EP0293057A2 - Einrichtung zur Steuerung der Armbewegung eines industriellen Fahrzeuges - Google Patents

Einrichtung zur Steuerung der Armbewegung eines industriellen Fahrzeuges Download PDF

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Publication number
EP0293057A2
EP0293057A2 EP88201064A EP88201064A EP0293057A2 EP 0293057 A2 EP0293057 A2 EP 0293057A2 EP 88201064 A EP88201064 A EP 88201064A EP 88201064 A EP88201064 A EP 88201064A EP 0293057 A2 EP0293057 A2 EP 0293057A2
Authority
EP
European Patent Office
Prior art keywords
arm
velocity
operating
command value
tip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP88201064A
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English (en)
French (fr)
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EP0293057A3 (en
EP0293057B1 (de
Inventor
Junichi Narisawa
Kenichiro Date
Kenichi Miyata
Yuhei Sato
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Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP7040488A external-priority patent/JP2601865B2/ja
Priority claimed from JP63108099A external-priority patent/JPH0776453B2/ja
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of EP0293057A2 publication Critical patent/EP0293057A2/de
Publication of EP0293057A3 publication Critical patent/EP0293057A3/en
Application granted granted Critical
Publication of EP0293057B1 publication Critical patent/EP0293057B1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • E02D7/16—Scaffolds or supports for drivers

