JP2582286B2 - Work automation method and device for construction machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention is mounted on a hydraulic drive mechanism of a construction machine or the like, and automatically repeats the operation of an actuator first taught by an operator, and thereafter, The purpose of the present invention is to reduce the operator's fatigue and improve the workability. In particular, the operation signal stored in the memory is reduced by the time difference at which the integrated value of the oil amount reaching the work machine actuator during playback becomes equal to that during teaching. The present invention relates to a method and apparatus for automating the operation of a construction machine, wherein a stored value is temporally corrected to prevent an operation error due to a change in operation conditions during teaching.

(Prior Art) In recent years, the development of electronic technology has been remarkable, and an electro-hydraulic control system has come to be used for a hydraulic drive machine such as a construction machine instead of a mechanical control. This electro-hydraulic control
It has a feature that the degree of freedom of control is high and complicated control can be manufactured at low cost. It is also possible to control a hydraulic drive machine by a teaching / playback operation as shown in FIG. In FIG. 4, when the manual controller 24 is operated, an operation signal is output to the control device 23, and the control device 23 operates the electro-hydraulic valve 22 according to the operation signal. As a result, the hydraulic cylinder 21 and the hydraulic source are connected, and the hydraulic cylinder 21 is driven by hydraulic oil supplied from the hydraulic source.
Operates. When performing a playback operation of the hydraulic cylinder 21, when a predetermined playback instruction signal is given to the control device 23, an operation signal stored in the storage device 25 is swept out to the control device 23, and the control device 23 Operates the electro-hydraulic valve 22 according to the operation signal.

(Problems to be Solved by the Invention) In the teaching / playback control device shown in FIG. 4, for example, when the soil during playback is harder than the soil during teaching (or vice versa), In order to control the driving horsepower of the hydraulic pump to be substantially constant, the discharge amount of the hydraulic pump is controlled to decrease (or increase), so that the working machine speed decreases (increases), and the playback control is performed in time. However, this teaching / playback system has a drawback that subsequent operations are delayed or advanced, and accurate work cannot be performed. That is, the normal work pattern of the excavating machine is (digging) → (turning and raising the boom)
→ (discharge) → (turning and lowering the boom). When the load increases during excavation, the work machine moves back at a slow speed due to the above-mentioned reasons. The operation moves to the next operation (turning and raising the boom) without permission, and the same operation during teaching will not be repeated. Even if the operator adds a correction operation, the timing of moving to the next operation cannot be measured. It was hard to do.

(Means for Solving the Problems) The present invention has been made in order to solve the problems in the above-mentioned conventional technology, and a method for automating the operation of a construction machine according to the present invention stores an operation signal of an operator in a memory. In the teaching mode, the operation mode and the operation time of the operator in the teaching mode, the operation mode of the construction machine comprises a playback mode in which the same operation as the stored value stored in the memory is repeatedly performed in the teaching mode. The integrated value of the oil amount detected by the oil amount detection means supplied to the work machine actuator is stored in a memory, and the integrated value of the oil amount detected by the oil amount detection means supplied to the work machine actuator in the playback mode. But,
A time that is equal to the integral value of the oil amount in the teaching mode is obtained, a time difference between this time and the operation time stored in the teaching mode is obtained, and the time difference is added to the operation time in the teaching mode. Thus, a temporal correction of the operation signal in the playback mode is performed.

Further, the construction machine work automation device according to the present invention is a work machine actuator that stores an operation signal of an operator in a teaching mode and repeatedly outputs a stored value of the operation signal in a playback mode, and a work machine actuator based on an output from the memory. An operation time detecting means for detecting an operation time of the operator, an oil amount detecting means for detecting an amount of oil supplied to the work machine actuator, and an oil amount detecting means for controlling the operation time of the operator. A memory for storing the integrated value of the oil amount detected by the detecting means, and a time period during which the integrated value of the oil amount in the playback mode stored in the memory becomes equal to the integrated value of the oil amount in the teaching mode. Is calculated, and the time difference between this time and the operation time in the teaching mode is calculated. By adding the stored operating time At a serial teaching mode, and a controller that performs time correction in the operation signal to the playback mode.

