JP2871250B2 - Excavator control equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a drilling machine such as a boring machine.

[0002]

2. Description of the Related Art A conventional all-casing boring machine is configured as shown in FIG. In the figure, 1 is a traveling device, and 2 is a main body mounted on the upper portion of the traveling device 1. The body 2 is provided with a boom 3 and a winch 7, a pulley 4 is attached to a tip of the boom 3, and a wire rope 5 extending from the winch 7 is attached to a grab bucket (excavator) 6 via the pulley. Thus, the grab bucket 6 is supported in a suspended state. Also,
Reference numeral 8 denotes a glove which is attached to the lower end of the grab bucket 6 so as to be openable and closable, 9 denotes a casing tube, and 10 denotes a device for pushing the casing tube 9 attached to the front part of the main body 2.

FIGS. 11 and 12 are diagrams for explaining the excavation situation by the excavating machine. When excavating the ground with an excavating machine, as shown in FIG.
The cutting edge 11 of the casing tube 9 is penetrated into the ground.
Next, the wire rope 5 is loosened, and the grab bucket 6 is freely dropped into the casing tube 9 and cut into the ground 12. Thereafter, as shown in FIG. 12, the wire rope 5 is pulled, the grab 8 is closed, the earth and sand is grasped in the grab bucket 6, and the grab bucket 6 is pulled up to discharge the earth. The above operation is repeated, and the casing tube 9 is penetrated into the ground to a predetermined depth to form a drill hole.

[0004]

In the above-mentioned conventional boring machine, the winch drum is rotated in the wire feeding direction, and the wire rope 5 suspended from the winch drum at the upper end of the boom via the pulley 4 is fed. The grab bucket 6 attached to the lower end is dropped into the tube 9 to penetrate the ground 12, the soil in the tube 9 is excavated, and the winch drum is driven by the hydraulic motor in the hoisting direction to thereby wire rope. Wind up 5,
The grab bucket 6 is lifted to discharge earth and sand in the bucket.

This series of operations requires skill, and it is particularly difficult to operate the winch brake when the bucket 6 is dropped. If the brake timing at the time of falling is late, the wire rope 5 is unnecessarily fed out due to the inertia of the winch drum, and the wire rope becomes turbulent at the time of winding and is damaged. Also, if the braking timing is too early,
The brake is applied before the bucket 6 lands, and sufficient excavation cannot be performed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control apparatus for an excavating machine that automates an excavating operation of a series of operations and can be easily operated even by an inexperienced operator. To provide.

[0007]

SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a method comprising:
An excavator is attached to the lower end of the hanging wire rope, the excavator is dropped into the casing tube, and then lifted, and the excavating machine excavates and removes the earth and sand in the casing tube. A rotation detector for detecting, a pressure detector for detecting a pressure of a hydraulic motor driving the winch, a drilling device passage detector for detecting passage of the drilling device at the upper end of the casing tube, and a drop of the drilling device. A setter for setting the excavation conditions such as height and casing tube length, and a calculation based on the detection signals from the above detectors and the set signal of the setter, the amount of movement of the excavator, the wire rope at the time of the excavator landing Means for calculating the amount of loosening, the relationship between the moving distance and time of the rig, and the maximum drop speed of the rig, and the amount of looseness of the wire rope determined by this means. Means for controlling and calculating the brake signal output timing so that the amount of wire rope slack at the time of landing of the excavator becomes appropriate from the relationship between the maximum falling speed of the excavator and the fall distance of the excavator, and the amount of movement of the excavator Means for controlling and calculating start and stop and a moving speed, wherein a predetermined excavation cycle is performed by automatically controlling the winch according to an output signal of the control and calculation means.

[0008]

When the grab bucket, which is an excavator, is lifted / lowered, the wire slack amount and the bucket movement amount at the time of bucket landing are calculated based on the pressure of the winch drive hydraulic motor and the signal of the winch rotation detector. Further, the relationship between the falling distance and time and the maximum falling speed are calculated and stored in the bucket based on the rotation angle of the winch. Then, the start and stop and the speed of the winch are controlled based on the bucket movement amount obtained by the above calculation. In addition, the brake signal output timing of the winch is controlled so that the wire slack amount at the time of bucket landing is appropriate based on the relationship between the wire slack amount at the time of bucket landing, the maximum bucket falling speed, and the falling distance and time at the time of dropping. .

With the above-described processing, a change in the amount of wire slack due to a change in hydraulic oil temperature or a change in brake characteristics is automatically adjusted to always maintain an appropriate amount of wire slack during free-fall excavation of a bucket and to perform a digging cycle. It is possible to repeat,
Even inexperienced operators can easily operate and improve the operation rate of the excavating machine.

