Classifications

• • 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
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2278—Hydraulic circuits
  • E02F9/2296—Systems with a variable displacement pump
• • 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
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2278—Hydraulic circuits
  • E02F9/2285—Pilot-operated systems
• • 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
  • E02F9/22—Hydraulic or pneumatic drives
  • E02F9/2278—Hydraulic circuits
  • E02F9/2292—Systems with two or more pumps
• • 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
  • E02F9/26—Indicating devices

Definitions

• the present invention relates to a construction machine such as a hydraulic shovel for excavating the ground, and more particularly to a control device for such a construction machine.
• a construction machine such as a hydraulic excavator is provided with a driving operation room (cabin) 600 on a lower traveling body 50 Q having an infinite rail section 500 mm as schematically shown in FIG. It has an upper revolving structure 100, and this upper revolving structure 100 is equipped with an articulated arm mechanism consisting of a boom 200, a stick 300, and a knockout 400. It has a configuration.
• the boom 200, stick 300, and “400” are driven by hydraulic cylinders 120, 122, 122, respectively, as appropriate, to set the traveling direction of the bucket or Excavation work can be performed while keeping the posture of the bucket 400 constant, whereby the position and posture of the work member such as the bucket 400 can be accurately and stably controlled.
• the control device for a construction machine includes a construction machine main body, one end pivotally connected to the construction machine main body, a working member at the other end, and mutually connected via a joint.
• a joint-type arm mechanism having at least a pair of arm members, a cylinder-type actuator mechanism having a plurality of cylinder-type actuators for driving the arm mechanism by performing expansion and contraction operations, and the arm mechanism.
• Angle detecting means for detecting the posture of the vehicle using angle information; converting means for converting the angle information obtained by the angle detecting means into corresponding expansion and contraction displacement information of the cylinder type actuator; Control means for controlling the cylinder type actuator to have a predetermined telescopic displacement based on the converted cylinder type actuator's telescopic displacement information. It is characterized in that it is configured Te.
• the articulated arm mechanism has a boom one end of which is rotatably connected to the main body of the construction machine, and one end rotatably connected to the boom through the joint.
• the above-mentioned working member is configured as a bucket that is rotatably connected at one end to the stick through a joint, and that can excavate the ground at the tip and store soil therein. May be.
• the cylinder type actuator mechanism is interposed between the construction machine body and the boom, and rotates the boom with respect to the construction machine body by expanding and contracting the distance between the ends.
• the boom hydraulic cylinder is interposed between the boom and the stick, and the distance between the ends expands and contracts.
• a stick hydraulic cylinder that rotates the stick more with respect to the boom, and a bucket that is interposed between the above-mentioned stick and the bucket so that the distance between the ends expands and contracts.
• a bucket hydraulic cylinder that rotates with respect to the rack.
• the angle detecting means includes a first angle sensor for detecting the posture of the boom, a second angle sensor for detecting the posture of the stick, and a third angle sensor for detecting the posture of the baguette. And may be composed of
• the conversion means may include a calculation means for calculating expansion / contraction displacement information of a cylinder type actuator corresponding to the angle information from the angle information obtained by the angle detection means, A storage means for storing expansion / contraction displacement information of the cylinder type actuator corresponding to the angle information obtained by the detection means may be provided.
• the converting means converts the angle information obtained by the first angle sensor into telescopic displacement information of the boom hydraulic cylinder, and converts the angle information obtained by the second angle sensor into a stick. It may be configured such that the angle information obtained by the third angle sensor is converted into the telescopic displacement information of the bucket hydraulic cylinder.
• the angle information detected by the angle detection means is converted into expansion / contraction information of a cylinder type actuator driving the arm mechanism by the conversion means. And is input to the control means, so that it can be used in conventional control systems without using expensive stroke sensors to detect the expansion and contraction displacement of each actuator as in the past. It is possible to execute the control using the expansion and contraction displacement of the event. Therefore, it is possible to provide a system capable of accurately and stably controlling the position and the posture of the working member while keeping the cost low.
• FIG. 1 is a schematic diagram of a hydraulic shovel equipped with a control device according to one embodiment of the present invention.
• FIG. 2 is a diagram schematically showing an overall configuration (an electric system and a hydraulic system) of the control device according to the embodiment of the present invention.
