WO1998003738A1 - Procede et appareil pour la commande lineaire d'une machine de chantier - Google Patents

Procede et appareil pour la commande lineaire d'une machine de chantier Download PDF

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Publication number
WO1998003738A1
WO1998003738A1 PCT/JP1997/002457 JP9702457W WO9803738A1 WO 1998003738 A1 WO1998003738 A1 WO 1998003738A1 JP 9702457 W JP9702457 W JP 9702457W WO 9803738 A1 WO9803738 A1 WO 9803738A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
arm
work
tip
angle
Prior art date
Application number
PCT/JP1997/002457
Other languages
English (en)
Japanese (ja)
Inventor
Hiroshi Imai
Yasuyuki Satake
Yoshiharu Nakamura
Kazunori Nishimura
Toshihiko Miyake
Original Assignee
Komatsu Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Publication of WO1998003738A1 publication Critical patent/WO1998003738A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame

Definitions

  • the present invention calculates an angle of a joint of a working machine member mounted on a construction machine such as a hydraulic shovel and a turning angle of a vehicle body, moves the tip of the working machine in a lateral direction, and moves a straight line with respect to a work target.
  • a construction machine such as a hydraulic shovel and a turning angle of a vehicle body
  • the present invention relates to a control method and a control device for automatically performing control, and more particularly to a work machine linear control method and a control device for a construction machine having an offset boom type work machine. Background technology
  • the working machine of a conventional hydraulic shovel has three articulated shapes: a boom, an arm, and a bucket that are sequentially connected from the vehicle body.
  • a boom When positioning the tip of the bucket on the work object, perform a combined operation with the boom raised or lowered, the arm excavation or dump direction, and the bucket excavation or dump direction. Therefore, operation requires skill.
  • hydraulic excavators with various attachments are used.
  • Japanese Patent Publication No. 58-36135 is known as a technology related to linear control of a hydraulic excavator.
  • the height of the bucket from the ground is controlled to be constant, and the vehicle is linearly controlled in the front-rear direction. That is, the work machine shown in Fig. 19
  • the height of the bucket is kept constant by controlling the height of the bucket.
  • the work implement is driven in the front-rear direction of the vehicle body so that the terrain work can be easily performed.
  • Hydraulic shovels equipped with offset boom-type working equipment used in urban civil engineering work are located in urban areas. Is folded within the vehicle width. Therefore, in order to avoid interference with the vehicle body and the driver's cab when the work machine is folded within the vehicle width, technologies related to trajectory control of the work machine, deceleration control, and warning lights (sound) when entering a danger area, For example, Japanese Federation No. 3-72767, Japan Federation No. 3-5715, and Japan Federation No. 4-12546425 are known.
  • the present invention has been made to solve such a problem of the prior art, and by automatically performing horizontal linear control to improve workability, the operation operation can be performed even by an unskilled operator.
  • a work machine linear control method and control device for construction machinery The purpose is to provide.
  • a work machine linear control method for a construction machine includes: a work machine member such as a boom, an offset boom, and an arm connected sequentially from a vehicle body; and a work implement such as a bucket or a breaker attached to the arm.
  • a method of linearly controlling a working machine of a construction machine comprising: a plurality of actuators for oscillating a working machine member;
  • the offset actuator is driven to automatically move the tip of the work machine in the lateral direction, and to start linear control on the work object. After starting,
  • the tip of the work implement is linearly controlled in the horizontal direction, and the tip of the work implement is larger than the predetermined value in at least one of the vertical and horizontal directions
  • at least one of the boom and the arm is driven to detect the error.
  • the tip of the working implement is moved laterally by the turning drive of the turning actuator, and the linear control is automatically performed on the work target.
  • the error is corrected, so that the work posture is fixed and workability and drivability are improved.
  • the feature is that the body is turned and the tip of the work implement is linearly controlled to move further in the lateral direction.
  • the offset boom is operated to linearly control the tip of the work implement in the lateral direction, and further, the vehicle body is turned to linearly control the tip of the work implement in the lateral direction.
  • the linear control distance in the lateral direction can be further increased, and the workability and operability are improved.
  • the feature is that the body is turned and the tip of the work implement is linearly controlled to move further in the lateral direction.
  • the linear control distance in the lateral direction can be increased, thereby improving workability and workability. Drivability is improved.
  • the work machine linear control device for construction machines according to the present invention, Work equipment members such as the first boom, second boom, offset boom, arm, etc., which are sequentially connected from the vehicle body, work equipment such as a bucket or breaker attached to the arm, and work equipment members Equipped with a plurality of factories and a plurality of directional control valves for supplying hydraulic oil to the factories, respectively, to perform linear control on the work object when moving the tip of the work implement in the horizontal direction
  • the linear control device for the working machine of the machine the position of the arm control point e, which is the tip of the arm, the arm-to-ground angle a, which is the angle between the perpendicular to the ground and the arm when the tip is located at the arm control point e, And a setting device for setting the Z1 direction or the Z2 direction, which is the control direction of the work implement tip,
  • An automatic switching switch for switching the operation of the working machine member and the work implement to automatic control, a first detecting means for detecting a first boom angle 01 as a swing angle of the first boom, and a swing angle of the second boom.