[0010]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a system configuration of a control device according to the present invention, and FIG. 2 shows a winch drive hydraulic circuit. The same parts as the excavating machine shown in FIGS.
The same reference numerals are given and the detailed description is omitted.

In FIG. 1, reference numeral 16 denotes a hydraulic motor for driving the winch 7, and reference numeral 18 denotes a high-pressure selection valve. For example, a pressure detector 19 for detecting the pressure at the time of wire winding is provided at the high pressure selection valve 18 of the hydraulic motor 16 and a rotation detector 17 for detecting the drum rotation direction and rotation angle is provided at the winch 7. Further, a bucket detector 20 for detecting that the grab bucket 6 as an excavator is inserted is provided at an upper end portion of the casing tube 9, and a hoisting limit switch 41 for detecting a hoisting upper limit position of the grab bucket 6 is provided for the boom 3. . Then, the rotation detector 1
7. Each detection signal of the pressure detector 19, the bucket detector 20, and the hoisting limit switch 41 is input to the calculator 22. Further, a setting device 21 for setting a bucket free fall height, a length of the casing tube 9 and the like is provided, and a setting signal thereof is input to a computing device 22.

The computing unit 22 calculates the following based on the input signal:
Bucket lowering control calculation, calculation of wire slack amount and bucket movement amount, bucket lifting control calculation, brake signal output height setting calculation, etc. are performed, and FIG.
The solenoid valve in the winch drive hydraulic circuit is controlled. The computing unit 22 calculates the length of the casing tube 9 set in the setting unit 21 and the amount of bucket lift movement from the start of the winding of the grab bucket 6 to the lower end of the grab bucket 6 passing through the bucket detector 20. If the two values are equal to each other, the alarm 23 is activated to notify the operator of the deep digging.

In the winch drive hydraulic circuit shown in FIG.
5 is an engine as a power source, 26 is a hydraulic pump driven by the engine 25, 27 is a main relief valve, 2
8 is a directional control valve, 29 is an overload relief valve, 3
0 is a counterbalance valve, 31 is a winch brake, 32 is a winch drive clutch, and 24 is a speed reducer provided between the hydraulic motor 16 and the winch 7. 3
3 is a pilot hydraulic pressure source, 34 is a remote control valve, 35 is a solenoid valve for a direction switching valve, 36a and 36b are high pressure selection valves,
High pressure selection of the pressure of the remote control valve 34 and the pressure of the direction switching valve solenoid valve 35 is performed. Reference numeral 37 denotes a brake solenoid valve, 38 denotes a clutch solenoid valve, 39 denotes a pressure reducing valve, and 40 denotes a pump swash plate solenoid valve. Next, the operation of the above embodiment will be described.

FIG. 3 shows a control state of a work cycle of the excavating machine. At the start, the set value is obtained by landing the grab bucket 6 in the casing tube 9, and then the initial values of free fall, high speed, and low speed are set in the setter 21, and thereafter, the control operation is started.

In FIG. 3, a broken line indicates manual operation, and a solid line indicates automatic control. Since safety and operation are complicated until the bucket 6 is put into the casing tube 9 after discharging, manual operation of the remote control valve 34 is performed.
When the bucket 6 enters the casing tube 9, it is detected by the bucket detector 20, and automatic control is enabled. When the operator selects automatic control, the lowering section is lowered at a low speed as shown in FIG. When the bucket reaches the free height position, the clutch 32 is disengaged and the bucket 6 is allowed to fall freely to penetrate the ground.

Next, the winch 7 is hoisted at a low speed to seize the earth and sand into the bucket 6, and thereafter the winch 7 is hoisted at a high speed. When the bucket 6 approaches the vicinity of the uppermost end of the hoist, the speed is reduced to a stop at a predetermined position. The above excavation cycle is realized by the following hoisting and lowering control calculations.

A. Bucket lowering control calculation FIG. 4 shows a control calculation flowchart of the lowering process. During the lowering process, the bucket position is obtained from the rotation angle of the winch 7 constantly sent from the rotation detector 17 (step A).
1) The following control is performed based on the result.

(1). In the lowering control, the direction switching valve 28 is switched to the lowering side by the solenoid valve 35 for the direction switching valve. Further, the clutch electromagnetic valve 38 is turned on to engage the clutch 32, and the brake electromagnetic valve 37 is turned on to release the brake 31.

(2). It is detected whether or not the grab bucket 6 has passed the bucket detector 20 (step A2).
When the passage of the bucket is detected, it is determined whether or not the bucket 6 has reached the free fall position (step A3). If the free fall position has not been reached, it is determined whether the position of the winch 7 is a bucket low speed lowering section or a high speed lowering section (step A4). In the bucket low-speed lowering section immediately after the grab bucket 6 has passed the bucket detector 20, the solenoid valve 40 is turned off to reduce the pump swash plate, and the winch 7 is lowered at a low speed (step A5).

