JP2002115272A - Automatic operation backhoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation backhoe, with which the falling-out of soil and rocks or the like during slewing can be prevented, in which the cycle time of operation is shortened and which has high operation efficiency. SOLUTION: The automatic operation backhoe is composed of the hydraulic backhoe 1 with a front working machine, consisting of a boom 12, an arm 13 and a bucket 14 and an automatic operation controller 61 installed to the hydraulic backhoe and automatically and repeatedly conducting excavation operation, forward slewing operation, soil discharge operation and return slewing operation to the front working machine. The opening section of the bucket 14 is tilted in the bucket-dumping direction only once, by controlling the operation of at least either of the members constituting the front working machine prior to the starting of forward slewing operation, after the completion of excavation operation. Excess soil and rocks held to the bucket 14 are made to fall due to own weight to the fixed position of soil-rock dropping by the working of gravity by the operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly, to an automatic driving shovel that automatically repeats a series of operations from excavation to earth removal.

[0002]

2. Description of the Related Art As disclosed in, for example, Japanese Patent Application Laid-Open No. 9-195321, a control device for automatic operation has recently been provided, and from excavation to earth removal according to a control signal output from the control device. An automatic operation shovel has been developed that automatically performs a series of operations repeatedly.

[0003] In the case of excavating debris and the like using this type of automatic driving shovel and turning the excavated debris and the like to the hopper of a crusher for crushing stone, the bucket of the automatic driving shovel is used. If the crusher is turned up to the hopper of the crusher for crushing stones in a state in which the crushed stones and the like are piled up, the debris and the like may fall off the bucket during the turning, and there is a possibility that peripheral machines such as the crusher for crushing stones may be damaged.

[0004] The inventors of the present application have previously proposed a technique disclosed in Japanese Patent Application Laid-Open No. 11-286969 in order to solve such inconvenience. Hereinafter, the outline of the technique proposed by the inventors of the present application will be described with reference to FIG. FIG. 1 schematically shows the operation of a front working machine provided in an automatically driven shovel from the start of excavation to the start of turning after the end of excavation. In the figure, reference numeral 12 denotes a boom, and 13 denotes a boom. An arm 14 indicates a bucket, and O indicates a rotation center of the boom 12.

The excavation operation in automatic operation is shown in FIG.
After the bucket 14 is moved to the excavation start position P1 and the bucket 14 is brought into contact with the ground, the excavation is performed by moving the bucket 14 to an intermediate excavation position P2 shown in FIG. Then, the bucket is moved to the excavation end position P3 shown in FIG. 1C by a bucket cloud or the like, and the excavated debris is held in the bucket 14. After the excavation, the bucket 14 is
It moves to the swinging-down position P4 shown in (d), and P4 → P
The operation of 4 ′ → P4 → P4 ′ → P4..., That is, the bucket dumping operation and the bucket cloud operation are repeated a set number of times to shake off excess debris of the bucket 14, and after that, as shown in FIG. It moves to the turning start position P5 shown and starts the turning operation.

As described above, according to the technique proposed by the inventors of the present application, the excess debris held in the bucket 14 is shaken off before the turn starts, so that the bucket 1 is turned during the turn.
4 prevents spilling of heaps of earth and stone, and can prevent damage to peripheral machines such as crushers for crushed stones.

[0007]

However, the above-described automatic driving shovel moves the bucket 14 on which heaps of soil are piled to the swinging-down position P4 shown in FIG. Is repeated to shake off excess debris, so that the bucket 14 is moved from the digging end position P3 shown in FIG. 1C to the swinging-down position P4 shown in FIG. The operation cycle time is lengthened by the amount of moving the bucket 14 and the operation of the bucket 14 alone, and the work efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made to improve the prior art described above, and has as its object to prevent spills of debris and the like during turning so as to prevent damage to peripheral devices and to reduce the cycle time of work. However, it is an object of the present invention to provide an automatic driving shovel that is short and has high working efficiency.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention firstly provides a hydraulic shovel provided with a front working machine comprising a boom, an arm and a bucket, and the hydraulic shovel is provided in the hydraulic shovel. In an automatic operation shovel comprising an automatic operation controller that repeatedly and automatically performs a digging operation, a forward turning operation, a soil discharging operation and a return turning operation on the front work machine, the automatic operation controller, after the excavation operation is completed, Before the start of the going-swing operation, the operation of at least one member constituting the front working machine is controlled to incline the opening of the bucket only once in the bucket dumping direction. The extra debris held is dropped to a predetermined debris removal position.

