JPH1060939A - Locus control device of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate smooth locus control by forcing the tip of a front device to conduct teaching operation by an operation method according to a person's feeling. SOLUTION: An operator's manual operating force is detected by an operating force detecting lever device 5, a turning angle is detected as the quantity of state concerning the attitude of a front device by angle detectors 6a-6c, and by a control unit 7, the target speed of a bucket is obtained according to the virtual equation of motion as if the bucket is operated by the manual operating force, and the drive of corresponding flow control valves 4a-4c is controlled to obtain the target speed. When the virtual mass of the bucket is M, the viscosity damping coefficient proportional to the virtual speed of the bucket is D, the operating force is (f), the proportional gain is (k), the force applied to the bucket is F, the speed of the bucket is Xd, and the acceleration is Xdd, the virtual equation of motion is expressed by F=k.f and M.Xdd+ D.Xd=F.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory control device for a construction machine having an articulated front device, and more particularly to a hydraulic excavator having a front device including a boom, an arm, a bucket and the like. The present invention relates to a trajectory control device that controls the operation of each front member by teaching the operation of the operator with the hand of the operator, and causes the tip of the bucket to perform the teaching operation.

[0002]

2. Description of the Related Art In a hydraulic excavator, an operator operates a front member such as a boom by a manual operation lever. However, when performing a straight excavation, the operation is a combined operation thereof, and considerable skill is required.

Therefore, a trajectory control device for facilitating such operations has been proposed in Japanese Patent Application Laid-Open No. 62-72826. The trajectory control device obtains a target position from the set value of the speed vector setting means, obtains a speed vector for moving from the current position to the target position, and controls the flow rate of the boom and the arm cylinder based on the speed vector. Is configured. According to this proposal, the operation of the boom and the arm is controlled by an error between the current position and a target position based on the set moving direction and speed of the arm tip point, so that the arm tip point is set in the commanded direction / speed. Can be moved.

[0004]

However, the above prior art has the following problems. JP-A-62-728
In the prior art described in Japanese Patent Publication No. 26, the movement of the arm tip point is taught by a velocity vector. However, it is the force and acceleration that humans originally easily perceive sensuously. Therefore, this operation method deviates from human feeling,
Since the operation feeling is not so good, for example, the operation becomes jerky when starting or stopping.

SUMMARY OF THE INVENTION An object of the present invention is to provide a trajectory control device for a construction machine capable of performing a trajectory control at a front end of a front apparatus by an operation method that is suitable for human feeling, and performing smooth trajectory control.

[0006]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides an articulated front device constituted by a plurality of front members rotatable in a vertical direction, and a plurality of hydraulic actuators for driving the front device. And a trajectory control device for a construction machine including a plurality of flow control valves for controlling a flow rate of the pressure oil supplied to the plurality of hydraulic actuators,
(A) operating force detecting means for detecting the operating force of the operator's hand for teaching the operation of the front device tip; (b) state amount detecting means for detecting a state amount related to the attitude of the front device; The operation force detected by the force detection means and the state quantity detected by the state quantity detection means are input, and using these input values, it is assumed that the front end of the front device is operated with the operation force of the hand. A calculation control means for obtaining a target speed at the front end of the front device based on the equation of motion and driving and controlling a corresponding flow control valve so as to obtain the target speed.

In the present invention configured as described above,
The operation of the tip of the front device is taught by the operator's hand, and the tip of the front device is moved as if the tip of the front device was operated by the operation force, so the smooth trajectory control with excellent operation feeling Can be performed.

(2) In the above (1), preferably,
M is the virtual mass at the front end of the front device, D is the viscous damping coefficient proportional to the speed assumed at the front end of the front device, f is the operating force of the operator's hand, k is the proportional gain, F is the force applied to the front end of the front device, and F is the front. X at the tip of the device
d, when the acceleration is Xdd, the virtual equation of motion is represented by F = k · f M · Xdd + D · Xd = F.