Definitions

  • the present invention relates to an apparatus for controlling arm movement of an industrial vehicle having at least two arms the movement of which is controlled.
  • the present applicant has earlier proposed an industrial vehicle for foundation work (hereafter referred to as an industrial vehicle) as shown in Figs. 9A and 9B.
  • the industrial vehicle has a No. 1 arm 1, a No. 2 arm 2, and a No. 3 arm 3 articulated with each other as well as a first cylinder 4, a second cylinder 5, and a third cylinder 6 for driving these arms.
  • An operating attachment such as a vibro-hammer 7, an auger drill unit 8, or the like is installed at a tip of the No. 3 arm 3.
  • reference character PL denotes a sheet pile
  • DR denotes an auger drill.
  • An apparatus for controlling a position of a tip of an arm (hereafter referred to as an arm movement controlling apparatus) is conventionally known which is applied to a hydraulic power shovel having a shovel body, a boom, an arm, and a bucket installed at a tip of the arm and which is capable of controlling the position of the rotating point of the bucket in a desired direction.
  • an arm movement controlling apparatus known through Japanese Patent Publication No. 45025/1986
  • the targeted rotating speeds of the boom and the arm are respectively calculated by using signals from levers for controlling the speeds in the horizontal and vertical directions at the rotating point of the bucket.
  • the flow rates of cylinders for driving the boom and the arm are controlled by using the signals thus calculated, thereby moving the rotating point of the bucket along a targeted locus (a targeted path).
  • the control of the diagonal movement is effected by operating the boom and arm levers simultaneously.
  • the control of movement in the direction of 45 degrees would be possible if the two levers are operated at the same velocity.
  • the control of movement in a desired direction is difficult since the two levers must be constantly operated at a specified ratio of velocity.
  • an arm movement controlling apparatus in which a constant K is input arbitrarily by a device for setting the direction of the target locus along which the tip of the arm is controlled to be moved, and in which not only the vertical velocity but also the horizontal velocity given by a (K x vertical velocity) are imparted by operating the boom lever alone.
  • K x vertical velocity the horizontal velocity given by a
  • Another object of the present invention is to provide an apparatus for controlling the arm movement of an industrial vehicle in which the direction of a targeted locus is set in accordance with the posture of an operating attachment in order that breakage of a sheet pile, an auger drill, or the like can be prevented.
  • Still another object of the present invention is to provide an apparatus for controlling the arm movement of an industrial vehicle which effects a locus control by driving three arms simultaneously, thereby enhancing the operational efficiency.
  • an apparatus for controlling the arm movement of an industrial vehicle wherein an amount of deviation of a position of a tip of a second arm in a direction (a compensating direction) perpendicular to a direction of a targeted locus (an operating direction) from the target locus is detected, a command value for the velocity in the compensating direction is determined from a command value for the velocity in the operating direction, and a first arm rotatively connected to the second arm and the second arm are driven by using the command values for the velocities in the two directions and the deviation set forth above in such a manner that the tip of the second arm moves along the targeted locus.
  • both the positional accuracy and the operating efficiency are improved as compared with a conventional apparatus.
  • an operation in which an operating speed is slow such as an operation using a vibro-hammer or an earth auger, it is possible to obtain desired positional accuracy without being affected by variations in the flow-rate characteristics of flow-rate control valves or the like.
  • an apparatus for controlling the arm movement of an industrial vehicle wherein the direction of the targeted locus is set in accordance with the direction of installation of an operating attachment, i.e., the posture of the operating attachment, at the start of an operation or during an operation. Consequently, no undue force is applied to a sheet pile, an auger drill, or the like, thereby making it possible to prevent the breakage thereof.
  • the operating efficiency can be improved.
  • the angular velocity of the first arm is controlled, the angular velocities of the second and third arms are controlled in such a manner as to offset a deviation of the position of the tip of the third arm caused by the rotation of the first arm from the targeted locus.
  • deviation of the position of the tip of the third arm from the targeted locus is constantly detected, and this deviation is fed back for the control of the angular velocity of the second and third arms. Accordingly, even in the case of an operation involving a wide operating range, such as an excavating operation by a clamshell, it is possible to perform the locus control continuously by driving the three arms by means of a single control lever or the like.
  • Figs. 1 to 11 illustrate a first embodiment of the present invention, in which
  • Figs. 10 and 11 are diagrams illustrating a modification of the first embodiment with a No. 4 arm added thereto, in which
  • Figs. 12 to 18 illustrate second and third embodiments of the present invention, in which
  • Figs. 19 to 30 illustrate a fourth embodiment, in which
  • Figs. 31 and 32 illustrate a fifth embodiment of the present invention, in which
  • Figs. 1 to 11 a first embodiment of the present invention will be described. Hereafter, a description will be given of a case in which the present invention is applied to an industrial vehicle shown in Fig. 9A.
  • a revolving super structure US is provided on a base carrier LT, thereby constituting an industrial vehicle body CM.
  • a No. 1 arm 1 is revolvably provided on the revolving super structure US
  • a No. 2 arm 2 is provided revolvably at a tip of the No. 1 arm 1
  • a No. 3 arm is provided revolvably at a tip of the No. 2 arm 2.
  • the arms 1 to 3 are respectively driven by hydraulic cylinders 4 to 6.
  • An operating attachment e.g., a vibro-hammer unit 7, is coupled to a tip of the No. 3 arm 3 by means of a pin.
  • an earth auger drill unit 8 is shown in Fig. 9B.
  • a first arm as stated in Claims 1 to 10 appended hereto corresponds to the No. 2 arm referred to in this embodiment
  • a second arm as stated therein corresponds to the No. 3 arm referred to in this embodiment.
  • Fig. 1 shows a coordinate system of an industrial vehicle which is used in the first embodiment, and the following description will be based on this coordinate system.
  • Origin O point of supporting the rotation of the No. 1 arm 1
  • Point A point of supporting the rotation of the No. 2 arm 2
  • Point B point of supporting the rotation of the No. 3 arm 3
  • Point C connecting point of the operating attachment at the tip of the No.
  • Fig. 2 is a schematic diagram of the overall controlling apparatus.
  • An angle detector 11 is provided in the vicinity of a point of supporting the rotation of the No. 1 arm 1.
  • the angle detector 11 is adapted to detect the angle ⁇ of the No. 1 arm 1 with respect to the ground by means of known pendulum mechanism and potentiometer, and inputs the detected angle ⁇ to a circuit 200 for calculating a command value for the compensating velocity.
  • Angle detectors 12 and 13 are respectively installed at points of supporting the rotation of the No. 2 and No. 3 arms 2, 3.
  • the angle detectors 12 and 13 are adapted to detect the relative angle T2 between the No. 1 and the No. 2 arms 1, 2 and the relative angle T3 between the No. 2 and No.
  • a control lever 14 installed in the operator's cabin is constituted by, for example, a known lever mechanism and potentiometer, and outputs a signal corresponding to the operating angle of the lever. This signal is input to the circuit 200 for calculating a command value for the compensating velocity and a circuit 300 for calculating an angular velocity control value as a command value ⁇ for the operating-direction velocity (a command value for the operating velocity) of the tip of the No. 3 arm 3.
  • An operating direction setter 15 is used to set the direction of the targeted locus along which the tip of the No. 3 arm 3.
  • the angle ⁇ formed by the horizontal direction and the direction perpendicular to the operating direction of the tip of the No. 3 arm 3, which represents the direction of the targeted locus, is set by the operating direction setter 15 and inputted to the circuit 200 for calculating a command value for the compensating velocity.
  • the value ⁇ is set such as to equal 0 (degree)
  • the tip of the No. 3 arm 3 is moved horizontally, it is set such as to equal 90 (degrees).
  • the direction which forms the angle ⁇ with the vertical direction is the direction of the targeted locus.
  • the value ⁇ can be desirably set to an arbitrary one by a manual operation.
  • the circuit 200 for calculating a command value for the compensating velocity calculates a command value ⁇ for the velocity in the compensating direction (i.e., a command value for the compensating velocity) as well as the angles A2, A3 formed by the No. 2 and No. 3 arms 2, 3 with respect to the X-axis, and inputs them to the circuit 300 for calculating an angular velocity control value.
  • the circuit 300 for calculating the angular velocity control value calculates angular velocity control values ⁇ 2, ⁇ 3 of the No. 2 and No.
  • the circuit 400 for calculating a flow-rate control value calculates flow-rate control values Q2, Q3 of the cylinders 5, 6, and inputs them to electro-hydraulic control valves 16, 17.
  • Pressure oil from a hydraulic source (not shown) is introduced into the electro-hydraulic control valves 16, 17 through which pressure oil is supplied to the cylinders 5, 6 for the No. 2 and No. 3 arms 2, 3 at flow rates and at directions both corresponding to the input flow-rate control values Q2, Q3.
  • Pilot hydraulic pressure is produced corresponding to an amount of manual operation of operating levers 18 to 20 to be supplied to pilot ports of control valves 21 to 23.
  • the control valves 21 to 23 control the flow rates of pressure oil to be sent to the cylinders 4 to 6 as well as directions thereof.
  • the cylinders 4 to 6 are capable of arbitrarily extending or shrinking by respective operations of the operating levers 18 to 20.
  • the cylinders 5, 6 for the No. 2 and No. 3 arms 2, 3 are respectively connected in such a manner that the flow from the control valves 22, 23 converge with the flow from the electro-hydraulic control valves 16, 17, respectively.
