WO2022071584A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

Info

Publication number
WO2022071584A1
WO2022071584A1 PCT/JP2021/036453 JP2021036453W WO2022071584A1 WO 2022071584 A1 WO2022071584 A1 WO 2022071584A1 JP 2021036453 W JP2021036453 W JP 2021036453W WO 2022071584 A1 WO2022071584 A1 WO 2022071584A1
Authority
WO
WIPO (PCT)
Prior art keywords
work machine
work
control
bucket
valve
Prior art date
Application number
PCT/JP2021/036453
Other languages
English (en)
Japanese (ja)
Inventor
修一 廻谷
昭広 楢▲崎▼
輝樹 五十嵐
Original Assignee
日立建機株式会社
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 日立建機株式会社 filed Critical 日立建機株式会社
Publication of WO2022071584A1 publication Critical patent/WO2022071584A1/fr

Links

Images

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
    • 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

Definitions

  • the present invention relates to a work machine such as a hydraulic excavator.
  • a hydraulic excavator which is one of the work machines, is equipped with a vehicle body, an articulated work machine connected to the vehicle body, and a plurality of operating devices for instructing the operation of the work machine.
  • the vehicle body is composed of a lower traveling body that can travel and an upper rotating body that is provided so as to be able to turn above the lower traveling body.
  • the work equipment includes a boom rotatably connected to the front of the upper swing body, an arm rotatably connected to the tip of the boom, and a bucket rotatably connected to the tip of the arm. It is equipped with a work tool).
  • the boom, arm, and bucket are rotated by the drive of the boom cylinder, arm cylinder, and bucket cylinder.
  • the plurality of operating devices have, for example, an operating lever that can be operated by an operator, and by generating and outputting a pilot pressure corresponding to the operating direction and operating amount of the operating lever, a boom control valve and an arm control valve.
  • the control valve for the bucket is operated.
  • the boom control valve controls the flow of pressure oil from the hydraulic pump to the boom cylinder to drive the boom cylinder.
  • the control valve for the arm controls the flow of pressure oil from the hydraulic pump to the arm cylinder to drive the arm cylinder.
  • the control valve for the bucket controls the flow of pressure oil from the hydraulic pump to the bucket cylinder to drive the bucket cylinder.
  • Some hydraulic excavators have a function (machine control) to operate the work machine automatically or semi-automatically. More specifically, the hydraulic excavator having this function is provided, for example, between a plurality of operating devices and a plurality of control valves, and has a plurality of solenoid valves whose pilot pressure can be adjusted, and a state quantity related to the posture of the working machine.
  • the attitude of the work equipment is calculated based on the attitude detector to be detected and the detection result of the attitude detector, and the operation of the work equipment is controlled by controlling multiple solenoid valves so that the bucket does not enter below the target surface. It is equipped with a control device.
  • the work machine is operated so that the tip of the bucket stops on the target surface at the start of excavation work, and the work machine is moved along the target surface during the cloud (pull-in) operation of the arm. It will be easy to operate.
  • Patent Document 1 discloses a technique for suppressing a decrease in machine control accuracy when a bucket is replaced.
  • the control device described in Patent Document 1 stores a plurality of correlation data showing the relationship between the drive speed of the hydraulic cylinder and the control value for controlling the solenoid valve according to the type of bucket (specifically, the weight of the bucket). do. Then, the correlation data is selected according to the type of bucket input by the operator, and the control value for driving the hydraulic actuator at the target speed is calculated based on the selected correlation data.
  • Patent Document 1 Since the operator inputs the bucket type, the accuracy of machine control is reduced if an incorrect input is made. In addition, it cannot cope with changes in the characteristics of the hydraulic excavator over time, and the accuracy of machine control deteriorates.
  • the present invention has been made in view of the above matters, and an object of the present invention is to provide a working machine capable of suppressing a decrease in accuracy of machine control.
  • the present invention relates to a vehicle body, a boom rotatably connected to the vehicle body, an arm rotatably connected to the tip of the boom, and a rotation to the tip of the arm.
  • An articulated work machine having movably connected work tools, an operation device for instructing the operation of the work machine, a posture detector for detecting a state amount related to the posture of the work machine, and the posture.
  • the normal mode is used in a work machine equipped with a control device that calculates the posture of the work machine based on the detection result of the detector and controls the operation of the work machine so that the work tool does not enter below the target surface.
  • a mode switching device capable of switching between At the same time, the actual moving speed of the working tool is acquired, and a correction value for the control value for controlling the operation of the working machine is calculated based on the preset difference between the reference speed of the working tool and the actual moving speed.