• FIG. 3 is a diagram schematically showing a control system configuration of a control device according to one embodiment of the present invention.
• FIG. 4 is a block diagram for explaining a functional configuration of the entire control device according to the embodiment of the present invention.
• FIG. 5 is a main part control block diagram of the control device according to the embodiment of the present invention.
• FIG. 6 is a side view schematically showing operating parts (articulated arm mechanism and bucket) of the excavator according to the present embodiment.
• FIG. 7 is a side view schematically showing the hydraulic excavator according to the present embodiment in order to explain the operation of the hydraulic excavator.
• FIG. 8 is a side view schematically showing the hydraulic excavator according to the present embodiment in order to explain the operation of the hydraulic excavator.
• FIG. 9 is a side view schematically showing the hydraulic shovel according to the present embodiment for explaining the operation of the hydraulic shovel.
• FIG. 10 is a side view schematically showing the excavator according to the present embodiment in order to explain the operation of the excavator.
• FIG. 11 is a side view schematically showing the excavator according to the present embodiment for explaining the operation of the excavator.
• FIG. 12 is a side view schematically showing a schematic configuration of a conventional hydraulic excavator. BEST MODE FOR CARRYING OUT THE INVENTION
• a hydraulic excavator as a construction machine includes, as schematically shown in FIG. 1, for example, a driving operation room 6 on a lower traveling body 500 having infinite rail portions 500 A on both sides.
• the upper revolving superstructure with 00 (construction machine main body) 100 is rotatably provided in a horizontal plane.
• a boom (arm member) 200 having one end rotatably connected to the upper revolving structure 100 is provided, and one end is connected to the boom 200 via a joint.
• a stick (arm member) 300 rotatably connected is provided.
• a bucket (working member) 400 that is rotatably connected at one end to the stick 300 through an articulated portion and that can excavate the ground at the tip and store earth and sand therein. Is provided.
• the boom 200, the stick 300, and the 'ket 400' have one end pivotally connected to the upper revolving unit 100 and a bucket 400 on the other end.
• An articulated arm mechanism having at least a boom 200 and a stick 300 as a pair of arm members connected to each other via a joint is configured.
• boom hydraulic cylinders 120 stick hydraulic cylinders 121
• baguette hydraulic cylinders 122 are used as the cylinder type actuator.
• stick hydraulic cylinder 121 may be referred to as stick cylinder 121 or simply cylinder 121
• baguette hydraulic cylinder 122 is sometimes referred to as a bucket cylinder 122 or simply a cylinder 122).
• one end of the bom cylinder 120 is located with respect to the upper rotating body 100. It is rotatably connected, and the other end is rotatably connected to the boom 200, that is, it is interposed between the upper swing body 100 and the boom 200, By expanding and contracting the distance between the parts, the boom 200 can be rotated with respect to the upper swing body 100.
• one end of the stick cylinder 12 1 is rotatably connected to the boom 200, and the other end is connected to the stick 300 so as to be rotatable.
• the sticker is interposed between the sticker and the sticker, and the sticker is rotated with respect to the beam as the distance between the ends expands and contracts. Can be done.
• one end of the bucket cylinder 122 is rotatably connected to the stick 300, and the other end is rotatably connected to the bucket 400. That is, it is interposed between the stick 300 and the bucket 400, and the distance between the ends expands and contracts. It can be rotated.
• a link mechanism 130 is provided at the tip of the bucket hydraulic cylinder 122.
• the above-mentioned cylinders 120 to 122 constitute a cylinder type actuating mechanism having a plurality of cylinder type actuating mechanisms for driving the arm mechanism by performing expansion and contraction operations. Is done.
• a hydraulic motor for driving the left and right endless rail portions 500A and a turning motor for driving the upper turning body 100 are also provided.
• the above-mentioned hydraulic excavator is provided with hydraulic circuits for the cylinders 120 to 122 and the above-mentioned hydraulic motors and swing motors.
• the main control valve (control valve) 13, the stick main control valve (control valve) 14, and the bucket main control valve (control valve) 15 are interposed.
• each of the variable discharge pumps 51 and 52 is adjusted by an engine pump controller 27 described below to adjust the displacement of hydraulic oil to the hydraulic circuit. It can be changed.
• FIG. 2 when the line connecting each component is a solid line, it indicates that the line is an electric system, and when the line connecting each component is a broken line, Indicates that the line is a hydraulic system.