  • Fig. 3 shows the circuit 200 for calculating a command value for the compensating velocity, to which the set value ⁇ for the operating direction, the angles ⁇ , T2, T3, and the operating velocity command value ⁇ , and which calculates the compensating velocity command value ⁇ .
  • the X-direction distance X expressed in Formula (3) is determined by the following: an adding point 201 for outputting the angle A1 which indicates a deviation ( ⁇ - ⁇ ) between the angle ⁇ with respect to the ground and the angle ⁇ representing the operating direction; an adding point 202 which outputs the angle A2 which indicates a deviation (A1 - T2) between the angle A1 and the angle T2; an adding point 203 for outputting the angle A3 which indicates a deviation (A2 - T3) between the angle A2 and the angle T3; function generators 206 - 208 for outputting cos A1 - cos A3; coefficient devices 209 - 211 for outputting L1 ⁇ cos A1 - L3 ⁇ cos A3 by multiplying these output values by coefficients L1 - L3, respectively; and an adder 204 for outputting the X-direction distance X by adding L1 ⁇ cos A1 - L3 ⁇ cos A3.
  • the deviation ⁇ X of Formula (2) is obtained at the adding point 205.
  • Formula (1) is calculated by the following: an absolute value converter 215 for outputting an absolute value
  • Fig. 5 shows the circuit 300 for calculating the angular velocity control value to which the angles A2, A3, T3, the operating velocity command value ⁇ and the comensating velocity command value ⁇ are input and which calculates the angular velocity control value ⁇ 2 of the No. 2 arm 2 with respect to the No. 1 arm 1 and the angular velocity control value ⁇ 3 of the No. 3 arm 3 with respect to the No. 2 arm 2.
  • X L1 ⁇ cos A1 + L2 ⁇ cos (A1 - T2) + L3 ⁇ cos (A1 - T2 - T3)
  • Y L1 ⁇ sin A1 + L2 ⁇ sin (A1 - T2) + L3 ⁇ sin (A1 - T2 - T3) (5) If both sides are differentiated with respect to time by assuming that the angle A1 of the No.
  • the circuit 300 for calculating the angular velocity control value is constituted by the following: function generators 305 - 309 for respectively outputting cos A3, sin A3, cos A2, sin A2, and sin T3; coefficient devices 310 - 314 for multiplying these functions by L2 or L3; a coefficient device 315 for multiplying L2 ⁇ sin T3 by a coefficient L3; multipliers 316 - 319 for respectively outputting ⁇ cos A3, ⁇ sin A3, ⁇ (L2 ⁇ cos A2 + L3 ⁇ cos A3), and ⁇ (L2 ⁇ sin A2 + L3 .
  • Fig. 6 shows the circuit 400 for calculating the flow-rate control value, which calculates flow-rate control values for the second and third cylinders 5, 6, i.e., input signals Q2, Q3 for the electro-hydraulic control valves 16, 17, on the basis of the input angles T2, T3 and the angular velocity control values ⁇ 2, ⁇ 3.
  • S, l0, l1, T shown in Fig. 7 are defined as follows: S: length of the cylinder l0: distance between an arm rotating point 01 and a cylinder rod-side supporting point 02 l1: distance between the arm rotating point 01 and a cylinder bottom-side supporting point 03 T: value corresponding to a relative angle of the arm (a value in which a constant is added to the relative angle of the arm) Then the following formula holds: If both sides of Formula (10) are differentiated with respect to time, we have and this formula shows the relationship between the cylinder velocity ⁇ and the angular velocity ⁇ of the arm.
  • the circuit 400 for calculating the flow-rate control value comprises function generators 404, 405 for generating f(T2), g(T3), multipliers 402, 403 for calculating the cylinder velocity ⁇ shown in Formula (12), and coefficient devices 406, 401 for obtaining the flow-rate control values Q2, Q3 by multiplying the cylinder velocity ⁇ by the cylinder areas a2, a3.
  • the position of the tip of the No. 3 arm 3 in the compensating direction i.e., the X coordinate
  • the X coordinate at the point of time of starting the operation of the control lever 14 is stored in the memory 214 as the initial value X0.
  • the line which passes through this X0 and is parallel with the Y-axis is the targeted locus OL (Fig. 4A), while the direction which forms the angle ⁇ with respect to the vertical direction is the direction of the targeted locus.
  • the deviation ⁇ X between the X-coordinate X which is consecutively calculated during the operation and the initial value X0 at the tip of the No. 3 arm 3 is calculated at the adding point 205.
  • the circuit 200 for calculating the compensating velocity command value outputs the compensating velocity command value ⁇ by multiplying the product of the the deviation ⁇ X and the absolute value
  • the circuit 300 for computing the angular velocity control value calculates the angular velocity control values ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3.
  • These angular velocity control values ⁇ 2, ⁇ 3 undergo link compensation by the circuit 400 for calculating the flow-rate control value, and are converted into the flow-rate control values Q2, Q3 of the second and third cylinders 5, 6.
  • the angular velocities of the No. 2 and No. 3 arms 2, 3 are controlled in such a manner that the tip of the No. 3 arm 3 moves along the targeted locus OL in the operating direction at a predetermined speed.
  • the deviation ⁇ X in the direction of the X-axis with respect to the targeted locus OL of the tip of the No. 3 arm 3 is calculated, and the positional feedback control is effected on the basis of this deviation ⁇ X thus calculated. Accordingly, the positional accuracy of the locus depicted by the tip of the No. 3 arm is improved remarkably as compared with the conventional open loop control without any positional feedback controls.
  • the tip of the No. 3 arm 3 can move vertically from a point C to a point D, but cannot continuously move vertically to a point E by passing through the point D. Accordingly, if the No. 1 arm 1 is operated manually while controlling the locus of the tip of the No. 3 arm 3 by means of the control lever 14 so that the tip of the No. 3 arm 3 moves from the point C to the point D on the targeted locus and the angle of the No. 1 arm with respect to the ground varies from ⁇ 1 to ⁇ 2, the tip of the No. 3 arm 3 can be continuously moved vertically from the point C to the point E, thereby remarkably improving the operating efficiency.
  • the operating direction ⁇ which indicates the direction of the targeted locus can be set arbitrarily by the operating direction setter 15 to control the locus depicted by the tip of the No. 3 arm 3 in the arbitrary direction, it is possible to perform not only the vertical execution of the sheet piles and the execution using the drill but also the horizontal execution and diagonal execution. For instance, setting that ⁇ to be 90 degrees causes the tip of the No. 3 arm 3 to be moved horizontally, whereby the positioning of the sheet pile and the drill can be extremely facilitated. Setting that ⁇ to be 45 degrees causes the tip of the No. 3 arm 3 to be moved diagonally.
  • the direction ⁇ of the targeted locus for the tip of the No. 3 arm 3 is set arbitrarily by the operating direction setter 15 prior to starting the operation.
  • the direction in which the operating attachment 7 is installed during the operation or at the time of starting of the operation is detected to be set as the direction ⁇ of the targeted locus, thereby to control the arm movement or to perform the locus control.
  • the operating direction ⁇ set by the operating direction setter 15 is not aligned with the actual direction of the sheet pile PL or the auger drill DR, as the execution of the work progresses, the axis of the sheet pile PL or the auger drill DR deviates from the targeted locus. Since the tip portion of the sheet pile PL or the auger drill DR is restrained in the ground, a force in a bending direction (an eccentric load) is consequently applied to the sheet pile PL or the auger drill DR. Hence, there is the possibility of the sheet pile PL or the auger drill DR becoming broken. Therefore, considerable time must be spent in setting the direction of the sheet pile PL or the auger drill DR before starting the operation.
  • the excavating direction may be generally set to the direction of installation of the operating attachment, thereby to control the arm movement through the above-described locus control technique.
  • an industrail vehicle of this type frequent change of the excavating direction in correspondence with the operation causes the direction of the locus to be reinput in response to each change of the excavating direction by operating the operating direction setter 15, so that the operation becomes very complicated.
  • the second and third embodiments are aimed at overcoming the aforementioned problems.
  • Fig. 13 shows a coordinate system of the industrial vehicle applied to the second and third embodiments, and the following description will be based on this coordinate system.
  • Fig. 13 the same components as those shown in Fig. 1 are denoted by the same reference numerals, and a description will be given of only points of difference.
  • FIG. 14 a description will now be given of an overall configuration of the controlling apparatus in accordance with the second embodiment wherein the present invention is applied to the industrial vehicle shown in Fig. 9A or 9B in which an operating attachment is connected to the tip of the No. 3 arm 3 by means of a pin.
  • the same portions as those of the first embodiment shown in Fig. 2 are denoted by the same reference numerals, and a description will be given centernig on points of difference.
  • An operating direction calculating circuit 120 is provided in place of the operating direction setter 15, and an angle detector 35 is provided for detecting the angle T4 formed by the No. 3 arm 3 relative to the direction of installation of the operating attachment 7 or 8.
  • This angle detector 35 is installed at the point of supporting the rotation of the operating attachment and is constituted by a known lever mechanism and potentiometer.
  • the angles ⁇ , T2 to T4 respectively detected by the angle detectors 11 to 13 and 35 are input to the operating direction calculating circuit 120, and the angle ⁇ of the axis of the operating attachment with respect to the vertical direction (which defines the direction of installation of the operating attachment and that of the targeted locus) is calculated on the basis of these inputs, and is then input to an operating direction input terminal of the circuit 200 for calculating the command value for the compensating velocity.
  • the circuit 200 for calculating the command value of the compensating velocity calculates the command value ⁇ for the velocity in the compensating direction and the angles A2, A3 in the same way as the first embodiment, and inputs them to the circuit 300 for calculating the angular velocity control value.