[0010] According to this structure, after the excavation operation is completed, the opening of the bucket is inclined only once in the bucket dumping direction until the start of the go-swing operation, so that the extra space held in the bucket is reduced. Can be naturally dropped by the action of gravity, which makes the debris drop significantly by repeating the bucket dumping operation and the bucket cloud operation as in the case of an automatic shovel according to the related art. The drop operation can be made more efficient. Therefore, it is possible to prevent spilling of debris and the like during the turning to prevent damage to peripheral devices, and to reduce a work cycle time and improve work efficiency of the automatic driving shovel.

In order to achieve the above object, the present invention secondly selects the debris dropping operation of the first means from a fixed amount of bucket dump, a fixed amount of arm dump and a fixed amount of boom raising. Or one of the two operations.

According to this configuration, the required debris removal operation is performed by one operation of a fixed amount of bucket dump, a fixed amount of arm dump or a fixed amount of boom raising, so that the control of the front work machine by the automatic operation controller is simplified. The load on the automatic operation controller can be reduced.

According to the present invention, in order to achieve the above object, thirdly, the debris removing operation in the first means is selected from a fixed amount of bucket dump, a fixed amount of arm dump and a fixed amount of boom raising. The operation is performed by a composite operation of any two or more operations.

According to this configuration, the required debris dropping operation is performed by a composite operation of any two or more operations selected from a fixed amount of bucket dump, a fixed amount of arm dump, and a fixed amount of boom raising. The inclination angle control of the bucket opening and the debris dropping position control can be performed with a higher degree of freedom, and a more precise and high-speed debris dropping operation can be realized.

[0015] In order to achieve the above object, the present invention fourthly, in the first to third means, the debris dropping position is changed from a start position of the excavation operation to an end position of the excavation operation. It is configured to be set at any position between them.

According to this configuration, the debris dropping position is set to any position between the start position of the excavation operation and the end position of the excavation operation. Excavation can be performed.

According to a fifth aspect of the present invention, in the first to fourth means, the position of the bucket at the debris dropping position is equal to the position of the bucket at the end position of the excavation operation. The position of the hydraulic excavator is a position that is a certain distance away from the vehicle body of the excavator.

According to this configuration, the position of the bucket at the debris dropping position is set at a position that is a certain distance away from the body of the excavator than the position of the bucket at the end position of the excavation operation. The safety and continuity of the work can be improved without colliding with the vehicle body.

According to the present invention, in order to achieve the above object, sixthly, in the first to fifth means, the posture of the bucket at the end position of the excavation operation is adjusted so that the bucket opening is horizontal. Control.

According to this configuration, the bucket posture is controlled so that the bucket opening is horizontal at the end position of the excavation operation. Therefore, sufficient debris can be held in the bucket by the excavation operation. Waste of excavation work due to insufficient holding of debris can be prevented.

In order to achieve the above object, the present invention seventhly sets the position of the bucket at the end position of the excavating operation of the first to fifth means such that the bucket opening is dumped more than horizontal. It was configured to be controlled so that

According to this configuration, the posture of the bucket is controlled at the end position of the excavation operation so that the bucket opening is in a posture that is more dumped than horizontal, so that the amount of extra debris held in the bucket is reduced. Can be
Excavation work can be made more efficient.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of an automatic driving shovel according to the present invention will be described with reference to FIGS.

FIG. 2 is a diagram showing a configuration of the automatic driving shovel according to the present embodiment and a working form thereof. FIG. 3 is a diagram showing a configuration of an in-vehicle device mounted on the automatic driving shovel and an operation for remotely controlling the automatic driving shovel. It is a block diagram which shows the structure of a box, and the same code | symbol is displayed on the corresponding part, respectively.

As shown in FIG. 2, the automatic driving shovel 1 of the present embodiment is remotely operated by an operation box 5,
The operation of digging the debris stored in the stockyard 2 and loading the crusher 3 is repeated. The debris loaded by the automatic driving shovel 1 is crushed by the crusher 3 and is formed into required crushed stone 4.