  • Second detection means for detecting a certain second boom angle 0 2
  • third detection means for detecting an offset angle 0 3 of the offset boom
  • Fourth detection means for detecting an arm angle 0 4 which is an arm swing angle
  • the controller After turning on the automatic switching switch, the controller receives the signals from the first to fourth detection means, calculates the angular velocity of the offset boom based on the lateral velocity of the tip of the work implement, and calculates
  • the offset boom is operated in accordance with the set angular velocity and the tip of the implement is linearly controlled in the horizontal direction, and the tip of the implement has an error greater than the specified value in at least one of the vertical and lateral directions
  • a command is output to a plurality of directional control valves, and at least one of the first boom, the second boom, and the arm is driven to correct the generated error to be within a predetermined value. I do.
  • the work machine linear control device for construction machines A swingable vehicle body, working equipment members such as a first boom, a second boom, an offset boom, and an arm that are sequentially connected from the vehicle body, working equipment such as a bucket or a breaker attached to the arm, and a working machine member
  • a construction machine that includes a plurality of actuators that oscillate the work and a rotation actuator that turns the vehicle body, and performs linear control on the work object when the tip of the work implement is moved in the horizontal direction.
  • the position of the arm control point e which is the tip of the arm
  • the arm-to-ground angle a which is the angle between the perpendicular to the ground and the arm when the tip is located at the arm control point e
  • a setting device for setting the Z1 direction or the Z2 direction, which is the control direction of the tip of the work implement
  • an automatic switching switch for switching the operation of the work implement members and the work implement to automatic control, and a swing of the first boom.
  • First detecting means for detecting a first boom angle 01 as an angle
  • second detecting means for detecting a second boom angle 02 which is a swing angle of a second boom
  • offset angle 0 3 for an offset boom.
  • Fourth detection means for detecting an arm angle 0 4 which is an arm swing angle
  • the control device After turning on the automatic switching switch, the control device receives the signals from the first to fourth detection means, obtains a reference seat from the turning center of the vehicle body to the tip of the work implement, and obtains the obtained reference standard.
  • the tip of the work implement is linearly controlled in the horizontal direction by turning the vehicle body in accordance with the coordinates, and when the tip of the implement has an error larger than a predetermined value in at least one of the vertical and lateral directions, a plurality of actuators are required.
  • the command is output to a plurality of directional control valves that drive the overnight and the rotation factories, and at least one of the first boom, the second boom, and the arm is driven. It is characterized in that it is corrected so that
  • FIG. 1 is an explanatory diagram of the coordinates of each axis X, Y and Z directions of the working machine of the present invention.
  • FIG. 2 is an explanatory diagram of horizontal linear control in the working machine of the present invention.
  • FIG. 3A is an explanatory diagram of the horizontal linear control by the start of turning in the working machine of the present invention.
  • FIG. 3B is an explanatory diagram of the horizontal linear control after turning in the working machine of the present invention.
  • FIG. 4 is an explanatory diagram of an example in which linear control is started in the lateral direction from the X axis on the turning center in the working machine of the present invention.
  • FIG. 5 is an explanatory diagram of each sensor and control device of the present invention.
  • FIG. 6 is a hydraulic circuit diagram of the linear control of the present invention.
  • FIG. 7 is an explanatory diagram of a function formula of the coordinates of each point of the working machine of the present invention and the angle 7 of the arm with respect to the ground.
  • FIG. 8 is a part of a flowchart of the first control of the linear control according to the present invention.
  • FIG. 9 is a flowchart of the first control following FIG.
  • FIG. 10 is a part of a flowchart of the second control of the linear control according to the present invention.
  • FIG. 11 is a flowchart of the second control following FIG. 10.
  • FIG. 12 is a part of a flowchart of the third control of the linear control according to the present invention.
  • FIG. 13 is a flowchart of the third control following FIG.
  • FIG. 14 is a flowchart of the third control following FIG.
  • FIG. 15 is a flowchart of the third control following FIG.
  • FIG. 16 is a part of a flowchart of the fourth control of the linear control according to the present invention.
  • FIG. 17 is a fourth control flowchart following FIG.
  • FIG. 18 is a flowchart of the fourth control that follows the middle of FIG.
  • FIG. 19 is a side view of a hydraulic shovel equipped with a general offset boom type working machine used in the present invention.
  • FIG. 20 is a view on arrow 20 in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • the lower traveling body 2 of the hydraulic excavator 1 shown in FIG. 19 is freely movable by a traveling motor (not shown).
  • An upper revolving unit 3 (hereinafter, referred to as a vehicle body 3) that can be turned by a turning motor (not shown) via a swing circuit 4 is mounted on an upper portion of the lower traveling unit 2.
