JP2011102633A - Controller and dismantling machine with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller for preventing undue force from being applied to an object held by a holding device, and to provide a dismantling machine with the controller. <P>SOLUTION: The controller includes operating means 33, 35 for inputting a displacement direction and an amount of displacement of the holding device 9 relative to the machine, and a control unit 31 for specifying target thrust force of a boom cylinder 10 and an arm cylinder 11 based on the displacement direction and the amount of displacement inputted by the operation means 33, 35 while controlling a flow rate of hydraulic fluid by control valves 26A to 26E to operate the boom cylinder 10 and arm cylinder 11 with the target thrust force. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a dismantling machine including a machine body, a work arm that is displaceable with respect to the machine body, and a gripping device that is attached to the tip of the work arm and grips a work object.

  Conventionally, a hydraulic excavator having a boom and an arm as working arms and a bucket attached to the tip of the arm is known. In this hydraulic excavator, since the bucket is moved by the combined operation of the boom, the arm and the bucket, skill of the operator is required to move the bucket along a desired locus.

  Therefore, the operation lever device for directly inputting the bucket movement speed vector and rotation speed, and the hydraulic fluid flow to the boom, arm, and hydraulic actuator that drives the bucket to move the bucket at the input speed are controlled. There is also known a hydraulic excavator provided with a control unit (for example, Patent Document 1).

Japanese Patent No. 3437348

  However, the technique of calculating the target speed corresponding to the operation amount of the operation lever as in Patent Document 1 and controlling the driving of the bucket based on the target speed has a gripping device attached to the tip of the working arm. It may not be able to be used effectively for dismantling machines. Specifically, in the dismantling machine, the work object is gripped between a pair of gripping members of the gripping device, and the work arm is operated while the work target is gripped between the gripping members. When performing work (pulling work, twisting work, twisting work, pulling work, twisting work, etc.), the movement range of the gripping device itself is limited to a very narrow range, The gripping members to be gripped hardly move. Therefore, if the control is performed so that the speed of the gripping device itself becomes the target speed as in Patent Document 1, the difference between the target speed of the gripping device and the actual moving speed increases as the operator performs an input operation. The unintended force may be applied to the work object, which may hinder the work.

  The present invention has been made in view of the above problems, and provides a control device capable of suppressing applying an unnecessary force to a work object gripped by a gripping device and a demolition machine including the control device. The purpose is to do.

  In order to solve the above-described problems, the present invention provides a disassembly comprising an airframe, a work arm that is displaceable with respect to the airframe, and a gripping device that is attached to the tip of the work arm and that can grip a work object. A control device provided in the machine, the hydraulic actuator for displacing the work arm with respect to the machine body, a control valve capable of adjusting the flow rate of hydraulic oil supplied to and discharged from the hydraulic actuator, and the machine body An input means for inputting a displacement direction and a displacement amount of the gripping device, a target thrust of the hydraulic actuator is specified based on the displacement direction and the displacement amount input by the input means, and the hydraulic pressure is determined by the target thrust. And a control means for controlling the flow rate of hydraulic oil by the control valve so that the actuator operates.

  According to the present invention, the flow rate of the hydraulic oil to the hydraulic actuator is controlled so as to operate with the target thrust of the hydraulic actuator specified based on the displacement direction and the displacement amount input by the input means. An appropriate force corresponding to the operation can be always applied to the gripping device.

  Therefore, according to the present invention, it is possible to suppress an unnecessary force from being applied to the work object held by the holding device.

  Further, the present invention provides a control device provided in a dismantling machine provided with a machine body, a work arm displaceable with respect to the machine body, and a gripping device attached to a tip of the work arm and capable of gripping a work object. A hydraulic actuator for displacing the working arm with respect to the airframe, a supply / discharge oil passage for supplying / discharging hydraulic oil to / from the hydraulic actuator, and the supply / discharge oil passage, When the pressure in the supply / discharge oil passage becomes equal to or higher than a preset relief pressure, the supply / discharge oil passage is opened to the tank and the relief pressure can be adjusted, and the grip on the body An input means for inputting a displacement direction and a displacement amount of the apparatus, a target thrust of the hydraulic actuator is specified based on the displacement direction and the displacement amount input by the input means, and the target To provide a control device, characterized in that the pressure for operating the hydraulic actuator in force and a control means for controlling the variable relief valve so that the relief pressure.

  According to the present invention, the variable relief valve is controlled so that the pressure for operating the hydraulic actuator with the target thrust specified based on the displacement direction and the displacement amount input by the input means becomes the relief pressure. Thus, it is possible to suppress the hydraulic actuator from operating with a force greater than the target thrust.

  Therefore, according to the present invention, it is possible to suppress applying an unnecessary force to the work target gripped by the gripping device.

