JPH108490A - Front control device of construction machine and area setting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To select the optimum area setting means in every field of work so as to cope with various operations suitably and quickly in a front control device of a construction machine. SOLUTION: A setting device 7 comprises a direct setting switch 7a for performing direct teach setting, and a numerical value input switch 7b including up-down keys 7b1, 7b2 for performing numerical value input setting. Further the device comprises a setting change-over switch 7c1 for switching the setting method from direct teach setting to numerical value input setting, an LED 7c2 lighted when the setting change-over switch 7c1 is pressed, an area limit switch 7d1 for starting the area limit drilling control, an LED 7d2 lighted when the area limit switch 7d1 is pressed, and a display screen 7e such as a liquid crystal for displaying the tip position of a bucket of a front device in a numerical value when the setting change-over switch 7c1 is not pressed, and displaying the numerical value set by numerical value input when the setting change-over switch 7c1 is pressed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine equipped with an articulated front device, and more particularly to a construction machine such as a hydraulic shovel equipped with a front device including front members such as arms, booms and buckets. The present invention relates to a front control device that performs a front control such as an area restriction excavation control that performs an excavation in which an area in which movement is possible is limited, and an area setting method in the front control.

[0002]

2. Description of the Related Art A typical example of a construction machine is a hydraulic shovel. In a hydraulic excavator, an operator operates front members such as a boom and an arm that constitute a front device by respective manual operation levers. Since these front members are connected by joints and rotate, it is extremely difficult to operate these front members to excavate a predetermined area or a predetermined plane. It is. When working in an urban area, care must be taken so that the front device does not interfere with surrounding electric wires, walls, and other objects.

Therefore, various proposals have been made to facilitate excavation work and to prevent interference between the front and surrounding objects.

For example, in Japanese Patent Application Laid-Open No. 4-136324, a deceleration area is set before an inaccessible area, and when a part of the front device, for example, a bucket, enters the deceleration area,
The operation signal of the operation lever is reduced to decelerate the front device, and stop when the bucket reaches the boundary of the inaccessible area. In addition, as a method of setting the area, the operator brings the cutting edge of the bucket to the target boundary, presses a switch to set the area (direct teach setting method), or inputs a necessary numerical value with a numerical input key to set the area. One of the setting methods (numerical input setting method) is adopted.

[0005] International Publication WO95 / 30059
In the publication, an excavation area is set, and when a part of the front device, for example, the bucket approaches the boundary of the excavation area, only the movement of the bucket in the direction toward the boundary is reduced, and the bucket moves to the boundary of the excavation area. Upon reaching the bucket, the bucket does not go outside the excavable area but can move along the boundary of the excavable area. As a method of setting an area, there is shown a method in which an operator brings the cutting edge of a bucket to a target boundary and presses a switch to set an area (a direct teach setting method).

[0006]

By the way, when setting the area for restricting the intrusion of the front apparatus, which setting method is convenient depends on the contents of the work.

[0007] For example, when roughly leveling work is performed at a work site where rough excavation where the range of excavation is not specifically defined by a drawing or the like is performed, it is necessary to directly excavate the tip of the bucket. It is convenient to set an area from the coordinate values of the bucket tip (direct teach setting) by an operator's setting operation, for example, by pressing a button or the like, according to the location. However, depending on the work site, there may be a case in which the excavation is specified at a depth of several meters from the ground where the hydraulic excavator is located. In this case, it is convenient to set the excavable area in advance with actual numerical values (numeric input setting). Furthermore, in the work of gradually excavating and digging pipes (water pipes and the like) buried in the ground from the ground, excavation is roughly performed without control to some extent, and from a certain depth, area-limited excavation control is used. You may want to drill. In this case, after digging roughly with some control, the position is set by direct teach, and the depth is set little by little based on the position,
It is convenient to excavate carefully so as to peel the skin in m or steps so that the target pipe can be dug.

In the above prior art, since only one of the direct teaching setting and the numerical value input setting is provided as the area setting means, the optimum area setting means cannot be selected at any work site. There is a problem that it is not possible to appropriately and promptly respond to various operations.

SUMMARY OF THE INVENTION An object of the present invention is to provide a front control device for a construction machine capable of selecting an optimum area setting means at any work site and appropriately and quickly responding to various works.

[0010]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides an articulated front device including a plurality of front members rotatable in a vertical direction, and a plurality of hydraulic actuators for driving the plurality of front members. And a plurality of hydraulic control valves that are driven by signals from a plurality of operating means and control a flow rate of pressure oil supplied to the plurality of hydraulic actuators. In the front control device of the construction machine that controls to move in the area that has been set, it has a direct setting switch,
A first area setting means for setting an area in which the front device can move by direct teaching in accordance with an instruction of the direct setting switch; and a numerical input switch. And a second area setting means for setting.

In the present invention configured as described above, since both the area setting means of the first area setting means for performing the direct teach setting and the second area setting means for performing the numerical value input setting are provided, the present invention is applicable to any work site. By selecting the optimal area setting means, it is possible to appropriately and quickly respond to various operations.

(2) In the above (1), the front control device of the present invention preferably further comprises display means for displaying a numerical value input by a numerical input switch of the second area setting means.

Thus, the operator can perform the numerical value input setting while watching the numerical value displayed on the display means, and can perform the numerical value input setting accurately and quickly.

(3) In the above (1), the front control device according to the present invention preferably comprises a setting changeover switch, and the first area setting means and the second area setting means when the setting changeover switch is not operated. The apparatus further includes setting selection means for selecting one setting of the means and selecting the other setting of the first area setting means and the second area setting means when the setting changeover switch is operated.

By operating one of the first area setting means and the second area setting means, the one area setting means can be set without operating the setting change switch. Is operated, the setting can be switched to the setting of the other area setting means, and the setting can be switched rationally with minimum switch operation.

(4) In the above (3), preferably,
The setting selecting means is for selecting a setting by the first area setting means when a direct setting switch of the first area setting means is operated.

Thus, if the direct setting switch of the first area setting means is operated, the direct teach setting can be performed without operating the setting changeover switch, and the area setting giving priority to the direct teach setting can be performed.

(5) In the above (4), the front control device of the present invention displays the present position of the front device on the display means and the display means when the setting changeover switch is not operated, Display switching means for displaying a numerical value input by a numerical value input switch of the second area setting means when the setting changeover switch is operated.

Thus, during the front control and during the direct teaching setting, the current position of the front apparatus is displayed on the display means, and the operator can work while confirming the position on the display means, and during the numerical value input setting. Is displayed on the display means, and the operator can make settings while viewing the numerical values displayed on the display means.

(6) In the above (1), preferably, the numerical value input switch of the second area setting means includes a first numerical value input key for increasing a numerical value from a certain reference value, and a numerical value from a certain reference value. A second numerical input key for decreasing.

Thus, the operator can freely set the numerical value input using the two keys.