As shown in FIG. 2, the automatic driving shovel 1 includes a traveling body 10, a revolving body 11 rotatably provided on the traveling body 10, and a boom rotatably provided on the revolving body 11. 12, an arm 13 rotatably provided at the tip of the boom 12, a bucket 14 rotatably provided at the tip of the arm 13, and a swing motor 1 for swinging the swing body 11.
A boom cylinder 120 for driving the boom 10 and the boom 12;
An arm cylinder 130 for driving the arm 13, a bucket cylinder 140 for driving the bucket 14,
Angle sensor 1 for detecting the turning angle of the turning body 11 with respect to 0
11, an angle sensor 112 for detecting a rotation angle of the boom 12 with respect to the revolving unit 11, and an arm 1 for the boom 12.
An angle sensor 113 for detecting the rotation angle of the arm 3 and the arm 13
Sensor 1 for detecting the rotation angle of bucket 14 with respect to
14 are provided.

The revolving superstructure 1 of the self-driving shovel 1
As shown in FIG. 2, the cab 1 is provided with an operator cab 15 and an automatic operation controller 61, and the operator cab 15 is provided with a signal between an operation panel 60 for automatic operation and an operation box 5. An antenna 150 for transmitting and receiving wirelessly is provided.

Further, as shown in FIG. 3, the automatic operation shovel 1 includes a pressure sensor 160 for detecting the pressure of the swing motor 110, a pressure sensor 161 for detecting the pressure of the boom cylinder 120, and an arm cylinder 130. A pressure sensor 162 for detecting pressure and a bucket cylinder 14
0, a pressure sensor 163 for detecting a pressure of 0, a controller switch 66 for on / off control of the automatic operation controller 61, a proportional solenoid valve 62 driven by a drive current output from the automatic operation controller 61, and an output from the proportional solenoid valve 62. The amount of oil flowing into the swing motor 110, the boom cylinder 120, the arm cylinder 130, and the bucket cylinder 140 (these may be collectively referred to as “actuator” in this publication). Alternatively, a wireless device 6 having a control valve 63 for controlling hydraulic pressure and an antenna 150
5 are provided. In FIG. 3, reference numeral 6 denotes an in-vehicle device.

The automatic operation shovel 1 of this embodiment is switched to a manual operation mode or an automatic operation mode by turning on and off the controller switch 66. That is, when the controller switch 66 is turned off, the automatic operation controller 61 is switched to the off state, and the same manual operation as that of the standard machine is enabled. When the controller switch 66 is turned on, the automatic operation controller 61 is turned off.
Is switched to the ON state, and the automatic operation controller 6
1 enables automatic operation.

On the other hand, the operation box 5 is shown in FIGS.
As shown in FIG. 5, a regeneration operation unit 50 operated during the regeneration of the automatic driving, a remote operation controller 52 for outputting a predetermined signal corresponding to the operation content of the regeneration operation unit 50 to the automatic operation controller 61, and an automatic operation controller 61 A wireless device 53 having an antenna 51 for wirelessly transmitting and receiving signals to and from the wireless communication device is provided. The reproduction operation unit 50 includes an operation stop button 500 for stopping automatic operation of the automatic operation shovel 1, An operation start button 501 for starting automatic operation of the automatic driving shovel 1, a standby position button 502, an emergency stop button 503, a start button (START) 504 for starting an engine of the automatic driving shovel 1, and stopping the engine. Stop button (STOP) 5
05 and UP button to increase engine speed (UP)
506 and a down button (DO
WN) 507.

As shown in FIG. 2, the crusher 3 includes a traveling body 30, a hopper 31, a crushed stone portion 32, and a conveyor 33.
And is arranged at the earth discharging position of the automatic driving shovel 1.

Hereinafter, an automatic driving method of the automatic driving shovel 1 will be described.

In the automatic operation, first, the controller switch 66 is turned on while the engine of the automatic operation shovel 1 is started, and the automatic operation controller 61 is activated to switch to the automatic operation mode.