  The control device further includes posture detection means for detecting the posture of the work arm, and the control means includes a hydraulic actuator for holding the posture of the work arm based on a detection result by the posture detection means. The holding force is specified, the displacement force for displacing the hydraulic actuator from the current position is specified based on the displacement direction and the displacement amount of the gripping device input by the input means, and the holding force and the displacement force are determined. The sum is preferably used as the target thrust of the hydraulic actuator.

  According to this configuration, the posture of the working arm is held by the holding force, and the displacement force for displacing the working arm is applied to the hydraulic actuator, so that the displacement direction and the amount of displacement input by the operator are determined. Therefore, the gripping device can be displaced more accurately.

  In the control device, the control means specifies an original applied force currently acting on the gripping device based on the posture of the working arm when the displacement force was previously specified and the current posture of the working arm. In addition, when the direction of the original applied force and the displacement force specified this time are different, it is preferable to correct the displacement force in a direction in which the direction of the original applied force approaches the direction of the displaced force.

  According to this configuration, when the original applied force currently acting on the gripping device is different from the direction of the force to be applied, the direction of the displacement force to be applied is made closer to the direction intended by the operator. Can do.

  Further, the present invention includes an airframe, a working arm displaceable with respect to the airframe, a gripping device attached to a tip of the working arm and capable of gripping a work object, and the control device. A demolition machine characterized by the above is provided.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress giving force more than necessary to a work target object.

It is a left view which shows the whole structure of the demolition machine which concerns on embodiment of this invention. It is a circuit diagram which shows the whole structure of the control apparatus provided in the demolishing machine of FIG. It is a flowchart which shows the main routine of the process performed by the control part of FIG. It is a flowchart which shows the force control process of FIG. It is a figure which shows the table used by step T2 of FIG. 4, (a) is about X direction operation means, (b) is about Y direction operation means, (c) is about Z direction operation means, (d) is Regarding the up / down operation means, (e) shows the rotation operation means. It is a conceptual diagram for demonstrating step T3 of FIG. FIG. 5 is a conceptual diagram for explaining step T4 in FIG. 4, where (a) shows a boom cylinder, (b) shows an arm cylinder, and (c) shows a working cylinder. It is a conceptual diagram for demonstrating step T5 of FIG. It is a conceptual diagram for demonstrating step T7 of FIG. It is a flowchart which shows the speed control process of FIG. It is a circuit diagram which shows the whole structure of the control apparatus which concerns on another embodiment of this invention. It is a flowchart which shows the process which the control part of FIG. 11 performs.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a left side view showing an overall configuration of a dismantling machine according to an embodiment of the present invention.

  Referring to FIG. 1, a dismantling machine 1 includes a self-propelled lower traveling body 2 having a crawler 2 a, an upper revolving body 3 provided on the lower traveling body 2 so as to be able to swivel, and the lower traveling body 2. And the control apparatus 21 (refer FIG. 2) which controls the drive of the hydraulic equipment provided in the upper turning body 3 is provided.

  The upper swing body 3 is mounted on the lower traveling body 2 so as to be swingable, a cabin 6 erected on the swing frame 4, and attached to the front portion of the swing frame 4 so as to be raised and lowered. The work attachment 5 is provided. The work attachment 5 includes a boom 7 that can be raised and lowered about a horizontal axis with respect to the revolving frame 4, and an arm that is swingably attached to the tip of the boom 7 about a horizontal axis. 8 and a gripping device 9 attached to the tip of the arm so as to be rotatable about a horizontal axis.

  The boom 7 is raised and lowered according to the expansion and contraction of the boom cylinder 10, the arm 8 swings with respect to the boom 7 according to the expansion and contraction of the arm cylinder 11, and the gripping device 9 is armed according to the expansion and contraction of the work cylinder 12. Rotate with respect to 8. In the present embodiment, an example of a working arm in which the boom 7 and the arm 8 are displaced with respect to the upper swing body 3 is configured.

  The gripping device 9 includes an attachment portion 14 attached to the distal end portion of the arm 8, a support portion 15 rotatably attached to the attachment portion 14, and a horizontal axis with respect to the support portion 15. A pair of gripping members 16, 17 provided so as to be openable and closable around, and an opening / closing cylinder 18 for opening and closing the distal ends of the gripping members 16, 17 by bringing the proximal ends of the gripping members 16, 17 into and out of contact with each other; A rotation motor 30 (FIG. 2) that rotates the support member 15 with respect to the mounting portion 14 is provided. The support portion 15 is rotatably attached to the attachment portion 14 so that the work object held between the holding members 16 and 17 can be twisted.

  FIG. 2 is a circuit diagram showing the overall configuration of the control device 21 provided in the dismantling machine 1 of FIG.

