JP3068772B2 - Drilling rig control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling a penetration force (digging load) and a penetration speed (descent speed) of a drilling device to set values.

[0002]

2. Description of the Related Art As a control device for a drilling device used in a continuous wall method, an earth drilling method, etc., Japanese Patent Publication No. Hei 7-2
An excavating speed control device of an excavating device disclosed in Japanese Patent No. 6414 is known. The speed control device includes a speed control unit that changes the speed of the winch device by changing the reduction ratio so that the excavator descends at the set speed, and a speed control device that reduces the speed of the winch device so that the tooth load becomes the upper limit value. And a load control section for changing the load control when the tooth tip load exceeds the upper limit value during operation by speed control. With this method, if the upper limit of the tooth tip load is set too small in consideration of the durability of the tooth tip of the excavator, excavation is performed by load control even on relatively soft ground, and the excavation speed is too fast and the excavation May not be able to be discharged in time.

[0003] Further, a penetration force and speed control device of a drilling rig disclosed in Japanese Patent Publication No. 3-80216 is also known. In this speed control device, a control unit that adjusts the speed of the winch device by adjusting the braking force so that the excavator descends at the set speed, and the speed of the winch device is controlled by the braking force so that the penetration force becomes the set penetration force. A load control unit that performs adjustment and switches to speed control when the speed exceeds a predetermined value during operation under load control. In this method, the upper limit value of the excavation speed may be determined according to the excavation capacity of excavated earth and sand. The earth and sand are smoothly discharged, and the durability of the tip of the excavator is prevented from being deteriorated.

[0004]

[Problems to be Solved by the Invention]
The publication does not disclose specific circuit configurations for speed control and penetration control. Japanese Patent Publication No. Hei 7-26414 discloses that speed control is proportional integral control or control in which feedforward control is added to proportional integral control, and tooth tip load (penetration input) control is proportional control. Therefore, it is conceivable to apply such a control method to the control device disclosed in Japanese Patent Publication No. 3-80216. However, since the tip load control controls the tip load at the upper limit by adjusting the descent speed of an excavator weighing several tens of tons, the responsiveness is poor in proportional control and proportional integral control. Can not be converted. Further, since the load control (penetration input control) is switched to the speed control or from the speed control to the load control based on the constant excavation speed set value, the control system may be hunted near the switching speed set value.

An object of the present invention is to provide a control device for an excavator which improves the durability of the tip of the excavator and the excavation efficiency.

[0006]

FIG. 1 shows an embodiment of the present invention.
2 and FIG. 2, the control device of the drilling rig according to the present invention of claim 1 includes a winch device HWD that moves up and down the drilling rig 10, and a penetration input detection unit 22 that detects a penetration input of the drilling rig 10. 23, 45, 71; penetrating control means 70 for controlling the winch device HWD so that the penetrating power detected by the penetrating power detecting means 22, 23, 45, 71 becomes the set penetrating power; The descending speed detecting means 21 for detecting the speed, the descending speed controlling means 50 for controlling the winch device HWD so that the descending speed detected by the descending speed detecting means 21 becomes the set descending speed, and the control by the penetration input controlling means 70 And selecting means 80 for shifting to control by the descending speed control means 50 when the detected value of the descending speed exceeds a predetermined value. The descending speed control means 50 controls the descending speed by proportional integral control. Gyoshi, penetration force control means 70 and controls the penetration force by a proportional differentiation control.

According to the first aspect of the present invention, the penetration input control means 70
Controls the speed of the excavator 10 by controlling the hydraulic winch device HWD so that the detected penetration input becomes the set penetration input. The descent speed control means 50 controls the speed of the excavator 10 by controlling the hydraulic winch device HWD so that the detected descent speed becomes the set descent speed. Nuki input control means 70
If the detected value of the descending speed exceeds the predetermined value during the control by the control unit 80, the selecting means 80 shifts to the control by the descending speed control means 50. The descent speed control means 50 controls the descent speed by proportional integral control, and the penetration force control means 70 controls the penetration force by proportional differentiation control.

According to a second aspect of the present invention, there is provided a hydraulic source 1 for discharging pressure oil, a winch hydraulic motor 3 connected to the hydraulic source 1 by first and second oil paths 4 and 5, a first and a second hydraulic motor. A control valve 2 provided in the middle of the second oil passages 4 and 5; a counterbalance valve 6 provided in the second oil passage 5 which is a return side while the excavator 10 is descending; Pressure adjusting means PCD for adjusting the pressure of the second oil passage 5 between the hydraulic motor 3 and the hydraulic motor 3, and penetration input detecting means 22, 23, 45, 71 for detecting the penetration input of the excavator 10,
A penetration input control means 70 for controlling the pressure adjusting means PCD so that a deviation between the penetration input detected by the penetration input detection means 22, 23, 45, 71 and the set penetration input becomes zero;
A descent speed detecting means 21 for detecting a descent speed of 0; a descent speed control means 50 for controlling the pressure adjusting means PCD so that a deviation between the descent speed detected by the descent speed detection means 21 and the set descent speed is set to zero. A selection means 80 for shifting to control by the descending speed control means 50 when the detected value of the descending speed exceeds a predetermined value during the control by the penetration input control means 70.

According to the invention of claim 2, the penetration input control means 70
If the detected value of the descending speed exceeds the predetermined value during the control by the control unit 80, the selecting means 80 shifts to the control by the descending speed control means 50. The speed control of claim 2 is performed by adjusting the pressure of the second oil passage 5 by the pressure adjusting means PCD. When the pressure in the oil passage 5 is reduced, the rotation speed of the hydraulic motor 3 increases, and when the pressure is increased, the rotation speed decreases.

