JP2003027527A - Manual operation of hydraulic back hoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To further enhance the controllability of the bucket of a hydraulic back hoe by enabling the bucket to be translated both longitudinally (along Z rotation axis) and linearly relative to the hydraulic back hoe body by means of a control lever. SOLUTION: A manual operation device is for the hydraulic back hoe in which cylinders 37 for actuating the bucket 1, an arm 2 and a boom 3 are hydraulically driven. The manual operation device includes a single operating lever 18 and a drive control device 20 which, based on an output of the operating lever, outputs a control signal to a valve 38 adapted for supplying pressure oil to the cylinders 37. Using the single operating lever, the behavior of the bucket 1 is given a degree of freedom about the horizontal Z-axis of the bucket as well as three degrees of freedom about a longitudinal X-axis, a vertical Y-axis, and rotation of the bucket about a Φ-axis. To enable control of the bucket's X- Y- and Z-axis spaces, the Z rotation axis 34 is provided parallel to an X rotation axis 21.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic shovel manual operating device. 2. Description of the Related Art All conventional power transmissions of hydraulic excavators are hydraulically driven. The basic structure of this excavator is as shown in FIG.
, Arm 2, boom 3, main body 4, crawler section 5, drives a hydraulic pump using an engine as a power source, and uses the hydraulic oil to turn the cylinders of the bucket, arm, and boom and a motor for turning the main body. Are sent to a traveling motor of a moving crawler to drive them. However, regarding the operation, as shown in FIGS. 5, 6 and 2, the operation of the right working machine operating lever 18a and the left working machine operating lever 18b causes the bucket 1, the arm 2, the second 1 boom 3a, 2nd boom 3b
The offset cylinder 3s of the offset boom 3c is operated by each cylinder and the boom offset operation pedal 50.
[Valves) for driving the traveling motor 5a (left and right) by operating the right traveling lever 19a and the left traveling lever 19b are individually opened and closed, so that the driving of each cylinder makes the bucket, arm, and boom independent. It works. Therefore, due to the combined operation of those cylinders, bucket 1
In order to perform the required operation, an operator who has sufficient experience in the operation is required. [0004] That is, the left and right operation of the right working machine operation lever 18a corresponds to the bucket pull-in and push-out, and the boom (3a, 3b) lowering and raising joint operations correspond to the front-rear direction. In addition, the joint operation of pushing and retracting the arm in the front-rear direction of the left working machine operation lever 18b corresponds. (The turning operation of the main body upper body corresponds to the left-right direction.) Note that both these levers can perform a combined operation in a region extending in both the front-back and left-right directions. Further, compound operation by simultaneous operation of both levers is also possible. The operating direction of the lever corresponds to the operation of the joint, and is not directly related to the spatial movement of the bucket itself. It is almost impossible to drive a bucket to be driven horizontally or in a straight line along a slope or the like without an experienced operator. [0005] In addition, the operating lever only allows the operator to instruct the operation of each part of the machine, but does not obtain information on each part of the machine (such as information on the force at the tip). It is difficult to grasp the situation at the work site,
This also makes operation difficult. [0006] On the other hand, the present inventors first improve the operability of the bucket of the hydraulic shovel,
Invented a manual operation device that allows anyone to easily perform the operation and appropriately feedback the reaction force from the outside applied to the bucket to the operator, and obtained a patent as Patent No. 2824167. did.
