while it is running, in order to avoid the obstacle, you must switch the -H switch to manual and manually operate the bucket. It is very troublesome to operate and may not be ready in time for an emergency. Note that manual operation is possible with the changeover switch set to automatic, but in this case, manual operation is added to automatic control, and automatic control and manual operation are performed at the same time. Therefore, even if it is operated manually, it will not operate due to the operator's operation, which is extremely dangerous. Moreover, even if the bucket position is changed manually, once automatic control is resumed,
Since control will be resumed based on the initially fixed set values, there is a risk that the bucket will hit the obstacle again. To avoid this, change the -H selector switch to manual and set the above set values again. Thereafter, it was necessary to return the changeover switch to automatic mode again, which caused various problems such as poor operability and workability.

(Purpose of the Invention) The present invention was made to solve these conventional problems, and it is possible to easily select manual/automatic with a single changeover switch, and also allows the changeover switch to be switched even during automatic control. It is possible to perform manual operation without switching the system, and it can be operated manually without being interfered with by automatic control.For example, if there is a risk that the bucket will hit an obstacle, it can be quickly avoided, and furthermore, it can be operated manually without being interfered with by automatic control. The purpose of the present invention is to provide a $ control device that automatically resumes automatic control based on the avoidance point when released, eliminates the need to set the target value again, and improves operability, work efficiency, and safety. It is something to do.

<Structure of the Invention> The present invention includes a hydraulic cylinder that operates each operating member such as a boom, an arm, and a bucket, a directional control valve that controls the supply and discharge of pressure oil to each hydraulic cylinder, and a spool for each directional control valve. The control valve is equipped with an operating valve to be operated, an operating tool corresponding to each operating valve, an over-operation detector for each operating tool, an operation amount detector for each operating member, a changeover switch for selecting automatic/manual, and an arithmetic unit. The arithmetic device selects automatic control mode when the changeover switch is automatic and only the operating tool of the reference actuator among the actuators is operated, and selects non-control mode at other times. a calculation circuit that calculates the position of the bucket based on the values detected by each of the operating amount detectors in the automatic $ control mode, and a storage device that stores the position of the bucket at the start of control in the automatic control mode as a target value. In the automatic control mode, a control signal corresponding to the operation amount of the operating tool of the reference operating object is output to the operating valve thereof, and a control signal corresponding to the deviation between the target value and the current position of the bucket is output to the reference operating object. and an arithmetic circuit that outputs an output to the operation valve of the actuator to be operated in accordance with the operation of the operation tool, and outputs a control signal to each operation valve in accordance with the operation amount of each of the above-mentioned operation tools in a non-control mode. It is characterized by having the following.

With this configuration, even during automatic control, each actuator can be operated individually in a non-control mode by manual operation as needed while the selector switch is left in automatic mode.Afterwards, automatic control can be started immediately when the manual operation is released. When the automatic control is restarted, the bucket position at the time of restarting the automatic control is rewritten as a target value, and automatic control can be performed using this new target value as a reference.

(Example) First, the schematic structure of a loading shovel will be explained with reference to FIG. 3. In the figure, reference numeral 1 denotes a lower traveling body, and an upper rotating body 2 is rotatably provided on the upper part of the lower traveling body. The base of a boom 3 is supported by a bin 9 on the upper revolving body 2 so as to be able to rise and fall freely, the base of an arm 4 is rotatably attached to the tip of the boom 3 by a bin 1o, and the base of a bucket 5 is attached to the tip of the arm 4. It is rotatably attached by a bin 11.

The base of the boom cylinder 6 is attached to the upper revolving body 2 by a pin (not shown), and the tip of the rod is connected to the boom 3 by a pin 12. The base of the arm cylinder 7 is attached to the boom 3 by a pin (not shown), and the tip of the rod is connected to the arm 4 by a pin 13. The base of the bucket cylinder 8 is attached near the tip of the boom 3, and the tip of the rod, the tip of a link 16 attached by a bin 15 near the tip of the arm 4, and the link 18 attached to the bucket 5 by a bin 17. The tip is connected by a bottle 19.