  • the boom foot 5 a of the first boom 5 is attached to the vehicle body 3.
  • the first boom 5 is adapted to move about the boom foot 5a as a fulcrum.
  • the bottom side of the first boom cylinder 6 (hereinafter referred to as the first actuator 6) for driving the first boom 5 is attached to the vehicle body 3, and the mouth side is attached to the upper end of the first boom 5. I'm wearing
  • the first boom 5 can be swung up and down by the expansion and contraction drive of the first actuator 6.
  • the first boom 5 is connected to the second boom 7.
  • the bottom side of the second boom cylinder 8 (hereinafter referred to as the second factory overnight 8) that drives the second boom 7 is attached to the first boom 5, and the rod side is the end of the second boom 7 Is attached to the department.
  • the second boom 7 can be swung up and down by the expansion and contraction drive of the second factory 8.
  • one end of the offset boom 11 is connected to the second boom 7, and the other end is connected to the bracket 9.
  • the bottom of the offset cylinder 10 (hereinafter referred to as the offset actuator 10) that drives the offset boom 1 1 is attached to the second boom, and the mouth is attached to the bracket 9 are doing.
  • the offset boom 11 can be swung laterally by the expansion and contraction drive of the offset actuator 10.
  • One end of the rod 11 a is attached to the second boom 7, and the other end is attached to the bracket 9.
  • the rod 1 la is provided so that the bracket 9 does not rotate and swing with respect to the second boom 7.
  • Bracket 9 is connected to arms 1 and 2.
  • An arm cylinder 13 for driving the arm 12 (hereinafter referred to as arm armor 13) is supported by a bracket 9, and a rod is attached to the arm 12. As shown in Fig. 19, the arm 12 is used to extend and retract the arm actuator 13 It is swingable in the excavation direction and the dump direction.
  • the offset boom 11 When the offset boom 11 does not offset, or when it swings laterally, the offset angle 03 is 0. Even with the above, the working posture of the arm 12 connected to the bracket 9 by the rod 11a is not changed. Thus, even when the offset boom 11 is offset or not, the arm 12 can swing in the excavation / dump direction.
  • the arm 12 is connected to a baguette (work implement) 14.
  • the bottom side of a baggage cylinder 15 (hereinafter referred to as a bucket actuator 15) for driving the baggage 14 is attached to the arm 12 and the rod side is a link 15a, 15 It is connected to bucket 14 through b.
  • the baggage 14 can be moved freely in the direction of excavation and dumping by the telescopic drive of the bucket actuator 15.
  • reference numeral 17 denotes a first boom angle sensor (hereinafter, referred to as first detecting means 17), reference numeral 18 denotes a second boom angle sensor (hereinafter, referred to as second detecting means 18), and reference numeral.
  • Reference numeral 19 denotes an arm angle sensor (hereinafter, referred to as fourth detection means 19).
  • Reference numeral 16 in FIG. 20 denotes an offset angle sensor (hereinafter, referred to as third detection means 16).
  • the offset type work machine is swingable in the X, ,, and Z directions as shown in FIGS. 19 and 20.
  • the first boom 5 swings around the origin 0 in the X-Y directions.
  • the sliding angle is 0 1
  • the distance L 1 connecting the origin 0 and the point a is the length of the first boom 5.
  • the second boom 7 swings around the point a in the X-Y directions.
  • the second boom 7 connects the points a and b with the distance 22, L21, and forms an angle 0 between the line segments a and a 1 extending from the point a to the point a 1 and the line segment a 1.
  • 2 is the swing angle.
  • the offset boom 1 1 swings around the point b in the Z direction.
  • the swing angle is 0 3
  • the distance L 3 connecting the points b and c is the length of the offset boom 11.
  • Bracket 9 has a distance L 4 connecting points c and d.
  • the arm 12 swings around the point c via the bracket 9 in the X-Y directions. Its swing angle is 0 4 (square cd e), and the distance L5 connecting the points d and e is the length of the arm 12.
  • the angle 7 (hereinafter referred to as “arm-to-ground angle 7”) between the line f drawn perpendicularly from the point d and the line segment de is the working posture of the arm 12.
  • the offset boom type working machine for three axes operates the first boom 5, the second boom 7, the offset boom 11 and the arm 12 sequentially from the origin 0, and the tip of the end 12 It is used to position point e (hereinafter referred to as arm control point e).
  • arm control point e position point e
  • work equipment such as a bucket or a breaker is not shown as being in a fixed state.
  • To linearly control the position of the arm control point e in the horizontal direction means to linearly control the tip of the working machine in the horizontal direction.
  • the offset boom 11 is shown by the dashed line when the offset operation is performed around point b.
  • Offset boom 1 Offset operation of tip 1 of point 1 to point cl, point d of bracket 9 to point dl, and point e of arm 12 to point e) and point e in point Z, respectively.
  • the bracket 9 and the arm 12 are always parallel to the X axis.
  • the point e of the tip of the arm 12 is linearly controlled to the point el.