(3) In the above (1), preferably, the operating force detecting means is means for detecting a force and a moment as the operating force, and the arithmetic control means is preferably
A means for calculating a speed and an angular speed as the target speed at the front end of the front device.

(4) To achieve the above object,
The present invention is provided to an articulated front device constituted by a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the front device, and a plurality of hydraulic actuators. A trajectory control device for a construction machine comprising a plurality of flow control valves for controlling a flow rate of pressurized oil, wherein: (a) operating force detecting means for detecting an operating force of a hand of an operator who teaches the operation of the front device tip; (B) state quantity detecting means for detecting a state quantity related to the attitude of the front device, (c) load force detecting means for detecting a load force acting on the front device, and (d) detection by the operating force detecting means. The input operation force, the state quantity detected by the state quantity detection means, and the load force detected by the load force detection means are input, and these input values are used to calculate an amount equivalent to the load force from the hand operation force. Operation control means for obtaining the target speed of the front device tip based on a virtual equation of motion as if the front device tip is being operated with the reduced force, and driving and controlling the corresponding flow control valve so as to obtain this target speed. Are provided.

In the present invention configured as described above,
The operation of the front device tip is taught by the operator's hand operation force, and the front device tip is moved as if the front device tip was operated with a force obtained by subtracting the load force equivalent from that operation force. A smooth trajectory control with an excellent feeling can be performed, and a natural operation that slows down the operation when a load is applied can be performed.

(5) In the above (4), preferably,
M is the virtual mass at the front end of the front device, D is the viscous damping coefficient proportional to the speed assumed at the front end of the front device, f is the operating force of the operator's hand, k is the proportional gain, F is the force applied to the front end of the front device, and F is the front. The load force applied to the front end of the device is FL, the speed at the front end of the device is Xd, and the acceleration is X
When dd, the above-mentioned imaginary equation of motion is expressed as follows: F = k · f M · Xdd + D · Xd = F−FL

(6) In the above (4), preferably, the operating force detecting means is means for detecting a force and a moment as the operating force, and the load force detecting means is a force as the load force. And a moment detecting means, and the arithmetic control means is means for calculating a velocity and an angular velocity as a target velocity at the front end of the front device.

(7) Further, in the above (1) or (2), preferably, the operating force detecting means includes an operating lever and a force detector.

(8) In the above (7), preferably, the operating lever of the operating force detecting means is installed such that the lever axis is perpendicular to the surface in the direction of rotation of the front device.

Since the lever axis and the rotation axis of the front device are parallel to each other, the direction of the operation force acting on the operation lever and the direction of movement of the front device tip become the same, and the front, rear, up and down, The operator can easily teach the movement in the direction with his / her hand, and the operation feeling is further improved.

(9) Further, in the above (7), preferably, the operation lever can be slightly elastically deformed by an operation force.

Thus, the operating force detecting means does not become too sensitive to the movement of the hand, and the operator can easily operate the operating lever.

(10) In the above (4), preferably, the load force detecting means is a pin-type load cell provided at two positions at the front end of the front device.

(11) In the above (4), the load force detecting means may be a pressure sensor for detecting a load pressure of the hydraulic actuator.

(12) According to another aspect of the present invention, there is provided an articulated front device comprising a plurality of front members rotatable in a vertical direction, and a plurality of driving devices for driving the front device. Hydraulic actuator and
In a trajectory control device for a construction machine having a plurality of flow control valves for controlling the flow rate of the hydraulic oil supplied to the plurality of hydraulic actuators, (a) a hand operating force of an operator who teaches the operation of the front device tip; , A state quantity detecting means for detecting a state quantity relating to the attitude of the front device, and (c) an operating force detected by the operating force detecting means and a state quantity detected by the state quantity detecting means. Computing means for driving the flow control valve as if the front end of the front device was operated with a manual operation force using these input values, and (d) the operation force The detecting means has an operating lever and a force detector, and the operating lever of the operating force detecting means is installed such that a lever axis thereof is perpendicular to a surface in a rotation direction of the front device.