  • the control value is corrected using the correction value.
  • FIG. 1 It is a perspective view which shows the structure of the hydraulic excavator in one Embodiment of this invention. It is a figure which shows the structure of the hydraulic drive device in one Embodiment of this invention. It is a figure which shows the detail of the pilot pressure control block shown in FIG. It is a block diagram which shows the functional structure of the control device in one Embodiment of this invention together with the related equipment. It is a side view for demonstrating the reference operation of the working machine in one Embodiment of this invention. It is a figure for demonstrating the calculation method of the correction value in one Embodiment of this invention. It is a figure which shows the change of the relationship between the pilot pressure and the speed of a hydraulic cylinder in one Embodiment of this invention. It is a flowchart which shows the control procedure of the correction mode in one Embodiment of this invention.
  • FIG. 1 is a perspective view showing the structure of the hydraulic excavator in the present embodiment.
  • the hydraulic excavator of the present embodiment includes a vehicle body 1 and an articulated working machine 2 connected to the vehicle body 1.
  • the vehicle body 1 is composed of a lower traveling body 3 that can travel and an upper rotating body 4 that is provided so as to be able to turn above the lower traveling body 3.
  • the lower traveling body 3 travels by driving a left traveling motor 5 and a right traveling motor (not shown).
  • the upper swivel body 4 is swiveled by the drive of the swivel motor 6.
  • the work machine 2 is rotatably connected to the boom 7 rotatably connected to the front portion of the upper swing body 4, the arm 8 rotatably connected to the tip portion of the boom 7, and the tip portion of the arm 8. It is provided with a bucket 9 (working tool) connected to.
  • the boom 7, arm 8, and bucket 9 are rotated by driving the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 (all of which are hydraulic cylinders).
  • a boom angle sensor 13 (see FIG. 4 described later) that detects the rotation angle of the boom 7 with respect to the upper swing body 4 is attached to the base end side of the boom 7.
  • An arm angle sensor 14 for detecting the rotation angle of the arm 8 with respect to the boom 7 is attached to the base end side of the arm 8.
  • a bucket angle sensor 15 (working tool angle sensor) that detects the rotation angle of the bucket 9 with respect to the arm 8 is attached to the base end side of the bucket 9.
  • the upper swing body 4 is equipped with a tilt angle sensor 16 (see FIG. 4 described later) that detects the tilt angle of the upper swing body 4 in the front-rear direction with respect to the horizontal plane.
  • the boom angle sensor 13, the arm angle sensor 14, the bucket angle sensor 15, and the tilt angle sensor 16 constitute a posture detector that detects a state quantity related to the posture of the work equipment 2.
  • a driver's cab 17 on which the operator is boarded is provided.
  • the driver's seat 18 on which the operator sits the traveling operation devices 19a and 19b arranged on the front side of the driver's seat 18, and the work operation device 20a arranged on the right side of the driver's seat 18 are operated.
  • a work operation device 20b arranged on the left side of the seat 18 is provided.
  • the traveling operation devices 19a and 19b instruct the traveling of the lower traveling body 3, and the working operating devices 20a and 20b instruct the operation of the working machine 2 and the turning of the upper turning body 4.
  • the cab 17 is provided with a display device 21 (see FIG. 4 described later) and an input device 22 (see FIG. 4 described later) in which an operator can input information and the like in conjunction with the display of the display device 21. There is.
  • the hydraulic excavator is a hydraulic drive device that drives the left side traveling motor 5, the right side traveling motor, the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swivel motor 6 in response to the operation of the operating devices 19a, 19b, 20a, 20b. Be prepared.
  • FIG. 2 is a diagram showing the configuration of the hydraulic drive device according to the present embodiment.
  • FIG. 3 is a diagram showing details of the pilot pressure control block shown in FIG. In FIG. 2, the parts related to the drive of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swivel motor 6 are shown, and the parts related to the drive of the left side traveling motor 5 and the right side traveling motor are omitted.
  • the hydraulic drive device of the present embodiment has a prime mover 23 (engine in the present embodiment), a hydraulic pump 24 and a pilot pump 25 driven by the prime mover 23, and a flow of pressure oil from the hydraulic pump 24 to the bucket cylinder 12.
  • a control valve 28, a swivel control valve 29 for controlling the flow of pressure oil from the hydraulic pump 24 to the swivel motor 6, working operation devices 20a and 20b, work operation devices 20a and 20b, and control valves 26 to 29. It is provided with a pilot pressure control block 30 and a shuttle valve unit 31 provided between the two, and a control device 32 for controlling the pilot pressure control block 30.
  • the hydraulic pump 24 includes a regulator 33 that adjusts the inclination angle of the swash plate.
  • the shuttle valve unit 31 selects the maximum pilot pressure among the pilot pressures (details will be described later) output from the pilot pressure control block 30 to the control valves 26 to 29, and outputs the maximum pilot pressure to the regulator 33.