According to a third aspect of the present invention, there is provided a hydraulic pressure source 1 for discharging hydraulic oil, a hydraulic motor 3 connected to the hydraulic pressure source 1 by first and second oil passages 4 and 5, A control valve 2 disposed in the middle of the oil passages 4 and 5;
Counterbalance valve 6 provided in the second oil passage 5 which is a return side during descending, and pressure adjusting means for adjusting the pressure of the second oil passage 5 between the counterbalance valve 6 and the hydraulic motor 3 The PCD, the penetrating input detecting means 22, 23, 45, 71 for detecting the penetrating input of the excavator 10, and the deviation between the penetrating input detected by the penetrating input detecting means 22, 23, 45, 71 and the set penetrating input is set to zero. Penetrating control means 70 for controlling the pressure adjusting means PCD so as to make it fall, a descent speed detecting means 21 for detecting a descent speed of the excavator 10, and a descent speed detected by the descent speed detection device 21 and a set descent speed. A descent speed control means 50 for controlling the pressure adjusting means PCD so as to make the deviation zero; and a descent speed control means 5 when the detected value of the descent speed exceeds a predetermined value during the control by the penetration control means 70.
Selection means 80 for shifting to control by 0, the descent speed control means 50 controls the descent speed by proportional integral control, and the penetration force control means 70 controls the penetration force by proportional differential control.

According to the third aspect of the present invention, the penetration input control means 70
If the detected value of the descending speed exceeds the predetermined value during the control by the control unit 80, the selecting means 80 shifts to the control by the descending speed control means 50. The descent speed control means 50 controls the descent speed by proportional integral control, and the penetration force control means 70 controls the penetration force by proportional differentiation control. The speed control is carried out by the pressure adjusting means PCD.
The adjustment is performed by adjusting the pressure of the oil passage 5 of the first embodiment. When the pressure in the oil passage 5 is reduced, the rotation speed of the hydraulic motor 3 increases, and when the pressure is increased, the rotation speed decreases.

According to a fourth aspect of the present invention, in the first to third aspects of the present invention, the selecting means 80 controls the descent speed control when the detected value of the descent speed exceeds a first predetermined value during the control by the penetration control means 70. The control is shifted to the control by the means 50, and when at least the detected value of the descent speed becomes equal to or less than the second predetermined value smaller than the first predetermined value, the control is shifted to the control by the penetration control means 70.

According to a fifth aspect of the present invention, there is provided any one of the first to fourth aspects.
In such an invention, the penetration input detecting means 22, 23, 45,
71 is the excavation which the excavator 10 receives when excavating the ground
Excavation load detection means for detecting the true value of the load as a penetration input
It is characterized by being.

According to a sixth aspect of the present invention, the excavator 10 is moved up and down.
Winch device HWD and drilling device for excavating the ground
Excavation load detection that detects the true value of the excavation load received by 10
And the excavation load detected by the excavation load detection means
Excavation that controls the winch device HWD so that it becomes a cutting load
The load control means 70 detects the descent speed of the excavator 10.
Detecting means 21 for detecting the descending speed
The winch is mounted so that the descending speed reaches the set descending speed.
Descent speed control means 50 for controlling the installation HWD;
During the control by the control means 70, the detected value of the descending speed becomes the first value.
When the value exceeds a predetermined value, the control is shifted to the control by the descent speed control means 50.
And the detected value of the descent speed is at least higher than the first predetermined value.
Is smaller than the second predetermined value, the excavation load control means 7
And a selecting means 80 for shifting to control by 0.
Features.

According to the fourth and sixth aspects of the present invention,
Switching from force control or excavation load control to speed control
And the reverse switching condition value has hysteresis
I have. After shifting to speed control exceeding the first predetermined value,
The descent speed is low to a second predetermined value smaller than the predetermined value of 1.
When it is lowered, the control is switched to the penetration input control or the excavation load control.

According to the fifth and sixth aspects of the present invention, actual excavation is performed.
Excavation load control is performed by detecting the load acting on the device 10.
It is.

A seventh aspect of the present invention is a winch device HWD for raising and lowering the excavating device 10, an excavating load detecting means for detecting a true value of an excavating load received by the excavating device 10 when excavating the ground, and an excavating load detecting device. The excavation load control means 70 for controlling the winch device HWD so that the excavation load detected by the means becomes the set excavation load, the descent speed detection means 21 for detecting the descent speed of the excavator 10, and the detection by the descent speed detection means 21 The descent speed control means 50 controls the winch device HWD so that the lowered descent speed becomes the set descent speed, and the descent speed control device 50 controls the excavation load control means 70 when the detected value of the descent speed exceeds a predetermined value. Selecting means 80 for shifting to control.

According to the invention of claim 7, the excavator 10
Is used as the penetration force. The penetration input control means 70 controls the winch device HWD to control the speed of the excavator 10 so that the detected penetration input becomes the set penetration input. The descent speed control means 50 controls the speed of the excavator 10 by controlling the hydraulic winch device HWD so that the detected descent speed becomes the set descent speed. Nuki input control means 7
If the detected value of the descent speed exceeds the predetermined value during the control by 0, the selection means 80 shifts to the control by the descent speed control means 50.

According to an eighth aspect of the present invention, in the first to third aspects of the present invention, the selecting means 80 controls the descent speed control means 50 when the detected value of the penetration force is equal to or less than the first predetermined penetration value WL / 4. When the detected value of the penetration exceeds the first predetermined penetration value WL / 4 during the speed control, the control is switched to the penetration control by the penetration control means 70, and during the penetration control, the descent speed is reduced. When the detected value exceeds the first predetermined speed value Vt, the control is shifted to the control by the descending speed control means 50, and the detected value of the descending speed is smaller than the first predetermined speed value Vt. When the detection value of the penetration value is equal to or less than 7 and the second penetration value WL / 2 is greater than the first penetration value WL / 4, the control is shifted to the control by the penetration control means 70. It is characterized by.

In this case, it is desirable that the penetration input detecting means detects a true value of the excavation load received by the excavator 10 as the penetration input when excavating the ground.

