JPH1030248A - Work machine linear control method of construction equipment and controller thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automate the operation of construction equipment by computing an angle of a joint part of an offset boom type work machine member and a vehicle body turn angle and controlling a tip of a work machine linearly in the horizontal direction. SOLUTION: When, for example, an arm control point e is controlled in the horizontal direction by turn, an arm ground angle γ, the point e, and the horizontal control direction are set to turn on an automatic change-over switch. Next, X-, Y-, and Z-axis coordinate of the point e and the arm ground angle are computed based on detected values of oscillation angles of a first boom 5 and other work machine member and a turn angle of an upper turn body and the length of each work machine member. Then, turn speed of the point e in Z direction is calculated, and a reference coordinate from the center of turn to a control point el is calculated based on the coordinate. Each actuator is driven by computing based on the reference coordinate, and the point e is controlled linearly in the horizontal direction. If an error occurs in the vertical and horizontal directions, it is compensated by the boom. Consequently, construction equipment can easily be operated even by an unskilled operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention calculates an angle of a joint of a working machine member mounted on a construction machine such as a hydraulic shovel and a turning angle of a vehicle body, and moves a tip of the working machine in a lateral direction to perform a work object. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine linear control method for a construction machine that automatically performs linear control on an object and a control device thereof, and more particularly to a work machine linear control method of a construction machine having an offset boom type work machine and a control device thereof.

[0002]

2. Description of the Related Art A conventional working machine of a hydraulic shovel has three articulated shapes of a boom, an arm and a bucket which are sequentially connected from a vehicle body. When positioning the tip of the bucket to the work object, it is necessary to perform a combined operation of raising or lowering the boom, excavating or dumping the arm, and excavating or dumping the bucket. Requires skill. In the current urban civil engineering work, hydraulic excavators provided with various attachments are used. This urban civil engineering work includes excavation work to build roads, loading excavated earth and sand into dump trucks, breaker work to break rock and concrete, digging gutters to make gutters on roads, and fumes in gutters. There are many works such as hanging work to bury pipes. Recently, an offset boom type working machine has been used in which many of these operations can be performed by one hydraulic excavator. This offset boom type working machine has a function of offsetting the boom in the lateral direction in addition to the three articulated shapes of the boom, the arm, and the bucket.

For example, Japanese Patent Publication No. 58-36135 has been filed as a prior art relating to linear control of a hydraulic shovel. In this application, the height of a bucket from the ground is controlled to be constant, and linear control is performed in the longitudinal direction of the vehicle body. That is, the work implement shown in FIG. 18 is controlled in the vertical direction to keep the bucket height constant. Thus, the work implement is driven in the front-rear direction of the vehicle body to easily perform the leveling work.

In addition, a hydraulic excavator equipped with an offset boom type working machine used in urban civil engineering work has a work site in an urban area so that it does not contact obstacles such as pedestrians, telephone poles, and building walls. The work equipment can be folded within the vehicle width, so that the work equipment does not interfere with the vehicle body or the driver's cab when it is folded within the vehicle width. (For example, Japanese Utility Model 3-727)
No. 67, Japanese Utility Model Laid-Open No. 3-5751, Japanese Unexamined Patent Publication No. 4-25462.
No. 5) has been filed in many applications.

[0005]

However, in a conventional hydraulic excavator equipped with an offset boom type working machine, the excavating direction of the boom, the excavating direction or dumping direction of the arm, and the excavating direction or dumping direction of the bucket. In addition to the operation, a combined operation in four directions for offsetting the boom in the horizontal direction is required, and the operation becomes more difficult, and there is a problem that operation cannot be performed unless a skilled operator is used. In particular, in the conventional offset boom type working machine, the working machine is linearly controlled in the lateral direction near the maximum reach,
When a suspending operation of embedding a fume pipe in a side groove or a breaker operation of breaking a boulder or the like is performed, there is a problem that it is difficult to perform an operation of linearly controlling the tip of the working machine in a lateral direction. It is necessary that an unskilled operator can easily operate the offset boom type working machine. In addition, as mentioned above,
No. 36135 cannot linearly control the working machine in the lateral direction. Further, many prior arts relating to the offset boom type working machine have been filed, but none of the working machines of the present invention capable of automatically performing linear control in the lateral direction have been filed.

The present invention pays attention to the above-mentioned conventional problems, and improves the workability by automatically performing a horizontal linear control of a working machine of a construction machine. It is an object of the present invention to provide a work machine linear control method for a construction machine and a control device therefor, which are made easy.

[0007]

In order to achieve the above object, a first invention of a method for controlling a working machine straight line of a construction machine according to the present invention comprises:
A work machine member such as an offset boom and an arm, a work machine such as a bucket or a breaker attached to the arm, and actuators for swinging the work machine member are provided, and the tip of the work machine is moved in a lateral direction. A work machine linear control method of a construction machine that performs linear control on a work object,
The angular speed of the offset boom is calculated from the lateral speed of the tip of the work machine, and the offset boom is operated in accordance with the calculated angular speed of the offset boom to linearly control the tip of the work machine in the horizontal direction. When an error occurs in the vertical and horizontal directions with respect to a predetermined value, the boom and / or the arm is driven to correct the error, and the tip of the work machine is moved in the horizontal direction to perform linear control on the work target. And
According to the above control method, the actuator for the boom and / or the actuator for the arm is started after driving the offset actuator to automatically move the tip of the work machine in the lateral direction and start the linear control on the work target. To move the tip of the work machine in the horizontal direction, linear control is automatically performed on the work object, and suspending work for embedding fume pipes in gutters and breaker work for breaking rock stones and the like are performed. In some cases, the tip of the working machine can be controlled linearly in the lateral direction with high precision. Therefore, workability is improved, and an unskilled operator can easily perform a driving operation, thereby improving drivability.

According to a second aspect of the present invention, in the control method of the first aspect, when the ground angle of the arm has an error with respect to a predetermined value, the boom and / or the arm is driven to correct the angle, and the tip of the working machine is moved in the lateral direction. To perform linear control on the work object. According to the control method described above, the arm-to-ground angle can be kept constant, so that workability is improved.

A third aspect of the present invention provides a working machine member such as a boom, an offset boom, an arm, and the like, which are sequentially connected from a vehicle body, and a working machine such as a bucket or a breaker attached to the arm.
A work of a construction machine comprising a pivotable vehicle body, each actuator for swinging the work machine member, and turning the vehicle body, and linearly controlling a work object by moving a tip of the work machine in a lateral direction. A machine straight line control method, in which reference coordinates from the turning center of the vehicle body to the tip of the work machine are obtained, the vehicle body is turned in accordance with the reference coordinates, and the tip of the work machine is linearly controlled in the lateral direction. When an error occurs in a predetermined value in the vertical and horizontal directions of the machine tip, the boom and / or the arm are driven to correct the error, and the work machine tip is moved in the lateral direction to perform linear control on the work target. It is characterized by the following. According to the above control method, the tip of the working machine is moved in the lateral direction by the turning drive of the turning actuator, so that linear control is automatically performed on the work object. Correction is made even if an error occurs in the value, so that the working posture is constant. Therefore, workability is improved, and an unskilled operator can easily perform a driving operation, thereby improving drivability.

A fourth aspect of the present invention relates to a working machine member such as a boom, an offset boom, an arm and the like, which are sequentially connected from a vehicle body, and a working machine such as a bucket or a breaker attached to the arm.
A work of a construction machine comprising a pivotable vehicle body, each actuator for swinging the work machine member, and turning the vehicle body, and linearly controlling a work object by moving a tip of the work machine in a lateral direction. In the machine straight line control method, the position of the tip of the work machine is laterally moved by an offset boom, and during movement, or when movement by the offset boom is near a limit value, a lateral movement distance from a turning center is obtained, and thereafter, It is characterized in that the vehicle body is turned and the tip of the work machine is moved laterally to perform linear control on the work object. According to the above control method, the offset boom is operated to linearly control the tip of the work machine in the lateral direction, and further, the vehicle body is turned to linearly control the tip of the work machine in the lateral direction. When performing a hanging work to be buried or a breaker work to break a boulder or the like into small pieces, the linear control amount in the lateral direction at the tip of the working machine can be further increased. Therefore, workability is improved, and an unskilled operator can easily perform a driving operation, thereby improving drivability.

A fifth aspect of the present invention provides a working machine member such as a boom, an offset boom, an arm and the like, which are sequentially connected from a vehicle body, and a working machine such as a bucket or a breaker attached to the arm.
A work of a construction machine comprising a pivotable vehicle body, each actuator for swinging the work machine member, and turning the vehicle body, and linearly controlling a work object by moving a tip of the work machine in a lateral direction. In the machine straight line control method, first, the tip of the work machine with respect to the work object is obtained, and the work piece is moved laterally by the offset boom. It is characterized in that it is moved in the horizontal direction and linearly controlled with respect to the work object. According to the above control method, since the turning drive of the vehicle body is continuously performed from the operation of the offset boom, the tip of the work machine is linearly controlled in the lateral direction. When performing a breaker operation of subdividing the arm, the linear control amount of the arm tip in the lateral direction can be further increased. Therefore, workability is improved, and an unskilled operator can easily perform a driving operation, thereby improving drivability.