(3). Thereafter, when it is determined that the bucket 6 has passed the low-speed lowering section and has reached the high-speed lowering section (step A5), the solenoid valve 40 is turned on to increase the pump swash plate to perform winch high-speed lowering (step A5). A6
).

(4). When it is determined that the bucket 6 has reached the free-fall height position by the winch high-speed lowering (step A3), the clutch 32 is released from the lowering state and the bucket 6 is allowed to freely fall.

(5). At the time of the free fall, the relationship between the maximum bucket free fall speed, the bucket fall distance from the start of the free fall of the bucket, and the time based on the bucket rotation angle is stored in the arithmetic unit 22 as a data table (step A7).

(6). Bucket 6 during free fall of bucket
It is determined whether or not has reached the brake height position (step A8). If the brake height position has not been reached, the brake 31 and the clutch 32 are held in the released state (step A9). And. When the bucket 6 reaches the brake position, the electromagnetic valve 37 of the brake 31 is turned off to operate the brake (step A10).

(7). After a predetermined time elapses after the winch drum stops after the above-described brake operation, the state is detected in step A11, and the process proceeds to the control of the hoisting process shown in FIG. 5 (step A12).

B. Calculation of Wire Looseness and Bucket Movement Amount FIG. 5 shows a control calculation flowchart of the winding process. In the hoisting step, the amount of hoisting of the wire rope 5 is always calculated by the calculation routine B in the same manner as in the lowering step. The calculation routine B calculates the wire winding amount by distinguishing the wire slack amount and the bucket movement amount by the following method.
FIG. 6 shows a flowchart of the calculation, and FIG. 7 is an explanatory diagram of the contents of the calculation. The calculation method will be described below. (1). Before the start of hoisting, the flag FG indicating the pressure state of the hydraulic motor 16 is set to “0”.

(2). If the flag FG is “0”, “1”,
It is determined which of the two is "2" (step B1). If the flag FG is "0", it is checked whether the pressure of the hydraulic motor 16 has increased (step B2). Is set to "1" (step B3).

(3). When the flag FG is "1", it is checked whether the pressure of the hydraulic motor 16 has dropped (step B4).
), If it falls, the flag FG is set to "2" (step B5).

(4). When the flag FG is "2", it is checked whether the pressure of the hydraulic motor has increased again (step B6).
If it has risen, the flag FG is set to "3" (step B7). The setting state of the flag FG is shown in FIG.
Flag FG = 0: Winch is stopped Flag FG = 1, 2: The winch is wound and the wire rope is loosened Flag FG = 3: The winch is wound and the bucket is moving .

Therefore, the content of the flag FG is determined in step B8 in FIG. 6 to determine the wire slack amount and the bucket slack amount from the rotation angle (rotation pulse) of the winch drum.
Can be obtained. That is, "Flag F
In the state of "G = 1,2", the wire slack amount can be obtained from the rotation angle of the winch drum (step B9).
Further, in the state of "flag FG = 3", the movement amount of the bucket 6 can be obtained from the rotation angle of the winch drum (step B10).

C. Bucket hoisting control calculation Based on the bucket movement amount obtained as a result of the above calculation, the hoisting control of the bucket 6 is performed in accordance with the flowchart of FIG. In the winding control, the direction switching valve 28 is switched to the winding side by the direction switching valve solenoid valve 35, the clutch solenoid valve 38 is turned on, the clutch 32 is turned on, and the brake solenoid valve 37 is turned on to set the brake 31. Cancel. Then, a low-speed hoisting and high-speed hoisting section of the winch 7 is determined based on the bucket moving amount (step C2), and the electromagnetic switching valve 40 is ON / OFF controlled to control the hoisting speed (steps C3 and C4). Whether or not the bucket 6 has reached the predetermined upper limit height is detected by the limit switch 41 (step C1), and when the bucket 6 has reached the predetermined upper limit height, the winding is stopped. Thereafter, a brake signal output height setting routine (calculation of free fall height setting of bucket) D shown below is executed.

D. Calculation of the setting of the output height of the brake signal After the bucket 6 is stopped, the relationship between the falling distance and the time stored in the lowering process while the soil is being removed and raised by manual operation,
The brake signal output height is obtained from the maximum bucket falling speed and the wire slack amount by the following calculation. FIG. 8 is a flowchart for calculating the brake signal output height, and FIG. 9 shows the relationship between the falling distance and time. The details of the calculation will be described below.

(1). It is determined whether or not the wire slackness is within an allowable range (step D1). If it is within the allowable range, the brake signal output height is not changed. If the wire slack is not within the allowable range, it is further determined whether the wire slack is excessively large or small (step D2), and the following processing is performed according to the result of the determination.

