JP3224066B2 - Attachment numerical data measurement method for construction machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine such as a power shovel or a wheel loader equipped with a bucket attachment, which is used for exchanging various types of bucket attachments to measure and input numerical data relating to the shape and dimensions of the replaced bucket attachment. The present invention relates to a method for measuring numerical data of an attachment of a construction machine which is possible.

[0002]

2. Description of the Related Art In a construction machine such as a power shovel or a wheel loader provided with a bucket attachment, an automatic excavation function for automatically excavating an arbitrary place along a designated locus, and a work machine that interferes with a vehicle. Some models are equipped with an interference prevention function to prevent warnings.

In order to achieve these functions, it is important to accurately determine the position of each part of the working machine with respect to the vehicle body and the ground contact surface. For this purpose, various data such as dimensions of each part of the working machine and the body body are required. Must be recognized in advance and these must be stored. In particular, for a tip attachment such as a bucket whose dimensions vary greatly depending on the operation mode, it is necessary to accurately know the individual dimensions, angles, and the like.

[0004]

However, in order to store the above-mentioned various data in the memory in the controller of each construction machine, conventionally, necessary data such as dimensions and angles are obtained from materials such as a service manual. Input to the memory by a switch operation or the like.

Conventionally, when the above-mentioned materials cannot be obtained at the site where the attachment is exchanged, the operator measures the dimensions of each part manually, and there has been a demand for a measuring device using some simple method.

The present invention has been made in view of such circumstances, and has as its object to provide a method of measuring numerical data of attachments of construction equipment, which can accurately measure numerical data on the shape and dimensions of a bucket attachment by a simple method. I do.

[0007]

SUMMARY OF THE INVENTION According to the present invention, in a construction machine in which an attachment attached to a working machine is replaceable, numerical data relating to a dimension and a shape of a reference attachment is stored in advance, and a reference attachment and a replacement Numerical data relating to the dimensional shape of the replacement attachment by preliminarily storing a relational expression that defines the relationship between the measurement data difference of a predetermined portion of the attachment and the stored numerical data, and substituting the measurement data for the relational expression. Is calculated.

[0008]

According to the present invention, a reference attachment is set as an attachment, and numerical data relating to dimensions and shapes of respective parts of the reference attachment are stored in advance.

In addition, when the attachment is replaced, a difference between measurement data of a predetermined portion of the reference attachment and that of the replacement attachment is obtained. Then, a relational expression defining the relation between the difference data and the stored numerical data is stored in advance, and the measurement data is substituted into the relational expression to obtain numerical data on the dimensions and shape of the replacement attachment.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the embodiments shown in the accompanying drawings.

FIG. 2 shows a hydraulic excavator to which the present invention is applied. 1 is a boom, 2 is an arm, 3 is a bucket, 4 is a boom angle sensor, 5 is an arm angle sensor, 6
Is a bucket angle sensor, and 7 is a vehicle body. This hydraulic excavator can replace the bucket attachment 3.

FIG. 3 shows a simplified diagram when the work machine of the power shovel is positioned in an xy coordinate system with the origin O as the center of rotation of the boom 1, where A is the center of rotation of the arm 2, B is the rotation center of the bucket 3, C (X, Y) is the position of the blade edge, θB is the boom angle, θA is the arm angle, θBK is the bucket angle, φ is the blade angle, δ is the ground angle, L1 is the boom length,
L2 is the arm length and L3 is the bucket list radius.

Here, in the following embodiment, at the time of replacement of the bucket attachment, as shown in FIG. 4, three shape parameters such as a wrist radius L3, a cutting edge angle φ and a school bag angle ψ are measured, and the measured data are used. Is registered and stored. The school bag angle ψ is defined as an angle between a line segment connecting two points A and B connecting the bucket and the arm and a line segment connecting the point B and the cutting edge.

In order to calculate the wrist radius L3 among the above three shape parameters, the bucket edge position C (X,
Y) is required, and the ground angle δ is required to calculate the cutting edge angle φ and the school bag angle ψ.

As is well known, the value of the bucket edge position C (X, Y) is determined as follows, once the working machine angles θB, θA, θBK and the working machine lengths L1 to L3 are known. be able to.

C (X, Y) = f1 (θB, θA, θBK, L1, L2, L3) (1) Further, the ground angle δ can be determined by the angles θB, θA, θBK and the cutting edge angle φ of each work machine. For example, the value can be obtained as follows.

Δ = f 2 (θ B, θ A, θ BK, φ) (2) FIG. 1 shows a configuration of a control system of the embodiment of the present invention, and includes a boom angle sensor 4, an arm angle sensor 5, and a bucket. Each detection output θB, θA, θBK of the angle sensor 6 is input to the controller 20.

