JPS6136426A - Service device locus controller for service machine in arm system - Google Patents

Abstract

PURPOSE:To convey a bucket optionally along the face of slope, by a method wherein the conveying velocity in two directions on the face in parallel with the face of slope and the conveying velocity in the direction orthogonal to the face of slope are given to the bucket which is swung and interlocked. CONSTITUTION:The swing angle theta of a swing unit of an oil pressure shovel, the angle beta of tip of a boom 3 and the angle alpha of tip of an arm 4 are detected by each detector. And the conveying velocity Vh, Vr in the horizontal direction in prallel with the face of flope and in the arm direction and the conveying velocity Vn in the vertical direction against the face of slope, for conveying the working jig 5 such as a bucket or the like provided at the tip of the arm 4 along the face of slope, are given to a velocity indicating lever 10. And the angle phi of tilt of the face of slope is given to a controller by a setting device 12, and the bucket is controlled according to each detected value alpha, beta, theta and the set value phi and the indicated velocity Vh, Vr, Vn.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a work tool trajectory control device for an arm-type work machine, and more particularly, to a device that can control the movement of a work tool to a container in an arbitrary direction along a slope. .

Conventionally, for example, the front packet of a hydraulic excavator,
When carrying out work such as slope excavation, block laying, or concrete destruction along a slope using a work machine equipped with a gripping device or crusher instead of a packet, the operator must use the work tool such as the upper epsilon packet or gripping device. It is necessary to move freely in any direction along the slope. However, in order to perform these tasks, the operator must operate the swing lever, poom lever, and arm lever in combination to move the work implement along the slope, and the 7-point direction of the hydraulic excavator must be adjusted to the maximum inclination of the slope. As the angle of inclination of the slope changes as it deviates from the angular direction, it was almost impossible to move the tool freely in any direction along the slope.

In view of the above-mentioned conventional problems, an object of the present invention is to provide a control device for an arm-type working machine that can move a working tool in any direction along a slope. The present invention provides angle detection means for detecting the rotation angle of the revolving body, the elevation angle of the first working arm, and the swinging angle of the lz working arm, and a slope along which the working implement is to be moved. slope slope angle setting means for setting the slope angle of the slope, and speed command means for commanding the moving speed of the work tool in two directions along the slope and in a direction perpendicular to the slope, One of the directions is taken as the direction of the slope inclination angle and the other direction is taken as the horizontal direction, and the work tool moves with the combined speed of the three directions: two directions along this slope and a direction perpendicular to the slope. The rotating body, the first working arm and the second
By providing means for controlling the operation of each actuator of the working arm, the working tool can be moved in any direction along the slope.

An actual winding example of the present invention will be described below with reference to FIGS. 1 to 5.

FIG. 1 shows an example of a working machine, which includes a revolving body 2 pivotally mounted on a traveling body 1, a first working arm (boom) 3 pivotally mounted to the revolving body 2 so as to be movable up and down, and a 1 shows a plan view of a hydraulic shovel equipped with a second working arm (arm) 4 pivotably attached to one working arm and a working tool (packet) 5 attached to the lz working arm. It is something. In this example, the packet 5 is rotatably attached to the arm 4.

FIG. 2 shows a side view of the hydraulic excavator shown in FIG. are respectively driven by.

In M2vA, φ indicates the set inclination angle of the slope to be excavated in packet 5. Figure 4111 shows a state in which the seven tunnel parts (boom 3, arm 4, packet 5) of the hydraulic excavator are excavated in the direction T of the maximum inclination angle (φ) of the slope. indicates the direction in which the vehicle has turned by the turning angle θ.

Figure 3 shows the positional relationship of the front part in Figure 1 and the lA degree of the arm tip point A, and Figures 4 and 5 show the positional relationship of the front part and the speed of the arm tip point A in Figure 2. It is something.

As shown in the sftgs diagram and Fig. 4, the velocity in the direction of the maximum slope line of the arm tip point A is VTs, the velocity in the direction perpendicular to this slope line is V)l, and the velocity in the horizontal direction along the slope is Let the speed be Va.

In FIG. 4, the horizontal and vertical velocity components Vx e Vx of VT and Vy are as follows: Vx -VT oo-φ -vH- φ...
・・・ ・・・ ・・・ (1) vY−v, Yuφ+7
31 cooφ......It is expressed as (2).

On the other hand, tj! As shown in Figure 43, the rotating body has a turning angle θ of T
In the direction, vH and VX obtained from equation (1)
T° force direction and velocity component Vx in the direction orthogonal to this,
Vθ is Vx−Vzoo−θ+vH−θ・−e・・・・Threate・(
8) Va −−VX−θ+vHCOd・・・・・・・・・
...It is expressed as (4).

In the faIs diagram, if the X and Y coordinates are fixed to the rotating body 2 and the front part, the vertical component Vy at these coordinates is Vy-Lx... 5).

Therefore, if we summarize equations (l) to (6), we get VX −(7
7oo-φ-Vn ghiφ) Co-θ+Vm dn
II −・((1)■7−Vrgfnφ+vMCO−
φ・・・・・・・・・・・・(7) Va−−(VT a
ogφ−Vmmφ) Blood θ+vHoo−θ・・・・・・(
8).