  • the regulator 33 adjusts the inclination angle of the swash plate of the hydraulic pump 24 according to the maximum pilot pressure. As a result, the push-out volume of the hydraulic pump 24 is adjusted, and by extension, the flow rate of the hydraulic pump 24 is adjusted.
  • a lock valve 34 is provided on the discharge side of the pilot pump 25.
  • the control device 32 controls the lock valve 34 according to the operation position of the gate lock lever (not shown) provided at the entrance / exit of the driver's cab 17. Specifically, when the gate lock lever is in the descending position (boarding / alighting restricted position), the lock valve 34 is controlled to communicate, and when the gate lock lever is in the ascending position (boarding / alighting permitted position), the lock valve 34 is set. Control to shut off state.
  • the working operation device 20a has an operation lever 35a that can be operated by the operator in the front-rear direction and the left-right direction, and pilot valves 36a to 36d that are operated by operating the operation lever 35a.
  • the pilot valve 36a for the bucket dump uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the right operating amount of the operating lever 35a.
  • the pilot pressure is output from the pilot valve 36a to the pressure receiving portion on one side of the bucket control valve 26 via the pilot pressure control block 30 and the shuttle valve unit 31, the bucket control valve 26 switches to the switching position on the right side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the rod side of the bucket cylinder 12, and the bucket cylinder 12 is shortened. As a result, the bucket 9 dumps.
  • the pilot valve 36b for the bucket cloud uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the left operation amount of the operation lever 35a.
  • the pilot pressure is output from the pilot valve 36b to the pressure receiving portion on the other side of the bucket control valve 26 via the pilot pressure control block 30 and the shuttle valve unit 31, the bucket control valve 26 switches to the switching position on the left side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the bottom side of the bucket cylinder 12, and the bucket cylinder 12 expands. As a result, the bucket 9 becomes cloud.
  • the boom raising pilot valve 36c uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the rear operation amount of the operation lever 35a.
  • the pilot pressure is output from the pilot valve 36c to the pressure receiving portion on one side of the boom control valve 27 via the pilot pressure control block 30 and the shuttle valve unit 31, the boom control valve 27 switches to the switching position on the left side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the bottom side of the boom cylinder 10, and the boom cylinder 10 expands. As a result, the boom 7 goes up.
  • the boom lowering pilot valve 36d uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the front operating amount of the operating lever 35a.
  • the boom control valve 27 switches to the switching position on the right side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the rod side of the boom cylinder 10, and the boom cylinder 10 is shortened. As a result, the boom 7 goes down.
  • the working operation device 20b has an operation lever 35b that can be operated by the operator in the front-rear direction and the left-right direction, and pilot valves 36e to 36h that are operated by operating the operation lever 35b.
  • the pilot valve 36e for the arm cloud uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the operation amount on the right side of the operating lever 35b.
  • the pilot pressure is output from the pilot valve 36e to the pressure receiving portion on one side of the arm control valve 28 via the pilot pressure control block 30 and the shuttle valve unit 31, the arm control valve 28 switches to the switching position on the left side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the bottom side of the arm cylinder 11, and the arm cylinder 11 extends.
  • the arm 8 becomes cloud.
  • the pilot valve 36f for the arm dump uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the left operation amount of the operation lever 35b.
  • the pilot pressure is output from the pilot valve 36f to the pressure receiving portion on the other side of the arm control valve 28 via the pilot pressure control block 30 and the shuttle valve unit 31, the arm control valve 28 switches to the switching position on the right side in the figure. Be done.
  • the pressure oil from the hydraulic pump 24 is supplied to the rod side of the arm cylinder 11, and the arm cylinder 11 is shortened.
  • the arm 8 dumps.
  • the left turning pilot valve 36g uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the rear operation amount of the operation lever 35b.
  • the pilot pressure is output from the pilot valve 36g to the pressure receiving portion on one side of the turning control valve 29 via the shuttle valve unit 31, the turning control valve 29 is switched to the switching position on the right side in the drawing.
  • the pressure oil from the hydraulic pump 24 is supplied to the port on one side of the swivel motor 6, and the swivel motor 6 rotates in one direction.
  • the upper swivel body 4 turns to the left.
  • the pilot valve 36h for turning to the right uses the pressure oil supplied from the pilot pump 25 via the lock valve 34 to generate a pilot pressure corresponding to the front operating amount of the operating lever 35b.
