JPH0823155B2 - Work machine control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a control device for a work machine such as a power shovel,
In particular, the present invention relates to a work machine control device that can effectively correct a target trajectory of a work machine when each work machine is controlled to perform straight excavation.

[Conventional technology]

As a conventional technique related to trajectory correction during automatic excavation by a work machine such as a hydraulic excavator, as shown in Japanese Patent Laid-Open No. 60-33940, a speed command in the vertical direction is fetched from the correction lever to the excavation surface, whereby There has been one that corrects the target trajectory by correcting the command speed at the tip of the bucket, which is a work machine.

[Problems to be Solved by the Invention]

In the above-mentioned conventional technique, when the bucket tip is once displaced from the target trajectory for the purpose of preventing overload or the like, the bucket is given a velocity in the vertical direction at this time, so it is difficult to accurately return to the original target trajectory. Met.

The present invention has been conceived in view of the above, and during automatic excavation by the tip of a working machine, by sequentially giving a position in accordance with a signal from a lever instead of a speed command in a direction perpendicular to a target locus, The trajectory deviates in the vertical direction by a distance according to the lever operation amount, and the command value is restored to the original target trajectory by returning the lever, and the lever operation amount and the trajectory deviation amount are directly proportional to each other It is an object of the present invention to provide a control device for a working machine in which a correction operation suitable for the sense can be performed and vibration does not occur at the tip of the working machine at the time of correction.

[Means for solving the problem]

In order to achieve the above object, a control device for a working machine according to the present invention includes a boom rotatably attached to a vehicle body, an arm rotatably attached to a tip of the boom, and a pivot rotatably to an end of the arm. Has a tip working machine such as a bucket attached to
Further, in a working machine in which each of the above members is rotationally driven by an actuator such as a cylinder, work for detecting the attitude angles of the actuator control means for controlling each of the above actuators and the boom, arm, and tip working machine. Machine attitude detecting means, work machine target position command means for giving a target excavation position of the excavation surface to be excavated by the tip working machine, detection value from the work machine attitude detecting means and work machine target position command Means for operating the excavation position given by the work machine target position command means at a predetermined specific speed, and the calculated value is used as the actuator control means. And a position command signal in the direction perpendicular to the excavation plane among command signals from the work machine target position command means. And a positive vertical direction position correcting means.

[Action]

The attitude angles of the boom, the arm, and the tip end work are detected by the work machine attitude detection means, and when the detected value and the command value from the work machine target position command means are input to the actuator operation amount calculation means, In the actuator operation amount calculation means, a command for the tip working machine to move (excavate) the excavation position given by the work machine target position command means at an inherent speed determined by the calculation means is actuator control means. Output to the cutting edge, and the tip working machine excavates the slope along a given position at a set speed.

Then, at this time, the tip position of the working machine is shifted in the direction perpendicular to the excavation surface in accordance with the input signal from the vertical position correction means, and the excavation locus is corrected in the direction perpendicular to the excavation surface.

〔Example〕

 An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention. The structure of the power shovel shown in FIG. 1 is a normal one, that is, a boom 1, an arm 2, a bucket 3 and a boom cylinder 4 for driving the same. , Arm cylinder 5, bucket cylinder 6
Is provided. Further, posture detecting means 7a, 7b, 7c for detecting respective postures of the boom 1, the arm 2, and the rotating base of the bucket 3 are provided.

For the following description, the angle and position of each member of the working machine having the above-mentioned configuration will be defined as shown in FIG.

That is, the rotation angle of the boom 1 is α, the rotation angle of the arm 2 is β, the rotation angle of the bucket 3 is γ, the inclination angle of the bucket 3 with respect to the horizontal plane (reference plane) is δ, the length of the boom 1 is l ₁ , and the arm 2 is Length of l ₂ , bucket 3 length of l ₃ , bucket 3
Let x be the position in the front-rear direction of the tip of y, y be the position in the up-down direction, and φ be the excavation slope.

From Fig. 2 From the above relationship, the starting point tilt angle δ ₀ can be obtained.

Further, the relationship between each rotation angle angle α, β, γ and the tip position x, y is In the equation (2) and the equation (1), the detection angles α _a of the boom 1, the arm 2 and the bucket 3 are expressed by
The positions x and y of the cutting edge and the tip inclination angle δ obtained from β _a and γ _a are x _a ,
It can be obtained as y _a and δ _a .

Further, if the position of the cutting edge obtained from the detected angles of each axis immediately before the start of excavation is x ₀ , y ₀ , the target locus (x _γ , y _γ ) is Becomes However, the gradient command value is φγ _(t) and the speed is v.