[0007] As shown in FIG. 7, this is a hydraulic excavator provided with a rotating main body 4 with respect to a crawler unit 5 as shown in FIG. Arm 2,
The operation of the boom 3 is for controlling the driving of these cylinders. The X-axis (operation is the x-axis), the vertical Y-axis (operation is the y-axis), and the bucket rotation Φ (The operation is twist φ)
Lever 10 for controlling the behavior of the bucket in the Y plane
And a grip 11, and based on the command,
A drive control device 20 that outputs a control signal to a valve (valve, not shown) for supplying pressure oil to the cylinder is provided. In the manual operation device, the operation of a single control lever 10 projecting sideways from the fuselage causes
The drive control device 20 performs a required calculation, and the arm 2, the boom 3, and the bucket 1 are driven in a complex manner. As a result, the bucket 1 is held in a fixed posture with respect to the hydraulic excavator body while the X-axis (Operation is the x axis) or up and down Y
Any behavior can be manipulated in the axis (operation is the y-axis) plane, including linear motion of the bucket. In addition, since the operation direction of the control lever is approximated to the direction of movement of the bucket, the operator can intuitively grasp the movement of the bucket. [0010] Recently, the site where the hydraulic shovel type construction machine is applied extends to an area where it is difficult to operate only with the conventional vision, such as excavation of a high place or a deep hole of several tens of meters. It has been expanded. Therefore, there has been a strong demand for the development of a control mechanism that feedbacks the external force applied to the bucket to the operation lever so that the lever operation feeling matches the behavior of the bucket. Also, remote control in a danger zone,
It is often required to be easy to operate with a single lever and to feel a reaction force that cannot be felt by the body. The manual operation device for improving the operability of the hydraulic shovel disclosed in Japanese Patent No. 2824167 is described as shown in FIG. The control lever 10 is
Front and back X-axis direction (x rotation axis), up and down Y-axis direction (y rotation axis)
And the grip 11 rotates φ
(Rotational torsion of the rotating shaft), and rotation detectors 12a, b, c such as potentiometers or encoders for detecting the operation amounts in the respective directions are additionally provided. In addition, a motor 13 with a reduction gear for controlling the feedback of the reaction force from the outside applied to the bucket 1 to the operator in each rotation direction.
a, b, and c are attached. A required number of switches 14 for mode switching are provided on the grip 11. The above-mentioned patent (No. 2,824,167) includes:
The control lever 10 can be rotated in the axial direction of itself (b in FIG. 8) to perform the turning operation of the main body 4 with respect to the crawler unit 5; Is not specifically described. On the contrary, the mechanism shown in FIG. 8 does not allow the control lever 10 to slide in its own axial direction (Z-axis direction), and this movement is practically impossible. An object of the present invention is to solve the inconvenience of the prior art, and to operate a single control lever projecting sideways from the fuselage to move the bucket in a fixed posture with respect to the excavator body while moving the bucket in the front-rear X-axis direction. (Operation is x axis), up / down Y
In the space of the axis (operation is the y-axis) or the left and right Z-axis (operation is the z-axis), any behavior including linear movement can be easily obtained by operating this control lever. The movement of the operation lever adopts a pseudo coordinate system devised from an ergonomic point of view, and intuitively agrees well with the movement of the bucket. An object of the present invention is to provide a manual operation device capable of further improving bucket operability of a hydraulic shovel. According to the present invention, there is provided a manual operating device for a hydraulic excavator for driving each cylinder for operating a bucket, an arm, and a boom by hydraulic pressure. A control lever that outputs a control signal to a valve for supplying pressure oil to the cylinder based on an output of the control lever, and is driven by the single control lever in a combined manner. The pressure inside the cylinder is detected by a pressure detector, coordinate conversion between different joint structures on the control lever side and the hydraulic shovel side is performed, and master-slave control and bilateral control are performed. In addition to the three degrees of freedom in the x-axis direction (x rotation axis), the vertical y-axis direction (y rotation axis), and the grip twist φ (φ rotation axis). And to have a degree of freedom left z-axis (z axis of rotation). This z-rotation axis is provided in parallel with the x-rotation axis, so that the bucket (X, Y, Z-axis space) is intuitively ergonomic.