According to a sixth aspect of the present invention, there is provided a vehicle control system comprising:
Working machine members such as a boom, a second boom, an offset boom, and an arm, a working machine such as a bucket or a breaker attached to the arm, and various directions for supplying pressure oil to each actuator that swings the working machine member A work machine linear control device for a construction machine, comprising a switching valve and moving a tip of the work machine in a horizontal direction to linearly control a work object; Is a setting device 32 for setting the direction of the horizontal straight line Z1 or Z2.
An automatic changeover switch 31 for switching the working machine member and the working machine to automatic control; a first detecting means 17 for detecting the first boom angle θ1; and a second detecting means 18 for detecting the second boom angle θ2. Third detecting means 16 for detecting an offset angle θ3 of the offset boom, and the arm angle θ
And a fourth detection means 19 for detecting the position of the work machine after receiving the signal from the first to fourth detection means 16, 17, 18, 19 after turning on the automatic switch 31. Calculate the angular speed of the offset boom from the lateral speed of the tip, operate the offset boom in accordance with the angular speed of the offset boom, and linearly control the tip of the work machine in the horizontal direction. When an error occurs with respect to the predetermined value, the boom and / or the arm are operated to correct the error, and the actuators 6, 8,.
Each of the directional control valves 23, 24,
The control device 30 is configured to output a command to the control devices 25 and 26. According to the above configuration, it is possible to drive each actuator and automatically move the tip of the work machine in the lateral direction to perform linear control on the work target. Therefore, the linear control of the tip of the working machine in the lateral direction is automatically performed, and the workability is improved, and the operation can be easily performed even by an unskilled operator, so that the driveability is improved.

According to a seventh aspect of the present invention, there is provided a vehicle control system comprising:
Working machine members such as a boom, a second boom, an offset boom, and an arm, a working machine such as a bucket or a breaker attached to the arm, a revolvable vehicle body, swinging of the working machine member, and revolving the vehicle body And an actuator for moving the tip of the work machine in the lateral direction to linearly control the work object. A setting device 32 for setting the tip to the direction of the horizontal straight line Z1 or Z2, an automatic changeover switch 31 for switching the working machine member and the working machine to automatic control, the first boom angle θ1
Detecting means 17 for detecting the second boom angle θ2
, A third detecting means 16 for detecting the offset angle .theta.3 of the offset boom, and a fourth detecting means 19 for detecting the arm angle .theta.4. After the operation,
Receiving a signal from the fourth detecting means 16, 17, 18, 19, the reference coordinates X from the turning center of the vehicle body to the tip of the work machine are received.
0, the vehicle body is turned in accordance with the reference coordinate X0, and the tip of the working machine is linearly controlled in the horizontal direction. When an error occurs in the vertical and horizontal directions of the tip of the working machine with respect to a predetermined value. The actuators 6, 8, 10, 13 of the working machine members are used to drive and correct the boom and / or the arm, and to move the tip of the working machine in the lateral direction to perform linear control on the work object.
And a control device 30 that outputs a command to each of the direction switching valves 23, 24, 25, 26, 28 so as to drive the turning actuator 40. According to the above configuration, it is possible to drive the actuators of the working machine member and the turning actuator to automatically move the front end of the working machine in the lateral direction and perform linear control on the work target. Therefore, the amount of linear control of the tip end of the working machine in the lateral direction can be increased, so that the workability is improved, and an unskilled operator can easily perform the drive operation, thereby improving the driveability.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method and a control device for a working machine straight line of a construction machine according to the present invention will be described below with reference to FIGS. First, a hydraulic shovel provided with an offset type working machine will be described with reference to FIGS. The lower traveling body 2 of the hydraulic shovel 1 shown in FIG. 19 is freely movable by a traveling motor (not shown). An upper revolving unit 3 (hereinafter, referred to as a vehicle body 3) that can be turned by a turning motor (not shown) via a swing circle 4 is mounted on an upper portion of the lower traveling unit 2.
Next, the offset boom type working machine will be described. The boom foot 5 a of the first boom 5 is attached to the vehicle body 3. The first boom 5 swings around a boom foot 5a. A first boom cylinder 6 (hereinafter referred to as a first actuator 6) that drives the first boom 5
Say The bottom side is attached to the vehicle body 3 and the rod side is attached to the upper end of the first boom 5. The first boom 5 is vertically swingable by the expansion and contraction driving of the first actuator 6. The first boom 5 is connected to the second boom 7. A second boom cylinder 8 for driving the second boom 7
The bottom side of the (hereinafter, referred to as the second actuator 8) is attached to the first boom 5, and the rod side is attached to the end of the second boom 7. The second boom 7 is a second actuator 8
It can swing up and down by the expansion and contraction drive of.

A view in FIG. 19 will be described with reference to FIG.
One end of the offset boom 11 is connected to the second boom 7,
The other end is connected to the bracket 9. The bottom side of an offset cylinder 10 (hereinafter referred to as an offset actuator 10) for driving the offset boom 11 is attached to the second boom, and the rod side is attached to a bracket 9. The offset boom 11 is swingable in the lateral direction by the expansion and contraction driving of the offset actuator 10. One end of the rod 11 a is attached to the second boom 7, and the other end is attached to the bracket 9. The rod 11a is provided to prevent the bracket 9 from rotating and swinging with respect to the second boom 7. The bracket 9 is connected to the arm 12. An arm cylinder 13 (hereinafter, referred to as an arm actuator 13) for driving the arm 12 is supported by the bracket 9, and the rod is connected to the arm 1.
2 is attached. The arm 12 shown in FIG. 19 is swingable in the excavation / dump direction by the expansion and contraction drive of the arm actuator 13. When the offset boom 11 is not offset, or even if the offset angle (θ3) becomes 0 ° or more due to lateral swinging, the rod 1
The working posture of the arm 12 connected to the bracket 9 by 1a does not change. Accordingly, the arm 12 can swing in the excavation / dump direction even when the offset boom 11 is offset or not offset. This arm 12 is connected to a bucket 14. The bottom side of a bucket cylinder 15 (hereinafter referred to as bucket actuator 15) for driving the bucket 14 is attached to the arm 12, and the rod side is connected to the bucket 14 via links 15a and 15b. The bucket 14 is the bucket actuator 1
The telescoping drive 5 makes it possible to swing in the direction of excavation and dumping. In FIG. 19, reference numeral 17 denotes a first boom angle sensor (hereinafter, referred to as first detecting means 17), 18 denotes a second boom angle sensor (hereinafter, referred to as second detecting means 18), 19 denotes an arm angle sensor, (Hereinafter, this is referred to as fourth detection means 19).
Reference numeral 16 shown in FIG. 19 denotes an offset angle sensor (hereinafter, referred to as a third detection unit 16). The offset type working machine is swingable in X, Y and Z directions as shown in FIGS.

Next, a coordinate diagram of each axis X, Y, and Z directions of the offset type working machine of the present invention will be described with reference to FIG.
The first boom 5 swings around the origin 0 in the XY directions. The swing angle is θ1, and the distance L1 connecting the origin 0 and the point a is the length of the first boom 5. The second boom 7 swings around the point a in the XY directions. This second boom 7
Connects points a and b by distances L22 and L21, and the angle .theta.2 formed by line segments a and a1 and line segments a1 and b with point a1 extending from point a is the swing angle. The offset boom 11 swings about the point b in the Z direction. The swing angle is θ3
And the distance L3 connecting the points b and c is the length of the offset boom 11. The bracket 9 has a distance L4 connecting the points c and d. The arm 12 is c
It swings around the point in the XY direction. The swing angle is θ
4 (corner cde), and the distance L5 connecting the points d and e is the length of the arm 12. Line f perpendicular to point d
An angle γ between the arm 12 and the line segment de (hereinafter referred to as “arm-to-ground angle γ”) is the working posture of the arm 12. In this way, the offset boom type working machine that swings about three axes moves from the origin 0 to the first
The boom 5, the second boom 7, the offset boom 11, and the arm 12 are sequentially operated to position a tip e of the arm 12 (hereinafter, referred to as an arm control point e). In this coordinate diagram, work equipment such as a bucket or a breaker is not shown as being in a fixed state. To linearly control the position of the arm control point e in the lateral direction, that is, to linearly control the tip of the work implement in the lateral direction.