• a pilot hydraulic circuit is provided to control the main control valves 13, 14, and 15, and the pilot hydraulic circuit includes a pilot pump 50, Electromagnetic proportional valves 3 A, 3 B, 3 C, solenoid switching valves 4 A, 4 B, 4 C, selector valves 18 A, 18 B, 18 C, etc. are interposed.
• the hydraulic excavator controls the main control valves 13, 14, and 15 via the solenoid-operated proportional valves 3 A, 3 B, and 3 C according to the mode to be controlled. Further, a controller (control means) 1 for controlling the boom 200, the stick 300, and the knuckle 400 to a desired expansion / contraction displacement is provided.
• the controller 1 includes a microprocessor, memories such as ROM and RAM, and an appropriate input / output interface.
• Detection signals (including setting signals) from various sensors are input to the controller 1, and the controller 1 performs the above control based on the detection signals from these sensors. It is about to run. Note that such control by the controller 1 is called semi-automatic control. However, even during excavation by this semi-automatic control (semi-automatic excavation mode), it is possible to manually fine-tune the bucket angle and target slope height.
• Such a semi-automatic control mode includes a bucket angle control mode (see FIG. 7), a slope excavation mode (a bucket tip straight excavation mode or a raking mode). (See Fig. 8), Smooth ginder mode (see Fig. 9) that combines the slope excavation mode and the bucket angle control mode, Automatic baguette angle return mode (See Fig. 9) Return mode) (see Fig. 10).
• the baguette angle control mode is, as shown in FIG. 7, the angle of the baguette 400 with respect to the horizontal direction (vertical direction) even when the stick 300 and the boom 200 are moved.
• the bucket angle is always kept constant.
• This mode is executed when a bucket angle control switch on the monitor panel 10 described later is turned on. Note that when the bag 400 is manually moved, this mode is released, and the bucket angle at the time when the bucket 400 stops is stored as a new bucket holding angle.
• the slope excavation mode is a mode in which the tip 111 of the baguette 400 (hereinafter, sometimes referred to as the bucket tip 112) moves linearly as shown in Fig. 8. is there. However, bucket cylinder 1 2 2 does not move. Also, the bucket angle ⁇ changes with the movement of the baggage 400.
• the slope excavation mode + bucket angle control mode is a mode in which the tip of the baguette 400 moves linearly as shown in FIG.
• the bucket angle ⁇ is also kept constant during excavation.
• the bucket automatic return mode is a mode in which the bucket angle automatically returns to a preset angle as shown in FIG. 10 and the return bucket angle is set by the monitor panel 10. Is done. This mode is boom / bague It is started by setting the bucket automatic return start switch 7 on the cutout operation lever 6 to 0 N. This mode is canceled when the bucket 400 returns to the preset angle.
• the semi-automatic control switch on the monitor panel 10 is turned on, and the slope excavation switch 9 on the stick operation lever-8 is turned on. These modes are entered when the stick operation lever 8 and / or the boom / baguet operation lever 6 are moved.
• the target slope angle is set by a switch operation on the monitor panel 10.
• the operation amount of the stick operation lever 8 gives the bucket tip moving speed in the direction parallel to the target slope angle, and the boom / bucket operation lever is set.
• One of the six operation quantities gives the vertical bucket tooth tip movement speed. Therefore, when the stick operation lever 18 is moved, the toothbrush 111 of the baguette 400 starts linearly along the target slope angle, and the boom / bucket operation lever 6 is moved during excavation. By moving it, it becomes possible to fine-tune the target slope height manually.
• the boom / bucket operation lever 6 can be operated to fine-tune the baguette angle during excavation, and the target slope height can be changed.
• the manual mode is also possible, but in this manual mode, the same operation as the conventional hydraulic excavator is possible, and the coordinate display of the tooth tip 112 of the bucket 400 is displayed. It is possible.
• a service mode for performing service maintenance of the entire semi-automatic system is provided.
• This service mode is performed by connecting the external terminal 2 to the controller 1.
• control gain adjustment and initialization of each sensor are performed. Done.