The point is that a pseudo coordinate system that matches the behavior of the above is established. According to the first aspect of the present invention, by operating a single control lever projecting sideways from the body, required calculations are performed in the drive control device, and the arm, boom and bucket are combined. When driven, as a result, an arbitrary bucket behavior including linear movement in a three-dimensional space in the front-rear, up-down, left-right directions is possible while maintaining the bucket in a fixed posture with respect to the excavator body. The operating range of the hydraulic shovel bucket by one lever can be expanded to improve operability. Moreover, since the operation direction and the amount of movement of the control lever approximate the direction and speed of the movement of the bucket, the operator can intuitively grasp the movement of the bucket. Further, the pressure inside the cylinder, which is driven in combination by a single control lever projecting laterally from the fuselage, is detected by a pressure detector, and the difference between the joint structure between the control lever side and the hydraulic excavator side is determined. The bilateral control is performed by performing the coordinate transformation of the above, so that a reaction force from the outside applied to the bucket is fed back to the operator through a single control lever, and the reaction force is controlled by four freedoms in a single control lever. Since the force acts in the degree direction, the operator can sense information on the external force acting on the bucket including the direction through the control lever. Further, with respect to the direction of the left and right z-axis (z-rotation axis) of the lever, the z-rotation axis is provided in parallel with the x-rotation axis, thereby preventing the structure from becoming complicated. Of these, when operating in the single axis direction, there is no interference (rotation) in the other direction, and it is easily possible to operate in the combined direction of two or three axes. Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a manual operation device of a hydraulic shovel of the present invention, and FIG. 2 is an overall perspective view of a hydraulic shovel showing behavior of a bucket by the manual operation device of the present invention. FIG. 2 shows the latest hydraulic shovel equipped with the device of the present invention. As shown in FIG. 4 of the conventional hydraulic shovel, the hydraulic shovel includes a hydraulic shovel main body 4 that turns with respect to a crawler unit 5. Regarding the arm and boom corresponding to the arm of the hydraulic excavator, the conventional (at the time of the basic patent) boom was a simple one boom (FIG. 4), whereas the latest hydraulic excavator (FIG. 2) , The first boom 3a, the second boom 3b, and the offset boom 3
c exists. The operation of the second boom 3b is performed using a switch on the knob of the right working machine lever. The offset boom 3c moves the bucket in the left-right Z-axis direction by driving the cylinder 3s. The operation is performed by the boom offset operation pedal 50 in FIGS. In the present invention, the feedback of the bucket behavior and the reaction force of these latest hydraulic excavators is made into a single lever. In FIG. 1, reference numeral 10 denotes a single control lever, which is at least viewed from the operator's front and rear in the x-axis direction (x rotation axis), up and down y-axis direction (y rotation axis), and lever torsion. In addition to the three degrees of freedom in the φ direction (φ rotation axis), the projections project laterally with four degrees of freedom in the left and right z-axis directions (z rotation axis). Further, a drive control device 20 for outputting a control signal to a valve (not shown) for supplying pressure oil to the cylinder based on the output of the control lever 10 is provided. The operation is further facilitated by performing the conversion of the work mode by the SW as shown at 14 in FIG. (Both basic patent and the present invention) Examples of modes in the present invention are shown below. In the X, Y, and Z coordinate spaces of the orthogonal mode bucket, arbitrary behaviors including linear motions can be approximated by x, y,
It is easily obtained by operating in the z coordinate system. Regarding Φ, the constant posture set initially (relative to the main body)
Is held. Manual intervention is also possible. By setting any two points in the daylight mode X, Y, Z space coordinates, gradient and linear accuracy are guaranteed. The motion of each joint (boom, arm, bucket) corresponds to each single direction of the joint mode x, y, z, and φ axis. The control lever 10 is mounted on the bucket 1
In order to operate in four directions of freedom, the X-rotation shaft 21 and the Y-rotation shaft 21 are attached to the control lever 10 having the grip 11. Rotation axis 25, Z rotation axis 3
4 are combined, and among them, X which stands upright and rotates
An X motor 23 is connected to the rotation shaft 21 via X reduction gears 22a and 22b, and a bracket 24 is provided on the X rotation shaft 21. The bracket 24 is provided with a Y-rotation shaft 25 which rotates in the vertical direction (Y-rotation axis direction).
Is connected to a Y motor 27 via a Y reduction gear 26. The φ rotation shaft 32 from the grip 11 of the control lever 10 is rotatably supported (φ direction) by a frame 28 formed by a horizontal rectangular frame provided on the bracket 24, and is supported in a direction perpendicular to the control lever 10. , And a reduction gear 30, φ
The motor 31 is connected. Further, these are mounted on a base 33 which rotates in the left-right Z-axis direction, and this base 33 is supported by a Z-rotation shaft 34 which stands upright in the vertical direction. A Z motor 36 was connected via a gear 35. As described above, the Z rotation shaft 34 is positioned in the X-axis direction (X rotation axis direction).