Next, when the offset boom 11 is operated to offset about the point b, the result is indicated by a broken line. The tip c of the offset boom 11 is offset to the point c1, the point d of the bracket 9 is moved to the point d1, and the point e of the arm 12 is moved to the point e1 in the Z direction. With this offset mechanism, the bracket 9 and the arm 12 are always parallel to the X axis. By operating the offset boom type working machine, the point e at the tip of the arm 12 is linearly controlled to the point e1. Hereinafter, a control method and apparatus for linearly controlling the arm control point e in the lateral direction will be described.

The coordinates of each point in the X, Y, and Z directions of the offset boom type working machine in FIG. 1 and the function formula of the arm-to-ground angle γ will be described with reference to FIGS. The first boom 5 foot (origin 0) is X0 = 0, Y0 = 0, Z0 = 0
It is. (1) The coordinates of the top (point a) of the first boom 5 in the X, Y, and Z directions are as follows: X1 = L1 × cos θ1 (1) Y1 = L1 × sin θ1 (2) Z1 = 0 (2) The coordinates of the top (point b) of the second boom 7 in the X, Y, and Z directions are: X2 = X1 + L22 × sin (θ1 + θ2) −L21 × cos (θ1 + θ2) (3) ) Y2 = X1−L22 × cos (θ1 + θ2) −L21 × sin (θ1 + θ2) (4) Z2 = 0 (3) Top (point c) axis X of offset boom 11
The coordinates in the Y and Z directions are as follows: X3 = X2−L3 cos θ3 × cos (θ1 + θ2) (5) Y3 = Y2−L3 cosθ3 × sin (θ1 + θ2) (6) Z3 = L3 × sin θ3 (7) (4) Top (point d) of the bracket 9 The coordinates in the X, Y and Z directions of each axis are as follows: X4 = X3−L4 × cos (θ1 + θ2) (8) Y4 = Y3−L4 × sin (θ1 + θ2) (9) Z4 = Z3 (5) The coordinates of the top (point e) of each arm 12 in the X, Y, and Z directions are as follows: X5 = X4 + L5 × cos (θ1 + θ2 + θ4) ) (10) Y5 = Y4 + L5 x sin (θ1 + θ2 + θ4)) ... (11) Z5 = Z3 (6) Arm-to-ground angle γ is: γ = θ1 + θ2 + θ4 -270 ° ... (12) The coordinates of each point in each of the axes X, Y, and Z directions of the offset boom type working machine and the arm-to-ground angle γ are obtained from the equations (1) to (12). The coordinates of each point in each of the X, Y, and Z directions and the function formula of the arm-to-ground angle γ are stored in the control device 30 shown in FIG.

The work machine linear control of the present invention will be schematically described with reference to a plan view of a hydraulic excavator having an offset boom type work machine shown in FIG. The boom foot 5a of the first boom 5 is disposed apart from the center of rotation R0 of the upper swing body 3 (hereinafter, referred to as the vehicle body 3). By the offset operation of the offset boom 11, the amount of linear movement La of the tip of the arm 12 from point e to point e1 can be controlled. By turning the vehicle body 3 and driving the work machine from the point e1 at which the linear movement is limited by the work machine, the tip of the arm 12 is further moved linearly La to the point e2.
1 can be controlled. Conversely, when the linear movement of the arm 12 due to the turning drive of the vehicle body 3 reaches the limit, the tip end of the arm 12 can be further linearly moved by the offset operation of the work machine. That is, according to the present invention, the tip end of the arm 12 can be moved linearly in the lateral direction by the offset operation of the work implement or the turning drive of the vehicle body. The linear control is Z1
Alternatively, one of the Z2 directions is selected, and is set by a setting unit 32 shown in FIG. 5 described later.

Next, a working machine linear control circuit for a construction machine according to the present invention will be described with reference to FIGS. First,
A variable displacement hydraulic pump 21 (hereinafter, referred to as a hydraulic pump 21) driven by the engine 20 shown in FIG. 6 is provided. The hydraulic pump 21 is connected to a first directional control valve 23 via a pipe 22a branched from the pipe 22.
This hydraulic pump 21 is connected to a pipe 22 b branched from a pipe 22.
And is connected to the second directional control valve 24 via the. The hydraulic pump 21 is connected to the third direction switching valve 25 via a pipe 22c branched from the pipe 22. Further, the hydraulic pump 21 is connected to the fourth line via a pipe 22 d branched from the pipe 22.
The directional control valve 26 is connected. And the hydraulic pump 2
1 is connected to a fifth directional control valve 27 via a pipe 22. The first directional control valve 23 is connected to the first actuator 6 via pipes 23c and 23d. The second directional control valve 24 is connected to the second actuator 8 via pipes 24c and 24d. The third directional control valve 25 is connected to the offset actuator 10 via conduits 25c and 25d. The fourth directional control valve 26 is connected to the arm actuator 13 via conduits 26c and 26d. The fifth directional control valve 27 includes a pipe 27c,
It is connected to the bucket actuator 15 via 27d.

As shown in FIG. 5, a first boom angle sensor 17 (hereinafter referred to as first detecting means 17) for detecting the swing angle of the first boom 5 and the swing angle of the second boom 7 are detected. FIG. 3 shows a second boom angle sensor 18 (hereinafter, referred to as second detecting means 18), an arm angle sensor 19 (hereinafter, referred to as third detecting means 19) which detects the swing angle of the arm 12. Offset angle sensor 16 (hereinafter referred to as fourth detecting means), turning angle sensor 41 for detecting the turning angle of vehicle body 3
The signal detected by (hereinafter, referred to as fifth detecting means) is input to the control device 30. An automatic changeover switch 31 of the offset boom type working machine or a boom for automatically switching linear control of the tip of the arm 12 by turning is connected to a control device 30. An arm-to-ground angle γ, which will be described later, an arm control point e for starting linear control of the work object, and a setting device 32 for setting the direction of linear movement Z1 or Z2 are connected to the control device 30. Next, manual operation means will be described. The potentiometer 36 generates a voltage signal V1 corresponding to the operation displacement of the electric operation means 35, and outputs this voltage signal V1 to the control device 30.
The control device 30 controls the first to fifth directional control valves 23, 24, 24 based on the signal V1 input from the potentiometer 36.
Command signals i01 to i12 for operating any one of 25, 26, 27 and turning direction switching valve 28 are calculated, and after these signals i01 to i12 are amplified by an amplifier in control device 30, The command signals i01 to i12 are transmitted to the operation units 23a, 23b, 24a, 24b, 2 of the first to fifth directional control valves 23, 24, 25, 26, 27 and the turning directional control valve 28.
5a, 25b, 26a, 26b, 27a, 27b, 28
a, 28b.

The command signal output from the control device 30 will be described. The command signal i01 is the first directional control valve 23
, And the command signal i02 is input to the operation unit 23b of the valve 23. The command signal i03 is input to the operation section 24a of the second direction switching valve 24, and the command signal i04 is input to the operation section 24b of the second direction switching valve 24. The command signal i05 is input to the operation section 25a of the third directional control valve 25, and the command signal i05 is inputted.
06 is input to the operation unit 25b of the valve 25. The command signal i07 is input to the operation section 26a of the fourth direction switching valve 26, and the command signal i08 is input to the operation section 26b of the fourth direction switching valve 26.
The command signal i09 is input to the operation section 27a of the fifth direction switching valve 27, and the command signal i10 is input to the operation section 27b of the fifth direction switching valve 27. The command signal i11 is input to the operating section 28a of the turning direction switching valve 28, and the command signal i12 is input to the operating section 28 of the turning direction switching valve 28.
b.

The control device 30 shown in FIG. 5 includes a length L1 of the first boom 5, a length L21, L22 of the second boom 7, and a length L of the offset boom 11 of the offset boom type working machine.
3, the length L4 of the bracket 9 and the length L5 of the arm 12 are stored. These L1 to L5, the first and second boom angle sensors 17, 18 and the arm angle sensor 1 shown in FIG.
9, the axes X, Y, and Z from the angles θ1, θ2, θ3, θ4, and θR detected by the offset angle sensor 16 and the turning angle sensor 41.
The coordinates of each point in the direction are calculated, and the arm target ground angular velocity dγ / dt is calculated. Thereby, the first boom 5, the second boom 7, the arm 1
2 and the target angular velocity dθ1 / dt, dθ2 /
dt, dθ4 / dt, dθR / dt are set.