As described in the above (1), the tip of the front device is moved as if the tip of the front device was operated by the operator's hand.
As described in (8) above, the direction of the operation force acting on the operation lever is the same as the direction of movement of the front end of the front device, so that a smooth trajectory control with an excellent operation feeling can be performed.

(13) Further, in order to achieve the above object, the present invention provides a multi-joint type front device constituted by a plurality of front members rotatable in a vertical direction, and a plurality of driving devices for driving the front device. Hydraulic actuator and
In a trajectory control device for a construction machine having a plurality of flow control valves for controlling the flow rate of the hydraulic oil supplied to the plurality of hydraulic actuators, (a) a hand operating force of an operator who teaches the operation of the front device tip; (B) state amount detecting means for detecting a state amount related to the posture of the front device, (c) load force detecting means for detecting a load force acting on the front device, d) The operation force detected by the operation force detection means, the state quantity detected by the state quantity detection means, and the load force detected by the load force detection means are input, and using these input values, it is as if the operation force of a hand is used. (E) operating control means for driving and controlling the flow control valve as if the front end of the front device was operated with a force reduced by the load force equivalent to (e), the operating force detecting means comprising an operating lever and a force detector To And, the operating lever of the operating force detecting means is intended to lever shaft is installed such that the rotation direction of the surface perpendicular of the front device.

As described in the above (4), the front device tip is moved as if the front device tip was operated with a force obtained by subtracting the load force equivalent from the operator's hand operation force, As described in (8) above, since the direction of the operation force acting on the operation lever is the same as the moving direction of the front end of the front device, smooth trajectory control with excellent operation feeling can be performed, and further, when a load is applied. Can perform natural operations that slow down the operation.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a hydraulic shovel will be described below with reference to the drawings.

First, a first embodiment of the present invention will be described with reference to FIGS. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a plurality of hydraulic actuators including a boom cylinder 3a, an arm cylinder 3b, and a bucket cylinder 3c driven by hydraulic oil from the hydraulic pump 2. A plurality of flow control valves 4a to 4c for controlling the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3c
4c, and these constitute a hydraulic drive device for driving the driven member of the hydraulic shovel.

As shown in FIG. 2, the hydraulic excavator includes a multi-joint type front device 1A including a boom 1a, an arm 1b, and a bucket 1c which rotate vertically, an upper revolving unit 1d, and a lower unit 1d. The front end of the boom 1a of the front device 1A is supported by the front part of the upper swing body 1d.

The trajectory control device according to the present embodiment is provided in the above-described hydraulic excavator. The trajectory control device includes an operation force detection lever device 5 for teaching movement and rotation of the bucket 1c, a boom 1a, an arm 1b, and a bucket 1
c, angle detectors 6a, 6b, and 6c that detect respective rotation angles as state quantities related to the attitude of the front device 1A, an operating force detection lever device 5, and angle detectors 6a to 6c. , And a control unit 7 that outputs an electric signal for performing trajectory control.

Here, the operating force detecting lever device 5 is shown in FIG.
As shown in the figure, the front lever 1a is constituted by an operation lever 5a and a force detector 5b, and the front end of the front device, that is, the front-back and up-down movements of the bucket 1c accompanying the turning operation of the front device 1A can be easily taught by operating the fingertip of the operator. Meanwhile, the axis of the operation lever 5a is installed perpendicular to the surface of the front device 1A in the rotation direction. The force detector 5b includes a sensor capable of detecting a force acting on the operation lever 5a and a moment around the axis.

FIG. 4 is a flowchart showing the processing functions of the control unit 7.

In FIG. 4, first, in step 100, the operating force detected by the operating force detecting lever device 5, that is, the force [fx, fy] and the moment mz are input.

Next, in step 110, the angle detector 6a
The joint angles θ1 to θ3 of the boom 1a, the arm 1b, and the bucket 1c shown in FIG.