In the above description, x, was described in example took y axes to the vehicle body fixed coordinate xy, this time, the cutting edge position command of the bucket 3 on the vehicle body fixed coordinate _{xy (x γ (t),} y γ _(t) ) and its current position (x, y) with the boom rotation center as the origin,
If the x-axis is converted into the x'-axis on the coordinate x'-y 'taken parallel to the excavation surface, the y'-direction position command value becomes a constant, and x'
The delay is controlled to be smaller in the y'direction than in the direction.

The coordinate conversion from xy coordinates to x'-y 'coordinates is given by the following equation.

The present invention utilizes the above relationship. In the configuration shown in FIG. 1, the work machine target position command means 8 sends a position command x'to the tip of the bucket 3 on the x'-y 'coordinate axis.
_{γ (t)} , y ′ _{γ (t)} are the actuator operation amounts for the boom angle detection value α _a , the arm angle detection value β _a , and the bucket angle detection value γ _a from the work machine attitude detection means 7a, 7b, 7c, respectively. Input to the calculating means 10.

Further, a position correction lever 11 for correcting the position of the bucket 3 in the y'direction, that is, the direction perpendicular to the excavation surface is provided, and from this position correction lever 11, a position correction signal _{dr (t)} corresponding to the tilt angle of the lever is provided. Y ′ of the work machine target position command means 8
It is added to the direction command _{y'r (t)} . At this time, the position correction signal _{dr (t)} is multiplied by an appropriate gain Kd.

In the above configuration, the actuator operation amount calculation means 10 when the correction lever 11 is not operated calculates the target position of the blade edge of the bucket 3 according to the position commands x ′ _{γ (t)} and y ′ _{γ (t)} , Flow rate command values V _α , V _β , V _γ of the fluid supplied to each actuator for the boom 1, arm 2, and bucket 3 for moving along the target position given from these are calculated, and based on this, The flow rate control valves 12a, 12b, 12c are controlled to drive the cylinders 4, 5, 6.

At this time, the boom angle detection value α _a , the arm angle detection value β _a , and the bucket angle detection value γ _a are input to the actuator operation amount calculation means 10 from the work machine attitude detection means 7a, 7b, 7c, and The actual tilt angle and the actual position of the bucket tip are fed back.

In the above control operation, when the correction lever 11 is rotated,
The operation amount is detected by a rotation angle sensor such as a potentiometer provided in the rotating portion of the correction lever 11, and the signal d _{r (t) of} this is detected.
Is output and is multiplied by an appropriate gain K _d and added to the position command y ′ _{r (t)} in the y direction (direction perpendicular to the target locus ₎ , and this is used as a new position command in the y direction for the actuator operation amount. The position of the tip end of the bucket 3 is corrected in the vertical direction with respect to the target gradient by a distance according to the operation amount of the correction lever 11, which is input to the calculation means 10.

〔The invention's effect〕

According to the present invention, the operator operates the vertical position correction means for the purpose of preventing overload during automatic excavation or correcting the deviation of the bucket blade tip position from the target trajectory, so that the tip position of the bucket is the operation amount of this. The trajectory can be corrected in the vertical direction with respect to the target gradient by a distance corresponding to.

Since the correction command at this time is the position command, the correction operation amount and the deviation amount of the trajectory of the bucket tip are directly proportional, so that the vertical position correction operation can be performed in accordance with the operation feeling of the operator.

Further, when it is necessary to finely adjust the trajectory instantaneously, the operation amount of the vertical position correction and the deviation amount of the trajectory are proportional to each other as described above, and therefore the vibration does not occur at the tip portion of the working machine at this time.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a posture explanatory view of each member of a working machine. 1 is a boom, 2 is an arm, 3 is a bucket, 4, 5 and 6 are cylinders, 7a, 7b and 7c are attitude detecting means, 8 is a working machine target position commanding means, 9 is a tip inclination angle inputting means, and 10 is an actuator. Operation amount calculation means, 11 is a position correction lever.

Claims (1)

[Claims] 1. A boom rotatably attached to a vehicle body, an arm rotatably attached to the tip of the boom, and a tip working machine such as a bucket rotatably attached to the tip of the arm. In the working machine in which each of the members is driven to rotate by an actuator such as a cylinder, actuator control means for controlling each of the actuators,
A work machine posture detecting means for detecting the posture angle of each of the boom, the arm and the tip working machine; a work machine target commanding means for giving a target excavation position of the excavation surface to be excavated by the tip working machine; In response to the detected value from the work machine attitude detection means and the command value from the work machine target position command means, the excavation position given by the work machine target position command means,
An actuator operation amount calculation means for calculating an operation amount for moving at a set specific speed and outputting the value to each of the actuator control means, and a command signal from the work machine target position command means. Among them, a control device for a working machine, which comprises a vertical position correcting means for correcting a position command signal in the vertical direction with respect to the excavation surface.