JPH089875B2 - Work machine control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a control device for a working machine, which is improved so that a floor roughing work after excavation of a side groove by a rotary excavation bucket can be performed only by a turning operation. .

B. Conventional Technology FIG. 14 shows an example of a working machine equipped with a rotary excavation bucket. This work machine is configured by rotatably providing an upper revolving structure US on a wheel-type lower traveling structure LT, and a boom 1, an arm 2 and a boom cylinder 4 and an arm cylinder 5 for driving them on the upper revolving structure US. A rotary excavation bucket 3 having a hydraulic cylinder 6 whose posture angle is changed is attached to the tip of the arm 2.

FIG. 15 shows the details of the rotary excavation bucket 3. The rotary excavation bucket 3 includes an upper bracket 51 connected to the arm 2 and a motor 52 provided on the upper bracket 51.
The excavation part main body 53 rotated by the motor 52, the excavation bit 54 provided on the lower end outer wall of the excavation part main body 53, and a part of the excavation part main body 53, which is opened by the hydraulic cylinder 55 as illustrated. A soil discharging door (56) serving as a floor-rough plate for discharging the soil in the excavation unit main body and finishing the floor surface of the excavated hole.

The groove excavation work by such a working machine will be described with reference to FIG.

The forward / backward direction of the work machine is made orthogonal to the direction of the groove to be excavated. In order to set the rotary excavation bucket 3 at the groove excavation start position, the upper revolving structure US is pivoted, and the boom 1 and the arm 2 are operated to align the rotation center 02 of the rotary excavation bucket 3 with the groove center X to perform rotary excavation. By operating the boom 1 and the arm 2 while rotating the bucket 3, the bucket 3 is lowered at that position to dig a vertical hole. After that, the bucket 3 is taken out of the hole, the upper swing body US is swung by a predetermined angle, and the rotation center 02 of the rotary excavation bucket 3 is made to coincide with the groove center X in the same manner to dig a next vertical hole. This operation is repeated a plurality of times to dig a plurality of vertical holes. At this time, a plurality of holes are overlapped with each other for excavation, or excavation is performed at a slight interval. After that,
The bucket 3 is returned to the groove excavation start position and inserted into the hole, the rotary excavation bucket 3 is rotated to open the floor-roughing plate 56 in the groove excavation direction, and the swivel lever, boom lever, arm lever, and rotary excavation bucket 3 are opened. The rotary excavation bucket 3 is moved along the groove excavation center X by performing a combined operation of the rotary levers, and floor excavation work of the excavated hole is performed. The groove 30 is excavated by such an operation.

C. Problem to be Solved by the Invention However, it is necessary to perform a composite operation of four operation levers of a swing lever, a boom lever, an arm lever and a rotary lever of the rotary excavation bucket 3 during floor roughing work.
Even a skilled operator was very difficult to operate, and was a work with a high degree of fatigue.

An object of the present invention is to provide a control device for a work machine that enables the above-described floor roughening work or the like, which has conventionally required to operate a plurality of operation levers, only by a turning operation.

D. Means for Solving the Problem The present invention will be described with reference to the drawings showing one embodiment. The present invention is rotatably provided on an upper revolving structure US which is revolvable with respect to a lower traveling structure LT. 1 arm 1 is provided, and the second arm 2 is rotatably connected to the first arm 1.
A control device for a working machine, in which a work attachment is connected to a tip of a second arm 2, wherein a locus target portion of the work attachment is moved along a predetermined path within a predetermined plane while rotating the upper swing body. It is applied to a control device that moves by moving.

And, the above-mentioned purpose is the first and second arms 1, 2
Angle detecting means 150 for detecting the angle related to the above and the angle of the upper swing body US, and position calculating means 10 for calculating the position of the locus target portion of the work attachment based on the detected angle.
0,200, a swing speed command means 10 for commanding a swing speed of the upper swing body US, and a first control amount calculation means for calculating a first control amount based on a predetermined route in a predetermined plane and a command value of the swing speed. 301 to 306, second control amount calculation means 300, 400 for calculating the second control amount based on the position of the locus target site and the deviation of the predetermined route in the predetermined plane in the three-dimensional direction, and the first and second control amounts. The speed calculation means 500 for calculating the moving speed of the locus target part based on the control amount of the first and second arms 1, at the calculation speed calculated by the speed calculation means 500 when the upper swing body US is turned. It is achieved by including a drive control means 800 for rotating the device 2.