In the above loading excavator, the length of the boom 3 and the length of the bin 9 and the bin 1o are Ql, and the arm 4 is
The length (distance between bin 1o and bin 11) is 122,
Based on a vertical line C1 that is parallel to the rotation center Co of the upper revolving structure 2 and passes through the bin 9, the inclination angle of the boom 3 with respect to the upper revolving structure 2 is θ1, the inclination angle of the arm 4 with respect to the boom 3 is θ2,
If the inclination angle of the bucket 5 with respect to the arm 4 is θ3, the absolute angle of the arm 4 is θ, and the absolute angle of the bucket 5 is θ, then θ2
0; θ1+62 θ =01+θ2+03. Also, the position or height of the bin 10 at the arm base with respect to the bin 9 at the boom base is hl, the position of the arm tip, that is, the height between the bins 10 and 11 is h2, and the bin 9
If the position or height of the bin 11 is 7 based on , then hi=ρ1 cosθ1 h2=! 22 cos(θ1+θ2)Z =QJ
CO3θ1+u2 cos(θ1+θ2). Here, in order to move the bucket 5 horizontally, it is sufficient to control the bin 11 to move horizontally, and furthermore, in order to automatically push out the bucket 5 horizontally simply by pushing the arm, it is necessary to follow the extension of the arm cylinder 7. It can be seen that the boom cylinder 6 should be retracted and the boom 3 should be controlled so that the height Z becomes constant.

On the other hand, when the boom cylinder 6 is extended to lift the load scooped into the bucket 5 to the release position, it is necessary to maintain the attitude of the bucket 5 constant to prevent the load from spilling. It can be seen that the bucket cylinder 8 can be expanded and contracted following the expansion and contraction of the cylinder 6, the inclination angle θ3 of the bucket 5 can be corrected, and the absolute angle θ of the bucket 5 can be controlled to be constant. Therefore, in order to control the above-mentioned loading shovel, the following configuration is adopted.

FIG. 4 is a hydraulic electrical circuit diagram for operating the loading shovel. In the figure, one hydraulic pump 2
The main conduit 22 connected to the discharge port 1 is for left running,
Directional control valves 23, 24, 25 for boom and bucket
through the left travel motor (not shown) and boom cylinder 6.
, bucket cylinder 8 is connected, and the other hydraulic pump 3
The main conduit 32 connected to the discharge port 1 has a right-hand drive line,
A right travel motor (not shown), a swing motor (not shown), and an arm cylinder 7 are connected through directional control valves 33, 34, and 35 for swing and arm, respectively. 26.36 is a relief valve, and 20 is a tank.

Directional control valves 2 for the boom, arm, and bucket mentioned above
Pilot switching valves are used for both valves 24, 35, and 25, and operating valves 43, 53, and 63 are used to switch each of these valves 24, 35, and 25. Each operating valve 43.
53 and 63 are a pair of electromagnetic proportional pressure reducing valves 44 and 45, respectively.
．． 54.55° and 64.65°, and pressure oil is introduced from a hydraulic source 37 such as a pilot pump to the downstream side thereof, and according to control signals (electrical signals) from those controllers 42 and 52.62. Pilot pressure is guided to the secondary side, and the pilot pressure is applied to the pilot circuits 46, 47, 56, 57,
Each direction control 1'j+24.35.25 via 66.67
Each directional control valve 24.35.25
640 is a boom operation lever, 41 is a boom operation detector, 50 is an arm operation lever, 51 is an arm operation detector, 60 is a bucket operation lever, and 61 is a bucket operation Each detector 41.51.61 is composed of a potentiometer, for example, and outputs a signal M1. M2, M
Outputs 3. 70 is a control panel.

FIG. 1 is a block diagram showing the control system of the loading shovel, and in this figure, the same parts as in FIGS. 3 and 4 are designated by the same reference numerals. In Figure 1, 71
is an automatic/manual changeover switch, for example, a snap switch, which is attached to the arm operating lever 50. This switch 71 may be provided on a console panel in the driver's cab.

