JPH11210015A - Locus controller for construction equipment and operating device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operativity by recognizing the positioning of a front device in the vicinity of the boundary of a working range and controllability in any direction of the front device in the vicinity of the boundary of the working range to an operator in a locus controller for a construction equipment. SOLUTION: When a control lever 5b is operated in a target speed vector Vxy in the posture of a front device, in which the current place P of an arm front end is positioned near the boundaries A1 , A2 , A3 , A4 of a working range, operation reaction Fi (i=1-4) increased with the reduction of distances ΔXi (i=1-4) to the boundaries and augmented with the enlargement of speed vector components is imparted in the opposite directions to the speed vector components Voi (i=1-4) intending to leave from the boundaries of the working range. The placing of the front device near the boundaries of the working range and the operable direction of the front device 1A are recognized by an operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine having an articulated front device, and more particularly to a trajectory control device and an operation device thereof for a hydraulic shovel, and more particularly to a command of a target speed vector at the tip of the front device. The present invention relates to a trajectory control device for a construction machine that moves a tip of a front device along a target speed vector and an operation device thereof.

[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 or the like, the operations are combined operations 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. This trajectory control device is provided with speed vector setting means for setting a speed vector at which the tip of the arm is to be moved as a manually operated lever, and obtains a target position at which the tip of the arm is to be moved from the set value of the speed vector setting means, Is calculated from the current position to the target position, and the flow rate of hydraulic oil supplied to the boom cylinder and the arm cylinder is controlled based on the speed vector. According to this proposal, the operation of the boom and the arm is controlled by an error between the current position of the arm tip and a target position based on the set value of the velocity vector (the set value of the moving direction and the speed of the arm tip). Can be moved at the speed vector (direction / speed) set by the speed vector setting means.

In a hydraulic shovel, a work area limit control and an interference prevention control for controlling each cylinder so that a front device does not go out of the work area are set in advance with a control work boundary. Have been. For example, Japanese Patent Application Laid-Open No. 4-136324 discloses that when the distance between the front device and a preset inaccessible area becomes equal to or less than a predetermined value,
There is described a work area restriction control device that multiplies a lever operation signal by a lever gain that gradually approaches zero as the distance becomes shorter and outputs the resulting signal to an actuator driving unit. In Japanese Patent Application Laid-Open No. 5-280075, an electromagnetic proportional valve is provided between a control valve and a direction switching valve of an operation lever device, and when the switch is turned on, the front device reaches a preset stop position. Then, an interference prevention control device that controls the electromagnetic proportional valve to forcibly switch the directional control valve to the neutral position is described.

[0005]

However, the above prior art has the following problems.

[0006] The front device of a hydraulic excavator has a boundary of a work range generated at a stroke end of each cylinder.
When a trajectory control is performed by moving an arm or a boom with a trajectory control device as described in JP-A-62-72826,
At the boundary of the working range, the front device stops suddenly, which may give the operator discomfort. In addition, since the trajectory control cannot be performed when the front device stops, the operator needs to correct the operation by returning the operation lever or the like. However, in this case, since the operator does not know at which position the front device stops and in which direction the front device cannot be operated, it is difficult to reflect the operator's intention near the boundary of the work range. For this reason, depending on the operation direction of the operation lever, the front device suddenly moves or stops, and the operation becomes intermittent, and the operability deteriorates.

Further, when a work range for control is set in advance, and a region limit control and an interference prevention control for controlling each cylinder so that the front device does not fall outside this range are applied to the trajectory control, Even before the cylinder reaches the stroke end, when the front device reaches the boundary of the set range, the front device stops. Therefore, even in the vicinity of the boundary of the work range set in advance in such control, the same problem as in the work range due to the stroke end occurs.

A first object of the present invention is to provide a trajectory control device for a construction machine and an operability device for improving the operability by reliably informing an operator that the front device is near the boundary of a work range. It is in.

A second object of the present invention is to surely inform an operator that the front device is near the boundary of the work range and to determine in which direction the front device can be operated near the boundary of the work range. Another object of the present invention is to provide a trajectory control device for a construction machine and an operation device for the operability, which make the operability better.

[0010]

(1) In order to achieve the first object, the present invention provides an articulated front device comprising a plurality of front members rotatable in the vertical direction; A tip part of the front device, provided in a construction machine having a plurality of hydraulic actuators for driving the plurality of front members and a plurality of flow control valves for controlling a flow rate of hydraulic oil supplied to the plurality of hydraulic actuators A trajectory control device that drives and operates the plurality of flow control valves based on a signal from an operation unit that commands a target speed vector of the front device, and moves a front end portion of the front device according to the target speed vector; Detecting means for detecting a state quantity relating to the attitude of the front device; and (b) first calculation for calculating the attitude of the front device based on a signal from the detecting means. And (c) a working range in which the front end of the front device is set in advance based on the target speed vector of the front end of the front device instructed by the operation means and the attitude of the front device calculated by the first calculating means. (D) calculating an operation reaction force of the operating means so as to increase as the distance to the boundary of the working range is increased when the operation is performed in the vicinity of the boundary toward the outside of the boundary; It is provided with torque generating means provided in the operating means for generating the operation reaction force calculated by the second calculating means.