  With reference to FIG. 2, the control device 21 includes a hydraulic system 22 for supplying and discharging hydraulic oil to and from a hydraulic actuator, which will be described later, and an electrical system 23 for electrically controlling the components of the hydraulic system 22. ing. In FIG. 2, as the hydraulic actuator, the boom cylinder 10, the arm cylinder 11, the working cylinder 12, the rotating motor 30, and the upper swing body 3 are swung with respect to the lower traveling body 2. (Hereinafter, collectively referred to as hydraulic actuators 10 to 12, 29, and 30).

  The hydraulic system 22 is capable of adjusting the flow rate of hydraulic oil supplied to and discharged from the pump drive device 28 such as an engine, the hydraulic pump 24 driven by the pump drive device 28, and the hydraulic actuators 10-12, 29, and 30, respectively. The control valves 26A to 26E, the supply oil passage R1 extending from the hydraulic pump 24 and branching to connect to the control valves 26A to 26E, and the positions on the near side of the control valves 26A to 26E of the supply oil passage R1, respectively. Adjusting valves 25A to 25E provided, pilot oil passages R2A to R2E connected to the respective pilot ports of these adjusting valves 25A to 25E, and these pilot oil passages R2A to R2E are merged and tanks are provided via a throttle 27 And a communication oil path R3 connected to the.

  In this hydraulic system 22, the opening degree of all the adjustment valves 25 </ b> A to 25 </ b> E is based on the pressure on the supply side of the hydraulic actuator that is performing the highest load among the hydraulic actuators 10 to 12, 29, and 30. It has come to be adjusted. Specifically, when the boom cylinder 10 is performing the highest load operation, the pressure on the supply side of the boom cylinder 10 becomes the highest, and this pressure is transmitted via the pilot oil passage R2B and the communication oil passage R3. Since all the pilot oil passages R2A to R2E are common, all the regulating valves 25A to 25E are operated according to the pressure. More specifically, each of the adjusting valves 25A to 25E is configured to be switchable while adjusting the opening degree from the closed position to the fully open position, and in the state where the pilot pressure is not applied, It is energized.

  Each of the control valves 26A to 26E is a solenoid type three-position switching valve. Specifically, the control valves 26A to 26E collect the hydraulic oil from the hydraulic pump 24 in a tank and close the oil passages on the suction side and the outlet side of the hydraulic actuators 10 to 12, 29, and 30 as shown in FIG. The neutral position and the forward / reverse direction 2 that guides hydraulic oil from the hydraulic pump 24 to the supply side oil passages of the hydraulic actuators 10 to 12, 29, and 30 and guides hydraulic oil from the hydraulic actuators 10 to 12, 29, and 30 to the tank. And two switching positions.

  On the other hand, the electrical system 23 includes a control unit (control means) 31 that controls the switching positions of the control valves 26 </ b> A to 26 </ b> E, and an electronic device connected to the control unit 31. The electronic device includes a pump pressure sensor 24a, a rotation speed sensor 28a, a mode switching means 32, an X direction operation means 33, a Y direction operation means 34, a Z direction operation means 35, an up / down operation means 36, a rotation operation means 37, an X A direction operation amount sensor 38, a Y direction operation amount sensor 39, a Z direction operation amount sensor 40, a vertical operation amount sensor 41, a rotation operation amount sensor 42, a boom angle sensor 43, an arm angle sensor 44, and a gripping device vertical angle sensor 45 are included. It is.

  The pump pressure sensor 24a detects the discharge pressure of the hydraulic pump 24, and the rotation speed sensor 28a detects the rotation speed of the pump drive device 28 composed of an engine or the like. Based on the pressure detected by the pump pressure sensor 24a and the rotation speed sensor 28a, the control unit 31 calculates the discharge flow rate of the hydraulic pump 24.

  As will be described in detail later, the mode switching means 32 performs a force control process for controlling the operation of the work attachment 5 so as to generate a force according to the operator's input operation, or generates a speed according to the operator's input operation. This is for the operator to select whether or not to perform the speed control process for controlling the operation of the work attachment 5 so that the operation is performed.

  The X direction operation means 33 is for inputting and operating the movement direction (front or rear) of the gripping device 9 in the X direction (front-rear direction as viewed from the operator in the cabin 6) and its movement amount. The operation direction and operation amount of the X direction operation means 33 are detected by an X direction operation amount sensor 38.

  The Y direction operation means 34 is for inputting and operating the movement direction (left or right) of the gripping device 9 in the Y direction (left and right direction as viewed from the operator in the cabin 6) and its movement amount. The operation direction and operation amount of the Y direction operation means 34 are detected by a Y direction operation amount sensor 39.