Reference numeral 72 denotes an arithmetic unit, which is composed of a microcomputer, for example, and is incorporated into the control panel 70, and is connected to each of the operation amount detectors 4.
Operation signal M1.1.51.61. M2, M3 and
Based on the signal from the automatic/manual changeover switch 71, the controller 42.52.62 performs @ calculation processing as will be described later.
control signal E1. Output E2 and E3.

73, 74, 75 are actuated beam detectors, for example angle detectors composed of potentiometers are used, each mounted on the bin 9, 10, 11, the detector 73 is connected to the boom 3.
The detector 74 detects the inclination angle θ1 with respect to the upper rotating body 2.
detects the inclination angle θ2 of the arm 4 with respect to the boom 3, the detector 75 detects the inclination angle θ3 of the bucket 5 with respect to the arm 4, and the detected inclination angle θ1. θ2. A signal corresponding to θ3 is output.

Next, the operation of the above device will be explained.

First, in FIG. 4, when the boom, arm, and bucket operation levers 40, 50.60 are operated, their operation amounts are detected by the operation amount detectors 41.51.61, and the detected values are Operation signals M+, M2,
M3 is output, and by operating the automatic/manual changeover switch 71, an automatic or manual signal is output. On the other hand, each operation is detected by the inclination angle θ1 of the boom 3 by the detectors 73, 74, 75.
, the inclination angle θ2 of the arm 4, and the inclination angle θ3 of the bucket 5 are detected, and a signal corresponding to the detected values is output. Each of the above signals is then sent to the arithmetic unit 72, where the following control is performed.

Control flowcharts are shown in FIGS. 2(a) to 2(C).

In the figure, when the program starts, operation signals M1. M2,
The state of each lever 40.degree. 50.60 is read based on M3 (step S1), and it is determined whether automatic operation is being performed or not based on a signal from the automatic manual changeover switch 71 (step S2).

Then, during automatic operation, it is determined whether or not there is a boom operation (step S3), and when there is no boom operation, it is determined whether or not there is an arm push (step S7), and when the arm is pushed, the process goes to step S8. 5. Also, in automatic operation, when there is a boom operation, the process proceeds to step S4, where it is determined whether the boom is up or not, and when the boom is raised, it is determined whether there is a bucket operation or not. If there is no bucket operation, it is determined whether or not there is an arm operation (step S9). If there is no arm operation, the process advances to step S to and buckets 1 to II! The i-angle correction mode is set.

In addition, when manual operation is performed in step S2, when the boom is lowered in step S4 in automatic operation, when there is a bucket operation in step S5, and when there is an arm operation in step S9,
When the arm is pulled in step S7, step S6
and enters uncontrolled mode. In the above control, step S9 may be omitted, and if there is no bucket operation in step S5, the process may immediately proceed to step S+o and the bucket inclination correction mode may be set.

After the control mode is selected as described above, Fig. 2(b)
Proceeding to the flowchart, it is determined whether or not there is a change in the control mode (step 511), and if there is a change, it is determined whether or not it is the horizontal extrusion mode (step 5t2), and when it is the horizontal extrusion mode, the process proceeds to step St3. Go on, here
Based on the length ρ1 and inclination θ1 of the boom 3, and the length ρ2 and inclination θ2 of the arm 4, the target value for the horizontal extrusion mode, that is, the height Zo of the bin 11 at the tip of the arm with respect to the bin 9 at the horizontal extrusion starting point is determined. Calculated, Zo=ρ1
cos θ1+Q2 C03(θ1+θ2) The height Zo is stored as a target value (step 314).

On the other hand, if No in step Sr2, it is determined whether or not the bucket inclination correction mode is set (step 5f5). If the bucket inclination correction mode is selected, the process proceeds to step S16, where the inclination angle θ1 of the boom 3 and the inclination angle of the arm 4 are determined. Based on θ2 and the inclination angle θ3 of the bucket 5, the absolute angle θ0 of the bucket 5 at the control start point is determined as the target value for bucket inclination correction.
is calculated, and the absolute angle θ0 of the bucket 5 (θ0°θ1+θ2+θ3) is stored as a target value (step Sv). Note that if the answer in step S11 is No, and if the answer is No in step S14, the process goes to step 8.
The process proceeds to step 18, where it is stored that no target value calculation is required.