In the invention of claim 2, the work attachment 3 is a rotary excavation bucket having a rotary drive actuator 52, and the attitude angle calculation means 100 for calculating the attitude angle of the rotary excavation bucket 3 with respect to the second arm 2 and the rotary excavation. First deviation calculating means 601 for calculating a deviation between the target attitude angle of the bucket and the calculated bucket attitude angle, first calculating means 605 for calculating a first bucket target angular velocity based on the deviation, A second calculation means 604 for calculating a second bucket target angular velocity based on the target angular velocities of the first and second arms, and the drive control means 600, 800 includes the first and second buckets when the upper swing body is swung. The posture angle control actuator 6 is further controlled based on the target angular velocity.

In the invention of claim 3, the rotation angle detecting means 154 for detecting the rotation angle of the rotary excavation bucket 3 and the second for calculating the deviation between the target rotation angle of the rotary excavation bucket 3 and the detected bucket rotation angle. The deviation calculation means 701 and the third calculation means 702 for calculating the bucket target rotation angle based on the deviation and the swing speed command value are provided, and the drive control means 700 and 800 have the bucket target rotation angle when the upper swing body US swings. Based on the above, the rotation driving actuator 52 is driven and controlled.

In the invention of claim 2, the work attachment 3 is a rotary excavation bucket having a rotary drive actuator 52, and an attitude angle control actuator 6 for changing the attitude angle of the rotary excavation bucket 3 with respect to the second arm 2 and this attitude. An attitude angle calculation means 100 for calculating an angle, and a first deviation calculation means 600 for calculating a deviation between a target attitude angle of the rotary excavation bucket 3 and the calculated bucket attitude angle,
The drive control means 600, 800 controls the attitude angle control actuator 6 so that the deviation thereof becomes zero when the upper swing structure US swings.
To further control.

In the invention of claim 3, the rotation angle detecting means 154 for detecting the rotation angle of the rotary excavation bucket 3 and the second for calculating the deviation between the target rotation angle of the rotary excavation bucket 3 and the detected bucket rotation angle. The deviation control means 700 is provided, and the drive control means 700, 800 drive-control the rotation driving actuator 52 so that the deviation becomes zero when the upper-part turning body US turns.

E. Action When the upper revolving structure US is swung by the operation lever, the drive control means 800 causes the locus target portion of the work attachment 3 to trace a path within a predetermined plane, the first and second arms 1, 2 Drive control. Therefore, the locus target portion of the work attachment 3 can be moved along the route in the plane only by the turning operation of the operator, and the operability is remarkably improved.

According to the second aspect, the posture angle control of the rotary excavation bucket 3 which is a work attachment is further performed at the time of turning. Further, in claim 3, control is also performed so that the rotary excavation bucket 3 is oriented in a fixed direction. Therefore, in the invention of claim 3, for example, in the floor roughing work after excavating a plurality of vertical holes, the soil discharge door 53 can always be directed in a fixed direction regardless of the swing of the upper swing body US. As a result, the floor can be roughened only by the turning operation without paying attention to the direction of the soil discharge door 53, and the operability is improved.

It should be noted that, in the above-mentioned items D and E for explaining the configuration of the present invention, the drawings of the embodiments are used to make the present invention easy to understand, but the present invention is not limited to the embodiments.

F. Embodiment FIG. 1 to FIG. 11 show an embodiment when the present invention is applied to the working machine shown in FIG.

In this specification, coordinates are defined as shown in FIGS. 10 and 11, and the following description follows these coordinates. FIG. 10 shows a coordinate system in which the swivel axis is the Y axis, and the straight line passing through the rotation fulcrum of the boom 1 and orthogonal to the Y axis is the X axis. The symbols in the figure are as follows.