(7) Further, in the above (1), preferably, the second area setting means preliminarily sets a value of a position where the front device does not reach as an initial value, and sets the value by using the numerical input switch. The area is set by changing the numerical value based on the initial value.

Thus, when the second area setting means performs the numerical value input setting, the area can be set at a desired position based on the value of the position where the front device cannot reach.

(8) In the above (1), preferably, the second area setting means changes the numerical value by the numerical value input switch based on the numerical value set by the direct teaching, and sets the area. Is what you do.

[0025] Thus, in the work of gradually excavating and digging a pipe buried in the ground from the ground, the excavation is roughly excavated without any control, and a position set by direct teaching from a certain depth is used as a reference. The depth can be set little by little by numerical input, and the excavation can be carefully done so as to peel the skin in a few cm steps little by little, and the target pipe can be dug quickly without damage.

(9) Further, in the above (1), the front control device of the present invention preferably operates a control selection switch for selecting whether or not to control the front device, and operates the control selection switch. Further, each time the front control is selected, the apparatus further includes an initial setting means for setting a value of a position where the front device does not reach as an initial value of the setting area each time.

Thus, when the front control is selected, a position where the front device cannot reach at first is always set, and the front device can freely move within a range where the front device can operate. The region can be set freely within the operating range.

(10) In order to achieve the above object, according to the present invention, a multi-joint type front device constituted by a plurality of front members rotatable in a vertical direction is moved within a preset area. In the area setting method in the front control, the front device is moved to a reference position, the position is stored by direct teaching, and then the depth is set based on the position by numerical input, and the result is obtained. The region in which the front device can move is set by the given numerical value.

As a result, in the operation of excavating and digging the pipe buried in the soil from the ground as described in (8) above, the target pipe can be dug quickly.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a region excavation control device for a hydraulic excavator will be described below with reference to the drawings. First, a first embodiment of the present invention is shown in FIG.
This will be described with reference to FIG. In FIG. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2 and a boom cylinder 3a driven by hydraulic oil from the hydraulic pump 2.
A plurality of hydraulic actuators including an arm cylinder 3b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f;
3f, a plurality of operating lever devices 4a to 4f provided corresponding to each of the operating lever devices 4a to 4f, which are connected between the hydraulic pump 2 and the plurality of hydraulic actuators 3a to 3f.
4f, a plurality of flow control valves 5a to 5f for controlling the flow rate of the pressure oil supplied to the hydraulic actuators 3a to 3f, the hydraulic pump 2 and the flow control valve 5a.
And a relief valve 6 that opens when the pressure between the pressures of 5 f and 5 f exceeds a set value, and these constitute a hydraulic drive device for driving a 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 traveling unit 1e. The base end of the boom 1a of the front device 1A is supported by the front part of the upper swing body 1d. The boom 1a, the arm 1b, the bucket 1c, the upper swing body 1d, and the lower traveling body 1e are respectively a boom cylinder 3a, an arm cylinder 3
b, a bucket cylinder 3c, a swing motor 3d, and left and right traveling motors 3e, 3f, which constitute driven members which are driven by the operation lever device 4a, respectively.
４4f.

The operating lever devices 4a to 4f are of a hydraulic pilot type, and the pilot pressures corresponding to the operating amounts and operating directions of the operating levers 40a to 40f respectively operated by the operators are applied to pilot lines 44a to 49b.
The hydraulic drive unit 5 of the corresponding flow control valves 5a to 5f through
0a-55b to drive these flow control valves.

The hydraulic excavator as described above is provided with the region limited excavation control device according to the present embodiment. The control device includes a setting device 7 for instructing a predetermined portion of the front device, for example, an excavation area where the tip of the bucket 1c can move in accordance with the work, and rotation of each of the boom 1a, the arm 1b, and the bucket 1c. Angle detectors 8a, 8b, 8c provided at the fulcrum and detecting respective rotation angles as state quantities relating to the position and orientation of the front device 1A, and an inclination angle detector 8d detecting the front-rear inclination angle of the vehicle body 1B.
And pressure detectors 61a, 61 provided on the pilot lines 45a, 45b of the operating lever device 4b for the arm and detecting the pilot pressure as the operating amount of the operating lever device 4b.
1b, a proportional solenoid valve 10a having a primary port connected to the pilot pump 43 and reducing and outputting the pilot pressure from the pilot pump 43 in accordance with an electric signal, and a pilot line 44a of the operating lever device 4a for the boom and the proportional solenoid valve. The shuttle valve 12 is connected to the secondary port side of the valve 10a, selects the high pressure side of the pilot pressure in the pilot line 44a and the control pressure output from the proportional solenoid valve 10a, and leads the shuttle pressure to the hydraulic drive unit 50a of the flow control valve 5a. A proportional solenoid valve 10b installed on the pilot line 44b of the operating lever device 4a for the boom and reducing and outputting the pilot pressure in the pilot line 44b in accordance with an electric signal; a setting signal of the setting device 7; The detection signals of the detectors 8a, 8b, 8c and the inclination angle detector 8d and the detection signals of the pressure detectors 61a, 61b are inputted. The tip of the socket 1c sets the excavation area can move, proportional electrical signal to correct the operation signal for excavation control with a limited region solenoid valve 1
And a control unit 9 for outputting the signals to 0a and 10b.

The setting unit 7 outputs a setting signal to the control unit 9 to instruct the setting of the excavation restriction area. As shown in FIG. 3, a direct setting switch 7a for performing direct teaching setting and a numerical input Numerical input switch 7b composed of an up key 7b1 and a down key 7b2 for setting, a setting changeover switch 7c1 pressed when switching the setting method from direct teach setting to a numerical value input setting, and a setting changeover switch 7c1 being pressed LED 7c2 that is turned on, an area limit switch 7d1 that is pressed when performing the area limit excavation control, an LED 7d2 that is turned on when the area limit switch 7d1 is pressed, and a bucket of the front device 1A when the setting switch 7c1 is not pressed Is displayed as a numerical value, and the setting changeover switch 7c1 is And a display screen 7e of the liquid crystal for displaying the value set by the the numeric input.

The setting device 7 is installed, for example, at a position such as a front corner portion above an operation panel which is normally installed in a cab and does not obstruct the operator's view.

FIG. 4 shows the control function of the control unit 9.
The control unit 9 includes a front attitude calculator 9a, an area setting calculator 9b, a bucket tip speed limit value calculator 9c, an arm cylinder speed calculator 9d, a bucket tip speed calculator 9e by an arm, and a bucket tip speed limit by a boom. Value calculation section 9f, boom cylinder speed limit value calculation section 9
g, a boom pilot pressure limit value calculator 9h, a region limit control switching calculator 9r, a boom valve command calculator 9i, and a display switching control calculator 9s.

The front attitude calculating section 9a determines the position of the front device 1A based on the rotation angles of the boom, arm, and bucket detected by the angle detectors 8a to 8c and the inclination angle detector 8d and the front and rear inclination angles of the vehicle body 1B. Calculate attitude. One example will be described with reference to FIG. In this example, the front device 1A
Omitted for are those in the case of calculating the position of the toe (tip) P ₁ of the bucket, the detection value of the tilt angle detector 8d for the sake of simplicity.