Thus, the detecting means, the first calculating means, the second
By providing each of the calculating means and the torque generating means, when the operating device is operated near the boundary of the working range so that the front device goes out of the boundary of the working range, the work is performed in the opposite direction. An operation reaction force that increases as the distance to the boundary of the range becomes smaller is applied to the operation means. Therefore, the operator can surely recognize that the front device is near the boundary of the work range due to the heavy operation of the operation unit, and can avoid an unexpected stop of the front device.

(2) In order to achieve the second object, according to the present invention, in the above-mentioned (1), the second calculating means may move out of a boundary of the working range in the target speed vector. The operation reaction force is calculated so that the vector component becomes larger as the vector component becomes larger.

By calculating the operation reaction force in this manner, the operation reaction force is applied to the operation means so that the target reaction vector component going out of the boundary of the work range increases as the target speed vector component increases. Continuous trajectory control can be easily performed simply by operating the operating means in the direction in which the movement is easy near the boundary of the range.

(3) In the above (1) or (2), the second calculating means may set, for example, a boundary of a working range caused by each stroke end of the plurality of hydraulic actuators as a boundary of the working range. I have.

As a result, the effects described in the above (1) and (2) can be obtained with respect to the boundary of the working range caused by the stroke end of the hydraulic actuator.

(4) In the above (1) or (2), the second calculating means may define the boundary of the working range as:
The boundary of the control work area may be set in advance.

As a result, the operations described in the above (1) and (2) can be obtained with respect to the boundary of the work range set in advance for control.

(5) Further, in the above (1) or (2), preferably, the operating means is provided with an operating lever supported by a universal bearing so as to be tiltable in an arbitrary direction, in a direction orthogonal to each other. Two driven members rotatably supported and rotated according to a tilt direction and a tilt amount of the operation lever;
There are two angle detectors for detecting the rotation angles of the two driven members, respectively, and the torque generating means has two torque generators respectively provided on the rotation shafts of the two driven members.

Thus, when the operating lever is tilted, the two driven members rotate in accordance with the tilting direction and the tilt amount of the operating lever, and the rotation angle of the two driven members becomes two.
Since the signals are detected by the two angle detectors, a signal of the target speed vector can be generated. Further, the torque generating means includes:
When the two torque generators are operated, an operation reaction force is generated in a direction corresponding to the output ratio, so that the operation reaction force calculated by the second calculation means can be generated.

(6) In order to achieve the first and second objects, the present invention provides a multi-joint type front device comprising a plurality of front members rotatable in a vertical direction; A plurality of hydraulic actuators for driving a plurality of front members, and a plurality of flow control valves for controlling the flow rate of the pressure oil supplied to the plurality of hydraulic actuators are provided in a construction machine having a tip portion of the front device. In the operation device of the trajectory control device that operates the plurality of flow control valves by instructing the target speed vector and moves the front end portion of the front device according to the target speed vector, the swivel portion tilts in an arbitrary direction. An operation lever that is supported so as to be rotatable, and two that are rotatably supported in directions orthogonal to each other and that rotate according to a tilt direction and a tilt amount of the operation lever. A driven member, and two angle detector for detecting the rotation angle of the two driven members respectively, said 2
And two torque generators respectively provided on the rotation shafts of the two driven members and applying an operation reaction force to the operation lever.

Thus, when the operating lever is tilted, the two driven members rotate according to the tilting direction and the tilt amount of the operating lever, and the rotation angles of the two driven members are detected by the two angle detectors. Therefore, a signal of the target speed vector can be generated. Also, when the two torque generators are operated, an operation reaction force is generated in a direction corresponding to the output ratio,
It can be used as a torque generating means for generating the operation reaction force calculated by the second calculating means of (1) and (2).

[0022]

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. This embodiment includes a boom, an arm,
A reaction force is applied to the operation lever device near the boundary of the limited working range caused by the stroke end of the bucket.

Referring to FIG. 1, a hydraulic shovel to which the present invention is applied includes a hydraulic pump 2, a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c driven by hydraulic oil from the hydraulic pump 2, and a hydraulic actuator 3a. To 3c.

As shown in FIG. 2, the hydraulic excavator includes a multi-joint type front device 1A comprising a boom 1a, an arm 1b, and a bucket 1c which are rotatable vertically, an upper revolving unit 1d, A base end of a boom 1a of a front device 1A is supported by a front portion of an upper swing body 1d so as to be rotatable in a vertical direction.

The trajectory control device according to the present embodiment is provided in the above-described hydraulic excavator. This trajectory control device is provided at an operation lever device 5 for instructing the movement vector and rotation of the bucket 1c, and at each of the rotation fulcrums of the boom 1a, the arm 1b and the bucket 1c.
The angle detectors 6a, 6b, and 6c for detecting the respective rotation angles as state quantities related to the posture of the operator, the signals from the operation lever device 5 and the angle detectors 6a to 6c are input, and predetermined arithmetic processing is performed to perform trajectory control. , And a control unit 7 that outputs an electric signal for giving an operation reaction force.