The control lever 10 is provided in parallel with the rotation shaft 21, and the movement of the control lever 10 in the lever left-right Z-axis direction (Z rotation axis direction) is transmitted by a pseudo straight line (arc) similarly to the X and Y axis directions. The X motor 23, the Y motor 27, the φ motor 31, and the Z motor 36 are each provided with a rotation detector (not shown) such as a potentiometer or an encoder for detecting an operation amount for designating the respective directions and speeds. And a speed reduction device for bilateral control that feeds back the reaction force from the outside applied to the bucket 1 to the operator in each rotation direction. As shown in FIG. 3, based on the output of the rotation detector, the drive control unit 20 performs necessary calculations and sends control signals necessary for driving the bucket 1 to hydraulically drive the required cylinders 37. It outputs to one or more valves, and is driven to a designated position in a predetermined operation mode. In this case, in the drive control device 20, at least in response to a signal output by operating the control lever 10, the bucket 1 is held up and down Y The control is performed such that it is moved linearly in parallel to the axis (vertical direction of the Y axis) or the front and rear X axis direction (the front and rear direction of the X axis) or the left and right Z axis direction (the left and right direction of the Z axis), and the grip of the control lever 11 torsional rotation directions (grip φ
The bucket is controlled to rotate in accordance with a signal output by a rotation operation (in the direction of the rotation axis). That is, the movement of the control lever in the front-back x-axis direction (x rotation axis direction) causes the bucket 1 to move in the front-back X-axis direction (X-axis front-back direction), and the vertical y-axis movement (Y rotation axis direction). Moves the bucket 1 in the vertical Y-axis direction (vertical direction of the Y-axis), and the movement in the torsional rotation direction (the φ rotation axis direction of the grip) causes the bucket 1 to torsion-rotate, and the lever shaft moves in the left-right Z-axis direction. The movement in the (Z rotation axis direction) moves the bucket 1 in the left and right Z axis directions (the left and right directions of the Z axis). That is, in the drive control device 20, when the control lever 10 is operated in the front-rear x-axis direction (X rotation axis direction), how the boom and the arm cylinder are moved corresponds to the direction and the amount of movement. To calculate whether the bucket can be driven at a corresponding speed in the X direction (linearly) if driven in the X direction, and to control the opening amount for each valve that controls the supply of pressure oil to the cylinder based on the calculation result. The signal of is output. When the control lever 10 is operated in the front-rear x-axis direction (X rotation axis direction) and the vertical y-axis direction (Y rotation axis direction), the bucket 1 is moved in a required direction while maintaining the bucket 1 in a constant posture with respect to the main body 4. This is the same as the basic patent, but the present invention is to perform the offset operation of the boom 3c to the left and right with respect to the hydraulic excavator body 4 by operating the lever shaft left and right z-axis direction (Z rotation axis direction). I made it. When control is enabled by the operation of the control lever 10 as described above, the operation direction of the control lever approximates the direction of movement of the bucket 1, so that the operator can intuitively grasp the movement of the bucket. Even a non-skilled person can easily perform a desired operation. Further, by feeding back the external force received by the bucket 1 to the control lever 10 as an operation lever, the sense of touch enhances the visual sense, and the basis of these techniques is bilateral control. The bilateral control used in the present invention is a control for feeding back a reaction force received from the outside to the operator in order to give an effective operation command to the work machine. With a normal hydraulic excavator, even if the bucket 1 hits a hard rock or the like, it is difficult for the operator to understand and operate the bucket 1. However, if this bilateral control is performed, the operator may not sense one-way operation commands but feel the power. Will be possible. In the bilateral control, the pressure in the cylinder of each joint is detected by a pressure detector provided in each joint, the output of the joint is subjected to necessary conversion, and the X motor 23,
What is necessary is just to feed back to the control lever 10 through the Y motor 27, the φ motor 31, and the Z motor 36. That is, in the control lever 10, since the hydraulic shovels on the operation command side and the driven side have different joint mechanisms, bilateral control between different structures is performed. Therefore, it is necessary to perform coordinate conversion in the drive control device. is there. Regarding bilateral control between different structures, one of the present inventors disclosed in Japanese Patent Application Laid-Open Nos. 59-63983 and 59-693.