In FIG. 5, the storage unit of the control unit 9 stores the dimensions of the front device 1A and the body 1B. The front attitude calculation unit 9a stores these data and the angle detectors 8a, 8b, 8c. The detected rotation angle α,
beta, to calculate the position of the bucket end P ₁ using each value of gamma. Position at this time P ₁ is, for example, obtains the pivot point of the boom 1a coordinate value of the XY coordinate system with the origin as (X, Y). The XY coordinate system is a rectangular coordinate system that is in a vertical plane fixed to the main body 1B. Rotating fulcrum of boom 1a and arm 1b
L ₁ , the distance between the pivot point of the arm ₁ b and the pivot point of the bucket 1 c is L ₂ , and the distance between the pivot point of the bucket 1 c and the tip of the bucket 1 c is L _3. ,
Coordinate values (X, Y) of XY coordinate system from rotation angles α, β, γ
Is obtained from the following equation.

X = L ₁ sin α + L ₂ sin (α + β) +
L ₃ sin (α + β + γ) Y = L ₁ cos α + L ₂ con (α + β) + L ₃ cos (α
+ Β + γ) In the area setting calculation section 9b, the tip of the bucket 1c can move by either the direct teach setting using the direct setting switch 7a or the numerical input setting using the numerical input switch 7b according to an instruction from the setting device 7. An excavation area setting calculation is performed. One example will be described with reference to FIGS. In this example, the boundary L of the excavable area is set to a depth h.
1 is set as a straight line parallel to the X axis.

In FIG. 6, the area limit excavation control of this embodiment is started by turning on (pressing) the area limit switch 7d1 (step 100). When the area limit switch 7d1 is turned on, the LED 7d2 is turned on. Later (step 110), the boundary L of the excavable area (depth h
As an initial value of 1), a value at a position deep enough to reach the bucket is set (step 120). Thus, in a state where the area limit switch 7d1 is turned ON, the front apparatus 1A can freely move within a range where the front apparatus 1A can operate, and the excavable area can be freely set within the operation range. Here, as an example, the initial value of the boundary L of the excavable area is set to Y = −20 m.

Next, the boundary L of the excavable area is set as follows by a combination of the operations of the direct setting switch 7a, the numerical value input switch 7b, and the setting changeover switch 7c1.

[0042] (a) after moving the center point P ₁ of the bucket 1c to a target position by operating the direct teaching setting operator presses the direct setting switch 7a.
When the direct setting switch 7a is pressed, the area setting calculation unit 9b always calculates the value of the Y coordinate value of the bucket tip P1 calculated by the front attitude calculation unit 9a at that time, Y = Y ₁ ,
Using Y ₂ and Y ₄ , set value = Y coordinate value Y ₁ (step 140) Set value = Y coordinate value Y ₂ (step 160) Set value = Y coordinate value Y ₄ (step 220) Set the boundary L (Step 130
→ 140 → 150 → 240 → 130 → 240; Step 130 → 140 → 150 → 160 → 240 → 130 →
240: Step 130 → 190 → 200 or 210
→ 220 → 240 → 130 → 240).

(B) Numerical value input setting When the setting changeover switch 7c1 is pressed to select the numerical value input setting, and when the direct teach setting is never performed, the up key 7b1 and the down key 7b2 of the numerical value input switch 7b are operated. , The above initial value Y = −
Up-down key 7b
The change amounts dY ₃ and dY _{4 according} to 1, 7b2 are added, and the set value = −20 + dY ₃ (step 200) The set value = −20 + dY ₄ (step 230) and the boundary L of the excavable area are set (step 130).
→ 190 → 200 → 210 → 240 → 130 → 240;
Step 130 → 190 → 200 or 210 → 230
→ 240 → 130 → 240).

(C) Direct teach setting → Numerical input setting When the direct teach setting is made once, the setting changeover switch 7c1 is pressed to select the numerical input setting, and the up key 7b1 and the down key 7b2 of the numerical input keys 7b are operated. , based on the setting value Y ₁ of the direct teaching, by adding the change amount dY ₂ by the up-down key 7b1,7b2 this number, the boundary L of the excavation area set value = Y ₁ + dY ₂ (Suttepu 180) Set (Step 130 →
140 → 150 → 170 → 180 → 240 → 130 → 2
40).

Also, once Y ₁ + dY ₂ is set, the direct setting switch 7 is set as shown in FIG.
If a is pressed, direct teaching setting priority, press the setting changeover switch 7c1 Thereafter, by entering numerical values by operating the up-down key 7b1 and 7b2, based on the setting value Y ₁ of the new direct teaching The setting value = Y ₁ + dY ₂ (step 180) is calculated, and the boundary L of the excavable area is set (step 130 → 140 → 150 → 170 → 180 → 24)
0 → 130 → 140 → 150 → 170 → 180 → 240
→ 130 → 240).

Here, as a direct teach setting,
When the tip of the bucket is placed on the ground as shown in FIG. 5 and the position of the ground is set, the change amount dY ₂ input by the down key 7b2 is the depth h1, and the operator consequently obtains the depth h1. Will be entered as a numerical value.

In the above (b) and (c), the amount of change set by operating the up / down keys 7b1 and 7b2 is not particularly defined as an input value, but cannot be reached by the front device 1A. Even if you set the position value like this,
It doesn't really make sense. Therefore, the up-down key 7b
The amount of change set by operating the first and seventh b2 is defined as a value within a range that the front device 1A can reach. Here, as an example, it is assumed that the value is up to ± 20 m, and it is assumed that a value larger than that cannot be input.

When ending the area limit excavation control of this embodiment, when the area limit switch 7d1 is pressed again, the switch is turned off (step 240), and the set value of the boundary L of the excavable area is initialized again for safety. Value Y = -20
m (Step 250), turns off the LED 7d2 (Step 260), and ends the control (Step 270).

After setting the boundary L of the excavable area as described above, the area setting operation unit 9b sets a straight line formula of the boundary L of the set excavable area, and has an origin on the straight line and has the origin. Is set as an orthogonal coordinate system XaYa coordinate system, and conversion data from the XY coordinate system to the XaYa coordinate system is obtained.

The bucket tip speed limit value calculator 9c calculates a limit value a of a component perpendicular to the bucket tip speed boundary L based on the distance D from the bucket tip boundary L. This is performed by storing the relationship as shown in FIG. 7 in the storage device of the control unit 9 and reading out this relationship.