P: Bucket connection point at the end of arm 2 (target locus) d: Distance between turning axis and boom rotation fulcrum L1: Boom length L2: Arm length T1: Angle of boom 1 with respect to X axis T2: Arm 2 with respect to boom 1 Relative angle T3: Relative angle of the rotary excavation bucket 3 with respect to the arm 2 Also, A2 = T1-T2 A3 = A2-T3 = T1-T2-T3 FIG. 11 is a coordinate of a plane orthogonal to the Y axis and including the X axis Yes, the symbols in the figure are as follows.

A, B: Arbitrary two points in the groove for floor roughening XA, XB: X coordinate of the arm tip at points A and B θA, θB: Angle from the turning reference position at points A and B θo: Line to the turning reference position Angle formed by minute AB: Distance from swivel axis to groove Note that in this specification, the differential values of X, Y, and θ are Xv, Yv,
It is expressed by adding a subscript v like θv.

Here, Ro = XA.sin (.theta.A-.theta.o) = XB.sin (.theta.B-.theta.o) (1) When the equation (1) is calculated for .theta.o, At an arbitrary turning angle θ, the target horizontal coordinate Xo for the arm tip P to move on the straight line AB is Therefore, the first horizontal velocity command value X1v of the arm tip P required for that is obtained by differentiating both sides of the equation (3), Becomes Further, the bucket target rotation angle φo for matching the direction of the opened soil discharge door 53 with the groove direction is φo = θ−θo (5).

 Next, the control device will be described with reference to FIG.

In FIG. 1, 4 to 6 are the boom, arm, and
And a hydraulic cylinder for a bucket, which are driven by pressure oil from the electrohydraulic conversion valves 16 to 18, respectively. Further, 8 is a turning motor of the upper swing body US, and 52 is a rotary motor of the rotary excavation bucket 3, which are drive-controlled by pressure oil from the electrohydraulic conversion valves 19 and 20, respectively. Further, each of these actuators is configured to be rotated even by pressure oil from a manual control valve (not shown). Electro-hydraulic conversion valve 16-20
Are drive signals Q1 to Q generated by the drive control value calculation circuit 800.
Driven by 5.

The angle detector 150 is composed of five angle detectors 151-155. The angle detectors 151 to 153 are attached near the rotation fulcrum of the boom 1, the arm 2 and the bucket 3, and the relative angle T1 between the upper swing body and the boom is determined by a well-known lever mechanism and potentiometer.
The relative angle T2 between the boom 1 and the arm 2 and the relative angle T3 between the arm 2 and the bucket 3 are detected and input to the coordinate calculation circuit 100. The angle detector 154 is attached to the rotation fulcrum of the rotary excavation bucket 4 and detects the relative angle φ between the upper bracket 51 (FIG. 15), which is the bucket base, and the rotating portion by the potentiometer, and the third target angular velocity calculation circuit 700 is provided. input. The angle detector 155 is mounted on the swing axis of the upper swing body, detects the relative angle between the lower traveling body and the upper swing body by the potentiometer, and detects the bucket target rotation angle calculation circuit 200.
To enter. The control lever 10 is attached to the driver's seat and is composed of, for example, a lever mechanism and a potentiometer, and outputs a signal corresponding to the operation angle of the lever as a turning speed command value.

The coordinate calculation circuit 100 calculates the coordinates X and Y of the arm tip P from the angles T1 to T3, and also calculates and outputs the angles (posture angles) A2 and A3 formed by the X axis and the arm and bucket.

The bucket target rotation angle calculation circuit 200 receives the command from the switch unit 9, stores the turning angle θ and the coordinate X at that time, and outputs the bucket target rotation angle θo and the distance Ro to the groove based on these. To do.

The horizontal speed command value calculation circuit 300 calculates the bucket target rotation angle φo, the distance to the groove Ro, the coordinate X, and the turning speed command value θ.
Based on v, the horizontal velocity command value Xv of the arm tip P is calculated and input to the first target angular velocity calculation circuit 500.