FIGS. 3A and 3B show the structure of the operation lever device 5. FIG. The operation lever device 5 includes an operation lever 5b supported by a universal bearing portion 5a so as to be tiltable in an arbitrary direction including an X direction and a Y direction, and a shaft portion 5c at the top of the operation lever 5b to be rotatable in a Z direction. 5d grip provided on
Shaft portions 5g1, 5g2 and shaft portions 5 having slits 5e, 5f through which the operation lever 5b is inserted, and being orthogonal to each other.
h1 and 5h2, semi-circular driven arms 5i and 5j rotatably supported in the X and Y directions, and shafts 5g1 and 5g1.
5h1, angle detectors 5m and 5 that detect rotation angles of the driven arms 5i and 5j in the X and Y directions, respectively.
n and a grip 5 provided on the shaft 5c of the operation lever 5b.
d, an angle detector 5p for detecting the rotation angle of
5h1, torque generators 5q and 5r for applying an operation reaction force to the operation lever 5b, and a shaft 5c of the operation lever 5b
And a torque generator 5s for applying an operation reaction force to the grip 5d and provided around the shafts 5g2, 5h2, and 5c. When the operation lever 5b and the grip 5d are not operated, the operation lever 5b and the grip 5d are shown in the figure. It has springs 5t, 5u, 5v that return to the neutral position.

The operation lever 5b is for instructing the speed vector Vxy of the movement of the bucket 1c, and the grip 5d is for instructing the angular velocity Vz of the rotation of the bucket 1c. That is, when the operation lever 5b is operated, the driven arms 5i and 5j are set to X in accordance with the operation direction and the operation amount.
The rotation angle is detected by the angle detectors 5m and 5n, and is input to the control unit 7 as a command value of the speed vector Vxy of the movement of the bucket 1c. When the grip 5d is operated (rotated), the amount of operation (rotation) is detected by the angle detector 5p, and the control unit 7 outputs the command value of the angular velocity Vz of the rotation of the bucket 1c.
Is input to Here, the speed vector Vxy of the movement of the bucket 1c is equal to the tip of the arm 1b (hereinafter simply referred to as the "arm tip").
) Velocity vector.

As will be described later, the torque generators 5q, 5r, 5s apply an operation reaction force to the operation lever 5b and the grip 5d when the tip of the arm or the bucket approaches the boundary of the working range.

The processing contents of the control unit 7 are shown in FIGS.
This will be described below.

First, position control of the tip of the arm will be described with reference to FIG.
This will be described with reference to FIG.

In FIG. 4, A1 is an arm cylinder 3b.
A2 is the boundary of the working range caused by the stroke end of the extension side of the arm cylinder 3b, A3 is the boundary of the working range caused by the stroke end of the boom cylinder 3a in the raising direction, A4 Is the boundary of the working range caused by the stroke end of the boom cylinder 3a in the lowering direction. At the boundary A1, the arm 1b is extended to the maximum, the arm tip position is at the maximum distance L1 from the origin O of the boom base end, and at the boundary A2, the arm 1b is retracted to the maximum, and the arm tip position is from the origin O of the boom base end. At the minimum distance L2, the boom 1a is raised to the maximum at the boundary A3, the arm tip position is at a distance L3 from the boom tip point O3 at the maximum raised position, and at the boundary A4, the boom 1a is lowered to the maximum. The position is at a distance L4 (= L3) from the boom tip point O4 at the maximum lowered position.

Here, the positions of the distances L1, L2, L3, L4 and points O, O3, O4 are known, and these data are stored in the control unit 7, and the boundaries A1, A2,
A3 and A4 are set in advance.

In FIG. 4, P is the current position of the tip of the arm, and Vxy is the command value of the speed vector by the operating lever 5b as described above (hereinafter referred to as "target speed vector").
It is.

When the operating lever 3b is operated with the target speed vector Vxy as shown in the figure, with the front device in such a position that the current position P of the tip of the arm is near the boundaries A1, A2, A3, A4 of the working range. If the operator is not informed that the tip of the arm is near the boundary of the working range, the front apparatus 1A suddenly stops against the operator's will.
Further, if it is not known in which position and in which direction the front device 1A cannot be operated, continuous operation of the front device 1A cannot be performed near the boundary of the work range. Therefore, in the present invention, for the component Voi (i = 1 to 4) of the target velocity vector Vxy at the tip of the arm which is about to go out of the boundary of the working range, the distance ΔXi (i = 1 ~
4) Operation reaction force Fi that increases as the value decreases
(I = 1 to 4), thereby allowing the operator to recognize that it is near the boundary of the work range and the direction in which the front device 1A can be operated.

Hereinafter, the actual processing will be described with reference to the control flowchart of FIG.

First, in step 100, the target velocity vector V at the tip of the arm instructed by the operation lever 5b.
Enter xy.

Next, in step 110, the angle detector 6a
6b, the angles .theta.1, .theta.2 of the boom arm detected are inputted.

Next, in step 120, the deceleration coefficient h1 and the operation reaction force F1 at the boundary A1 of the working range caused by the stroke end of the contraction side of the arm cylinder 3b are calculated.

Next, in step 130, the deceleration coefficient h2 and the operation reaction force F2 at the boundary A2 of the working range caused by the stroke end on the extension side of the arm cylinder 3b are calculated.

Next, in step 140, the deceleration coefficient h3 and the operation reaction force F3 at the boundary A3 of the working range caused by the stroke end on the extension side of the boom cylinder 3a are calculated.

Next, in step 150, a deceleration coefficient h4 and an operation reaction force F4 at the boundary A4 of the work range caused by the stroke end on the contraction side of the boom cylinder 3a are calculated.

Here, the details of the processing in steps 120 to 150 will be described with reference to FIGS.

Regarding step 120, first, in step 121, it is determined whether or not the target speed vector Vxy is outside the working range based on whether the cosine of the angle α1 shown in FIG. 4 is positive. If so, the process proceeds to step 122; otherwise, the process proceeds to step 125.
Here, the angle α1 is an angle formed by the target speed vector Vxy and a line segment connecting the current position P at the tip of the arm and the origin O at the base end of the boom.