  • a control method and apparatus for linearly controlling the arm control point e in the lateral direction will be described.
  • the coordinates of each point in the X, Y, and Z directions of the axis of the offset boom type working machine and the function formula of the arm-to-ground angle a will be described with reference to FIGS.
  • FIG. 1 An outline of work machine linear control will be described using a hydraulic shovel (equivalent to a plan view) equipped with an offset boom type work machine shown in FIG.
  • the boom foot 5a of the first boom 5 is disposed away from the turning center R0 of the vehicle body 3.
  • the linear movement amount La of the tip of the arm 12 from the point e to the point e 1 can be controlled.
  • the tip of the arm 12 can be further controlled to control the linear movement amount La 1 to the e 2 point. It is possible.
  • the work machine can be offset and activated to move the tip of the arm 12 further linearly. so is there. That is, according to the present invention, the tip of the arm 12 can be moved linearly in the lateral direction by the offset operation of the work implement or the turning drive of the vehicle body.
  • the linear control either the Z1 or Z2 direction is selected, and is set by a setting unit 32 in FIG. 5 described later.
  • the work machine linear control circuit is equipped with a variable displacement hydraulic pump 21 (hereinafter referred to as oil £ E pump 21) driven by the engine 20 shown in FIG.
  • the hydraulic pump 21 is connected to a first directional control valve 23 (hereinafter, referred to as a first valve 23 or a valve 23) via a pipe 22a branched from the pipe 22.
  • the hydraulic pump 21 is connected to a second directional control valve 24 (hereinafter, referred to as a second valve 24 or a valve 24) via a pipe 22b branched from the pipe 22.
  • the hydraulic pump 21 is connected to a third directional control valve 25 (hereinafter referred to as a third valve 25 or a valve 25) via a pipe 22c branched from the pipe 22. I have.
  • the hydraulic pump 21 is connected to a fourth directional control valve 26 (hereinafter, referred to as a fourth valve 26 or a valve 26) via a pipe 22d branched from the pipe 22.
  • the hydraulic pump 21 is connected to a fifth directional control valve 27 (hereinafter, referred to as a fifth valve 27 or a valve 27) via a pipeline 22.
  • the hydraulic pump 21 is connected to a turning direction switching valve 28 (hereinafter referred to as a turning valve 28 or a valve 28) via a pipe 22.
  • the first valve 23 is connected to the first actuator 6 via lines 23c and 23d.
  • the second valve 24 is connected to the second factory 8 via lines 24c and 24d.
  • the third valve 25 is connected to the offset actuator 10 via lines 25c and 25d.
  • the fourth valve 26 is connected to the arm actuator 13 via pipes 26 c and 26 d.
  • the fifth valve 27 is connected to the baguette actuator 15 via pipes 27 c and 27 d.
  • the slewing valve 28 is connected to a slewing motor 40 (hereinafter referred to as slewing actuator 40) via lines 28c and 28d.
  • first detecting means 17 for detecting the swing angle of the first boom 5 for detecting the swing angle of the first boom 5
  • second detecting means 18 for detecting the swing angle of the second boom 7, and second detecting means 18 for detecting the offset angle 0 3.
  • the signal is input to the control concealment 30.
  • the automatic switching switch 31 that switches between the offset boom type working machine and the automatic linear control of the tip of the arm 12 by turning is connected to a control device 30.
  • the control device 30 is connected to an arm-to-ground angle 7, which will be described later, an arm control point e for starting the linear control of the work object, and a setter 32 for setting the direction of the linear movement Z1 or Z2.
  • the manual operation means will be described.
  • the potentiometer 36 generates a voltage signal VI corresponding to the operation displacement of the electric operation means 35, and outputs the voltage signal VI to the control device 30.
  • the control device 30 controls any one of the first to fifth valves 23, 24, 25, 26, 27 and the turning valve 28 based on the signal VI input from the potentiometer 36.
  • Each operation part of valve 2 8 23a, 23b, 24a, 24b, 25a, 25b, 26a, 26b, 27a, 27b, 28 a and 28 b are input.
  • the command signal output from the control device 30 will be described.
  • the command signal i 01 is on the operation part 23 a of the first valve 23, the command signal i 02 is on the operation part 23 b of the first valve 23, and the command signal i 03 is the operation part of the second valve 24.
  • 24 a, command signal i 04 to the operation section 24 b of the second valve 24, command signal i 05 to the operation section 25 a of the third valve 25, command signal i 06 to the third valve 2 Input is performed on the operation section 25 b of 5 respectively.
  • the command signal i 07 is applied to the operation section 26 a of the fourth valve 26
  • the command signal i 08 is applied to the operation section 26 b of the fourth valve 26
  • the command signal i 09 is operated to the fifth valve 27.
  • Command signal i10 to the operating part 27b of the fifth valve 27 command signal i11 to the operating part 28a of the turning valve 28, and command signal i12 to the turning part 28a.
  • the values are input to the operation section 28
  • the control device 30 includes a length L1 of the first boom 5, a length L21, L22 of the second boom 7, a length L3 of the offset boom 11, a length L4 of the bracket 9, and an arm 1 2 Length L5 is stored.
  • the lengths LI to L5 and the angles 01, 02, 03, 04, detected by the first to fifth detecting means 17, 18, 16.1 9.4 1 (see FIGS. 1 and 2) From these, the coordinates of each point in the X, Y, and Z directions are calculated.
  • an arm target ground angular velocity d 7 Zd t is calculated.
  • target angular velocities d ⁇ 1 / ⁇ ⁇ , ⁇ 2 / dt, ⁇ 4 / dt, d 0 R / dt of the turning of the first boom 5, the second boom 7, the arm 12 and the vehicle body 3 are set.
  • FIG. 3A shows a control point e 1 of the arm 12 where the lateral linear control by the offset boom type working machine is limited.
  • the vehicle 3 starts turning (turning in the clockwise RX direction) from this lying down position and moves linearly to the position of the control point e 2 of the arm 12 shown in FIG. 3B, the following formula is used. Is done.
  • the radius connecting the turning center R0 and the control point el of the arm 12 is Rorg.
  • the angle between the X axis from the turning center R0 and the line segment RO, e1 is Rorg.
  • Rorg. 0 org the distance between the Z axis and the boom foot 5a is LxBO
  • the distance between the X axis and the boom foot 5a is LzBO
  • the distance from the boom foot 5a to the control point el is XaO
  • the offset of the offset boom 11 is 1.
  • Rorg ⁇ (LxBO + XaO) 2 + (L zBO + Z aO) 2 ⁇ ° 5
  • Org tan — 1 (L zBO + Z aO / L BO + XaO)
  • the distance from the turning center R0 to the boom foot 5a is LBO, the angle between the line segment R0,5a and the Z axis is 0, and the initial value of the turning angle is 0R0.
  • the distance between the X axis and the control point e 2 of the arm 12 is Z (0R).
  • the distance from the turning center R0 to the boom foot 5a is L zBO (0R)
  • the distance between the boom foot 5 a and the control point e 2 in the Xb-axis direction is X a
  • the distance between the Z axis and the boom foot 5 a is LxBO ( ⁇ .).
  • ⁇ (0 R) tan — 1 [ ⁇ L zBO (0 R) + Z (0 R) ⁇
  • the control is switched to the linear drive control by the swing drive and the work machine drive, and the linear control is performed to the control point e3.
  • the distance between the Z axis and the boom foot 5a is LxBO. If the distance from the boom foot 5a to the control point e3 of the arm 12 is XaO, the distance X0 between the Z axis and the control point e3 is X0.
  • the arm control point e by turning drive is linearly controlled in the lateral direction (Z-axis direction)
  • the arm angle ⁇ , the arm control point e, and the Z1 or Z2 direction of the linear control are set by the setting unit 3 2 Set by.
  • the coordinates X a O, Ya aO of each axis of the arm control point e are obtained.
  • Z a 0, and the arm ground angle 7 a O are calculated.
  • the control shield 30 issues a command to set the first, second, fourth and turning valves 23, 24, 26, 28 to a predetermined opening amount. Output.
  • the tip of the offset-boom type working machine is moved laterally by the swinging drive of the working machine and the swinging actuator 40, and linear control is automatically performed on the work object. The operation can be easily performed even by an unskilled operator.
  • the arm-to-ground angle 7 is set in advance to make the working posture of the arm 12 constant. Therefore, when it is not necessary to fix the working posture of the arms 1 and 2, the arm is set to the free state without setting the ground angle 7 and the calculation is performed from the target angular velocity d 0 3 / dt described above. It is possible to automatically move the tip of the work equipment member in the horizontal direction to control the work object linearly by driving each actuator 6, 8, 10, 10 and 13 based on the . In addition, calculations are performed from the reference coordinates X0, and based on the calculation results, each of the actuators 6, 8, 13, and 40 is driven to automatically move the tip of the working machine member in the horizontal direction. It is also possible to perform linear control on the work object.
  • control device 30 calculates the command signal i 01 based on the calculation result. ⁇ I 12 are output.
  • the first valve 23 When the command signal i01 is input to the operation part 23a of the first valve 23, the first valve 23 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22. Flows into the head room 6a of the first factory 6 through the branch line 23d through the branch line 23d. Thus, the first actuator 6 is shortened.
  • the first valve 23 When the command signal i02 is input to the operation section 23b of the first valve 23, the first valve 23 is switched to the position b, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22 Flows into the bottom chamber 6b of the first factory 6 through a branch line 23c via a branch line 22a. As a result, the first actuator 6 is driven to extend.
  • the second valve 24 When the command signal i03 is input to the operation section 24a of the second valve 24, the second valve 24 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22 Flows into the head room 8a of the second factory 8 through the branch line 24b through the branch line 24d. As a result, the second actuator 8 is shortened.