(Operation) According to the configuration of the present invention, when the earth and sand to be excavated in the pull-back mode is harder than the teaching mode, 1 in the playback mode detected by the integrated value of the oil amount supplied to the work machine actuator. The operation time T2 for one cycle becomes longer than the stored operation time T1 for one cycle in the teaching mode.

Therefore, the operation time T2 of one cycle in the playback mode at that time is obtained by adding a time difference (T2−T1) to the operation time T1 of one cycle in the teaching mode.

That is, even if one cycle in the teaching mode is completed, the next playback mode is not started until the time difference (T2-T1) has elapsed.

If the earth and sand excavated in the playback mode is softer than the teaching mode, the operation time T2 for one cycle in the playback mode detected by the integral value of the amount of oil supplied to the work machine actuator is stored in the teaching mode. It becomes shorter than the operation time T1 for one cycle in the mode. Therefore, the playback mode 1 at that time
The operation time T2 of the cycle is obtained by adding a time difference (T2−T1) to the operation time T1 of one cycle in the teaching mode.

That is, one cycle of operation time in teaching mode
The next playback mode is started before the time difference (T2−T1) before T1.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 (A) shows an electric and hydraulic circuit diagram when the method and apparatus for automating construction machine work of the present invention are used in a hydraulic excavator. 1a · 1b are each of the left and right working machine levers, 2a _1, 2a _2, 2b
Is a device for converting the operation amount of each of the working machine levers 1a (operated in a direction perpendicular to each other) 1b to an electric signal. Reference numeral 3 denotes an automation controller, which receives a mode signal from the mode switch 4 and a signal from the teaching switch 5 and the playback switch 6 and outputs a signal corresponding to the input to the electronic controller 7.
The electronic controller 7 outputs a control signal to solenoids 9 and 10 for controlling the electronic hydraulic valve 8 in accordance with a signal from the automation controller 3. Eventually, the electronic hydraulic valve 8 is operated according to the operation amounts of the left and right working machine levers 1a and 1b, and the hydraulic pump 11
Is controlled to an oil amount corresponding to the operation amount of the hydraulic valve 8 and is supplied to the cylinder 12. An oil amount detecting means 13 and a relief valve 14 are provided in a pressure oil supply path from the hydraulic pump 11 to the electronic hydraulic valve 8, and an oil amount signal of the oil amount detecting means 13 is output to the automation controller 3. It is configured as follows. Operation signals of the left and right working machine levers 1a and 1b are input to the electronic control controller 7 as a voltage, and the relationship between the voltage and the command flow rate to the cylinder 12 is as shown at 7a. Also, the relationship between the command flow rate to the cylinder 12 and the current is set as 7c,
Left and right working machine lever input to the electronic control controller 7
The operation signals of 1a and 1b finally become current signals like 7d and 7e, and are output to the solenoids 9 and 10 of the electronic hydraulic valve 8. The automation controller 3 comprises a mode switching controller 3a and a memory 3b. In a teaching mode, the operator operates the left and right working machine levers 1a and 1b to change the operation amounts of the boom, the arm and the bucket into an electric signal converter 2.
a _1, 2a _2, is stored in the memory 3b as indicated by broken line in Figure 3 through the mode switching controller 3a when the output (B) to the automation controller 3 as an electric signal by 2b. On the other hand, the automatic controller 3 is provided with the oil amount detecting means 13.
When the oil amount signal is input from the controller 3, the integrated value of the oil amount signal is also stored in the memory 3b as shown by the broken line in FIG. 3 (A). Next, when you switch to playback mode, memory 3b
Is output to the electronic control controller 7 via the mode switching controller 3a, and the playback operation for operating the boom, arm, and bucket cylinder (represented by 12) is performed as described above. . During the playback operation, for example, if the bucket is hit against hard soil compared to the teaching mode and the discharge amount of the hydraulic pump is controlled to decrease, the speed of the cylinder 12 decreases, but the oil amount from the oil amount detecting means 13 The oil amount signal is output to the automation controller 3, the integrated value of the oil amount signal is calculated as shown by the solid line in FIG. 3 (A), and the integrated value of the oil amount signal becomes equal to the integrated value of the oil amount signal stored in the teaching mode. The operation signal of the operator output from the memory 3b indicated by the broken line in FIG. 3B only for the time difference, that is, (t ₂ −t ₁ ) shown in FIG. at delayed temporally from _one point T to ₂ points T Te, mode switching controller
Output to the electronic controller 7 via 3a. Time t ₁
Since the control is continuously performed in the same manner as before, the operation signal at the time of teaching shown by the broken line in FIG. 3 (B) is a time-corrected signal shown by the solid line, and the cylinder 12 is operated. Therefore, the operation taught in the teaching mode can be accurately played back by extending the entire operation time. On the other hand, in the case of hitting the soil softer than in the teaching mode, the work time taught in the teaching mode can be accurately played back by shortening the overall work time. Note that, even during the playback mode, if the correction signal from the working machine levers 1a and 1b is input to the automation controller 3, the playback operation in which the correction signal is added to the stored value taught in the teaching mode is performed. , Correction work such as correction of teaching work in the teaching mode. If the mode switch is turned off, the teaching playback can be switched from automatic operation to manual operation, and normal operation can be performed.
FIG. 1B is another embodiment using electronic poppet valves 8a to 8d instead of the electronic hydraulic valve 8 in FIG. 1A, and is the same as the solenoid 9 in FIG. 1A. When a signal is input to the solenoid 9a, the meter-in poppet valve 8a and the meter-out poppet valve 8b are opened according to the signal, and the amount of oil supplied to and discharged from the cylinder 12 is controlled. Therefore,
The rod of the cylinder 12 moves in the direction of the arrow P at a speed according to the signal input to the solenoid 9a. When the same signal as that of the solenoid 10 in FIG. 1A is input to the solenoid 9b, the meter-in poppet valve 8c,
Then, the poppet valve 8d of the meter-out is opened, and the rod of the cylinder 12 moves in the direction of the arrow S in the same manner.