  • the pilot pressure is output from the pilot valve 36h to the pressure receiving portion on the other side of the turning control valve 29 via the shuttle valve unit 31, the turning control valve 29 is switched to the switching position on the left side in the figure.
  • the pressure oil from the hydraulic pump 24 is supplied to the port on the other side of the swivel motor 6, and the swivel motor 6 rotates in the opposite direction.
  • the upper swivel body 4 turns to the right.
  • the pilot pressure control block 30 has pilot pressure sensors 37a to 37f that detect pilot pressures output from the pilot valves 36a to 36f, respectively.
  • the pilot pressure control block 30 includes an electromagnetic isolation valve 38, an electromagnetic proportional valve 39 for a bucket dump, an electromagnetic pressure reducing valve 40 for a bucket dump, a shuttle valve 47 for a bucket dump, an electromagnetic proportional valve 41 for a bucket cloud, and a bucket.
  • the electromagnetic shutoff valve 38 is controlled by the control device 32 in a communication state or a shutoff state.
  • the electromagnetic shutoff valve 38 (or the lock valve 34) is in the shutoff state, the electromagnetic proportional valves 39, 41, 43 are prevented from being supplied with pressure oil from the pilot pump 25.
  • the electromagnetic proportional valve 39 for the bucket dump uses the pressure oil supplied from the pilot pump 25 via the electromagnetic isolation valve 38 and the lock valve 34 to apply the pilot pressure corresponding to the control value (current value) from the control device 32. Generate.
  • the electromagnetic pressure reducing valve 40 for the bucket dump reduces the pilot pressure from the pilot valve 36a to generate a pilot pressure corresponding to the control value (current value) from the control device 32.
  • the shuttle valve 47 for the bucket dump truck selects the larger of the pilot pressure from the electromagnetic proportional valve 39 and the pilot pressure from the electromagnetic pressure reducing valve 40, and receives the selected pilot pressure on one side of the bucket control valve 26. Output to the unit.
  • the electromagnetic proportional valve 41 for the bucket cloud uses the pressure oil supplied from the pilot pump 25 via the electromagnetic shutoff valve 38 and the lock valve 34 to generate a pilot pressure corresponding to the control value from the control device 32.
  • the electromagnetic pressure reducing valve 42 for the bucket cloud reduces the pilot pressure from the pilot valve 36b to generate a pilot pressure corresponding to the control value from the control device 32.
  • the shuttle valve 48 for the bucket cloud selects the larger of the pilot pressure from the electromagnetic proportional valve 41 and the pilot pressure from the electromagnetic pressure reducing valve 42, and receives the selected pilot pressure on the other side of the bucket control valve 26. Output to the unit.
  • the electromagnetic proportional valve 43 for raising the boom uses the pressure oil supplied from the pilot pump 25 via the electromagnetic shutoff valve 38 and the lock valve 34 to generate a pilot pressure corresponding to the control value from the control device 32.
  • the shuttle valve 49 for raising the boom selects the larger of the pilot pressure from the electromagnetic proportional valve 43 and the pilot pressure from the pilot valve 36c, and receives the selected pilot pressure on one side of the boom control valve 27. Output to.
  • the electromagnetic pressure reducing valve 44 for lowering the boom reduces the pilot pressure from the pilot valve 36d to generate a pilot pressure corresponding to the control value from the control device 32, and the generated pilot pressure is used as the other side of the boom control valve 27. Output to the pressure receiving part on the side.
  • the electromagnetic pressure reducing valve 45 for the arm cloud reduces the pilot pressure from the pilot valve 36e to generate a pilot pressure corresponding to the control value from the control device 32, and the generated pilot pressure is used as one of the arm control valves 28. Output to the pressure receiving part on the side.
  • the electromagnetic pressure reducing valve 46 for the arm dump reduces the pilot pressure from the pilot valve 36f to generate a pilot pressure corresponding to the control value from the control device 32, and the generated pilot pressure is used as the other side of the control valve 28 for the arm. Output to the pressure receiving part on the side.
  • the control device 32 controls the above-mentioned solenoid valves 38 to 43 to adjust the pilot pressure. This makes it possible to operate the working machine 2 automatically or semi-automatically. Specifically, for example, when the operator operates the operation lever 35b to the right to perform cloud operation of the arm 8, the electromagnetic proportional valve 43 is controlled to boom so that the bucket 9 does not enter below the target surface. The raising operation of 7 is automatically performed. Further, for example, when the operator operates the operation lever 35a to the front side to lower the boom 7, the electromagnetic pressure reducing valve 44 is controlled to decelerate or decelerate the boom 7 so that the bucket 9 does not enter below the target surface. Stop it.
  • the electromagnetic pressure reducing valve 45 or 46 may be controlled so that the velocity of the bucket 9 becomes constant, or electromagnetic waves may be used so that the posture angle of the bucket 9 with respect to the horizontal plane becomes constant.