  The Z direction operation means 35 is for inputting and operating the movement direction (up or down) of the gripping device 9 in the Z direction (up and down direction) and the operation amount thereof. The operation direction and operation amount of the Z direction operation means 35 are detected by a Z direction operation amount sensor 40.

  The up-and-down operation means 36 is for inputting and operating the rotation direction of the gripping device 9 with respect to the arm 8 (clockwise or counterclockwise in FIG. 1) and the rotation amount. The operation direction and operation amount of the vertical operation means 36 are detected by the vertical operation amount sensor 41.

  The rotation operation means 37 is for inputting and operating the rotation direction of the support portion 15 with respect to the attachment portion 14 of the gripping device 9 (forward and reverse directions of twist) and the rotation angle thereof. The operation direction and operation amount of the rotation operation means 37 are detected by a rotation operation amount sensor 42.

  The boom angle sensor 43 detects the undulation angle θBm of the boom 7. Specifically, as shown in FIG. 8, θBm is an angle between a boom line N1 connecting a boom foot pin, a boom 7 and an axis connecting the arm 8 and a horizontal line.

  The arm angle sensor 44 detects the angle θAm of the arm 8. Specifically, as shown in FIG. 8, θAm is an extension of the boom line N1 and an arm line N2 that connects a shaft that connects the boom 7 and the arm 8 and a shaft that connects the arm 8 and the gripping device 9. It is the angle between the parts.

  The gripping device vertical angle sensor 45 detects the angle θNb of the gripping device 9. Specifically, as shown in FIG. 8, θNb is an angle between the arm line N2 and the gripping device line N3 that connects the shaft connecting the arm 8 and the gripping device 9 and the tip of the gripping device 9. That is.

  The control unit 31 is a controller including a CPU that performs arithmetic processing, a ROM that stores initial settings, and a RAM (including RPROM, EPPROM, flash memory, and the like) that is used as a temporary storage area for various types of information. The process like this is executed.

  FIG. 3 is a flowchart showing a main routine of processing executed by the control unit 31 of FIG. FIG. 4 is a flowchart showing the force control process of FIG.

  Referring to FIG. 3, when the process by control unit 31 is executed, it is first determined whether or not the force control mode is selected by mode switching means 32 (step S1). If it is determined that the force control mode is selected (YES in step S1), the force control process T is executed, while if it is determined that the force control mode is not selected (in step S1). NO), the speed control process U is executed.

  Hereinafter, first, the force control process T will be described with reference to FIGS. 3 and 4.

  When the force control process T is started, first, detection values from the sensors 38 to 45 are input (step T1). Here, the input values include the pump pressure Pp by the pump pressure sensor 24a, the rotation speed Np by the rotation speed sensor 28a, the operation amount Lx by the X direction operation amount sensor 38, the operation amount Ly by the Y direction operation amount sensor 39, and the Z direction. The operation amount Lz by the operation amount sensor 40, the operation amount Lnu by the vertical operation amount sensor 41, the operation amount Lnr by the rotation operation amount sensor 42, the boom angle θBm by the boom angle sensor 43, the arm angle θAm by the arm angle sensor 44, and the grip The gripping device angle θNb by the device vertical angle sensor 45 is included.

  Subsequently, the target thrust and target torque for moving the front-end | tip part of the holding | grip apparatus 9 are determined (step T2). Specifically, the control unit 31 has a table indicating the relationship between the operation amount Lx and the target thrust Fx in the X direction as shown in FIG. 5A, and the operation amount Ly as shown in FIG. 5B. And a table showing the relationship between the target thrust Fy in the Y direction, a table showing the relationship between the manipulated variable Lz and the target thrust Fz in the Z direction as shown in FIG. 5C, as shown in FIG. Are stored a table showing the relationship between the manipulated variable Lnu and the target torque in the vertical direction, and a table showing the relationship between the manipulated variable Lnr and the target torque in the rotational direction as shown in FIG. Based on these tables and the operation amounts Lx, Ly, Lz, Lnu, and Lnr, the target thrust and target torque of the gripping device 9 are determined. More specifically, in step T2, a target thrust Fx in the X direction, a target thrust Fy in the Y direction, a target thrust Fz in the Z direction, a target torque Tq_Nb (see FIG. 8) for turning in the vertical direction, and The target torque in the twist direction is determined.

  Next, correction amounts are calculated for the target thrusts Fx and Fz in the X direction and Z direction of the gripping device 9 (step T3). Specifically, first, the coordinates on the XZ plane of the tip portion of the gripping device 9 are calculated based on the following formulas 1 and 2.

  Here, L1 is the length from the boom foot pin to the shaft connecting the boom 7 and the arm 8 as shown in FIG. 8, and L2 is the axis connecting the boom 7 and the arm 8 to the arm 8. L3 is the length from the shaft connecting the arm 8 and the gripping device 9 to the tip of the gripping device 9.