Next, in FIG. 2(C), necessary controls ff1E1. E2 and E3 are calculated (step 51
9), it is determined what the mode is (step 520).

In the non-control mode, the control ff1E1. E2
, E3 are output as they are. In addition, in the horizontal extrusion mode, the process proceeds to step S21, where the current position 2 of the arm tip bin 11 is calculated, and Z = Q 1 cos θ1 + p2 CO3 (θ1 + 62
) The deviation Δ2 between this current position Z and the target position ZO stored in step S13 is calculated (step 522).
), ΔZ=Zo −Z Based on this deviation ΔZ, the necessary control amount for the boom 3 is calculated in step 323, and the above step S
The control amount @E2 corresponding to the arm operation ff1M2 calculated in step 19 is output as is.

On the other hand, in the bucket tilt angle correction mode, the absolute angle θ at the current position of buckets 1 and 5 is calculated (step 524).
), θ=θ1 θ2+03 The deviation between this current absolute angle θ and the target absolute angle θ0 stored in step S17 is calculated (step 52
5), Δθ=θ0−θ Based on this deviation, the necessary control amount for the bucket 5 is calculated in step S26, and the required control amount for the bucket 5 is calculated in step S26.
The bucket-based til amount E3 (0 in this case) calculated in step 19 is rewritten to the control amount calculated in step 826, and a control signal corresponding to the bucket-based tlDffiE3 is output. In addition, in this bucket inclination angle correction mode, the above step S19 is performed for the boom 3.
The control signal E1 corresponding to the boom operation amount M1 calculated in is output as is.

In this way, each control signal E1. After E2 and E3 are output, the process returns and the above control is repeated.

In the above control, the start of operation of the sounding machine is manually operated. Therefore, initially, the automatic manual FJJ change switch 71
is set to manual and each operating lever 40.50.60 is operated individually, so that the non-controlled mode (step S
1. S2, Ss), the target values, that is, the target values for horizontal extrusion and bucket inclination correction, are stored as not being calculated (step S1+, Sea), and in step S19, each operation f of the boom, arm, and bucket is
E calculated based on f1fVh, M2, M3
Control signals corresponding to 1, E2, and E3 are sent as they are to the controller 42.52.62.

Each of the above signals E1. E2 and E3 are each operation valve 43
．． 53, 63, and actuate those electromagnetic proportional pressure reducing valves, pilot pressure is introduced to their secondary pipes, and each directional control valve 24, 35, for the boom, arm, and bucket is activated. 25 are switched, each cylinder 6.7.
8 are individually extended and retracted, boom 3, arm 4, bucket 5
are rotated individually corresponding to the levers 40, 50, 60, respectively.

Next, when performing automatic horizontal extrusion of the bucket 5, the automatic/manual changeover switch 71 is set to automatic, and the arm operating lever 50 is operated in the arm pushing direction to enter the horizontal extrusion mode (step S+, 82).

S3, Sy, Sa), and it is determined in step S11 that there has been a change, and thereafter, the target height Zo at the starting point of horizontal extrusion is calculated and the target height Zo is temporarily stored (step S12). S13.
514), then the operation IM of the arm operation lever 50
2 is output, and a control signal E1 corresponding to the deviation ΔZ between the target height Zo and the current position Z is output (steps 819, 320, S21.3).
22.323>, each signal E1゜E2 is connected to controller 4
Sent on 2.52.

Then, in the arm system, a control signal E2 is sent from the controller 52 to the operating valve 53, pilot pressure is guided to the secondary side conduit 57 of the electromagnetic proportional pressure reducing valve 55 for arm pushing, and the arm directional control valve 35 is activated. Pressure oil is supplied to the head side of the arm cylinder 7, the cylinder 7 is extended, and the arm 4 is rotated around the bottle 11 and pushed forward. At this time, in the boom system, a control signal E1 is sent from the controller 42 to the operating valve 43, pilot pressure is guided to the secondary side pipe 46 of the electromagnetic proportional pressure reducing valve 44 for lowering the boom, and the directional control valve 24 is switched. , pressure oil is supplied to the rod side of the boom cylinder 6, and the boom cylinder 6
is retracted and boom 3 is lowered. As a result, the boom 3 is lowered following the push of the arm 4, and the above deviation ΔZ
is controlled in the direction of O, and the pin 11 is kept at a constant height Zo.
is held, and the bucket 5 is pushed out horizontally.