Next, in accordance with the instructions displayed on the operation panel 60, the teaching operation necessary for the automatic operation is performed. The teaching operation in the present embodiment is a teaching of an excavation start position, a dumping position, and a standby position. The excavation start position is a position for the automatic driving shovel 1 to excavate the debris stored in the stock yard 2, and the unloading position is a position for discharging the debris excavated to the hopper 31 of the crusher 3. . The standby position is a position at which the operator gets on and off the automatic driving shovel 1 at the end of the automatic driving or the like. The automatic operation controller 61 includes the angle sensors 111 to 11
4 to calculate the excavation start position, the unloading position, and the standby position taught from the operation panel 60, and store the calculated excavation start position, tillage position, and standby position in the predetermined storage area as the taught position data. The teaching operation is completed as described above, and by performing the reproduction operation described below, the automatic driving is enabled.

The regeneration operation is performed by pressing the operation start button 501 provided in the regeneration operation section 50. That is, when the operation start button 501 is pressed, a predetermined signal generated in the remote operation controller 52 is transmitted to the antenna 51.
, 150 to the automatic operation controller 61, and the automatic operation controller 61 starts the regeneration process. The automatic operation controller 61 reads the teaching position data stored in the predetermined storage area, compares the information with the information obtained from the angle sensors 111 to 114, and matches the revolving unit 11, The drive current is output to a proportional solenoid valve 62 for operating the boom 12, the arm 13, and the bucket 14, respectively. As a result, the opening of the control valve 63 is controlled, the operation of each of the actuators 11, 12, 13, and 14 is controlled, and the automatic operation of the automatic operation shovel 1 is executed.

In this state, when the operation stop button 500 provided on the operation box 5 is operated, the automatic operation of the automatic operation shovel 1 is stopped, and when the standby position button 502 is operated, the automatic operation shovel 1 is repeatedly operated. Is interrupted, and the automatic driving shovel 1 automatically moves to the standby position. When the emergency stop button 503 is operated, the automatic operation shovel 1 is emergency stopped, and when the stop button 505 is operated, the engine mounted on the automatic operation shovel 1 is stopped. Further, by operating the up button 506, the engine speed can be increased, and by operating the down button 507, the engine speed can be reduced.

Next, a more detailed configuration of the automatic operation controller 61 will be described with reference to FIGS.

FIG. 4 is a block diagram of the operation box 5 and the in-vehicle device 6 in which the configuration of the automatic driving controller 61 is described in detail.

As can be seen from this figure, the automatic operation controller 61 of this embodiment operates the operating panel 60 to store the current position of the shovel 1 as a teaching position in a teaching position storage unit 601 to be described later. A teaching position storage unit 601 for storing teaching position data during automatic operation according to a command from the teaching processing unit 600; a command transmitting / receiving unit 602 for transmitting / receiving a command to / from the remote operation controller 52; And a playback command storage unit 6 for storing playback commands for sequentially executing playback operations.
04, a command interpreter unit 605 for interpreting a playback command stored in the playback command storage unit 604 according to a command from the playback processing unit 603, and instructing the teaching position storage unit 601 to output predetermined teaching position data. A teaching position output unit 606 that outputs teaching position data stored in a teaching position storage unit 601 in response to a command from the command interpreter unit 605, and an output from the teaching position output unit 606 so that the shovel 1 operates smoothly. A servo pre-processing unit 607 for generating and outputting position data interpolated by calculation from the taught position data to be processed, the position data output from the servo pre-processing unit 607, and the angle sensor 1
Based on the measurement data of the excavator 1 based on the measurement data of the excavator 1 and the current position and the current pressure data from the position pressure calculator 609 for calculating the current position and the current pressure, the excavator 1 The shift amount (angle) for each joint stored in the shift amount storage unit 611 according to a command from the servo control unit 608 that outputs a drive current for controlling the position to the position of the proportional electromagnetic valve 62 and the command interpreter unit 605. ) In the teaching position storage unit 601
And a teaching position shift calculation unit 610 that generates new position data by adding the teaching position data stored in the teaching position data. Others are the same as those in FIG. 3 described above, and the corresponding parts are denoted by the same reference numerals and description thereof will be omitted.

FIG. 5 is a diagram showing an example of a playback command stored in the playback command storage unit 604.

In the figure, L1 represents a line label instead of a command.

V is a command for specifying the moving speed.
The larger the value, the higher the moving speed.

PAC is a command for specifying the positioning accuracy of the movement. Since it is not easy to move the automatic operation shovel to a predetermined position, when the PAC reaches the position of the positioning accuracy as shown by this numerical value, The self-driving shovel is used to determine that the position has been reached. The higher the value, the higher the accuracy is required.

MOVE is a command for instructing movement to a designated position, and P1 to Pn are labels indicating angle information of each joint of the MOVE command. For example, MOV
EP1 indicates that the teaching position data stored in the teaching position storage unit 601 should be moved to the position No. P1 shown in FIG.

S_ON is a command for adding the shift amount specified by S1 to Sn to the movement target Pn in the MOVE command executed next. For example,
When S_ON S1 is executed as shown in FIG. 5, among the shift amounts stored in the shift amount storage unit 611, the shift No. shown in FIG. The shift amount for each joint in S1 is added to the teaching position data of P3 to be executed next by the MOVE command, and the joint moves to a position shifted by a predetermined angle with respect to P3.

WAIT is a command for designating an operation waiting time. For example, when WAIT 1 is executed, the shovel 1 stops operating for one second.

S_OFF is a command for clearing the added shift amount.

GOTO L1 is a command for instructing that the execution be restarted from the line label L1.

FIG. 6 is a diagram showing an example of the teaching position data stored in the teaching position storage section 601.

In the figure, P1 to Pn correspond to the teaching positions and the labels P1 to Pn, respectively.
At each teaching position, respective values of a turning angle, a boom angle, an arm angle, and a bucket angle to be taken by each part of the automatic driving shovel are set.

FIG. 7 is a diagram showing an example of the shift amount data stored in the shift amount storage section 611.

In the figure, S1 to Sn correspond to the shift amounts and the labels S1 to Sn, respectively.
Each value of the turning angle, the boom angle, the arm angle, and the bucket angle to be added is set.

Hereinafter, the operation of the automatic operation controller 61 configured as described above will be described.

An operation panel 60 installed in the cab 15
When the teaching operation is performed by operating, the instruction is input to the teaching processing unit 600, and the teaching processing unit 600 inputs the current position data from the position / pressure calculation unit 609, and the instruction is displayed in FIG. 6 corresponding to each teaching position. The teaching position data as shown is generated. The generated teaching position data is stored in the teaching position storage unit 60.
1 is stored.

The reproduction process is started by turning on the START button 504, and the command interpreter 605 is turned on.
Sequentially read and execute the reproduction commands stored in the reproduction command storage unit 604 according to the start instruction. If the playback command is a MOVE command, the teaching position output unit 60
6, the corresponding parameters are output from the teaching position storage unit 601 and transferred to the servo preprocessing unit 607.

The servo preprocessing unit 607 performs an interpolation operation of the angles so that each joint operates at the target speed given from the command interpreter unit 605, and performs a servo control unit 608.
To output the target angle value. The servo control unit 608 calculates the current position data calculated by the position pressure calculation unit 609 and the angle target value output from the servo preprocessing unit 607 based on the current position data.
General feedback control is performed, and a drive current for driving the proportional solenoid valve 62 is output. As a result, the control valve 63 is controlled to supply a predetermined pressure oil to the actuator 64 to drive each joint of the automatic operation shovel body 1.

Each time the interpolation calculation in the servo preprocessing unit 607 reaches the final target position (for example, P2 in the case of MOVE P2), the final target position data is output to the servo control unit 608. Based on a command from the processing unit 607, it is determined whether or not the current position of each joint has reached a positioning range set based on the positioning accuracy. As a result of the determination, if the current position has not reached the positioning range, The servo pre-processing unit 607 continues to output the final target position to the servo control unit 608. When each joint reaches a predetermined positioning range, the servo pre-processing unit 6
07 ends the output of the final target position, and the teaching position output unit 6
Interpolation calculation from 06 to the next teaching position (for example, P3) is performed, and the operation of the automatic operation is continued.

On the other hand, when the automatic driving shovel reaches a predetermined teaching position (P3 in this embodiment) set in the reproduction command storage unit 604, the command interpreter unit 605 instructs the teaching position shift operation unit 611. Then, the shift amount S1 is read.

