WO2024004387A1 - Dispositif de commande de pelle - Google Patents

Dispositif de commande de pelle Download PDF

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Publication number
WO2024004387A1
WO2024004387A1 PCT/JP2023/017546 JP2023017546W WO2024004387A1 WO 2024004387 A1 WO2024004387 A1 WO 2024004387A1 JP 2023017546 W JP2023017546 W JP 2023017546W WO 2024004387 A1 WO2024004387 A1 WO 2024004387A1
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WO
WIPO (PCT)
Prior art keywords
arm
pilot
bucket
boom
control device
Prior art date
Application number
PCT/JP2023/017546
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English (en)
Japanese (ja)
Inventor
裕介 佐野
圭二 本田
将 小野寺
圭一朗 三好
Original Assignee
住友重機械工業株式会社
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Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Publication of WO2024004387A1 publication Critical patent/WO2024004387A1/fr

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    • 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

Definitions

  • the present disclosure relates to a control device for an excavator.
  • the above-mentioned excavator can move the working part of the bucket at a constant speed along the target construction surface if the amount of operation of the arm operating lever is maintained at a constant amount.
  • the operation of the attachment changes in order to align the working part of the attachment with the target surface.
  • the movement speed of the work area may change significantly. Changes in the moving speed of the work area may cause the excavator operator to feel uncomfortable.
  • a control device for an excavator includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, a boom, an arm, and an end attachment attached to the upper rotating body.
  • a control device for an excavator the control device operating the arm according to a command value so as to move a predetermined working part of the end attachment while aligning it with a target surface.
  • a movement speed of the controlled object which is a predetermined portion of the attachment along the target surface, is a predetermined speed.
  • the operation of at least one of the arm and the boom is controlled so that the movement of the arm and the boom is controlled.
  • the above-described control device for an excavator can improve the operability of the attachment by controlling the movement speed of a predetermined part to be a predetermined speed.
  • FIG. 1 is a side view of an excavator according to an embodiment of the present disclosure.
  • FIG. 1 is a top view of an excavator according to an embodiment of the present disclosure. It is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator.
  • FIG. 3 is a diagram of a portion of the hydraulic system related to the operation of the arm cylinder.
  • 1 is a diagram of a portion of a hydraulic system for operation of a boom cylinder;
  • FIG. 1 is a diagram of a portion of a hydraulic system related to bucket cylinder operation;
  • FIG. 1 is a diagram of a portion of a hydraulic system related to operation of a swing hydraulic motor;
  • FIG. 3 is a diagram of a portion of the hydraulic system related to the operation of the left travel hydraulic motor.
  • FIG. 3 is a diagram of a portion of the hydraulic system related to the operation of the right travel hydraulic motor.
  • 1 is a diagram illustrating a configuration example of a control system for an excavator.
  • FIG. 2 is a diagram illustrating a configuration example of a controller according to the first embodiment.
  • FIG. 2 is a diagram illustrating a configuration example of a controller according to the first embodiment.
  • FIG. 3 is a schematic diagram showing the movement of the attachment.
  • FIG. 7 is a conceptual diagram showing speed control of a working part performed by a controller according to a second embodiment.
  • FIG. 7 is an explanatory diagram showing a change in speed of the toe of the bucket in response to an operation by an operator in the excavator according to the second embodiment.
  • FIG. 7 is a diagram illustrating a configuration example of a controller according to a second embodiment.
  • FIG. 7 is a diagram illustrating a configuration example of a controller according to a second embodiment.
  • FIG. 7 is a diagram showing a moving path of a toe of a bucket according to a second embodiment.
  • FIG. 1 is a side view of the shovel 100
  • FIG. 2 is a top view of the shovel 100.
  • the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body.
  • the crawler 1C is driven by a travel hydraulic motor 2M mounted on the lower traveling body 1.
  • the traveling hydraulic motor 2M may be a traveling motor generator serving as an electric actuator.
  • the crawler 1C includes a left crawler 1CL and a right crawler 1CR.
  • the left crawler 1CL is driven by a left travel hydraulic motor 2ML
  • the right crawler 1CR is driven by a right travel hydraulic motor 2MR. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.
  • An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2.
  • the swing mechanism 2 as a driven body is driven by a swing hydraulic motor 2A mounted on the upper swing structure 3.
  • the swing hydraulic motor 2A may be a swing motor generator serving as an electric actuator.
  • the upper rotating body 3 is driven by the rotating mechanism 2, and thus functions as a driven body.
  • a boom 4 as a driven body is attached to the upper revolving body 3.
  • An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment is attached to the tip of the arm 5.
  • the end attachment is a member attached to the tip of the arm 5, and may be a breaker, a grapple, a lifting magnet, or the like.
  • the boom 4, the arm 5, and the bucket 6 constitute a digging attachment that is an example of the attachment AT.
  • the boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.
  • a boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.
  • the boom angle sensor S1 detects the rotation angle of the boom 4.
  • the boom angle sensor S1 is an acceleration sensor, and can detect a boom angle that is a rotation angle of the boom 4 with respect to the upper rotating structure 3. For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.
  • the arm angle sensor S2 detects the rotation angle of the arm 5.
  • the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.
  • the bucket angle sensor S3 detects the rotation angle of the bucket 6.
  • the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.
  • the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 each include a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary sensor that detects the rotation angle around the connecting pin. It may be an encoder, a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like. Further, the boom angle sensor S1 may be an operation detection section (operation sensor 29LA, described later) that detects the amount of operation of a boom operation lever (described later). In this case, the controller 30 may calculate the boom angle based on the output of the operation sensor 29LA. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.
  • the upper revolving body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11.
  • the power source may be an electric motor.
  • an outdoor alarm 45A, an object detection device 70, a positioning device 85, a body tilt sensor S4, a turning angular velocity sensor S5, and the like are attached to the upper revolving body 3.
  • an operating device 26, a controller 30, a display device 40, an indoor alarm 45B, and the like are provided inside the cabin 10, an operating device 26, a controller 30, a display device 40, an indoor alarm 45B, and the like are provided.
  • the side of the upper revolving structure 3 to which the boom 4 is attached is referred to as the front
  • the side to which the counterweight is attached is referred to as the rear.
  • the controller 30 is an example of a processing circuit, and functions as a control device for controlling the excavator 100.
  • the controller 30 is composed of a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads a program corresponding to each function from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.
  • the display device 40 is configured to display image information.
  • the display device 40 is an organic EL display, and is configured to be able to present image information to the operator of the shovel 100.
  • the outdoor alarm 45A is configured to output sound toward the outside of the cabin 10.
  • the outdoor alarm 45A is an outdoor speaker and is configured to output a sound to draw the attention of workers working around the shovel 100.
  • the indoor alarm 45B is configured to output sound toward the interior of the cabin 10.
  • the indoor alarm 45B is an indoor speaker and is configured to output a sound to draw the attention of the operator operating the shovel 100.
  • the object detection device 70 is configured to detect objects existing around the excavator 100.
  • the object is, for example, a person, an animal, a vehicle, a construction machine, a building, or a hole.
  • the object detection device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, an imaging device, an infrared sensor, or the like.
  • the imaging device is, for example, a monocular camera, a stereo camera, a LIDAR, or a distance image sensor.
  • the object detection device 70 includes a rear camera 70B attached to the rear end of the upper surface of the revolving upper structure 3, a front camera 70F attached to the front end of the upper surface of the cabin 10, and a front camera 70F attached to the left end of the upper surface of the revolving upper structure 3. It includes a left camera 70L and a right camera 70R attached to the right end of the upper surface of the upper revolving body 3.
  • the object detection device 70 may be configured to be able to detect a predetermined object (for example, a person) within a predetermined area set around the excavator 100.
  • a predetermined object for example, a person
  • the object detection device 70 may be configured to be able to distinguish between humans and objects other than humans and detect them.
  • the positioning device 85 is configured to measure the position of the excavator 100.
  • the positioning device 85 is a GNSS receiver incorporating an electronic compass, and calculates and outputs the latitude, longitude, and altitude of the excavator 100 based on the received GNSS signal, and also calculates and outputs the latitude, longitude, and altitude of the excavator 100. Calculate and output.
  • the body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3 with respect to a predetermined plane.
  • the body inclination sensor S4 is an acceleration sensor that detects the inclination angle around the longitudinal axis and the inclination angle around the left-right axis of the upper rotating structure 3 with respect to the horizontal plane.
  • the longitudinal axis and the lateral axis of the upper revolving body 3 are orthogonal to each other and pass through the center point of the shovel, which is a point on the pivot axis of the shovel 100.
  • the turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating body 3.
  • the turning angular velocity sensor S5 is a gyro sensor.
  • the turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.
  • the turning angular velocity sensor S5 may be configured to output at least one of the turning speed and the turning angle. In this case, at least one of the turning speed and the turning angle may be calculated from the turning angular velocity.
  • attitude sensor S1 any combination of boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and turning angular velocity sensor S5 will also be collectively referred to as attitude sensor.
  • FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100.
  • FIG. 3 shows the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system as double lines, solid lines, dashed lines, and dotted lines, respectively.
  • the hydraulic system of the excavator 100 mainly includes an engine 11, a pump regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and a control valve 60. Including etc.
  • the hydraulic system circulates hydraulic oil from a main pump 14 driven by an engine 11 to a hydraulic oil tank via a center bypass line CB or a parallel line PC.
  • the engine 11 is a driving source for the excavator 100.
  • the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed.
  • the output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.
  • the main pump 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line.
  • the main pump 14 is a swash plate type variable displacement hydraulic pump.
  • the pump regulator 13 is configured to control the discharge amount of the main pump 14.
  • the pump regulator 13 controls the discharge amount (displaced volume) of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with a control command from the controller 30.