  • the second valve 24 When the command signal i 04 is input to the operation section 24 b of the second valve 24, the second valve 24 The position is switched to the position b, and the hydraulic oil discharged from the hydraulic pump 21 passes from the pipe 22 through the branch pipe 22 b through the pipe 24 c and the bottom chamber 8 b of the second actuator 8 b Flows into As a result, the second actuator 8 is driven to extend.
  • the fourth valve 26 When the command signal i07 is input to the operation part 26a of the fourth valve 26, the fourth valve 26 is switched to the position a, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22 Flows into the head chamber 13a of the arm actuator 13 through the pipe 26d through the branch pipe 22d. As a result, the arm actuator 13 is shortened.
  • the command signal i08 is input to the operation part 26b of the fourth valve 26, the fourth valve 26 is switched to the position b, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22 Then, it flows into the bottom chamber 13b of the arm actuator 13 through the pipe 26c via the branch pipe 22d. As a result, the arm actuator 13 is driven to extend.
  • the swivel valve 28 When the command signal i 11 is input to the operation part 28 a of the swivel valve 28, the swivel valve 28 is switched to the a position, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22. From the branch, the water flows into the circulating shaft 40 through the conduit 28 d via the conduit 22 e. As a result, the turning actuator 40 is driven to turn left.
  • the swing valve 28 When the command signal i12 is input to the operation part 28b of the swing valve 28, the swing valve 28 is switched to the position b, and the hydraulic oil discharged from the hydraulic pump 21 is supplied to the pipeline 22. From the branch, the water flows into the turning actuator 40 through the line 28c via the line 22e. As a result, the turning actuator 40 is driven to turn right.
  • valves 23, 24, 25, 26.27 can be switched by manually operating the electric operation means 35.
  • the potentiometer 36 generates a compress signal VI corresponding to the operation displacement of the electric operation means 35, and the voltage signal VI is output to the control device 30.
  • the control device 30 activates one of the valves 23, 24, 25, 26, 27 based on the input signal VI. Command signals i 01 to i 12 are calculated.
  • each operation part 23 a, of the valve 23, 24, 25, 26, 27.28 23 b, 24 a, 24 b, 25 a, 25 b, 26 a, 26 b, 27 a, 27 b, 28 a, 28 b The opening amounts of the valves 23, 24, 25, 26.27, 28 are controlled by the command signals i01 to i12, and each of the valves 6.8, 10, 0, 13.4 0 is driven as described above.
  • the arm-to-ground angle 7 is set in each of the first to fourth control flows, the arm-to-ground angle may not be set and a free state may be set. Setting the arm-to-ground angle a is to control the straight line in the horizontal direction while keeping the working posture of the arm 12 constant. Even if the arm-to-ground angle is not set, the linear control in the horizontal direction is possible.
  • the first control flow will be described with reference to FIGS.
  • the Z1 or Z2 direction of linear control are set by the setting unit 3 2 Enter using.
  • the initial values of the axes XaO, YaO, ZaO, and aO of the arm control point e are calculated.
  • the velocity d z Zd t in the Z 1 or Z2 direction is calculated.
  • the control current value i 1 corresponds to command signals i 05 and i 06 to the operation units 25 a and 25 b of the third valve 25 shown in FIG.
  • control current value i 1 is output to third valve 25.
  • the first boom angle 01, the second boom angle 02, the offset angle 03, and the arm angle 04 are detected at S10. I do.
  • the first, second and fourth valves 23, 24 .2 are set according to the target angular velocities d ⁇ ⁇ / ⁇ t, d ⁇ 4 / dt, ⁇ ⁇ 2 / dt, and the predetermined function f 1.
  • the control current value i 2 is the command signal i 01, i 02 to the operation unit 23 a 2 3 b of the first valve 23, and the control current value i 3 is the value of the fourth valve 23.
  • the command signals i 07 and i 08 to the operation units 26 a and 26 b and the control flow value i 4 are the command signals i 03 and i to the operation units 24 a and 24 b of the second valve 24. 04, respectively.
  • control current values i2, i3, i4 are output to first, fourth and second valves 23, 26, 24.
  • the first arm and second actuator 6.13, 8 drive the first boom 5, the arm 12, and the second boom 7, and the deviation in S13 Correction is made so that ⁇ X, ⁇ Y, and ⁇ 7 are all within the marginal errors Xe, ⁇ , and Ae.
  • the command is output to the third valve 25 first, and the offset work 10 is driven to start the lateral movement of the control point e of the arm 12 in the horizontal direction. I do.
  • the first, fourth and second valves 23, 26, 24 are commanded, and the first, arm and second actuators 6, 13.8 are operated simultaneously. As shown in Fig. 7, the robot can move laterally linearly from control point e to point e1.
  • the control flow value i 5 corresponds to the command signals i 11 and i 12 (see FIG. 6) to the operation units 28 a and 28 b of the swivel valve 28.
  • control current value i5 is output to swing valve 28.
  • the first boom angle 01, the second boom angle 02, the offset angle 03, the arm angle 04, and the swing angle are detected in S38.