The vertical velocity specification value calculation circuit 400 calculates the vertical velocity command value Yv of the arm tip P based on the signal at the start of the turning operation and the coordinate Y, and inputs it to the first target angular velocity calculation circuit 500.

The first target angular velocity calculation circuit 500 calculates the target angular velocity T1v, T2v of the boom and arm based on the coordinates X, Y, the speed command values Xv, Yv, and the angles T2, A2, and these are calculated as the second target angular velocity calculation. Input to the circuit 600 and the drive control value calculation circuit 800.

The second target angular velocity calculation circuit 600 uses the target angular velocity T1v, T2
The target angular velocity T3v of the bucket is calculated based on v, the angle A3, and the signal at the start of the turning operation, and this is input to the drive control value calculation circuit 800.

The third target angular velocity calculation circuit 700 calculates the target angular velocity φv of the bucket rotation angle based on the bucket target rotation angle φo, the bucket rotation angle φ and the turning speed command value θv, and inputs this to the drive control value calculation circuit 800. To do.

The drive control value calculation circuit 800 has target angular velocities T1v, T2v, T3v,
Based on φv, the swing speed command value θv and the angles T1, T2, T3, the flow rate control values Q1, Q2, Q3 of the hydraulic cylinders 4, 5, 6 and the flow rate control values Q4 of the bucket rotation motor 52 and the swing motor 8, Q
Calculate 5 and input to electro-hydraulic conversion valves 16-20.

Pressure oil is introduced into these electro-hydraulic conversion valves 16 to 20 from a hydraulic source (not shown), and the electro-hydraulic conversion valves 16 to 20 have flow rates and directions corresponding to the input flow rate control values Q1 to Q5. The pressure oil is supplied to the cylinders 4, 5 and 6, the bucket rotation motor 52 and the swing motor 8.

 FIG. 2 shows the details of the coordinate calculation circuit 100.

The coordinates X and Y of the arm tip P can be expressed as X = d + L1 ・ cosT1 + L2 ・ cos (T1-T2) (6) Y = L1 ・ sinT1 + L2 ・ sin (T1-T2) (7), and the angle T1 , T2, T3 to additional points 101,103,10
4, calculated by function generators 105-108 and coefficient units 109-112. Further, the angles A2 and A3 described above are obtained at the addition points 101 and 102.

FIG. 3 shows details of the bucket target rotation angle calculation circuit 200.

When the storage commands SA and SB from the switch unit 9 are input, the turning angles θA and θB and the coordinates XA and XB at that time are stored in the storage devices 201 and 202, respectively. And. Based on the equation (2), the angle θo indicating the direction of the groove is determined by the function generator 203.
˜207, multipliers 209 to 212, divider 214, and addition points 215 and 216. Further, based on the equation (5), the addition point 21
The bucket target rotation angle θo is calculated by 7. Also,
The distance Ro to the groove is calculated by the addition point 218, the function generator 208, and the multiplier 213 based on the equation (1).

 FIG. 4 shows a horizontal speed command value calculation circuit 300.

The first horizontal speed command value X1v is calculated based on the equations (4) and (5). The function generators 301 and 302, the square multiplier 303, and the multiplier 30
It is calculated by 4, 305 and the divider 306. In addition, the target horizontal direction coordinate Xo is based on the equations (3) and (5).
It is calculated by the divider 307 and converted from the deviation from the coordinate X to the second horizontal speed command value X2v by the following equation.

X2v = K1 (Xo−X) (8) The horizontal speed command value X2v in the equation (8) is calculated by the addition point 308 and the coefficient unit 310. Then, the addition point 309 adds the first and second horizontal speed command values X1v, X2v, and outputs the horizontal speed command value Xv.

 FIG. 5 shows a vertical speed command value calculation circuit 400.

When the signal for starting the turning operation is input, the coordinate Y at that time is stored in the storage unit 401 as the target vertical coordinate Yo, and thereafter,
The vertical deviation Yo-Y is successively calculated by the addition point 402, and further converted by the coefficient unit 403 into the vertical speed command value Yv. That is, Yv = K2 (Yo-Y) (9).