  And these coordinates are calculated for XNB (k), ZNB (k) of the current control cycle, and XNB (k-1), ZNB (k-1) of the previous control cycle, and these are used. Based on the following formulas 3 and 4, the forces FX_N and FZ_NB actually acting on the gripping device 9 at the present time are calculated.

  Here, KF is a coefficient for converting the position change into force.

  Next, as shown in FIG. 6, correction amounts Fx_c and Fz_c corresponding to perpendicular lines to the target thrusts Fx and Fz are calculated from the forces FX_NB and FX_NB that are actually working. Then, as in the following formulas 5 and 6, XZ components Fx_s and Fz_s of the target thrust of the tip portion of the gripping device 9 taking the correction amount into consideration are calculated.

  Next, target thrusts Fx_s and Fz_s of the gripping device 9 are converted into target thrusts of the boom cylinder 10 and the arm cylinder 11 (step T4). Specifically, first, the target thrusts Fx_s and Fz_s of the gripping device 9 are converted into the rotational torque Tq_Bm of the boom 7 (see FIG. 8) and the rotational torque Tq_Am of the arm 8 (see FIG. 8) based on the following formula 7. .

  Next, the rotational torques Tq_Bm and Tq_Am are converted into the target thrust Fcy_Bm of the boom cylinder 10 and the target thrust Fcy_Am of the arm cylinder 11 based on the following formulas 8 and 9.

  Here, L1B is the distance from the boom foot pin to the connecting position of the rod of the boom cylinder 10 and the boom 7, as shown in FIG. 7A, and L2B is the distance from the boom foot pin to the boom cylinder 10. It is the distance to the connection position of the head and the turning frame 4, and θBC is the angle between L1B and L2B. Further, as shown in FIG. 7B, L1A is the distance from the connecting shaft of the boom 7 and the arm 8 to the connecting position of the head of the arm cylinder 11 and the boom 7, and L2A is the boom 7 and the arm. 8 is a distance from the connecting shaft to 8 to the connecting position of the rod of the arm cylinder 11 and the arm 8.

  In step T4, the vertical turning torque Tq_Nb of the gripping device 9 determined in step T2 is converted into the target thrust Fcy_Nb of the working cylinder 12. Specifically, a table shown in FIG. 7C is stored in advance in the control unit 31 to define the relationship between the cylinder length LNb of the working cylinder 12 and the vertical angle of the gripping device 9. The unit 31 uses the conversion coefficient (force-torque conversion coefficient corresponding to the cylinder length LNb) 1 / a (LNb) and the rotation torque Tq_Nb to work based on the following equation (10). A target thrust Fcy_Nb of the cylinder 12 is calculated.

  Next, the necessary holding force of the boom cylinder 10, the arm cylinder 11 and the work cylinder 12 corresponding to the weight of the work attachment 5 is calculated (step T5).

  Specifically, first, the required holding torque is calculated. The required holding torque Tq_Bm of the boom cylinder 10 is calculated based on the following formula 11, the required holding torque Tq_Am of the arm cylinder 11 is calculated based on the following formula 12, and the required holding torque Tq_Nb of the work cylinder 12 is It is calculated based on the following formula 13.

  Here, M1 is the mass of the boom, M2 is the mass of the arm, and M3 is the mass of the gripping device 9. Also, as shown in FIG. 8, Lg1 is the length of a straight line N4 connecting the boom foot pin and the center of gravity of the boom 7, and Lg2 is the axis connecting the boom 7 and the arm 8 and the center of gravity of the arm 8. Lg3 is the length of a straight line N6 that connects the axis connecting the arm 8 and the gripping device 9 and the center of gravity of the gripping device 9. θBm_s is an angle between the straight line N1 and the straight line N4, θAm_s is an angle between the straight line N2 and the straight line N5, and θNb_s is an angle between the straight line N3 and the straight line N6. . G is the acceleration of gravity.

  Next, the torques Tq_Bm, Tq_Am, and Tq_Nb are converted into necessary holding forces of the cylinders 10 to 12 based on the following formulas 14 to 16.

  Here, θBC_OS is θBC when the boom angle is 0, and θAC_OS is θAC when the arm angle is 0. A boom angle of 0 means that a straight line connecting the boom foot and the arm foot (boom line N1: see FIG. 8) is parallel to the surface (traveling surface) of the revolving frame 4. An arm angle of 0 means a posture in which a straight line (boom line N1) connecting the boom foot and the arm foot is aligned with a straight line connecting the arm top and the arm foot (arm line N2: see FIG. 8). is there.

  Subsequently, the target pressure of each cylinder 10-12 is calculated (step T6). Specifically, first, using the target thrust calculated in step T4 and the necessary holding force calculated in step T5, the target thrust FBm of each cylinder 10-12 based on the following equations 17-19, FAm and FNb are calculated.