Next, the linear control in the horizontal direction by the driving of the swing motor will be described with reference to FIGS. 3 (a) and 3 (b). FIG.
(A) shows a control point e1 of the arm 12 at which the lateral linear control by the offset boom type working machine is limited. When the vehicle body 3 starts turning (turning in the clockwise RX direction) from this state and linearly moves to the position of the control point e2 of the arm 12 shown in FIG. 3B, the following formula is calculated. Here, a radius R connecting the turning center R0 and the control point e1 of the arm 12 shown in FIG.
org, the angle θorg between the X axis extending from the turning center R0 and the line segment R0, e1, the distance LxB0 between the Z axis extending from the turning center R0 and the boom foot 5a, the X axis extending from the turning center R0 and the boom foot 5a. LzB0, the distance Xa0 from the boom foot 5a to the control point e1 of the arm 12, and the reference coordinate X0 when the offset amount Za0 of the offset boom 11 is Rorg = ｛(LxB0 + Xa0) ² + (LzB0 + Za0) ² ｝ ^0.5 θorg = tan ⁻¹ (LzB0 + Za0 / LxB0 + Xa0) Therefore, X0 = Rorg × cos θorg (13) If the first boom, the second boom, the arm, and the turning actuator are driven in accordance with the reference coordinates X0, horizontal linear control can be performed.

Here, the boom foot 5 extends from the turning center R0.
The control point e2 between the X axis and the arm 12 when the angle .theta.B0 formed by the distance LB0 to the line a, the line segments R0 and 5a and the X axis extending from the turning center R0, the initial turning angle .theta.R0, and the turning angle .theta.R. , The distance LzB0 (θR) from the turning center R0 to the boom foot, the distance Xa in the Xb-axis direction from the boom foot 5a to the control point e2 of the arm 12, the Z-axis extending from the turning center R0 and the boom foot 5.
a to the control point e2 of the arm 12 from the boom foot 5a to the control point e2 of the arm 12.
a, the distance X (θR) between the Z axis extending from the center of rotation R0 and the control point e2 of the arm 12 is LzB0 (θR) = LB0 × cos ｛θB0− (θR−θR0)｝ LXB0 (θR) = LB0 × sin ｛θB0− (θR−θR0)｝ Z (θR) = Xa × sin (θR−θR0) + Za × cos
(ΘR−θR0) X (θR) = Xa × cos (θR−θR0) −Za × sin
(ΘR -θR0) R (θR) = [{LXB0 (θR) + X ( θR)} 2 + {LzB0 (θ
R) + Z (θR)｝ ² ] ^0.5 θ (θR) = tan ^-1 [{LzB0 (θR) + Z (θR)} /
{LxB0 (θR) + X (θR)}] Therefore, X (θR) = R (θR) × cos {θ (θR)}... (14) If the first boom, the second boom, the arm, and the turning actuator are driven in accordance with the reference coordinates X (θR), horizontal linear control can be performed.

Another embodiment of the present invention will be described with reference to FIG. When the arm control point e reaches the X axis during the linear control by the offset boom type working machine, the control is switched to the linear control by turning drive and the work machine drive, and the linear control is performed to the arm control point e3. Here, the distance LxB0 between the Z axis extending from the turning center R0 and the boom foot 5a, the distance Xa0 from the boom foot 5a to the control point e3 of the arm 12, and the Z axis extending from the turning center R0 and the control point e2 of the arm 12. The distance X0 is obtained by the following equation: X0 = LxB0 + Xa0. If the first boom, the second boom, the arm, and the turning actuator are driven in accordance with the reference coordinates X0, horizontal linear control can be performed.

Next, the operation shown in FIGS. 1 to 7 will be described. First, when the arm control point e by the offset boom type working machine is linearly controlled in the lateral direction (Z-axis direction), the arm-to-ground angle γ, the arm control point e, and the Z1 or Z2 direction of the linear control are set by the setting unit 32. I do. Next, after the automatic change-over switch 31 is turned on, the signals from the first to fourth detecting means 16, 17, 18, 19 are received, and the plurality of working machine members 5, 7, 9, 11, 12 are received.
, The coordinates Xa0, Ya0, Za0 of each axis of the arm control point e calculated from the lengths L1 to L5, and the arm ground angle γa0 are calculated. By calculating the speed dz / dt of the arm control point e in the Z direction, the target angular speed dθ3 / dt of the offset boom is set. The offset boom is calculated from the target angular velocity dθ3 / dt, and based on the calculation result, the offset boom actuator 10 is driven to automatically move the tip of the work machine member in the lateral direction to move the work machine member relative to the work target. In order to perform linear control, a command is output from the control device 30 so that the first to fourth directional control valves 23, 24, 25, and 26 have a predetermined opening amount. This allows
The linear control of the offset boom type working machine in the horizontal direction is automatically performed, so that even an unskilled operator can easily operate the machine.

Next, when the arm control point e by the turning drive is linearly controlled in the lateral direction (Z-axis direction), the arm-to-ground angle γ, the arm control point e, and the Z1 or Z2 direction of the linear control are set by the setter 32. Set. Next, after the automatic changeover switch 31 is turned on, the signals from the first to fifth detecting means 16, 17, 18, 19, 41 are received, and the lengths of the plurality of working machine members 5, 7, 9, 11, 12 are determined. L1
La, the coordinates Xa0, Ya0, Za0 of each axis of the arm control point e, and the arm ground angle γa0.
Is calculated. The turning speed dθR / dt of the arm control point e in the Z direction is calculated, and the respective axes Xa0, YaO are calculated.
, Za0, the reference coordinates X0 from the turning center R0 to the arm control point e1 are calculated. The working machine and the turning actuators 6, 8, 13, and 40 are driven based on the calculation result from the reference coordinates X0, and the tip of the working machine member is automatically moved in the horizontal direction to move the work object. In order to perform the linear control, the controller 30 outputs a command to set the first, second, fourth and turning direction switching valves 23, 24, 26, 28 to a predetermined opening amount. With this, the tip of the offset boom type working machine is moved laterally by the turning drive of the working machine and the turning actuator, and the linear control is automatically performed on the work object, so that even an unskilled operator can easily operate Operation becomes possible. In the above description, the arm-to-ground angle γ is set in advance to keep the working posture of the arm constant. When the working posture of the arm does not need to be particularly fixed, the arm-to-ground angle γ is set. Even if the angle is not set and the free state is set, the target angular velocity dθ3 /
dt, the first boom based on the calculation result,
It is possible to drive the actuators 6, 8, 10, and 13 of the second boom, the offset boom, and the arm to automatically move the tip of the work equipment member in the lateral direction to perform linear control on the work object. It is. Also, the aforementioned reference coordinates X0
From the first boom and the second boom based on the calculation result.
Boom, arm and pivot actuators 6, 8,
It is possible to control the linear movement of the work object by automatically driving the end of the working machine member in the lateral direction by driving the driving units 13 and 40.

The operation of the control circuit shown in FIGS. 5 and 6 will be described. By the offset boom type working machine mentioned above,
Alternatively, the control device 30 controls the arm control point e by turning the vehicle body 3 linearly in the lateral direction (Z-axis direction).
And command signals i01 to i12 based on the calculation result.
Is output. When the command signal i01 is input to the operating part 23a of the first direction switching valve 23, the valve 23 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21
Flows into the head chamber 6a of the first actuator 6 through the conduit 23d via the branch conduit 22a. Thereby, the actuator 6 is shortened. Command signal i02
Is input to the operating portion 23b of the first direction switching valve 23, the valve 23 is switched to the position b, and the pressure oil discharged from the hydraulic pump 21 is supplied from the pipe 22 through the branch pipe 22a. Through the path 23c, the bottom chamber 6 of the first actuator 6
b. Thus, the actuator 6 is driven to extend. When the command signal i03 is input to the operation section 24a of the second direction switching valve 24, the valve 24 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21 flows from the pipe 22 to the branch pipe 22b. The fluid then flows into the head chamber 8a of the second actuator 8 through the conduit 24d. As a result, the actuator 8 is shortened. The command signal i04 is the second
When input to the operation portion 24b of the direction switching valve 24, the valve 24 is switched to the position b, and the pressure oil discharged from the hydraulic pump 21 flows from the line 22 to the line 2 via the branch line 22b.
It flows into the bottom chamber 8b of the second actuator 8 through 4c. As a result, the actuator 8 is driven to extend. The command signal i07 is transmitted to the operation unit 26a of the fourth directional control valve 26.
Is input to the valve 26, the valve 26 is switched to the position a, and the pressure oil discharged from the hydraulic pump 21 passes through the pipe 26d from the pipe 22 via the branch pipe 22d and passes through the head of the fourth actuator 13 It flows into the chamber 13a. As a result, the actuator 13 is shortened. Command signal i08 is 4th
When input to the operation portion 26b of the direction switching valve 26, the valve 26 is switched to the position b, and the pressure oil discharged from the hydraulic pump 21 is supplied from the line 22 to the line 2 via the branch line 22d.
6c through the bottom chamber 13b of the fourth actuator 13.
Flows into. Thereby, the actuator 13 is driven to extend. When the command signal i11 is input to the operation portion 28a of the turning direction switching valve 28, the valve 28 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21 flows from the pipeline 22 to the branch pipeline 22e. The fluid then flows into the turning actuator 40 through the conduit 28d. Thus, the actuator 40 is driven to turn left. When the command signal i12 is input to the operating portion 28b of the turning direction switching valve 28, the valve 28 is switched to the position b, and the pressure oil discharged from the hydraulic pump 21 flows from the pipeline 22 to the branch pipeline 22e. Via line 28
and flows into the turning actuator 40 through c. As a result, the actuator 40 is driven to turn right. Thus, the first, second, third and fourth actuators 6,
8, 10 and 13 are shortened or extended to drive the arm 12
Can be linearly controlled in the horizontal direction.