  • the pilot pump 15 is configured to supply pilot oil to hydraulic control equipment including the operating device 26 via a pilot line.
  • the pilot pump 15 is a fixed displacement hydraulic pump.
  • the pilot pump 15 may be omitted.
  • the functions performed by the pilot pump 15 may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17, the main pump 14 lowers the pressure of the hydraulic oil by throttling or the like, and then operates the operating device 26 and the solenoid valve 31 (see FIGS. 4A to 4F). etc. may be provided with a function of supplying hydraulic oil as pilot oil.
  • the control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100.
  • control valve unit 17 includes control valves 171-176.
  • the control valve 175 includes a control valve 175L and a control valve 175R
  • the control valve 176 includes a control valve 176L and a control valve 176R.
  • the control valve unit 17 can selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176.
  • the control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank.
  • the hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.
  • the operating device 26 is a device used by the operator to operate the actuator.
  • the actuator includes at least one of a hydraulic actuator and an electric actuator.
  • the operating device 26 supplies the pilot oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the pilot line.
  • the pressure (pilot pressure) of the pilot oil supplied to each of the pilot ports is a pressure that corresponds to the direction and amount of operation of the lever or pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators. It is.
  • the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.
  • the operation sensor 29 is configured to detect the content of the operation of the operating device 26 by the operator.
  • the operation sensor 29 is an angle sensor that detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each of the actuators in the form of an angle, and sends the detected value to the controller 30. Output.
  • the operation details of the operating device 26 may be detected using a sensor other than the angle sensor.
  • the main pump 14 includes a left main pump 14L and a right main pump 14R.
  • the left main pump 14L circulates the hydraulic oil to the hydraulic oil tank via the left center bypass line CBL or the left parallel line PCL
  • the right main pump 14R circulates the hydraulic oil through the right center bypass line CBR or the right parallel line PCR.
  • the hydraulic oil is circulated through to the hydraulic oil tank.
  • the left center bypass line CBL is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L arranged in the control valve unit 17.
  • the right center bypass line CBR is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.
  • the control valve 171 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and to discharge the hydraulic oil discharged by the left travel hydraulic motor 2ML to the hydraulic oil tank. It is a switching spool valve, and is also called a "left travel hydraulic motor control valve.”
  • the control valve 172 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR, and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.
  • This is a spool valve that switches, and is also called a "right travel hydraulic motor control valve.”
  • the control valve 173 is a spool that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the hydraulic swing motor 2A, and to discharge the hydraulic oil discharged by the hydraulic swing motor 2A into the hydraulic oil tank. It is also called a “swing hydraulic motor control valve.”
  • the control valve 174 is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. , also referred to as a "bucket cylinder control valve.”
  • the control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7.
  • the control valve 175R is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.
  • the control valve 175 is also referred to as a "boom cylinder control valve.”
  • the control valve 176L is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
  • the control valve 176R is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
  • the control valve 176 is also referred to as an "arm cylinder control valve.”
  • the left parallel line PCL is a hydraulic oil line parallel to the left center bypass line CBL.
  • the left parallel line PCL supplies hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass line CBL is restricted or blocked by any of the control valves 171, 173, or 175L.
  • the right parallel pipe PCR is a hydraulic oil line parallel to the right center bypass pipe CBR.
  • the right parallel line PCR supplies hydraulic oil to a more downstream control valve when the flow of hydraulic oil through the right center bypass line CBR is restricted or blocked by any of the control valves 172, 174, or 175R. can.
  • the pump regulator 13 includes a left pump regulator 13L and a right pump regulator 13R.
  • the left pump regulator 13L controls the discharge amount (displaced volume) of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L.
  • the left pump regulator 13L adjusts the swash plate tilt angle of the left main pump 14L to reduce the discharge amount (displaced volume), for example, in response to an increase in the discharge pressure of the left main pump 14L.
  • the operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D.
  • the travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.
  • the left operating lever 26L is used for turning operations and operating the arm 5.
  • the pilot oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the operating amount into the pilot port of the control valve 176.
  • the pilot oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the operation amount into the pilot port of the control valve 173.
  • the left operating lever 26L when the left operating lever 26L is operated in the arm closing direction, pilot oil is introduced into the right pilot port of the control valve 176L, and pilot oil is introduced into the left pilot port of the control valve 176R. . Further, when the left operating lever 26L is operated in the arm opening direction, pilot oil is introduced into the left pilot port of the control valve 176L, and pilot oil is introduced into the right pilot port of the control valve 176R. Further, the left operating lever 26L introduces pilot oil into the left pilot port of the control valve 173 when operated in the left turning direction, and causes pilot oil to be introduced into the right pilot port of the control valve 173 when operated in the right turning direction. introduce pilot oil. In this way, the left operating lever 26L functions as an "arm operating lever” when operated in the front-back direction, and functions as a "swivel operating lever” when operated in the left-right direction.
  • the right operating lever 26R is used to operate the boom 4 and the bucket 6.
  • the pilot oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the operating amount into the pilot port of the control valve 175.
  • the pilot oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the operation amount into the pilot port of the control valve 174.
  • pilot oil is introduced into the right pilot port of the control valve 175R.
  • pilot oil is introduced into the right pilot port of the control valve 175L, and pilot oil is introduced into the left pilot port of the control valve 175R.
  • the right operating lever 26R also introduces pilot oil into the right pilot port of the control valve 174 when operated in the bucket closing direction, and introduces pilot oil into the left pilot port of the control valve 174 when operated in the bucket opening direction. Introduce pilot oil.
  • the right operating lever 26R functions as a "boom operating lever” when operated in the front-back direction, and functions as a "bucket operating lever” when operated in the left-right direction.
  • the travel lever 26D is used to operate the crawler 1C.
  • the left travel lever 26DL is used to operate the left crawler 1CL.
  • the left travel lever 26DL may be configured to work in conjunction with a left travel pedal.
  • the pilot oil discharged by the pilot pump 15 is used to introduce control pressure corresponding to the operation amount into the pilot port of the control valve 171.
  • the right travel lever 26DR is used to operate the right crawler 1CR.
  • the right travel lever 26DR may be configured to work in conjunction with a right travel pedal.
  • the pilot oil discharged by the pilot pump 15 is used to introduce control pressure according to the amount of operation into the pilot port of the control valve 172.
  • the discharge pressure sensor 28 includes a left discharge pressure sensor 28L and a right discharge pressure sensor 28R.
  • the left discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.
  • the operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.
  • the operation sensor 29LA detects the content of the operation of the left operation lever 26L by the operator in the front-back direction in the form of an angle, and outputs the detected value to the controller 30.
  • the operation details include, for example, the direction of lever operation and the amount of lever operation (lever operation angle).
  • the operation sensor 29LB detects in the form of an angle the content of the left-right direction operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30.
  • the operation sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-back direction in the form of an angle, and outputs the detected value to the controller 30.
  • the operation sensor 29RB detects in the form of an angle the content of the operation of the right operation lever 26R by the operator in the left-right direction, and outputs the detected value to the controller 30.
  • the operation sensor 29DL detects the content of the operation of the left running lever 26DL by the operator in the front-rear direction in the form of an angle, and outputs the detected value to the controller 30.
  • the operation sensor 29DR detects the content of the operation of the right traveling lever 26DR by the operator in the front-back direction in the form of an angle, and outputs the detected value to the controller 30.
  • the controller 30 receives the output of the operation sensor 29, outputs a control command to the pump regulator 13 as necessary, and changes the discharge amount of the main pump 14.
  • the aperture 18 includes a left aperture 18L and a right aperture 18R
  • the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.
  • a left throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L.
  • the left throttle 18L generates a control pressure for controlling the left pump regulator 13L.
  • the left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30.
  • the controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure.
  • the controller 30 decreases the discharge amount of the left main pump 14L as the control pressure becomes larger, and increases the discharge amount of the left main pump 14L as the control pressure becomes smaller.
  • the discharge amount of the right main pump 14R is similarly controlled.
  • the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe CBL and flows to the left side.
  • the aperture reaches 18L.
  • the flow of hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L.
  • the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses pressure loss (pumping loss) when the discharged hydraulic fluid passes through the left center bypass pipe CBL.
  • the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears in the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L.
  • the controller 30 increases the discharge amount of the left main pump 14L, allows sufficient hydraulic oil to flow into the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.
  • the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state.
  • the wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipe CB.
  • the hydraulic system shown in FIG. 3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.
  • the control valve 60 is configured to switch the operating device 26 between a valid state and a disabled state.
  • the valid state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26, and the disabled state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26. It is in a state where the related driven body cannot be moved even if the
  • control valve 60 is a solenoid valve that can switch between a communication state and a cutoff state of the pilot line CD1 that connects the pilot pump 15 and the operating device 26.
  • control valve 60 is configured to switch the pilot line CD1 between a communication state and a cutoff state in response to a command from the controller 30.
  • the control valve 60 may be configured to operate in conjunction with a gate lock lever (not shown). Specifically, the pilot line CD1 may be configured to be in a cutoff state when the gate lock lever is pushed down, and to be in a communication state when the gate lock lever is pulled up. However, the control valve 60 may be a different electromagnetic valve from the electromagnetic valve that can switch between a communication state and a cutoff state of the pilot line CD1 in conjunction with the gate lock lever.
  • FIGS. 4A to 4F are partially extracted diagrams of the hydraulic system.
  • FIG. 4A is an extracted diagram of the hydraulic system part related to the operation of the arm cylinder 8
  • FIG. 4B is an extracted diagram of the hydraulic system part related to the operation of the boom cylinder 7.
  • FIG. 4C is an extracted diagram of the hydraulic system portion related to the operation of the bucket cylinder 9
  • FIG. 4D is an extracted diagram of the hydraulic system portion related to the operation of the swing hydraulic motor 2A.