On the other hand, when automatically correcting the inclination of the bucket 5, that is, when lifting the load scooped into the bucket 5 to the release position by simply raising the boom, set the automatic/manual changeover switch 71 to automatic, and turn the boom control lever 50 to the boom position. When operated in the upward direction, the bucket tilt angle correction mode (step S1,
82, S3.

S4, Ss, S9.8°C>, and it is determined in step S11 that there is a change.Then, the absolute angle θ0 of the bucket 5 at the starting point of bucket inclination correction is calculated, and the absolute angle θ0 is set as the target value. (Steps Sη, Ss, S+a.

517), and then the boom operation lever 40 is operated It.
The control signal E1 corresponding to ch is output, and the deviation Δθ between the target absolute angle θ0 of the bucket 5 and the current absolute angle θ is
A control signal E3 is output according to (steps St9, 82
0. S24. S25.826>, the above signal E1. E3
is sent to controller 42.62.

Then, in the boom system, the direction control valve 24 is switched by the same action as above based on the signal E1, the boom cylinder 6 is extended, and the boom 3 is lowered. E3 is sent from the controller 62 to the operation valve 63, and the electromagnetic proportional pressure reducing valve 65
The pilot pressure is introduced into the secondary side pipe 67, the directional control valve 25 is switched, the bucket cylinder 8 is expanded and contracted, and the above deviation Δθ is controlled to be O, so that the absolute angle θ of the bucket 5 is kept constant. It will be corrected so that As a result, the bucket 5 is raised to the load release position while preventing the load from spilling from the bucket 5.

By the way, in the automatic horizontal extrusion of the bucket 5,
If there is an obstacle, such as a rock, on the movement path of the bucket 5 and the boom is raised, the system automatically enters the non-control mode even if the arm is kept pressed (steps S1.S2.83).

S4. S5. Sa), and the target value calculation is not performed (step S11.518). For this reason, step S
The boom control signal E1 calculated according to the boom operation mm1 at step 19 is sent as is to the controller 42, and the following steps are performed.
ff1t4i proportional pressure reducing valve 45 for boom raising of operation valve 43
, control signals (electrical signals and hydraulic signals) are sequentially sent to the directional control valve 24, the directional control valve 24 is switched, the boom cylinder 6 is extended, and the bucket 5 is prevented from hitting the above-mentioned obstacle.

After that, by leaving the changeover switch 71 in the automatic position, releasing the boom raising operation, and performing only the arm push operation, the horizontal extrusion mode will re-enter (step S+, 82.8).
3, S7, Sa), and the target value Zo is automatically recalculated based on the point at which the bucket 5 avoids the obstacle (step $11゜St2.S13, 514).
Then, the automatic horizontal extrusion control is restarted from the above avoidance point (step S19゜820.821,822.82).
3) Therefore, there is no need to manually reset the target value as in the past.

Furthermore, when correcting the inclination of the bucket 5, there is a risk that the bucket 5 may hit an obstacle, for example, when the bucket 5 is corrected.
Rotate the bucket operation lever 6 in the pulling direction.
If you operate 0, it becomes non-control mode as above (
Step S1. S2.

S3, S4, S5,, Ss), and no target value calculation is stored (step S+1.S+a),
The bucket control signal E3 calculated in accordance with the bucket operation ff1fvh in step S20 is sent as is to the controller 562, and thereafter, control signals are sequentially sent to the bucket pulling electromagnetic proportional pressure reducing valve 65 of the operation valve 63 and the direction control valve 25. The directional control valve 25 is switched, the bucket cylinder 8 is retracted, and the bucket 5 is prevented from hitting the obstacle.