When the automatic change-over switch 31 is off, the directional control valves 23, 24, 25, 26, 27 can be switched by manually operating the electric operation means 35. The potentiometer 36 is an electric operating means 3
A voltage signal V1 corresponding to the operation displacement of No. 5 is generated, and this voltage signal V1 is output to the control device 30. This control device 3
0 is the first to fifth directional control valves 23, 24, 25, 26, 2 based on the signal V1 input from the potentiometer 36.
Command signals i01 to i for operating any one of
After the signals i01 to i12 are amplified by an amplifier in the control device 30, the command signals i01 to i12 are converted to the first to fifth directional control valves 23, 24, 25, 26, 27 and for turning. Each operation unit 23a, 23b, 2 of the direction switching valve 28
4a, 24b, 25a, 25b, 26a, 26b, 27
a, 27b, 28a, 28b. Command signal i
01 to i12, the first to fifth directional control valves 23, 24, 2
5, 26, 27, and the opening amounts of the turning direction switching valve 28 are controlled to control the first to fifth and turning actuators 6,
The driving of 8, 10, 13, and 40 is the same as described above, and the description is omitted here.

The first to fourth control flowcharts in the work machine linear control device for a construction machine according to the present invention will be described with reference to FIGS. Note that the arm to ground angle γ is set in any of the first to fourth control flowcharts, but the arm to ground angle may not be set and a free state may be set. Setting the arm-to-ground angle γ is for performing linear control in the lateral direction while keeping the working posture of the arm constant. Even when the arm-to-ground angle is not set, linear control can be performed in the lateral direction. First, a first control flowchart will be described with reference to FIGS. At S1, an arm ground angle γ, an arm control point e at which work is started with respect to a work target, and a linear movement Z1 or Z2 control direction are input by a setting unit 32 shown in FIG. In S2, it is determined whether the automatic changeover switch 31 shown in FIG.
If it is O, the process returns to S1, and if it is YES, the first
The boom angle θ1, the second boom angle θ2, the offset angle θ3, and the arm angle θ4 are detected. In S4, the coordinates of the initial values of the axes Xa0, Ya0, Za0, and γa0 of the arm control point e are calculated.
In S5, the speed dz / in the linear movement Z1 or Z2 control direction
dt is calculated. At S6, the target angular velocity dθ3 / dt of the offset boom is set. In S7, the third directional control valve 2
The opening amount C1 of No. 5 is obtained from the target angular velocity dθ3 / dt and the predetermined function f1 stored in the control device 30 as C1 = f1 (dθ1 / dt). Next, in S8, the control current value i1 of the third directional control valve 25 is determined by the predetermined function f stored in the controller 30.
From A, i1 = fA (C1) is obtained. The control current value i1 corresponds to command signals i05 and i06 from the control device 30 shown in FIGS. 5 and 6 to the operation units 25a and 25b of the third directional control valve 25. Based on the calculated control current value i1, in S9 the third directional control valve 2
5 is output. After the command is output to the third direction switching valve 25, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, and the arm angle θ4 are detected in S10. S11
Then, the coordinates of the axes Xa1, Ya1, Za1, and γa that are moving linearly to the arm control points e to e1 shown in FIG. 1 are calculated.
In S12, the coordinates of the axes Xa1, Ya1, Za1, γa1 and the axes Xa0, Ya0,
The deviations ΔX, ΔY, Δγ from the initial value of γa0 are obtained. ΔX
= Xa1−Xa0, ΔY = Ya1−Ya0, Δγ = γa−γa0 In S13, the deviation ΔX is | ΔX with respect to the limit error ΔXe.
| ≦ ΔXe, and the deviation value ΔY is the limit error ΔYe
It is determined whether | ΔY | ≦ ΔYe, and the deviation value Δγ
Determines whether | Δγ | ≦ Δγe with respect to the limit error Δγe, returns to S10 if these three determination results are YES, and returns S if none of the three determination results is NO.
At 14, each target speed dX / dt, dY / dt, dγ / d
Calculate t. At S15, each target angular velocity dθ1 / dt,
dθ4 / dt, dθ2 / dt = constant are calculated. S1
6, the first, second and fourth directional control valves 23, 24, 26
The opening amounts C1, C2, C3 of the target angular velocity dθ1 / d
t, dθ4 / dt, dθ2 / dt, and a predetermined function f1 stored in the control device 30, C1 = f1 (dθ1 //
dt), C2 = f1 (dθ4 / dt), C3 = f1 (d
θ2 / dt). Next, at S17, the control current values i2, i of the first, second and fourth directional control valves 23, 24, 26 are determined.
3, i4 is a predetermined function fA stored in the controller 30.
Thus, i2 = fA (C1), i3 = fA (C2), i
4 = fA (C3) is obtained. The control current value i2 corresponds to command signals i01 and i02 from the control device 30 shown in FIGS. 5 and 6 to the operation units 23a and 23b of the first directional control valve 23. The control current value i3 is controlled by the control device 30 shown in FIGS.
To the operation part 26a and the operation part 26 of the fourth directional control valve 26
b corresponds to the command signals i07 and i08. Control current value i4
Is the second directional control valve 2 from the control device 30 shown in FIGS.
4, a command signal i03 to the operation unit 24a and the operation unit 24b,
It corresponds to i04. The calculated control current values i2, i3, i
4, at S18, the first, fourth and second directional control valves 2
Commands are output to 3, 24, and 26. In S19, it is determined whether or not the automatic change-over switch 31 is turned on.
It returns to 10, and it becomes an end when it is NO. As described above, the first control flow chart first outputs a command to the third directional control valve 25, drives the third actuator 10 for offset, and starts a lateral linear movement of the control point e of the arm 12 in the lateral direction. Next, the first, fourth and second directional control valves 23,
A command is output to the control points 24 and 26 and the first, fourth and second actuators 6, 8, and 13 are simultaneously operated to linearly move in the horizontal direction from the control point e of the arm 12 to the point e1 as shown in FIG. Can be.

FIGS. 10 and 11 show a second control flow chart in the construction machine work machine linear control device according to the present invention.
It will be described based on. In S30, the arm ground angle γ, the arm control point e at which work starts for the work object,
Setter 3 for linear movement Z1 or Z2 control direction shown in FIG.
Enter with 2. In S31, it is determined whether or not the automatic changeover switch 31 shown in FIG. 5 is turned on.
, And if YES, the first boom angle θ1,
The second boom angle θ2, offset angle θ3, arm angle θ4, and turning angle θR are detected. In S33, the coordinates of the initial values of the axes Xa0, Ya0, Za0, and γa0 of the arm control point e are calculated.
In S34, the turning speed dθR / dt in the control direction of the linear movement Z1 or Z2 is calculated. In step S35, X0 = Rorg × cos θorg is calculated from the reference coordinates X0 shown in FIG. In step S36, the opening amount C4 of the turning direction switching valve 28 is obtained as C4 = f1 (X0) from the reference coordinates X0 and the predetermined function f1 stored in the control device 30. The control current value i5 of the turning direction switching valve 28 is obtained from the predetermined function fA stored in the control device 30 as i5 = fA (C1). The control current value i5 corresponds to command signals i11 and i12 from the control device 30 shown in FIGS. 5 and 6 to the operation units 28a and 28b of the turning direction switching valve 28. Based on the calculated control current value i5, a command is output to the turning direction switching valve 28 in S37. After the command is output to the turning direction switching valve 28, the first boom angle θ1, the second
The boom angle θ2, offset angle θ3, and arm angle θ4 are detected. Arm control points e to e shown in FIG.
First, the coordinates of the axes Xa1, Ya1, Za1, and γa during the linear movement are calculated. In step S40, the distance X0 (θR) between the turning center R0 and the arm control point e2 is calculated as X0 (θR) = R (θR) × cos {θ (θR)} from the above equation (14). In S41, the distance X0 (θR) during the linear movement of the arm control points e to e1, the coordinate of each axis Ya1, γa1 and the reference coordinate X0, the deviation ΔX between the initial value of each axis Ya0, γa0,
ΔY and Δγ are obtained. ΔX = X0 (θR) −X0, ΔY = Ya1−Ya0, Δγ = γa
−γa0 In S42, the deviation value ΔX is | ΔX with respect to the limit error ΔXe.
| ≦ ΔXe, and the deviation value ΔY is the limit error ΔYe
It is determined whether | ΔY | ≦ ΔYe, and the deviation value Δγ
Determines whether | Δγ | ≦ Δγe with respect to the limit error Δγe, returns to S38 if these three determination results are YES, and returns S if any one of the three determination results is NO.
At 43, each target speed dX / dt, dY / dt, dγ / d
Calculate t. At S44, each target angular velocity dθ1 / dt,
Calculate dθ2 / dt and dθ4 / dt. In S45, the opening amounts C1, C2, C3 of the first, second and fourth directional control valves 23, 24, 26 are determined by the target angular velocities dθ1 / dt, dθ2.
/ Dt, dθ4 / dt, C1 = f1 (dθ1 / dt), C1 = f1 (dθ1 / dt)
2 = f1 (dθ2 / dt), C3 = f1 (dθ4 / d
Find t). Next, in S45, the control current values i2, i3, i4 of the first, second and fourth directional control valves 23, 24, 26 are determined.
Are given by a predetermined function fA stored in the control device 30, i2 = fA (C1), i3 = fA (C2), i4 =
Find fA (C3). The control current value i2 is controlled by the control unit 30 shown in FIGS.
a and command signals i01 and i02 to the operation unit 23b. The control current value i3 is controlled by the control unit 30 shown in FIGS. 5 and 6 from the operation unit 24a and the operation unit 24b of the second directional control valve 24.
Command signals i03 and i04. The control current value i4 is controlled by the control device 30 shown in FIGS.
Command signals i07 and i to the operation unit 26a and the operation unit 26b
Equivalent to 08. The calculated control current values i2, i3, i4
As a result, in S47, the first, second and fourth directional control valves 2
Commands are output to 3, 24, and 26. In S48, it is determined whether or not the automatic changeover switch 31 is on.
Returning to 38, when it is NO, the process ends.