The means proposed in Japanese Patent Publication No. 84 can be used, and the present invention is a preferable specific example of those proposed inventions. As described above, the manual operation device for a hydraulic shovel according to the present invention allows the bucket to be kept in a fixed posture with respect to the hydraulic shovel body by operating a single control lever projecting laterally from the body. While maintaining the above, arbitrary behavior including linear motion in the X, Y, Z coordinate space of the bucket can be specified by specifying the direction and speed by operating the approximate x, y, z coordinate system with a single operating lever. Obtained easily. The rotation angle Φ of the bucket can be manually interposed at any time. The approximation of the lever's approximate coordinate system and the bucket's behavior coordinate space not only facilitates direct driving operations by the operator, but also increases the possibility of automation through the use of remote control and the recognition of work objects. I let it. This is an effect related to master-slave control. Since the reaction force from the external world applied to the bucket is appropriately fed back to the operator through a single control lever, information on the external world force acting on the bucket including its direction can be sensed. It becomes. The advantage of the bilateral control for the tactile operation type construction machine is the same as the master-slave control invention.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing one embodiment of a manual operation device of a hydraulic shovel of the present invention. FIG. 2 is an overall perspective view of a hydraulic shovel showing behavior of a bucket by the manual operation device of the present invention. FIG. 3 is a conceptual explanatory view of a bilateral master spray as an embodiment of the manual operation device of the hydraulic shovel of the present invention. FIG. 4 is a side view showing a configuration of a general hydraulic excavator. FIG. 5 is a front view showing a configuration of an operation lever in a conventional hydraulic excavator. FIG. 6 is a side view showing a configuration of an operation lever in a conventional hydraulic shovel. FIG. 7 is an explanatory diagram showing a basic configuration of a manual operation device in a conventional hydraulic excavator. FIG. 8 is a perspective view showing an example of a control lever in a manual operation device of a conventional hydraulic shovel. [Description of Signs] 1 ... bucket 2 ... arm 3 ... boom 3a ... first boom 3b ... second boom 3c ... offset boom 3s ... offset cylinder 4 ... body 5 ... crawler unit 10 ... control lever 11 ... grips 12a, 12b, 12c ... rotation detectors 13a, 13b, 13c ... motor 14 ... switch 15 ... input device 17 ... safety lock lever 18a ... right working machine operating lever 18b ... left working machine operating lever 19a, 19b ... running lever 20 ... drive control device 21 ... X rotation shafts 22a, 22b ...
X reduction gear 23 ... X motor 24 ... bracket 25 ... Y rotation shaft 26 ... Y reduction gear 27 ... Y motor 28 ... frame 29 ... straddle shaft 30 ... φ reduction gear 31 ... φ motor 32 ... φ rotation shaft 33 ... base plate 34 ... Z rotation shaft 35 ... Z reduction gear 36 ... Z motor 37 ... cylinder 38 ... valve 50 ... boom offset operation pedal

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[Procedure amendment] [Submission date] August 1, 2001 (2001.8.1) [Procedure amendment 1] [Document name to be amended] Description [Item name to be amended] Title of invention [Amendment method] Change [Contents of correction] [Title of the invention] Manual operation device of hydraulic excavator

Continuation of front page    (72) Inventor Eiji Nakano             Aoba, Aoba-ku, Aoba-ku, Sendai City, Miyagi Prefecture 01 Aoba Tohoku University             Campus (72) Inventor Yasumitsu Moriki             1-2-2 Sakuragaoka, Setagaya-ku, Tokyo             Luma Technica Co., Ltd. (72) Inventor Hirotomo Numakura             6-2-1 Onodai, Sagamihara City, Kanagawa Prefecture             Mateknica Co., Ltd. Sagamihara Office (72) Inventor Akio Terai             6-2-1 Onodai, Sagamihara City, Kanagawa Prefecture             Mateknica Co., Ltd. Sagamihara Office (72) Inventor Shinji Yoshinaga             6-2-1 Onodai, Sagamihara City, Kanagawa Prefecture             Mateknica Co., Ltd. Sagamihara Office F term (reference) 2D003 AA01 AB03 AB04 EA03                 3J070 AA03 AA13 AA14 BA19 CB11                       CC03 CC04 CC07 CC42 CC71                       CE01 DA21 EA11

Claims (1)

Claims 1. A manual operating device for a hydraulic shovel that hydraulically drives cylinders for operating a bucket, an arm, and a boom, comprising a single operating lever and an output of the operating lever. A drive control device that outputs a control signal to a valve for supplying pressure oil to the cylinder, based on a pressure detector that detects the internal pressure of the cylinder that is driven in combination by a single operating lever. By feeding back the torque as a torque to the operation lever, bilateral control for sensing external force and performing coordinate transformation between different joint structures on the operation lever side and the hydraulic shovel side to perform master-slave control of direction and speed. , The behavior of the bucket by the single operation lever is the X axis
Axis), up and down Y axis (operation is y axis), bucket Φ axis rotation (operation is φ axis torsion), and bucket left and right Z axis (operation is z axis). Bucket X, Y, Z
A manual operating device for a hydraulic shovel, wherein a Z-axis rotation axis is provided in parallel with the X rotation axis to enable control of the axis space.