According to a tenth aspect of the present invention, the selecting means according to the seventh aspect of the present invention is adapted to control the speed by the descending speed control means 50 when the detected value of the penetration force is equal to or less than the first predetermined penetration value WL / 4. During the speed control, the detected value of the penetration input becomes the first
When the predetermined value WL / 4 is exceeded, the penetration input control means 70
When the detected value of the descending speed exceeds the first predetermined speed value Vt during the penetrating control, the control is shifted to the control by the descending speed control means 50, and the detected value of the descending speed is changed to the first speed. Second speed predetermined value V smaller than predetermined value Vt
The second predetermined penetration value W is less than t × 0.7, and the detected value of the penetration value is larger than the first predetermined value WL / 4.
The selection means may shift to control by the penetration input control means 70 when L / 2 or more.

In the section of the means for solving the above-mentioned problems, which explains the configuration of the present invention, the drawings of the embodiments are used to facilitate understanding of the present invention. However, the present invention is not limited to this.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION

First Embodiment A case where the present invention is applied to an excavator using a crawler crane equipped with a hydraulic winch device will be described with reference to FIGS. 1 to 5. In this embodiment, the excavator is lifted and lowered by a hydraulic winch device HWD. In FIG. 1, a hydraulic source 1 composed of a hydraulic pump and a relief valve
Is guided to the hydraulic motor 3 via the control valve 2. The control valve 2 and the hydraulic motor 3 are connected by oil passages 4 and 5, and the oil passage 5 is provided with a counter balance valve 6 including a pressure regulating valve 6a and a check valve 6b. The pressure regulating valve 6a opens according to the pressure of the one oil passage 4, and closes when no pressure is generated in the oil passage 4 to prevent the winch from running away. The output of the hydraulic motor 3 is decelerated by the speed reducer 7 and drives the winding drum 8 to rotate. The control valve 2 may be of any type such as a manual switching type, a hydraulic pilot switching type, and an electromagnetic switching type. The above is the description of the hydraulic winch device HWD.

The hoisting drum 8 draws in and pulls out the wire rope 9 to move the excavator 10 up and down. The wire rope 9 is routed through the sheave 12 of the boom 11, and the rotation speed of the sheave 12 is detected by the excavation speed detector 21 to detect the rope speed, that is, the elevating speed of the excavator 10.
The lifting force of the boom 11 is detected by a boom lifting force detector 22, and the angle of the boom 11 is detected by a boom angle meter 23,
The suspension load is calculated from the hoisting force and the boom angle. The penetrating input is calculated by subtracting the weight of the excavator 10 from the hanging load. In addition, the penetration input is also called a tooth tip load or an excavation load. Reference numeral 13 denotes a make-up valve for replenishing pressure oil from a tank so that the oil path 4 does not become negative.

In this embodiment, a pressure adjusting device PCD for adjusting the pressure of the oil passage 5 for finely controlling the speed of the hydraulic motor 3 is provided. This pressure adjusting device PC
D is an electromagnetic proportional valve 31 interposed between the oil passage 4 and the oil passage 5 and operated to open when reducing the pressure in the oil passage 5;
Check valve 32 for inhibiting the flow of pressurized oil from oil passage 4 to oil passage 5
A relief valve 33 that applies a back pressure to the return oil from the electromagnetic proportional valve 31, an electromagnetic proportional valve 34 that is opened to increase the pressure in the oil passage 5, and a pressure oil in the oil passage 5 Proportional valve 3
A check valve 35 for preventing the oil from flowing to the side 4 and an electromagnetic on-off valve 36 for shutting off the oil passage between the oil passage 4 and the oil passage 5 are provided.

Electromagnetic proportional valves 31, 34 and electromagnetic on-off valve 3
6 is opened and closed by a command signal from the controller 40. The controller 40 includes a digging speed detector 21, a boom angle meter 23, a boom undulating force detector 22, a speed upper limit setting unit 41 for setting an digging speed upper limit of the digging device 10, and an digging load upper limit of the digging device 10. Load upper limit setting part 4 to be set
2. A mode switch 43 for instructing the slow speed mode using the pressure adjusting device PCD and a digging device own weight setting unit 44 for setting the weigh of the digging device 10 are connected to each other. When the slow speed mode is not selected by the mode switch 43, the electromagnetic on-off valve 36 is closed.

According to the present invention, the excavation speed is set to the first value during the penetration input control.
When the speed exceeds the predetermined value (speed upper limit), it switches to speed control,
During the speed control, the excavation speed is changed to a second predetermined value (first predetermined value ×
0.7) or less, the control includes switching to the penetration input control, and the controller 40 is configured as shown in FIG.

FIG. 2 is a block diagram showing the processing performed by the controller 40. The controller 40 includes an actual suspension load calculation unit 45, a speed control unit 50, a penetration input control unit 70, a selection unit 80, and an output unit 90. The actual hanging load calculating unit 45 receives the boom angle detected by the boom angle meter 23 and the undulating force detected by the undulating force detector 22, and calculates the actual hanging load by a well-known calculation formula.

The speed control unit 50 includes a speed upper limit value setting unit 41
Upper limit set value Vt output from digging speed and excavation speed detector 2
A deviation unit 51 for calculating a deviation ΔV from the actual speed Vr output from the output unit 1 and a multiplier 52 for multiplying the deviation ΔV by a gain Kp
And an integrator 53 for integrating the deviation ΔV, a multiplier 54 for multiplying the output of the integrator 53 by a gain Ki, and a speed control by adding the output Kp · ΔV of the multiplier 52 and the output Ki · ΣΔV of the multiplier 54. An adder 55 that outputs a command Nv, and a deviation between the detected excavation speed Vr and the speed upper limit set value Vt such that the excavation speed becomes the speed upper limit set value set by the speed upper limit value setting unit 41. Is output. As described above, the speed control unit 50 employs the proportional-integral control method.