  • FIG. 4E is an extracted diagram of the hydraulic system portion related to the operation of the left travel hydraulic motor 2ML
  • FIG. 4F is an extracted diagram of the hydraulic system portion related to the operation of the right travel hydraulic motor 2MR.
  • the hydraulic system includes a solenoid valve 31.
  • the solenoid valve 31 includes solenoid valves 31AL to 31FL and solenoid valves 31AR to 31FR.
  • the solenoid valve 31 is arranged in a conduit connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and by changing the opening area, the flow area of the conduit can be changed. It is configured as follows.
  • the electromagnetic valve 31 is a proportional electromagnetic valve, and operates according to a control command output by the controller 30. Therefore, the controller 30 directs the pilot oil discharged by the pilot pump 15 to the control valve via the solenoid valve 31 in response to the operator's operation of the operating device 26 or regardless of the operator's operation of the operating device 26. It can be supplied to the pilot port of the corresponding control valve in unit 17. Then, the controller 30 can cause the pilot pressure generated by the solenoid valve 31 to act on the pilot port of the corresponding control valve.
  • the controller 30 can respond to the specific operating device 26 even when the specific operating device 26 is not being operated.
  • a hydraulic actuator can be operated. Further, even if a specific operating device 26 is being operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.
  • the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the longitudinal direction. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), the left operating lever 26L applies pilot pressure according to the operating amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Let it work. Further, when the left operating lever 26L is operated in the arm opening direction (forward direction), a pilot pressure corresponding to the operating amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.
  • the operating device 26 is provided with a switch SW.
  • the switch SW includes a switch SW1 and a switch SW2.
  • the switch SW1 is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW1.
  • the switch SW1 may be provided on the right operating lever 26R, or may be provided at another position within the cabin 10.
  • the switch SW2 is a push button switch provided at the tip of the left travel lever 26DL. The operator can operate the left traveling lever 26DL while pressing the switch SW2.
  • the switch SW2 may be provided on the right travel lever 26DR, or may be provided at another position within the cabin 10.
  • the operation sensor 29LA detects the content of the operation of the left operation lever 26L by the operator in the front-back direction, and outputs the detected value to the controller 30.
  • the solenoid valve 31AL operates according to a control command (current command) output by the controller 30. Then, pilot pressure is adjusted by pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the solenoid valve 31AL.
  • the solenoid valve 31AR operates according to a control command (current command) output by the controller 30. Then, pilot pressure is adjusted by pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the solenoid valve 31AR.
  • the solenoid valve 31AL can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position. Similarly, the solenoid valve 31AR can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position.
  • the controller 30 supplies the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the solenoid valve 31AL in response to the arm closing operation by the operator. can.
  • the controller 30 supplies the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the solenoid valve 31AL, regardless of the arm closing operation by the operator. can. That is, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator.
  • the solenoid valve 31AL functions as an "arm solenoid valve” or an "arm closing solenoid valve.”
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the electromagnetic valve 31AR in response to the arm opening operation by the operator.
  • the controller 30 supplies the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the solenoid valve 31AR, regardless of the arm opening operation by the operator. can. That is, the controller 30 can open the arm 5 in response to the arm opening operation by the operator or independently of the arm opening operation by the operator. In this way, the solenoid valve 31AR functions as an "arm solenoid valve” or "arm opening solenoid valve.”
  • the controller 30 can control the closing side pilot port of the control valve 176 (the left pilot port of the control valve 176L) as needed even when the operator performs an arm closing operation.
  • the closing operation of the arm 5 can be forcibly stopped by reducing the pilot pressure acting on the right pilot port of the control valve 176R. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing the arm opening operation.
  • the controller 30 controls the solenoid valve 31AR as necessary, and controls the solenoid valve 31AR located on the opposite side of the closing side pilot port of the control valve 176.
  • the arm 5 may be forcibly stopped. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.
  • the controller 30 applies a small pilot pressure to the pilot ports on both sides of the control valve 176 before the arm operation is performed. may be configured. The same applies to other operations such as boom operation (boom raising operation and boom lowering operation). That is, the controller 30 can improve the responsiveness of the hydraulic actuator by using more pilot oil.
  • the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the front-rear direction. More specifically, when the right operating lever 26R is operated in the boom raising direction (rearward direction), the right operating lever 26R applies pilot pressure according to the operating amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Let it work. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.
  • the operation sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-back direction, and outputs the detected value to the controller 30.
  • the solenoid valve 31BL operates according to a control command (current command) output by the controller 30. Then, pilot pressure is adjusted by pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL.
  • the solenoid valve 31BR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure by pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the solenoid valve 31BR is adjusted.
  • the solenoid valve 31BL can adjust the pilot pressure so that the control valve 175L and the control valve 175R can be stopped at any valve position. Further, the solenoid valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position.
  • the controller 30 supplies the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL in response to the boom raising operation by the operator. can.
  • the controller 30 supplies the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the solenoid valve 31BL, regardless of the boom raising operation by the operator. can. That is, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator or independently of the boom raising operation by the operator.
  • the solenoid valve 31BL functions as a "boom solenoid valve” or a "boom lifting solenoid valve.”
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the electromagnetic valve 31BR in response to the boom lowering operation by the operator. Moreover, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the electromagnetic valve 31BR, regardless of the boom lowering operation by the operator. That is, the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator or independently of the boom lowering operation by the operator. In this way, the solenoid valve 31BR functions as a "boom solenoid valve” or a "boom lowering solenoid valve.”
  • the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 in accordance with the operation in the left and right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Further, when the right operating lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 174.
  • the operation sensor 29RB detects the operation of the right operation lever 26R by the operator in the left-right direction, and outputs the detected value to the controller 30.
  • the solenoid valve 31CL operates according to a control command (current command) output by the controller 30. Then, pilot pressure by pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the solenoid valve 31CL is adjusted.
  • the solenoid valve 31CR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure by pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the solenoid valve 31CR is adjusted.
  • the pilot pressure of the solenoid valve 31CL can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position.
  • the pilot pressure of the solenoid valve 31CR can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position.
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the electromagnetic valve 31CL in response to the bucket closing operation by the operator. Further, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the electromagnetic valve 31CL, regardless of the bucket closing operation by the operator. That is, the controller 30 can close the bucket 6 in response to the bucket closing operation performed by the operator or regardless of the bucket closing operation performed by the operator. In this way, the solenoid valve 31CL functions as a "bucket solenoid valve” or a “bucket closing solenoid valve.”
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the electromagnetic valve 31CR in response to the bucket opening operation by the operator. Furthermore, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the electromagnetic valve 31CR, regardless of the operator's bucket opening operation. That is, the controller 30 can open the bucket 6 in response to the bucket opening operation performed by the operator or independently of the bucket opening operation performed by the operator. In this way, the solenoid valve 31CR functions as a "bucket solenoid valve” or a "bucket opening solenoid valve.”
  • the left operating lever 26L is also used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 according to the operation in the left and right direction. More specifically, when the left operating lever 26L is operated in the left turning direction (leftward direction), the left operating lever 26L applies pilot pressure to the left pilot port of the control valve 173 in accordance with the operating amount. Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 173.
  • the operation sensor 29LB detects the contents of the left-right direction operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30.
  • the solenoid valve 31DL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure by pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL is adjusted.
  • the solenoid valve 31DR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure by pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR is adjusted.
  • the solenoid valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the pilot pressure of the solenoid valve 31DR can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position.
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the electromagnetic valve 31DL in response to the left turning operation by the operator. Furthermore, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the electromagnetic valve 31DL, regardless of the left turning operation by the operator. That is, the controller 30 can rotate the turning mechanism 2 to the left in response to the left turning operation by the operator or independently of the left turning operation by the operator. In this way, the solenoid valve 31DL functions as a "swivel solenoid valve” or a "left-turn solenoid valve.”
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the electromagnetic valve 31DR in response to the right turning operation by the operator. Furthermore, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the electromagnetic valve 31DR, regardless of the right-hand turning operation by the operator. That is, the controller 30 can rotate the turning mechanism 2 to the right in response to the right turning operation by the operator or independently of the right turning operation by the operator. In this way, the solenoid valve 31DR functions as a "swivel solenoid valve” or a "right-swivel solenoid valve.”
  • the left travel lever 26DL is used to operate the left crawler 1CL.
  • the left travel lever 26DL uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 171 in accordance with the operation in the front-rear direction. More specifically, when the left traveling lever 26DL is operated in the forward direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 171. Furthermore, when the left travel lever 26DL is operated in the reverse direction (rearward direction), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 171.
  • the operation sensor 29DL electrically detects the content of the operation of the left running lever 26DL by the operator in the front-rear direction, and outputs the detected value to the controller 30.
  • the solenoid valve 31EL operates according to the current command output by the controller 30.
  • the solenoid valve 31EL adjusts the pilot pressure caused by pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 via the solenoid valve 31EL.
  • the electromagnetic valve 31ER operates according to a current command output by the controller 30.
  • the solenoid valve 31ER adjusts the pilot pressure caused by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 via the solenoid valve 31ER.
  • the pilot pressures of the electromagnetic valves 31EL and 31ER can be adjusted so that the control valve 171 can be stopped at any valve position.
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 171 via the electromagnetic valve 31EL, regardless of the leftward forward movement by the operator. That is, the left crawler 1CL can be moved forward. Further, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the electromagnetic valve 31ER, regardless of the left backward movement operation by the operator. That is, the left crawler 1CL can be moved backward.
  • the solenoid valve 31EL functions as a "left travel solenoid valve” or a "left forward solenoid valve”
  • the solenoid valve 31ER functions as a "left travel solenoid valve” or a "left reverse solenoid valve”. do.
  • the right travel lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR uses pilot oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 172 in accordance with the operation in the front-rear direction. More specifically, when the right travel lever 26DR is operated in the forward direction (forward direction), the right travel lever 26DR applies pilot pressure to the right pilot port of the control valve 172 in accordance with the amount of operation. Further, when the right traveling lever 26DR is operated in the reverse direction (rearward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 172.