(1) Teaching operation method Set the mode switch 4 to the teaching mode T and set the teaching switch 5 to
When set to ON, the electric signals 2a ₁ , 2a ₂ and 2b corresponding to the operation amounts of the left and right working machine levers 1a and 1b are switched to the mode switching controller
a, the electronic hydraulic valve 8 is controlled via the electronic control controller 7 to operate the cylinder 12 to perform a predetermined operation, and at the same time, the operation amount of the left and right working machine levers 1a and 1b and the supply to the cylinder 12 The integrated oil amount is stored in the memory 3b of the automation controller 3. After the teaching work is completed, turn off the teaching switch to complete the teaching operation.

(2) Playback operation method Set the posture of the work equipment at the playback start point, set the mode switch 4 to playback mode P, and turn on the playback switch 6 to turn on the teaching switch 5
Is turned off, so the playback operation is started. The playback operation includes a playback switch 6
It is repeated as many times as you want until you turn off. When the operator inputs a correction signal to the automation controller 3 by the work machine levers 1a and 1b during the playback operation, the electronic hydraulic valve 8 is controlled by the correction signal in the same manner as described above to correct the cylinder 12. If the working conditions change, such as hitting the soil harder than the teaching mode during the playback operation, the speed of the working machine cylinder 12 will change, but until the integrated value of the amount of oil supplied to the working machine cylinder 12 becomes equal. Since the operation signals of the working machine levers 1a and 1b at the time of teaching are temporally corrected, it is possible to extend or shorten the working time as a whole and accurately play back the work taught at the time of teaching. it can. FIG. 2 is a diagram showing a flowchart in the electric / hydraulic circuit of FIG. 1. First, after starting, initialization is performed in step S1. Steps S2 and S3 are steps for selecting the normal operation mode, the teaching mode, and the playback mode using the mode switch 4. If the teaching switch 5 is turned on and the playback switch 6 is turned off in steps S4 and S5, S
The memory 3b of the automation controller 3 is cleared in six steps, and the operation signals of the left and right working machine levers 1a and 1b are stored in the memory 3b of the automation controller 3 in step S7. Also S8
In the step, the integrated value of the oil amount signal to the work machine cylinder 12 is stored in the memory 3b of the automation controller 3. When the teaching work by the left and right working machine levers 1a and 1b is completed,
Since the teaching switch 5 is turned off when the playback switch 6 is turned on in step S10, the lever signal 2a as a correction signal for the work implement levers 1a and 1b is added to the memory data in the memory 3b of the automation controller 3 in step S11. _1, 2a _2, 2b is playback operation is performed by the signal added. In step S12, an oil amount integral value is calculated for the work machine cylinder 12, and in step S13, a time difference in which the oil amount integral value in step S12 is equal to the oil amount integral value in step S8 is calculated. Next, in step S14, the operation signals of the work implement levers 1a and 1b in step S7 are temporally corrected by the time difference in step S13, and the corrected signal is output to step S15. S
In the 15th step, a playback operation is performed based on the correction signal of the S14 step and the correction signals of the work implement levers 1a and 1b.
When the memory sweep is completed in step S16, the process returns to step S2 and the playback operation is repeated, and the operation as described above is repeated any number of times until the playback switch 6 is turned off.