The penetrating input control unit 70 includes an actual suspension load calculating unit 4.
A deviation unit 71 for calculating a deviation Wr between the actual suspension load Wt from 5 and the own weight Wo set by the excavator own weight setting unit 44;
Deviation Δ between output Wr of deviation device 71 and upper limit value WL of penetration input
A deviation unit 72 for calculating W, a multiplier 73 for multiplying the deviation ΔW by the gain Kpw, a storage 74 for storing the deviation ΔW as the previous deviation ΔWOL, and a previous deviation ΔWOL stored in the storage 74 and the current deviation A deviation calculator 75 for calculating a deviation ΔWD from ΔW, a multiplier 76 for multiplying the deviation ΔWD by a gain Kdw, and an input control by adding the output Kpw · ΔW of the multiplier 73 and the output Kdw · ΔWD of the multiplier 76 And an adder 77 that outputs the command Nw, so that the excavation load becomes the upper limit WL set by the load upper limit setting unit 42.
A penetration input control signal Nw corresponding to a deviation between the detected excavation load Wr and the upper limit WL is output. As described above, the penetration input control unit 70 employs the proportional differential control method.

The selecting section 80 outputs the output Nv of the speed control section 50.
And the output Nw of the input control unit 70 is selected and input to the output unit 90. In the present invention, the penetrating control is selected at the time of starting the apparatus, and the control mode is switched between the penetrating control and the excavating speed control according to the excavating speed and the excavating load. The selecting operation of the selecting section 80 is provided with hysteresis. For example, the control mode is switched as shown in the flowchart of FIG.

The control mode switching will be described with reference to the flowchart of FIG. The initial state is penetration input control, and the state flag is set to 0 in step S1. If the slow speed mode is set in step S2, the previous control state is determined in step S3. If the previous state is the penetration input control, the process proceeds to step S4, and if the calculated excavation load Wr is less than (upper limit WL / 4), the process proceeds to step S9 to switch to excavation speed control. At this time, the status flag is set to 1.
The flow described above indicates that, when the slow speed mode is set at the time of startup and the mode is switched to the penetration control, if the excavation load Wr is less than (excavation upper limit WL / 4), the mode is switched to the speed control. .

When starting, steps S1, S2, S3, S
If the excavation speed Vr exceeds the speed upper limit Vt and the excavation load Wr is less than the load upper limit WL in step S5, the process is switched to speed control in step S9. The above flow shows that the excavation load Wr is (upper limit WL) when the slow speed mode is set at the time of startup and the control is switched to the penetration input control.
/ 4) or more and the excavation speed Vr exceeds the speed upper limit value Vt, indicating that the control is switched to the speed control.

Next, in step S3 after switching to speed control in step S9, the state flag is 1, and the process proceeds to step S7. If the calculated excavation load Wr is equal to or less than (load upper limit WL / 2), speed control is continuously executed in step S9. The above flow shows that the excavation load Wr is (excavation upper limit WL /
2) If it is below, it indicates that the speed control is maintained. If the excavation load Wr exceeds the (load upper limit WL / 2) in step S7, the process proceeds to step S8,
It is determined whether the excavation load Wr is less than the load upper limit WL and the excavation speed Vr exceeds (speed upper limit Vt × 0.7). If both of step S8 are satisfied, step S8
In step 9, the speed control is continuously executed. The above flow is when the excavation load Wr
Excavation speed V exceeds (excavation upper limit WL / 2)
If r is larger than (speed upper limit value Vt × 0.7), it indicates that the speed control is maintained. If any one of the steps S8 is not satisfied, for example, if the excavation speed V becomes equal to or less than (the speed upper limit value Vt × 0.7), the step S6 is performed.
And the control is switched to the input control. At this time, the status flag is set to 0. In the above flow, the excavation load Wr is (excavation upper limit WL) when switching from the penetration control to the speed control.
/ 2), and the excavation speed Vr is (speed upper limit value Vt × 0.
7) It indicates that the speed control is switched to the penetration control when the following conditions are satisfied.

The above is summarized as follows. (A) Excavation by piercing input control When the excavation load Wr is less than (excavation upper limit WL / 4),
Switch to speed control. In the flowchart of FIG. 3, step S1
4 to the time when the process proceeds from step S4 to step S9, which is the hatched area in FIG. When the excavation load Wr is equal to or more than the excavation upper limit WL / 4 and the excavation speed Vr exceeds the speed upper limit Vt, the mode is switched to speed control. In the flowchart of FIG. 3, steps S1 to S5
From step S9 to step S9, which is the hatched area in FIG. . When the excavation load Wr is equal to or greater than the excavation upper limit WL / 4 and the excavation speed Vr is equal to or less than the speed upper limit Vt, the penetrating input control is maintained. In the flowchart of FIG. 3, steps S1 to S
This is the time when the process proceeds from Step 5 to Step S6, which is the hatched area in FIG. When the digging load Wr is equal to or more than the digging upper limit WL, the piercing input control remains (in the flowchart of FIG. 3, the process proceeds to step S5 to step S6, which is a hatched area in FIG. 4D).

(B) During operation under speed control When the excavation load Wr exceeds the excavation upper limit WL / 2 and the excavation speed Vr is equal to or lower than the (upper limit Vt · 0.7), the control is switched to the penetration control. In the flowchart of FIG.
FIG. 4 is a time when the process proceeds to steps S8 to S6.
This is the hatched area (e). When the digging load Wr is equal to or less than the digging upper limit WL / 2, the speed control is maintained (in the flowchart of FIG. 3, from step S7 to step S9), and the digging load Wr is set to the digging upper limit W
Although the speed exceeds L / 2, the speed control is also maintained when the excavation speed Vr is higher than (speed upper limit value Vt · 0.7) (in the flowchart of FIG. 3, steps S7 to S8 to S9). . That is, after switching from the penetration control to the speed control, the range of the speed control is changed by the hysteresis shown in FIG.
It will spread like (f).

That is, the threshold value relating to the speed is such that the speed upper limit value Vt is the first threshold value, (the speed upper limit value Vt × 0.
7) is set as the second threshold, and when the excavation speed Vr detected during the penetration control exceeds the upper limit value (first set value Vt1), the control is switched from the penetration control to the speed control. During the speed control, the excavation speed Vr is smaller than the first predetermined value Vt1 by a second predetermined value Vt2 (= speed upper limit value Vt × 0.
7) The excavation load Wr is equal to or less than (load upper limit WL).
/ 2), the control is switched to the penetration input control.