• controller 1 the various sensors connected to controller 1 are pressure switch 16, pressure sensors 19, 28 A, 28 B, resolver (angle sensor) 2 0 ⁇ 22, vehicle inclination angle sensor 24, etc. are provided. Controller 1 also has an engine pump controller 27, an ON-OFF switch (the above-mentioned bucket automatic return start switch). 7, ON-0 FF switch (Slope excavation switch described above) 9, Target Monitor panel with slope angle setting device (Displace switch panel) 10 is connected. The external terminal 2 is connected to the controller 1 at the time of control gain adjustment and initialization of each sensor.
• the engine pump controller 27 receives the engine speed information from the engine speed sensor 23 and controls the tilt angle of the engine E and the pumps 51 and 52 of the variable discharge amount described above. In this way, cooperation information can be exchanged with the controller 1.
• the pressure sensor 19 is connected to the main control valves 13, 14, 15 from the operating levers 6, 8 for extending and retracting the stick 300 and for raising and lowering the boom 200. Attached to the piping, it detects the pilot oil pressure in the pilot piping. However, since the pilot oil pressure in the pilot piping changes according to the operation amount of the operating levers 6 and 8, this oil pressure is used. By measuring, the operation amount of the control levers 6 and 8 can be estimated.
• the pressure sensors 28 A and 28 B detect the expansion and contraction states of the bump cylinder 120 and the stick cylinder 121.
• the stick operation lever 8 is used to determine the bucket tip moving speed in the direction parallel to the set excavation slope
• the boom / bucket operation lever is used. 6 is used to determine the bucket tip moving speed in the vertical direction with respect to the set slope . Therefore, when the stick operation lever 8 and the boom bucket operation lever 6 are operated at the same time, the tooth tips 11 and 12 of the bucket 400 are combined with the composite vector parallel and perpendicular to the set slope. The direction of movement and its speed will be determined.
• the pressure switch 16 is connected to the operating levers 16 and 8 for the boom 200, the stick 300 and the knuckle 400 via the selector 17 and the like to the pipe pipes for the 8 and 8. It is used to detect whether the operating levers 6 and 8 are neutral or not. That is, when the operation levers 6 and 8 are in the neutral state, the output of the pressure switch 16 becomes OFF, and when the operation levers 6 and 8 are used, the output of the pressure switch 16 becomes ON.
• the neutral detection pressure switch 16 is also used for detecting an abnormality of the pressure sensor 19 and for switching between a manual / semi-automatic mode.
• the resolver 20 is provided at a pivot (joint portion) of the boom 200 to the construction machine main body 100 that can monitor the posture of the boom 200 and detects the posture of the boom 200. It functions as an angle sensor, and the resolver 21 is provided at a pivotal joint (joint) to the boom 200 of the stick 300, which can monitor the posture of the stick 300. And functions as a second angle sensor for detecting the posture of the stick 300.
• the resolver 22 is provided in a link mechanism pivoting portion that can monitor the attitude of the bag 400 and functions as a third angle sensor that detects the attitude of the bucket 400.
• the signal converter (conversion means) 26 converts the angle information obtained by the resolver 20 into telescopic displacement information of the boom cylinder 120, and converts the angle information obtained by the resolver 21 into a sticky cylinder 12 1 And convert the angle information obtained by the resolver 22 into the telescopic displacement information of the bucket cylinder 122. That is, the angle information obtained by the resolvers 20 to 22 is converted into the telescopic displacement information of the corresponding cylinders 120 to 122.
• the signal converter 26 includes an input interface 26 A for receiving signals from the resolvers 20 to 22 and a cylinder corresponding to the angle information obtained by the resolvers 20 to 22.
• Rook-up table 26 that stores telescopic displacement information of 120 to 122
• the memory (storage means) that stores 26 B-1 and the angle information obtained by each resolver 20 to 22
• the main processing unit (CPU) 26 C and the main processing unit (CPU) 26 C that can obtain the telescopic displacement information of the corresponding cylinders 12 0 to 12 22 and can communicate the cylinder telescopic displacement information to the controller 1.
• an output interface 26D for transmitting the cylinder expansion / contraction displacement information.
• the extension displacement information ⁇ bm, ⁇ st, and ⁇ bk of the cylinders 120 to 122 corresponding to the angle information 0bm, ⁇ st, and ⁇ bk obtained by each resolver 20 to 22 are respectively the cosine theorem. And can be calculated by the following equations (1) to (3).
• L / i represents a fixed length
• Axbm represents a fixed angle
• the subscript i / j of L represents the information between nodes i and j.