Next, in step 120, a front attitude such as the tip position [x, y] of the arm 1b and the ground angle γ of the bucket 1c is calculated from these joint angles θ1 to θ3.

Here, the tip position [x, y] of the arm 1b
Is the position of the bucket 1c, which is obtained as a value in an xy orthogonal coordinate system with the origin at the pivot point of the base end of the boom 1a relative to the upper swing body 1d.

The ground angle γ is an angle formed by the bucket 1c with respect to the ground as shown in FIG. 5, and is obtained by the following equation.

Γ = θ1 + θ2 + θ3 (The angle is + in the clockwise direction and − in the counterclockwise direction) Next, in step 130, the operating force [fx, fy] and m
The target velocity [x ', y'] of the tip of the arm and the target angular velocity θz 'of the bucket 1c are obtained from the motion equation imagined as z.

The process of step 130 will be described in detail with reference to the control image diagram of FIG.

In the control according to the present embodiment, the target speed at the front end of the front device is obtained based on a virtual equation of motion as if the given operating force of the operator's hand was operating the front end (bucket). . However, here, in order to facilitate understanding, the details will be described in a simplified manner as a uniaxial operation.

First, a viscous damping coefficient D proportional to the mass M and the speed is assumed at the front end of the front device. These parameters are adjusted by the operation feeling, and do not need to match the actual physical quantities. At this time, assuming that the operator's hand operating force is f, the proportional gain is k, and the force applied to the front device tip (bucket) is F, F = k · f. Assuming that Xd and the acceleration are Xdd, M · Xdd + D · Xd = F.

Accordingly, the target speed Xd at each time is sequentially obtained by integrating the acceleration, that is, Xdd = (FD × Xd) / M, to obtain Xd = ∫ (Xdd) dt.

The operation based on the above-mentioned virtual equation of motion is a kind of filter processing, which is shown in a block diagram in FIG. The left side of FIG. 7 is a block diagram before coupling, and the right side is a block diagram after coupling.

In FIG. 7, K is a proportional gain of the entire filter processing, and K = 1 / D. That is, as the viscous damping coefficient D increases, the proportional gain K decreases, and the target speed for the same force F decreases. Conversely, as the viscous damping coefficient D decreases, the proportional gain K increases, and The target speed increases.

T is a time constant of the low-pass filter, and T = M / D. That is, the larger the viscous damping coefficient D and the smaller the mass M, the smaller the time constant T, and the faster the output rises, as shown in FIG. As the viscosity damping coefficient D becomes smaller and the mass M becomes larger, the time constant T becomes larger, and as shown in FIG. 8, the rise of the output becomes slower, and the response of the control becomes slower.

The virtual viscous damping coefficient D and the mass M are determined depending on the operational feeling in consideration of the magnitude of the target speed and the responsiveness.

Based on the above idea, in step 130, in the x-axis direction of the tip of the arm, the target speed x 'is obtained by setting f → fx (accordingly, F = k.fx) Xd → x'. Further, in the y-axis direction at the tip of the arm, the target speed y 'is obtained by setting f → fy (therefore, F = k · fy) Xd → y ′. Further, as for the rotation direction of the bucket, the target angular velocity θz ′ is obtained by setting f → mz (therefore, F = k · mz) Xd → θz ′.

Here, returning to the flowchart of FIG. 4, the procedure 140 and subsequent steps will be described.

In step 140, the target velocity [x ', y'] at the tip of the arm and the target angular velocity θz 'of the bucket 1c.
, The target speeds V1 to V3 of the respective cylinders are obtained by coordinate conversion.

Next, in step 150, the flow command value u is taken into consideration in consideration of the flow characteristics of each of the flow control valves 4a, 4b, 4c.
Find 1 to u3.

Next, in step 160, the flow control valve 4
In order to drive a, 4b, and 4c, a voltage is output to the amplifier, and the process returns to the beginning.