Next, the teaching position shift operation section 611
In accordance with a command from the command interpreter unit 605, a shifted teaching position (P3 ') is calculated based on the teaching position (P3) and the read shift amount S1.

Next, the command interpreter 605
Commands the teaching position output unit 606 to stop outputting the teaching position (P3) from the teaching position storage unit 601 and output the shifted teaching position (P3 ′) from the teaching position shift calculation unit 611. .

As a result, the bucket 14 is shifted to a predetermined debris dropping position, and extra debris is dropped from the bucket 14. Note that the excavator 1 can be stopped at the shifted teaching position (P3 ') for a predetermined time (for example, 1 to 5 seconds) in order to reliably drop excess pile of stones piled up in the bucket 14.

Next, the command interpreter 605
The teaching position shift calculator 61 is provided to the teaching position output unit 606.
The output of the shifted teaching position (P3 ′) data from 1 is stopped, and a command is issued to output the teaching position (P4) from the teaching position storage unit 601 again.

Next, the operation of the excavator 1 at the time of excavation and the teaching position shift operation unit 6 in the automatic operation controller 61
The operation method 10 will be described with reference to FIGS.

FIG. 8 is a diagram showing the dimensions and angles of each joint of the shovel 1 with the rotation center of the boom 12 as the origin O, G is the ground contact surface of the shovel 1, Lbm is the boom length, and L is the length of the boom.
am is the arm length, Lbk is the bucket length, θsw is the angle between the revolving unit 11 and the traveling unit 10, θbm is the angle between the horizontal axis x and the boom 12, θam is the angle between the boom 12 and the arm 13, θbk is the arm 13 and the bucket 14
And the angle between them.

FIGS. 9A to 9C and 9E show the excavation start position P1 and the excavation intermediate position P1, which are the teaching positions of the respective joints at the time of excavation stored in the teaching position storage unit 601.
2, the excavation end position P3 and the turning start position P4 are shown, and FIG. 9D shows a debris dropping position P3 ′ newly generated by shifting the excavation end position P3.

The order of the excavation operation in the automatic operation is shown in FIG.
P1 → P2 → P3 → P3 ′ → P4 shown in (a) to (e)
Where the angle of each joint at P3 is P3: θp
3sw, θp3bm, θp3am, θp3bk, and shift amount S1 are S1: θs1sw, θs1bm, θs1am,
θs1bk.

In order to perform the debris dropping operation, there is a need for a margin enough for the bucket 14 to move. Therefore, the boom is raised from the position P3. The boom raising amount at this time is θs1
bm.

Further, if the boom is raised only, the dropped debris may accumulate on the front side of the shovel 1 and excavation efficiency may be deteriorated. In such a case, the arm 14 is dumped to remove the bucket 14. It is more preferable to keep away. The arm dump amount at this time is θs1am.

Then, a bucket dump is performed in order to drop piled earth and stones in the bucket 14. The bucket dump amount at this time is θs1bk.

Since it is not necessary to operate the turning operation, θs1sw in this case may be set to zero.

With the above settings, the shift amount storage unit 6
11, the respective shift amounts θs1sw, θs1b
m, θs1am, θs1bk and the teaching position storage unit 601
Angle θp3s of each joint at P3 stored in
From w, θp3bm, θp3am, and θp3bk, the angle θp3′sw of each joint at the debris dropping position P3 ′,
θp3′bm, θp3′am, θp3′bk are (1)
To (4).

Θp3′sw = θp3sw + θs1sw (1) θp3′bm = θp3bm + θs1bm (2) θp3′am = θp3am + θs1am (3) θp3′bk = θp3bk + θs1bk (4) The target position obtained from the above equation is the output P3 ′ obtained from the above equation. , A debris dropping operation is performed. That is, at the debris dropping position P3 ', as shown in FIG. 9D, the bucket opening is in a posture in which the bucket is dumped more than horizontal, so that excess debris scraped into the pile in the bucket 14 is removed. It can be dropped naturally by the action of gravity.