(Effects of the Invention) As described above in detail, the method and apparatus for automating the operation of a construction machine according to the present invention have the following effects.

(1) If the soil excavated in the playback mode is harder than the teaching mode, the next playback mode is not started until the time difference (T2-T1) elapses even if one cycle of the teaching mode is completed. If the earth and sand excavated in the back mode is softer than the teaching mode, the next playback mode is started a time difference (T2-T1) before the operation time T1 of one cycle of the teaching mode.

That is, even if the soil properties of the playback mode and the teaching mode are significantly different and the speed of the work machine actuator changes, the work taught in the teaching mode can be accurately played back.

(2) If the soil excavated in the playback mode is harder than the teaching mode, the next playback mode will not start until the time difference (T2-T1) has elapsed even if one cycle of the teaching mode is completed. The operation by the playback signal and the next playback signal do not overlap, and the safety of the operation in the playback mode is improved.

(3) Further, when the earth and sand excavated in the playback mode is softer than the teaching mode, the next playback mode is started before the operation time T1 of one cycle of the teaching mode by a time difference (T2−T1). Therefore, the work efficiency in the playback mode is improved accordingly.

[Brief description of the drawings]

1 (A) and 1 (B) are electric and hydraulic circuit diagrams in an embodiment of the present invention, FIG. 2 is a flowchart of FIG. 1, and FIG. FIG. 4B is a diagram illustrating a relationship between oil amount signal integrated values, and FIG. 4B is a diagram illustrating a relationship between operator operation signals and work time. FIG. 4 is a diagram showing a conventional technique. 1a, 1b: Left and right working machine levers 2a: Electrical signal converter 3: Automated controller 3a: Mode switching controller 3b: Memory 4: Mode switch 5: Teaching switch 6: Playback switch 7: Electronic controller 8 Electronic hydraulic valve 9,10 Solenoid 11 Hydraulic pump 12 Cylinder 13 Oil amount detecting means

Claims (2)

(57) [Claims] 1. A teaching method for a construction machine operation automation method comprising: a teaching mode in which an operation signal of an operator is stored in a memory; and a playback mode in which the same operation as a storage value stored in a memory in the teaching mode is repeated. In the mode, the operation signal and the operation time of the operator and the integrated value of the oil amount detected by the oil amount detection means supplied to the work machine actuator are stored in a memory, and the oil supplied to the work machine actuator in the playback mode is stored. An integrated value of the oil amount detected by the amount detecting means is determined to obtain a time during which the integrated value of the oil amount in the teaching mode is equal to, and a time difference between this time and the operation time stored in the teaching mode is determined.
A method for automating the operation of a construction machine, wherein a time difference of an operation signal in a playback mode is corrected by adding the time difference to an operation time in a teaching mode. 2. A construction comprising a memory for storing an operation signal of an operator in a teaching mode and repeatedly outputting a stored value of the operation signal in a play back mode, and a controller for controlling a work machine actuator based on an output from the memory. In machine automation equipment,
Operation time detection means for detecting the operation time of the operator, oil amount detection means for detecting the amount of oil supplied to the work implement actuator, and a memory for storing an integrated value of the oil amount detected by the oil amount detection means, Calculating a time when the integrated value of the oil amount in the playback mode stored in the memory is equal to the integrated value of the oil amount in the teaching mode;
By calculating the time difference between this time and the operation time in the teaching mode, and adding this time difference to the operation time stored in the teaching mode, the time correction of the operation signal in the playback mode is performed. And a controller that performs the operation.