• L represents the distance between nodes 101 and 102.
• the node 101 is the origin of the xy coordinates (see Fig. 6).
• the above equation may be calculated by the calculating means (for example, CPU26C).
• the CPU 26 calculates the telescopic displacement information of the cylinders 120 to 122 corresponding to the angle information from the angle information obtained by the resolvers 20 to 22. Means.
• the signal converted by the signal converter 26 is used not only for feedback control during semi-automatic control, but also for measuring the coordinates for the position measurement Z display of the bucket tip 112. You.
• the position of the bucket tip 112 in the semi-automatic system (hereinafter sometimes referred to as the bucket tip position 112) is calculated with one point of the upper swing body 100 of the excavator as the origin. However, when the upper-part turning body 100 is tilted in the direction of the front cage, it is necessary to rotate the coordinate system for control calculation by the vehicle tilt.
• the vehicle tilt angle sensor 24 is used to correct the rotation of this coordinate system.
• the electromagnetic proportional valves 3A to 3C control the hydraulic pressure supplied from the pilot pump 50 by the electric signal from the controller 1, and change the controlled hydraulic pressure to the switching valves 4A to 4C or the selector valve 1A.
• the main control valves 13, 14, and 15 By controlling the main control valves 13, 14, and 15 through 8 A to 18 C, the spool positions of the main control valves 13, 14, and 15 are controlled so that the target cylinder speed can be obtained.
• the switching valves 4A to 4C are set to the manual mode, the cylinders 120 to 122 can be controlled manually.
• the stick merging adjustment proportional valve 11 adjusts the merging degree of the two pumps 51 and 52 in order to obtain an oil amount corresponding to the target cylinder speed.
• the above-mentioned ON-OFF switch (slope excavation switch) 9 is attached to the stick operation lever 8, and the semi-automatic mode is selected or deselected by the operator operating the switch 9. Then, when the semi-automatic mode is selected, the tip 111 of the baguette 400 can be moved linearly.
• the above-mentioned ON-OFF switch (bucket automatic return start switch) 7 is attached to the boom Z baget operation lever 6, and the baggage 40 is turned on by the operator turning on this switch 7. Zero can be automatically returned to a preset angle.
• the safety valve 5 is for interrupting the pilot pressure supplied to the solenoid proportional valves 3 A to 3 C.
• the pilot pressure is 3 A to 3 C. It is supplied to. Therefore, if there is any failure in the semi-automatic control, the automatic control of the linkage can be stopped immediately by setting the safety valve 5 to the OFF state.
• the rotation speed of the engine E varies depending on the position of the engine throttle (set by operating a throttle dial (not shown)) set by the operator. The engine speed changes accordingly. Since the pumps 50, 51, and 52 are directly connected to the engine E, when the engine speed changes, the pump discharge rate also changes, so the spool positions of the main control valves 13, 14, 15 are changed. Even if it is constant, the cylinder speed changes according to the change in the engine rotation speed. In order to compensate for this, an engine speed sensor 23 is attached, and when the engine speed is low, the target moving speed of the bucket tip 11 is reduced.
• Monitor panel with target slope angle setting device 10 (hereinafter simply referred to as “monitor panel 10 ”) is the target slope angle a (FIG. 6 and FIG. 6).
• the monitor panel 10 is provided in the operation room 600 together with the operation levers 6 and 8.
• the pressure sensor 19 and the pressure switch 16 are incorporated in the conventional pilot hydraulic line, the operation amounts of the operation levers 16 and 8 are detected, and the resolvers 20 and 21 are operated. , 22 are used for feedback control, and the control is configured such that independent multi-degree-of-freedom feed hack control can be performed for each of the cylinders 120, 122, and 122.
• the vehicle tilt angle sensor 24 is used to correct the influence of the tilting of the upper revolving structure 100, and the cylinders 120, 122, 122 are driven by electric signals from the controller 1. In order to achieve this, a configuration using electromagnetic proportional valves 3A to 3C has been adopted.
• the manual Z semi-automatic mode switching switch 9 allows the operator to select a mode at will and can set a target slope angle.
• control algorithm of the semi-automatic system performed by the controller 1 will be described.
• the control algorithm of the semi-automatic control mode (excluding the bucket automatic return mode) performed by the controller 1 is as shown in FIG. I'm sorry.
• the moving speed and direction of the bucket tip 112 are controlled by the target slope setting angle, the pilot hydraulic pressure for controlling the stick cylinder 121 and the boom cylinder 120, the vehicle inclination angle, and the engine inclination. Obtained from information on rotation speed. Then, the required information (movement speed and movement of bucket tip 1 1 2) Calculate the target speed of each cylinder 120, 122, 122 based on the direction). At this time, information on the engine speed is required when determining the upper limit of the cylinder speed.
• the controller 1 includes independent control units 1 A, IB, and 1 C for each of the cylinders 120, 122, and 122. Therefore, each control is configured as an independent control feedback loop as shown in Fig. 4, so that they do not interfere with each other.
• the compensation configuration in the closed loop control shown in FIG. 4 is as shown in FIG. It has a multi-degree-of-freedom configuration consisting of a feedback loop and a feed-forward loop for displacement, velocity, and speed.
• a feedback loop type compensation means 72 multiplies a deviation between the target speed and the speed feedback information by a predetermined gain K vp (see reference numeral 62), A route that integrates the speed once (see integral element 61 of FIG. 5) and multiplies the deviation between the target speed integral information and the displacement feedback information by a predetermined gain K pp (see code 63); The difference between the target speed integral information and the displacement feedback information is multiplied by a predetermined gain Kp i (see reference numeral 64), and the integration is performed (see reference numeral 66).
• processing is performed by a route that multiplies the target speed by a predetermined gain Kf (see reference numeral 65).
• this apparatus is provided with operation information detecting means 91 for detecting operation information of the cylinders 120 to 122, and the controller 1
• the detection information from the information detection means 91 and the target operation information (for example, the target moving speed) set by the target value setting means 80 are used as human power information, and the arm member such as the boom 200 and the bucket (work) are used.
• (Member) Set and output a control signal so that 400 becomes the target operating state.
• the operation information detecting means 91 is, specifically, a cylinder position detecting means 83 capable of detecting the positions of the cylinders 120 to 122.
• the detector position detecting means 83 is composed of the above-mentioned resolvers 20 to 22 and a signal converter 26.
• the values of the gains Kvp, Kpp, Kpi, and Kf can be changed by a gain scheduler 70.
• a non-linear removal table 71 is provided for removing non-linearities of the force proportional solenoid valves 3 A to 3 C and the main control valves 13 to 15, etc.
• the processing used is performed at high speed in a short time by using a table lookup method.
• detection signals including setting information of target slope angles
• the controller 1 controller ⁇ detection signals from these sensors.
• the boom 200, stick 300, and baguette 400 have the desired expansion and contraction displacement.
• the moving speed and direction of the bucket tooth tip 112 are first determined by the target slope setting angle, the stick series, and the like. It is obtained from information on the pilot hydraulic pressure, vehicle inclination angle, and engine speed that control the cylinders 121 and 120, and based on the information, the cylinders 120, 121, 122 Is calculated. At this time, information on the engine speed is required when determining the upper limit of the cylinder speed.
• the controls are independent feedback loops for each of the cylinders 120, 122, 122, and do not interfere with each other.
• the setting of the target slope angle in this semi-automatic system is performed by a method of inputting numerical values using switches on the monitor panel 10, a two-point coordinate input method, and an input method using a bucket angle.
• the return angle is set by a method of inputting a numerical value by a switch on the monitor panel 10 or by a method of moving a baguette. In each case, a known method is used.
• the above semi-automatic control modes and their control methods are based on the information obtained by converting the angle information detected by the resolvers 20 to 22 into the cylinder telescopic displacement information by the signal converter 26 as follows. Done.
• the length of the bucket cylinder 122 is controlled so that the angle between the bucket 400 and the X axis (bucket angle) 0 is constant at an arbitrary position.
• the bucket cylinder length; I bk is obtained when the boom cylinder length A bin, the stick cylinder length; I st, and the above-mentioned angle ⁇ are determined.
• the bucket angle ⁇ is kept constant, so that the bucket tip position 112 and the node 108 move in parallel.
• the coordinates of the node 1 0 8 in Li ketimine temporary position to start excavation and (X 1 0 8, y 1 () 8), Contact Keru blanking one Mushiri Sunda to re Linkage attitude at this time Calculate the cylinder length of 120 and the stick cylinder 121, and calculate the speed of the boom 200 and the stick 300 so that X 1 () 8 moves horizontally.