  Next, target pressures PF_Bm, PF_Am, and PF_Nb of each cylinder 10-12 are calculated based on the following equations 20-22. In addition, in these mathematical formulas 20 to 22, a formula that matches the condition described on the right side in each formula is selected as the target pressure.

  Here, Pmin is the minimum pressure of the hydraulic circuit. ABm_R is a pressure receiving area on the rod side of the boom cylinder 10, and ABm_H is a pressure receiving area on the head side of the boom cylinder 10. AAm_H is a pressure receiving area on the head side of the arm cylinder 11, and AAm_R is a pressure receiving area on the rod side of the arm cylinder 11. ANb_H is a pressure receiving area on the head side of the working cylinder 12, and ANb_R is a pressure receiving area on the rod side of the working cylinder 12.

  In step T6, the target pressure PF_Nbr of the rotation motor 30 of the gripping device 9 and the target pressure PF_Sw of the swing motor 29 are calculated based on the following formulas 23 and 24.

  Here, βNb is a conversion coefficient between rotational torque and pressure, and βSw is a conversion coefficient between turning torque and pressure. Tq_Nbr is the rotational torque of the gripping device 9 obtained as a value proportional to the operation amount of the rotational operation means 37 (FIG. 2), and Tq_Sw is a value proportional to the operation amount of the Y-direction operation means 34. This is the required turning torque of the upper turning body 3.

  Next, target switching positions of the control valves 26A to 26E are determined (step T7). Specifically, first, the pump flow rate Qp of the hydraulic pump 24 is calculated based on the pump pressure Pp of the hydraulic pump 24 and the rotational speed Np of the pump drive device 28. Next, each control valve for supplying hydraulic oil to each actuator 10-12, 29, 30 by substituting this pump flow rate Qp and the value calculated in the above-described steps into the following formulas 25-35. The opening areas (bleed-off opening areas) ASw_B, ABm_B, AAm_B, ANb_B, and ANbr_B of 26A to 26E are calculated.

  Here, QSw_F, QBm_F, QAm_F, QNb_F, and QNbr_F are the flow rates of hydraulic oil that pass through the regulating valves 25A to 25E. ASw_F, ABm_F, AAm_F, ANb_F, and ANbr_F are opening areas of the regulating valves 25A to 25E. QSw_B, QBm_B, QAm_B, QNb_B, and QNbr_B are the flow rates of hydraulic oil that pass through the control valves 26A to 26E. C is a flow coefficient.

  That is, in the step T7, the solution is obtained for 11 variables of Qsw_F, QBm_F, QAm_F, QNb_F, QNbr_F, ASw_B, ABm_B, AAm_B, ANb_B, ANbr_B, and Pp according to the 11 equations of Formulas 25-35. In addition, in the state where the control by the thrust is performed as described above, it can be assumed that each of the actuators 10 to 12, 29, and 30 is almost stopped. = QAm_F, QNb_B = QNb_F, QNbr_B = QNbr_F. Further, ASw_F, ABm_F, AAm_F, ANb_F, and ANbr_F are adjustment valves determined by the difference between the maximum load pressure generated in each actuator 10-12, 29, 30 and the load pressure of each actuator 10-12, 29, 30. It is an opening area of 25A-25E, and is a value uniquely determined according to the pilot pressure of the regulating valves 25A-25E.

  And the switching position of each control valve 26A-26E is determined based on opening area ASw_B, ABm_B, AAm_B, ANb_B, ANbr_F obtained by said Formula 25-35. Specifically, the table shown in FIG. 9 defined by the opening area and the switching position of the control valve is stored in the control unit 31 for each control valve 26A to 26E, and the opening calculated as described above is stored. The target switching position of each control valve 26A-26E is determined by reading the switching position corresponding to the area from the table.

  And each control valve 26A-26E is operated so that it may become the target switching position determined in this way (step T8), and it returns to a main routine.

  Hereinafter, the speed control process U will be described with reference to FIG.

  When the speed control process U is executed, first, detection values from the sensors 38 to 45 are input (step U1).

  Next, a target speed for moving the tip of the gripping device 9 is determined (step U2). Specifically, in this step U2, each direction is based on the operation amount input by each operation amount sensor 38 to 42 and a table stored in advance in the control unit 31 as indicating the relationship between the operation amount and the speed. Determine the target speed.

  Next, a correction amount for the target speed of the gripping device 9 is calculated (step U3). Specifically, first, the coordinates of the gripping device 9 at the present time and the coordinates of the gripping device 9 in the previous control cycle are calculated, and by actually dividing these coordinates by a time corresponding to one cycle, the gripping is actually performed. The speed at which the device 9 is moving is calculated. Then, a correction amount corresponding to a perpendicular to the target speed (vector) calculated in step U2 is calculated from the actual speed (vector), and this is added to the target speed calculated in step U2 to obtain a new target. Set to speed.

