JPH0745738B2 - Power shovel work machine controller - Google Patents

Description

TECHNICAL FIELD The present invention relates to a work machine control device for a power shovel.

[Prior Art] As is well known, a power shovel has a bucket, an arm, a boom, and a bucket cylinder, an arm cylinder, and a boom cylinder that individually move them in an arc. It changes depending on the combination.

[Problems to be Solved by the Invention] However, during the excavation work, the operation levers corresponding to the respective cylinders must be searched while considering the attitude of the bucket so that the excavation resistance does not increase. At the same time, there is a problem that a higher degree of skill is required in order to efficiently move the bucket in a nearly full state.

In view of such problems, an object of the present invention is to provide a work machine control device for a power shovel that can efficiently perform excavation work without requiring advanced skill.

[Means and Actions for Solving Problems] According to the present invention, the moving locus of the bucket blade tip that has small excavation resistance and is in a nearly full excavation state is stored in the storage means in advance, and the storage means is used when starting excavation. The information of the moving trajectory is read from, and the bucket blade edge is controlled to move along the information of the moving trajectory, and when the actual excavation resistance exceeds the set value, the information of the moving trajectory is excavated resistance. The correction is made so that becomes smaller.

[Embodiment] FIG. 1 is a block diagram showing an embodiment of the present invention. A control device according to the present invention is a microcomputer 1 including an investigation lever 7, a central processing unit (CPU) 8 and a storage device 9.
0, bucket angle sensor 11, arm angle sensor 12, boom angle sensor 13, bucket actuator composed of bucket hydraulic circuit 21 and bucket cylinder 4, arm actuator composed of arm hydraulic circuit 22 and arm cylinder 5, boom hydraulic circuit 23, and Boom cylinder 6
Boom actuator consisting of shuttle valves 31, 32, 33
The hydraulic pressure gauges 34, 35, 36 and the inclinometer 37 for detecting the inclination of the power shovel in the front-rear direction are provided to control the rotation of the bucket 1, the arm 2, and the boom 3.

Each hydraulic circuit consists of a variable displacement pump in which the amount and direction of supply of pressure oil to the cylinder are controlled by a signal from the CPU 8 that instructs expansion and contraction of the cylinder, and the pump and cylinder are operated by the cylinder operation command from the CPU 8. And a solenoid valve for opening and closing the hydraulic circuit. Further, each shuttle valve guides the pressure oil pumped to each cylinder to each hydraulic pressure gauge, and each hydraulic pressure gauge respectively measures the pressure of the pressure oil. Then, these measured values are input to the CPU 8 via lines (not shown).

Further, in the storage device 9, the bottom plate of the bucket 1 does not collide with the excavation surface, the excavation can be advanced with the minimum excavation resistance (that is, the state of the excavation angle θ that is as small as possible), and the excavation is almost full. So that you can proceed
As shown in FIG. 2, information about the arcuate locus P of the blade edge Q of the bucket 1 is stored in advance. The information on the locus P is stored as a function of the horizontal movement distance x of the bucket blade Q and the excavation depth f (x), and Σf (x) dx × bucket width = bucket full amount × correction coefficient K. Is set to any value.

However, K is preferably K = 1 to 3.

On the other hand, the sensors 11, 12 and 13 are arranged in the bucket 1, as shown in FIG.
CP is detected by detecting the actual angles γ, β, α of the arm 2 and boom 3.
Input to U8, and the inclinometer 37 detects the tilt angle δ of the power shovel in the front-rear direction and inputs it to the CPU 8.

Next, the operation of this apparatus will be described with reference to the flowchart shown in FIG.

First, when the operator inputs an excavation start command (step 101), the CPU 8 reads signals indicating the boom angle α, the arm angle β, the bucket angle γ, and the inclination angle δ from the sensors 11 to 13 and the inclinometer 37 (step 102). ).

Next, the present lengths L1, L2, L3 (see FIG. 5) of the boom cylinder 6, the arm cylinder 5, and the bucket cylinder 4 are detected based on the boom angle α, the arm angle β, and the bucket angle γ, and ( Step 103), it is determined whether or not these lengths L1, L2, L3 correspond to the length at the end of excavation designated by the trajectory P given in advance (step 104), and the length at the end of excavation is determined. If the above condition is satisfied, the excavation is ended, but if not, the position of the bucket blade tip Q indicated by the trajectory P 0.1 second later is calculated (step 105). After 0.1 second, the target length L1 ', L2', of each cylinder required for the position of the bucket blade Q to actually move to the position of the above-mentioned calculation result.
L3 'is calculated (step 106).