, and the coordinates of the arm tip point A on the X, Y coordinates are CXh
my person), the distance between the turning center point S and the pivot point 0 of the boom 3 is L8, and the pivot point 0 of the boom 3 and the pivot point B of the arm 4.
Let the distance be Lb, the distance between the pivot point B of arm 4 and the packet pivot point A be Lα, and LBOX-β, LABO-90°
If -α is X person, y^ is...
......(9) yA-Lbglnβ-I, 5cos
(β+α)...(in).

Here, since X mu Vx, yh - Vy, if we differentiate the above equations (9) and 01 and rearrange them for the boom angular velocity β and the arm angular velocity α, we get 73--v) (Yu(β+'') + Vy oos (
β+g)/Lb ao−α・・・・・・・・・・・・
αOα−vx(LbCo−β+La*cβ+α))+V
y(Lb-β-IL:Loos (J9+α))/
L bLcLOnα・−−−・・−−−・<13.

In addition, the turning angular velocity θ is θ-Vθ/L11+XA (I
3, and substituting the equation 0K (9), Cvθ/ Ls + Ll) oosβ+Lccdn
(β+α)...Q4.

As is clear from the above equations (1) to I, the arm tip point A
The maximum inclination angle direction and horizontal velocity vT on the slope
, v, and the velocity VM perpendicular to the slope, the angular velocities j, α of the poom 3, arm 4, and rotating body 2 are
, b can be calculated using the formula αυ, (Ll, a◆, and if the poom 3, arm 4, and rotating body 2 are moved at this angular velocity, the arm tip point A will be moved at the composite velocity of vH1Vd, vH. I can do it.

That is, by giving the speed 7 along the slope and the speed VH in the horizontal direction of the slope, and by giving the speed VW perpendicular to the slope to correct the vertical direction due to changes in the slope angle, the arm tip point A can be adjusted. It becomes possible to perform movement along the slope and correction in the vertical direction, or work in the vertical direction with respect to the slope.

However, in practice, the desired movement may not always be obtained due to various control errors, so β, a,
Target value of angle 9 which is the value of integrating j, α, and θ while controlling #.
Control accuracy can be improved by adding feedback control that corrects the comparison.

FIG. 6 shows an example of an actual pond for the control bag device of the present invention.

Reference numeral 10 denotes a speed command lever which provides an advance signal VTs in the direction of the maximum inclination angle of the slope at the arm tip point M, a speed signal vi in the horizontal direction of the slope, and a speed signal VH perpendicular to the slope, and is constituted by a three-axis joystick lever.

11 is VT, VH, and V according to the amount of operation of lever 10.
Outputs W and indicates that the lever 10 has been operated 1
This is a speed command device that outputs a control command signal ■.

2nd is a slope inclination angle setting dial that sets the inclination angle of the slope; 13 is a slope inclination angle setting device that outputs an inclination angle signal φ in conjunction with the movement of the second dial; and 14 is a rotation of the revolving structure 2. A turning angle meter 15 detects an angle, and a reset switch 15 resets the turning angle meter 14. When the reset switch 15 is pressed, the turning angle meter 14 becomes zero. 16 is Poom 3
17 is an arm angle meter that detects the arm angle α of the arm 4.

18 are speed signals VT, VI! from the speed command device 11.
, VM, input the turning angle θ from the turning angle meter and the slope slope signal φ from the slope slope angle setting device, and perform the above (6).
(7), (based on the + formula, velocity components V9, Vx,
A speed calculator 19 calculates Vy, a speed calculator 18
Input the velocity component Vθ from , the boom angle β from the boom angle meter 16, and the arm angle α from the arm angle meter 17, calculate the turning angular velocity θ based on the Queen A4 formula, and output the target value θ of the turning angular velocity. An angular velocity calculator 20 is a velocity component vx, vy from the velocity calculator 18.

Input the boom angle β from the boom angle meter 16 and the arm angle α from the arm angle meter 17, and perform the above an, a
Boom angular velocity β and arm angle command unit 1 based on the s formula
Until the control command signal ■ from 1 is input, the detected angle θ from the rotation angle meter 14 is output as is as the target value of the angle, and when the control command signal ■ is input, the rotation angle meter 14 at that point
The integrator 22 detects the detected angle θ0 from the poom-angle meter 16 until the control command/signal ■ from the speed command device 11 is input. An integrator 23 outputs β as a target value table for the same angle and outputs the boom target angle sum. This is an integrator that outputs the target value α of the angle as it is, and receives the control command signal ■. Integrator 21.22.
a subtractor for calculating the deviation from the force θ of 23, 2;
5 is a subtracter that calculates the deviation Δβ - β between the output of the integrator 22 and the output β of the detector 16; 26 is the deviation Δα between the output α of the integrator 23 and the output α of the detector 17; −α−
27 is a coefficient machine that multiplies the deviation Δθ and the gain by 1; 28 is a coefficient machine that multiplies the deviation Δβ and the gain; 29 is a coefficient machine that multiplies the deviation Δα and the gain by 1; 30
31 is an angular velocity calculator, an adder that calculates the angular velocity 9^, and a compensation amplifier that performs control correction and compensation on the outputs of the adders 130, 31, and 32, respectively. 36, 37, and 38 are operated by the outputs of compensation amplifiers 33, 34, and 35, respectively.
This is a flow rate control device that controls the flow rates of the motor 6, boom cylinder 7, and arm cylinder 8.