FIGS. 12 to 1 show a third control flow chart in the work machine linear control device for a construction machine according to the present invention.
5 will be described. In step S60, an arm-to-ground angle γ, an arm control point e at which work is started with respect to the work target, and a linear movement Z1 or Z2 control direction are input by the setting unit 32 shown in FIG. In S61, it is determined whether or not the automatic changeover switch 31 shown in FIG. 5 is on.
Returning to 60, if YES, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, the arm angle θ4, and the turning angle θR are detected in S62. Arm control point e at S63
The coordinates of the initial values of the axes Xa0, Ya0, Za0, and γa0 are calculated. In S64, the speed dz / dt in the linear movement Z1 or Z2 control direction is calculated. At S65, the angular velocity dθ3 / dt of the offset boom is calculated. At S66, the opening amount C1 of the third directional control valve, the angular velocity dθ3 / dt, the controller 30
C1 = f1 (d.theta.1 / dt) is determined by the predetermined function f1 stored in the memory. Next, in S67, the control current value i1 of the third directional control valve 25 is obtained by the following equation: i1 = fA (C1) by the predetermined function fA stored in the control device 30. The control current value i1 corresponds to command signals i05 and i06 from the control device 30 shown in FIGS. 5 and 6 to the operation units 25a and 25b of the third directional control valve 25. Based on the calculated control current value i1, a command is output to the third directional control valve 25 in S68. After the command is output to the third direction switching valve 25, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, and the arm angle θ4 are detected in S69. S7
At 0, the coordinates of the axes Xa1, Ya1, Za1, and γa that are moving linearly to the arm control points e to e1 shown in FIG. 1 are calculated. In S71, the coordinates of the axes Xa1, Ya1, Za1, γa1 and the axes Xa0, Y during the linear movement of the arm control points e to e1.
The deviations ΔX, ΔY, Δγ from the initial values of a0, γa0 are obtained.
ΔX = Xa1−Xa0, ΔY = Ya1−Ya0, Δγ = γa−γ
a0 In S72, the deviation value ΔX is | ΔX with respect to the limit error ΔXe.
| ≦ ΔXe, and the deviation value ΔY is the limit error ΔYe
It is determined whether | ΔY | ≦ ΔYe, and the deviation value Δγ
Determines whether | Δγ | ≦ Δγe with respect to the limit error Δγe, returns to S69 if these three determination results are YES, and returns S if none of the three determination results is NO.
At 73, each target speed dX / dt, dY / dt, dγ / d
Calculate t. At S74, each target angular velocity dθ1 / dt,
dθ4 / dt, dθ2 / dt = constant are calculated. S7
5, the first, second and fourth directional control valves 23, 24, 26
The opening amounts C1, C2, C3 of the target angular velocity dθ1 / d
t, dθ4 / dt, dθ2 / dt, and a predetermined function f1 stored in the control device 30, C1 = f1 (dθ1 //
dt), C2 = f1 (dθ4 / dt), C3 = f1 (d
θ2 / dt). Next, in S76, the control current values i2, i of the first, second and fourth directional control valves 23, 24, 26 are determined.
3, i4 is a predetermined function fA stored in the controller 30.
Thus, i2 = fA (C1), i3 = fA (C2), i
4 = fA (C3) is obtained. The control current value i2 corresponds to command signals i01 and i02 from the control device 30 shown in FIGS. 5 and 6 to the operation units 23a and 23b of the first directional control valve 23. The control current value i3 is controlled by the control device 30 shown in FIGS.
To the operation part 26a and the operation part 26 of the fourth directional control valve 26
b corresponds to the command signals i07 and i08. Control current value i4
Is the second directional control valve 2 from the control device 30 shown in FIGS.
4, a command signal i03 to the operation unit 24a and the operation unit 24b,
It corresponds to i04. The calculated control current values i2, i3, i
4, in S77, the first, fourth and second directional control valves 2
Commands are output to 3, 24, and 26. At S78, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, the arm angle θ4,
The turning angle θR is detected. In S79, it is determined whether or not the offset boom operation limit has been reached. If NO, the process returns to S69,
If YES, the process proceeds to S80, where the coordinates of the initial values of the axes Xa0, Ya0, γa0 of the arm control point e are calculated in S80,
Store the initial value of the turning angle θR. In step S81, the turning speed dθR / dt in the control direction of the linear movement Z1 or Z2 is calculated. At S82, the reference coordinates X0 shown in FIG.
X0 = Rorg × cosθorg is calculated by the equation 3). In S83, the opening amount C4 of the turning direction switching valve is set.
C4 = f1 (X0) is obtained from the reference coordinate X0 and the predetermined function f1 stored in the control device 30, and the control current value i5 of the turning direction switching valve 28 is determined by the predetermined function stored in the control device 30. Using the function fA, i5 = fA (C4) is obtained. The control current value i4 is determined by the control device 3 shown in FIGS.
0 corresponds to the command signals i11 and i12 to the operation unit 28a and the operation unit 28b of the turning direction switching valve 28. At S84, a command is output to the turning direction switching valve 28 based on the calculated control current value i5. In S85, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, the arm angle θ4, the turning angle θ
Find R. At S86, the axes Xa1, Ya1, Za1, and γ moving linearly to the arm control points e to e1 shown in FIG.
Calculate the coordinates of a. In S87, the distance X0 (θR) between the turning center R0 and the arm control point e2 is calculated as X0 (θR) = R (θR) × cos {θ (θR)} by the above equation (14). At S88, the distance X0 (θR) during the linear movement of the arm control points e to e1, the coordinates of the axes Ya1, γa1 and the reference coordinates X0, the deviation ΔX between the initial values of the axes Ya0, γa0,
ΔY and Δγ are obtained. ΔX = X0 (θR) −X0, ΔY = Ya1−Ya0, Δγ = γa
−γa0 In S89, the deviation value ΔX is | ΔX with respect to the limit error ΔXe.
| ≦ ΔXe, and the deviation value ΔY is the limit error ΔYe
It is determined whether | ΔY | ≦ ΔYe, and the deviation value Δγ
Determines whether | Δγ | ≦ Δγe with respect to the limit error Δγe, returns to S85 if the three determination results are YES, and returns S if none of the three determination results is NO.
At 90, each target speed dX / dt, dY / dt, dγ / d
Calculate t. At S91, each target angular velocity dθ1 / dt,
Calculate dθ2 / dt and dθ4 / dt. At S92, the opening amounts C1, C2, C3 of the first, second and fourth directional control valves 23, 24, 26 are determined by the target angular velocities dθ1 / dt, dθ2.
/ Dt, dθ4 / dt, C1 = f1 (dθ1 / dt), C1 = f1 (dθ1 / dt)
2 = f1 (dθ2 / dt), C3 = f1 (dθ4 / d
Find t). Next, at S93, the control current values i2, i3, i4 of the first, second and fourth directional control valves 23, 24, 26 are determined.
Are given by a predetermined function fA stored in the control device 30, i2 = fA (C1), i3 = fA (C2), i4 =
Find fA (C3). The control current value i2 is controlled by the control unit 30 shown in FIGS.
a and command signals i01 and i02 to the operation unit 23b. The control current value i3 is controlled by the control unit 30 shown in FIGS. 5 and 6 from the operation unit 24a and the operation unit 24b of the second directional control valve 24.
Command signals i03 and i04. The control current value i4 is controlled by the control device 30 shown in FIGS.
Command signals i07 and i to the operation unit 26a and the operation unit 26b
Equivalent to 08. The calculated control current values i2, i3, i4
As a result, in S94, the first, second, and fourth directional control valves 2
Commands are output to 3, 24, and 26. In S95, it is determined whether or not the automatic changeover switch 31 is on.
Returning to 85, when it is NO, it becomes the end.