On the other hand, as the threshold value for the excavation load, (load upper limit WL / 4) is the first threshold, and (load upper limit W
L / 2) is set as the second threshold value, and the digging load Wr detected during the penetration input control is equal to the first threshold value W.
When the speed is less than L / 4, the mode is switched to the speed control. If the excavation load Wr exceeds the second threshold value WL / 2 during the speed control and the speed is equal to or less than the upper speed limit Vt × 0.7. The control is switched to the penetration input control.

The output section 90 includes an integrator 91 for integrating the output signal of the selection section 80, a sign judging section 92 for judging the sign of the output Nc of the integrator 91, and an output Nc of the integrator 91 for determining a predetermined current. A constant current amplifier 93 that outputs a voltage; and a switch 94 that closes a contact a or a contact b based on the determination result from the sign determination unit 92.
And the contact b is connected to the electromagnetic proportional valve 31. A signal corresponding to the speed deviation signal Nv or the load deviation signal Nw is applied to the electromagnetic proportional valves 31 and 34 via the contacts a and b.

The operation of the control device of the excavator thus constructed will be described in detail. The operator selects the low-speed mode with the mode switch 43 and operates the control valve 2 to the neutral position (in some cases, the control valve 2 may be opened by a predetermined amount on the lower side).
At 1, the upper limit value Vt of the excavating speed of the excavator 10 is set, the upper limit value WL of the excavating load is set at the excavation load upper limit setting unit 42, and the own weight Wo of the excavator 10 is set at the own weight setting unit 44.

The actual lifting load calculating section 45 includes the undulating force detector 2
The actual lifting load Wt is calculated by a known calculation method based on the boom hoisting force detected in Step 2 and the boom angle detected by the boom angle meter 23. The deviation device 71 calculates a digging load Wr that the digging device 10 may receive from the ground based on a deviation between the actual hanging load Wt and the own weight Wo of the digging device 10, and further, the deviation device 72 sets a digging load upper limit value. The deviation ΔW between the load upper limit WL set by the section 42 and the excavation load Wr is calculated. Multiplier 73 outputs a value obtained by multiplying deviation ΔW by gain Kpw. The deviation ΔW is stored in the storage 74 as the previous deviation Δ
Stored as WOL, the current deviation ΔW and the previous deviation Δ
The deviation ΔWD of WOL is calculated by the deviation unit 75,
6 outputs the difference ΔWD multiplied by the gain Kdw.
The adder 77 generates an excavation control command signal N which is a result of adding the proportional term Kpw · ΔW and the differential term Kdw · ΔWD.
Output w.

The operation of the speed control unit 50 is as follows. Deviation ΔV between descent speed Vr detected by excavation speed detector 21 and upper limit value Vt set by speed upper limit value setting unit 41
Is calculated by the deviation device 51. The multiplier 52 multiplies the deviation ΔV by the gain Kp and outputs Kp · ΔV. The integrator 53 integrates the deviation ΔV, and the multiplier 54 multiplies the integrated value ΣΔV by the gain Ki. The deviation unit 55 adds the proportional term Kp · ΔV output from the multiplier 52 and the integral term Ki · ΣΔV output from the multiplier 54, and outputs a speed control command signal Nv.

The selecting section 80 selects one of the speed control command signal Nv and the penetration control command signal Nw and inputs the selected signal to the output section 90 as described above.

When the contact point a of the selection section 80 is closed (penetration control): When the detected excavation load Wr is equal to or less than the upper limit WL, the excavation control command signal Nw input to the output section 90 becomes positive and the sign is determined. The contact 94 of the switch 94 is closed by the switch 92, thereby closing the electromagnetic proportional valve 34 and operating the electromagnetic proportional valve 31 to the open side to reduce the pressure in the oil passage 5 and increase the speed of the hydraulic motor 2. As a result, the rotation speed of the drum 8 increases, and the digging load by the digging device 10 increases. That is, the amount of pressure oil leaking from the oil passage 5 is positively increased, and the hydraulic motor 3 is rotated at a rotation speed higher than the fine rotation of the hydraulic motor 3 due to the leak from the normal hydraulic devices. The opening amount of the electromagnetic proportional valve 31 is determined by the command signal Nw.
And Nv. Here, the slow rotation speed of the hydraulic motor 3 means that the excavator 10 is, for example, 0.5 cm /
It is an extremely low rotation speed such that it descends in min.

When the detected excavation load Wr exceeds the upper limit WL, the excavation control command signal Nw input to the output unit 90 becomes negative, and the sign judging unit 92 closes the contact 94 of the switch 94, whereby the electromagnetic proportional valve 31 is closed. To close the solenoid proportional valve 3
4 is operated to the open side to increase the pressure of the oil passage 5 and reduce the speed of the hydraulic motor 3. As a result, the rotation speed of the drum 8 decreases, and the digging load by the digging device 10 decreases.
In other words, by increasing the pressure in the oil passage 5, the hydraulic brake is applied to the minute speed rotation of the hydraulic motor 3 due to the leak from each hydraulic device, and the rotation speed of the hydraulic motor 3 is reduced.

With the above control, the excavation load control is performed by adjusting the speed of the excavator 10 within a range where the excavation load does not exceed the upper limit WL. If the descent speed of the excavator 10 exceeds the first predetermined value Vt during the excavation load control, the selector 80 closes the contact b and selects the speed control command Nv from the speed controller 50.

When the contact b of the selector 80 is closed (speed control): the descent speed V detected by the excavation speed detector 21
When r is lower than the set speed Vt set by the upper speed limit setting unit 41, the speed control unit 50 outputs a positive speed control command Nv. The switch 94 of the output unit 90 has the contact b closed,
By closing the electromagnetic proportional valve 34 and operating the electromagnetic proportional valve 31 to the open side, the pressure of the oil passage 5 is reduced and the speed of the hydraulic motor 3 is increased. As a result, the rotation speed of the drum 8 increases, and the descent speed of the excavator 10 increases. The opening amount of the electromagnetic proportional valve 34 depends on the magnitude of the command signal Nw or Nv.