  Next, the target speed of the gripping device 9 corrected in this way is converted into the target speed of the hydraulic actuator (step U4). Specifically, in this step U 4, the XZ component of the target speed of the gripping device 9 is converted into the target speeds of the boom cylinder 10, the arm cylinder 11 and the work cylinder 12 as in the force control process T. The target speeds of the rotation motor 30 and the turning motor 29 are set to speeds proportional to the operation amounts of the operation means 34 and 37.

  Next, the required holding force of each cylinder 10-12 is calculated in the same manner as in step T5 (step U5).

  Next, a target switching position of each control valve 26A-26E for operating the hydraulic actuators 10-12, 29, 30 at the target speed against the required holding force is calculated (step U6). Then, the control valves 26A to 26E are operated so as to become (step U7), and the process returns to the main routine.

  As described above, according to the embodiment, the boom cylinder 10 and the arm are operated so as to operate with the target thrust specified based on the displacement direction and the displacement amount of the gripping device 9 input by the operation means 33 and 35. Since the flow rate of the hydraulic oil to the cylinder 11 is controlled, an appropriate force corresponding to the operation of the operation means 33 and 35 can always be given to the gripping device 9.

  Therefore, according to the said embodiment, it can suppress that force more than necessary is given to the work target currently hold | gripped by the holding | grip apparatus 9. FIG.

  By maintaining the postures of the boom 7 and the arm 8 with the holding forces FBm_kp and FAm_kp as in the above embodiment, the forces FCy_Bm and FCy_Am for displacing the boom 7 and the arm 8 are given. Since the posture change of the boom 7 and the arm 8 according to the displacement direction and the displacement amount input by the operator can be realized, the gripping device 9 can be displaced more accurately.

  As in the above-described embodiment, force components Fx_c and Fz_c in a direction in which the direction of the force FX_NB actually applied to the gripping device 9 is made closer to the direction of the target thrusts Fx and Fz are used as the target thrusts Fx and Fz of the gripping device 9. According to the configuration to be applied, when the direction of the force acting on the gripping device 9 at this time is different from the direction of the force to be applied, the direction of the force to be applied is made closer to the direction intended by the operator. be able to.

  Hereinafter, another embodiment will be described with reference to FIGS. 11 and 12.

  FIG. 11 is a circuit diagram showing an overall configuration of a control device according to another embodiment of the present invention. FIG. 12 is a flowchart showing processing executed by the control unit of FIG. In addition, about the structure similar to the said embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  The control device 46 according to the present embodiment is connected to control valves 47A to 47E and hydraulic actuators 10 to 12, 29, and 30 that can adjust the flow rates of hydraulic oil supplied to and discharged from the hydraulic actuators 10 to 12, 29, and 30, respectively. This embodiment is different from the above-described embodiment in that it has variable relief valves 48A to 48E for suppressing the supply pressure of the gas from becoming a predetermined relief pressure or higher.

  Specifically, each of the control valves 47A to 47E is a solenoid type three-position switching valve. Specifically, the control valves 47A to 47E are provided with a neutral position (position in FIG. 11) for stopping the supply and discharge of the hydraulic oil to and from the hydraulic actuators 10 to 12, 29, 30 and the hydraulic oil from the hydraulic pump 24 to the hydraulic actuator 10. -12, 29, 30 and the two switching positions forward and backward for guiding the hydraulic oil from the hydraulic actuators 10-12, 29, 30 to the tank. The hydraulic oil is guided to the control valves 47A to 47E via the supply oil passage R4.

  The variable relief valves 48 </ b> A to 48 </ b> E are closed under a condition of a predetermined relief pressure or less, and are configured to be able to adjust the relief pressure in accordance with an electrical command from the control unit 31. These variable relief valves 48A to 48E are opened when the pressure in the oil passages R5A to R5E or the oil passages R6A to R6B connected to the hydraulic actuators 10 to 12, 29, and 30 reaches the relief pressure, respectively. The pressure in 5A-5E or oil passage R6A-R6E is made less than the relief pressure.

  Hereinafter, processing executed by the control unit 31 of the control device 46 will be described with reference to FIG.