  • the proportional valve 39 or 41 may be controlled.
  • the input device 22 can switch from the normal mode to the correction mode in conjunction with the display of the display device 21.
  • the control device 32 When the control device 32 is switched to the correction mode, the control device 32 causes the preset reference operation of the work machine 2 to be performed, and the actual movement speed of the bucket 9 (specifically, the movement of the bucket 9 accompanying the operation of the work machine 2).
  • a control value that is, electromagnetic valves 39 to 46 that acquires the actual speed of the bucket 9 at the time and controls the operation of the work machine 2 based on the difference between the preset reference speed of the bucket 9 and the actual moving speed.
  • the correction value for the control value output to is calculated.
  • the control device 32 may automatically return to the normal mode when the calculation of the correction value described above is completed.
  • the input device 22 may be able to return to the normal mode in conjunction with the display of the display device 21.
  • the control device 32 corrects the control value using the above-mentioned correction value.
  • FIG. 4 is a block diagram showing a functional configuration of the control device 32 in the present embodiment.
  • the control device 32 has an arithmetic control unit (for example, a CPU) that executes arithmetic processing and control processing based on a program, and a storage unit (for example, ROM, RAM) that stores the results of the program and arithmetic processing. be.
  • arithmetic control unit for example, a CPU
  • ROM read-only memory
  • RAM random access memory
  • the control device 32 has a posture calculation unit 50, a target surface setting unit 51, a target operation calculation unit 52, a solenoid valve control unit 53, and a correction mode control unit 54 as functional configurations.
  • the posture calculation unit 50 calculates the posture of the work machine 2 based on the detection results of the boom angle sensor 13, the arm angle sensor 14, the bucket angle sensor 15, and the tilt angle sensor 16.
  • the target surface setting unit 51 sets a target surface that the operator inputs using the display device 21 and the input device 22 or that is captured via a network or the like.
  • the target motion calculation unit 52 is based on the detection results of the pilot pressure sensors 37a to 37f, the posture of the work machine 2 calculated by the attitude calculation unit 50, and the target surface set by the target surface setting unit 51. , Calculates the target motion of the work machine 2 (specifically, the target motion of the boom 7, the target motion of the arm 8, and the target motion of the bucket 9) for the bucket 9 to move without invading below the target surface. ..
  • the solenoid valve control unit 53 controls the solenoid valves 38 to 46 in response to the target operation of the work machine 2 calculated by the target operation calculation unit 52.
  • the correction mode control unit 54 issues a command to the target operation calculation unit 52 to stop the calculation of the target operation of the work machine 2. Further, a command is issued to the solenoid valve control unit 53 to control the solenoid valves 38 to 46 in accordance with a preset reference operation of the working machine 2. In the present embodiment, as the reference operation of the working machine 2, for example, as shown in FIG. 5, the solenoid valves 38 and 43 are controlled in order to raise the boom 7.
  • the correction mode control unit 54 determines the actual moving speed of the bucket 9 based on the posture of the work machine 2 calculated by the posture calculation unit 50 (in other words, the detection result of the posture detector) during the reference operation of the work machine 2. Calculate. Then, based on the difference between the preset reference speed of the bucket 9 and the actual moving speed, a correction value for the control value for controlling the operation of the working machine 2 (that is, the control value output to the solenoid valves 39 to 46) is set. Calculate.
  • the correction value is increased according to the increase in the difference. That is, when the difference ⁇ V1 (however, ⁇ V1> 0), the correction value is H1 (however, H1> H0).
  • the correction value is reduced according to the decrease of the difference. That is, when the difference is ⁇ V2 (however, ⁇ V2 ⁇ 0), the correction value is H2 (however, H2 ⁇ H0).
  • the solenoid valve control unit 53 calculates a control value corresponding to the target operation of the work machine 2 calculated by the target operation calculation unit 52, and the correction mode control unit 54 calculates the control value.
  • the correction value is multiplied and the corrected control value is output to the solenoid valve.
  • FIG. 7 the relationship between the pilot pressure and the speed of the hydraulic cylinder changes according to the correction value.
  • the correction values for the control values of the solenoid valves may be the same as each other, or may be calculated and different using a preset correlation.
  • FIG. 8 is a flowchart showing the control procedure of the correction mode in the present embodiment.
  • step S100 the correction mode control unit 54 of the control device 32 determines whether or not the display device 21 and the input device 22 have switched to the correction mode. If the mode has not been switched to the correction mode, step S100 is repeated. On the other hand, when the mode is switched to the correction mode, the process proceeds to step S101.