When the actual excavation speed Vr exceeds the set speed Vt, the speed control command Nv becomes negative, the switch 94 of the output unit 90 closes the contact a, closes the electromagnetic proportional valve 31 and opens the electromagnetic proportional valve 34. Side to increase the pressure in the oil passage 5 to decrease the speed of the hydraulic motor 3. As a result, the rotation speed of the drum 8 decreases, and the descent speed of the excavator 10 decreases.

On the other hand, after the actual excavation speed Vr exceeds the upper limit value Vt, the descent speed of the excavator 10 is reduced to the first predetermined speed Vr.
When operating within the range of t and the second predetermined speed (Vt × 0.7), the selection unit 8 is operated by hysteresis as described above.
In the case of 0, since the contact b is closed, the following control is performed.

The actual excavation speed Vr becomes slower than the set speed Vt, and the speed control command Nv becomes positive. The switch 94 of the output unit 90 closes the contact point b, closes the electromagnetic proportional valve 34 and operates the electromagnetic proportional valve 31 to the open side to reduce the pressure in the oil passage 5 and increase the speed of the hydraulic motor 3. As a result, drum 8
The rotation speed of the excavator 10 increases, and the descent speed of the excavator 10 increases. If the N value of the ground increases, the descent speed Vr becomes equal to or less than the second predetermined value (Vt × 0.7), and if the excavation load Wr is equal to or more than (upper limit / 2), the selecting unit 80 The contact a is closed, and the excavation control command Nw from the excavation control unit 70 is selected.

According to the first embodiment, the following operation and effect can be obtained. Since the proportional differential control method is adopted for the penetration control unit 70 and the proportional integral control method is adopted for the speed control unit 50, the responsiveness of the excavation load control is improved, and the accuracy of the speed control is improved and the system is stabilized. .

Since the digging load control mode in which the digging load is constant is set as the basic mode, as shown in FIG.
The excavation speed is low on the ground with a high value, and the excavation speed is high on the ground with a low N value. In soft ground, the excavation speed becomes too fast, and the discharge of excavated earth and sand may exceed the capacity of the discharge pump. Therefore, when the excavation speed exceeds a predetermined value (upper limit), the excavation load control is switched to speed control. In the speed control, the descent speed of the excavator 10 is controlled so as to reach the set excavation speed. Therefore, if the upper limit value of the descent speed is determined according to the capacity of the sediment discharge pump, the sediment is appropriately discharged.

The descent speed is the first predetermined value (upper limit value Vt)
When the speed exceeds the limit, the excavation load control is switched to the speed control. During the speed control, the excavation load exceeds (upper limit WL / 2) and the descent speed is lower than the first predetermined value (upper limit Vt). When the excavation load control is switched to the second predetermined value (upper limit value Vt × 0.7) or less, the hunting is prevented because the control switching threshold value is provided with hysteresis.

Since the hydraulic winch device is used to adjust the pressure in the oil passage 5 on the return side at the time of lowering to realize fine speed control, the hydraulic winch device includes a hydraulic motor and a reduction mechanism with a high reduction ratio. A fine-speed winch power mechanism and a normal-speed winch power mechanism consisting of a hydraulic motor and a reduction mechanism with a reduced speed ratio are provided. Is simplified, and the cost can be reduced. Furthermore,
As in the device disclosed in Japanese Patent Publication No. 3-80216, when the mechanical braking force is adjusted to realize a fine speed, problems such as heat generation of the brake device and a decrease in durability accompanying the same occur. According to the embodiment, such a problem is solved. For example, the excavator used in the continuous wall method has a weight of several tens tons, and a large-capacity brake device is used. However, heat generation and durability are major obstacles in practical use.

When realizing fine speed control by using a hydraulic winch device and adjusting the pressure of the oil path 5 that is on the return side during lowering, an oil connecting the pair of oil paths 4 and 5 of the hydraulic motor 3 is used. Provide a circuit that leaks from the road to the tank,
An electromagnetic proportional valve 31 is installed in the circuit, a circuit for introducing pressure oil from the hydraulic power source 1 to the oil passage 5 is provided, and an electromagnetic proportional valve 34 is installed in the circuit, and a pair of electromagnetic proportional valves 31 and 34 are provided.
Since the pressure in the oil passage 5 is adjusted by controlling the opening and closing of the excavator, the fine speed controller PCD can be added very easily to the hydraulic winch device of the existing excavator.

Second Embodiment A device according to a second embodiment shown in FIG. 6 omits the pressure adjusting device PCD from the hydraulic winch device HWD shown in FIG. 1 and uses a high-speed hydraulic winch used for normal work. A drive system HD1 and a hydraulic winch fine speed drive system HD2 used for fine speed control are switched by a clutch.

The hydraulic motor high-speed drive system HD1 comprises the hydraulic motor 3 and the speed reducer 7 in FIG. 1, and the hydraulic winch fine speed drive system HD2 comprises the hydraulic motor 3A and the speed reducer 7A. The capacity of the hydraulic motor 3A is smaller than the capacity of the hydraulic motor 3,
The reduction ratio of the reduction gear 7A is larger than the reduction ratio of the reduction gear 7. A clutch 14 is provided between the speed reducer 7 and the drum 8, and a clutch 14A is provided between the speed reducer 7A and the drum 8.
Is provided. The winch fine-speed drive system HD2 includes a hydraulic pump 1A and an electromagnetic proportional control valve 2A that controls the amount and direction of pressure oil supplied from the hydraulic pump 1A to the hydraulic motor 3A.

The operation of the electromagnetic proportional control valve 2A is controlled by a command signal from the controller 40A. The controller 40A is configured in the same manner as in FIG. 2, and receives respective detection signals from the excavation speed detector 21, the boom undulating force detector 22, and the boom angle meter 23, and further includes a speed upper limit value setting unit 41, Excavation load upper limit value setting unit 42,
Signals and modes set from the mode switch 43 and the self-weight setting unit 44 are input.

The clutches 14 and 14A can be switched by connecting one of the clutches and disconnecting the other clutch by a manual operating device (not shown). When the control mode is selected, the clutch 14 may be connected to disconnect the clutch 14A, and when the slow control mode is selected, the clutch 14A may be connected to disconnect the clutch 14.

The switching amount and the switching direction of the electromagnetic proportional control valve 2A are controlled by the speed control command Nv or the excavation control command Nw from the controller 40A, and the descent speed of the excavator 10 is controlled to a first predetermined value during the excavation load control. If the value (upper limit) is exceeded, the control is switched to speed control. If the descent speed becomes equal to or less than a second predetermined value (upper limit × 0.7) during speed control, control is switched to excavation load control.

In the above two embodiments, the rotational speeds of the hydraulic motors 3 and 3A are adjusted by adjusting the pressure or switching the reduction ratio. However, as disclosed in Japanese Patent Publication No. 3-80216. Alternatively, a mechanical winch device may be used, and the mechanical winch braking force may be adjusted to obtain a fine speed. Further, in a control device using a hydraulic winch device, the mechanical braking force may be adjusted to obtain a fine speed.

In the above embodiment, the actual hanging load is calculated from the boom hoisting force and the boom angle, and the excavating load is obtained by subtracting the own weight of the known excavator 10 from the actual hanging load. Therefore, if part or all of the own weight of the excavator 10 is supported by the wall being excavated, the excavation load is excessively detected, and control is performed such that the descent speed is reduced even though the actual excavation load is small. There is a risk of becoming. Therefore, if the load state of the power source that applies the driving force to the excavation bit of the excavator 10 is detected and the detected value is compared with the upper limit of the excavation load, the reliability of the excavation load control is improved. If a hydraulic motor is used as the power source, the digging load can be detected from the pressure of the hydraulic motor, and if the electric motor is used, the digging load can be detected from the current value.

In the first embodiment, the command signal Nw
Alternatively, when increasing the speed in accordance with the sign of Nv, the electromagnetic proportional valve 34 is closed and the electromagnetic proportional valve 31 is opened in accordance with the amount of speed increase,
When decelerating, the electromagnetic proportional valve 31 is closed and the electromagnetic proportional valve 34 is closed.
Is opened in accordance with the deceleration amount, but it is also possible to control as follows. In other words, when the leak amount from the existing circuit is small and the desired fine speed cannot be obtained, the electromagnetic proportional valve 31 can be opened by a predetermined amount in advance, and in that case, the command signals Nw and Nv are used as the deceleration command. At this time, the electromagnetic proportional valve 31 may be decelerated by reducing the opening degree, and the electromagnetic proportional valve 34 may be opened when the deceleration command is output even when the electromagnetic proportional valve 31 is completely closed. On the other hand, when a desired amount of leak is not obtained due to a large amount of leakage from the existing circuit, the electromagnetic proportional valve 34 can be opened by a predetermined amount in advance. In this case, the command signals Nw and Nv When the speed increase command is issued, the opening of the electromagnetic proportional valve 34 is reduced to increase the speed, and even when the electromagnetic proportional valve 34 is completely closed, the electromagnetic proportional valve 31 is opened when the speed increase command is output. Good.

[0064]

As described in detail above, the control apparatus for the excavating apparatus according to the present invention has the following effects. The descent speed control means for controlling the speed of the excavator so that the detected descent speed becomes the set descent speed controls the descent speed by proportional integral control, and the speed of the excavator so that the detected excavation load becomes the set excavation load. Because the penetration input control means that controls the descending speed by proportional differential control,
The accuracy and stability of the speed control unit are improved, the responsiveness of the penetration control unit is improved, and the workability of descending the excavator at a low speed is improved. If the fine speed control is performed by adjusting the pressure in the oil passage provided with the counterbalance valve of the hydraulic winch, it is possible to reduce the size and cost compared to the case where a speed reduction mechanism with two types of reduction ratios is provided. Also, it is possible to prevent the heat generation of the brake device, resulting in a decrease in durability and a deterioration in maintenance performance as in the case of obtaining a fine speed by adjusting the mechanical braking force, and to reduce initial costs,
Low running cost can be achieved. Furthermore, since hysteresis is provided for switching between the penetration control and the speed control and for switching between the excavation load control and the speed control , hunting can be prevented and operability can be improved. By detecting the excavation load actually acting on the excavator and using it for penetrating force control, the excavation load can be accurately detected, and highly accurate excavation work can be performed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an example of a control device of an excavator according to the present invention.

FIG. 2 is a block diagram showing a detailed example of the controller of FIG. 1;

FIG. 3 is a flowchart illustrating a selection procedure of a selection unit of a controller.

FIG. 4 is a graph for explaining a condition for switching between penetration control and speed control.

FIG. 5 is a graph showing N value and excavation speed.

FIG. 6 is a configuration diagram of a control device showing another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic power source 2 Control valve 3 Hydraulic motor 4,5 Oilway 6 Counter balance valve 7 Reduction gear 8 Drum 21 Excavation speed detector 22 Boom hoisting force sensor 23 Boom angle meter 31,34 Electromagnetic proportional valve 36 Electromagnetic open / close valve 40 Controller 41 Speed upper limit value setting part 42 Load upper limit value setting part 43 Mode switch 44 Self weight setting part 50 Speed control part 70 Penetration input control part 80 Selection part 90 Output part HMD hydraulic winch device PCD Pressure control device

Claims (10)