FIG. 16 to FIG. 1 show a fourth control flow chart in the work machine linear control device for a construction machine according to the present invention.
8 will be described. At S100, the arm ground angle γ,
An arm control point e at which the work is started and a control direction of the linear movement Z1 or Z2 with respect to the work object are inputted by the setting device 32 shown in FIG. In S101, it is determined whether or not the automatic changeover switch 31 shown in FIG. 5 is on. If NO, the process returns to S100. If YES, the first boom angle θ1, the second boom angle θ2, the offset angle in S102. θ3, arm angle θ4, and turning angle θR are detected. In S103, the coordinates of the initial values of the axes Xa0, Ya0, Za0, and γa0 of the arm control point e are calculated. In S104, the speed dz / dt in the linear movement Z1 or Z2 control direction is calculated. In S105, the angular velocity dθ3 / dt of the offset boom is calculated. S106
, The opening amount C1 of the third directional control valve and the angular velocity dθ3 / d
t, C1 = f1 (dθ1 / dt) is obtained from the predetermined function f1 stored in the controller 30. Next, S1
At 07, the control current value i1 of the third directional control valve 25 is determined by the predetermined function fA stored in the control device 30 as i1 =
Find fA (C1). The control current value i1 is supplied from the control device 30 shown in FIGS.
a and command signals i05 and i06 to the operation unit 25b. Based on the calculated control current value i1, a command is output to the third directional control valve 25 in S108. In S109, the first boom angle θ1, the second boom angle θ2, the offset angle θ3, the arm angle θ4, and the turning angle θR are detected. FIG. 3 at S110
The distance Za1 in the Z direction shown in (b) is calculated. In S111, it is determined whether Za1, the distance LZB0 from the turning center R0 to the boom foot 5a, and the limit error LZ are | Za1−LZB0 | ≦ ΔLZ. If | Za1−LZB0 | Calculates the coordinates of each axis Xa1, Ya1, Za1, γa during the linear movement of the arm control points e to e1. In S113, each axis Xa1, Ya1, Za1, γ
deviations ΔX, Δ between a1 and the initial values of the axes Xa0, Ya0, γa0
Y and Δγ are obtained. ΔX = Xa1−Xa0, ΔY = Ya1−Ya0, Δγ = γa−γ
In a0 S114, the deviation value ΔX is | Δ with respect to the limit error ΔXe.
X | ≦ ΔXe, and the deviation value ΔY is the limit error ΔY
It is determined whether or not | ΔY | ≦ ΔYe, and the deviation value Δ
γ determines whether | Δγ | ≦ Δγe with respect to the limit error Δγe, and when the three determination results are YES, S109
If any one of the three determination results is NO, the target speeds dX / dt, dY / dt, d are determined in S115.
Calculate γ / dt. At S116, each target angular velocity dθ1
/ Dt, dθ4 / dt, dθ2 / dt = constant. At S117, the first, second and fourth directional control valves 23,
The opening amounts C1, C2, and C3 of the apertures 24 and 26 correspond to the target angular velocity d.
θ1 / dt, dθ4 / dt, dθ2 / dt, control device 3
According to a predetermined function f1 stored in 0, C1 = f1
(Dθ1 / dt), C2 = f1 (dθ4 / dt), C3
= F1 (dθ2 / dt). Next, in S118, the control current values i2, i3, i4 of the first, second and fourth directional control valves 23, 24, 26 are determined by a predetermined function fA stored in the control device 30, i2 = fA ( C1), i3 = fA
(C2), i4 = fA (C3). Control current value i
2 is a command signal i0 from the control device 30 shown in FIGS. 5 and 6 to the operation units 23a and 23b of the first directional control valve 23.
1, i02. The control current value i3 is controlled by the control unit 30 shown in FIGS.
And command signals i07 and i08 to the operation unit 26b.
The control current value i4 corresponds to command signals i03 and i04 from the control device 30 shown in FIGS. 5 and 6 to the operation units 24a and 24b of the second directional control valve 24. Based on the calculated control current values i2, i3, i4, a command is output to the first, fourth and second directional control valves 23, 24, 26 in S119. S1
At 20, it is determined whether or not the automatic changeover switch 31 is on. If YES, the process returns to S109, and if NO, the process ends. In step S111, | Za1-LZB0 |
If they are smaller or the same, the coordinates of the initial value of each axis Xa0, Ya0, Za0, γa0 of the arm control point e are calculated in S121. At S122, the turning speed dθR / dt is calculated. In S123, the reference coordinates X0 shown in FIG. 4 are obtained. ROrg = LXB0 + Xa0, θOrg = 0, X0 = Rorg
Is calculated. In S124, the opening amount C4 of the turning direction switching valve 28 is obtained by calculating C4 = f1 (X0) from the reference coordinates X0 and the predetermined function f1 stored in the control device 30.
The control current value i5 of the turning direction switching valve 28 is determined by a predetermined function fA stored in the control device 30, i5 = f
A (C1) is obtained. The control current value i5 is controlled by the control unit 30 shown in FIGS.
a and command signals i11 and i12 to the operation unit 28b. Based on the calculated control current value i5, a command is output to the turning direction switching valve 28 in S125. After the command is output to the turning direction switching valve 28, the first
The boom angle θ1, the second boom angle θ2, the offset angle θ3, the arm angle θ4, and the turning angle θR are detected. In S127, the coordinates of each axis Xa1, Ya1, γa during the linear movement of the arm control point e1 are calculated. At S128, the turning center R shown in FIG.
0 and arm control point e1 distance R (θR), R
(ΘR) = Xa + LXB0 is calculated, and the reference coordinate X after turning is calculated.
1 (θR), X1 (θR) = R (θR) × cos (θR-θR0)
Is calculated. S129 The distance X1 (θR) during the linear movement of the arm control point e1, the coordinates of the axes Ya1, γa and the reference coordinates X0, and the deviations ΔX, ΔY between the initial values of the axes Ya0, γa0,
Obtain Δγ. ΔXA = X1 (θR) −X0, ΔYA = Ya1−Ya0, Δγ =
γa−γa0 At S130, deviation value ΔX is | Δ
X | ≦ ΔXe, and the deviation value ΔY is the limit error ΔY
It is determined whether or not | ΔY | ≦ ΔYe, and the deviation value Δ
It is determined whether γ is | Δγ | ≦ Δγe with respect to the limit error Δγe, and when these three determination results are YES, S125
When any one of the three determination results is NO, the target speeds dXA / dt, dYA / dt, d are determined in S131.
Calculate γ / dt. At S132, each target angular velocity dθ1
/ Dt, dθ2 / dt, dθ4 / dt are calculated. S1
At 33, the first, second and fourth directional control valves 23, 24, 2
6, the opening amounts C1, C2, C3 are equal to the target angular velocity dθ1 / d.
t1, dθ2 / dt, dθ4 / dt, and a predetermined function f1 stored in the control device 30, C1 = f1 (dθ1 //
dt), C2 = f1 (dθ2 / dt), C3 = f1 (d
θ4 / dt). Next, in S134, the first and second
And the control current value i2 of the fourth directional control valve 23, 24, 26,
i3 and i4 are predetermined functions f stored in the controller 30.
By A, i2 = fA (C1), i3 = fA (C2),
Find i4 = fA (C3). The control current value i2 is shown in FIG.
These correspond to command signals i01 and i02 from the control device 30 shown in FIG. 6 to the operation units 23a and 23b of the first directional control valve 23. The control current value i3 is controlled by the control device 3 shown in FIGS.
0 to the operation unit 24a and the operation unit 2 of the second directional control valve 24
4b corresponds to the command signals i03 and i04. Control current value i
4 is a command signal i0 from the control device 30 shown in FIGS. 5 and 6 to the operation units 26a and 26b of the fourth directional control valve 26.
7, i08. The calculated control current values i2, i
In step S135, a command is output to the first, second and fourth directional control valves 23, 24 and 26 in accordance with 3, i4. In S136, it is determined whether or not the automatic changeover switch 31 is on. If YES, the process returns to S125, and if NO, the process ends.