  Of the processes in the present embodiment, steps S11 to S16 are the same as steps T1 to T6 in the embodiment. That is, in step S11, detection values from the sensors 38 to 45 are input. In step S12, the target thrust Fx in the X direction, the target thrust Fy in the Y direction, the target thrust Fz in the Z direction, the target torque Tq_Nb for turning in the vertical direction (see FIG. 8), and the target in the twist direction Torque is determined. In step S13, correction amounts are calculated for the target thrusts Fx and Fz in the X and Z directions of the gripping device 9. In step S <b> 14, target thrusts Fx_s and Fz_s of the gripping device 9 are converted into target thrusts of the boom cylinder 10 and the arm cylinder 11. In step S15, the necessary holding force of the boom cylinder 10, the arm cylinder 11 and the work cylinder 12 corresponding to the dead weight of the work attachment 5 is calculated. In step S16, target pressures PF_Bm, PF_Am, PF_Nb, PF_Nbr, and PF_Sw of the hydraulic actuators 10 to 12, 29, and 30 are calculated.

  In step S17, the target pressures PF_Bm, PF_Am, PF_Nb, PF_Nbr, and PF_Sw calculated in step S16 are applied to the variable relief valves 48A to 48E so as to be the relief pressures of the variable relief valves 48A to 48E. Outputs electrical signals.

  According to this embodiment, the pressure for operating the boom cylinder 10 and the arm cylinder 11 with the target thrusts FBm and FAm specified based on the displacement direction and the displacement amount of the gripping device 9 input by the operation means 33 and 35. Since the variable relief valves 48A to 48E are controlled so that PF_Bm and PF_Am become the relief pressure, it is possible to prevent the boom cylinder 10 and the arm cylinder 11 from operating with a force equal to or greater than the target thrusts FBm and FAm.

  Therefore, according to the present embodiment, it is possible to suppress applying an unnecessary force to the work target gripped by the gripping device 9.

  The present invention is not limited to the above-described embodiments, and the above-described effects can be obtained by combining the above-described embodiments.

FBm, FAm Target thrust PF_Bm, FF_Am Target pressure Fcy_Bm, Fcy_Am Target thrust (displacement force)
FBm_kp, FAm_kp Required holding force (holding force)
FX_NB, FZ_NB Actual working force (raw additional force)
1 Demolition machine 2 Lower traveling body (airframe)
3 Upper swing body (airframe)
7 Boom (working arm)
8 Arm (working arm)
DESCRIPTION OF SYMBOLS 9 Grasping apparatus 10 Boom cylinder 11 Arm cylinder 12 Working cylinder 21, 46 Control apparatus 26A-26E Control valve 31 Control part (control means)
33-37 Operating means (input means)
48A variable relief valve

Claims (5)

A control device provided in a demolition machine comprising a machine body, a work arm displaceable with respect to the machine body, and a gripping device attached to the tip of the work arm and capable of gripping a work object,
A hydraulic actuator for displacing the working arm with respect to the airframe;
A control valve capable of adjusting the flow rate of hydraulic oil supplied to and discharged from the hydraulic actuator;
Input means for inputting the displacement direction and displacement amount of the gripping device relative to the airframe;
Control that specifies the target thrust of the hydraulic actuator based on the displacement direction and displacement input by the input means, and controls the flow rate of hydraulic oil by the control valve so that the hydraulic actuator is operated by the target thrust And a control device. A control device provided in a demolition machine comprising a machine body, a work arm displaceable with respect to the machine body, and a gripping device attached to the tip of the work arm and capable of gripping a work object,
A hydraulic actuator for displacing the working arm with respect to the airframe;
A supply and discharge oil passage for supplying and discharging hydraulic oil to and from the hydraulic actuator;
A variable configured to be provided in the supply / discharge oil passage and configured to open the supply / discharge oil passage to the tank and adjust the relief pressure when the pressure in the supply / discharge oil passage becomes equal to or higher than a preset relief pressure. A relief valve,
Input means for inputting the displacement direction and displacement amount of the gripping device relative to the airframe;
The variable relief is specified such that a target thrust of the hydraulic actuator is specified based on a displacement direction and a displacement amount input by the input means, and a pressure for operating the hydraulic actuator with the target thrust becomes the relief pressure. And a control means for controlling the valve. Further comprising posture detecting means for detecting the posture of the working arm;
The control means specifies the holding force of the hydraulic actuator for holding the posture of the work arm based on the detection result by the posture detection means, and the displacement direction and displacement amount of the gripping device input by the input means The displacement force for displacing the hydraulic actuator from the current position is specified based on the above, and the sum of the holding force and the displacement force is used as the target thrust of the hydraulic actuator. The control device described in 1.   The control means specifies the original applied force currently acting on the gripping device based on the posture of the working arm when the displacement force was previously specified and the posture of the working arm at the current time. 4. The control device according to claim 3, wherein when the direction of the force and the displacement force specified this time are different, the displacement force is corrected in a direction in which the direction of the original additional force is brought closer to the direction of the displacement force. The aircraft,
A working arm displaceable with respect to the aircraft,
A gripping device attached to the tip of the work arm and capable of gripping a work object;
A demolition machine comprising the control device according to claim 1.

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