In FIG. 7, the horizontal axis represents the distance D from the boundary L of the bucket tip, the vertical axis represents the limit value a of the component perpendicular to the boundary L of the bucket tip speed, the distance D on the horizontal axis and the vertical axis. As in the XaYa coordinate system, the direction from the outside of the setting area to the inside of the setting area is the (+) direction. The relationship between the distance D and the limit value a is such that, when the bucket tip is within the set area, the speed in the (-) direction proportional to the distance D is defined as the component limit value a perpendicular to the boundary L of the bucket tip speed, When the bucket tip is outside the area, the speed in the (+) direction proportional to the distance D is set as the limit value a of the component perpendicular to the boundary L of the bucket tip speed. Therefore, in the set area, the speed is reduced only when the component perpendicular to the boundary L of the bucket tip speed exceeds the limit value in the (-) direction, and outside the set area, the bucket tip is accelerated in the (+) direction. Become like

The arm cylinder speed calculator 9d estimates the arm cylinder speed based on the command value (pilot pressure) to the flow control valve 5b detected by the pressure detectors 61a and 61b and the flow characteristics of the flow control valve 5b of the arm. I do.

Bucket tip speed calculating section 9e by arm
Then, the bucket tip speed b by the arm is calculated based on the arm cylinder speed and the position and posture of the front device 1A obtained by the front posture calculation unit 9a.

In the limit value calculating section 9f for the bucket tip speed by the boom, the bucket tip speed b by the arm obtained by the calculating section 9e is converted from the XY coordinate system to the XaYa coordinate system using the conversion data obtained by the area setting calculating section 9b. The limit value a of the component perpendicular to the boundary L of the bucket tip speed calculated by the calculation unit 9c and the limit value a of the component perpendicular to the boundary L of the bucket tip speed by the arm are calculated. Based on the component by, a limit value c of a component perpendicular to the boundary L of the bucket tip speed due to the boom is calculated. This will be described with reference to FIG.

In FIG. 8, the limit value a of the component perpendicular to the boundary L of the bucket tip speed calculated by the bucket tip speed limit value calculation unit 9c and the bucket tip speed by the arm calculated by the bucket tip speed calculation unit 9e by the arm. b
The difference (a-by) of the component by perpendicular to the boundary L is the limit value c of the component perpendicular to the boundary L of the bucket tip speed due to the boom.
The limit value calculator 9f for the bucket tip speed due to the boom calculates the limit value c from the equation c = a-by.

The meaning of the limit value c will be described for the case where the bucket tip is inside the set area, the case where it is on the boundary, and the case where it is outside the set area.

When the bucket tip is within the set area, the bucket tip speed is the distance D from the boundary L of the bucket tip.
In proportion to the limit value a of the component perpendicular to the boundary L of the bucket tip speed, the component perpendicular to the boundary L of the bucket tip speed due to the boom is limited to c (= a-by). If the component by perpendicular to the boundary L of the speed b exceeds this, the speed is reduced to c.

When the bucket tip is on the boundary L of the set area, the limit value a of the component perpendicular to the boundary L of the bucket tip speed becomes 0, and the bucket tip speed b of the arm moving outside the set area becomes the speed c. And the component by perpendicular to the boundary L of the bucket tip speed becomes zero.

When the bucket tip is out of the area, the component perpendicular to the boundary L of the bucket tip speed is limited to an upward speed a proportional to the distance D from the boundary L of the bucket tip, so that it is always set in the set area. A correction operation is performed by raising the boom of the speed c so that the image is restored within the range.

In the boom cylinder speed limit value calculating section 9g, based on the limit value c of the component perpendicular to the boundary L of the bucket tip speed due to the boom and the position and attitude of the front device 1A, the coordinates using the conversion data are used. The conversion calculates the limit value of the boom cylinder speed.

The boom pilot pressure limit calculator 9h determines a boom pilot pressure limit corresponding to the boom cylinder speed limit determined by the calculator 9g, based on the flow characteristics of the boom flow control valve 5a.

In the switching operation section 9r for the area limit control,
When the area restriction switch 7d1 is ON (pushed) and the area restriction excavation control is selected, the value calculated by the calculation unit 9h is output as it is as the boom pilot pressure restriction value, and the area restriction switch 7d1 is OFF. If the area limit excavation control is not selected in (not pressed), the maximum value is output as the limit value of the boom pilot pressure.

In the boom valve command calculation section 9i, the limit value of the pilot pressure from the calculation section 9r is input. If this value is positive, the voltage corresponding to the limit value is supplied to the proportional solenoid valve 10a on the boom raising side. Is output, the pilot pressure of the hydraulic drive unit 50a of the flow control valve 5a is set to the limit value, and a voltage of 0 is output to the proportional solenoid valve 10b on the boom lower side to output the pilot pressure of the hydraulic drive unit 50b of the flow control valve 5a. To 0. When the limit value is negative, a voltage corresponding to the limit value is output to the proportional solenoid valve 10b so as to limit the pilot pressure of the hydraulic drive unit 50b of the boom lowering side flow control valve, and the boom raising side is controlled. A voltage of 0 is output to the proportional solenoid valve 10a, and the pilot pressure of the hydraulic drive unit 50a of the flow control valve 5a is set to 0.

In the display switching operation section 9s, when the setting changeover switch 7c1 is OFF (not pressed) and the numerical value input setting is not selected, the front attitude operation section 9s
the position of the tip P ₁ of the bucket calculated in a displayed numerically, setting changeover switch 7c1 is in ON (and pushed), if the numerical input setting is selected, it is set by the numeral input setting Displays the current position numerically.

In the present embodiment having the above-described structure, an operation when the area limit switch 7d1 is turned ON to perform area limit excavation control will be described. As an operation example, when the operation lever of the boom operation lever device 4a is operated in the boom lowering direction to lower the boom (boom lowering operation) in order to position the tip of the bucket, the arm operation lever attempts to excavate in the forward direction. A case in which the operation lever of the device 4b is operated in the arm cloud direction to perform arm clouding (arm cloud operation) will be described.

When the operation lever of the boom operation lever device 4a is operated in the boom lowering direction in order to position the tip of the bucket, the pilot pressure, which is the command value of the operation lever device 4a, flows through the pilot line 44b to the flow control valve 5a. Is provided to the hydraulic drive unit 50b on the boom lowering side. On the other hand, at the same time, the calculation unit 9c calculates the limit value a (<0) of the bucket tip speed in proportion to the distance D from the boundary L between the bucket tip and the set area from the relationship shown in FIG. A limit value c = a (<0) of the bucket tip speed due to the boom is calculated, and a limit value of the negative boom command corresponding to the limit value c is calculated in the limit value calculation unit 9h of the boom pilot pressure, and the valve command calculation unit is calculated. 9i, the voltage corresponding to the limit value is set so as to limit the pilot pressure of the hydraulic drive unit 50b of the boom lowering side flow control valve by the proportional solenoid valve 1.
0b, and 0 is output to the proportional solenoid valve 10a on the boom raising side.
And the pilot pressure of the hydraulic drive unit 50a of the flow control valve 5a is set to zero. At this time, when the tip of the bucket is far from the boundary L of the set area, the absolute value of the limit value of the boom pilot pressure obtained by the calculation unit 9h is large, and the pilot pressure of the operation lever device 4a is smaller than this. The valve 10b outputs the pilot pressure of the operation lever device 4a as it is, whereby the boom is lowered according to the pilot pressure of the operation lever device 4a.