When the procedure proceeds to step 122, the difference between the maximum distance L1 from the origin O to the tip of the arm and the distance from the origin O to the current point P of the tip of the arm causes the boundary of the working range from the current position P of the tip of the arm. The distance ΔX1 to A1 is calculated (ΔX1 = L1−OP).

Next, in step 123, the relationship h (ΔXi) (i) between the distance ΔX1 to the boundary A1 of the work range and FIG.
= 1 to 4) to calculate the deceleration coefficient h1 (h1 = h
(ΔX1)). Here, the relationship h (ΔXi) in FIG.
Is set so that h = 1 when the distance ΔX1 to the boundary A1 of the work range is equal to or greater than ΔX0, h decreases to 1 or less as the distance ΔX1 becomes smaller than ΔX0, and h = 0 when ΔX1 becomes 0.

Next, in step 124, the relationship k (ΔXi) (i) between the distance ΔX1 to the boundary A1 of the work range and FIG.
= 1 to 4), the reaction force coefficient k1 is calculated, and based on the reaction force coefficient k1 and the component Vo1 of the target speed vector Vxy that is going to go outside the boundary of the working range, the smaller the distance ΔX1 is, An operation reaction force vector F1 is calculated such that the velocity vector component Vo1 increases as the velocity vector component Vo1 increases, and its direction is opposite to the velocity vector component Vo1 (F1 = -k
(ΔX1) · Vo1). Here, the relationship k (Δ
Xi) is set so that k = 0 when the distance ΔX1 to the boundary A1 of the work range is equal to or greater than ΔX0, k increases as ΔX0 becomes smaller, and k = kmax when ΔX1 becomes 0.

When the procedure proceeds to step 125, the deceleration coefficient h1 is set to 1 and deceleration control is not performed for the contraction side stroke end of the arm cylinder 3b.

Next, in step 126, it is assumed that the operation reaction force vector F1 = 0, and no operation reaction force is generated at the contraction side stroke end of the arm cylinder 3b.

Also, regarding the procedure 130, the procedure 120
(Steps 131 to 136).

The procedure 140 is also the same as the procedure 1 except that the origin O used for the calculation is the boom tip point O3 at the stroke end on the extension side of the boom cylinder 1a.
The same processing as in step 20 is performed (procedures 141 to 146).

In step 150, it is first determined in step 151 whether or not the arm tip point P is below the straight line O-O4, and if it is below, the same processing as in step 140 is performed (steps 152 to 152). 157), if not below, step 15
Then, the process proceeds to steps S6 and S157, and the same processing as steps S125 and S126 is performed.

Here, returning to the control flowchart of FIG. 5, the description will be continued.

In step 160, the minimum value of each of the deceleration coefficients h1, h2, h3, h4 calculated as described above is selected, and this minimum value is set as the overall deceleration coefficient hmin.

Next, in step 170, the target speed vector Vxy 'at the tip of the arm decelerated by multiplying the target speed vector Vxy by the deceleration coefficient hmin is calculated.

Next, in step 180, the sum of the operation reaction force vectors F1, F2, F3, F4 calculated as described above is calculated, and the total operation reaction force vector F is obtained from the sum.

In step 190, the target angular velocity of the boom arm is obtained from the target velocity vector Vxy 'at the tip of the arm by geometric operation, and the target velocity of the boom cylinder / arm cylinder is calculated from the target angular velocity of the boom arm by geometric operation. The flow rate control valves 4a, 4b of the boom arm are obtained from the target speed of the boom cylinder / arm cylinder.
The command values u1 and u2 of b are obtained.

Next, in step 200, the command values M of the torque generators 5q and 5r to give the operation reaction force vector F
Find x and My.

Next, in step 210, the flow control valve 4
The command values u1 and u2 of a and 4b are output to the amplifier.

Next, in step 220, the torque generator 5
The command values Mx and My of q and 5r are output to the amplifier, and the process returns to the beginning.

The attitude control of the bucket 1c will be described with reference to FIGS.

In FIG. 8, B1 is the bucket cylinder 3
B2 is the boundary of the work range caused by the stroke end on the contraction side of c, and B2 is the boundary of the work range generated by the stroke end on the extension side of the bucket cylinder 3c. Boundary B1
, The bucket 1c is pushed to the maximum, the bucket 1c is at the maximum angle Zmax, and at the boundary B2, the bucket 1c is retracted to the maximum, and the bucket 1c is at the minimum angle Zmin.
These angles Zmax and Zmin are known, and these data are stored in the control unit 7, and the boundary B of the working range is stored.
1, B2 are set in advance.

In FIG. 8, Z is a current angle of the bucket 1c, and Vzc is a bucket angular velocity command given by a target velocity vector of the operation lever 5b and a command value of an angular velocity by the grip 5d (hereinafter referred to as "target angular velocity"). Value.

The operation lever 3b and / or the grip 5d are operated so that the bucket angle speed command value Vzc as shown in the drawing is obtained in the posture of the front device in which the current angle Z of the bucket 1c is near the boundaries B1 and B2 of the working range. In this case, if the operator is not informed that the bucket 1c is near the boundary of the work range, the bucket 1c
Suddenly stops. Therefore, in the present invention, for the bucket angular velocity command value Vzc which is about to go out of the boundary of the work range, the angle ΔZ to the boundary is opposite to this.
The operation reaction force Fz is increased such that the operation reaction force Fz increases as the distance becomes smaller, so that the operator can recognize that the operation reaction force Fz is near the boundary of the work range.

Hereinafter, the actual processing will be described with reference to the control flowchart of FIG.

First, in step 300, the target velocity vector V at the tip of the arm instructed by the operation lever 5b.
xy and the target bucket angular velocity Vz commanded by the grip 5d are input.

Next, in step 310, the angle detector 6a
The angles .theta.1, .theta.2, and .theta.3 of the boom, arm and bucket detected by the steps 6 through 6c are inputted.

Next, at step 320, a bucket angular velocity command value Vzc generated by the target velocity vector Vxy at the tip of the arm and the target bucket angular velocity Vz is calculated.

Next, in step 330, it is determined whether the bucket 1c is directed outward (push direction) or inward (pull direction) based on whether the bucket angular velocity command value Vzc is positive. Proceeds to step 340, and to the inside, proceeds to step 350.

At step 340, the angle ΔZ from the tip of the bucket 1c to the boundary B1 of the working range caused by the stroke end of the bucket cylinder 3c on the contraction side is calculated (ΔZ = Zmax−Z). At step 350, the tip of the bucket 1c is calculated. , An angle ΔZ from the stroke range to the boundary B2 of the work range caused by the stroke end on the extension side of the bucket cylinder 3c is calculated (ΔZ = Z−Zmin).

Next, in step 360, the angle ΔZ and FIG.
By calculating the deceleration coefficient hz based on the relationship hz (ΔZ) of 0 (a) and multiplying the deceleration coefficient hz by the bucket angular velocity command value Vzc, the bucket angular velocity command value Vzc is decelerated as the angle ΔZ to the boundary of the work range becomes smaller. '(V
zc ′ = hz (ΔZ) · Vzc). Here, the relationship hz (ΔZ) in FIG. 10A is the relationship h (ΔXi) in FIG.
Is set in the same way as

Next, in step 370, the angle ΔZ and FIG.
The reaction force coefficient kz is calculated based on the relation kz (ΔZ) of 0 (b), and based on the reaction force coefficient kz and the bucket angular velocity command value Vzc, the larger the angle ΔZ becomes, the larger the bucket angular velocity command value Vzc becomes. An operation reaction force Fz is calculated so that the direction is opposite to the boundary of the work range (Fz = −kz (ΔZ) · Vzc). Here, FIG.
The relation kz (ΔZ) of 0 (b) is set in the same manner as the relation k (ΔXi) of FIG. 7 (b).

Next, in step 380, the bucket cylinder 3 is calculated from the bucket angular velocity command value Vzc 'by geometrical calculation.
The target speed of the bucket c is determined, and the command value u3 of the flow rate control valve 4c of the bucket is determined from the target speed of the bucket cylinder 3c.

Next, in step 390, a command value Mz of the torque generator 5s that gives the operation reaction force Fz is determined.

Next, in step 400, the command value u3 of the bucket flow control valve 4c is output to the amplifier.

Next, in step 410, the torque generator 5
The command value Mz of s is output to the amplifier, and the process returns to the beginning.

In the present embodiment configured as described above, in the vicinity of the boundary of the working range generated by the stroke end of the boom cylinder 3a and the arm cylinder 3b, the operating lever device 5 is moved so that the tip of the arm comes out of the boundary of the working range. When the operation lever 5b is operated, the tip of the arm is decelerated as the distance to the boundary of the work range is reduced, and the distance to the boundary of the work range is reduced in the direction opposite to the operation direction of the operation lever 5b. Since an operation reaction force that increases as much as possible is applied to the operation lever 5b, the operator can surely recognize that the tip of the arm is near the boundary of the work range due to the heavy operation of the operation lever 5b, and the front device is unexpectedly operated. Stoppage can be avoided.

The operation reaction force is applied such that the larger the vector component of the target speed vector Vxy that is going to go out of the boundary of the work range, the larger the operation reaction force. Therefore, the operator feels the operation reaction force and operates the operation lever 5b. When the direction is changed, the direction in which the vector component becomes smaller has a smaller reaction force, which makes it easier to move. If the operator operates the operation lever 5b in the direction in which the vector component is easier to move, the direction in which the vector component becomes smaller naturally, that is, the target velocity vector By moving the operation lever 5b in a direction in which Vxy does not move to the boundary of the work range, continuous trajectory control can be easily performed only by operating the operation lever 5b in a direction that is easy to move near the boundary of the work range.

Further, even when the grip 5d of the operating lever device 5 is operated near the boundary of the working range caused by the stroke end of the bucket cylinder 3c so that the bucket 1c goes out of the boundary of the working range, the working range is not changed. As the distance to the boundary is smaller, the rotation of the bucket 1c is decelerated, and an operation reaction force that increases in the direction opposite to the operation direction of the grip 5d and becomes smaller as the angle to the boundary of the working range becomes smaller is applied to the grip 5d. Therefore, the operator can recognize that the bucket 3c is near the boundary of the work range, and can avoid an unexpected stop of the bucket 3c.

The second embodiment of the present invention will be described with reference to FIGS.
This will be described below. In the present embodiment, a reaction force is applied to the operation lever device near the boundary of a preset work range for the region limit control.

In FIG. 11, members denoted by the same reference numerals as those in FIG. 1 are members equivalent to those described in FIG. 7A
Is a control unit of the trajectory control device according to the present embodiment, and 8 is a work range setting device that sets a limited work range in advance. As a method of setting the work range, a numerical value may be given, the front apparatus 1A may be actually moved to teach, or a combination thereof.

The processing contents of the control unit 7A will be described with reference to FIGS.

First, regarding the position control of the arm tip, FIG.
This will be described with reference to FIGS.

In FIG. 12, C is a boundary of a work range set in advance for control. When the operating lever 3b is operated with the target speed vector Vxy as shown in the drawing in a posture of the front device in which the tip of the bucket 1c is near the boundary C of the preset work range, the operator is notified of the bucket 1c.
If it is not informed that the tip of c is near the boundary of the work range, the front apparatus 1A suddenly stops against the intention of the operator. Further, if it is not known in which position and in which direction the front device 1A cannot be operated, continuous operation of the front device 1A cannot be performed near the boundary of the work range. Therefore, in the present invention, the component Vo of the target velocity vector Vxy at the tip of the arm which is about to go out of the boundary of the working range.
In the opposite direction, an operation reaction force F that increases as the distance ΔX between the tip of the bucket and the boundary C decreases becomes smaller, so that the operator is in the vicinity of the boundary of the work range and the front device 1A Is made to recognize the operable direction.

Hereinafter, the actual processing will be described with reference to the control flowchart of FIG.

First, in step 500, the target velocity vector V at the tip of the arm instructed by the operation lever 5b.
Enter xy.

Next, in step 510, the angle detector 6a
6b, the angles .theta.1, .theta.2 of the boom arm detected are inputted.

Next, in step 520, the distance ΔX from the tip of the bucket 1c to the boundary C of the working range is determined by the difference between the component perpendicular to the boundary C of the distance from the origin O to the tip of the bucket and the set value of the boundary C. Calculate.

Next, in step 530, it is determined whether the cosine of the angle α shown in FIG.
Is determined to be outside the work range, and if it is outside the work range, the procedure proceeds to step 540; otherwise, the procedure proceeds to step 560. Here, the angle α is an angle between the target speed vector Vxy and a perpendicular to the boundary of the work range.

In step 540, the deceleration coefficient h is obtained based on the distance ΔX to the boundary C of the work range and the relationship h (ΔX) shown in FIG. 14A, and this is multiplied by the target speed vector Vxy to obtain the limit range. The target velocity vector V at the tip of the arm that decreases as the distance ΔX to the boundary C decreases.
xy ′ is obtained (Vxy ′ = h (ΔX) · Vxy). here,
The relationship h (ΔX) in FIG. 14A is set similarly to the relationship h (ΔXi) in FIG. 7A.

Next, in step 550, a reaction force coefficient k is obtained based on the distance ΔX to the boundary C of the work range and the relation k (ΔX) in FIG. 14B, and the reaction force coefficient k and the target speed vector Vxy are calculated. Based on the component Vo that tends to go out of the boundary of the working range, the operation reaction force becomes larger as the distance ΔX1 becomes smaller and as the speed vector component Vo becomes larger, and its direction becomes opposite to the speed vector component Vo. The vector F is calculated (F = −k (ΔX) · Vo). Here, the relationship k (ΔX) in FIG.
Is set in the same manner as the relationship k (ΔXi).

When the process proceeds to step 560, the target speed vector Vxy 'is set to Vxy' = Vxy, and deceleration control is not performed.

Next, in step 570, the operation reaction force vector F is set to 0, and no operation reaction force is generated.

Next, in step 580, the command values u1, u2 of the flow control valves 4a, 4b of the boom arm are obtained from the target velocity vector Vxy 'at the tip of the arm by a geometric operation.

Next, in step 590, the command values M of the torque generators 5q and 5r for giving the operation reaction force vector F
Find x and My.

Next, in step 600, the flow control valve 4
The command values u1 and u2 of a and 4b are output to the amplifier.

Next, in step 610, the torque generator 5
The command values Mx and My of q and 5r are output to the amplifier, and the process returns to the beginning.

About attitude control of bucket 1c FIGS.
This will be described with reference to FIG.

When the grip 5d of the operating lever device 5 is operated such that the current angle Z of the bucket 1c is at the target bucket angular velocity Vz as shown in FIG. If the operator is not informed that the bucket 1c is near the boundary of the work range, the bucket 1c suddenly stops, contrary to the operator's intention. Therefore, in the present invention, the target bucket angular velocity V
An operation reaction force Fz that increases as the angle ΔZ to the boundary becomes smaller in the opposite direction is given to the z that is going to go out of the boundary of the work range, thereby giving the operator the work range. It is made to recognize that it is near the boundary.

Hereinafter, the actual processing will be described with reference to the control flowchart of FIG.

First, in step 700, the target bucket angular velocity Vz commanded by the grip 5d of the operation lever device 5 is input.

Next, in step 710, the angle detector 6a
The angles .theta.1, .theta.2, and .theta.3 of the boom, arm and bucket detected by the steps 6 through 6c are inputted.

Next, in step 720, the angle ΔZ from the tip of the bucket 1c to the boundary C of the work range is calculated.

Next, in step 730, whether or not the target bucket angular velocity Vz is out of the work range is determined by whether or not the value obtained by multiplying the target bucket angular velocity Vz by the angle ΔZ to the boundary C of the work range is positive. It is determined, and if it is outside, the procedure proceeds to step 740;
Go to 0.