 FIG. 6 shows a first target angular velocity calculation circuit 500.

When both sides of the equations (6) and (7) indicating the coordinates X and Y of the arm tip P are differentiated with respect to time, Xv = -T1v.L1.sinT1- (T1v-T2v) .L2.sin (T1-T2) ... ( 10) Yv = T1v · L1 · cosT1 + (T1v−T2v) · L2 · cos (T1−T2) (11).

Solving equations (10) and (11) for T1v and T2v, Then, the target angular velocities T1v, T2v of the boom and arm with respect to the velocity command values Xv, Yv are obtained. Therefore, the target angular velocity T1v of the boom is calculated by the function generators 501 to 503, the multipliers 504 and 505, the addition point 512, the coefficient unit 510, and the divider 508 based on the equation (12), and the arm angular velocity T1v based on the equation (13) is calculated. The target angular velocity T2v is calculated by the addition points 513, 514, the multipliers 506, 507, the function generator 503, the coefficient units 510, 511, and the divider 509.

FIG. 7 shows a second target angular velocity calculation circuit 600. When the signal at the start of the turning operation is input, the angle A3 at that time is stored in the storage device 601 as the target bucket attitude angle A30, and thereafter, the angle deviation A3-A30 is sequentially calculated by the addition point 602, and the coefficient is further calculated. The converter 605 converts the first bucket target angular velocity A31v. That is, T31v = K3 (A3-A30) (14). Further, the second bucket target angular velocity T32v is calculated by the addition point 604. That is, T32v = T1v−Tv2 (15). Then, the first and second bucket target angular velocities
T31v and T32v are added at the addition point 603, and the bucket target angular velocity
T3v is output.

FIG. 8 shows a third target angular velocity calculation circuit 700. The target angular velocity φv of the bucket rotation is the bucket target rotation angle φo.
The turning speed command value θv and the angular velocity based on the deviation between the bucket rotation angle φ and the bucket rotation angle φ are added, and calculation is performed by the addition points 701 and 702 and the coefficient unit 703. That is, φv = K4 (φ−φo) + θv (16) or φv = K4 (φ−φo + π) + θv (17) when the switch 704 is closed. Here, the switch 704 is a switch for reversing the direction of the open soil discharge door 53 by 180 degrees with respect to the groove.

FIG. 9 shows a drive control value calculation circuit 800. Boom, arm, bucket cylinders 4, 5, 6 flow control value Qn (n =
1 to 3) are obtained by the following equations based on the target angular velocity Tnv and the angle Tn.

Qn = Tnv · f (Tn) · SAn (18) where f (Tn) is the link correction coefficient SAn is the cylinder pressure receiving area Q1 to Q3 in equation (18) are function generators 801 to 803 and multiplier 804 to
806 and coefficient units 807 to 809. Further, the flow rate control values Q4 and Q5 for the bucket rotation motor and the swing motor are
Bucket rotation target angular velocity φv and turning speed command value θv
Are multiplied by coefficients by coefficient units 810 and 811 respectively. That is, Q4 = K5 · φv (19) Q5 = K6 · φv (20) Next, the operation of this device will be described.

This device is activated when a power switch (not shown) is turned on, and based on the angles T1, T2, T3 detected by the angle detectors 151 to 153, the X and Y coordinates of the tip of the arm 2 and the X axis of the arm 2 and the bucket 3 are detected. Attitude angles A2 and A3 with respect to are calculated by the coordinate calculation circuit 100.

First of all, prior to the work, the bucket 3 is installed at one end position (point A in FIG. 11) of the groove for roughening the floor, and one switch of the switch unit 9 is operated. And the turning angle θA are stored in the storage unit 201 of the bucket target rotation angle calculation circuit 200. Similarly, the bucket 3 is installed at a position (point B in FIG. 11) at the other end of the groove for roughening the floor, and the other switch of the switch unit 9 is operated. As a result, the coordinate XB of the arm tip and the turning angle θB are stored in the storage device 202. The bucket target rotation angle calculation circuit 200 is configured to store the stored coordinates XA, XB and the turning angles θA, θ.
The angle θo indicating the direction of the groove is calculated based on B, and the bucket target angle φo and the distance Ro to the groove that match the direction of the open soil discharge door 53 with the groove direction by θo and the turning angle θ are calculated. To do.