  • the operation sensor 29DR electrically detects the content of the operation of the right travel lever 26DR by the operator in the front-rear direction, and outputs the detected value to the controller 30.
  • the solenoid valve 31FL operates according to the current command output by the controller 30.
  • the solenoid valve 31FL adjusts the pilot pressure caused by the pilot oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the solenoid valve 31FL.
  • the solenoid valve 31FR operates according to a current command output by the controller 30.
  • the solenoid valve 31FR adjusts the pilot pressure caused by the pilot oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the solenoid valve 31FR.
  • the pilot pressure of the electromagnetic valves 31FL and 31FR can be adjusted so that the control valve 172 can be stopped at an arbitrary valve position.
  • the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the right pilot port of the control valve 172 via the solenoid valve 31FL, regardless of the rightward forward operation by the operator. That is, the right crawler 1CR can be moved forward. Moreover, the controller 30 can supply the pilot oil discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the electromagnetic valve 31FR, regardless of the right reverse operation by the operator. That is, the right crawler 1CR can be moved backward.
  • the solenoid valve 31FL functions as a "right travel solenoid valve” or "right forward solenoid valve”
  • the solenoid valve 31FR functions as a "right travel solenoid valve” or "right reverse solenoid valve”. do.
  • the excavator 100 may be configured to automatically operate the bucket tilt mechanism.
  • the hydraulic system part related to the bucket tilt cylinder that constitutes the bucket tilt mechanism may be configured in the same way as the hydraulic system part related to the operation of the boom cylinder 7, etc.
  • an electric operation lever as the form of the operation device 26
  • a hydraulic operation lever may be adopted instead of an electric operation lever.
  • the amount of operation of the hydraulic operating lever may be detected in the form of pressure by a pressure sensor and input to the controller 30.
  • a solenoid valve may be disposed between the operating device 26 as a hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30.
  • each control valve may be comprised of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 that corresponds to the amount of operation of the electric operation lever.
  • FIG. 5 is a diagram showing a configuration example of a control system of excavator 100. Specifically, FIG. 5 shows an example of the configuration of the machine guidance function and machine control function of the excavator 100.
  • the controller 30 is configured to perform a machine guidance function that guides the manual operation of the shovel 100 by the operator.
  • the controller 30 controls a target construction surface such as a design surface and a predetermined work area of the bucket 6 that is the tip of the attachment AT (for example, the toe of the bucket 6 or the back surface of the bucket 6) (hereinafter simply "Work information such as the distance to the work site (hereinafter referred to as “work site”) is communicated to the operator through the display device 40, room alarm 45B, etc.
  • a target construction surface such as a design surface and a predetermined work area of the bucket 6 that is the tip of the attachment AT (for example, the toe of the bucket 6 or the back surface of the bucket 6)
  • Work information such as the distance to the work site (hereinafter referred to as "work site) is communicated to the operator through the display device 40, room alarm 45B, etc.
  • the controller 30 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning angular velocity sensor S5, an operation sensor 29, an object detection device 70, a positioning device 85, and a switch. Acquire information from SW etc. Then, the controller 30 calculates the distance between the bucket 6 and the target construction surface based on the acquired information, and displays an image displayed on the display device 40, a sound output from the indoor alarm 45B, etc. The calculated distance is notified to the operator.
  • the data regarding the target construction surface is stored in the internal memory of the controller 30 or by being downloaded from the outside (for example, a predetermined management server), based on setting input by the operator through an information input device (not shown), or by being downloaded from the outside (for example, a predetermined management server). It is stored in an external storage device or the like connected to the controller 30. Data regarding the target construction surface is expressed, for example, in a reference coordinate system.
  • the reference coordinate system is, for example, the world geodetic system.
  • the world geodetic system is a three-dimensional orthogonal system with its origin at the center of gravity of the Earth, the X-axis pointing toward the intersection of the Greenwich meridian and the equator, the Y-axis pointing toward 90 degrees East longitude, and the Z-axis pointing toward the North Pole. It is an XYZ coordinate system.
  • the operator may, for example, set an arbitrary point on the construction site as a reference point, and set the target construction surface based on the relative positional relationship with the reference point through an information input device. Thereby, the controller 30 can notify the operator of work information through the display device 40, the indoor alarm 45B, etc., and guide the operator in operating the shovel 100 through the operating device 26.
  • controller 30 is configured to be able to perform a machine control function that supports manual operation of the shovel 100 by an operator and operates the shovel 100 automatically or autonomously.
  • the controller 30 controls the target construction surface and the tip of the attachment AT, specifically, the work area of the bucket 6, etc. At least one of the boom 4, the arm 5, and the bucket 6 is automatically operated so that the shape elements to be controlled (hereinafter simply referred to as "control objects") set in .
  • the controlled object may include, for example, a plane or a curved surface constituting the toe of the bucket 6 as a work site, a line segment defined on the plane or curved surface, a point defined on the plane or curved surface, and the like.
  • the controlled object may include, for example, a plane or curved surface that constitutes the back surface of the bucket 6 as a working part, a line segment defined on the plane or curved surface, a point defined on the plane or curved surface, etc. .
  • the control target may be set to an arm top pin (bucket connection pin).
  • the controller 30 adjusts the target construction according to the operator's operation of the left operating lever 26L.
  • the boom 4, arm 5, and bucket 6 are automatically operated so that the plane and the object to be controlled coincide.
  • the controller 30 controls the solenoid valve 31 to automatically operate the boom 4, arm 5, and bucket 6, as described above.
  • the operator can cause the excavator 100 to perform excavation work, leveling work, etc. along the target construction surface simply by operating the left operating lever 26L in the front-back direction.
  • the working part of the bucket 6 may be set, for example, according to a setting input by an operator or the like through an information input device. Furthermore, the work area of the bucket 6 may be automatically set according to the work content of the shovel 100, for example. Specifically, the working part of the bucket 6 is set at the toe of the bucket 6 when the work of the shovel 100 is excavation work, etc., and when the work of the shovel 100 is leveling work, compaction work, etc. , may be set on the back of the bucket 6. In this case, the work content of the excavator 100 may be determined automatically based on the image captured by the front camera 70F, or the selected content or input content may be determined by the operator or the like through the information input device. may be set according to
  • the object to be controlled at the work part of the bucket 6 (hereinafter simply referred to as "the control object of the bucket 6") is the control object of a specific one of the plurality of claws of the bucket 6. It may be set at one point on the curved surface or plane that constitutes the tip. Further, the control target of the bucket 6 can be arbitrarily set on a curved surface or a flat surface that constitutes the back surface of the bucket 6, for example, when the work site is the back surface of the bucket 6.
  • the controller 30 may set the control target on the back of the bucket 6 in accordance with a setting operation by an operator or the like through an information input device, or may automatically set the control target on the back of the bucket 6 based on predetermined conditions.
  • the control target on the back surface may be set (changed).
  • FIGS. 6A and 6B are diagrams showing a configuration example of the controller 30. Specifically, FIGS. 6A and 6B show an example of a detailed configuration regarding the machine control function. Note that the following explanation with reference to FIGS. 6A and 6B is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated while the switch SW is operated. Regarding machine control functions.
  • the controller 30 includes, as functional units related to the machine control function, an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, and an operation command acquisition unit 3001. It includes a generation section 3006, a pilot command generation section 3007, an attitude angle calculation section 3008, a controlled object speed calculation section 3009, and a restriction section 3010.
  • each of the ten functional units is realized by software.
  • each of the ten functional units may be realized by hardware (such as an electronic circuit) or may be realized by a combination of software and hardware. Further, in the illustrated example, when the switch SW is operated, each of the ten functional units repeatedly executes the process described below at every predetermined control cycle.
  • the operation content acquisition unit 3001 acquires the operation content of the arm operation lever based on the detection signal taken in from the operation sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (arm opening operation or arm closing operation) and the operation amount as the operation content.
  • the target construction surface acquisition unit 3002 acquires data regarding the target construction surface from, for example, an internal memory or an external storage device.
  • the target trajectory setting unit 3003 sets information regarding the target trajectory of the controlled object of the bucket 6 for moving the controlled object of the bucket 6, which is the tip of the attachment AT, along the target construction surface based on the data regarding the target construction surface. do.
  • the target trajectory setting unit 3003 may set the inclination angle of the target construction surface in the front-rear direction with respect to the body of the excavator 100 (the upper revolving body 3) as information regarding the target trajectory.
  • the current position calculation unit 3004 calculates the position of the bucket 6 to be controlled (current position). Specifically, the position of the bucket 6 to be controlled may be calculated based on the boom angle ⁇ 1, arm angle ⁇ 2, and bucket angle ⁇ 3 calculated by the attitude angle calculation unit 3008.
  • the target position calculation unit 3005 determines the target of the controlled object of the bucket 6 based on the operation details (operated direction and amount) of the arm control lever, information regarding the set target trajectory, and the current position of the controlled object of the bucket 6. Calculate the position.
  • the target position is on the target construction surface (in other words, the target trajectory) that should be reached during the current control cycle, assuming that the arm 5 moves according to the operating direction and amount of the arm operating lever. This is the position of
  • the target position calculation unit 3005 may calculate the target position of the bucket 6 to be controlled using a map or an arithmetic expression stored in advance in an internal memory or the like.
  • the operation command generation unit 3006 generates a command value regarding the operation of the boom 4 (hereinafter referred to as "boom command value ⁇ 1r”) and a command value regarding the operation of the arm 5 (hereinafter referred to as “arm command value ⁇ 1r”) based on the target position of the controlled object of the bucket 6.
  • a command value related to the operation of the bucket 6 (hereinafter referred to as a “bucket command value ⁇ 3r”) is generated.