In step 740, the angle ΔZ and FIG.
A deceleration coefficient hz is obtained based on the relation hz (ΔZ) in (a),
By multiplying this by the target bucket angular velocity Vz, a bucket angular velocity command value Vz ′ is determined such that the smaller the angle ΔZ to the boundary C of the work range is, the more the velocity is reduced (Vz ′ =
hz (| ΔZ |) · Vz). Here, the relationship hz (ΔZ) in FIG. 18A is set in the same manner as the relationship h (ΔXi) in FIG. 7A.

Next, in step 750, the angle ΔZ and FIG.
8 (b), a reaction force coefficient kz is obtained based on the relation kz (ΔZ). Based on the reaction force coefficient kz and the target bucket angular velocity Vz, the larger the angle ΔZ is, the larger the target bucket angular velocity Vz is. An operation reaction force Fz is calculated so that the direction is opposite to the boundary of the work range (Fz = −kz (| ΔZ |) · Vz). Here, FIG.
The relation kz (ΔZ) in FIG. 8B is set similarly to the relation k (ΔXi) in FIG. 7B.

When the procedure proceeds to step 760, the bucket angular velocity command value Vz 'is set to Vz' = Vz, and deceleration control is not performed.

Next, in step 770, the operation reaction force Fz =
It is assumed that the operation reaction force is not generated.

Next, in step 780, the command value u3 of the bucket flow control valve 4c is obtained from the bucket angular velocity command value Vz 'by geometrical calculation.

Next, in step 790, a command value Mz of the torque generator 5s that gives the operation reaction force Fz is obtained.

Next, in step 800, the command value u3 of the flow control valve 4c of the bucket is output to the amplifier.

Next, in step 810, the torque generator 5
The command value Mz of s is output to the amplifier, and the process returns to the beginning.

In the present embodiment configured as described above, the control lever 5b of the control lever device 5 is moved so that the tip of the bucket comes out of the boundary C of the work range in the vicinity of the boundary C of the work range set in advance for control. When the operation is performed, the tip of the arm is slowed down as the distance to the boundary C of the work range is reduced, and is increased in the direction opposite to the operation direction of the operation lever 5b as the distance to the boundary C of the work range is reduced. Since such an operation reaction force is applied to the operation lever 5b, the operator can surely recognize that the bucket tip is near the boundary of the work range due to the heavy operation of the operation lever 5b, and can stop the front device unexpectedly. Can be avoided.

Further, the operation reaction force is applied so that the vector component of the target speed vector Vxy which is going to go out of the boundary of the work range increases, so that the operator feels the operation reaction force and operates the operation lever 5b. When the direction is changed, the direction in which the vector component becomes smaller has a smaller reaction force, which makes it easier to move. If the operator operates the operation lever 5b in the direction in which the vector component is easier to move, the direction in which the vector component becomes smaller naturally, that is, the target velocity vector By moving the operation lever 5b in a direction in which Vxy does not move to the boundary of the work range, continuous trajectory control can be easily performed only by operating the operation lever 5b in a direction that is easy to move near the boundary of the work range.

Also, when the grip 5d of the operating lever device 5 is operated so that the bucket 1c comes out of the boundary C of the work range, the rotation of the bucket 1C decreases as the distance to the boundary C of the work range decreases. At the same time as the speed is reduced, an operation reaction force is applied to the grip 5d in a direction opposite to the operation direction of the grip 5d such that the operation reaction force increases as the angle to the boundary of the work range decreases.
Can be recognized in the vicinity of the boundary of the work range, and unexpected stoppage of the bucket 3c can be avoided.

[0116]

According to the present invention, when the operating device is operated near the boundary of the working range so that the front device goes out of the boundary of the working range, the operation is performed in the opposite direction.
As the operation reaction force is applied to the operation means such that the operation reaction force increases as the distance to the boundary of the work range becomes smaller, the operator can make sure that the front device is near the boundary of the work range by heavier operation of the operation means. Good operability can be obtained, such as being able to recognize and avoiding an unexpected stop of the front device.

Further, according to the present invention, since the operation reaction force is applied to the operation means so that the component becomes larger as the component of the target speed vector to go out of the boundary of the working range increases, the moving means moves near the boundary of the working range. Continuous trajectory control can be easily performed simply by operating the operation means in an easy direction.

[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 a structure of an operation lever device, and FIG.
Is a front view, and (b) is a side view.

FIG. 4 is a diagram illustrating a boundary of a work range generated by a stroke end of an arm cylinder and a boom cylinder and an operation reaction force generated near the boundary of the work range when controlling the position of the tip of the arm.

FIG. 5 is a flowchart showing a processing procedure of arm tip position control and reaction force giving control.

6 is a flowchart showing details of a deceleration coefficient and reaction force calculation procedure in the flowchart of FIG. 5;

7A is a diagram illustrating a relationship between a distance to a boundary of a work range used for calculating a deceleration coefficient and a deceleration coefficient in the flowchart of FIG. 6, and FIG. 7B is a diagram illustrating a reaction force coefficient in the flowchart of FIG. FIG. 7 is a diagram showing a relationship between a distance to a boundary of a work range and a reaction force coefficient used for the calculation of FIG.

FIG. 8 is a diagram illustrating a boundary of a work range caused by a stroke end of a bucket cylinder and an operation reaction force generated near the boundary of the work range in controlling the posture of the bucket.