When the turning control lever 10 is operated, the coordinates of the arm tip at that time are stored in the storage unit 401 of the vertical direction velocity command value calculation circuit 400 as the target vertical direction coordinate Yo that becomes the target trajectory of the horizontal trajectory control. The angle A3 is stored in the storage unit 601 of the target angular velocity calculation circuit 600 as the target bucket attitude angle A30.

In the horizontal speed command value calculation circuit 300, the bucket target rotation angle φo, the distance Ro to the groove, and the turning speed command value θv
Based on the first horizontal speed command value X1v such that the tip of the arm 2 moves along the groove during turning, the arm 2 calculated based on the bucket target rotation angle φo and the distance Ro to the groove. A second horizontal speed command value X2v based on the target horizontal deviation (Xo-X) for holding the tip position on the groove is calculated. Then, the sum of the first and second horizontal speed command values X1v and X2v is set as the horizontal speed command value Xv at the tip of the arm 2 to control the arm 2 tip coordinate X to move on the groove according to the turning speed. Further, the deviation is fed back according to the deviation from the groove, and the trajectory is controlled so as to be corrected.

In the vertical direction velocity command value calculation circuit 400, the Y direction deviation (Yo−
The vertical speed command value Yv based on Y) is calculated. By making Yv the vertical speed command value for the tip of the arm 2, the tip of the arm 2 is controlled so that the deviation of the Y coordinate is corrected by the deviation feedback and the height is kept constant.

Based on the velocity command values Xv, Yv, the angles A2, T2, and the coordinates X, Y, the first target angular velocity calculation circuit 500 uses the boom 1 and the arm 2 such that the tip of the arm 2 horizontally moves along the groove. The target angular velocities T1v and T2v are calculated. These target angular velocities T1
v and T2v are link-corrected by the drive control value calculation circuit 800 and converted into flow rate control values Q1 and Q2 of the boom and arm cylinders 4 and 5. These flow rate control values Q1 and Q2 are electrohydraulic conversion valves 16 and 17
Is supplied to the boom and arm cylinders 4 and 5 in a predetermined direction and at a predetermined flow rate. As a result, the boom 1 and the arm 2 are rotated, and the tip of the arm 2 is horizontally controlled along the groove.

On the other hand, in the second target angular velocity calculation circuit 600, the first bucket target angular velocity T31v based on the deviation (A3-A30) of the bucket posture angle A3 from the stored bucket target posture angle A30.
And a second bucket target angular velocity T32v based on the boom and arm target angular velocities T1v, T2v. And the first
And a sum of the second bucket target angular velocities T31v and T32v is set as a bucket target angular velocity T3v, which is used as a drive control value calculation circuit 800.
Link correction is performed with the flow control value of the bucket cylinder 6.
Convert to Q3. This flow rate control value Q3 is supplied to the electro-hydraulic conversion valve 18, and the pressure oil from the hydraulic pressure source is supplied to the bucket cylinder 6 in a predetermined direction and at a predetermined flow rate. As a result, the bucket 3 rotates and the bucket attitude angle A3 is controlled so as to cancel the bucket angular speed due to the target angular speeds T1v and T2v of the boom and arm, and the deviation is fed back in accordance with the deviation from the bucket target attitude angle A30. The posture angle is controlled so as to be kept constant.

Further, the third target angular velocity calculation circuit 700 calculates the bucket target rotational angular velocity φv by adding the turning speed command value θv to the value based on the bucket target rotational angle (φ−φo). The bucket target rotation angular velocity φv is a drive control value calculation circuit.
At 800, the flow rate control value Q4 of the bucket rotation motor 52 is converted and supplied to the electrohydraulic conversion valve 19. Then, the pressure oil from the hydraulic source is rotated in a predetermined direction and at a predetermined flow rate by a bucket rotation motor.
52, the rotating part of the bucket 3 is rotated by this, the bucket rotation angle φ is controlled so as to cancel the bucket rotation angular velocity by the turning speed command value θv, and according to the deviation from the bucket target rotation angle φo. The deviation is fed back, and the direction of the open soil discharge door 53 is controlled so as to match the groove direction.