  • S39 Xal, Yal, Zal, and aa, which are moving linearly from point e to point e1, are calculated.
  • the distance X0 (0R) between the turning center R0 and the arm control point e2 is calculated by the above-described C I4) formula.
  • the deviation value X is the marginal error A Xe with respect to I ⁇ XI ⁇ mm Xe
  • the deviation value ⁇ is the marginal error ⁇ Ye with respect to the I ⁇ YI ⁇ ⁇ Ye, and furthermore, the deviation value.
  • ⁇ r determines whether I ⁇ 7 I ⁇ ⁇ 7e with respect to the marginal error ⁇ ae. When all three judgment results are Y E S, the process returns to S38, and when at least one of the three judgment results is NO,
  • each target angular velocity d01Zdt, ⁇ 2 / / X, d04Zdl: is calculated.
  • the control current value i2 is a command to the operation parts 23a and 23b of the first valve 23.
  • Signal i 01, i 02, control current value i 3 is the second valve; command signal i 4 to operation unit 24 a, 24 b of i 03.
  • control current value i 4 is the fourth valve 26
  • 4 is output to the first, second and fourth valves 23, 24, 26.
  • the arm angle to the ground 7 and the arm control point for starting work on the work object e. Input the Z1 or Z2 direction of the linear movement control using the setting unit 32.
  • S61 it is determined whether or not the automatic switching switch 31 is ON. If NO, the process returns to S60, and if YES, the first boom angle 01, the second boom angle 02 in S62. , Offset angle ⁇ 3, arm angle 04 and turning angle 0 R are detected.
  • the initial values of XaO, YaO, Za0, and 7aO of the arm control point e are calculated.
  • the velocity dzdt in the Z1 or Z2 direction is calculated.
  • the angular velocity d ⁇ 3 / ⁇ t of the offset boom 11 is calculated.
  • control current value i l is output to third valve 25.
  • the second boom angle 02, the offset angle 03, and the arm angle 04 are detected in S69.
  • Xal, Yal, Zal, and 7a during linear movement from the arm control point e to the point e1 are calculated.
  • the target speeds dXZdt, dY / dt, and dZdt are calculated in S73.
  • the first, second and fourth valves 23, 24, 26 are determined by the target angular velocity d01 no dt. D04 no dt, ⁇ 2 / ⁇ t and the predetermined function f1.
  • the control current value i2 is a command signal i01, i01, to the operation units 23a, 23b.
  • i 02 the control current value i 3 to the control panel 26 a, 26 b Command signal i 07 and i 08
  • the control current value i 4 is the command signal to the operation units 24a and 24b.
  • the control current values i 2, i 3 and i 4 are output to 26.
  • the first boom angle 01, the second boom angle 02, the offset angle 03, the arm angle 04, and the turning angle ⁇ R are detected.
  • the initial values of the coordinates XaO. YaO and 7aO at the arm control point e are calculated, and the initial value of the turning angle 0R is stored.
  • the reference coordinate X0 shown in FIG. 3A is calculated by the equation (13).
  • control current value i5 is output to swing valve 28.
  • 01, ⁇ 2, 03.04, are detected.
  • Xal, Yal, Zal, 7a during linear movement from the arm control point e to the point e1 are calculated.
  • the deviation ⁇ X ( XO (0R) between the value of X0 (0R) .Yal, aal during the linear movement and the initial value of the reference coordinate X0, coordinate YaO, angle 7a0. ) — X0]
  • Mu 7 [ ya — ya0].
  • the opening of the first, second and fourth valves 23, 24, 26 is determined by the target angular velocities d01 / dt, ⁇ 2 / ⁇ t, d ⁇ 4Zdt and the predetermined function f1.
  • the control current value i 2 C f A (Cl)]
  • control current value i 2 is applied to the command signals i 01 and i 02 to the operation units 23 a and 23 b, and the control current value i 3 is applied to the operation units 24 a and 24 b.
  • the command signals i 03 and i 04 correspond to the control current values i 4
  • the control current value i 4 corresponds to the command signals i 07 and i 08 to the operation units 26 a and 26 b, respectively.
  • the control current values i2, i3, i4 are output to the first, second and fourth valves 23, 24.26.
  • S95 it is determined whether or not the automatic switching switch 31 is ON. If YES, the process returns to S85, and if NO, the process is ended.
  • ⁇ , e, and Z1 or Z2 are input from the setting unit 32 in the same manner as S1 .
  • the initial values XaO, YaO, ZaO. Ra0, 0RO of the arm control point e are obtained and stored.
  • the speed dz / dt in the Z1 or Z2 control direction of the linear movement is calculated.
  • the angular velocity d03 / dt of the offset boom 11 is calculated.
  • the control current value i 1 [ ⁇ f A (CI)] of the third valve 25 is obtained by the function f A.
  • the control current value i 1 is determined by the operation units 25 a and 2 of the third valve 25 in FIG.