As described above, according to the debris dropping method of the present embodiment, the operation from the excavation end position P3 to the debris dropping position P3 'sets the bucket opening to a posture where the bucket is dumped from the horizontal position, thereby removing excess debris. Since it can be dropped naturally, it can be moved to the swinging-down position as in the prior art, and the work cycle time can be reduced compared to the case where only the bucket is operated independently to drop debris. 1 can improve work efficiency.

In this embodiment, the debris dropping operation is performed by the combined operation of the bucket dump, the arm dump and the boom raising after the end of the excavation. Since the bucket opening will move in the dumping direction, depending on the condition of the stock yard and the soil to be excavated, the bucket dump, the arm dump, and the boom raising can be used to perform the debris dropping operation alone. The debris dropping operation may be performed by a combination of two or more of the operations.

Further, as shown in FIG. 9 (c2), the excavation end position P3 can be set to a posture in which the opening of the bucket 14 is dumped more than horizontal. By doing so, since unnecessary debris is not scraped into the bucket 14 during excavation, the waiting time when the debris is dropped can be shortened, and the work efficiency can be further improved.

Next, the processing procedure of the debris shaking-off operation will be described.
This will be described with reference to the flowchart shown in FIG.

First, automatic operation is performed, and in step S1, the command interpreter 605 causes the teaching position output unit 606 to output the position data of P3 so that the bucket 14 moves to P3. .

Next, in step S2, it is determined whether or not the bucket 14 has reached P3. At this time,
If P3 has not yet been reached, the operation of the automatic operation is continued until the position reaches the range of the predetermined positioning accuracy.

When P3 is reached, the process moves to step S3, where the teaching position shift calculation section 610 stores the shift amount storage section 61
1 and the teaching position storage unit 6
From P3 of 01, a shifted P3 'is calculated.

Next, in step S 4, the command interpreter 605 causes the teaching position output unit 606 to output P 3 ′ from the teaching position shift calculator 610 instead of P 3 from the teaching position storage 601.

Next, in step S5, it is determined whether the bucket 14 has reached the position P3 '. At this time, if P3 'has not yet been reached, the operation of the automatic operation is continued until the position reaches within the range of the predetermined positioning accuracy.

Next, the command interpreter 605 stops the output of P3 'from the teaching position shift calculator 610 in step S6, and outputs the P4 from the teaching position storage 601 again in step S7.

In the processing procedure of FIG. 10, the operation of the front work machine is stopped for a predetermined time (for example, 1 to 5 seconds) after it is determined that the bucket 14 has reached the position P3 ', and It is also possible to allow time to ensure that the extra debris is dropped.

[0084]

According to the first aspect of the present invention, after the excavation operation is completed, the opening of the bucket is inclined only once in the bucket dumping direction in the process from the end of the excavation operation to the start of the go-swing operation. , Because the excess debris held in the bucket can be naturally dropped by the action of gravity,
The debris removal operation can be made much more efficient than when debris removal is performed by repeating the bucket dump operation and the bucket cloud operation. Therefore, it is possible to prevent spilling of debris and the like during the turning to prevent damage to peripheral devices, and to reduce a work cycle time and improve work efficiency of the automatic driving shovel.

According to the second aspect of the present invention, the required debris removal operation is performed by one operation of a fixed amount of bucket dump, a fixed amount of arm dump, or a fixed amount of boom raising. The control of the machine can be simplified, and the burden on the automatic operation controller can be reduced.

According to the third aspect of the invention, the required debris removal operation is a combination of any two or more operations selected from a fixed amount of bucket dump, a fixed amount of arm dump, and a fixed amount of boom raising. Since the operation is performed by the operation, the inclination angle control of the bucket opening and the debris dropping position control can be performed with a higher degree of freedom, and a more precise and high-speed debris dropping operation can be realized.

According to the fourth aspect of the present invention, since the debris dropping position is any position between the start position of the excavation operation and the end position of the excavation operation, the dropped debris does not scatter around. It is possible to excavate debris efficiently.

According to the fifth aspect of the present invention, the position of the bucket at the debris dropping position is set at a position a certain distance away from the body of the excavator than the position of the bucket at the end position of the excavation operation. The debris does not collide with the body of the hydraulic excavator, and the work safety and continuity can be improved.