  • step S101 the correction mode control unit 54 of the control device 32 determines whether or not the posture of the work machine 2 calculated by the posture calculation unit 50 is the initial posture (see FIG. 5) for starting the reference operation. judge. If the posture of the working machine 2 is not the initial posture, the process proceeds to step S102, and the display device 21 displays that the posture of the working machine 2 is not the initial posture.
  • the display device 21 may display the detection results of the boom angle sensor 13, the arm angle sensor 14, the bucket angle sensor 15, and the tilt angle sensor 16 so that the operator can confirm the posture of the work equipment 2. .. If the posture of the working machine 2 is the initial posture, the process proceeds to step S103.
  • step S103 the correction mode control unit 54 of the control device 32 has, for example, whether or not an instruction from the work operation device 20a has been input as a trigger for starting the operation based on the detection result of the pilot pressure sensor 37c (in other words,). , Whether or not the operation lever 35a is operated to the rear side) is determined.
  • the process proceeds to steps S104 and S105.
  • step S104 the solenoid valve control unit 53 of the control device 32 operates the preset control value (provided that the pilot pressure corresponding to this control value is operated on the rear side of the operation lever 35a) during the preset time. (It is set to be larger than the pilot pressure corresponding to the amount) is output to the solenoid proportional valve 43 to raise the boom 7 (reference operation of the working machine 2).
  • step S105 during the reference operation of the work machine 2, the correction mode control unit 54 of the control device 32 is based on the change in the posture of the work machine 2 calculated by the posture calculation unit 50 (in other words, of the posture detector). (Based on the detection result), the actual movement speed of the bucket 9 is calculated.
  • step S105 the correction mode control unit 54 of the control device 32 calculates a correction value for the control value of each solenoid valve based on the difference between the reference speed of the bucket 9 and the actual moving speed. Then, the process proceeds to step S106, and the solenoid valve control unit 53 of the control device 32 stores the correction value calculated by the correction mode control unit 54.
  • the control device 32 causes the reference operation of the working machine 2 to be performed, acquires the actual moving speed of the bucket 9, and operates the working machine 2 based on the difference between the reference speed of the bucket 9 and the actual moving speed. Calculates the correction value for the control value to be controlled. Then, when returning to the normal mode, the control device 32 corrects the control value using the correction value.
  • control device 32 since the control device 32 performs the reference operation of the work machine 2, it does not take time and effort unlike the case where the operator operates the operation device to perform the reference operation of the work machine 2. Moreover, since it is not necessary to perform a plurality of reference operations, it does not take time and effort.
  • the control device 32 has a bucket 9 based on the detection results of the attitude detector (specifically, the boom angle sensor 13, the arm angle sensor 14, the bucket angle sensor 15, and the tilt angle sensor 16).
  • the attitude detector specifically, the boom angle sensor 13, the arm angle sensor 14, the bucket angle sensor 15, and the tilt angle sensor 16.
  • the hydraulic excavator may include a speed sensor (not shown) for detecting the actual moving speed of the bucket 9, and the control device 32 may input the actual moving speed of the bucket 9 detected by the speed sensor.
  • the hydraulic excavator includes a boom angle sensor 13, an arm angle sensor 14, a bucket angle sensor 15, and an inclination angle sensor 16 as posture detectors has been described as an example. Modification is possible without limitation and within a range that does not deviate from the gist of the present invention.
  • the hydraulic excavator may include a displacement sensor that detects the stroke of the boom cylinder 10 instead of the boom angle sensor 13.
  • the hydraulic excavator may include a displacement sensor that detects the stroke of the arm cylinder 11 instead of the arm angle sensor 14.
  • the hydraulic excavator may include a displacement sensor that detects the stroke of the bucket cylinder 12 instead of the bucket angle sensor 15.
  • the mode switching device capable of switching from the normal mode to the correction mode has been described by taking the case of being composed of the display device 21 and the input device 22 as an example, but the present invention is not limited to this. Deformation is possible within the range that does not deviate from. For example, it may be configured by a mode changeover switch.
  • the control device 32 has described the case where the correction value is calculated so as to be proportional to the difference between the reference speed of the bucket 9 and the actual moving speed. Not limited to this, modifications can be made without departing from the spirit of the present invention.
  • control device 32 has been described by taking the case of calculating the correction value to be multiplied by the control value as an example. It is possible.
  • the control device 32 may calculate a correction value to be added to the control value.