  • the boom command value ⁇ 1r, the arm command value ⁇ 2r, and the bucket command value ⁇ 3r are the boom angle, arm angle, and bucket angle, respectively, when the target position of the bucket 6 can be achieved.
  • the boom command value ⁇ 1r, arm command value ⁇ 2r, and bucket command value ⁇ 3r are the angular velocity and angular acceleration of the boom 4, arm 5, and bucket 6 necessary for the bucket 6 to achieve the target position. Good too.
  • the operation command generation unit 3006 includes a master command generation unit 3006A and a slave command generation unit 3006B.
  • the master command generation unit 3006A generates a command value (hereinafter referred to as "master command value") regarding the operation of a work element (hereinafter referred to as "master element") that operates in accordance with the operation content of the operating device 26.
  • master command value a command value regarding the operation of a work element (hereinafter referred to as "master element”) that operates in accordance with the operation content of the operating device 26.
  • master element the operating lever for operating the master element
  • the master operating lever for operating the master element is also referred to as a "master operating lever.”
  • the master element is the arm 5
  • the master control lever is the arm control lever
  • the master command generation unit 3006A generates the arm command value ⁇ 2r and outputs it to the arm pilot command generation unit 3007B.
  • the master command generation unit 3006A generates an arm command value ⁇ 2r corresponding to the operation details (operation direction and operation amount) of the arm operation lever.
  • the master command generation unit 3006A may generate and output the arm command value ⁇ 2r based on a predetermined map or conversion formula that defines the relationship between the operation content of the arm operating lever and the arm command value ⁇ 2r.
  • the slave command generation unit 3006B causes the controlled object of the bucket 6 to move along the target construction surface in accordance with (synchronize with) the operation of the master element (arm 5) among the work elements constituting the attachment AT.
  • a command value (hereinafter referred to as "slave command value") regarding the operation of an operating work element (hereinafter referred to as “slave element”) is generated.
  • the slave elements are the boom 4 and the bucket 6, and the slave command generation unit 3006B generates a boom command value ⁇ 1r and a bucket command value ⁇ 3r, and a boom pilot command generation unit 3007A and a bucket pilot command generation unit, respectively. Output to 3007C.
  • the slave command generation unit 3006B operates at least one of the boom 4 and the bucket 6 in accordance with (synchronized with) the operation of the arm 5 corresponding to the arm command value ⁇ 2r, and the control target of the bucket 6 is A boom command value ⁇ 1r and a bucket command value ⁇ 3r are generated so that the target position can be realized (that is, so as to move along the target construction surface).
  • the controller 30 operates the boom 4 and the bucket 6 of the attachment AT in accordance with (that is, synchronizes) the operation of the arm 5 corresponding to the operation content of the arm operation lever, thereby controlling the object to be controlled by the bucket 6. can be moved along the target construction surface.
  • the arm 5 (arm cylinder 8) operates in response to the operation input to the arm operation lever, and the boom 4 (boom cylinder 7) and bucket 6 (bucket cylinder 9) operate on the attachment AT, such as the toe of the bucket 6.
  • the movement of the arm 5 (arm cylinder 8) is controlled in accordance with the movement of the arm 5 (arm cylinder 8) so that the tip moves along the target construction surface.
  • the master element may be the upper revolving structure 3 that can rotate relative to the lower traveling structure 1.
  • the slave elements may be the boom 4, the arm 5, and the bucket 6.
  • the controller 30 operates the boom 4, arm 5, and bucket 6 of the attachment AT in accordance with (in other words, in synchronization with) the turning operation of the upper rotating structure 3 corresponding to the operation details of the turning operation lever. In this way, the object to be controlled by the bucket 6 can be moved along the target construction surface.
  • the upper rotating body 3 (swing hydraulic motor 2A) operates in response to the operation input to the swing operation lever, and the boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9 ) is controlled in accordance with the operation of the upper revolving body 3 (swing hydraulic motor 2A) so that the tip of the attachment AT, such as the toe of the bucket 6, moves along the target construction surface.
  • the pilot command generation unit 3007 causes the control valves 174 to 176 to act on each of the control valves 174 to 176 in order to realize the boom angle, arm angle, and bucket angle corresponding to the boom command value ⁇ 1r, arm command value ⁇ 2r, and bucket command value ⁇ 3r.
  • a pilot pressure command value (hereinafter referred to as "pilot pressure command value") is generated.
  • the pilot command generation section 3007 includes a boom pilot command generation section 3007A, an arm pilot command generation section 3007B, and a bucket pilot command generation section 3007C.
  • the boom pilot command generation unit 3007A controls the boom cylinder 7 that drives the boom 4 based on the deviation between the boom command value ⁇ 1r and the current boom angle calculation value (measured value) calculated by the boom angle calculation unit 3008A.
  • a pilot pressure command value to be applied to the corresponding control valves 175L and 175R is generated.
  • the boom pilot command generation unit 3007A outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31BL and 31BR.
  • the electromagnetic valves 31BL and 31BR can apply pilot pressure corresponding to the pilot pressure command value to the corresponding pilot ports of the control valves 175L and 175R.
  • pilot pressure acts on the pilot port
  • the control valves 175L and 175R operate.
  • the boom cylinder 7 is operated, and the boom 4 is operated so as to realize a boom angle corresponding to the boom command value ⁇ 1r.
  • the arm pilot command generation unit 3007B controls the arm cylinder 8 that drives the arm 5 based on the deviation between the arm command value ⁇ 2r and the current arm angle calculation value (measured value) calculated by the arm angle calculation unit 3008B.
  • a pilot pressure command value to be applied to the corresponding control valves 176L and 176R is generated.
  • the arm pilot command generation unit 3007B then outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31AL and 31AR.
  • the electromagnetic valves 31AL and 31AR can apply pilot pressure corresponding to the pilot pressure command value to the corresponding pilot ports of the control valves 176L and 176R.
  • pilot pressure acts on the pilot port, the control valves 176L and 176R operate.
  • the arm cylinder 8 operates, and the arm 5 operates so as to realize the arm angle corresponding to the arm command value ⁇ 2r.
  • the bucket pilot command generation unit 3007C controls the bucket cylinder 9 that drives the bucket 6 based on the deviation between the bucket command value ⁇ 3r and the current bucket angle calculation value (measured value) calculated by the bucket angle calculation unit 3008C.
  • a pilot pressure command value to be applied to the corresponding control valve 174 is generated.
  • the bucket pilot command generation unit 3007C outputs a control current corresponding to the generated pilot pressure command value to the solenoid valves 31CL and 31CR.
  • the electromagnetic valves 31CL and 31CR can cause the pilot pressure corresponding to the pilot pressure command value to act on the corresponding pilot port of the control valve 174.
  • pilot pressure acts on the pilot port
  • the control valve 174 operates.
  • the bucket cylinder 9 operates, and the bucket 6 operates so as to realize the bucket angle corresponding to the bucket command value ⁇ 3r.
  • the attitude angle calculation unit 3008 calculates (measures) the boom angle ⁇ 1, arm angle ⁇ 2, and bucket angle ⁇ 3 based on the detection signals of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3.
  • Attitude angle calculation section 3008 includes a boom angle calculation section 3008A, an arm angle calculation section 3008B, and a bucket angle calculation section 3008C.
  • the boom angle calculation unit 3008A calculates (measures) the boom angle ⁇ 1 based on the detection signal taken in from the boom angle sensor S1.
  • Arm angle calculation unit 3008B calculates (measures) arm angle ⁇ 2 based on the detection signal taken in from arm angle sensor S2.
  • the bucket angle calculation unit 3008C calculates (measures) the bucket angle ⁇ 3 based on the detection signal taken in from the bucket angle sensor S3.
  • the controlled object speed calculation unit 3009 is configured to calculate the moving speed of the controlled object.
  • the controlled object speed calculation unit 3009 is configured to calculate the moving speed of the toe of the bucket 6 as the controlled object that moves along the target construction surface.
  • the controlled object speed calculation unit 3009 calculates the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, and the preset values of the boom 4, arm 5, and bucket 6.
  • the coordinates of the toe of the bucket 6 can be derived based on the information regarding the dimensions of the bucket 6.
  • the controlled object speed calculating unit 3009 calculates a second speed based on the coordinates of the toe of the bucket 6 at the first time point and the coordinates of the toe of the bucket 6 at a second time point, which is a time point when a unit time has passed from the first time point.
  • the moving speed of the toe of the bucket 6 at the time can be derived.
  • the restriction unit 3010 is configured to perform control to limit the operation amount of the arm operating lever (hereinafter referred to as “calculated operation amount”) acquired (calculated) by the operation content acquisition unit 3001 to a predetermined amount or less.
  • the restriction unit 3010 controls each of the target position calculation unit 3005 and the movement command generation unit 3006 by a predetermined amount that is smaller than the calculated operation amount. It is configured to output to. Further, the restriction unit 3010 is configured to output the calculated operation amount as it is to each of the target position calculation unit 3005 and the movement command generation unit 3006 when the calculated operation amount of the arm operation lever is less than or equal to a predetermined amount. has been done.
  • the predetermined amount is a value stored in advance in an internal memory, an external storage device, or the like.
  • the predetermined amount is a value determined according to the amount of operation of the arm operation lever, and is set to increase as the amount of operation of the arm operation lever becomes larger.
  • the restriction unit 3010 may calculate a predetermined amount corresponding to the operation amount of the arm operation lever using a map or arithmetic expression stored in advance in an internal memory, an external storage device, or the like.
  • the limiting unit 3010 determines whether to limit the calculated operation amount of the arm operating lever to a predetermined amount and output it based on the moving speed of the controlled object calculated by the controlled object speed calculating unit 3009 or to output it as is. is configured to do so.