According to the sixth aspect of the present invention, at the end position of the excavation operation, the posture of the bucket is controlled so that the bucket opening is horizontal, so that the excavation operation can hold sufficient debris in the bucket. It is possible to prevent waste of excavation work due to insufficient holding of debris in the bucket.

According to the seventh aspect of the present invention, at the end position of the excavation operation, the bucket posture is controlled so that the bucket opening is in a posture dumped from the horizontal position, so that extra debris held in the bucket is maintained. The amount can be reduced, and the excavation work can be made more efficient.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing a procedure for shaking off debris according to a conventional technique.

FIG. 2 is a front view showing an example of the automatic driving shovel according to the embodiment and an operation form thereof.

FIG. 3 is a block diagram illustrating a configuration of an in-vehicle device 6 and an operation box 5 mounted on the automatic driving shovel body 1 according to the present embodiment.

FIG. 4 is a block diagram illustrating details of a functional configuration of an automatic operation controller 61 according to an embodiment of the present invention.

FIG. 5 is a diagram showing an example of a playback command stored in a playback command storage unit 604 shown in FIG.

FIG. 6 is a diagram illustrating an example of teaching position data stored in a teaching position storage unit 601 illustrated in FIG. 4;

7 is a diagram illustrating an example of shift amount data stored in a shift amount storage unit 611 illustrated in FIG. 4;

8 is a diagram showing dimensions and angles of respective joints having an origin O as a rotation center of a boom 12 in the automatic driving shovel body 1 shown in FIG.

9 is a diagram showing a teaching position and a debris dropping position of each joint when excavating the automatic driving shovel body 1 shown in FIG. 2;

FIG. 10 is a flowchart showing a processing procedure of a debris removing operation in the automatic operation controller 61 shown in FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Automatic driving excavator main body 2 Stockyard 3 Crusher 5 Operation box 6 In-vehicle equipment 61 Automatic operation controller 601 Teaching position storage part 604 Playback command storage part 605 Command interpreter part 606 Teaching position output part 607 Servo preprocessing part 608 Servo control part 609 Position pressure calculator 608 Servo controller 610 Teach position shift calculator 611 Shift amount storage

 ──────────────────────────────────────────────────の Continuing on the front page (72) Yoshiyuki Nagano, 650 Kandamachi, Tsuchiura-shi, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (72) Akira Hashimoto 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Inside the Tsuchiura Works, Ltd.

Claims (7)

[Claims] 1. A hydraulic shovel provided with a front working machine comprising a boom, an arm and a bucket, and a digging operation, a forward turning operation, a soil discharging operation and a return turning operation are repeatedly performed on the front working device provided on the hydraulic shovel. An automatic operation shovel comprising: an automatic operation controller configured to automatically perform the operation of the front work machine after completion of the excavation operation and before start of the going-turn operation. The operation of the two members is controlled to incline the opening of the bucket only once in the bucket dumping direction, and this operation drops excess debris held in the bucket to a predetermined debris dropping position. Driving excavator. 2. The automatic driving shovel according to claim 1, wherein the operation of dropping excess debris held in the bucket is selected from a fixed amount of bucket dump, a fixed amount of arm dump, and a fixed amount of boom raising. An automatic driving shovel characterized in that the shovel is operated by any one of the following methods. 3. The automatic driving shovel according to claim 1, wherein an operation of dropping excess debris held in the bucket is selected from a fixed amount of bucket dump, a fixed amount of arm dump, and a fixed amount of boom raising. An automatic driving shovel characterized by performing by a combined operation of any two or more operations. 4. The automatic driving shovel according to claim 1, wherein the debris dropping position is:
An automatic operation shovel, wherein the excavator is at any position between a start position of the excavation operation and an end position of the excavation operation. 5. The automatic driving shovel according to claim 1, wherein a position of the bucket at the debris dropping position is higher than a position of the bucket at an end position of the excavation operation. An automatic driving shovel, which is located at a certain distance from a body of the shovel. 6. The automatic driving shovel according to claim 1, wherein a posture of the bucket at an end position of the excavation operation is controlled so that a bucket opening is horizontal. And self-driving shovel. 7. The automatic driving shovel according to claim 1, wherein a posture of the bucket at an end position of the excavation operation is set to a posture in which a bucket opening is more dumped than horizontal. An automatic driving shovel characterized by controlling.