According to the present invention, the workability of the construction machine can be improved by automatically controlling the horizontal linear control of the work machine.
The operation operation becomes easy even for an unskilled operator, which is useful as a construction machine. Although the embodiment has been described as an offset type working machine, it is needless to say that the present invention can be applied to a working machine equipped with booms, arms and buckets of standard specifications.

[Brief description of the drawings]

FIG. 1 is a coordinate diagram of each axis X, Y, and Z directions of a working machine according to the present invention.

FIG. 2 is a view for explaining horizontal linear control of the working machine.

FIG. 3 (a) is a diagram for explaining lateral linear control of a working machine at the start of turning. (B) is a figure explaining horizontal linear control of the working machine after turning.

FIG. 4 is an explanatory diagram for starting horizontal linear control of the work implement from the X axis on the turning center.

FIG. 5 is an explanatory diagram of each sensor and control device.

FIG. 6 is an explanatory diagram of a control circuit.

FIG. 7 is an explanatory diagram of a function formula of the coordinates of each point of the work implement and the angle of ground γ of the arm.

FIG. 8 is an explanatory diagram of a first control flowchart.

FIG. 9 is an explanatory diagram that follows the first control flowchart in FIG. 8;

FIG. 10 is an explanatory diagram of a second control flowchart.

FIG. 11 is an explanatory diagram that follows the second control flowchart in FIG. 10;

FIG. 12 is an explanatory diagram of a third control flowchart.

FIG. 13 is an explanatory diagram that follows the third control flowchart in FIG. 12;

FIG. 14 is an explanatory diagram that follows the third control flowchart in FIG. 13;

FIG. 15 is an explanatory diagram that follows the third control flowchart in FIG. 14;

FIG. 16 is an explanatory diagram of a fourth control flowchart.

FIG. 17 is an explanatory diagram that follows the fourth control flowchart in FIG. 16;

FIG. 18 is an explanatory diagram that follows the fourth control flowchart in FIG. 17;

FIG. 19 is a side view of a hydraulic shovel provided with an offset boom type working machine.

FIG. 20 is a view as viewed from A in FIG. 18;

[Explanation of symbols]

1. Excavator, 3. Revolving superstructure (body), 5. First
Boom, 6 ... first actuator, 7 ... second boom, 8
... Second actuator, 9 ... Bracket, 10 ... Actuator for offset, 11 ... Offset boom, 12
... arm, 13 ... arm actuator, 14 ... bucket, 17 ... first detecting means, 18 ... second detecting means, 16
... third detecting means, 19 ... fourth detecting means, 23 ... first directional switching valve, 24 ... second directional switching valve, 25 ... third directional switching valve, 26 ... fourth directional switching valve, 27 ... fifth direction Switching valve, 3
0 ... control device, 31 ... automatic changeover switch, 32 ... setting device, 40 ... turning actuator, 41 ... turning angle sensor.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazunori Nishimura 3-1-1 Ueno, Hirakata-shi, Osaka Komatsu Ltd. Osaka Plant (72) Inventor Toshihiko Miyake 2-3-6, Akasaka, Minato-ku, Tokyo Komatsu Ltd.

Claims (7)

[Claims] 1. A working machine member such as a boom, an offset boom, an arm, and the like sequentially connected from a vehicle body, a working machine such as a bucket or a breaker attached to the arm, and actuators for swinging the working machine member. A work machine linear control method for a construction machine that linearly controls a work object by moving a tip of the work machine in a lateral direction, wherein an angular velocity of an offset boom is determined from a lateral speed of the tip of the work machine. In accordance with the calculated angular velocity of the offset boom, the offset boom was operated to linearly control the tip of the working machine in the horizontal direction, and errors occurred in the vertical and horizontal directions of the tip of the working machine with respect to predetermined values. In some cases, the boom and / or the arm are driven to perform the correction, and the tip of the work machine is moved laterally to perform a straight line control on the work object. Law. 2. The work machine linear control method for a construction machine according to claim 1, wherein when the ground angle of the arm has an error with respect to a predetermined value, the boom and / or the arm is driven to correct the angle. A work machine linear control method for a construction machine, wherein the machine tip is moved laterally to perform linear control on a work object. 3. A working machine member such as a boom, an offset boom, an arm, and the like sequentially connected from the vehicle body, a working machine such as a bucket or a breaker attached to the arm, a swingable vehicle body, and a A work machine linear control method for a construction machine, comprising: an actuator for swinging and turning the vehicle body; and moving the tip of the work machine in a lateral direction to linearly control the work object. The reference coordinates from the center to the tip of the work machine are obtained, and the body is turned in accordance with the reference coordinates to linearly control the tip of the work machine in the horizontal direction. When an error occurs, the boom and / or the arm are driven to correct the error, and the tip of the working machine is moved in the lateral direction to perform linear control on the work object. Control method. 4. A working machine member such as a boom, an offset boom, an arm and the like sequentially connected from a vehicle body, a working machine such as a bucket or a breaker attached to the arm, a turnable vehicle body, and a A working machine linear control method for a construction machine, comprising: an actuator for swinging and turning a vehicle body; and linearly controlling a working object by moving a tip of the working machine in a lateral direction. Is moved in the horizontal direction by the offset boom, while moving, or
The movement by the offset boom is near the limit value and the lateral movement distance from the turning center is calculated, then the body is turned and the tip of the work machine is moved in the lateral direction to perform linear control on the work object. Work machine linear control method for construction machinery. 5. A working machine member such as a boom, an offset boom, an arm, and the like sequentially connected from a vehicle body, a working machine such as a bucket or a breaker attached to the arm, a swingable vehicle body, and a A work machine linear control method for a construction machine, comprising: an actuator for swinging and turning the vehicle body; and linearly controlling a work object by moving a tip end of the work machine in a lateral direction. Obtain the tip of the work machine with respect to the object, move laterally with the offset boom, and when the offset boom reaches the vicinity of the operation limit value, turn the vehicle body and move the tip of the work machine laterally with respect to the work object. And a linear control method for a working machine of a construction machine. 6. A working machine member such as a first boom, a second boom, an offset boom, an arm and the like, a working machine such as a bucket or a breaker attached to the arm, and a working machine member connected to the arm sequentially. A work machine linear control device for a construction machine, comprising: a directional control valve for supplying pressure oil to each of the actuators to be oscillated; and a linear control for a work object by moving a tip of the work machine in a lateral direction. A setting device (32) for setting the direction of the arm relative to the ground angle γ, the arm control point e, and the tip of the working machine in the horizontal straight line Z1 or Z2, and an automatic changeover switch (31) for switching the working machine members and the working machine to automatic control. First detecting means (17) for detecting the first boom angle θ1, second detecting means (18) for detecting the second boom angle θ2, and third detecting means for detecting the offset angle θ3 of the offset boom. Means (16), said A fourth detecting means and (19) for detecting the over arm angle .theta.4, the automatic changeover switch
After turning on (31), the first to fourth detection means (16,
17, 18, 19), the angular speed of the offset boom is calculated from the lateral speed of the tip of the work machine, and the offset boom is operated in accordance with the angular speed of the offset boom to move the tip of the work machine laterally. When there is an error in the vertical and horizontal directions of the tip of the work machine with respect to a predetermined value, actuate the boom and / or arm to correct it, and move the tip of the work machine in the horizontal direction to perform work. Equipped with a control device (30) that outputs a command to each directional control valve (23, 24, 25, 26) to drive each actuator (6, 8, 10, 13) to perform linear control on the target object A work machine linear control device for a construction machine. 7. A working machine member such as a first boom, a second boom, an offset boom, an arm, and the like, a working machine such as a bucket or a breaker attached to the arm, and a turnable body. A work machine linear control device for a construction machine, comprising: an actuator for swinging the work machine member and turning the vehicle body; and linearly controlling a work object by moving a tip of the work machine in a lateral direction. A setting device (32) for setting the arm-to-ground angle γ, the arm control point e and the tip of the work machine in the direction of the horizontal straight line Z1 or Z2.
An automatic changeover switch (31) for switching the working machine member and the working machine to automatic control; a first detecting means (17) for detecting the first boom angle θ1; and a second detecting means for detecting the second boom angle θ2. 2 detecting means (18), third detecting means (16) for detecting the offset angle θ3 of the offset boom, and the arm angle θ
4) and a fourth detection means (19) for detecting the signal from the first to fourth detection means (16, 17, 18, 19) after turning on the automatic changeover switch (31). Then, the reference coordinates from the turning center of the vehicle body to the tip of the work machine are obtained, and the vehicle body is turned in accordance with the reference coordinates to linearly control the tip of the work machine in the horizontal direction. When an error occurs in the horizontal direction with respect to a predetermined value, the boom and / or the arm are driven to correct the error, and the working machine member is moved in the horizontal direction to linearly control the work object. Control device (30) that outputs commands to each directional control valve (23, 24, 25, 26, 28) to drive each actuator (6, 8, 10, 13) and turning actuator (40). A work machine linear control device for a construction machine.