After that, with the changeover switch 71 set to automatic, release the bucket pull operation and only raise the boom.
The bucket tilt angle correction mode is set again (step S1.8).
2.83.34.35.

S9.5to), and the target value θ0 is automatically recalculated based on the point at which the bucket 5 avoids the obstacle (steps Su, St2.S15.S1a).

Sν), thereafter, the bucket inclination correction control is restarted from the above avoidance point (steps S+q, S20.S24°S2
5.526). Therefore, in this case as well, there is no need to manually reset the target value as in the conventional case.

Incidentally, in the above embodiment, the electromagnetic proportional pressure reducing valves 54 and 55 operated by an electric signal are used as the arm operating valve 53, but a variable pressure reducing valve operated by the arm operating lever 50 may also be used.

In addition, as a means for switching between automatic and manual modes, signals from operating levers 40, 50, 60 and arithmetic device 7 are used as shown in FIG.
The signal from 2 may be switched by hardware using changeover switches 76, 77, and 78.

(Effects of the Invention) As described above, the present invention sets the automatic control mode when the changeover switch is automatic and only the operating tool of the reference actuator among the above-mentioned actuators is operated, and the control is not controlled at other times. mode, and the position of the bucket at the start of control in automatic control mode is controlled as a target value, and it is possible to easily select manual or automatic with a single changeover switch, and even when automatic control is in progress. The switch can be left in automatic mode and can be operated manually if necessary, and can be operated manually without being interfered with by automatic control. Therefore, for example, if there is a risk that the bucket will hit an obstacle, it can be quickly avoided.

Moreover, if you cancel manual operation afterwards, automatic control will automatically resume using that avoidance point as the standard (target value), eliminating the need to set the target value again, improving operability, work efficiency, and safety. It can be done.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a control system showing an embodiment of the present invention, FIGS. 2(a) to (C) are flowcharts of the control, and FIG.
4 is a hydraulic and electric circuit diagram thereof, and FIG. 5 is a block diagram of main parts showing another embodiment. DESCRIPTION OF SYMBOLS 1... Lower traveling body, 2... Upper rotating body, 3... Boom, 4... Arm, 5... Bucket, 6... Boom cylinder, 7... Arm cylinder, 8... ...Bucket cylinder, 24...Directional control valve for boom, 25.
...Directional control valve for bucket, 35...Directional control valve for arm, 40,50°60...Each operating lever (operating tool) for boom, arm, and bucket, 41,51.61
...Same operation detector, 42,52.62...Same controller, 43,53.63...Same operation valve, 71...
- Automatic manual changeover switch, 72... Arithmetic device, 73.
74.75...Each work for boom, arm, and bucket @ Detector. Patent applicant: Kobe Steel, Ltd. Agent
Patent Attorney Etsushi Kotani Patent Attorney Chief 1
) Masamukai Patent Attorney Yasuo Itaya Figure 2 (C) Figure 3

Claims (1)

[Claims] 1. Hydraulic cylinders that operate each actuating member of the boom, arm, and bucket, directional control valves that control the supply and discharge of pressure oil to and from each hydraulic cylinder, operation valves that control the spools of each directional control valve, and each operation The valve includes an operating tool corresponding to the valve, an operating amount detector for each operating tool, an operating amount detector for each actuating object, a changeover switch for selecting automatic/manual, and an arithmetic device, the arithmetic device comprising: A selection circuit that selects the automatic control mode when the changeover switch is automatic and only the operating tool of the reference actuator among the actuators is operated, and selects the non-control mode at other times; A calculation circuit that calculates the bucket position based on the values detected by each of the actuation amount detectors, a storage device that stores the bucket position at the start of control in automatic control mode as a target value, and An operation that outputs a control signal corresponding to the amount of operation of the animal's operating tool to the operating valve thereof, and also operates a control signal corresponding to the deviation between the target value and the current position of the bucket in accordance with the operation of the reference operating object. It is characterized by comprising an arithmetic circuit that outputs an output to the operating valve of the animal, and an arithmetic circuit that outputs a control signal corresponding to the operation amount of each of the operating tools to each operating valve in a non-control mode. Excavation control device for loading excavators.