In this embodiment configured as described above, when the operator operates the operating lever 5a of the operating force detecting lever device 5 to teach the operation of the front device tip (bucket) with the operating force of the operator's hand, The front end of the front device is moved as if a force proportional to the operation force taught by the operation lever is acting. Here, when the operator operates the operation lever 5a to teach the operation of the bucket, the operator can easily perceive the sense as a reaction force that can be given from the operation lever 5a based on the speed at which the operation lever 5a is moved. Power. Therefore, when teaching the operation of the bucket with the operation force of the hand, the operator can perform the operation while sensing his own operation force.

When the bucket is moved by teaching the operating force, the acceleration Xdd is integrated as described above to obtain the target speed. Therefore, as shown in FIG. 8, the time constant T (mass M and viscous damping coefficient D) is obtained. Causes a transient response. On the other hand, when the bucket is moved in accordance with the teaching of the speed vector, a step response is obtained, and no transient response occurs. Therefore, by optimizing the response of the transient response, the front end of the front device can be moved so that the response is not too sensitive.

As described above, the operator recognizes his own operation force and operates with appropriate responsiveness, so that smooth trajectory control with excellent operation feeling can be performed without jerking even at the time of starting or stopping. .

Since the axis of the operation lever 5a of the operation force detection lever device 5 is installed perpendicular to the surface of the front device 1A in the rotation direction, the direction of the operation force when the operator operates the operation lever 5a. And the moving direction of the bucket become the same, and the movement of the bucket 1c in the front-back and up-down directions can be easily taught by the operation of the operator's fingertip. Therefore, the operation feeling is further improved.

A second embodiment of the present invention will be described with reference to FIGS. In the drawings, members and functions equivalent to those shown in FIGS. 1 and 2 are denoted by the same reference numerals.

9 and 10, the trajectory control device of the present embodiment is provided in a hydraulic shovel similar to that described in the first embodiment. Further, the trajectory control device of the present embodiment is provided at an operation force detection lever device 5 for teaching movement and rotation of the bucket 1c, and at respective rotation fulcrums of the boom 1a, the arm 1b, and the bucket 1c. An angle detector 6a, 6b, 6c for detecting each rotation angle as a state quantity relating to the posture;
A pin type load cell 8a, 8b for detecting a load in two directions for detecting a load force at the tip A, a signal from the operating force detection lever device 5, angle detectors 6a to 6c, and load cells 8a, 8b are input. And a control unit 7A that outputs an electric signal for performing trajectory control.

The operating force detecting lever device 5 has the same configuration as that of the first embodiment, and is also installed on the surface of the front device 1A in the rotation direction.

FIG. 11 is a flowchart showing the processing functions of the control unit 7A.

In FIG. 11, the processing of steps 100 to 120 is the same as that of the first embodiment. The operation force [fx, fy], mz detected by the operation force detection lever device 5 and the angle detectors 6a to 6c Input the joint angles θ1 to θ3 of the boom 1a, the arm 1b, and the bucket 1c (steps 100 and 110), and input the arm 1b from the joint angles θ1 to θ3.
, The front attitude such as the tip position [x, y] and the ground angle γ of the bucket 1c is calculated (step 120).

Next, in step 125, the load cell 8
Loads [Fax, Fay] and [Fbx, Fby] applied to the two bucket mounting pins detected by a and 8b are input.

Next, in step 126, based on these loads [Fax, Fay], [Fbx, Fby] and the attitude of the front device 1A, the bucket 1 shown in FIG.
The load force applied to c, that is, the force [FLx, FLy] and the moment MLz are calculated.

Next, in step 130A, the operation force [f
x, fy] and mz and load force [FLx, FLy], ML
The target velocity [x ', y'] of the tip of the arm and the target angular velocity θz 'of the bucket 1c are obtained from the motion equation imagined as z.

The procedure 130A will be described in detail with reference to a control image diagram shown in FIG.

In the control of the present embodiment, the front device tip (bucket) is operated based on a virtual equation of motion as if the front device tip (bucket) was operated against the load force with the given operator's hand operation force. Find the target speed of
Also in this case, in order to facilitate understanding, the details will be simplified to a single-axis operation.

First, a viscous damping coefficient D proportional to the mass M and the speed is assumed at the front end (bucket) of the front device. These parameters are adjusted by the operation feeling, and do not need to match the actual physical quantities. At this time, the operator's hand operating force is f, the proportional gain is k,
Assuming that the force applied to the front device tip (bucket) is F, F = k · f, and the imaginary equation of motion is that the load force applied to the front device tip (bucket) is FL, the speed of the front device tip is Xd, and the acceleration is Assuming that Xdd, M ＋ Xdd + D ・ Xd = F-FL.

Therefore, the target speed Xd at each time is sequentially obtained by integrating the acceleration, that is, Xdd = (F−FL−D · Xd) / M, and Xd = ∫ (Xdd) dt.

Here, the operation based on the above-mentioned virtual equation of motion is a kind of filter processing, and the proportional gain K of the entire filter processing and the time constant T of the low-pass filter are as follows: K = 1 / D T = M / D This is the same as in the first embodiment, and the virtual viscous damping coefficient D and the mass M are determined by the operational feeling in consideration of the magnitude of the target speed and the responsiveness.

In step 130, in the x-axis direction of the arm tip, a target speed x 'is obtained by setting f → fx (accordingly, F = k.fx) Xd → x ′ FL → FLx. With respect to the y-axis direction at the tip of the arm, the target speed y 'is obtained by setting f → fy (accordingly, F = k · fy) Xd → y ′ FL → FLy. Regarding the rotation direction of the bucket, the target angular velocity θz ′ is obtained by placing f → mz (accordingly, F = k · mz) Xd → θz ′ FL → MLz.

Here, returning to the flowchart of FIG. 11, the procedure 140 and subsequent steps will be described.

The processing of steps 140 to 160 is the same as that of the first embodiment, and the target speed [x ', y'] at the tip of the arm is used.
And the target velocities V1 to V3 of the respective cylinders are obtained by coordinate transformation from the target angular velocities θz ′ of the bucket 1c (step 14).
0), flow rate command values u1 to u3 are determined in consideration of the flow rate characteristics of the respective flow control valves 4a, 4b, 4c (step 150).
Further, in order to drive the flow control valves 4a, 4b, 4c, a voltage is output to the amplifier (step 160), and the process returns to the beginning.

In this embodiment constructed as described above, when the operator operates the operating lever 5a of the operating force detecting lever device 5 to teach the operation of the front device tip (bucket) with the operating force of the operator's hand, The tip of the front device is moved as if a force proportional to a force obtained by subtracting a load force equivalent from the operation force taught by the operation lever is acting. Therefore, similar to the first embodiment,
A smooth trajectory control with an excellent operation feeling can be performed, and a natural operation can be performed such that the operation is delayed when a load is applied.

In the above-described second embodiment, two pin-type load cells are used to detect the load force of the bucket. However, the load pressure of the hydraulic cylinder that drives the front device is detected. The load force of the bucket may be obtained from the pressure, or a combination thereof. Also in this case, an operation corresponding to the same load force can be performed.

A modification of the operating force detecting lever device will be described with reference to FIG.

The operating force detecting lever device 5A is
Aa and a force detector 5b. Here, when the operation lever is hardly deformed by the operation force, the movement of the operator's hand is directly detected by the force detection unit 5b, and the operation force detection lever device becomes too sensitive. In order to avoid this, the operation lever 5Aa is made slightly elastically deformable, so that the operation force detection lever device does not become too sensitive to hand movements, and the operator can easily operate the operation lever 5Aa. be able to.

In the first and second embodiments, the force and moment are detected as the operating force, the force and moment are detected as the load force, and the speed and angular speed are calculated as the target speed at the front end of the front device. However, even when the moment is not detected and the target angular velocity is not calculated, the present invention can be realized and the same effect can be obtained.

Further, the operating force detecting lever device may be such that the displacement and the force of the operating lever are proportional to the force by a spring mechanism or the like without using a force detector. In this case, the force is detected by detecting the displacement. Will be detected.

Further, the error between the target trajectory and the actual trajectory is ignored because it does not cause much problem, but the target speed at the front end of the front device is corrected by feedback control based on the error between the target trajectory and the actual trajectory. May be. In this case, an operation with high positional accuracy can be performed.

[0077]

According to the present invention, since the front end of the front device is operated as if a force proportional to the operation force taught by the operator is acting, a smooth trajectory control with an excellent operation feeling can be performed. .

Further, according to the present invention, a natural operation can be performed such that the operation becomes slow when a load is applied.

[Brief description of the drawings]

FIG. 1 is a diagram showing a trajectory control device of a hydraulic shovel according to a first embodiment of the present invention, together with a hydraulic circuit thereof.

FIG. 2 is a diagram showing the appearance of a hydraulic shovel to which the present invention is applied.

FIG. 3 is a view showing an operation force detection lever device.

FIG. 4 is a flowchart showing a control function of a control unit.

FIG. 5 is an explanatory diagram of parameters used for control of the present invention.

FIG. 6 is an image diagram of control using a virtual equation of motion of the present invention.

FIG. 7 is a block diagram of a filtering process using a virtual equation of motion according to the present invention.

FIG. 8 is a diagram showing a change in output when a time constant is changed by control using a virtual equation of motion according to the present invention.

FIG. 9 is a diagram illustrating a trajectory control device of a hydraulic shovel according to a second embodiment of the present invention, together with a hydraulic circuit thereof.

FIG. 10 is a diagram showing an external appearance of a hydraulic shovel to which the present invention is applied.

FIG. 11 is a flowchart showing a control function of a control unit.

FIG. 12 is an explanatory diagram of parameters used for control of the present invention.

FIG. 13 is an image diagram of control using a virtual equation of motion of the present invention.

FIG. 14 is a view showing another example of the operating force detection lever device.

[Explanation of symbols]

 Reference Signs List 1A Front device 1B Body 1a Boom 1b Arm 1c Bucket (front device tip) 1d Upper revolving unit 1e Lower traveling unit 2 Hydraulic pump 3a-3c Hydraulic actuator 4a-4c Flow control valve 5 Operating force detecting lever device 5a Operating lever 5b Force detection Devices 6a to 6c Angle detector 7 Control unit

Claims (13)

[Claims] An articulated front device comprising a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the front device, and a plurality of hydraulic actuators supplied to the plurality of hydraulic actuators. A trajectory control device for a construction machine comprising a plurality of flow control valves for controlling the flow rate of pressurized oil; (B) state quantity detecting means for detecting a state quantity relating to the attitude of the front device; and (c) inputting the operating force detected by the operating force detecting means and the state quantity detected by the state quantity detecting means. Using the input values, the target speed of the front device tip is calculated based on a virtual equation of motion, as if the front device tip was operated with the operating force of the hand. Degrees locus control system for a construction machine characterized in that it comprises an arithmetic control unit for driving and controlling the corresponding flow control valves so that the resulting. 2. The trajectory control device for a construction machine according to claim 1, wherein a mass imaginary at the front end of the front device is M, a viscous damping coefficient proportional to a speed imaginary at the front end of the front device is D, and an operator's hand force is used. Is f, the proportional gain is k,
When the force applied to the front device tip is F, the speed of the front device tip is Xd, and the acceleration is Xdd, the imaginary equation of motion is represented by F = k · fM · Xdd + D · Xd = F. Trajectory control device for construction machinery. 3. A trajectory control device for a construction machine according to claim 1, wherein said operating force detecting means is means for detecting a force and a moment as said operating force, and said arithmetic control means is provided at a front end of said front device. A trajectory control device for a construction machine, which is means for calculating a speed and an angular speed as a target speed. 4. An articulated front device comprising a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the front device, and a plurality of hydraulic actuators supplied to the plurality of hydraulic actuators. A trajectory control device for a construction machine comprising a plurality of flow control valves for controlling the flow rate of pressurized oil; (B) state quantity detecting means for detecting a state quantity related to the attitude of the front device; (c) load force detecting means for detecting a load force acting on the front device; and (d) the operating force detecting means. The detected operation force, the state quantity detected by the state quantity detection means and the load force detected by the load force detection means are input, and these input values are used to calculate the load force phase from the operation force at hand. An operation for obtaining the target speed of the front device tip based on a virtual equation of motion as if the front device tip is being operated with a reduced force for the time being, and for driving and controlling the corresponding flow control valve so as to obtain the target speed. A trajectory control device for a construction machine, comprising: a control unit. 5. A trajectory control device for a construction machine according to claim 4, wherein M is a virtual mass at the front end of the front device, D is a viscous damping coefficient proportional to a speed imaginary at the front end of the front device, and an operator's hand force. Is f, the proportional gain is k,
The force applied to the front device tip is F, the load force applied to the front device tip is FL, the speed of the front device tip is Xd,
A trajectory control device for a construction machine, wherein the virtual equation of motion is represented by F = k · fM · Xdd + D · Xd = F−FL, where acceleration is Xdd. 6. The trajectory control device for a construction machine according to claim 4, wherein said operating force detecting means is means for detecting a force and a moment as said operating force, and said load force detecting means is said load force as said load force. A trajectory control device for a construction machine, wherein the trajectory control device is a device for detecting a force and a moment, and the arithmetic control device is a device for calculating a speed and an angular speed as a target speed of the front end of the front device. 7. The trajectory control device for a construction machine according to claim 1, wherein said operation force detecting means includes an operation lever and a force detector. 8. The trajectory control device for a construction machine according to claim 7, wherein the operation lever of the operation force detection means is installed such that a lever axis thereof is perpendicular to a plane in a rotation direction of the front device. A trajectory control device for a construction machine, comprising: 9. The trajectory control device for a construction machine according to claim 7, wherein said operation lever is slightly elastically deformable by an operation force. 10. A trajectory of a construction machine according to claim 4, wherein said load force detecting means is a pin-type load cell provided at two positions at the front end of said front device. Control device. 11. The trajectory control device for a construction machine according to claim 4, wherein said load force detecting means is a pressure sensor for detecting a load pressure of said hydraulic actuator. 12. An articulated front device comprising a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the front device,
A trajectory control device for a construction machine comprising a plurality of flow control valves for controlling the flow rate of the pressure oil supplied to the plurality of hydraulic actuators, comprising: (a) an operating force of an operator who teaches the operation of the front device tip; (B) a state quantity detecting means for detecting a state quantity relating to the attitude of the front device; and (c) an operating force detected by the operating force detecting means and a state quantity detected by the state quantity detecting means. Computing means for inputting the state quantities set by the operator and using these input values to drive and control the flow control valve as if the front end of the front device was operated by the operating force of the hand. The detection means has an operation lever and a force detector, and the operation lever of the operation force detection means is installed such that a lever axis is perpendicular to a plane in a rotation direction of the front device. Trajectory control device for construction machinery. 13. An articulated front device comprising a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the front device,
A trajectory control device for a construction machine comprising a plurality of flow control valves for controlling the flow rate of the pressure oil supplied to the plurality of hydraulic actuators, comprising: (a) a hand operating force of an operator who teaches the operation of the front device tip; (B) state quantity detecting means for detecting a state quantity relating to the attitude of the front device; (c) load force detecting means for detecting a load force acting on the front device; d) The operation force detected by the operation force detection means, the state quantity detected by the state quantity detection means, and the load force detected by the load force detection means are input, and using these input values, it is as if an operation force of a hand is used. (E) operation control means for driving and controlling the flow control valve as if the front end of the front device was operated with a force obtained by subtracting the load force from the control device. The a, operating lever of the operating force detecting means, the lever axis trajectory control system for a construction machine characterized in that it is installed such that the surface perpendicular of the rotating direction of the front device.