  • the circuit 300 for calculating the angular velocity control value calculates the angular velocity control values ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3 in the same way as the first embodiment, and inputs them to the circuit 400 for calculating the flow-rate control value.
  • the circuit 400 for calculating the flow-rate control value calculates the flow-rate control values Q2, Q3 of the cylinders 5, 6 in the same way as the first embodiment, and inputs them to the electro-hydraulic control valves 16, 17.
  • the electro-hydraulic control valves 16, 17, the operating levers 18 - 20, and the control valves 21 - 23 and their relationships of connection are entirely identical with those of the first embodiment, so that a description thereof will be omitted.
  • Fig. 15 shows the operating direction calculating circuit 120.
  • the direction ⁇ of installation of the operating attachment is determined by calculating Formula (17) by means of a ⁇ /2 setter 125 and adding points 121 to 123, and is input to an operating direction input terminal of the circuit 200 for calculating the command value for the compensating velocity.
  • the angle ⁇ of installation of the operating attachment with respect to the vertical direction is calculated on the basis of the angles ⁇ , T1, T2, T3, and T4 respectively detected by the angle detectors 11 - 13 and 35.
  • the X- and Y-coordinates with this angle ⁇ set as the operating direction are thereby determined.
  • This angle ⁇ may be altered each time when the angle T4 of installation of the operating attachment changes during the operation.
  • the circuit 200 for calculating the command value for the compensating velocity calculates the position of the tip of the No. 3 arm 3 in the compensating direction, i.e., the X-coordinate thereof.
  • the X-coordinate at the start of the operation of the control lever 14 is stored in the memory 214 as the initial value X0.
  • the line which passes through this X0 and is parallel with the Y-axis is the targeted locus OL (Fig. 4A), while the direction which forms the angle ⁇ with respect to the vertical direction is the direction of the targeted locus along which the tip of the No. 3 arm 3, i.e., the connecting point of the operating attachment moves.
  • the deviation ⁇ X between the X-coordinate X and the initial value X0 at the tip of the No. 3 arm 3 which is consecutively calculated during the operation is calculated at the adding point 205 (Fig. 3).
  • the circuit 200 for calculating the compensating velocity command value outputs the compensating velocity command value ⁇ by multiplying the product of the deviation ⁇ X and the absolute value
  • the circuit 300 for computing the angular velocity control value calculates the angular velocity control values ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3.
  • These angular velocity control values ⁇ 2, ⁇ 3 undergo link compensation by the circuit 400 for calculating the flow-rate control value to be converted into the flow-rate control values Q2, Q3 of the second and third cylinders 5, 6.
  • These flow-rate control values Q2, Q3 are supplied to the electro-hydraulic control valves 16, 17 through which the pressure oil from the hydraulic source is supplied to the second and third cylinders 5, 6 in predetermined directions and at predermined flow rates.
  • the No. 2 and No. 3 arms 2, 3 rotate so as to control movement of the tip of the No. 3 arm 3 along the targeted locus orientated in the direction ⁇ of installation of the operating attachment.
  • the angle of installation of the operating attachment with respect to the vertical direction is set as the angle ⁇ defining operating direction, and the angular velocities of the No. 2 and No. 3 arms 2, 3 are controlled in such a manner that the tip of the No. 3 arm 3 moves in the operating direction along the targeted locus at a predetermined speed. Meanwhile, simultaneously as this control is effected, the deviation of the tip of the No. 3 arm 3 with respect to the targeted locus in the direction of the X-axis is detected, and the positional feedback control based on this deviation is also carried out.
  • the sheet pile PL or the auger drill DR is broken when the angle of the operating attachment is substantially deviated from the operating direction thereof.
  • the direction of the targeted locus is consecutively altered in the direction of the axis of the sheet pile PL or the auger drill DR which changes with the execution of the work, such breakage can be prevented.
  • the execution of driving in the sheet pile PL longitudinally in the first embodiment, it takes time in aligning the sheet pile PL or the auger drill DR with the predetermined operating direction, and the operating efficiency is therefore poor.
  • the second embodiment since the direction of the targeted locus is automatically set to the direction of the sheet pile PL or the like, the operating efficiency can be improved.
  • the apparatus can be constructed at lower costs.
  • the roominess of the operator's cabin can be ameliorated.
  • Fig. 16 illustrates a configuration of the arm movement controlling apparatus in accordance with the third embodiment in which the angle of installation of the operating attachment on the No. 3 arm 3 can be varied by means of the cylinder 9, as shown in Fig. 12.
  • the same portions as those shown in Figs. 2 and 14 are denoted by the same reference numerals, and a description will be given by centering on points of difference.
  • An operating direction calculating circuit 150 is provided in place of the operating direction calculating circuit 120 shown in Fig. 14.
  • the angle ⁇ 0 of the installation of the operating attachment at the start of the operation is calculated by this operating direction calculating circuit 150 and is stored as the operating direction ⁇ .
  • an angular deviation ⁇ between the angle ⁇ of installation of the operating attachment and the operating direction ⁇ 0 is calculated during the operation and input to a second circuit 450 for calculating a flow-rate control value for the cylinder 9.
  • the operating direction ⁇ 0 at the start of the operation is input to the operating direction input terminal of the circuit 200 for calculating the command value for the compensating velocity.
  • the operating direction calculating circuit 150 is arranged such that a memory 156 for storing the initial angle ⁇ 0 is added to the operating direction calculating circuit 120 shown in Fig. 15.
  • This operating direction calculating circuit 150 is adapted to obtain the deviation ⁇ between the angle ⁇ 0 of installation of the operating attachment at the operation start and the angle ⁇ of the operating attachment which is calculated consecutively by the adding points 121 - 123 and the ⁇ /2 setter 125 during the operation.
  • the second circuit 450 for calculating the flow-rate control value is used to control the driving of the cylinder 9 in such a manner that the angle ⁇ of the installation of the operating attachment will be maintained at a fixed level even if the posture of the No. 2 and No. 3 arms 2, 3 changes consecutively.
  • the angular deviation ⁇ , the angle T4, and the angular velocity control control values ⁇ 2, ⁇ 3 are input to the second circuit 450 for calculating the flow-rate control value, which calculates the flow-rate control value Q4 supplied to the electro-hydraulic control valve 24 for the cylinder 9.
  • Reference numeral 25 denotes an operating lever for the cylinder 9
  • numeral 26 denotes a control valve which is changed over and controlled by the operating lever 25.
  • the arrangement is provided such that the cylinder 9 can be driven by the operation of the electro-hydraulic control valve 24 or the control valve 26.
  • the other aspects of the configuration are identical to those of the apparatus shown in Figs. 2 and 14, and a description thereof will be omitted.
  • Fig. 18 shows the second circuit 450 for calculating the flow-rate control value.
  • the angular velocity control value ⁇ 4 of the operating attachment is controlled to the angular velocity in which the numeral of a sum of the angular velocity control values ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3 is inverted.
  • the angular velocity control value ⁇ 4 of the operating attachment is obtained by multiplying the angular deviation ⁇ with respect to the operating direction by a constant K2 by means of a coefficient device 451 and then by adding this product and the angular velocity control values ⁇ 2, ⁇ 3 for the No. 2 and No. 3 arms 2, 3 by means of an adding point 452.
  • the flow-rate control value Q4 of the operating attachment can be obtained by using this angular velocity control value ⁇ 4, as in the case of Fig. 6. Accordingly, as shown in Fig.
  • the second circuit 450 for calculating the flow-rate control value is provided with a function generator 453 for outputting a link compensation coefficient (h(T4)) for the operating attachment, a multiplier 454 for calculating the cylinder velocity, and a coefficient device 455 for multiplying the cylinder velocity by a cylinder area a4.
  • the turning of a power switch starts the operation, as in the case of the first embodiment.
  • the angle ⁇ of installation of the operating attachment with respect to the vertical direction is calculated by the operating direction calculating circuit 150.
  • the X- and Y-coordinates with this installation angle ⁇ defining the operating direction are then determined.
  • the angle ⁇ at the start of the operation is stored in a memory 156 as the initial angle ⁇ 0 (this ⁇ 0 defines the fixed direction of the targeted locus during the operation) and is input to the circuit 200 for calculating the command value for the compensating velocity.
  • the circuit 200 for calculating the command value for the compensating velocity determines the angles A2 and A3 of the No. 2 and No.
  • the circuit 200 determines the compensating velocity command value ⁇ from Formula (1), as described above.
  • the circuit 300 for calculating the angular velocity control value determines the angular velocity control values ⁇ 2 and ⁇ 3 so that the tip of the No. 3 arm 3, i.e., the coupling point of the operating attachment, moves along the targeted locus orientated in the direction ⁇ 0.
  • a first circuit 400 for calculating a control value determines the flow-rate control values Q2 and Q3, as described above, on the basis of the input T2, T3, ⁇ 2, and ⁇ 3.
  • the angular deviation ⁇ with respect to the operating direction of the operating attachment which is determined by the operating direction calculating circuit 150, together with the angular velocity control values ⁇ 2, ⁇ 3 for the No. 2 and No. 3 arms 2, 3, is input to the second circuit 450 for calculating the flow-rate control value in which the angular velocity control value ⁇ 4 for the operating attachment is first calculated. Then, link compensation described above is carried out so as to obtain the flow-rate control value Q4 for the cylinder 9 for the operating attachment.