  • the limiter 3010 is configured to limit and output the calculated operation amount of the arm operating lever to a predetermined amount when the moving speed of the controlled object exceeds a predetermined speed.
  • control is performed to limit the opening/closing (rotation) speed of the arm 5. That is, the controller 30 can perform control to limit the moving speed of the toe of the bucket 6 moving along the target construction surface by limiting and outputting the calculated operation amount of the arm operating lever to a predetermined amount.
  • the controller 30 can move the toe of the bucket 6 along the slope portion if the operation amount of the arm operation lever remains unchanged.
  • the moving speed of the moving toe and the moving speed of the toe moving along the horizontal plane can be made the same.
  • the restriction unit 3010 is placed after the operation content acquisition unit 3001, but it may be integrated into the operation command generation unit 3006.
  • the restriction unit 3010 reduces the arm command value ⁇ 2r and adjusts the boom command value ⁇ 1r to match the reduced-adjusted arm command value ⁇ 2r. It may be configured to increase or decrease at least one of the bucket command value ⁇ 3r and the bucket command value ⁇ 3r.
  • FIG. 7 is a schematic diagram showing the movement of the attachment AT of the excavator 100 when moving the controlled object CP along the target construction surface TP, which is an example of the target surface.
  • the current state of the attachment AT is shown by a solid line
  • the state of the attachment AT after a predetermined period of time is shown by a dotted line.
  • the boom 4, arm 5, and bucket 6 are represented by straight lines
  • the upper revolving body 3 and the lower end of the boom 4 are connected by a boom foot pin 4F
  • the boom 4 and arm 5 are connected by a boom foot pin 4F
  • the arm 5 and bucket 6 are connected by an arm top pin 5T.
  • the controlled object CP is the toe of the bucket 6.
  • the upper diagram in FIG. 7 shows the movement of the attachment AT when the restriction by the restriction unit 3010 is not performed
  • the lower diagram in FIG. 7 shows the movement of the attachment AT when the restriction by the restriction unit 3010 is performed. shows.
  • the suffix "a” is attached to the code of each element that represents the state of the attachment AT after a predetermined period of time has elapsed, such as "attachment ATa” for "attachment AT.”
  • the suffix "b” is added to the code of each element representing the state of the attachment AT after a predetermined period of time has elapsed, such as "bucket 6b” for "bucket 6".
  • the target construction surface TP represented by the dashed line in the upper diagram of FIG. 7 is the same as the target construction surface TP represented by the dashed dashed line in the lower diagram of FIG. and horizontal surface portion HP.
  • the controller 30 moves the target construction surface TP along the gentle slope portion GP, as shown by the solid line in the upper diagram of FIG.
  • the toe of the bucket 6, which is the controlled object CP is moved in the direction of the solid arrow at a moving speed MV1.
  • the controller 30 closes the arm 5 at a rotation speed AV1. Further, the controller 30 automatically raises the boom 4 in response to the closing operation of the arm 5.
  • the controller 30 controls the steep slope of the target construction surface TP after a predetermined period of time has passed, as shown by the dotted line in the upper diagram of FIG.
  • the toe of the bucket 6a which is the controlled object CPa, is moved along the portion SP at a moving speed MV1a in the direction of the dotted arrow.
  • the controller 30 closes the arm 5 at a rotational speed AV1a that is the same as the rotational speed AV1. Further, the controller 30 automatically raises the boom 4 in response to the closing operation of the arm 5.
  • the controller 30 controls the operation of the arm 5.
  • the rotational speed of at least one of the boom 4 and the bucket 6 is adjusted while maintaining the rotational speed AV1 of the bucket 6 to align the toe of the bucket 6 with the target construction surface TP. Therefore, the controller 30 may excessively increase the moving speed MV1a of the controlled object CPa that moves along the steep slope portion SP of the target construction surface TP.
  • the controller 30 is configured to suppress a sudden change in the movement speed MV1 of the controlled object CP by executing the restriction by the restriction unit 3010.
  • the controller 30 changes the target construction surface as shown by the solid line in the lower diagram of FIG.
  • the toe of the bucket 6, which is the controlled object CP is moved along the gentle slope part GP of the TP in the direction of the solid line arrow at a moving speed MV1.
  • the controller 30 closes the arm 5 at a rotation speed AV1. Further, the controller 30 automatically raises the boom 4 in response to the closing operation of the arm 5.
  • the controller 30 controls the steep slope portion of the target construction surface TP after a predetermined period of time has passed, as shown by the dotted line in the lower diagram of FIG.
  • the toe of the bucket 6b which is the controlled object CPb, is moved along SP in the direction of the dotted arrow at a moving speed MV1b.
  • the controller 30 limits the movement of the arm 5.
  • the predetermined speed is the moving speed MV1 of the controlled object CP moving along the gentle slope portion GP of the target construction surface TP.
  • the restriction unit 3010 of the controller 30 replaces the calculated operation amount of the arm operating lever with a predetermined amount, and then sends the replaced predetermined amount to each of the target position calculation unit 3005 and the movement command generation unit 3006. and output it.
  • the rotational speed AV1b of the arm 5 is limited to be smaller than the rotational speed AV1
  • the moving speed MV1b of the toe of the bucket 6b is also limited to a predetermined speed.
  • the controller 30 controls the control target. While maintaining the moving speed MV1 of the CP (the toe of the bucket 6b), adjust the rotational speed of the arm 5 and the rotational speed of at least one of the boom 4 and the bucket 6 to bring the toe of the bucket 6 to the target construction surface TP. Try to match it. Therefore, the controller 30 can suppress the movement speed MV1b of the controlled object CPb moving along the steep slope portion SP of the target construction surface TP from becoming excessively large.
  • the excavator 100 includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, and the upper rotating body 3.
  • An attachment AT that is attached to the revolving body 3 and includes a boom 4, an arm 5, and an end attachment (bucket 6), an arm operation lever (left operation lever 26L (see FIG. 3)) that operates the arm 5, and an end attachment (
  • the arm 5 is operated according to the amount of operation of the arm operation lever (left operation lever 26L) so as to move a predetermined work area in the bucket 6) while aligning it with the target surface (target construction surface TP (see Fig. 7)).
  • control device 30 configured to operate at least one of the boom 4 and the end attachment (bucket 6) in accordance with the operation of the arm 5. Then, as shown in FIG. 7, the control device (controller 30) controls the movement speed MV1 of the controlled object CP, which is a predetermined portion of the attachment AT along the target surface (target construction surface TP), to a predetermined speed. It is configured to limit the movement of arm 5. Note that moving the predetermined work part while aligning it with the target surface means that the predetermined work part moves on the target surface.
  • the target surface may be a surface (a surface other than the target construction surface TP) that is set based on the position of the target construction surface TP, or a surface that is set independently of the target construction surface TP. good.
  • the excavator 100 can improve the operability of the attachment AT when a master-slave control method is adopted.
  • the controlled object CP may be a predetermined work site in the end attachment (bucket 6) or an arm top pin.
  • the predetermined work site on the end attachment (bucket 6) may be the toe or back surface of the bucket 6.
  • the excavator 100 includes a main pump 14 mounted on the upper revolving structure 3, a pilot pump 15 mounted on the upper revolving structure 3, and between the arm cylinder 8 and the main pump 14.
  • An arm cylinder control valve (control valve 176) provided in the connecting hydraulic oil line and an arm control valve (control valve 176) provided in the pilot line that connects the pilot port of the arm cylinder control valve (control valve 176) and the pilot pump 15.
  • It may also include a solenoid valve (a solenoid valve 31AL, a solenoid valve 31AR (see FIG. 4A)).
  • control device adjusts the value of the control command output to the arm solenoid valves (solenoid valve 31AL, solenoid valve 31AR) and sends the control command to the pilot port of the arm cylinder control valve (control valve 176). It may be arranged to limit the operating speed of the arm 5 by adjusting the pilot pressure that is applied.
  • the moving speed MV1 of the controlled object CP along the target surface (target construction surface TP) changes depending on the amount of operation of the arm operating lever (left operating lever 26L). It may be configured as follows.
  • the moving speed MV1 of the controlled object CP along the target surface (target construction surface TP) may be configured to increase as the amount of operation of the arm operation lever (left operation lever 26L) increases.
  • the target surface may include a steep slope portion SP and a gentle slope portion GP or a horizontal surface portion HP, as shown in FIG.
  • the control device controller 30 moves the work area (the toe of the bucket 6) to a gentle slope as shown in the lower diagram of FIG.
  • the moving speed MV1 of the controlled object CP when moving it in accordance with the GP or the horizontal surface portion HP is the same as the moving speed MV1b of the controlled object CPb when moving the work part (toe of the bucket 6) in accordance with the steep slope portion SP.
  • the arm 5 may be configured to operate so as to.
  • This configuration can prevent the operator of the excavator from feeling that the excavator is difficult to operate. This is because it is possible to suppress the occurrence of a situation in which the moving speed MV1 of the controlled object CP suddenly changes even though the operating amount of the arm operating lever remains unchanged.
  • the working parts include a first working part (for example, the toe of the bucket 6) that contacts the gentle slope part GP or the horizontal part HP, and a second working part that contacts the steep slope part SP. (for example, the back of the bucket 6).
  • the controller 30 moves the toe of the bucket 6 while aligning it with the gentle slope portion GP, moves the back surface of the bucket 6 while aligning it with the steep slope portion SP, and then moves the toe of the bucket 6 so that it aligns with the horizontal surface portion HP. You may also move them together.
  • restriction by the above-mentioned restriction unit 3010 is applied when the bucket 6 is moved along the target construction surface TP including a downwardly sloped slope portion, but it is applied when moving the bucket 6 along the target construction surface TP including an upwardly sloped slope portion. It may also be applied when moving the bucket 6.
  • the excavator 100 according to the present embodiment is an example in which a controller 30A that executes different processes is provided instead of the controller 30.
  • the other configurations are the same as those in the above-described embodiment, and their explanation will be omitted.
  • FIG. 8 is a conceptual diagram showing the speed control of the work area performed by the controller 30A according to the present embodiment.
  • the toe of the bucket 6 moves along the target construction surface.
  • the target construction surface includes a first construction surface (an example of a first target surface, with an angle ⁇ slope1 ) and a second construction surface (an example of a second target surface, with an angle ⁇ slope2 ).
  • the toe of the bucket 6 is controlled to move along the first construction surface (angle ⁇ slope1 ) and then along the second construction surface (angle ⁇ slope2 ).
  • the first construction surface (angle ⁇ slope1 ) is a horizontal surface that is approximately parallel to the ground plane of the excavator 100
  • the second construction surface (angle ⁇ slope1 ) is a slope that slopes downward (at least in the height direction
  • the moving speed of the toe of the bucket 6 is mainly based on the angular velocity ⁇ arm of the arm 5.
  • the movement of the boom 4 is merely adjusted so that the toe of the bucket 6 is along the first construction surface (angle ⁇ slope1 ).
  • the boom cylinder 7 is operated largely in order to follow the second construction plane (angle ⁇ slope2 ). Thereby, the toe of the bucket can be moved along the second construction surface (angle ⁇ slope2 ).
  • the controller 30A of the excavator 100 when the controller 30A of the excavator 100 according to the present embodiment receives an operation on the arm 5, it controls the boom cylinder 7 and the arm cylinder 8 so that the movement speed corresponds to the amount of operation. Then, when the controller 30A moves the toe of the bucket 6 (an example of a predetermined work part) in accordance with the construction surface (an example of a target surface) in accordance with the operation, the controller 30A controls the surface of the bucket 6 to be aligned with the first surface. Controlling the operation of at least one of the arm 5 and the boom 4 so that the moving speed of the toe of the bucket 6 is the same when changing from the construction surface (angle ⁇ slope1 ) to the second construction surface (angle ⁇ slope2 ) I do.
  • FIG. 9 is an explanatory diagram showing a change in the speed of the toe of the bucket 6 in response to the operator's arm operation in the excavator 100 according to the present embodiment.
  • the first construction surface and the second construction surface shown in FIG. 9 are the same as the surface shown in FIG. 8, and a description thereof will be omitted.
  • FIG. 9 shows a change 1901 in the speed of the toe of the bucket 6, a change 1902 in the angular velocity of the arm 5, and a change 1903 in the pilot pressure acting on the pilot port of the arm cylinder control valve. .
  • FIG. 9 shows a case where the operator operates the left operating lever 26L in the arm closing direction at time t0.
  • the controller 30A moves the toe of the bucket 6 along the first construction surface and then moves it to the second construction surface in accordance with data regarding the target construction surface (not shown) stored in the excavator 100. In this example, control is performed to move the object along the same direction.
  • the surface that the toe of the bucket 6 meets changes from the first construction surface (angle ⁇ slope1 ) to the second construction surface (angle ⁇ slope2 ).
  • the pilot pressure acting on the pilot port of the arm cylinder control valve was maintained at pressure pi1. Therefore, as shown by line 1921, the angular velocity of arm 5 is also maintained at angular velocity ⁇ arm1 .
  • the angular velocity ⁇ boom1 of the boom 4 is added depending on the change in the surface that the toe of the bucket 6 meets. Therefore, as shown by a line 1911, the toe of the bucket 6 changes to the moving speed Vt2, causing sudden acceleration.
  • the controller 30A operates as shown by line 1932 when the surface to which the toe of the bucket 6 meets changes from the first construction surface (angle ⁇ slope1 ) to the second construction surface (angle ⁇ slope2 ) at time t2. Control is performed to switch the pilot pressure acting on the pilot port of the arm cylinder control valve from pressure pi1 to pressure pi2 so that
  • the angular velocity of arm 5 also decreases from angular velocity ⁇ arm1 to angular velocity ⁇ arm2 , as shown by line 1922. Furthermore, at time t2, the angular velocity ⁇ boom2 of the boom 4 is added in accordance with a change in the surface that the toe of the bucket 6 meets. That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4, so that the bucket 6 The toe of is maintained at the moving speed Vt1.
  • the controller 30A adjusts the pilot pressure acting on the pilot port of the arm cylinder control valve according to changes in the surface on which the toe of the bucket 6 moves, thereby increasing the speed of movement of the toe of the bucket 6. control so that they are the same. Therefore, sudden acceleration at the toe of the bucket 6 can be suppressed. Note that a specific pilot pressure adjustment method will be described later.
  • FIG. 10A and FIG. 10B are diagrams showing a configuration example of the controller 30A. Specifically, FIGS. 10A and 10B show an example of a detailed configuration regarding the machine control function. Note that the following explanation with reference to FIGS. 10A and 10B is executed when the left operating lever 26L (arm operating lever) for moving the arm 5 is operated while the switch SW is operated. Regarding machine control functions.
  • the controller 30A includes an operation content acquisition unit 3001, a target construction surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, and an operation command calculation unit 3003 as functional units related to the machine control function. It includes a generation section 3006, a pilot command generation section 3007, an attitude angle calculation section 3008, a boom pilot command adjustment section 3107A, and an arm pilot command adjustment section 3107B.
  • each functional unit of the controller 30A is realized by software.
  • each of the functional units of the controller 30A may be realized by hardware (such as an electronic circuit), or may be realized by a combination of software and hardware.
  • each of the functional units of the controller 30A repeatedly executes the process described below at every predetermined control cycle when the switch SW is operated. Note that the same reference numerals are assigned to the same functional units of the controller 30A shown in FIGS. 10A and 10B as those of the functional units shown in FIGS. 6A and 6B, and the description thereof will be omitted.
  • the controller 30A Compared to the controller 30, the controller 30A according to the present embodiment includes a boom pilot command adjustment section 3107A and an arm pilot command adjustment section 3107B, but a controlled object speed calculation section 3009 and a restriction section 3010. , has been deleted.
  • the motion command generation unit 3006 can perform the operation according to the calculated operation amount of the arm operation lever without being limited to a predetermined amount by the limiting unit 3010 as in the first embodiment. , generate command values regarding the operation of the work element.
  • the master command generation unit 3006A generates the arm command value ⁇ 2r based on a predetermined map or conversion formula that defines the relationship between the operation content of the arm operating lever and the arm command value ⁇ 2r, and generates the slave command.
  • the generation unit 3006B causes at least one of the boom 4 and the bucket 6 to operate in accordance with (synchronized with) the operation of the arm 5 corresponding to the arm command value ⁇ 2r, so that the object to be controlled by the bucket 6 can realize the target position. (In other words, so as to move along the target construction surface), a boom command value ⁇ 1r and a bucket command value ⁇ 3r are generated.
  • the pilot command generation unit 3007 then controls each of the control valves 174 to 176 in order to realize the boom angle, arm angle, and bucket angle corresponding to the boom command value ⁇ 1r, arm command value ⁇ 2r, and bucket command value ⁇ 3r.
  • a command value of the pilot pressure to be applied (hereinafter referred to as "pilot pressure command value") is generated.
  • the pilot command generation section 3007 includes a boom pilot command generation section 3007A, an arm pilot command generation section 3007B, and a bucket pilot command generation section 3007C. Note that the processing performed by the boom pilot command generation unit 3007A, the arm pilot command generation unit 3007B, and the bucket pilot command generation unit 3007C is the same as in the embodiment described above.
  • the boom pilot command adjustment unit 3107A and the arm pilot command adjustment unit 3107B adjust the target construction when the left operation lever 26L (arm operation lever) for moving the arm 5 is operated while the switch SW is operated.
  • the pilot pressure command value is adjusted so that the moving speed of the toe of the bucket 6 is maintained even when the angle of the surface changes.
  • pilot pressure command value that is adjusted to maintain the moving speed Vt of the toe of the bucket 6 will be explained.
  • the pilot pressure command value is adjusted so that the moving speeds Vt are approximately the same.
  • the moving speed Vt of the toe of the bucket 6 is a single differentiation of the toe coordinates (x( ⁇ b , ⁇ a ), y( ⁇ b , ⁇ a )).
  • the function x is a function for calculating the x-coordinate position of the toe of the bucket 6 based on the angle ⁇ b of the boom 4 and the angle ⁇ a of the arm 5.
  • the function y is a function for calculating the y-coordinate position of the toe of the bucket 6 based on the angle ⁇ b of the boom 4 and the angle ⁇ a of the arm 5.
  • the differential value of the angle ⁇ b of the boom 4 is indicated as an angular velocity ⁇ boom
  • the differential value of the angle ⁇ a of the arm 5 is indicated as an angular velocity ⁇ arm
  • the moving speed Vt is the one-time differential of the toe coordinates (x ( ⁇ b , ⁇ a ), y ( ⁇ b , ⁇ a )), in other words, the angular velocity ⁇ boom , the angular velocity ⁇ arm , and the angle ⁇ of the boom 4 b and the angle ⁇ a of the arm 5.
  • the angular velocity ⁇ boom is determined according to the angle ⁇ b of the boom 4, the angle ⁇ a of the arm 5, the angular velocity ⁇ arm , and the angle ⁇ slope .
  • the moving speed Vt can be derived from the angle ⁇ slope , the angular velocity ⁇ arm , the angle ⁇ b of the boom 4, and the angle ⁇ a of the arm 5.
  • the angular velocity ⁇ arm2 of the arm 5 to make the moving speed Vt approximately the same is determined by the angle ⁇ slope1 , the angle ⁇ slope2 , and the arm 5, considering the above calculation. It can be derived from the angular velocity ⁇ arm1 of 5. Note that, at the time when the angle of the construction surface changes, the angle ⁇ b of the boom 4 and the angle ⁇ a of the arm 5 are approximately the same, so they can be omitted.