FIG. 9 is a flowchart illustrating a processing procedure of bucket attitude control and reaction force imparting control.

10A is a diagram showing the relationship between the distance to the boundary of the work range used for calculating the deceleration coefficient and the deceleration coefficient in the flowchart of FIG. 9, and FIG. 10B is the reaction force coefficient in the flowchart of FIG. FIG. 7 is a diagram showing a relationship between a distance to a boundary of a work range and a reaction force coefficient used for the calculation of FIG.

FIG. 11 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. 12 is a diagram illustrating a boundary of a work range generated by a stroke end of an arm cylinder and a boom cylinder and an operation reaction force generated near the boundary of the work range when controlling the position of the tip of the arm.

FIG. 13 is a flowchart showing a processing procedure of a position control of an arm tip and a reaction force application control.

14A is a diagram showing the relationship between the distance to the boundary of the work range used for calculating the deceleration coefficient and the deceleration coefficient in the flowchart of FIG. 13, and FIG. 14B is the reaction force coefficient in the flowchart of FIG. FIG. 7 is a diagram showing a relationship between a distance to a boundary of a work range and a reaction force coefficient used for the calculation of FIG.

FIG. 15 is a diagram illustrating a boundary of a work range caused by a stroke end of a bucket cylinder and an operation reaction force generated near the boundary of the work range in controlling the posture of the bucket.

FIG. 16 is a flowchart illustrating a procedure of bucket attitude control and reaction force imparting control.

17A is a diagram illustrating a relationship between a distance to a boundary of a work range used for calculation of a deceleration coefficient and a deceleration coefficient in the flowchart of FIG. 16, and FIG. 17B is a diagram illustrating a reaction force coefficient in the flowchart of FIG. FIG. 7 is a diagram showing a relationship between a distance to a boundary of a work range and a reaction force coefficient used for the calculation of FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1A Front device 1B Body 1a Boom 1b Arm 1c Bucket 1d Upper revolving structure 1e Lower revolving structure 2 Hydraulic pump 3a-3c Hydraulic actuator 4a-4c Flow control valve 5 Operating lever device 5a Universal bearing 5b Operating lever 5c Shaft 5d Grip 5e , 5f Slit 5g1, 5g2, 5h1, 5h2 Shaft 5i, 5j Followed arm 5m, 5n, 5p Angle detector 5q, 5r, 5s Torque generator 5t, 5u, 5v Spring 6a-6c Angle detector 7 Control unit

Claims (6)

[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 a plurality of hydraulic actuators supplied to the plurality of hydraulic actuators. A plurality of flow control valves for controlling the flow rate of the pressure oil, and drives the plurality of flow control valves based on a signal from operating means for instructing a target speed vector at a tip portion of the front device. A trajectory control device which operates and moves the front end portion of the front device according to the target speed vector; (a) detection means for detecting a state quantity related to the attitude of the front device; and (b) a signal from the detection means. Calculating a posture of the front device based on the first
Calculating means; and (c) an operation in which the tip of the front device is set in advance based on a target speed vector of the tip of the front device instructed by the operating means and the attitude of the front device calculated by the first calculating means. A second calculating means for calculating an operation reaction force of the operating means so as to increase as the distance to the boundary of the working range decreases when the operation is performed near the boundary of the range toward the outside of the boundary; (d )
A trajectory control device for a construction machine, comprising: a torque generating means provided in the operation means for generating an operation reaction force calculated by the second calculation means. 2. The trajectory control device for a construction machine according to claim 1, wherein said second calculating means increases the target speed vector as the vector component of the target speed vector going out of the boundary of the work range increases. A path control device for a construction machine, wherein the operation reaction force is calculated. 3. The trajectory control device for a construction machine according to claim 1, wherein said second calculating means includes a boundary of a work range generated by each stroke end of said plurality of hydraulic actuators as a boundary of said work range. A trajectory control device for a construction machine, wherein the trajectory control device is set. 4. The trajectory control device for a construction machine according to claim 1, wherein the second operation means sets a boundary of a control work area as a boundary of the work range in advance. Trajectory control device for construction machinery. 5. The trajectory control device for a construction machine according to claim 1, wherein said operating means is rotatable in directions orthogonal to each other by an operating lever supported by a universal bearing so as to be tiltable in an arbitrary direction. The apparatus has two driven members that are freely supported and rotate according to the tilt direction and the tilt amount of the operation lever, and two angle detectors that respectively detect the rotation angles of the two driven members. A trajectory control device for a construction machine, wherein the torque generating means includes two torque generators respectively provided on the rotation shafts of the two driven members. 6. 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 a plurality of hydraulic actuators supplied to the plurality of hydraulic actuators. A plurality of flow control valves for controlling the flow rate of pressurized oil, and operating the plurality of flow control valves by instructing a target speed vector at a front end portion of the front device, thereby controlling the target speed. An operation device of a trajectory control device for moving a front end portion of the front device according to a vector, comprising: an operation lever supported by a universal bearing so as to be tiltable in an arbitrary direction; and rotatably supported in directions orthogonal to each other. Two driven members that rotate according to the tilt direction and the tilt amount of the operation lever, and two driven members that respectively detect the rotation angles of the two driven members. An operating device for a trajectory control device, comprising: an angle detector described above; and two torque generators respectively provided on the rotation shafts of the two driven members and applying an operation reaction force to the operating lever.