(2). When the wire slack amount is excessive, assuming that the wire slack amount is Xw, the allowable value of the wire slack amount is Xa, and the maximum drop speed Vmax, the brake signal output time correction amount Δt is represented by the following equation: Δt = (Xw−Xa) / Vmax Can be obtained (step D3).

As shown the relationship between the drop distance and time in FIG. 9, the time t _bo from the current of the brake signal output height h _bo
Is calculated, and the brake signal output time correction amount Δt obtained by the above calculation is added to obtain the brake signal output time t _bn . Based on the brake signal output time t _{bn, a} new brake signal output height h _bn is set from the relationship diagram of drop distance and time in FIG. 9 (step D5).

(3). When the wire slack amount is too small If the set free fall height ho, the actual drop height ha, the wire slack amount is Xw, and the maximum drop speed Vmax, the correction amount Δt of the brake signal output timing is Δt = (ho + Xw−ha ) / Vmax (step D4). Then, in the same manner as in the case of the above item (2), in step D5, the brake signal output height h _bn is set from the brake signal output time correction amount.

The arithmetic unit 22 checks the depth of the excavation hole in addition to the drive control for the winch 7. That is, the arithmetic unit 22 calculates the length of the casing tube 9 set in the setting unit 21 in advance, the amount of the bucket rising movement from the start of the hoisting of the grab bucket 6 to the lower end of the grab bucket 6 passing through the bucket detector 20. When the two values are equal (when the amount of upward movement of the grab bucket 6 is likely to be longer than the length of the casing tube), an alarm signal is sent to the alarm 23 to issue an alarm,
Notify the operator that he will be in a deep dig. Therefore, it is not necessary to stop the excavator to measure the excavation depth, and it is possible to prevent a deep excavation due to carelessness of the operator.

[0037]

As described above in detail, according to the present invention, even an unskilled operator can easily operate the excavating machine, and furthermore, a change in the amount of wire looseness caused by a change in hydraulic oil temperature or a change in brake characteristics is automatically detected. The excavation cycle can be repeated while always maintaining the wire slack amount during the bucket free fall excavation appropriately, so that the operation rate of the excavation machine can be improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a control device of an excavating machine according to an embodiment of the present invention.

FIG. 2 is a winch drive hydraulic circuit diagram of the excavating machine.

FIG. 3 is an explanatory view of an excavation cycle.

FIG. 4 is a flowchart of a lowering control calculation.

FIG. 5 is a flowchart of a lowering control calculation.

FIG. 6 is a flowchart for calculating a wire winding amount.

FIG. 7 is an explanatory diagram of calculation of a wire winding amount.

FIG. 8 is a flowchart for calculating a brake signal output height.

FIG. 9 is an explanatory diagram of a brake signal output height setting calculation.

FIG. 10 is an overall view of a conventional excavating machine.

FIG. 11 is an explanatory view of the state of excavation of the excavating machine.

FIG. 12 is an explanatory diagram of a digging state of the digging machine.

[Explanation of symbols]

5: wire rope, 6: grab bucket, 7: winch, 9: casing tube, 16: hydraulic motor, 17
... Rotation detector, 19 ... Pressure detector, 20 ... Bucket detector, 21 ... Setting device, 22 ... Calculator, 31 ... Brake, 3
2 ... clutch, 37 ... solenoid valve for brake, 38 ... solenoid valve for clutch.

Continuation of the front page (56) References JP-A-59-198298 (JP, A) JP-A-4-106227 (JP, A) JP-A-2-125059 (JP, U) (58) Fields studied (Int .Cl. ⁶ , DB name) E02F 3/47 E21B 44/00

Claims (1)

(57) [Claims] 1. An excavator is attached to a lower end of a hanging wire rope from a winch via a pulley on a boom, the excavator is dropped into a casing tube, and then lifted to excavate earth and sand in the casing tube. And in the excavating machine for discharging, a rotation detector for detecting a rotation angle of the winch, a pressure detector for detecting a pressure of a hydraulic motor driving the winch, and a passage of a drilling device at an upper end portion of the casing tube. The excavator passing detector to be detected, a setter for setting excavation conditions such as the drop height of the excavator, the casing tube length, and the like, and a calculation based on a detection signal from each of the detectors and a setting signal of the setter. , The amount of excavator movement, the amount of wire rope slack when the excavator lands, the relationship between the excavator's travel distance and time, and the maximum drop speed of the excavator The brake signal output timing so that the wire rope slack amount at the time of the excavator landing becomes appropriate based on the relationship between the wire rope slack amount obtained by this means, the maximum drop speed of the excavator, and the fall distance and time of the excavator. Means for controlling and calculating, and means for controlling and calculating start and stop and moving speed from the moving amount of the excavator,
A control device for an excavating machine, wherein a predetermined excavation cycle is performed by automatically controlling the winch according to an output signal of the control operation means.