The controller 20 has a data memory 21. The data memory 21 has the above three shape parameter values (a list radius L3c, a cutting edge angle φc, and a cutting edge angle φc) regarding a bucket serving as a reference for a bucket attachment having various shapes and sizes. The school bag angle ψc) is stored in advance.

The controller 20 stores in advance arithmetic processing procedures corresponding to the above equations (1) and (2), and uses the detection outputs of the angle sensors 4 to 6 to obtain the bucket edge position C (X, Y). ) Or the ground angle δ is calculated. In this case, since a bucket exchange is assumed, the boom length L1 and the arm length L2 are fixed in the above equation (1), and the bucket list radius L3 uses the reference value L3c stored in the data memory 21. And

The reference angle φc stored in the data memory 21 is used as the cutting edge angle φ used in the above equation (2).

The data teaching command input unit 30 includes two switches 31 and 32 for measuring the wrist radius, and two switches 31 and 32 for measuring the cutting edge angle.
It has two switches 33 and 34 and two switches 35 and 36 for measuring a school bag angle. The three switches on the reference SW are to be turned on before the attachment is replaced, and the three switches on the replacement SW are turned on after the attachment is replaced.

A procedure for obtaining each shape data of the exchanged bucket when exchanging the bucket attachment will be described below.

First, a procedure for obtaining a list radius from the shape data will be described with reference to FIGS.

First, a bucket serving as a reference is shown in FIG.
As shown in (a), the wrist radius measurement posture is set. That is, the upper surface of the bucket coincides with the vertical direction, and the cutting edge of the bucket contacts the ground (assuming a horizontal surface). In this posture, the weight 40 may be suspended by a rope at the point B of the two points A and B connecting the bucket and the arm, so that the vertical direction may be known.

Next, the operator turns on the SW 31 serving as a reference for the wrist radius of the data teaching command input unit 30 with the reference bucket in the posture for measuring the wrist radius (step 100).

When the controller 20 detects that the SW 31 serving as a reference for the list radius is turned on (step 110),
The position Yc of the bucket blade in the y direction (height direction) is calculated (step 120). The calculated height position Yc is
If the reference bucket is correctly positioned in the measurement posture, it should be at the 0 position.

Next, the bucket is replaced with a desired bucket (step 130), and the posture of the replaced bucket is
As shown in (b), the posture for measuring the wrist radius is set so that the upper surface thereof coincides with the vertical direction, and the cutting edge thereof abuts on the ground. In the case of FIG. 6B, it is assumed that the bucket is replaced with a bucket having a longer list radius than the reference bucket (list radius of the replaced bucket; L3r), and FIG.
The one indicated by a broken line is a reference bucket. next,
The operator turns on the wrist radius replacement SW 32 of the data teaching command input unit 30 with the replacement bucket in the wrist radius measurement posture (step 140).

When the controller 20 detects that the switch 32 is turned on (step 150), the controller 20 calculates the height Yr of the bucket blade edge in the same manner as described above. Here, the bucket is replaced with one having a longer list radius, but in the calculation of the above-described equation (1) performed by the controller 20, the list radius value L3 is maintained at the list radius value L3c of the reference bucket. is there. Therefore, the height position Yr of the bucket blade edge obtained by the calculation at this time is, from the ground surface,
The position is raised by a difference ΔL3 (= (L3r−L3c)) between the list radius L3r of the exchange bucket and the list radius L3c of the reference bucket.

That is, the relational expression of Yr = Yc + (L3r-L3c) (3) is established. From this expression, the list radius L3r of the exchange bucket to be obtained is L3r = L3c + (Yr-Yc) (4) Become.

Therefore, the controller 20 determines the height Yr of the bucket blade edge according to the above equation (1),
A list radius L3r of the exchange bucket is obtained using the above equation (4) (steps 160 and 170). Then, the wrist radius L3r obtained in this way is registered and stored, and the stored wrist radius L3r is used for calculating the trajectory at the time of automatic excavation and calculating the bucket position at the time of preventing interference.

Such processing is executed each time a bucket is exchanged (step 180).

Note that, as described above, step 100
It is better to determine the height position Yc of the bucket edge of the reference bucket each time by performing the procedures of ~ 120, so that the list radius of the replacement bucket can be accurately determined by canceling the conditions such as the inclination and unevenness of the work area. You can ask,
The value Yc may be set and registered in advance as a predetermined value (for example, 0 in the case of the measurement posture), and the procedure of steps 100 to 120 may be omitted.

In the above embodiment, the bucket edge radius is calculated to calculate the bucket wrist radius. However, the bucket wrist radius may be calculated by calculating the y coordinate of the tip of the arm. Further, another arbitrary position can be adopted as long as it is a position of a predetermined portion with respect to the bucket.

Next, a procedure for obtaining the edge angle of the bucket shape data will be described with reference to FIGS. 7 and 8. FIG.

First, a reference bucket (tip angle φc)
Is set to the posture for measuring the edge angle as shown in FIG. That is, in this posture for measuring the blade angle, the bottom surface of the bucket is brought into complete contact with the ground surface. next,
The operator turns on the SW 33 serving as a reference for the blade angle of the data teaching command input unit 30 with the reference bucket in the posture for measuring the blade edge angle (step 200).

When the controller 20 detects that the switch SW 33 serving as the reference of the blade edge angle is turned on (step 210), the controller 20 calculates the ground angle δc in this state according to the equation (2) (step 220). The calculated ground angle δc should be 0 ° if the reference bucket is accurately positioned in the measurement posture.

Next, the bucket is exchanged for a desired one (step 230), and the posture of the exchanged bucket is changed as shown in FIG.
As shown in (b), the bucket bottom surface is set to the posture for measuring the blade angle in which the bottom surface of the bucket is completely in contact with the ground surface. In this case, the tip angle of the bucket to be replaced is φr.

In the case of FIG. 8B, it is assumed that the bucket is replaced with a bucket having a smaller blade angle than the reference bucket, and the bucket indicated by a broken line in FIG. 8B is the reference bucket.

Next, the operator turns on the blade angle replacement SW 34 of the data teaching command input section 30 with the bucket to be replaced in the posture for measuring the blade angle (step 2).
40).

When detecting that the switch 34 is turned on (step 250), the controller 20 calculates the ground angle δr in this state in the same manner as described above. Here, the bucket is replaced with a bucket having a small cutting edge angle. However, in the calculation of the above-described equation (2) performed by the controller 20, the cutting edge angle value φ remains the same as the reference cutting edge angle value φc of the bucket. is there.

Accordingly, the ground angle δr obtained by the calculation at this time is the difference (φr−φc) between the cutting edge angle φr of the replacement bucket and the cutting edge angle φc of the reference bucket in addition to the ground angle δc of the reference bucket. Angle.

That is, the relational expression of δr = δc + (φr−φc) (5) is established. From this expression, the cutting edge angle φr of the replacement bucket to be obtained is φr = φc + (δr−δc) (6) Become.

Accordingly, the controller 20 determines the ground angle δr of the bucket and then determines the cutting edge angle φr of the replacement bucket by using the above equation (2) (steps 260 and 2).
70). Then, the obtained cutting edge angle φr is registered and stored, and the stored cutting edge angle φr is used for calculating the trajectory at the time of automatic digging thereafter and calculating the bucket position at the time of preventing interference.

This process is executed each time a bucket is exchanged (step 280).

In the flowchart of FIG. 7, as in the flowchart of FIG.
Steps 220 to 220 may be omitted.

Next, the procedure for obtaining the school bag angle ラ ン ド from the bucket shape data will be described with reference to FIGS.
This will be described with reference to FIG. However, at this time, it is assumed that the cutting edge angle φc of the reference bucket and the replacement bucket is constant, and only the school bag angle ψ is different.

First, the reference bucket (the satchel angle ψc) is set to the attitude for measuring the satchel angle as shown in FIG. That is, in this posture for measuring the school bag angle, two points A and B connecting the bucket and the arm are provided.
Should match the vertical line. In order to know the vertical line, a weight may be hung at a point B via a rope in the same manner as described above. The attitude for measuring the school bag angle may be such that the upper surface of the bucket is horizontal.

Next, the operator turns on the school bag reference SW 35 of the data teaching command input section 30 with the bucket serving as the reference in the posture for measuring the school bag angle (step 300).

When the controller 20 detects that the SW 35 serving as a reference for the school bag angle is turned on (step 31).
0), the ground angle δc in this state is calculated in accordance with the above equation (2) (step 320). In the calculation of the equation (2), of course, the edge angle value φc of the bucket serving as a reference is used.

Next, the bucket is exchanged for a desired one (step 330), and the posture of the exchanged bucket is changed as shown in FIG.
As shown in (b), the posture for measuring the school bag angle in which the two points A and B coincide with the vertical line is set.

In the case of FIG. 10B, it is assumed that the bucket is replaced with a bucket having a smaller school bag angle than the reference bucket, and the bucket indicated by a broken line in FIG. 10B is the reference bucket.

Next, the operator turns on the replacement switch 36 for the school bag angle of the data teaching command input section 30 with the replacement bucket in the posture for measuring the school bag angle (step 340).

When the controller 20 detects that the switch 36 is turned on (step 350), the controller 20 performs the same operation as described above.
The ground angle δr in this state is calculated using the above equation (2) (step 360). Here, in this case, the cutting edge angle φc of the reference bucket and the replacement bucket does not change, but as can be seen by comparing FIGS. 10A and 10B, the change in the school bag angle of both buckets is Bucket angle θBK
Appears as a change. That is, the change in the school bag angle (ψr−ψc) is the change in the bucket angle (θBK−θBK ′).
Corresponding to

Accordingly, the ground angle δr obtained by the calculation in the step 360 is the difference (Δr−) between the ground angle δc of the exchange bucket and the ground angle ψc of the reference bucket in addition to the ground angle δc of the reference bucket. ψc) is added.

That is, the relational expression of δr = δc + (θBK′−θBK) δr = δc + (） r−ψc) (7) is established. δr−δc) (8)

Accordingly, the controller 20 determines the ground angle δr of the replacement bucket, and then determines the school bag angle ψr of the replacement bucket using equation (8) (step 370). Then, the school bag angle ψr thus obtained is registered and stored, and the stored school bag angle ψr is stored.
Is used for calculating the trajectory at the time of automatic excavation and calculating the bucket position at the time of preventing interference.

Such processing is executed each time a bucket is exchanged (step 380).

In the flowchart of FIG. 9, the procedure of steps 300 to 320 may be omitted as in the flowchart of FIG. 5 or FIG.

In the above embodiment, the wrist radius, the cutting edge angle, and the school bag angle are measured as numerical data relating to the shape and dimensions of the bucket attachment. However, any other numerical data relating to the bucket is measured. Is also good. Also, not limited to bucket attachments,
Numerical data relating to the shape of an attachment such as a breaker or a crusher may be measured.

Further, in a hydraulic excavator in which the boom and the arm can be exchanged, numerical data such as the length of the boom and the arm may be measured by using the above-described measuring method of the present invention. By the way, in the above embodiment,
Although the present invention is applied to a normal excavator, a two-piece excavator having an offset mechanism (a mechanism in which a portion ahead of a bending portion of a boom that bends in a bow shape can rotate in a direction perpendicular to the paper surface). The present invention may be applied to a boom-type power shovel or a wheel loader.

[0061]

As explained above, according to the present invention,
It has the following excellent effects.

(1) Even if the user does not have specific numerical data of the attachment, the numerical data of the attachment to be replaced when the attachment is replaced can be easily and accurately measured.

(2) It is unnecessary to perform complicated operations such as inputting numerical values, and it is possible to eliminate numerical data input errors and the like.
Functions such as automatic excavation and interference prevention can be used safely and effectively.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a diagram showing an external configuration of a power shovel.

FIG. 3 is a view showing various dimensions of the power shovel.

FIG. 4 is a view showing various numerical data measured in the example.

FIG. 5 is a flowchart showing a procedure for measuring a wrist radius.

FIG. 6 is a diagram showing a posture for measuring a wrist radius and the like.

FIG. 7 is a flowchart showing a procedure for measuring a cutting edge angle.

FIG. 8 is a diagram showing a posture for measuring a blade angle, and the like.

FIG. 9 is a flowchart illustrating a procedure for measuring a school bag angle.

FIG. 10 is a diagram showing a posture for measuring a school bag angle, and the like.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Boom 2 ... Arm 3 ... Bucket 4 ... Boom angle sensor 5 ... Arm angle sensor 6 ... Bucket angle sensor 7 ... Body body 20 ... Controller 21 ... Data memory 30 ... Data teaching command input part

Claims (4)

(57) [Claims] 1. A construction machine in which an attachment attached to a work machine is exchangeable, in which numerical data relating to a dimension and a shape of a reference attachment are stored in advance, and measurement data of a predetermined portion of the reference attachment and the replacement attachment are stored. The difference and the relational expression defining the relation between the stored numerical data are stored in advance, and the numerical data on the dimensions and shape of the replacement attachment is calculated by substituting the measurement data for the relational expression. Characteristic method of measuring numerical data of attachments for construction machinery. 2. The attachment numerical data measurement of a construction machine according to claim 1, wherein the attachment is a bucket, the numerical data is a list radius of the bucket, and the measurement data is a height position of a predetermined portion of the bucket. Method. 3. The method according to claim 1, wherein the attachment is a bucket, the numerical data is a cutting edge angle of the bucket, and the measurement data is a ground angle of the bucket. 4. The method according to claim 1, wherein the attachment is a bucket, the numerical data is a school bag angle of the bucket, and the measurement data is a ground angle of the bucket.