Next, the deviation (L1'-L1), (L2'-) between the current length L1, L2, L3 of each cylinder and the target length L1 ', L2', L3 '0.1 seconds later
L2) and (L3'-L3) are obtained, and the pressure oil flow rates Q1, Q2, Q3 to each cylinder required to cause these deviations are calculated (step 107). Then, the calculated pressure oil flow rates Q1, Q
Pressure oil flow rate signals e1, e2, e3 corresponding to 2, Q3 are formed and transmitted to the bucket hydraulic circuit 21, the arm hydraulic circuit 22, and the boom hydraulic circuit 23, respectively (step 108). As a result, the bucket cylinder 4, arm cylinder 5, and boom cylinder 6 expand and contract to the target length, and the bucket angle γ, arm angle β, and boom angle α change. (Steps 109, 110).

Next, the CPU 8 determines whether or not any one of the hydraulic pressures P1, P2, P3 of the cylinders 4, 5, 6 measured by the hydraulic pressure gauges 34, 35, 36 is higher than the preset hydraulic pressure P. To detect.
(Step 111). Then, if all of the hydraulic pressures P1, P2, P3 are equal to or lower than the preset hydraulic pressure P, it is determined that the excavation resistance at this time has no problem in excavation work, and the process returns to step 105. However, each hydraulic pressure may
If any of P1, P2, and P3 is larger than the preset hydraulic pressure P, it is determined that the excavation resistance at this time is a problem in excavation work, and the locus P given from the storage device 9 is determined.
Of the information to correct the drilling resistance (step
113), and returns to the processing of step 105 described above, and thereafter, based on the information of the corrected trajectory P, the bucket blade tip Q after 0.1 seconds has passed.
Calculate the position of.

That is, for example, when the hydraulic pressure of any one of the cylinders 4, 5 and 6 becomes larger than the set hydraulic pressure P at the excavation position x2 shown in FIG. 6, the excavation depth f (x) is shallower than this. The information of the locus P is corrected to be (x), and after x2, the work is controlled to proceed at the excavation depth of f '(x). In this case, the moving distance x in the horizontal direction of the bucket blade Q becomes longer as the excavation depth becomes shallower.
Needless to say, also changes as indicated by P '.

[Effects of the Invention] As described above, according to the present invention, the movement locus of the bucket blade tip that has a small excavation resistance and is in a nearly full excavation state is stored in advance in the storage means, and the storage means is used to start excavation. The information on the movement track is read, and the bucket blade edge is controlled to move along the information on the movement track, and when the actual excavation resistance exceeds a set value, the information on the movement track is changed to the excavation resistance. Since the correction is made in the smaller direction, it is possible to efficiently proceed with the excavation work without requiring a high degree of skill. Furthermore, since the work is advanced in a state where the excavation resistance is as small as possible, it is possible to increase the speed of the excavation work while saving energy.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a diagram showing an excavation locus of a bucket blade edge, FIG. 3 is a bucket,
FIG. 4 is a flowchart showing the operation of the embodiment, FIG. 4 is a flowchart showing the respective angles of the arm and boom, and FIG. 5 is a view showing the lengths of the bucket cylinder, arm cylinder, and boom cylinder.
FIG. 6 is an explanatory diagram for changing the trajectory of the bucket blade edge. 1 ... Bucket, 2 ... Arm, 3 ... Boom, 4 ...
Bucket cylinder, 5 ... Arm cylinder, 6 ... Boom cylinder, 7 ... Operating lever, 8 ... Central processing unit,
9 ... Storage device, 10 ... Microcomputer, 11 ...
Bucket angle sensor, 12 …… Arm angle sensor, 13 ……
Boom angle sensor, 21 …… bucket hydraulic circuit, 22 …… arm hydraulic circuit, 23 …… boom hydraulic circuit, 31,32,33 …… shuttle valve, 34,35,36 …… hydraulic gauge.

Claims (1)

[Claims] 1. A first angle detection means for detecting an angle of a bucket, an arm, and a boom of a power shovel, and a storage means for storing a movement locus of a blade edge of the bucket which has a small excavation resistance and fills the bucket. The first control means for controlling the attitude of the bucket based on the bucket, arm, and boom angle information detected by the detection means and the movement trajectory information of the bucket blade edge read out from the storage means, and the excavation resistance of the bucket The second detecting means for detecting that the value is equal to or more than the set value, and the output of the second detecting means, the movement locus information of the bucket blade tip read from the storage means is used in the direction in which the excavation depth becomes shallow. A work implement control device for a power shovel, which is provided with a correcting means for correcting the bucket blade edge so as to increase the horizontal movement distance.