  • This flow-rate control value Q4 is supplied to the electro-hydraulic control valve 24, which, in turn, supplies pressure oil of a predetermined flow rate to the cylinder 9, thereby effecting control in such a manner that the angle of installation of the operating attachment with respect to the vertical direction coincides with the operating direction ⁇ 0.
  • the arm movement is controlled with the posture of the operating attachment fixed, and, as in the case of the second embodiment, the operating direction setter for manually inputting in a desired direction becomes unnecessary, so that the operating features can be improved appreciably.
  • both the positional and angular feedback-controls are effected by means of the deviation ⁇ X in the direction of the X-axis and the deviation ⁇ of the installation angle of the operating attachment, the positional accuracy of the position of the tip of the No. 3 arm and the postural accuracy of the operating attachment can be enhanced.
  • a main objective of the second and third embodiments is to set the direction of the targeted locus by the angle of installation of the operating attachment midway in the operation or at the start of the operation, so that the feedback of the deviation ⁇ X in the X-direction and the angular deviation ⁇ are not essential.
  • an arrangement may be provided such that the apparatus is constituted only by the No. 2 and No. 3 arms 2, 3 which are subject to the above-described locus control, as in the case of the first embodiment.
  • a hydraulic motor, a hydraulic rotary actuator, or an electric actuator may be used in place of the hydraulic cylinder.
  • the angle ⁇ of the No. 1 arm 1 with respect to the ground may be determined by the angle of inclination of the industrial vehicle body and the angle of the No. 1 arm 1 relative to the body. Further, the angle of installation of the operating attachment with respect to the vertical direction may be detected directly by such as a pendulum-type angle detector, and that angle may be displayed on a display or the like. The angle displayed allows the operator to freely set the angle of the installation of the operating attachment without an assistant who gives a signal to the operator.
  • a fourth embodiment will be described. This fourth embodiment is also applied to the industrial vehicle shown in Fig. 9A.
  • Fig. 19 illustrates a coordiante system of the industrial vehicle used in the fourth embodiment. The following description will be based on this coordinate system.
  • Fig. 19 the same portions as those shown in Fig. 1 are denoted by the same reference numerals, and only points of difference therebetween will be described.
  • X-axis, ⁇ and T1 are defined as follows: X-axis: straight line which lies in a plane including the points O, A, B, and C and which is a line of intersection formed by that plane and a horizontal plane passing through the point O ⁇ : angle formed by the rotational plane of the revolving super structure US (Fig. 9A) with respect to the ground T1: angle formed by the segment OA with respect to the rotational plane (the angle of the No.
  • one control lever for the locus control is provided, and the tip C of the No. 3 arm 3 is adapted to move along the targeted locus orientated in the direction of gravity by the operation of this control lever.
  • the following two systems are established: (1) a first system in which the No. 1 arm 1 is fixed and the No. 2 and No. 3 arms 2, 3 are driven to move the tip of the No. 3 arm along the targeted locus, in the same way as the above-described first embodiment; (2) a second system in which all the No. 1 to No. 3 arms are driven to move the same.
  • the locus control is performed by either of the control systems (1) and (2) in correspondence with the posture of the industrial vehicle.
  • the angular velocities ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3 can be expressed from the above-described Formulae (8) and (9) by using the command values ⁇ and ⁇ for the velocity in the X- and Y-directions.
  • ⁇ is the command value for the velocity in the operating direction, which is input by the aforementioned locus control lever.
  • (20) where K2 is a constant; X O is a targeted operating range; and X R is expressed by X R L1 ⁇ cos A1 + L2 ⁇ cos A2 + L3 ⁇ cos A3 (21) In other words, (X O - X R ) is a deviation between the distance X O in the X-direction from the origin O to the tip C of the No.
  • this first command value ⁇ 1 for the velocity in the compensating direction is a velocity command value which is proportional to both the deviation X O - X R and an absolute value
  • this first locus controlling system when the No. 1 arm 1 is fixed and the No. 2 and No. 3 arms 2, 3 are driven by the locus control lever, an amount of deviation of the tip of the No. 3 arm 3 in the X-direction is fed back, and this system is therefore basically the same as the controlling system of the first embodiment.
  • the operating velocity is obtained by controlling the No. 1 arm 1, and the No. 2 and No. 3 arms 2, 3 are controlled in such a manner as to offset the deviation of the tip of the No. 3 arm 3 from the targeted locus in the X-direction occurring as a result of rotation of the No. 1 arm 1.
  • the deviation of the same is constantly fed back for the control of the No. 2 and No. 3 arms 2, 3.
  • Component in the compensating direction v X is expressed as follows: where H Y is the height in the operating direction with the origin O of the point C of the tip of the No. 3 arm 3 as the reference.
  • the operating velocity command value in accordance with the second locus controlling system is assumed to be ⁇ 1
  • the angular velocity ⁇ 1 of the No. 1 arm 1 can be expressed from Formula (23) as Namely, in the second locus controlling system, the No. 1 arm 1 is controlled at the angular velocity determined from Formula (25) with respect to the given operating velocity command value ⁇ 1.
  • the angular velocities ⁇ 2, ⁇ 3 of the No. 2 and No. 3 arms 2, 3 are determined as follows: If the compensating velocity command value for canceling v X occurring as a result of the rotation of the No. 1 arm 1 is defined as a second command value ⁇ 2 for the velocity in the compensating direction, this ⁇ 2 can be expressed as Therefore, if a sum of Formulae (20) and (26), i.e., is used as ⁇ in the above-described Formulae (8) and (9), the above-mentioned deviation resulting from the rotation of the No. 1 arm 1 can be canceled by controlling the No. 2 and No. 3 arms 2, 3 simultaneously as the feedback of the deviation in accordance with the first locus controlling system.
  • these first and second locus controlling systems are automatically selected in correspondence with the angle of the No. 1 arm 1 and the operating height of the tip of the No. 3 arm 3. A detailed description will be given hereafter of this selective changeover.
  • the angle of the No. 1 arm 1 is classified into the three ranges: a minimum angle less than T 1MIN , a maximum angle A 1MAX or more, and an intermediate range between the minimum angle T 1MIN and the maximum angle T 1MAX .
  • the minimum angle T 1MIN is an angle in which some leeway is allowed in the minimum value of the angle T1 when the cylinder 4 for the No. 1 arm 1 has shrunk most, i.e., the angle T1 being formed between the No. 1 arm 1 and the rotational plane.
  • the maximum angle A 1MAX is a minimum angle of the No. 1 arm which allows the No. 2 arm 2 to be made controllable, i.e., permits the tip of the No.
  • H Y of the tip of the No. 3 arm 3 is classified into three ranges by means of H Y1 and H Y2 , as shown in Fig. 21.
  • H Y1 d + (30)
  • H Y2 d - (31)
  • d is the height of an intermediate point between the maximum operating height at the targeted operating radius X O when the angle A1 of the No. 1 arm set as A 1MAX on the one hand, and the minimum operating height at the targeted radius X O when the angle T1 of the No. 1 arm 1 with respect to the rotational plane is set as T 1MIN ;
  • h is the distance of movement of the tip of the No. 3 arm 3 as the No.
  • H Y1 and H Y2 may be determined by another method.
  • the first and second locus controlling systems are selected with respect to a combination of the ranges of the angle of the No. 1 arm and the ranges of the operating height, as shown in Fig. 22.
  • the second locus controlling system is selected when the angle of the No. 1 arm is less than A 1MAX and the operating height is H Y2 or more, and the first locus controlling system is selected in the other cases.
  • the second locus controlling system is selected when the angle of the No. 1 arm is T 1MIN or more and the operating height is less than H Y1 , and the first locus controlling system is selected in the other cases.
  • the angle of the No. 1 arm is controlled in such a manner as to reciprocate between A 1MAX and T 1MIN . Therefore, if the locus controlling systems are selected as shown in Fig. 22, the angle of the No. 1 arm at the start of control can be set to a desired angle.
  • the control is commenced in the direction of ⁇ ⁇ 0 and the operating height is H Y1 or more. If the angle of the No. 1 arm is A 1MAX or more at the start of control, the locus control is effected in the following order of (a) to (d), as shown in Fig. 23A.
  • the locus control is effected in the order of (a), (b) and (d) shown in Fig. 23B.
  • the steps (a), (b), and (d) are the same as the aforementioned steps (a), (b), and (d), so that a description thereof will be omitted.
  • the angle of the No. 1 arm constantly reciprocates between A 1MAX and T 1MIN .
  • an angle detector 40 installed on a frame of the revolving super structure detects the angle ⁇ of inclination of the revolving super structure US (Fig. 9A) by means of known pendulum mechanism and potentiometer, and inputs the angle ⁇ of inclination to a first circuit 220 for calculating a command value for the compensating velocity.
  • the angle detectors 12, 13 are respectively installed at the points of supporting the rotation of the No. 2 and No. 3 arms 2, 3, detect the relative angle T2 between the No. 1 and No. 2 arms 1, 2 and the relative angle T3 between the No. 2 and No. 3 arms 2, 3.
  • the relative angles T2, T3 are input to the first circuit 220 for calculating the command value for the compensating velocity and the circuit 430 for calculating the flow-rate control value, respectively.
  • the control lever 14 installed in the operator's cabin is constituted by, for instance, known lever mechanism and potentiometer, and outputs a signal corresponding to the operating angle of the lever.
  • the signal thus outputted is input to the arithmetic circuit 100 for dividing the command value for the operating velocity and the first circuit 220 for calculating the command value for the compensating velocity as the command value ⁇ for the operating velocity of the tip of the No. 3 arm 3.
  • the arithmetic circuit 100 for dividing the command value for the operating velocity divides the operating velocity command value ⁇ into a first operating velocity command value ⁇ 1 and a second operating velocity command value ⁇ 2.
  • the operating command value ⁇ 1 is connected to a second circuit 250 for calculating the compensating velocity and a second circuit 350 for calculating an angular velocity control value.
  • the operating command value ⁇ 2 is connected to a first circuit 360 for calculating an angular velocity control value.
  • the first circuit 220 for calculating the command value for the compensating velocity calculates the first compensating velocity command value ⁇ 1 on the basis of the angles ⁇ , T1, T2, T3, and the operating velocity command value ⁇ , and inputs the same to the first circuit 360 for calculating the angular velocity control value. Also, the circuit 220 calculates the distance X O in the X-direction (referred to as the targeted operating radius) from the origin O to the tip of the No. 3 arm 3 at the start of operation of the locus control lever 14, the angles A1, A2, and A3 formed by the respective No. 1, No. 2, and No.
  • the second circuit 250 for calculating the command value for the compensating velocity calculates the second compensating velocity command value ⁇ 2 on the basis of the distance X O , the operating height H Y , and the first operating velocity command value Y1, and inputs the same to the first circuit 360 for calculating the angular velocity control value.
  • the first circuit 360 for calculating the angular velocity control value calculates the angular velocity control values ⁇ 2, ⁇ 3 for the No. 2 and No. 3 arms 2, 3 on the basis of the angles A2, A3, T3 and the velocity command values ⁇ 1, ⁇ 2, ⁇ , and inputs the same to the circuit 430 for calculating the flow-rate control value, respectively.
  • the second circuit 350 for calculating the angular velocity control value calculates the angular velocity control value ⁇ 1 for the No. 1 arm 1 on the basis of the radious X O and the first operating velocity command value ⁇ 1, and inputs the same to the circuit 430 for calculating the flow-rate control value.
  • the circuit 430 for calculating the flow-rate control value calculates the flow-rate control values Q1, Q2, Q3 for the cylinders 4, 5, 6 on the basis of the angular velocity control values ⁇ 1, ⁇ 2, ⁇ 3 and the angles T1, T2, T3, and inputs the same to the electro-hydraulic control valves 27, 16, 17, respectively.
  • Pressure oil is introduced into these electro-hydraulic control valves 27, 16, 17 from a hydraulic source, and these electro-hydraulic control valves 27, 16, 17 supply pressure oil to the cylinders 4, 5, 6 for the No. 1, No. 2, and No. 3 arms 1, 2, 3 at flow rates and in directions corresponding to the input flow-rate control values Q1, Q2, Q3, respectively.
  • Pilot hydraulic pressure is produced corresponding to an amount of manual operation of the operation levers 18 to 20 to be supplied to the control valves 21 to 23.
  • the control valves 21 to 23 control the flow rates and directions of pressure oil supplied to the cylinders 4 to 6 by means of the pilot hydraulic pressure from the operating levers 18 to 20.
  • the cylinders 4 to 6 are capable of undergoing a telescopic operation arbitrarily by means of the operating levers 18 to 20 and are connected to the respective valves so that they can be subjected to the telescopic operation by the pressure oil from the control valves 21, 22, 23 or the electro-hydraulic control valves 27, 16, 17.
  • Fig. 25 illustrates the first circuit 220 for calculating the command value for the compensating velocity to which the angles T1, T2, T3, ⁇ , and the operating velocity command value ⁇ are input and which calculates the targeted operating radius X O , the distance in the Y-direction (the operating height) from the origin O to the tip of the No. 3 arm 3, and the first compensating velocity command value ⁇ 1.
  • the distance X R in the X-direction shown in Formula (21) is determined by the following: an adder 221 for outputting the angle A1 which indicates a sum ( ⁇ + T1) of the angles ⁇ and T1; a deviation device 222 for outputting the angle A2 which indicates a diviation (A1 - T2) between the angles A1 and T2; a deviation device 223 for outputting the angle A3 which indicates a diviation (A2 - T3) between the angles A2 and T3; function generators 226 to 228 for respectively outputting cos A1 to cos A3; coefficient devices 229 to 231 for outputting L1 ⁇ cos A1 to L3 ⁇ cos A3 by multiplying these output values by coefficients L1 to L3; and an adder 224 for outputting the distance X R in the X-direction by adding L1 ⁇ cos A1 to L3 ⁇ cos A3 together.
  • the calculation of the first compensating velocity command value ⁇ 1 shown in Formula (20) is performed by a multiplier 233 which multiplies the deviation (X O - X R ) and the absolute value
  • H Y L1 ⁇ sin A1 + L2 ⁇ sin A2 + L3 ⁇ sin A3 (37) and, as shown in Fig. 25, is determined by the following: function generators 241 to 243 for outputting sin A1 to sin A3; coefficient devices 244 to 246 for outputtting L1 ⁇ sin A1 to L3 ⁇ sin A3 by multiplying these outputs by the coefficients L1 to L3; and an adder 247 for outputting the distance H Y in the Y-direction by adding L1 ⁇ sin A1 to L3 ⁇ sin A3 together.
  • Fig. 26 shows the arithmetic circuit 100 for dividing the command value for the operating velocity to which the angles A1, T1, the targeted operating radius X O , and the distance H Y in the Y-direction are input and calculates the first and second operating velocity command values ⁇ 1, ⁇ 2 on the basis of the operating velocity command value ⁇ .
  • the first locus controlling system when the first operating velocity command value ⁇ 1 is zero and the second operating velocity command value ⁇ 2 is equal to the operating velocity command value ⁇ , the first locus controlling system is selected, while, when the first operating velocity command value ⁇ 1 is equal to the operating velocity command value ⁇ and the second operating velocity command value ⁇ 2 is zero, the second locus controlling system is selected.
  • the arithmetic circuit 100 for dividing the command value for the operating velocity is provided with some circuits described below so that the selection of the first and second controlling systems described above is effected in accordance with the conditions of Fig. 22.
  • these circuits include a function generator 101 for outputting the angle A 1MAX from the input targeted operating radius X O and function generators 102, 103 for respectively outputting the maximum operating height H Y1 and the minimum height H Y2 from X O in a similar manner.
  • the function generator 101 satisfies Formula (29) and the function generators 102, 103 satisfy Formulae (35), (36), respectively.
  • the arithmetic circuit 100 for dividing the command value for the operating velocity constitutes a logical circuit for selecting the locus controlling systems with respect to a combination of the ranges of the angle of the No. 1 arm and the operating height. Therefore, it is provided with function generators 104 to 107.
  • the function generator 104 outputs 0 when the angle A1 is A 1MAX or more and 1 when it is less than A 1MAX ; the function generator 105 outputs 0 when the angle T1 is less than T 1MIN and 1 when it is T 1MIN or more; the function generator 106 outputs 0 when the operating height H Y is H Y1 or more and 1 when it is less than H Y1 ; and the function generator 107 outputs 0 when the operating height H Y is less than H Y2 and 1 when it is H Y2 or more.
  • the so-called linear control is carried out so that the output is changed progressively from 0 to 1 or vice versa.
  • a minimum value selection circuit 108 selects a minimum value from a signal output from the function generator 104 in response to A 1MAX and a signal output from the function generator 107 in response to the minimum operating height H Y2 .
  • a minimum value selection circuit 109 selects a minimum value from a signal output from the function generator 105 in response to T 1MIN and a signal output from the function generator 106 in response to the maximum operating height H Y1 .
  • a switching device 110 is changed over in reponse to the positive or negative value of the operating velocity command value ⁇ , and a contact a is closed when the value is positive, and a contact b is closed when it is negative.
  • a multiplier 111 multiplies the signal output from the minimum value selection circuit 108 or 109 by the operating velocity command value ⁇ .
  • the multiplier 111 outputs 0 when the output of the minimum value selection circuit 108 or 109 input thereto is 0, while the multiplier 111 outputs the operating velocity command value ⁇ when the output of the minimum value selection circuit 108 or 109 input thereto is 1.
  • This output of the multiplier 111 is used as the first operating velocity command value ⁇ 1.
  • a deviation device 112 calculates a deviation between the output of the multiplier 111 and the operating velocity command value Y so as to obtain the second operating velocity command value ⁇ 2.
  • the minimum value selection circuit 108 selects a minimum value 1 between the output of the function generator 104 which outputs 1 when the angle A1 of the No. 1 arm is less than A 1MAX on the one hand, and the output of the function generator 107 which outputs 1 when the operating height H Y is H Y2 or more on the other.
  • the command value of the second locus controlling system i.e., the first operating velocity command value ⁇ 1 equivalent to the operating velocity command value ⁇
  • the second operating velocity command value ⁇ 2 becomes zero.
  • the minimum value selection circuit 109 selects the minimum value 1 between the output of the function generator 105 which outputs 1 when the angle T1 of the No.
  • the first operating velocity command value ⁇ 1 which is equivalent to the operating velocity command value ⁇ can be obtained as in the case of the rising case.
  • the second operating velocity command value Y2 becomes zero.
  • the first operating velocity command value ⁇ 1 becomes zero
  • the second operating velocity command value ⁇ 2 becomes equivalent to the operating velocity command value ⁇ .
  • Fig. 27 shows the second circuit 250 for calculating the command value for the compensating velocity to which the first operating velocity command value ⁇ 1, the targeted operating radius X O , and the operating height H Y are input and which calculates the second compensating velocity command value ⁇ 2.
  • the second compensating velocity command value ⁇ 2 can be determined.
  • Fig. 28 shows the second circuit 350 for calculating the angular velocity control value to which the first operating velocity command value ⁇ 1 and the targeted operating radius X O are input and which calculates the angular velocity control value ⁇ 1 for the No. 1 arm 1.
  • the angular velocity control value ⁇ 1 for the No. 1 arm 1 can be determined from Formula (25) through dividing the first operating velocity command value ⁇ 1 by the targeted operating radius X O by means of a divider 351.
  • Fig. 29 shows the first circuit for calculating the angular velocity control value 360 to which the angles A2, A3, T3, the second operating velocity command value ⁇ 2, and the compensating velocity command values ⁇ 1, ⁇ 2 are input and which calculates angular velocity control values ⁇ 2and ⁇ 3 for the No. 2 and No. 3 arms 2, 3 with respect to the No. 1 and 2 arms 1, 2, respectively.
  • the first circuit 360 for calculating the angular velocity control value comprises: function generators 365 to 369 for respectively outputting cos A3, sin A3, cos A2, sin A2, sin T3; coefficient devices 370 to 374 for multiplying these functions by a coefficient L2 or L3; a coefficient device 375 for muliplying L2 ⁇ sin T3 by the coefficient L3; multipliers 376 to 379 for respectively outputting ⁇ cos A3, ⁇ 2 ⁇ sin A3, ⁇ (L3 cos A3 + L2 cos A2), and ⁇ 2 (L3 sin A3 + L2 sin A2); adders 361, 362 for respectively outputting L3 ⁇ cos A3 + L2 ⁇ cos A2, L3 ⁇ sin A3 + L2 ⁇ sin A2; adders 363, 364 for respectively outputting ( ⁇ ⁇ cos A3 + ⁇ 2 ⁇ sin A3), - ⁇ (L2 ⁇ cos A2 + L3 ⁇ cos A3) - ⁇ 2(
  • Fig. 30 shows the circuit 430 for calculating the flow-rate control value, to which the angles T1, T2, T3 and angular velocity control values ⁇ 1, ⁇ 2, ⁇ 3 are input and which calculates input signals Q1, Q2, Q3 for the electro-hydraulic control valves 27, 16, 17.
  • Q2 ⁇ 2 ⁇ f2 (T2) ⁇ a2 (39)
  • Q3 ⁇ 3 ⁇ f3 (T3) ⁇ a3 (40)
  • the cylinder areas a1, a2, and a3 in practice differs between the rod side and the bottom side, it is necessary to change over a1, a2, and a3, as required, during extension and shrinkage of the cylinders 4, 5, 6.
  • this circuit 430 for calculating the flow-rate control value comprises: function generators 431 to 433 for generating functions f1(T1), f2(T2), and f3(T3); multipliers 434 to 436 for calculating the cylinder velocity ⁇ shown in Formula (12); and coefficient devices 437 to 439 for obtaining the flow-rate control values Q1, Q2, and Q3 by multiplying the cylinder velocity ⁇ by the cylinder areas a1, a2, and a3.
  • the position of the tip of the No. 3 arm 3 in the compensating direction i.e., an X-coordinate
  • the X-coordinate at the point of starting the operation of the control lever 14 is stored in a memory 234 as the initial value (targeted operating radius) X O .
  • a line which passes through this X O and is parallel with the direction of the Y-axis (the operating direction and the direction of gravity) is the targeted locus OL (Fig.
  • the control lever 14 is outputting the operating velocity control value ⁇ for the tip of the No. 3 arm 3 in the operating direction (the direction of the Y-axis).
  • the first circuit 220 for calculating the compensating velocity command value outputs the first compensating velocity command value ⁇ 1 by multiplying a product of this deviation and the absolute value
  • the first circuit 220 for calculating the compensating velocity command value then calculates the angles A1, A2, A3, and the position of the Y-coordinate of the tip of the No. 3 arm 3, i.e., the operating height H Y .
  • the arithmetic circuit 100 for dividing the operating velocity command value divides the operating velocity command value ⁇ into the first and second operating velocity command values ⁇ 1, ⁇ 2 on the basis of the operating posture, i.e., the angles A1, T1 of the No. 1 arm, the operating height H Y , and the targeted operating radius X O .
  • the angle A1 of the No. 1 arm is A 1MAX or more and the operating height H Y is H Y1 or more determined by the targeted operating radius X O
  • the operating velocity command value ⁇ is negative (i.e., for controlling in the lowering direction)
  • an output 1 is delivered from the function generator 105
  • an output 0 is delivered from the function generator 106, so that the output of the mimimum value selection circuit 109 becomes 0. Since the contact b of the switching device 110 is closed during ⁇ ⁇ 0, the first operating velocity command value ⁇ 1 becomes zero, while the second operating velocity command value ⁇ 2 becomes equal to ⁇ .
  • the angular velocity control value ⁇ 1 for the No. 1 arm 1 output from the second circuit 350 for calculating the angular velocity control value becomes 0, while the second compensating velocity command value ⁇ 2 output from the second circuit 250 for calculating the compensating velocity command value becomes zero.
  • the first circuit 360 for calculating the angular velocity control value calculates the angular velocity contol values ⁇ 2, ⁇ 3 for the No. 2 and No. 3 arms 2, 3 in such a manner that the deviation described above will be compensated by the first compensating velocity command value ⁇ 1 and the tip of the No. 3 arm will move at the operating velocity command value ⁇ .
  • the first locus controlling system is selected for effecting the locus control by fixing the No. 1 arm and by driving the No. 2 and No. 3 arms 2, 3.
  • the angular velocity control value ⁇ 1 for the No. 1 arm output from the second circuit 350 for calculating the angular velocity control value represents an angular velocity corresponding to the operating velocity command value ⁇ instructed from the locus control lever 14.
  • the first and second compensating velocity command values ⁇ 1, ⁇ 2 also assume predetermined values, and the second operating velocity command value ⁇ 2 is 0. Therefore, the angular velocity control values ⁇ 2, ⁇ 3 for the No. 2 and No. 3 arms 2, 3 output from the first circuit 360 for calculating the angular velocity control value serve to produce only the component of the compensating velocity for the tip of the No. 3 arm 3. In other words, the rotation of the No. 2 and No.
  • the second locus contolling system is selected for effecting the locus control by controlling the velocity in the operating direction by means of the No. 1 arm 1 and the velocity in the compensating direction by means of the No. 2 and No. 3 ams 2, 3.
  • the output of the function generator 105 changes from 1 to 0.
  • the output of the minimum value selection circuit 110 changes from 1 to 0, and ⁇ 1 becomes zero and ⁇ 2 becomes equivalent to ⁇ again. Namely, the system is thus changed over to the first locus controlling system.
  • the operating velocity command value ⁇ is made positive (i.e., for controlling the rising direction)
  • the outputs 1 and 0 are respectively delivered from the function generator 104 and the function generator 107, and the output of the minimum value selection circuit 108 becomes zero. Since the contact a of the switching device 110 is closed during ⁇ > 0, the first operating velocity command value ⁇ 1 is zero, and the second operating velocity command value ⁇ 2 is equivalent to ⁇ , resulting in selection of the first locus controlling system.
  • the angular velocity control values ⁇ 1, ⁇ 2, ⁇ 3 thus determined are subjected to link compensation by the flow-rate control value calculating circuit 430 so as to be converted into the flow-rate control values Q1, Q2, Q3 for the first, second, and third cylinders 4, 5, 6.
  • These flow-rate control values Q1, Q2 and Q3 are supplied to the electric-hydraulic control valves 27, 16, 17, which, in turn, allows the pressure oil from the hydraulic source to be supplied to the first, second, and third cylinders 4, 5, 6 in predetermined directions and at predetermined flow rates.
  • the No. 2 and No. 3 arms 2, 3 rotate so that the locus of the tip of the No. 3 arm 3 is depicted on the targeted locus.
  • the No. 1 to 3 arms 1 to 3 rotate so that the locus of the tip of the No. 3 arm is depicted on the same.
  • Fig. 31 which is a schematic diagram of the configuration of the overall apparatus
  • the arithmetic circuit 100 for dividing the operating velocity command value is omitted, and, consequently, a first angular velocity calculating circuit 1360 is simplified, as shown in Fig. 32.
  • ⁇ 2 and ⁇ 3 can be expressed as Accordingly, the apparatus shown in Fig. 32 is arranged by omitting unnecessary portions from Fig. 29 so as to calculate Formulae (8′) and (9′).
  • the tip of the No. 3 arm 3 can move vertically from the point C to the point D, but cannot move vertically continuously up to the point E by passing through the point D. Accordingly, if the No. 1 arm is operated manually while effecting the control of the locus from the point C to the point D by means of the control lever 14 in such a manner that the angle with respect to the ground changes from ⁇ 1 to ⁇ 2, the tip of the No. 3 arm 3 can be continuously moved vertically from the point C to the point E.
  • the operator must operate the locus controlling lever 14 with one hand and operate the operating lever 18 for the No. 1 arm with the other hand. For this reason, the operation of opening and closing the bucket in a clamshell operation, for instance, must be performed by temporarily suspending the locus control. In other words, in this type of operation, the driving of each arm must be suspended temporarily, so that there has been the problem that the operating efficiency is deteriorated.
  • the locus control can be effected over a wide range of operation by simply operating the locus controlling lever 14 by one hand, and the operation of opening and closing the bucket, or the like can be effected with the other hand, thereby improving the operating efficiency because of a continuous operation.
  • the second locus controlling system can be suitably used, since the angular velocity of the No. 1 arm is controlled so that the operating velocity of the tip of the No. 3 arm is controlled can be suitably used.
  • a fourth arm 40 shown in Figs. 10 and 11 it is possible to add the fourth arm 40 shown in Figs. 10 and 11, in the same way as the first embodiment.
  • hydraulic motors, hydraulic rotary actuators, or electric actuators may be used in place of the hydraulic cylinders so as to drive the No. 1 to No. 3 arms.
  • a clamshell unit CS shown in Fig. 33 may be installed at the tip of the arm as an operating attachment.
  • an arrangement may be alternatively provided such that a manual switch is provided in order that the first and second locus controlling systems are selected by changing over the switch.
  • the No. 1 to No. 3 arms may be driven by the open-loop control alone, without performing the so-called positional feedback control in which the deviation of the actual position of the tip of the third arm from the targeted locus is fed back.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP88201064A 1987-05-29 1988-05-27 Einrichtung zur Steuerung der Armbewegung eines industriellen Fahrzeuges Expired - Lifetime EP0293057B1 (de)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP13541387 1987-05-29
JP135413/87 1987-05-29
JP70404/88 1988-03-23
JP7040488A JP2601865B2 (ja) 1988-03-23 1988-03-23 作業機の軌跡制御装置
JP63108099A JPH0776453B2 (ja) 1987-05-29 1988-04-28 作業機の軌跡制御装置
JP108099/88 1988-04-28

Publications (3)

Publication Number Publication Date
EP0293057A2 true EP0293057A2 (de) 1988-11-30
EP0293057A3 EP0293057A3 (en) 1989-11-23
EP0293057B1 EP0293057B1 (de) 1993-09-08

Family

ID=27300316

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88201064A Expired - Lifetime EP0293057B1 (de) 1987-05-29 1988-05-27 Einrichtung zur Steuerung der Armbewegung eines industriellen Fahrzeuges

Country Status (2)

Country Link
EP (1) EP0293057B1 (de)
DE (1) DE3883848T2 (de)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994026988A1 (en) * 1993-05-13 1994-11-24 Caterpillar Inc. Coordinated control for a work implement
DE19646345A1 (de) * 1996-11-09 1998-05-14 Josef Kern Vorrichtung zum Einrammen oder Ziehen von Spundwänden bzw. Spundwand-Element sowie zum Planziehen von Flächen
US5835874A (en) * 1994-04-28 1998-11-10 Hitachi Construction Machinery Co., Ltd. Region limiting excavation control system for construction machine
WO1999005368A1 (en) * 1997-07-23 1999-02-04 Rsi Technologies Ltd. Method and apparatus for controlling a work implement
EP0900887A1 (de) * 1996-12-03 1999-03-10 Shin Caterpillar Mitsubishi Ltd. Steuervorrichtung einer baumaschine
GB2351312A (en) * 1999-04-23 2000-12-27 Mcgrattan Piling Ltd Extension arm, for an excavator boom, with attachment means for a pile driving hammer
CN111749289A (zh) * 2020-06-26 2020-10-09 北京百度网讯科技有限公司 设备控制方法、装置、设备和计算机存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1484808A1 (de) * 1960-11-17 1969-05-14 Westinghouse Electric Corp Steuereinrichtung fuer Loeffelbagger
FR2148006A1 (de) * 1971-07-31 1973-03-11 Mitsubishi Heavy Ind Ltd
DE2613920B2 (de) * 1975-10-15 1979-03-29 Hokushin Electric Works Ltd., Tokio Steuervorrichtung zur Betätigung der hydraulisch bewegbaren Teile eines Baggers
DE2425390C3 (de) * 1974-05-25 1980-04-17 Weserhuette Ag, 4970 Bad Oeynhausen Steuerung für die Bewegung von Arbeitsgliedern
DE3303262A1 (de) * 1983-02-01 1984-08-02 Fried. Krupp Gmbh, 4300 Essen Maekler fuer den anbau an den ausleger eines baggers

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1484808A1 (de) * 1960-11-17 1969-05-14 Westinghouse Electric Corp Steuereinrichtung fuer Loeffelbagger
FR2148006A1 (de) * 1971-07-31 1973-03-11 Mitsubishi Heavy Ind Ltd
DE2425390C3 (de) * 1974-05-25 1980-04-17 Weserhuette Ag, 4970 Bad Oeynhausen Steuerung für die Bewegung von Arbeitsgliedern
DE2613920B2 (de) * 1975-10-15 1979-03-29 Hokushin Electric Works Ltd., Tokio Steuervorrichtung zur Betätigung der hydraulisch bewegbaren Teile eines Baggers
DE3303262A1 (de) * 1983-02-01 1984-08-02 Fried. Krupp Gmbh, 4300 Essen Maekler fuer den anbau an den ausleger eines baggers

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994026988A1 (en) * 1993-05-13 1994-11-24 Caterpillar Inc. Coordinated control for a work implement
US5424623A (en) * 1993-05-13 1995-06-13 Caterpillar Inc. Coordinated control for a work implement
US5835874A (en) * 1994-04-28 1998-11-10 Hitachi Construction Machinery Co., Ltd. Region limiting excavation control system for construction machine
DE19646345A1 (de) * 1996-11-09 1998-05-14 Josef Kern Vorrichtung zum Einrammen oder Ziehen von Spundwänden bzw. Spundwand-Element sowie zum Planziehen von Flächen
EP0900887A4 (de) * 1996-12-03 2000-05-24 Caterpillar Mitsubishi Ltd Steuervorrichtung einer baumaschine
EP0900887A1 (de) * 1996-12-03 1999-03-10 Shin Caterpillar Mitsubishi Ltd. Steuervorrichtung einer baumaschine
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
WO1999005368A1 (en) * 1997-07-23 1999-02-04 Rsi Technologies Ltd. Method and apparatus for controlling a work implement
US6140787A (en) * 1997-07-23 2000-10-31 Rsi Technologies Ltd. Method and apparatus for controlling a work implement
GB2351312A (en) * 1999-04-23 2000-12-27 Mcgrattan Piling Ltd Extension arm, for an excavator boom, with attachment means for a pile driving hammer
GB2351312B (en) * 1999-04-23 2003-07-09 Mcgrattan Piling Ltd Extension arm for piling with an excavator
CN111749289A (zh) * 2020-06-26 2020-10-09 北京百度网讯科技有限公司 设备控制方法、装置、设备和计算机存储介质
CN111749289B (zh) * 2020-06-26 2022-07-15 北京百度网讯科技有限公司 设备控制方法、装置、设备和计算机存储介质

Also Published As

Publication number Publication date
DE3883848T2 (de) 1994-02-24
EP0293057A3 (en) 1989-11-23
EP0293057B1 (de) 1993-09-08
DE3883848D1 (de) 1993-10-14

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