The drive control value calculation circuit 800 further determines the turning speed command value θ.
electro-hydraulic conversion valve by converting v into the swing motor drive control value Q5
Supply to 20. Then, the pressure oil from the hydraulic pressure source is supplied to the swing motor 8 in a predetermined direction and at a predetermined flow rate, and the upper swing body US rotates to perform swing.

As described above, in the present embodiment, the following three controls are simultaneously performed only by the turning operation by storing the arbitrary two points of the groove for performing the floor roughening in advance.

1) Horizontal trajectory control that includes horizontal and vertical deviation feedback to move the tip of the arm 2 along the groove.

2) Attitude angle control that keeps the bucket attitude angle constant, including deviation feedback to the target attitude angle.

3) Rotation angle control including deviation feedback to the target rotation angle so that the direction of the open soil discharge door 53 matches the groove direction.

As a result, even a non-experienced person can perform floor roughing work with a rotary excavation bucket easily and accurately, not only improving work efficiency, but also eliminating the waste of accidentally breaking the wall of the groove. be able to. It can also be used for the work of finishing the wall surface of the groove flat by using the cutter on the side surface of the rotating bucket.

12 and 13 are views showing a modified embodiment, which correspond to FIGS. 1 and 3, respectively.

In this modification, the width of the groove to be excavated is equal to that of the rotary excavation bucket 3
The diameter is larger than the diameter, that is, it is suitable when the floor roughening work needs to be performed plural times. A memory device 219 is added to the bucket target angle calculation circuit 200 to store the turning angle θc and the coordinate Xc when the turning speed command θv occurs, and the distance to the groove is Ro = Xc · sin (θc−θo) If the calculation is performed, it is possible to work by changing only the distance Ro to the groove without changing the angle θo indicating the direction of the groove. In other words, the rough floor of the groove wider than the width of the bucket
You can change Ro as needed and repeat.

In applying the present invention, each component of the above embodiment may be configured as follows.

It may be applied to a multi-joint work machine having three or more arms and the trajectory may be controlled by any two arms.

Although it has been stated that it can be used for rotary excavation buckets, it can also be used for other various work attachments. In that case, the posture angle control and / or the rotation angle control may be omitted depending on the attachment.

Actuators are not limited to hydraulic cylinders and hydraulic motors.

The angle detector is not limited to a potentiometer.

The circuits and mathematical formulas in each embodiment are not limited to those.

The output θ of the turning angle detector may be differentiated instead of the turning speed command value θv. In this case, turning is performed by a control valve for manual operation.

The coefficients K1, K2, K3, K4 in each deviation feedback do not have to be constants, and can be given as a function of deviation, for example.

Each deviation feedback may be omitted. On the contrary, the control may be performed only by each deviation feedback.

Although the position of the groove is stored at two points, two or more points may be sequentially selected depending on the turning angle with three or more points. In this case, even a groove that is not a straight line can be worked by linear approximation.

In the configuration of the above embodiment, the angle detector 150
Is an angle detection means and a rotation angle detection means,
And bucket target rotation angle calculation circuit 200 are position calculation means and attitude angle calculation means, horizontal and vertical direction velocity command value calculation circuits 300 and 400 are first deviation calculation means, and target angular velocity calculation circuits 600 and 700 are second and second, respectively. 3 deviation calculation means,
The target angular velocity calculation circuits 500, 600, 700, 800 constitute drive control means, respectively.