  • the arm pilot command adjustment unit 3107B holds aperture diagram information (not shown).
  • the aperture diagram information is information that holds the correspondence between the aperture area and the pilot pressure.
  • the arm pilot command adjustment unit 3107B sets the pilot pressure command value Pi arm2 corresponding to the opening area A PC2 based on the opening diagram information. Calculate and output. Whether the construction surface has changed from the angle ⁇ slope1 to the angle ⁇ slope2 can be determined from the information input from the target construction surface acquisition unit 3002 and the calculation results of the boom angle calculation unit 3008A and the arm angle calculation unit 3008B. . In this embodiment, instead of starting the adjustment at the timing when the angle ⁇ slope1 changes to the angle ⁇ slope2 , the adjustment may be started at a timing before a predetermined control period.
  • pilot pressure of the arm 5 since the pilot pressure of the arm 5 has been adjusted, the pilot pressure of the boom 4 must also be adjusted.
  • the pilot pressure of the boom 4 may be adjusted according to the adjustment ratio of the pilot pressure of the arm 5.
  • the arm pilot command adjustment unit 3107B adjusts the pilot pressure adjustment ratio based on the calculated pilot pressure command value Pi arm2 and the pilot pressure command value Pi arm1 input from the arm pilot command generation unit 3007B. is calculated and output to the boom pilot command adjustment section 3107A.
  • the boom pilot command adjustment unit 3107A adjusts the pilot pressure command value Pi boom1 input from the boom pilot command generation unit 3007A according to the input adjustment ratio, and outputs the adjusted command value Pi boom2 . Since the pilot pressure of the arm 5 and the pilot pressure of the boom 4 are adjusted at the same adjustment ratio, the toe of the bucket 6 can be controlled so as to follow the construction surface.
  • the command value Pi arm2 of the pilot pressure of the arm 5 and the command value Pi boom2 of the pilot pressure of the boom 4 are output, which are adjusted according to the change in the angle ⁇ slope2 of the construction surface.
  • of the toe of the bucket 6 can be maintained.
  • FIG. 11 is a diagram showing a moving path of the toe of the bucket 6 according to the present embodiment.
  • the controller 30A performs control to move the toe of the bucket 6 along the target construction surface TP.
  • the target construction surface TP includes a first construction surface TP11, a second construction surface TP12, a third construction surface TP13, a fourth construction surface TP14, and a fifth construction surface TP15.
  • the first construction surface TP11, the third construction surface TP13, and the fifth construction surface TP15 are substantially horizontal surfaces.
  • the second construction surface TP12 is a surface inclined upward by an angle ⁇ 1 compared to the horizontal surface RP.
  • the fourth construction surface TP14 is a surface inclined downward by an angle ⁇ 2 compared to the horizontal surface RP.
  • controller 30A performs control so that the moving speed of the toe of the bucket 6 is maintained substantially the same regardless of the angle of the target construction surface TP.
  • the moving speed of the toe of the bucket 6 (6A) is set to Vt.
  • the arm pilot command adjustment section 3107B and the boom pilot command adjustment section 3107A adjust the pilot pressure according to the angle ⁇ 1 of the second construction surface TP12. Thereby, the moving speed Vt of the toe of the bucket 6 (6B) is maintained. That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4.
  • the controller 30A controls the arm cylinder 8 to increase the angular velocity of the arm 5.
  • the controller 30A controls the boom cylinder 7 to reduce the angular velocity of the boom 4.
  • the arm pilot command adjustment section 3107B and the boom pilot command adjustment section 3107A adjust the pilot pressure according to the angle ⁇ 2 of the fourth construction surface TP14. Thereby, the moving speed Vt of the toe of the bucket 6 (6D) is maintained. That is, the controller 30A controls the arm cylinder 8 to reduce the angular velocity of the arm 5, while controlling the boom cylinder 7 to increase the angular velocity of the boom 4.
  • the controller 30A controls the arm cylinder 8 to increase the angular velocity of the arm 5, and controls the boom cylinder 7 to decrease the angular velocity of the boom 4.
  • the controller 30A can maintain the moving speed of the toe of the bucket 6 substantially constant even when constructing a composite surface that combines a horizontal surface and a slope surface. Therefore, when the construction is switched from a horizontal surface to a slope surface, sudden acceleration of the toe of the bucket 6 based on the operation of the boom 4 can be suppressed.
  • the controller 30A moves along the construction surface of the toe of the bucket 6 based on the height and angle of the construction surface indicated by the data of the target construction surface.
  • the boom cylinder 7 and the arm cylinder 8 are controlled to operate.
  • the controller 30A predicts the timing at which the toe of the bucket 6 will perform construction on the shoulder of the slope from the construction information, and at a timing a predetermined control cycle before the timing, the arm pilot command adjustment unit 3107B commands the pilot Start adjusting the pressure. Thereby, the boom pilot command adjustment section 3107A also adjusts the pilot pressure. Therefore, the moving speed of the toe of the bucket 6 is maintained.
  • control is performed so that the moving speed Vt of the toe is maintained.
  • the controller 30A may switch whether or not to adjust the pilot pressure by the arm pilot command adjustment section 3107B and the boom pilot command adjustment section 3107A depending on the angle of the construction surface. For example, the adjustment of the pilot pressure by the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A is canceled.
  • the adjustment of the pilot pressure is started when the construction surface is a slope of 10 degrees or more, and the adjustment of the pilot pressure is started when the construction surface is approximately horizontal. Pressure adjustment may be canceled. In this way, in this embodiment, the moving speed of the toe of the bucket 6 can be maintained no matter how the angle of the construction surface changes.
  • the command value of the pilot pressure of the arm 5 and the command value of the pilot pressure of the boom 4 are adjusted.
  • the objects to be adjusted are not limited to the boom 4 and the arm 5.
  • the boom 4, arm 5, and bucket 6 may be controlled in combination so that the moving speed of the toe of the bucket 6 is maintained.
  • control shown in this embodiment is shown as an example, and it is not necessary to strictly match the moving speed Vt of the toe before and after the change in the angle of the construction surface.
  • the controller 30A only needs to be able to adjust the movement speed to such an extent that the operator does not feel any discomfort, in other words, the movement speed feels substantially the same from the operator's perspective.
  • the pilot pressure is adjusted so that the moving speed Vt of the toe of the bucket 6 corresponding to the amount of arm operation is maintained.
  • the moving speed of the toe of the bucket 6 is adjusted to correspond to the changed operating amount. Therefore, the operator can control the toe of the bucket 6 to move at a desired speed regardless of the angle of the construction surface, thereby improving operability.
  • the operation for maintaining the moving speed Vt is not limited to the arm operation, and may be, for example, a boom operation.
  • the arm pilot command adjustment unit 3107B and the boom pilot command adjustment unit 3107A adjust the opening area at a magnification according to the amount of change in the angle of the construction surface, so control is easy and processing load is reduced. It is possible to reduce the
  • the master element is the arm 5 and the master operating lever is the arm operating lever, but the master element may be the boom 4 and the master operating lever may be the boom operating lever.
  • the limiter 3010 may be configured to limit the rotational speed of the boom 4, for example, when switching from a downward slope portion of the target construction surface to a horizontal surface portion.
  • the shovel 100 may be a remote-controlled shovel or an unmanned (autonomous) shovel.
  • Control pressure sensor 26 Operating device 26D... Travel lever 26DL...Left travel lever 26DR...Right travel lever 26L...Left operating lever 26R...Right operating lever 28...Discharge pressure sensor 29, 29LA, 29LB, 29RA, 29RB, 29DL, 29DR... ⁇ Operation sensor 30, 30A... Controller 31, 31AL, 31AR, 31BL, 31BR, 31CL, 31CR, 31DL, 31DR, 31EL, 31ER, 31FL, 31FR... Solenoid valve 40... Display device 45A... Outdoor alarm 45B... Indoor alarm 60... Control valve 70... Object detection device 70B... Rear camera 70F... Front camera 70L... Left camera 70R...

Landscapes

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

Abstract

L'invention concerne un dispositif de commande d'une pelle qui comporte un corps mobile inférieur, un corps rotatif supérieur qui est monté rotatif sur le corps mobile inférieur, et des fixations qui sont fixées au corps rotatif supérieur et comprennent une flèche, un bras et une fixation d'extrémité. Ledit dispositif de commande est conçu de façon à faire fonctionner le bras en fonction d'une valeur de commande de telle sorte qu'un site de travail prescrit sur la fixation d'extrémité se déplace tout en se conformant à une surface cible, et est conçu de façon à faire fonctionner la flèche et/ou la fixation d'extrémité en fonction du fonctionnement du bras, et ledit dispositif de commande commande en outre le fonctionnement du bras et/ou de la flèche de telle sorte que la vitesse de déplacement d'un sujet de commande, qui est un site prescrit sur une fixation suivant la surface cible, atteint une vitesse prescrite.
PCT/JP2023/017546 2022-06-27 2023-05-10 Dispositif de commande de pelle WO2024004387A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-102996 2022-06-27
JP2022102996 2022-06-27

Publications (1)

Publication Number Publication Date
WO2024004387A1 true WO2024004387A1 (fr) 2024-01-04

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WO (1) WO2024004387A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10259619A (ja) * 1997-03-18 1998-09-29 Shin Caterpillar Mitsubishi Ltd 建設機械の制御装置
WO2020101006A1 (fr) * 2018-11-14 2020-05-22 住友重機械工業株式会社 Pelle et dispositif permettant de commander une pelle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10259619A (ja) * 1997-03-18 1998-09-29 Shin Caterpillar Mitsubishi Ltd 建設機械の制御装置
WO2020101006A1 (fr) * 2018-11-14 2020-05-22 住友重機械工業株式会社 Pelle et dispositif permettant de commander une pelle

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