• the moving speed of the node 108 is determined by the operation amount of the stick operation lever 18.
• the coordinates of the node 1 0 8 after short time delta t is expressed by ( ⁇ 1 0 8 + ⁇ X , y 1 0 8).
• ⁇ ⁇ is a small displacement determined by the moving speed. Therefore, by considering the delta chi in X 1 0 8, the target boom and length of stay Kkushiri Sunda after delta t is determined. In the slope excavation mode, control similar to that in the smoothing mode is sufficient, but the moving point is changed from node 108 to the bucket tip position 112, and the bucket cylinder length is fixed. The control takes this into account.
• the calculation of the front linkage position is performed in the XY coordinate system with the origin of the node 101 in FIG. Therefore, when the vehicle body is tilted with respect to the xy plane, the xy coordinates rotate, and the target tilt angle with respect to the ground changes.
• a vehicle tilt angle sensor 24 is attached to the vehicle, and when the vehicle tilt angle sensor 24 detects that the vehicle body is rotating by / 3 with respect to the xy plane, ⁇ It can be corrected by replacing the value with only the value added.
• the target bucket tip speed is determined by the positions of the stick operating lever 8 and the boom / bucket operating lever 6 and the engine speed. Also, since the hydraulic pumps 51 and 52 are directly connected to the engine E, when the engine rotation speed is low, the pump discharge decreases, and the cylinder speed decreases. For this reason, the engine rotation speed is detected, and the target bucket tip speed is calculated to match the change in pump discharge rate.
• the target cylinder speed changes depending on the attitude of the linkage and the target slope angle, and the pump discharge decreases as the engine speed decreases. In this case, a correction is made in consideration that the maximum cylinder speed also needs to be reduced. If the target cylinder speed exceeds the maximum cylinder speed, reduce the target bucket tip speed so that the target cylinder speed does not exceed the maximum cylinder speed.
• the angle information signal detected by the resolvers 20 to 22 is converted by the signal converter 26 into a cylinder. Since it is converted to displacement information and input to the controller 1, each expansion and contraction displacement of the boom 200, stick 300, and bucket 400 cylinders is detected as before. Even if an expensive stroke sensor is not used, it can be used in a conventional control system. The control using the cylinder expansion and contraction displacement can be executed. As a result, it is possible to provide a system capable of controlling the position and orientation of the bucket 400 accurately and stably while keeping the cost low.
• the feedback control loop is independent for each of the cylinders 120, 122, and 122, and the control algorithm is a multi-free control of displacement, speed, and feed forward, thus simplifying the control system.
• the nonlinearity of hydraulic equipment can be linearized at high speed by a table look-up method, contributing to improved control accuracy.
• the vehicle tilt angle sensor 24 corrects the effect of vehicle tilt and reads the engine rotation speed to compensate for deterioration in control accuracy due to engine throttle position and load fluctuations. It contributes to the realization of control.
• the bucket tip coordinates can be displayed in real time on the monitor panel 10 with the target slope angle setting device. Further, the configuration using the safety valve 5 can prevent abnormal operation of the system when the system is abnormal.
• the control using the expansion and contraction displacement information of the actuator used in the conventional control system is executed to reduce the cost.
• the position and orientation of the arm mechanism of the construction machine can be controlled accurately and stably while keeping the equipment cost low, reducing capital investment costs at the desired work site such as a construction site and shortening the construction period. It contributes greatly and its usefulness is considered to be extremely high.

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• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Civil Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Structural Engineering (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Paleontology (AREA)
• Operation Control Of Excavators (AREA)

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• 1996
  • 1996-12-03 JP JP8323161A patent/JPH10159123A/ja active Pending
• 1997
  • 1997-11-28 WO PCT/JP1997/004361 patent/WO1998024985A1/ja not_active Application Discontinuation
  • 1997-11-28 KR KR1019980705563A patent/KR19990081852A/ko not_active Application Discontinuation
  • 1997-11-28 CN CN97191997A patent/CN1210570A/zh active Pending
  • 1997-11-28 CA CA002242755A patent/CA2242755A1/en not_active Abandoned
  • 1997-11-28 EP EP97913472A patent/EP0900887A4/de not_active Withdrawn

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