G. Effect of the Invention According to the present invention, it is sufficient to perform a turning operation when moving a locus target portion of a work attachment along a predetermined path within a predetermined plane while turning, and workability is improved. Further, according to the invention of claim 3, the floor roughing work by the rotary excavation bucket, which conventionally requires a maximum of 5 operations at the same time, can be performed only by the turning operation, so that no skill is required and highly accurate finishing can be performed. You can do it efficiently.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention, and FIG.
FIG. 3 is a diagram showing the coordinate arithmetic circuit of FIG. 3, FIG. 3 is a diagram showing the bucket target rotation angle arithmetic circuit of FIG. 1, FIG. 4 is a diagram showing the horizontal speed command value arithmetic circuit of FIG. 1, and FIG. FIG. 1 is a diagram showing a vertical direction velocity command value computing circuit, FIG. 6 is a diagram showing a first target angular velocity computing circuit of FIG. 1, and FIG. 7 is a second target angular velocity computing circuit of FIG. Fig. 8 shows the third target angular velocity calculation circuit of Fig. 1, Fig. 9 shows the drive control value calculation circuit of Fig. 1, and Fig. 10 and Fig. 11 show coordinate definitions. FIG. 12, FIG. 12 and FIG. 13 show a modified example.
Figures corresponding to Figures 3 and 4, Figure 14 is a side view of a working machine equipped with a rotary excavation bucket, Figure 15 is a detailed view of an example of a rotary excavation bucket, and Figure 16 is gutter excavation work with a rotary excavation bucket. It is the figure which looked at the work machine from a plane. 1: Boom, 2: Arm 3: Rotary excavation bucket, 4-6: Cylinder 8,52: Motor, 9: Switch 10: Control lever, 16-20: Electro-hydraulic conversion valve 100: Coordinate calculation circuit, 11-15: Angle detector 200: Bucket target rotation angle calculation circuit 300: Horizontal direction speed command value calculation circuit 400: Vertical direction speed command value calculation circuit 500, 600, 700: Target angular speed calculation circuit 800: Drive control value calculation circuit

Claims (3)

[Claims] 1. A first arm rotatably provided on an upper revolving structure which is revolvable with respect to a lower traveling structure, and a second arm rotatably connected to the first arm, and a second arm. Is a control device for a work machine in which a work attachment is connected to the arm tip of the work attachment, and the locus target portion of the work attachment is moved along a predetermined path in a predetermined plane while rotating the upper swing body. In the control device, the angle detecting means for detecting the first and second arm angles and the angle of the upper swing body, and the position calculation for calculating the position of the locus target portion of the work attachment based on the detected angle. Means, a swing speed command means for commanding a swing speed of the upper swing body, and a first control amount for calculating a first control amount based on a predetermined path in the predetermined plane and a command value of the swing speed. Calculating means, second control amount calculating means for calculating a second control amount based on a position of the locus target portion and a deviation of a predetermined path in the predetermined plane in a three-dimensional direction; Speed calculation means for calculating the moving speed of the locus target portion based on the control amount of 2, and when the upper swing body is turned, the first and second arms are operated at the calculation speed calculated by the speed calculation means. A control device for a working machine, comprising: a drive control means for rotating the work machine. 2. The apparatus according to claim 1, wherein the work attachment is a rotary excavation bucket having a rotary drive actuator, and an attitude angle control actuator that changes an attitude angle of the rotary excavation bucket with respect to the second arm, Attitude angle calculation means for calculating this attitude angle, first deviation calculation means for calculating a deviation between the target attitude angle of the rotary excavation bucket and the calculated bucket attitude angle, and a first deviation calculation means based on the deviation. And a second calculation means for calculating a second bucket target angular velocity based on the target angular velocities of the first and second arms, and the drive control means. The attitude angle control actuator is further controlled based on the first and second bucket target angular velocities when the upper revolving structure is revolving. Work machine control device. 3. The apparatus according to claim 2, wherein a rotation angle detecting means for detecting a rotation angle of the rotary excavation bucket and a deviation between a target rotation angle of the rotary excavation bucket and the detected bucket rotation angle are calculated. The drive control means includes a second deviation calculation means and a third calculation means for calculating a bucket target rotation angle based on the deviation and the swing speed command value. A drive control device for a working machine, which drives and controls the rotary drive actuator based on a bucket target rotation angle.