  • the control current value il is output to the third valve 25.
  • each target angular velocity d01Zdt, d04 / dt, d02dt is calculated.
  • C2 [ f 1 (d 04 dt) D,
  • C3 C f 1 (d 02 / dt))
  • control current values i2, i3, i4 are output to valves 23, 24, 26.
  • the control current value i 5 is output to the turning valve 28. After the output, the first boom angle 01, the second boom angle 02, the offset angle 03, the arm angle 04, and the turning angle are detected in S126.
  • the target angular velocities d01, dt, d02 / dt, and d04Zdt are calculated.
  • the control current values i2, i3, and i4 are passed through valves 23.24, 2 Output to 6.
  • the present invention is useful as a work machine linear control method and a control device for a construction machine, in which workability is improved by automatically controlling a linear control in a lateral direction, and operation is easy even for an unskilled operator. .

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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Abstract

Cette invention se rapporte à un procédé et à un appareil pour la commande linéaire d'une machine de chantier, qui permettent d'exécuter automatiquement des opérations de commande linéaire dans une direction transversale et qui améliorent le facteur de travail et l'exploitabilité. Ce procédé de commande consiste à calculer une vitesse angulaire d'une flèche désaxée (11) à partir d'une vitesse transversale de l'extrémité distale d'un instrument de travail (14), à actionner la flèche désaxée (11) de façon à obtenir la vitesse angulaire calculée, à procéder à la commande linéaire de l'extrémité distale de l'instrument de travail (14) dans la direction transversale, et à mettre en mouvement au moins une des flèches (5, 7) et un bras (12) à des fins de correction, lorsque l'extrémité distale de l'instrument de travail (14) développe une erreur supérieure à une valeur prédéterminée dans au moins l'une des directions verticale et transversale.
PCT/JP1997/002457 1996-07-18 1997-07-15 Procede et appareil pour la commande lineaire d'une machine de chantier WO1998003738A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8206372A JPH1030248A (ja) 1996-07-18 1996-07-18 建設機械の作業機直線制御方法及びその制御装置
JP8/206372 1996-07-18

Publications (1)

Publication Number Publication Date
WO1998003738A1 true WO1998003738A1 (fr) 1998-01-29

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PCT/JP1997/002457 WO1998003738A1 (fr) 1996-07-18 1997-07-15 Procede et appareil pour la commande lineaire d'une machine de chantier

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JP (1) JPH1030248A (fr)
WO (1) WO1998003738A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1323870A1 (fr) * 2001-12-26 2003-07-02 Caterpillar Inc. Système de commande pour engin de chantier pour améliorer la durée du cycle
EP3680394A4 (fr) * 2017-09-08 2020-11-25 Sumitomo Heavy Industries, Ltd. Pelle
CN115298395A (zh) * 2020-06-25 2022-11-04 株式会社小松制作所 用于校正作业机械的方位的系统以及方法
CN115387426A (zh) * 2022-08-29 2022-11-25 三一重机有限公司 作业机械的控制方法、装置、设备及作业机械

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7869923B2 (en) 2004-09-24 2011-01-11 Komatsu Ltd. Slewing controller, slewing control method, and construction machine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01268923A (ja) * 1988-04-19 1989-10-26 Mitsubishi Heavy Ind Ltd 移動体の水平垂直移動制御方法
JPH07109748A (ja) * 1993-10-12 1995-04-25 Hitachi Constr Mach Co Ltd 作業機の干渉防止制御装置
JPH084046A (ja) * 1994-06-16 1996-01-09 Hitachi Constr Mach Co Ltd 作業機の干渉防止装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01268923A (ja) * 1988-04-19 1989-10-26 Mitsubishi Heavy Ind Ltd 移動体の水平垂直移動制御方法
JPH07109748A (ja) * 1993-10-12 1995-04-25 Hitachi Constr Mach Co Ltd 作業機の干渉防止制御装置
JPH084046A (ja) * 1994-06-16 1996-01-09 Hitachi Constr Mach Co Ltd 作業機の干渉防止装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1323870A1 (fr) * 2001-12-26 2003-07-02 Caterpillar Inc. Système de commande pour engin de chantier pour améliorer la durée du cycle
US6618967B2 (en) 2001-12-26 2003-09-16 Caterpillar Inc Work machine control for improving cycle time
EP3680394A4 (fr) * 2017-09-08 2020-11-25 Sumitomo Heavy Industries, Ltd. Pelle
US11377816B2 (en) 2017-09-08 2022-07-05 Sumitomo Heavy Industries, Ltd. Shovel
CN115298395A (zh) * 2020-06-25 2022-11-04 株式会社小松制作所 用于校正作业机械的方位的系统以及方法
CN115387426A (zh) * 2022-08-29 2022-11-25 三一重机有限公司 作业机械的控制方法、装置、设备及作业机械
CN115387426B (zh) * 2022-08-29 2023-11-28 三一重机有限公司 作业机械的控制方法、装置、设备及作业机械

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