Landscapes

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

Abstract

L'invention concerne un engin de chantier au moyen duquel il est possible de réduire au minimum la dégradation de la précision dans la commande de l'engin.　L'invention concerne une pelle hydraulique comportant : une carrosserie de véhicule 1 ; un engin de chantier 2 articulé muni d'une flèche 7, d'un bras 8 et d'un godet 9 ; des dispositifs de manipulation de travail 20a, 20b qui fournissent des instructions concernant le fonctionnement de l'engin de chantier 2 ; des capteurs 13-16 qui détectent des quantités d'état relatives à l'attitude de l'engin de chantier 2 ; et un dispositif de commande 32 qui calcule une attitude de l'engin de chantier 2 sur la base des résultats de détection des capteurs 13-16 et commande le fonctionnement de l'engin de chantier 2 de façon à empêcher le godet 9 de pénétrer dans une zone inférieure à une surface cible. Lorsqu'il est commuté en mode correction, le dispositif de commande 32 amène une opération de référence prédéfinie de l'engin de chantier 2 à avoir lieu et acquiert simultanément une vitesse de déplacement réelle du godet 9, calcule une valeur de correction pour une valeur de commande utilisée pour commander le fonctionnement de l'engin de chantier 2 sur la base de la différence entre une vitesse de référence prédéfinie du godet 9 et la vitesse de déplacement réelle, et, lors du retour en mode normal, effectue une correction sur la valeur de commande à l'aide de la valeur de correction calculée.
PCT/JP2021/036453 2020-10-01 2021-10-01 Engin de chantier WO2022071584A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-167317 2020-10-01
JP2020167317A JP2023165048A (ja) 2020-10-01 2020-10-01 作業機械