(57) [Claims] A winch device for raising and lowering a drilling device;
Penetration input detection means for detecting the penetration input of the excavator,
Penetrating control means for controlling the winch device so that the penetrating input detected by the penetrating input detecting means becomes the set penetrating input; descent speed detecting means for detecting a descent speed of the excavator; descent speed detection Means for controlling the winch device so that the descent speed detected by the means becomes a set descent speed; and a descent speed when the detected value of the descent speed exceeds a predetermined value during control by the penetration control means. Selecting means for shifting to control by control means, wherein the descending speed control means controls the descending speed by proportional integral control, and the penetrating force control means controls the penetrating force by proportional differential control. Drilling rig control device. 2. A hydraulic source for discharging pressure oil, a winch hydraulic motor connected to the hydraulic source via first and second oil passages, and disposed in the first and second oil passages. A control valve, a counterbalance valve provided on the second oil passage that is a return side when descending the excavator, and a second oil passage between the counterbalance valve and the hydraulic motor. Pressure adjusting means for adjusting the pressure of the excavator, penetrating force detecting means for detecting the penetrating force of the excavator, and the pressure so as to make the deviation between the penetrating force detected by the penetrating force detecting means and the set penetrating force zero. Penetrating control means for controlling the adjusting means; descending speed detecting means for detecting the descending speed of the excavator; and the deviation between the descending speed detected by the descending speed detecting means and the set descending speed is set to zero. Pressure adjusting means An excavation comprising: a descending speed control means for controlling; and a selecting means for shifting to control by the descending speed control means when a detected value of the descending speed exceeds a predetermined value during control by the penetration input control means. Equipment control device. 3. A hydraulic source for discharging pressure oil, a hydraulic motor connected to the hydraulic source via first and second oil passages, and disposed in the middle of the first and second oil passages. A control valve; a counterbalance valve provided in the second oil passage which is a return side when the excavator is descending; and a pressure in the second oil passage between the counterbalance valve and the hydraulic motor. Pressure adjustment means for adjusting the penetration force of the excavator, and the pressure adjustment means so as to make the deviation between the penetration force detected by the penetration force detection means and the set penetration force zero. Penetrating input control means for controlling the descent speed of the excavator, the descent speed detection means, and the pressure adjustment so that the deviation between the descent speed detected by the descent speed detection means and the set descent speed is zero. Control means Lower speed control means; andselection means for shifting to control by the descent speed control means when the detected value of the descent speed exceeds a predetermined value during control by the penetration input control means, wherein the descent speed control means is proportional A control device for an excavator, wherein the descent speed is controlled by integral control, and the penetrating force control means controls the penetrating force by proportional differential control. 4. When the detected value of the descent speed exceeds a first predetermined value during the control by the penetration input control means, the selection means shifts to the control by the descent speed control means, and at least the descent speed is controlled. The control apparatus for an excavator according to any one of claims 1 to 3, wherein when the detected value is equal to or smaller than a second predetermined value smaller than the first predetermined value, the control is shifted to the control by the penetration control means. . 5. A piercing input detecting means for digging a ground.
Input the true value of the digging load that the rig receives
Load detection means for detecting as
A control device for a drilling rig according to any one of claims 1 to 4.
Place. 6. A winch device for raising and lowering a drilling rig, True excavation load received by the excavator when excavating the ground
Excavation load detection means for detecting the value of The digging load detected by the digging load detecting means is equal to the set digging load.
Excavation load control for controlling the winch device to be loaded
Means, Descent speed detecting means for detecting the descent speed of the excavator
When, The descent speed detected by the descent speed detecting means is the set descent speed
Descent speed control to control the winch device to
Means, During the control by the excavation load control means, the descent speed is detected.
When the output value exceeds the first predetermined value, the descending speed control means
Control, and at least the detected value of the descending speed is
When it becomes equal to or less than a second predetermined value smaller than the first predetermined value,
Selection means for shifting to control by the excavation load control means.
A control device for a drilling rig, comprising: 7. A winch device for elevating and lowering the excavator, an excavation load detector for detecting a true value of an excavation load received by the excavator when excavating the ground, and the excavation detected by the excavation load detector. Excavation load control means for controlling the winch device so that the load becomes the set excavation load; descent speed detection means for detecting a descent speed of the excavation device; and descent speed detected by the descent speed detection device is a set descent speed. Descending speed control means for controlling the winch device such that the detection value of the descending speed exceeds a predetermined value during control by the excavation load control means, and selecting means for shifting to control by the descending speed control means. A control device for an excavator, comprising: 8. When the detected value of the penetrating force is equal to or less than a first predetermined value of the penetrating force, the selecting means switches to the speed control by the descending speed control means. When the detected value of the descent speed exceeds the first predetermined speed, when the detected value of the descent speed exceeds the first predetermined speed, the descent speed control means is switched to the penetration control. And the detected value of the descending speed becomes equal to or less than a second predetermined speed value smaller than the first predetermined speed value, and the detected value of the penetrating input is higher than the first predetermined penetrating value. The control device for an excavator according to any one of claims 1 to 3, wherein the control is shifted to control by the penetrating force control means when the value is equal to or greater than a second predetermined value. 9. The excavation load detection means for detecting the true value of the excavation load received by the excavator when excavating the ground as the penetration input. A control device for an excavating device according to claim 1. 10. A winch device for raising and lowering an excavator, an excavation load detector for detecting a true value of an excavation load received by the excavator when excavating the ground, and the excavation detected by the excavation load detector. Excavation load control means for controlling the winch device so that the load becomes the set excavation load; descent speed detection means for detecting a descent speed of the excavation device; and descent speed detected by the descent speed detection device is a set descent speed. Descent speed control means for controlling the winch device such that the detected value of the penetration force is equal to or less than a first penetration force predetermined value, and is switched to speed control by the descent speed control means. When the detected value of the penetrating force exceeds the first predetermined value of the penetrating force, the control is switched to the penetrating control by the penetrating control means, and the detected value of the descent speed is changed to the first speed position during the penetrating control. When the value exceeds the predetermined value, the control is shifted to the control by the descending speed control means, the detected value of the descending speed becomes equal to or less than a second speed predetermined value smaller than the first speed predetermined value, and the detected value of the penetration input is set to A second greater than the first predetermined value
Selecting means for shifting to control by the penetration input control means when the penetration input is equal to or more than a predetermined value.