Although not shown in FIG. 6, operating levers for manually operating the actuators of the rotating structure 2, boom 3, arm 4, and Panat 5 are provided in the operator's cab of the rotating structure 2, and each actuator can be operated independently. The functions and operations of the control device shown in FIG. 6 configured as described above will be explained below.

First, the rotating structure 2 is moved in the direction T of the slope maximum inclination shown in FIG.
Aim the boom 3, arm 4, and banut 5, and press the reset switch 15. As a result, the turning angle meter 14 is set to zero. Next, manually operate the tip end point of the banut 5 to the position shown in FIG. When the operation is performed, the speed command Ia11 or the control command signal ■ is output, and the operation amount of the speed command lever 10 (the corresponding speed signals V, , V, vM are output. Then, the speed calculator 18 outputs the speed signal VH .

VT * Input the turning angle θ from the VNs turning angle meter and the slope angle signal φ from the slope slope angle setter, and
) , ()) , velocity component Vθ shown in equation (8),
vx and vy are calculated. The angular velocity calculator 19 calculates the velocity component Vθ, and the angle calculator 20 calculates the velocity components VX, My
, the swing motor 6, boom cylinder 7, and arm cylinder 8 are operated through the boom angle β flow control device 36, 37, and 38, respectively, and the rotating body 2, boom 3, and arm 4 are integrated, and the angle meter 14, 16, 17 are compared with the actual angles σ, β, α detected from , and their deviations Δθ, lβ, l
When lK exists, the movements of the rotating structure 2 and boom 4 are corrected. In this way, the rotating body 2, boom 3, and arm 4 accurately follow the target values, and the arm tip point moves along the slope in accordance with the amount of operation of the speed command lever 10, so that the bat It becomes possible to excavate by moving the tip point in any direction along the slope. In addition, since the speed command lever 10 commands the movement speed in the horizontal direction along the slope and in the direction of the maximum inclination angle, operation based on the slope is easy, especially when using a remote control when the operator is not on the work machine. Suitable for operation. Also, since it commands the speed in the direction perpendicular to the slope,
It is easy to perform correction in any direction other than the direction of inclination of the slope, and it is possible to perform a pressing operation against the slope.

Incidentally, in addition to the control shown in FIG. 6, by separately controlling the attitude of the packet 5 to maintain a constant attitude with respect to the slope, slope excavation can be performed with better workability.

Further, although the calculations in the above embodiment are shown using block (2), either analog calculations or digital calculations may be used for the calculations, and it is most appropriate to use a four-microphone computer or the like.

According to the present invention described above, by giving the moving speed in two directions along the slope and in the vertical direction, m
It is possible to move the work tool in any direction along the slope with a simple operation.

[Brief Description of the Drawings] Fig. 11 is a plan view of a hydraulic excavator that is an example of a working machine, Fig. 2 is a side view of the hydraulic excavator shown in Fig. 1, and Fig. 3 is a positional relationship of the working arms and arms shown in Fig. 1. Figure 4 is a diagram showing the speed at the tip point of the arm in Figure 2, Figure 5 is a diagram showing the velocity at the arm tip point in Figure 2.
The figure shows the positional relationship of the working arm and the speed of the arm tip point on the X-Y coordinates fixed to the front part, and FIG. 6 is a block diagram showing the control device of the present invention. 2...Rotating body, 3...Boom, 4...
...Arm, 5...Packet, 6...
...Swivel motor, 7...Boom cylinder, 8.
...Arm cylinder, 10...Speed command lever, 1z...Slope inclination angle setting dial, 1
4...Turning angle meter, 16...Boom angle meter, 17...Arm angle meter, 18...
- Velocity calculator, 19.20... Angular velocity calculator. Figure 1 Figure 2 Figure 3 O Figure 5

Claims (1)

[Claims] A rotating body pivotably mounted on the traveling body, a first working arm pivotably mounted on the rotating body so as to be tiltable, and a second working arm pivotably mounted on the first working arm. In an arm-type working machine comprising a working arm, a work tool attached to the second working arm, and actuators for operating the rotating body, the first working arm, and the second working arm, the rotating body is rotated. angle detection means for detecting the elevation angle of the first working arm and the swinging angle of the second working arm, and a slope for setting the inclination angle of the slope along which the work implement should move. It has an inclination angle setting means and a speed command means for commanding the moving speed of the work implement in two directions along the slope and in a direction perpendicular to the slope,
One of the two directions is taken in the direction of the maximum inclination angle of the slope, and the other direction is taken in the horizontal direction, and the resultant speed of the three directions along the slope and in the direction perpendicular to the slope is A work tool trajectory control device for an arm-type work machine, comprising means for controlling the actuators of the revolving body, the first work arm, and the second work arm so that the work tool moves.