As described above, as the boom is lowered and the bucket tip approaches the boundary L of the set area, the limit value c = a of the bucket tip speed by the boom calculated by the calculation unit 9f.
(<0) increases (| a | or | c | decreases), and the absolute value of the limit value (<0) of the corresponding boom command obtained by the arithmetic unit 9h decreases. When the absolute value of the limit value becomes smaller than the command value of the operation lever device 4a and the voltage output from the valve command calculation unit 9i to the proportional solenoid valve 10b decreases accordingly, the proportional solenoid valve 1
Reference numeral 0b denotes a hydraulic drive unit 50 on the boom lowering side of the flow control valve 5a, which outputs a reduced pilot pressure of the operation lever device 4a.
The pilot pressure given to b is gradually limited according to the limit value c. As a result, the boom lowering speed is gradually limited as approaching the boundary L of the setting area, and the boom stops when the tip of the bucket reaches the boundary L of the setting area. Therefore, the tip of the bucket can be easily and smoothly positioned.

When the tip of the bucket protrudes from the boundary L of the set area, the calculation unit 9c calculates the limit value of the bucket tip speed proportional to the distance D from the tip of the bucket and the boundary L of the set area from the relationship shown in FIG. a (= c) is calculated as a positive value, and the valve command calculation unit 9i outputs a voltage corresponding to the limit value c to the proportional solenoid valve 10a, and restricts the voltage to the hydraulic drive unit 50a of the flow control valve 5a on the boom raising side. A pilot pressure corresponding to the value a is given. As a result, the boom is moved in the upward direction so as to be restored into the area at a speed proportional to the distance D, and stops when the tip of the bucket returns to the boundary L of the set area. Therefore, positioning of the tip of the bucket can be performed more smoothly.

When the operation lever of the arm operation lever device 4b is operated in the arm cloud direction in order to excavate in the forward direction, the pilot pressure, which is the command value of the operation lever device 4b, changes the hydraulic pressure on the arm cloud side of the flow control valve 5b. The arm is provided to the drive unit 51a, and the arm is moved so as to be lowered in the forward direction. On the other hand, at the same time, the pilot pressure of the operation lever device 4b is detected by the pressure detector 61a, and is input to the calculation unit 9d to calculate the arm cylinder speed.
The calculation unit e calculates the bucket tip speed b by the arm. The calculation unit 9c calculates the limit value a (<0) of the bucket tip speed in proportion to the distance D from the boundary L between the bucket tip and the set area from the relationship shown in FIG.
Then, the limit value c = ab of the tip speed of the bucket due to the boom
y is calculated. At this time, when the tip of the bucket is far from the boundary L of the set area and a <by (| a |> | by |), the limit value c is calculated as a negative value, and the valve command calculation unit 9i sets the limit value on the boom lowering side. Hydraulic drive 50b of flow control valve
A voltage corresponding to the limit value is output to the proportional solenoid valve 10b so as to limit the pilot pressure of the hydraulic control unit 50a of the flow control valve 5a. Reduce pressure to zero. At this time, since the operation lever device 4a is not operated, the flow control valve 5
No pilot pressure is output to the hydraulic drive unit 50b of a. As a result, the arm is moved in the forward direction according to the pilot pressure of the operation lever device 4b.

As described above, as the arm is moved in the forward direction and the bucket tip approaches the boundary L of the set area, the limit value a of the bucket tip speed calculated by the calculation unit 9c increases (| a | decreases). ), This limit value a is calculated by the calculation unit 9e.
Is larger than the component by perpendicular to the boundary L of the bucket, the limit value c = a-by of the bucket tip speed by the boom calculated by the calculation unit 9f becomes a positive value, and the valve command calculation unit 9i
Then, a voltage corresponding to the limit value is output to the proportional solenoid valve 10a on the boom raising side, the pilot pressure of the hydraulic drive unit 50a of the flow control valve 5a is set to the limit value, and a voltage of 0 is supplied to the proportional solenoid valve 10b on the boom lowering side. To make the pilot pressure of the hydraulic drive unit 50b of the flow control valve 5a zero. This allows
The correction operation by raising the boom is performed so that the component perpendicular to the boundary L of the bucket tip speed is gradually limited in proportion to the distance D from the bucket tip and the boundary L, and the bucket tip speed is corrected by the arm. The direction change control as shown in FIG. 9 is performed by the component bx parallel to the non-existent boundary L and the speed corrected by the limit value c, and excavation along the boundary L of the set area can be performed.

When the tip of the bucket protrudes from the boundary of the set area, the calculating unit 9c determines the limit value a of the tip speed of the bucket in proportion to the distance D from the tip L of the bucket to the boundary L of the set area from the relationship shown in FIG. Is calculated as a positive value, and the limit value c = a-by (> 0) of the bucket tip speed due to the boom calculated by the calculation unit 9f increases in proportion to the limit value a. The voltage output to the raising-side proportional solenoid valve 10a increases according to the limit value c. Accordingly, the correction operation by raising the boom is performed so that the bucket tip speed is proportional to the distance D outside the set area, and the component bx parallel to the boundary L where the bucket tip speed is not corrected by the arm is performed. With the velocity corrected by the limit value c, the excavation can be performed while gradually returning along the boundary L of the set area as shown in FIG. Therefore, excavation along the boundary L of the set area can be performed smoothly only by clouding the arm.

As described above, according to the present embodiment, when the bucket tip is within the set area, the component perpendicular to the boundary L of the bucket tip speed setting area is equal to the distance D from the bucket tip boundary L. Since it is proportionally limited by the limit value a, the bucket tip can be easily and smoothly positioned in the boom lowering operation, and the bucket tip can be moved along the boundary of the set area in the arm cloud operation, thereby limiting the area. Drilling can be performed efficiently and smoothly.

When the tip of the bucket is outside the set area, the front device is controlled to return to the set area by the limit value a in proportion to the distance D from the boundary L of the tip of the bucket. Even in such a case, the front device can be moved along the boundary of the set area, and excavation with the area limited can be performed accurately.

At this time, since the speed is previously reduced by the direction change control as described above, the amount of invasion outside the set area is reduced, and the shock when returning to the set area is greatly reduced. For this reason, even when the front device is quickly moved, excavation in which the area is limited can be performed smoothly, and excavation in which the area is restricted can be performed smoothly.

Further, in this embodiment, since both the direct teach setting and the numerical value input setting are provided as the means for setting the excavable area of the area limited excavation control, the optimum area setting at any work site is provided. The means can be selected, it can respond quickly to various tasks,
Appropriate and quick excavation work can be performed.

For example, when roughly leveling work is performed at a work site where rough excavation is performed, in which the range of excavation is not particularly specified by a drawing or the like, it is necessary to directly excavate the tip of the bucket. By pressing the direct setting switch 7a according to the location, the above (a)
The excavation area can be set quickly by the direct teach setting function.