Publications (1)

Publication Number Publication Date
WO2022071584A1 true WO2022071584A1 (fr) 2022-04-07

Family

ID=80951775

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/036453 WO2022071584A1 (fr) 2020-10-01 2021-10-01 Engin de chantier

Country Status (2)

Country Link
JP (1) JP2023165048A (fr)
WO (1) WO2022071584A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05118056A (ja) * 1991-10-29 1993-05-14 Komatsu Ltd 作業機の自動運転モード選択方法
JPH09291560A (ja) * 1996-04-26 1997-11-11 Hitachi Constr Mach Co Ltd 建設機械の軌跡制御装置
JP2000034740A (ja) * 1998-07-17 2000-02-02 Hitachi Constr Mach Co Ltd オフセット式油圧ショベル
WO2015129931A1 (fr) * 2014-06-04 2015-09-03 株式会社小松製作所 Système de commande d'un engin de chantier, engin de chantier et procédé de commande d'un engin de chantier
JP2019019567A (ja) * 2017-07-18 2019-02-07 株式会社神戸製鋼所 建設機械の制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05118056A (ja) * 1991-10-29 1993-05-14 Komatsu Ltd 作業機の自動運転モード選択方法
JPH09291560A (ja) * 1996-04-26 1997-11-11 Hitachi Constr Mach Co Ltd 建設機械の軌跡制御装置
JP2000034740A (ja) * 1998-07-17 2000-02-02 Hitachi Constr Mach Co Ltd オフセット式油圧ショベル
WO2015129931A1 (fr) * 2014-06-04 2015-09-03 株式会社小松製作所 Système de commande d'un engin de chantier, engin de chantier et procédé de commande d'un engin de chantier
JP2019019567A (ja) * 2017-07-18 2019-02-07 株式会社神戸製鋼所 建設機械の制御装置

Also Published As

Publication number Publication date
JP2023165048A (ja) 2023-11-15

Similar Documents

Publication Publication Date Title
CN108699801B (zh) 作业机械
AU2011329243B2 (en) Control system for a machine
JP3811190B2 (ja) 建設機械の領域制限掘削制御装置
US8340875B1 (en) Lift system implementing velocity-based feedforward control
US8886415B2 (en) System implementing parallel lift for range of angles
JP6807290B2 (ja) 作業機械
CN107306500B (zh) 作业机械的控制装置、作业机械以及作业机械的控制方法
JPH08333768A (ja) 建設機械の領域制限掘削制御装置
US20220186459A1 (en) Hydraulic excavator
WO2018199069A1 (fr) Engin de chantier et procédé de commande d'engin de chantier
CN111771027A (zh) 作业机械
US11118327B2 (en) Work machine
WO2018207267A1 (fr) Ensemble de machines de travail
US9249555B2 (en) Hydraulic system having fixable multi-actuator relationship
CN111868333B (zh) 作业机械
WO2020179204A1 (fr) Machine de construction
WO2022071584A1 (fr) Engin de chantier
WO2022201905A1 (fr) Engin de chantier
WO2023127436A1 (fr) Système hydraulique pour engin de chantier et procédé de commande de système hydraulique pour engin de chantier
KR20210013143A (ko) 작업 기계
CN114423907B (zh) 工程机械
JP7488962B2 (ja) 作業機械
WO2023053502A1 (fr) Engin de chantier
EP4381141A1 (fr) Commande de système hydraulique d'un engin de chantier

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21875880

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21875880

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP