JP3782337B2 - Arm type work machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an arm type working machine having a plurality of arms capable of trajectory control.
[0002]
[Prior art]
In recent years, pile driving work and ground improvement work using an arm type work machine capable of trajectory control have been widely performed. The trajectory-controlled arm-type work machine does not require a leader, so it not only provides high maneuverability and maneuverability, but also has a high degree of freedom in posture selection, making it easier to work on site with height restrictions. . This type of arm working machine is disclosed in, for example, Japanese Patent Publication No. 7-76453. In the working machine described in this publication, the position of the tip of the third arm is calculated based on the detection angles of the first arm, the second arm, and the third arm, and the tip position of the third arm moves along the target locus. Thus, the second arm and the third arm are drive-controlled (feedback control).
[0003]
[Problems to be solved by the invention]
In the working machine described in the above publication, for example, when the work range is insufficient during the pile driving work, it is necessary to change the posture of the first arm during the work, thereby interrupting the smooth work. Therefore, in order to perform the work smoothly without interruption, the maximum work range of the arm tip is grasped in advance, for example, the first arm is set so that the target pile driving work can be performed only by driving the second arm and the third arm. It is necessary to set. In this case, if the first arm is set with reference to the work range diagram drawn stepwise according to the angle of the first arm, it takes time to grasp the maximum work range and is troublesome.
[0004]
An object of the present invention is to provide an arm type working machine that can easily grasp the maximum working range of the arm tip.
[0005]
[Means for Solving the Problems]
  A description will be given with reference to the drawings showing an embodiment.
  (1) An arm type working machine according to the invention of claim 1 includes a working machine main body 2, a multi-joint arm MA composed of a plurality of arms 3 to 5 rotatably supported by the working machine main body 2, and each of these. Rotating devices 3A, 4A and 5A for rotating the arms 3 to 5 and two specific articulated arms 4 and 5 are driven so that the tip of the articulated arm follows a preset target locus from the current position. Trajectory control devices 20A, 31, 32 for driving and controlling the rotation devices 3A, 4A, 5A so as to move;One of the two specific arms 4 and 5 is rotated to the limit value in both directions in which one arm 4 can rotate, and the tip of the articulated arm is positioned on the target locus with respect to each limit value. The arm angle of the other arm 5 is calculated, and the other arm 5 rotates to the limit values in both directions in which the other arm 5 can rotate. The arm angle of one arm 4 when it is possible to be positioned above is calculated, and the combination of the calculated arm angle and the arm angle of the limit value exceeds the rotation range of the arm angle Also, those that deviate from the target trajectory during trajectory control are excluded, and as a result, the two coordinates calculated by the combination of the two remaining arm angles are expressed as the maximum working range H. 1, H 2, r 1, r 2 ToThe object described above is achieved by providing the arithmetic unit 20B.
  (2) The invention of claim 2 further includes a display device 34 for displaying the maximum work range H1, H2, r1, r2 calculated by the calculation device 20B in the arm type working machine according to claim 1. is there.
  (3Claim3The invention of claim 1Or 2In the arm type working machine described in (1), the target trajectory is set so that the working radius r is constant.
  (4Claim4The invention of claim3In the arm type work machine described inThose that deviate from the target trajectory during trajectory controlWhen setting a target trajectory that is less than the limit working radius rLMT when one arm 4 is set to a limit value at which one of the two arms 4 and 5 can be turned., ActingFrom the calculated solution, it exists beyond the ground angle 0 ° with respect to the current arm angle A3 of the other arm 5.Becauseis there.
  (5Claim5The invention of claim 1Or 2In the arm type work machine described in 1), the target trajectory is set so that the work height H is constant.
  (6Claim6The invention of claim5In the arm type work machine described inThose that deviate from the target trajectory during trajectory controlWhen setting a target trajectory that exceeds the limit working height HLMT when one arm 4 is set to a limit value that allows rotation of one of the two specific arms 4 and 5, ActingFrom the calculated solution, it exists beyond the ground angle -90 ° with respect to the current arm angle A3 of the other arm 5.Becauseis there.
  (7Claim7The invention of claim 1 to claim 16The arm type working machine according to any one of the above, including a limit value setting device 22 for setting limit values Hs1, Hs2, rs1, and rs2 of the maximum working ranges H1, H2, r1, and r2, and a computing device 20B includes: The maximum working range H1, H2, r1, r2 is limited by the set limit values Hs1, Hs2, rs1, rs2.
  (8Claim8The invention of claim 1 to claim 17In the arm type working machine described in any one of the above, the computing device 20B computes the maximum working range from the current position of the tip of the articulated arm.
  (9Claim9The invention of claim 1 to claim 18In the arm type working machine according to any one of the above, the work range setting device 27 for setting the target work range A and the maximum work ranges H1, H2, r1, and r2 calculated by the calculation device 20B are the target work range A. And an alarm device 35 that issues an alarm when the value does not reach.
  (10Claim10The invention of claim 1 to claim 19In the arm type working machine according to any one of the above, the work range setting device 27 for setting the target work range A and the maximum work range H1, H2, r1, r2 calculated by the calculation device 20 are the target work range A. And a stop device 20B that stops the rotation devices 4A and 5A when the value does not reach the range.
[0006]
In the section of the means for solving the above-described problems for explaining the configuration of the present invention, the drawings of the embodiments of the invention are used for easy understanding of the present invention. It is not limited.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
-First embodiment-
Hereinafter, a first embodiment of an arm type working machine according to the present invention will be described with reference to FIGS.
FIG. 1 is a side view showing an arm type working machine according to a first embodiment of the present invention. The arm type work machine includes a traveling body 1, a revolving body 2 that is turnably mounted on the traveling body 1, a first arm 3, a second arm 4, and a second arm that are pivotally supported by the revolving body 2. An articulated arm MA having three arms 5. The first arm 3, the second arm 4, and the third arm 5 rotate in the vertical plane by the expansion and contraction of the first cylinder 3A, the second cylinder 4A, and the third cylinder 5A, respectively. As shown in the drawings (a) and (b), a detachable attachment 6A or 6B is attached to the tip of the third arm 5, and a working device such as a sheet pile PL or a drill DR is provided via the attachment 6A or 6B. It is attached.
[0008]
An angle detector 7 for detecting the ground angle A 1 of the first arm 3 is provided at the base end portion of the first arm 3, and the relative position of the second arm 4 with respect to the first arm 3 is provided at the base end portion of the second arm 4. An angle detector 8 for detecting the angle T2 is provided, and an angle detector 9 for detecting a relative angle T3 of the third arm 5 with respect to the second arm 4 is provided at the base end portion of the third arm 5. The angle detector 8 is, for example, a pendulum type detector. When the swing body 2 is tilted, the ground angle A1 is an inclination angle PA of the swing body 2 and a relative angle T1 of the first arm 3 with respect to the swing body 2. This corresponds to the difference (T1-PA). The upper limit values T2U and T3U of the relative angles T2 and T3 are values when the cylinders 4A and 5A are fully extended, and the lower limit values T2L and T3L are values when the cylinders 4A and 5A are fully retracted. The arms 4 and 5 are rotatable within the ranges of T2L ≦ T2 ≦ T2U and T3L ≦ T3 ≦ T3U, respectively. The ground angle A2 of the second arm 4 is A1-T2, and the relative angle A3 of the third arm 5 is A1-T2-T3.
[0009]
In the present embodiment using such an arm type working machine, the working radius r or working height from the first arm base end is determined by fixing the first arm 3 and driving the second arm 4 and the third arm 5. Trajectory control is performed such that the height H is constant (r = ra, H = Ha). FIG. 2 is a diagram illustrating the overall configuration of the trajectory control device. As shown in FIG. 2, the controller 20 includes angle detectors 7 to 9, a selection switch 21 for selecting a work mode (a constant work radius mode or a constant work height mode), and a position limit value of the third arm tip. Setter 22 for setting (height limit value Hs1, depth limit value Hs2, maximum work radius limit value rs1, minimum work radius limit value rs2), and an operating lever for commanding the driving direction and speed of the tip of the third arm ( Electrical lever) 23 is connected to each other. The controller 20 includes a trajectory control circuit 20A and a work range calculation circuit 20B. In the memory in the controller 20, upper limit values T2U and T3U and lower limit values T2L and T3L of the arm angles T2 and T3 are stored in advance.
[0010]
The trajectory control circuit 20A executes predetermined processing based on the signals from the angle detectors 7 to 9, the selection switch 21, and the operation lever 23, and the second cylinder driving control valve 31 and the third cylinder driving control valve 32. The control signals are respectively output to the cylinders 4A and 5A to drive and control them. That is, the position (working radius r, working height H) of the third arm tip is calculated based on the lengths L1, L2, L3 of the arms 3 to 5 and the signals from the angle detectors 7 to 9, and the operation is performed. The cylinders 4A and 5A are driven and controlled (feedback control) so that the tip of the third arm moves at a constant working radius or a constant working height at a direction and speed corresponding to the amount of operation of the lever 23. Signals from the operation levers 24 and 25 are also input to the control valves 31 and 32, and the second cylinder 4A and the third cylinder 5A can be driven by operating the operation levers 24 and 25. The first arm drive control valve 33 is driven by a signal from the operation lever 26, thereby driving the first cylinder 3A. Since the processing content in the locus control circuit 20A is not directly related to the present invention, detailed description thereof is omitted.
[0011]
The work range calculation circuit 20B calculates the maximum work range at the tip of the third arm based on the signals from the angle detectors 7 to 9 and the setting device 22, and outputs a control signal to the monitor 34 in the cab. As a result, the maximum work range is displayed on the monitor 34. Hereinafter, processing contents in the arithmetic circuit 20B will be described.
[0012]
FIG. 3 is a flowchart showing an example (main flow) of processing in the work range calculation circuit 20B. This flowchart is started, for example, by turning on a locus control start switch (not shown). First, arm angles A1, T2, and T3 detected by the angle detectors 7 to 9 are read in step S1, and the detected ground angle A3 (= A1−T2−) of the third arm 5 is used in step S2. T3) is calculated. Next, in step S3, the second arm when the third cylinder 5A is fully retracted as shown in FIG. 6A, that is, when the third arm 5 is at the lower limit stroke end (the relative angle T3 is the lower limit T3L). The angle C23L (correction angle) formed by the length L23L (equivalent length) from the base end to the third arm tip and the second arm 4 at that time is calculated by the following equations (I) and (II).
L23L = √ ((L2 + L3 × cos (T3L))²+ (L3 × sin (T3L))²) (I)
C23L = tan^-1(L3 × sin (T3L) / (L2 + L3 × cos (T3L))) (II)
[0013]
Next, in step S4, the second arm when the third cylinder 5A is fully extended as shown in FIG. 6B, that is, when the third arm 5 is at the upper stroke end (relative angle T3 is the upper limit T3U). An angle C23U (correction angle) formed by the length L23U (equivalent length) from the base end portion to the tip end portion of the third arm and the second arm 4 at that time is calculated by the following equations (III) and (IV).
L23U = √ ((L2 + L3 × cos (T3U))²+ (L3 × sin (T3U))²(III)
C23U = tan^-1(L3 × sin (T3U) / (L2 + L3 × cos (T3U))) (IV)
[0014]
Subsequently, a vertical working range (maximum working height H1, maximum working depth H2) satisfying a constant working radius (r = ra) is calculated in step S5, and a constant working height (H = Ha) is calculated in step S6. The horizontal work range (maximum work radius r1, minimum work radius r2) that satisfies the above is calculated. The processing in steps S5 and S6 will be described later. When the work range is calculated in steps S5 and S6, the process proceeds to step S7, where a control signal is output to the monitor 34 to display the work range. An example of the output display of the monitor 34 in this case is shown in FIG. In FIG. 7, the maximum working height (H1 = 4.6), the maximum working depth (H2 = 5.7), the maximum working radius (r1 = 0.3), and the minimum working radius (r2 = 3.1) are shown. Digitally displayed. When step S7 ends, the process returns to step S1 and the same processing is repeated.
[0015]
The process of step S5 will be described. FIG. 4 is a flowchart for explaining the calculation contents of step S5. First, as shown in FIG. 8A, in step S11, when the second cylinder 4A is fully extended, that is, when the second arm 4 is at the lower limit stroke end (the relative angle T2 is the lower limit T2L), the first arm The arm angle A3 of the third arm 5 is determined so that the working radius r from the three base ends becomes a predetermined value ra. In this case, there are two solutions with the horizontal line symmetrical (A3 = A31, A32), which are calculated by the following equations (V) and (VI), respectively. The predetermined value ra is the current working radius r of the tip of the third arm, and the predetermined value ra automatically changes when the arm MA is driven by a lever operation.
A31 = cos^-1((r-L1 * cos (A1) -L2 * cos (A1-T2L)) / L3) (V)
A32 = -cos^-1((r-L1 * cos (A1) -L2 * cos (A1-T2L)) / L3) (VI)
[0016]
Next, in step S12, when the second cylinder 4A is retracted to the maximum, that is, when the second arm 4 is at the upper stroke end (relative angle T2 is the upper limit T2U), the working radius r becomes a predetermined value ra. The arm angle A3 of the third arm 5 is obtained. In this case, although not shown, there are two computational solutions with the horizontal line symmetrical (A3 = A33, A34), which are calculated by the following equations (VII) and (VIII), respectively.
A33 = cos^-1((r-L1 * cos (A1) -L2 * cos (A1-T2U)) / L3) (VII)
A34 = -cos^-1((r−L1 × cos (A1) −L2 × cos (A1−T2U)) / L3) (VIII)
[0017]
Next, as shown in FIG. 8B, in step S13, when the third cylinder 5A is retracted to the maximum, that is, when the third arm 5 is at the lower limit stroke end (T3L), the first arm 3 base end portion. The arm angle A2 of the second arm 4 is determined so that the working radius r from the second arm 4 becomes a predetermined value ra. In this case, there are two solutions across the horizontal line (A2 = A21, A22), and they are expressed by the following formula (IX) using the equivalent length L23L and the correction angle C23L obtained in (I) and (II), respectively. , (X).
A21 = cos^-1((r-L1 × cos (A1)) / L23L) + C23L (IX)
A22 = -cos^-1((r-L1 × cos (A1)) / L23L) + C23L (X)
[0018]
In step S14, when the third cylinder 5A is extended to the maximum, that is, when the third arm 5 is at the upper limit stroke end (T3U), the arm angle of the second arm 4 such that the working radius r becomes the predetermined value ra. Find A2. In this case, although not shown in the figure, there are two solutions in the calculation across the horizontal line (A2 = A23, A24), and they use the equivalent length L23U and correction angle C23U obtained in (III) and (IV). Are calculated by the following equations (XI) and (XII), respectively.
A23 = cos^-1((r-L1 × cos (A1)) / L23U) + C23U (XI)
A24 = -cos^-1((r-L1 × cos (A1)) / L23U) + C23U (XII)
[0019]
When the solutions A21, A22, A23, A24, A31, A32, A33, A34 of the total of eight arm angles A2, A3 are obtained in this way, the process proceeds to step S15, and these solutions are converted into relative angles T2, T3, respectively. . Then, it is determined whether or not these relative angles T2, T3 are within the rotatable range T2L≤T2≤T2U, T3L≤T3≤T3U, and those outside the range are excluded. Next, the process proceeds to step S16, where a limit working radius rLMT is obtained when the second arm 4 is at the lower limit stroke end T2L and the ground angle A3 = 0.degree. Of the third arm 5 as shown in FIG.
[0020]
Next, the process proceeds to step S17, where it is determined whether or not the working radius r is smaller than the limit working radius rLMT. If step S17 is affirmed, the process proceeds to step S18, and if step S17 is negative, the process proceeds to step S19, passing through step S18. In step S18, solutions having signs different from the current third arm ground angle A3 (step S2) are excluded from the solutions obtained in steps S11 to S14. That is, when the working radius r is smaller than the limit working radius rLMT, the working radius r is exceeded when the third arm 5 passes through the ground angle of 0 °, and the trajectory control with a constant working radius r cannot be performed. . Therefore, in step S18, solutions with different signs are excluded, and only solutions that can be trajectory controlled are left. The solution of the arm angles A2 and A3 is narrowed from eight to two by the processing of the above steps S15 to S18. Note that there is no solution when the tip of the third arm 5 does not reach the trajectory under the condition that the second arm 4 is at the stroke end.
[0021]
In step S19, the upper limit value HU and the lower limit value HL of the work height are calculated from the two determined solutions. Next, in step S20, it is determined whether or not the calculated upper limit value HU is larger than the height limit value Hs1 set in advance by the setting device 22. If step S20 is positive, the process proceeds to step S21, and the limit value Hs1 is set to the maximum work height H1. If step S20 is negative, the process proceeds to step S22, and the calculated upper limit value HU is set to the maximum working height H1.
[0022]
In the next step S23, it is determined whether or not the calculated lower limit value HL is smaller than the depth limit value Hs2 set in advance by the setting device 22. If step S23 is affirmed, the process proceeds to step S24, and the limit value Hs2 is set to the maximum working depth H2. If step S23 is negative, the process proceeds to step S25, where the calculated lower limit value HL is set to the maximum working depth H2. As described above, the maximum working height H1 and the maximum working depth H2 when the working radius is constant (r = ra) are obtained.
[0023]
The process of step S5 will be described with a specific example. FIG. 10 is a diagram illustrating an example of a calculation result. The initial conditions in this case are as follows.
L1 = 2600mm, L2 = 3000mm, L3 = 2912mm
A1 = 93 °, T2 = 10 °, T3 = 49 °, r = 2644mm
T2L = 1 °, T2U = 95.25 °, T3L = 18 °, T3U = 135 °
Applying these to the above formulas (I) to (XII), the solutions A21, A22, A23 of the arm angles A2, A3 when the second arm 4 and the third arm 5 are the upper limit stroke end and the lower limit stroke end, respectively. A24, A31, A32, A33, A34 and other arm angles A2, A3, T2, T3 corresponding to this solution are obtained as shown in FIG. 10 (steps S11 to S14). In this example, the working radius r is set smaller than the limit working radius rLMT. Further, the current ground angle A3 (= A1-T2-T3) of the third arm 5 is 34 [deg.].
[0024]
In FIG. 10, the arm relative angle T2 (= 145.71) corresponding to A22 (= -52.71) and the arm relative angle T3 (= -96.54) corresponding to A33 (= 94.29) can be rotated by the arms 4 and 5. Since it exceeds the range, it is excluded (step S15). A23 and A24 are excluded because there is no solution in the calculation. Furthermore, A32 (−7.89) and A34 (= −94.29) are excluded because the sign differs from the current arm-to-ground angle A3 of the third arm 5 (step S18). The remaining solutions A31, A21 and the other arm angles corresponding to the solutions A31, A21, that is, (A1, A2, A3) = (93, 92.00, 7.89) and (A1, A2, A3) = ( 93, 70.44, 52.44), the upper limit value Hu and the lower limit value HL of the work height are respectively calculated (step S19). When the height limit value Hs1 and the depth limit value Hs2 are set by the setting device 22, the magnitude relation between the working heights Hu and HL and the limit values Hs1 and Hs2 is compared. Work ranges H1, H2 are obtained (steps S20 to S25).
[0025]
Next, the process of step S6 will be described. FIG. 5 is a flowchart for explaining the calculation contents of step S6. First, in step S31, as shown in FIG. 11A, when the second arm 4 is at the lower limit stroke end (T2L), the working height H from the base end portion of the first arm 3 becomes a predetermined value Ha. The arm angle A3 of the third arm 5 is determined. In this case, two solutions exist along the straight line (A3 = A35, A36), and they are calculated by the following equations (XIII) and (XIV), respectively. The predetermined value Ha is the current working height H of the third arm tip. When the arm MA is driven by a lever operation, the predetermined value Ha also changes automatically.
A35 ＝ sin^-1((H-L1 × sin (A1) -L2 × sin (A1-T2L)) / L3) (XIII)
A36 = -180-sin^-1((H-L1 × sin (A1) -L2 × sin (A1-T2L) / L3)) (XIV)
[0026]
Next, the process proceeds to step S32, and an arm angle A3 of the third arm 5 is obtained so that the working height H becomes a predetermined value Ha when the second arm 4 is at the upper limit stroke end (T2U). In this case, although not shown, there are two solutions (A3 = A37, A38) across the vertical line, and they are calculated by the following equations (XV) and (XV!), Respectively.
A37 ＝ sin^-1((H-L1 × sin (A1) -L2 × sin (A1-T2U)) / L3) (XV)
A38 = -180-sin^-1((H-L1 × sin (A1) -L2 × sin (A1-T2U)) / L3) (XVI)
[0027]
Next, in step S33, as shown in FIG. 11B, when the third arm 5 is at the lower limit stroke end (T3L), the working height H from the base end of the first arm 3 becomes a predetermined value Ha. The arm angle A2 of the second arm 4 is determined. In this case, there are two solutions across the vertical line (A2 = A25, A26), which are calculated by the following equations (XVII, XVIII) using the equivalent length L23L and the correction angle C23L, respectively.
A25 = sin^-1((H-L1 × sin (A1)) / L23L) + C23L (XVII)
A26 = -180-sin^-1((H-L1 × sin (A1)) / L23L) + C23L (XVIII)
[0028]
In step S34, when the third arm 5 is at the upper limit stroke end (T3L), the arm angle A2 of the second arm 4 is obtained so that the working height H becomes a predetermined value Ha. In this case, although not shown in the figure, there are two solutions (A2 = A27, A28) in the calculation across the vertical line, and they are calculated by the following equations (XIX, XX), respectively.
A27 ＝ sin^-1((H-L1 × sin (A1)) / L23U) + C23U (XIX)
A28 = -180-sin^-1((H-L1 × sin (A1)) / L23U) + C23U (XX)
[0029]
When the solutions A25, A26, A27, A28, A35, A36, A37, A38 of the total of eight arm angles A2, A3 are obtained in this way, the process proceeds to step S35, and these solutions are converted into relative angles T2, T3, respectively. . Then, it is determined whether or not these relative angles T2, T3 are within the rotatable range T2L≤T2≤T2U, T3L≤T3≤T3U, and those outside the range are excluded. Next, in step S36, as shown in FIG. 12, the limit working height HLMT when the second arm 4 is at the lower limit stroke end T2L and the ground angle A3 of the third arm 5 is −90 ° is obtained.
[0030]
Next, the process proceeds to step S37, where it is determined whether or not the work height H is greater than the limit work height HLMT. If step S37 is affirmed, the process proceeds to step S38, and if step S37 is denied, the process proceeds to step S39, passing through step S38. In step S38, solutions that exceed -90 ° with respect to the current third arm ground angle A3 (step S2) are excluded from the solutions obtained in steps S31 to S34. That is, when the work height H is larger than the limit work height HLMT, the work height H is exceeded when the third arm 5 passes through the ground angle of −90 °, and the work height H is constant. Control cannot be performed. Therefore, in step S38, solutions that exceed -90 ° are excluded, and only solutions that allow trajectory control are left. The solutions of the arm angles A2 and A3 are narrowed down to two by the processing of the above steps S35 to S38.
[0031]
In step S39, the upper limit value rU and the lower limit value rL of the working radius are calculated from the two determined solutions. Next, in step S40, it is determined whether or not the calculated upper limit value rU is larger than the maximum working radius limit value rs1 set in advance by the setting device 22. If step S40 is affirmed, the process proceeds to step S41, and the limit value rs1 is set to the maximum working radius r1. If step S40 is negative, the process proceeds to step S42, and the calculated upper limit value HU is set to the maximum working radius r1.
[0032]
In the next step S43, it is determined whether or not the calculated lower limit value rL is smaller than the minimum working radius limit value rs2 set in advance by the setting device 22. If step S43 is positive, the process proceeds to step S44, and the limit value rs2 is set to the minimum working radius r2. If step S43 is negative, the process proceeds to step S45, where the calculated lower limit rL is set as the minimum working radius r2. As described above, the maximum working radius r1 and the minimum working radius r2 when the working height is constant (H = Ha) are obtained.
[0033]
The process of step S6 will be described with a specific example. FIG. 13 is a diagram illustrating an example of a calculation result. The initial conditions in this case are as follows.
L1 = 2600mm, L2 = 3000mm, L3 = 2912mm
A1 = 18 °, T2 = 1 °, T3 = 107 °, H = 1065mm
T2L = 1 °, T2U = 95.25 °, T3L = 18 °, T3U = 135 °
These are applied to the above formulas (XIII) to (XX), and the solutions A25, A26, A27, A28 of the arm angles A2, A3 when the second arm 4 and the third arm 5 are the upper limit stroke end and the lower limit stroke end, respectively. , A35, A36, A37, A38 and other arm angles A2, A3, T2, T3 corresponding to this solution are as shown in FIG. 13 (steps S31 to S34). In this example, the work height H is set larger than the limit work height HLMT. Further, the current ground angle A3 (= A1-T2-T3) of the third arm 5 is -90 [deg.], And the arms 4 and 5 are driven in such a direction that the working radius r decreases from here.
[0034]
In FIG. 13, an arm corresponding to an arm relative angle T3 (= 145.71) corresponding to A36 (= -125.52), an arm relative angle T2 (= -174.32) corresponding to A26 (= -156.32), and A37 (= 29.48). The arm relative angle T2 (= -6.18) corresponding to the relative angle T3 (= -106.73) and A27 (= 24.18) is excluded because it exceeds the rotatable range of the arms 4 and 5, respectively (step S35). Further, A38 (= −209.48) and A28 (= −208.30) are removed because they exist beyond −90 ° with respect to the current arm-to-ground angle A3 of the third arm 5 (step S38). The remaining solutions A35, A25 and the other arm angles corresponding to the solutions A35, A25, ie, (A1, A2, A3) = (18,17.00, -54.48) and (A1, A2, A3) = (18 , -5.95, -23.95), the upper limit value ru and the lower limit value rL of the working radius are respectively calculated (step S39). When the maximum working radius limit value rs1 and the minimum working radius limit value rs2 are set by the setting device 22, the magnitude relation between the working radii ru, rL and the limit values rs1, rs2 is compared. Maximum working ranges r1 and r2 are obtained (steps S40 to S45).
[0035]
An example of the work by the arm type working machine according to the present embodiment will be described.
For example, when drilling work is performed by vertical trajectory control with a constant work radius, the drill DR is set to the tip of the third arm 5 via the attachment 6B, and the constant work radius mode is selected from 21 on the selection switch. Then, the arm cylinders 3A to 5A are driven by operating the operation levers 24 to 26, and the drill DR is erected in a vertical direction at a predetermined work position. At this time, the work range calculation circuit 20B executes the calculation as described above, and the calculation result is displayed on the monitor 34 as shown in FIG. As a result, the operator can recognize the maximum working range in the current arm posture and can grasp whether or not the drill DR reaches the target working depth with the posture of the first arm 3 fixed. When the drilling depth is insufficient, the operating levers 24 to 26 are operated to drive the arm MA to change the initial conditions. The maximum working range changes according to the posture change of the arm MA, and the display value of the monitor 34 is updated in real time. When the displayed value reaches the target working depth, the operation of the operation lever 26 is stopped, and the position of the arm MA is fixed in this state.
[0036]
Next, the operation lever 23 is operated to output a drill DR lowering command. The trajectory control circuit 20A outputs a control signal to the control valves 31 and 32 based on this signal. As a result, the second arm 4 and the third arm 5 are driven according to the operation amount of the operation lever 23, and the drill DR is pushed in the vertical direction while keeping the working radius constant. At this time, as the drill DR is lowered, the maximum work range displayed on the monitor 34 is updated, so that the worker can grasp the current position and the lowering speed of the drill DR.
[0037]
When the drill DR reaches the target depth, the operation of the operation lever 23 instructs to raise the drill DR. Accordingly, the cylinders 4A and 5A are driven according to the operation amount of the operation lever 23, the drill DR is raised, and the display value of the monitor 34 is updated as the drill DR is raised. This completes the drilling operation by the vertical trajectory control. It should be noted that the drilling work by the horizontal trajectory control is different only in the traveling horizontal direction of the drill DR, and the basic operation is the same, so the description is omitted.
[0038]
As described above, according to the present embodiment, in the trajectory control of the first arm 3 fixed, the second arm 4 and the third arm 5 drive, the working radius is constant when the second arm 4 and the third arm 5 are at the stroke ends, respectively. Alternatively, the solution of the arm angles A2, A3 satisfying the constant work height is calculated, the optimum two solutions are selected from these solutions, and the maximum working range H1, H2, r1, r2 is obtained and monitored 34 To be displayed. As a result, the work range corresponding to the current arm posture can be easily grasped, and the arm MA can be set to a work posture in which the cylinders 4A and 5A do not end at the stroke end during the work. As a result, the work can be performed efficiently without being interrupted due to lack of work range. Also, the work range limit values Hs1, Hs2, rs1, and rs2 are set, and the maximum work range H1, H2, r1, and r2 are limited by these limit values Hs1, Hs2, rs1, and rs2, so the height limit It is possible to correspond to the work site where there is. Further, since a work mode having a constant work radius or a constant work height is selected according to the operation of the selection switch 21 and a work range is obtained by an arithmetic expression corresponding to the work mode, even when the work modes are different. The maximum working range H1, H2, r1, r2 can be easily grasped.
[0039]
-Second Embodiment-
A second embodiment of the arm type working machine according to the present invention will be described with reference to FIGS.
In the second embodiment, the target work amount A is obtained in advance, and an alarm is generated when the maximum work range H1, H2, r1, r2 does not reach the target work amount A. FIG. 14 is a diagram showing the overall configuration of the trajectory control apparatus according to the second embodiment. In addition, the same code | symbol is attached | subjected to the location same as FIG. 2, and the difference is mainly demonstrated below. As shown in FIG. 14, in the second embodiment, a setting device 27 for setting the target work amount A and an alarm device 35 for issuing an alarm are additionally provided in FIG. A signal from the setting device 27 is input to the work range calculation circuit 20B. The work range calculation circuit 20B executes processing as described later based on signals from the angle detectors 7 to 9 and the setting devices 22 and 27, and outputs control signals to the monitor 34 and the alarm device 35.
[0040]
FIG. 15 is a flowchart illustrating an example of processing in the arithmetic device according to the second embodiment. In addition, the same code | symbol is attached | subjected to the location same as FIG. 3, and the difference is mainly demonstrated below. When the work range is displayed in step S7, the process proceeds to step S8, in which it is determined whether or not the maximum work range H1, H2 or r1, r2 corresponding to the work mode is larger than the target work amount A preset by the setting device 27. judge. If step S8 is denied, the process proceeds to step S9, and if affirmed, the process returns to step S1. In step S9, a control signal is output to the alarm device 35 to activate the alarm device 35. Thereby, for example, an alarm sound is generated.
[0041]
As described above, in the second embodiment, since the alarm device 35 is activated when the work range is less than the target work amount A, it is possible to prevent the work from being erroneously started when the work range is insufficient. it can. Thereby, for example, in work in which continuous construction up to a predetermined depth is essential, such as ground improvement, it is possible to prevent the construction quality from being deteriorated due to insufficient construction range. When the work range is less than the target work amount A, the drive command to the cylinders 4A and 5A by the operation lever 23 may be stopped by a control signal from the arithmetic circuit 20B. As a result, the driving of the control valves 31 and 32 is blocked, and it is possible to reliably prevent the locus control from being performed in a state where the work range is insufficient. Further, in work requiring construction to a certain depth, such as ground improvement, the setter 27 for the target work amount A may use a limit value Hs2 in the depth direction. An alarm may be displayed on the monitor 34 instead of the alarm sound. The alarm device 35 may be reset by operating a reset switch (not shown). The alarm device 35 may be activated when the arm MA is set, and the alarm device 35 may be invalidated during the trajectory control. Further, the alarm device 35 may be activated or the drive command by the operation lever 23 may be stopped without displaying the maximum work range H1, H2, r1, r2 on the monitor 34.
[0042]
The amount of work by trajectory control is calculated from the difference between the tip position of the third arm 5 at the start of operation of the operation lever 23 and the current tip position of the third arm 5, and the target work amount A and the work amount by the trajectory control are calculated. The difference may be displayed on the monitor 34. Accordingly, the remaining work amount can be easily grasped, and the target work amount A can be surely worked. Further, although the workable range from the current position is displayed on the monitor 34, the workable range may be displayed in coordinates. Thereby, it can be configured that the monitor display value is not updated during the trajectory control.
[0043]
In the above, the three-stage type arms 3 to 5 are used. However, if the trajectory control is performed by driving two arms, the number of arms may be more than that. In addition, although the work direction is two directions of the vertical direction and the horizontal direction, the work may be performed in other directions.
[0044]
In correspondence with the above embodiments and claims, the arm cylinders 3A, 4A, 5A serve as a rotation device, the trajectory control circuit 20A and the control valves 31, 32 serve as a trajectory control device, and work with the angle detectors 7-9. The range arithmetic circuit 20B constitutes an arithmetic device, the monitor 34 constitutes a display device, the setter 22 constitutes a limit value setting device, the setter 27 constitutes a work range setting device, and the work range arithmetic circuit 20B constitutes a stop device.
[0045]
【The invention's effect】
As described above in detail, according to the present invention, the maximum working range of the tip of the articulated arm whose trajectory is controlled is calculated, so that the maximum working range of the arm tip can be grasped without referring to the working range diagram. can do.
[0046]
  Also, Arm angle when the arm is rotated to the limit valueCalculate maximum working range based onAs a result, the maximum working range can be easily obtained. Claims3, 5According to this invention, since it is used for trajectory control with a constant work radius and trajectory control with a constant work height, drilling work and the like can be performed efficiently. And claims7According to the invention, since the limit value is set in the work range and the maximum work range is limited by this limit value, it is possible to easily perform work at the site where there is a height limit or the like. Furthermore, the claims8According to the invention, since the maximum work range is calculated based on the current position, the remaining work amount can be easily grasped. Claims9, 10According to the invention, when the maximum work range does not reach the target work range, an alarm is generated or the arm drive is stopped, so that it is possible to prevent the work from being erroneously started in a state where the work range is insufficient. be able to.
[Brief description of the drawings]
FIG. 1 is a side view showing an arm type working machine according to an embodiment of the present invention.
FIG. 2 is a diagram showing an overall configuration of a trajectory control apparatus according to the first embodiment of the present invention.
FIG. 3 is a flowchart showing an example of processing in the work range calculation circuit of FIG. 2;
4 is a flowchart showing a calculation of a work range in the vertical direction, which is a part of FIG. 3;
FIG. 5 is a flowchart showing a calculation of a horizontal work range, which is a part of FIG. 3;
6 is a diagram for explaining the flowchart (step S3, step S4) in FIG. 3;
FIG. 7 is a diagram showing an example in which a calculation result of a work range by the arm type working machine according to the first embodiment is displayed on a monitor.
FIG. 8 is a diagram for explaining the flowchart (step S11, step S13) in FIG. 4;
FIG. 9 is a diagram for explaining the flowchart (step S16) in FIG. 4;
10 is a diagram showing an example of a calculation result according to the flowchart of FIG. 4;
11 is a diagram for explaining the flowchart (step S31, step S33) of FIG. 5;
FIG. 12 is a diagram for explaining the flowchart (step S36) of FIG. 5;
13 is a diagram showing an example of a calculation result according to the flowchart of FIG.
FIG. 14 is a diagram showing an overall configuration of a trajectory control apparatus according to a second embodiment of the present invention.
15 is a flowchart showing an example of processing in the work range calculation circuit of FIG. 14;
[Explanation of symbols]
2 Revolving body 3 First arm
4 Second arm 5 Third arm
3A 1st cylinder 4A 2nd cylinder
5A 3rd cylinder 7-9 Angle detector
20 Controller 20A Trajectory control circuit
20B Work range calculation circuit 21 Selection switch
22 Setting device 23 Operation lever
27 Setter 31, 32 Control valve
34 Monitor 35 Alarm device

Claims (10)

The work machine body,
An articulated arm comprising a plurality of arms rotatably supported by the work implement body;
A rotating device that rotates each of these arms;
A trajectory control device that drives specific two of the articulated arms and drives and controls the rotation device so that the tip of the articulated arm moves along a preset target trajectory from a current position;
Of the two specific arms, one of the arms rotates to a limit value in both directions in which the arm can rotate, and the tip of the articulated arm is positioned on the target locus with respect to each limit value. When possible, the arm angle of the other arm is calculated, and the other arm rotates to the limit values in both directions in which the other arm can rotate, and the tip of the articulated arm is on the target locus with respect to each limit value. The arm angle of one arm when it is possible to be located in the position is calculated, and among the combinations of the calculated arm angle and the arm angle of the limit value, those exceeding the rotation range of the arm angle and the locus excluding those outside the target locus in a controlled way, characterized in that it comprises a computing device which in combination with computed two coordinate the maximum working range of the two sets of arms angle remaining result Over-time type working machine. In the arm type work machine according to claim 1,
An arm type work machine further comprising a display device for displaying a maximum work range calculated by the calculation device. In the arm type work machine according to claim 1 or 2 ,
The target working path is set so that a working radius is constant. In the arm type working machine according to claim 3 ,
Said trajectory control the way that out of the target locus, of the specific two arms, upon setting of the target locus below the limit working radius of setting one arm pivotable limit, before Symbol An arm-type working machine characterized in that, based on the calculated solution, it exists beyond the ground angle of 0 ° with respect to the current arm angle of the other arm. In the arm type work machine according to claim 1 or 2 ,
The target trajectory is set so that the working height is constant, and the arm type working machine. In the arm type work machine according to claim 5 ,
What deviates from the target trajectory during the trajectory control is that when setting a target trajectory that exceeds the limit working height when one of the two specific arms is set to a limit value that allows rotation , arm working machine, characterized in that the serial computed solutions, being present across the ground angle -90 ° to the current of the arm angles of the other arm. In the arm type working machine according to any one of claims 1 to 6 ,
Equipped with a limit value setting device that sets the limit value of the maximum work range,
The arithmetic unit limits the maximum working range with the set limit value. In the arm type working machine according to any one of claims 1 to 7 ,
The arithmetic working device is characterized in that the arithmetic device calculates a maximum working range from a current position of the tip of the articulated arm. In the arm type working machine according to any one of claims 1 to 8 ,
A work range setting device for setting a target work range;
An arm-type working machine comprising: an alarm device that issues an alarm when the maximum work range calculated by the arithmetic device does not reach the target work range. In the arm type work machine according to any one of claims 1 to 9 ,
A work range setting device for setting a target work range;
An arm type working machine comprising: a stopping device that stops the rotating device when a maximum working range calculated by the computing device does not reach the target working range.

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