On the other hand, depending on the work site, there may be a case where it is specified that the excavator is to be excavated at a depth of several meters from the ground where the hydraulic excavator is located. In this case, the setting switch 7
By pressing c1 and inputting the depth designated by the numerical input switch 7b, a desired excavation area can be quickly set by the numerical input setting function (b), and optimal control can be performed.

Further, pipes buried in the soil (water pipes, etc.)
In the work of digging and digging gradually from the ground, after roughly digging without some control, the above (c)
By setting the position by direct teaching using the setting function of, and setting the depth by numerical input little by little based on this position, it is possible to excavate roughly and quickly to a certain extent, and then in a few cm steps little by little It is possible to excavate carefully so as to peel off the skin, and to dig quickly without damaging the target piping.

Since the setting change switch 7c1 is pressed only when the numerical input setting by the numerical input switch 7b is selected, the direct setting switch 7a need only be pressed when the direct teaching setting is performed. Switching can be performed rationally with a minimum number of switch operations, and an area can be set with priority given to direct teach setting.

Further, when the setting change switch 7c1 is not pressed, the current position of the tip of the bucket of the front device 1a is displayed on the display screen 7e. When the setting change switch 7c1 is pressed, the above setting is switched and the numerical value input setting switch is set. Since the numerical value input by 7b is displayed on the display screen 7e, the operator can perform the work while confirming the current position of the tip of the bucket on the display screen 7e during the area limit excavation control and the direct teach setting, During the setting of the numerical value input, the operator can make the setting while viewing the numerical value input on the display screen 7e.

Also, each time the area limit switch 7d1 is pressed to select the area limit excavation control, the value of the position where the front apparatus cannot reach (-20 m in the above example) is set each time as the initial value of the excavation area. So the front device is free to move as far as it can operate,
The region can be freely set within the operation range.

FIG. 11 and FIG. 1 show a second embodiment of the present invention.
2 will be described. In the present embodiment, the present invention is applied to a hydraulic excavator using an electric type as an operation lever device.

In FIG. 11, the hydraulic shovel to which the present embodiment is applied is different from the hydraulic pilot type operation lever devices 4a to 4f in place of electric operation lever devices 14a to 14f.
14f. The operation lever devices 14a to 14f output a voltage corresponding to the operation amount and operation direction of the operation lever as an electric signal, and output the electric signal via the control unit A to the electric hydraulic pressure provided at both ends of the flow control valves 15a to 15f. Conversion means, for example an electromagnetic drive 30 with a proportional solenoid valve
a, 30b to 35a, 35b.

The setting device 7 is the same as that of the first embodiment shown in FIG.

FIG. 12 shows the control function of the control unit 9A. The control unit 9A includes a front attitude calculation unit 9a, an area setting calculation unit 9b, and a bucket tip speed limit value calculation unit 9
c, arm cylinder speed calculator 9Ad, arm tip bucket speed calculator 9e, boom bucket tip speed limit value calculator 9f, boom cylinder speed limit value calculator 9g, boom command limit value calculator 9Ah, boom Command adjustment calculator 9j, boom valve command calculator 9A
i, an arm valve command calculation unit 9k, and a display switching control calculation unit 9s.

The arm cylinder speed calculation unit 9Ad uses the arm rotation angle detected by the angle detector 8b to determine the arm cylinder displacement by coordinate conversion, and differentiates it to directly determine the arm cylinder speed. Note that the arm cylinder speed may be obtained using an operation signal of the arm operation lever device 4b.

In the boom command limit calculation unit 9Ah, the calculation unit 9g is operated based on the flow characteristics of the boom flow control valve 15a.
A limit value of the boom command value corresponding to the limit value of the boom cylinder speed obtained in the above is obtained.

In the boom command adjustment calculator 9j, if the area limit switch 7d1 of the setting device 7 (see FIG. 3) is ON (pushed) and the area limit excavation control is selected, the calculator 9Ah is used. The calculated limit value of the boom command is compared with the command value of the operation lever device 14a, and the larger one is output,
When the area limit switch 7d1 is OFF (not pressed) and the area limit excavation control is not selected, the command value of the operation lever device 14a is output. Here, the command value of the operation lever device 14a is, as in the XaYa coordinate system, a direction from the outside of the setting area to the inside of the setting area (boom raising direction) is the (+) direction. Outputting the larger of the limit value of the boom command and the command value of the operation lever device 14a by the calculation unit 9j is because the limit value c is (-) when the bucket tip is within the set area, and therefore both are output. Is output, and when the tip of the bucket is out of the area, the limit value c is (+), so that the one having the larger absolute value is output.

The boom valve command calculation section 9Ai receives the command value from the boom command adjustment calculation section 9j, and if the value is positive, outputs the voltage corresponding to the boom raising drive section 30a of the flow control valve 15a. Output, boom lowering drive unit 30
A voltage of 0 is output to b, and the reverse is performed when the command value is negative.

The arm valve command calculation section 9k inputs a command value of the operation lever device 14b, and when the command value is positive, the arm cloud drive section 31 of the flow control valve 15b.
and outputs a voltage corresponding to a.
Output a voltage of 0, and when the command value is negative, the reverse is performed.

Although not shown, the operation lever devices 14c to 14c
Similarly, a valve command calculation unit is provided for the command value of 14f, and outputs a voltage corresponding to the command value to the drive unit of each flow control valve.

The other functions are the same as in the first embodiment.

In this embodiment configured as described above, when the operation lever of the boom operation lever device 14a is operated in the boom lowering direction in order to position the tip of the bucket, the command value of the operation lever device 14a becomes the maximum value. It is input to the operation unit 9j. On the other hand, at the same time, the calculation unit 9c determines the boundary L between the bucket tip and the set area from the relationship shown in FIG.
Limit value a of bucket tip speed proportional to distance D from
(<0) is calculated, the calculation section 9f calculates the limit value c = a (<0) of the bucket tip speed due to the boom, and the boom command limit value calculation section 9Ah calculates the negative boom command according to the limit value c. Is calculated. At this time, when the tip of the bucket is far from the boundary L of the setting area, the command value of the operation lever device 14a is larger than the limit value of the boom command obtained by the calculation unit 9Ah.
In j, the command value of the operating lever device 14a is selected, and since this command value is negative, the valve command calculating section 9Ai outputs a voltage corresponding to the boom lowering drive section 30b of the flow control valve 15a, and the boom raising drive section. A voltage of 0 is output to 30a, whereby the boom is lowered according to the command value of the operating lever device 14a.

As described above, as the boom lowers and the bucket tip approaches the boundary L of the set area, the limit value c = a of the bucket tip speed due to the boom calculated by the calculator 9f.
(<0) becomes larger (| a | or | c | becomes smaller), and when the limit value of the corresponding boom command obtained by the arithmetic unit 9Ah becomes larger than the command value of the operation lever device 14a, the maximum of the boom command is obtained. The value calculation unit 9j selects the limit value, and the valve command calculation unit 9Ai gradually limits the voltage output to the boom lowering drive unit 30b of the flow control valve 15a according to the limit value c. Thereby, the boundary L of the setting area
, The boom lowering speed is gradually limited, and the boom stops when the tip of the bucket reaches the boundary L of the set area. Therefore, the tip of the bucket can be easily and smoothly positioned.

Since the above control is speed control,
When the speed of the front device 1A is extremely high or the operation lever device 14a is suddenly operated, the bucket tip is set to a setting area due to a response delay in control such as a delay in a hydraulic circuit or an inertial force applied to the front device 1A. Out of the boundary L of When the bucket tip protrudes in this manner, the calculation unit 9c determines that the limit value a (= c) of the bucket tip speed proportional to the distance D from the boundary L of the bucket tip and the set area is positive from the relationship shown in FIG. The valve command calculation unit 9Ai outputs a voltage corresponding to the limit value c to the boom raising drive unit 30a of the flow control valve 15a. As a result, the boom is moved in the upward direction so as to be restored into the area at a speed proportional to the distance D, and stops when the tip of the bucket returns to the boundary L of the set area. Therefore, positioning of the tip of the bucket can be performed more smoothly.

When the operation lever of the arm operation lever device 14b is operated in the arm cloud direction in order to excavate in the forward direction, the command value of the operation lever device 14b is input to the arm valve command calculation section 9k, and the flow control valve is operated. A voltage corresponding to the arm cloud drive unit 31a of 15b is output, and the arm is moved so as to be lowered in the forward direction. On the other hand, at the same time, the command value of the operation lever device 14b is input to the calculating unit 9Ad, the arm cylinder speed is calculated, and the calculating unit 9e calculates the bucket tip speed b by the arm. The calculation unit 9c calculates a limit value a (<0) of the bucket tip speed in proportion to the distance D from the boundary L of the bucket tip and the set area from the relationship shown in FIG. 7, and the calculation unit 9f calculates the bucket tip by the boom. Speed limit value c =
a-by is calculated. At this time, the tip of the bucket is far from the boundary L of the set area, and a <by (| a |> | by |)
In the case of, the limit value c is calculated as a negative value, the command value (= 0) of the operation lever device 14a is selected in the maximum value calculation section 9j of the boom command, and the boom of the flow control valve 15a is selected in the valve command calculation section 9Ai. A voltage of 0 is output to the raising drive unit 30a and the boom lowering drive unit 30b. As a result, the arm is moved in the forward direction according to the command value of the operation lever device 14b.

As described above, as the arm is moved in the forward direction and the bucket tip approaches the boundary L of the set area, the limit value a of the bucket tip speed calculated by the calculation unit 9c increases (| a | decreases). ), This limit value a is calculated by the calculation unit 9e.
Becomes larger than the component by perpendicular to the boundary L of the boom, the limit value c = a-by of the bucket tip speed by the boom calculated by the calculation unit 9f becomes a positive value, and the maximum value calculation unit 9j of the boom command calculates the calculation unit 9j. The limit value calculated in 9Ah is selected, and the valve command calculation unit 9Ai outputs a voltage corresponding to the limit value c to the boom raising drive unit 30a of the flow control valve 15a. Thereby, the correction operation by raising the boom is performed so that the component perpendicular to the boundary L of the bucket tip speed is gradually limited in proportion to the distance D from the bucket tip and the boundary L, and the bucket tip speed by the arm is adjusted. With the component bx parallel to the uncorrected boundary L and the speed corrected by the limit value c, the direction conversion control as shown in FIG. 9 is performed, and excavation along the boundary L of the set area can be performed.

Also, in this case, there is a possibility that the tip of the bucket protrudes from the boundary L of the set area for the same reason as described above. When the bucket tip protrudes in this way, the calculation unit 9c calculates a limit value a of the bucket tip speed proportional to the distance D from the boundary L between the bucket tip and the set area as a positive value from the relationship shown in FIG. Limit value c = a-by of bucket tip speed due to boom calculated by calculation unit 9f
(> 0) increases in proportion to the limit value a, and the voltage output from the valve command calculation unit 9Ai to the boom raising drive unit 30a of the flow control valve 15a increases according to the limit value c.
Accordingly, the correction operation by raising the boom is performed so that the bucket tip speed is proportional to the distance D outside the set area, and the component bx parallel to the boundary L where the bucket tip speed is not corrected by the arm is performed. And this limit c
The excavation can be performed while gradually returning along the boundary L of the set area as shown in FIG. Therefore, excavation along the boundary L of the set area can be performed smoothly only by clouding the arm.

As described above, according to the present embodiment, in the case where the electric type is used as the operation lever device, the same region limitation excavation control as in the first embodiment can be performed.

The same effect as that of the first embodiment can be obtained with respect to the setting of the excavable area by the setting device 7 and the area setting operation section 9b.

As described above, some typical embodiments of the present invention have been described. However, the present invention is not limited to these, and various modifications are possible. Some examples are described below.

(1) In the above embodiment, the area limit excavation control is started immediately based on the initial value of the excavable area from the stage where the area limit switch 7d1 of the setting device 7 is pressed. The region-limited excavation control may be started only when the numerical value input setting is performed.

FIG. 13 shows such a modification. This figure corresponds to FIG. 12 of the second embodiment, and in the case where the area limit switch 7d1 is OFF (not pressed) and the area limit excavation control is not selected in the boom command adjustment calculation unit 9Bj. Outputs the command value of the operation lever device 14a, and the direct setting switch 7a and the numerical value input switch 7b are pushed even when the area limiting switch 7d1 is ON (pressed) and the area limiting excavation control is selected. If it is before, the command value of the operation lever device 14a is output, the area limit switch 7d1 is ON (pressed), and the area limit excavation control is selected, and the direct setting switch 7a and the numerical value input switch 7b Is pressed and the area is set, the limit value of the boom command obtained by the calculation unit 9Ah is compared with the command value of the operation lever device 14a, and the And outputs the person.

(2) In the above embodiment, when the area limit switch 7d1 of the setting device 7 is turned off to terminate the area limit excavation control, the excavation area is always set to the initial value Y = −20 m.
However, the value set up to that point may be stored in the control unit 9 and then the control may start from the previous set value of the excavable area at the start of control.

FIG. 14 shows such a modification. This figure corresponds to FIG. 6 of the first embodiment, and
After the area limit switch 7d1 is turned off at 40, the value set up to that point is stored in step 250C, and at the start of the next control, the previous set value is used as the set value of the excavable area in step 120C.

(3) In the above embodiment, the reference value for increasing / decreasing the value set by numerical input is based on the value set by direct teaching. May always be constant (for example, always based on Y = 0).

FIG. 14 shows such a modification. This figure also corresponds to FIG. 6 of the first embodiment, and
For 80D, 200D, and 230D, set value = dY2, d
The change amounts of Y3, dY4 and the numerical value input are set as they are.

The reference value of the value to be increased or decreased by setting the numerical value input may be the height of the rotation fulcrum of the boom 1a from the ground. In this case, the set value of the numerical value input is the depth from the ground. It is.

(4) Although a goniometer for detecting a rotation angle is used as means for detecting a state quantity relating to the position and orientation of the front device 1A, a stroke of a cylinder may be detected.

(5) In the case where the excavable area is set by direct teaching, the switch for direct teaching is provided on the panel of the setting device 7, but it may be provided on the lever grip of the operating lever device.

(6) Although the tip of the bucket has been described as the distance D with respect to the boundary L of the set area for performing the area-limited excavation control, the distance from the arm tip pin may be taken for simple implementation. Also, when setting an area to prevent interference with the front device and achieve safety,
It may be another site where the interference may occur.

(7) The applied hydraulic drive system is a closed center system having a closed center type flow control valve, but may be an open center system using an open center type flow control valve.

(8) Although the example of the area-limited excavation control has been described as the front control of the hydraulic excavator, the present invention may be applied to other front controls such as interference prevention control for preventing interference between the front and surrounding objects. good.

[0114]

According to the present invention, the area setting means for setting both the direct teach setting and the numerical value input setting is provided as the means for setting the area in which the front device can move. You can choose
It is possible to quickly respond to various works, and to perform appropriate and quick excavation work.

[Brief description of the drawings]

FIG. 1 is a diagram showing a front control device of a construction machine according to a first embodiment of the present invention, together with a hydraulic drive device thereof.

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

FIG. 3 is a diagram illustrating an appearance of a setting device.

FIG. 4 is a functional block diagram illustrating a control function of a control unit.

FIG. 5 is a diagram illustrating a method of setting an excavable area in the area limited excavation control according to the embodiment.

FIG. 6 is a flowchart illustrating processing performed by an area setting calculation unit.

FIG. 7 is a diagram illustrating a relationship between a limit value of a bucket tip speed and a distance from a boundary of a set area.

FIG. 8 is a diagram illustrating a difference between the operation of correcting the bucket tip speed by the boom when the bucket tip is within the set area, when the bucket tip is on the boundary of the set area, and when the bucket tip is outside the set area.

FIG. 9 is a diagram illustrating an example of a correction operation trajectory when the tip of a bucket is within a set area.

FIG. 10 is a diagram illustrating an example of a correction operation trajectory when a bucket tip is outside a set area.

FIG. 11 is a diagram illustrating a front control device of a construction machine according to a second embodiment of the present invention, together with a hydraulic drive device thereof.

FIG. 12 is a diagram showing a control function of a control unit.

FIG. 13 is a diagram illustrating a control function of a control unit for describing a modification of the embodiment of the present invention.

FIG. 14 is a flowchart showing processing contents of an area setting calculation unit for explaining another modification of the present invention.

FIG. 15 is a flowchart showing processing contents of an area setting calculation unit for explaining still another modification of the present invention.

[Explanation of symbols]

 Reference Signs List 1A Front device 1B Body 1a Boom 1b Arm 1c Bucket 2 Hydraulic pump 3a Boom cylinder 3b Arm cylinder 4a-4f; 14a-14f Operating lever device 5a-5f; 15a-15f Flow control valve 7 Setting device 7a Direct setting switch (first 7b1 Numerical input switch (second area setting means) 7b1 Up key 7b2 Down key 7c1 Setting changeover switch 7c2 LED 7d1 Limit control switch 7d2 LED 7e Display screen 8a-8c Angle detector 8d Tilt angle detector 9 Control unit 9a Front attitude calculation unit 9b Area setting calculation unit 9c Bucket tip speed limit value calculation unit 9d Arm cylinder speed calculation unit 9e Bucket tip speed calculation unit with arm 9f Bucket tip speed limit calculation unit with boom 9g Boom cylinder speed limit value calculation section 9h Boom pilot pressure calculation section 9i Valve command calculation section 9r Switching calculation section for area limit control 9s Display switching control calculation section 10a, 10b Proportional solenoid valve 12 Shuttle valve 50a-55b Hydraulic drive section 61a , 61b Pressure detector

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takashi Nakagawa 650, Kunitachi-cho, Tsuchiura-shi, Ibaraki Pref.

Claims (10)

[Claims] An articulated front device comprising a plurality of front members rotatable in a vertical direction, a plurality of hydraulic actuators for driving the plurality of front members, and signals from a plurality of operation means. Driven, provided in the construction machine having a plurality of hydraulic control valves for controlling the flow rate of the pressure oil supplied to the plurality of hydraulic actuators,
A front control device for a construction machine that controls the front device to move in a preset region, the device having a direct setting switch, and instructing the direct setting switch to set an area in which the front device can move by direct teaching. Front control for a construction machine, comprising: a first area setting means; and a second area setting means having a numerical input switch and setting an area in which the front device can move by numerical input using the numerical input switch. apparatus. 2. The front control device for a construction machine according to claim 1, further comprising display means for displaying a numerical value input by a numerical value input switch of said second area setting means. Control device. 3. A front control device for a construction machine according to claim 1, wherein said setting changeover switch and said first area setting means and said second region setting means when said setting changeover switch are not operated.
The apparatus further comprises setting selection means for selecting one setting of the area setting means and selecting the other setting of the first area setting means and the second area setting means when the setting switch is operated. Control equipment for construction machinery. 4. The front control device for a construction machine according to claim 3, wherein said setting selecting means selects a setting by said first area setting means when a direct setting switch of said first area setting means is operated. A front control device for a construction machine, comprising: 5. A front control device for a construction machine according to claim 4, wherein a display means and a current position of said front device are displayed on said display means when said setting switch is not operated. And a display switching means for displaying a numerical value inputted by a numerical value input switch of the second area setting means when is operated. 6. A front control device for a construction machine according to claim 1, wherein said numerical input switch of said second area setting means includes a first numerical input key for increasing a numerical value from a certain reference value and a numerical value from a certain reference value. And a second numerical input key for reducing the number of keys. 7. The front control device for a construction machine according to claim 1, wherein said second area setting means presets a value of a position not reachable by said front device as an initial value, and operates said numerical value input switch. A front controller for a construction machine, wherein a numerical value is changed based on the initial value to set the area. 8. The front control device for a construction machine according to claim 1, wherein said second area setting means changes a numerical value by said numerical value input switch based on a numerical value set by said direct teaching, and changes said area. A front control device for a construction machine, which is to be set. 9. A front control device for a construction machine according to claim 1, wherein a control selection switch for selecting whether or not to control said front device, and a front control is selected by operating said control selection switch. Is further provided with an initial setting means for setting a value of a position where the front device does not reach each time as an initial value of the setting area. 10. A region setting method in front control for controlling an articulated front device constituted by a plurality of front members rotatable in a vertical direction to move within a preset region, comprising: Moving to a reference position, storing the position by direct teaching, then setting a depth based on the position by numerical input, and setting a movable area of the front device with a numerical value obtained as a result. An area setting method characterized by the following.