JP3461281B2 - Work machine control device for construction machinery - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine control device for a construction machine, and more particularly to a construction machine in which a work machine including front members such as a boom, an arm and a bucket is provided in front of a vehicle body. The present invention relates to a device for controlling the drive of

[0002]

2. Description of the Related Art In a construction machine such as a hydraulic excavator, a work machine having a multi-joint structure composed of a plurality of front members is provided in front of a vehicle body. For example, in the case of the hydraulic excavator 1 as shown in FIG. 2, the first boom 5, the second boom 7,
The offset boom 11, the arm 12, and the bucket 14 are sequentially rotatably connected to each other, and excavation work or the like is performed by driving these work machines in accordance with an operation of an operation lever or the like of an operator. Heretofore, as an operator, conventionally, a desired excavation work is performed by individually operating the rotation of each front member such as the first boom 5 by an operation lever or the like.

However, in actual work, the first boom 5, the second boom 7, the offset boom 11, and the arm 1 are used.
2. It is required that two or more front members of the bucket 14 be simultaneously operated in combination, and that operation requires skill. For this reason, even an unskilled operator has a heavy work load and is very tired even for a skilled operator.

For this reason, it has been attempted to relieve the operator of the complex operation of the front members at the same time so that the operation is partially automatically performed in order to further reduce the burden and fatigue. .

As a technique relating to this type of semi-automatic control, there is one described in Japanese Patent Laid-Open No. 7-243223.

In this publication, when the lower boom of the excavator is lowered from the turning posture, the opening angle between the booms between the lower boom and the upper boom is decreased, and the working machine is turned near the maximum reach position. The invention describes that the maximum reach length from the center to the bucket tip (working machine tip) is reduced to reduce the overturning moment of the excavator to ensure the stability of the vehicle body.

However, in the one described in this publication, although the stability of the vehicle body is certainly ensured, the operability and workability in performing complicated complex operations by extending the tip of the working machine forward are considered. It has not been. In addition, when working in a narrow area, the tip of the work machine is
No consideration is given to the point that safety is impaired by interfering with building walls, etc.).

That is, in a hydraulic excavator, the work machine may be extended forward to perform gutter digging work, mass digging work, or the like. Such a work is required not only to stabilize the hydraulic excavator and prevent it from falling, but also to perform a complicated complex operation of linearly moving the tip of the working machine up and down in front of the vehicle body. Therefore, in such a case, it is desired to reduce the burden and labor on the operator as much as possible without requiring skill. In addition, as an operator, especially when working in a narrow area, the operator must operate the movement of the tip of the working machine while always paying attention to obstacles such as a utility pole in front and a wall of a building. Therefore, as a result of paying attention to obstacles in front, it is not possible to concentrate on the original operation of the work machine itself, and in some cases the tip of the work machine interferes with these obstacles, which impairs safety. There is also. Therefore, even if there is an obstacle ahead, it is possible to concentrate on the operation of the working machine without paying attention to the obstacle, and the work can be performed safely without the tip of the working machine interfering with the obstacle. desired.

The present invention has been made in view of these circumstances, and requires skill to perform a complicated complex operation such as a gutter digging operation or a mass digging operation in a stable state of a construction machine. Without doing it, even if
Even if there is an obstacle ahead, the problem to be solved is to enable safe and efficient work without paying attention to the obstacle.

[0010]

Means and Effects for Solving the Problems First of the Invention
According to the invention, in order to achieve the above-mentioned problem to be solved, a first front member is rotatably arranged in a vertical direction in front of a vehicle body, and a second front member is provided with respect to the first front member. In a working machine control device for a construction machine, which is rotatably connected in a vertical direction and which controls a tip position of a working machine having at least the first front member and the second front member, the vehicle body is stabilized. Within the range, the correspondence relationship between the rotational position of the first front member and the target rotational position of the second front member is set so that the tip position of the working machine draws a linear trajectory in the vertical direction of the predetermined section. Setting means, operating means for operating the rotation of the first front member, detecting means for detecting the rotational position of the first front member, and the detecting means when the operating means is operated. Detected by The target rotation position of the second front member corresponding to the current rotation position of the first front member is obtained from the contents set by the setting means, and the obtained target rotation position is obtained. And a control means for controlling the rotational position of the second front member.

According to the first aspect of the invention, as shown in FIG. 7, the tip position 14a of the working machine draws a linear locus e in the vertical direction of the predetermined sections A to B within the range in which the vehicle body 3 is stable. As shown in FIG. 11, the rotation position θ of the first front member 5
The correspondence S1 of the target rotational position θ2 of the second front member 7 with respect to 1 is set.

As shown in FIG. 1, the rotation of the first front member 5 is operated by the operating means 46. Further, the rotation position θ1 of the first front member 5 is detected by the detection means 17.

When the operating means 46 is operated, the first front member 5 detected by the detecting means 17 is detected.
Second front member 7 corresponding to the current turning position θ1 of
11, the target rotation position θ2 of the second front member 7 corresponding to the current rotation position θ1S of the first front member 5 is obtained from the correspondence S1 set as described above. Rotational position θ2S is required). Then, the rotation position of the second front member 7 is controlled by the control means 50 (controller 50) so that the obtained target rotation position θ2 is obtained.

As described above, according to the first invention, FIG.
As shown in FIG. 8, when the working machine of the construction machine 1 is extended forward to perform a gutter digging work, a mass digging work, or the like, the working machine tip 14a is simply operated by operating one operating means 46.
Since the vehicle body 3 is automatically moved along the linear locus e within the range in which the vehicle body 3 is stable, the construction machine 1 can be stabilized and prevented from tipping over, and the working machine tip 14a can be Even for tasks that require complex compound operations such as moving straight up and down in front of the vehicle,
The burden and labor on the operator can be dramatically reduced without requiring skill. Further, even when there is an obstacle such as a utility pole or a wall of a building in the front when performing work in a narrow area, once the work implement tip 14a is positioned in front of these obstacles, the work implement is moved from that position. Since the tip 14a can be automatically moved in the vertical direction along the linear trajectory e, it is necessary to always pay attention to the fact that the working machine tip 14a interferes with an obstacle and operate the movement of the working machine tip. Disappears.

Therefore, without paying attention to obstacles,
It is possible to concentrate on the operation of the working machine, work efficiency is improved, and the working machine tip 14a does not interfere with obstacles.
Work is done safely.

According to the second aspect of the invention, the first front member is arranged in the front of the vehicle body so as to be rotatable in the vertical direction, and the second front member is vertically moved with respect to the first front member. In a work machine control device for a construction machine, which is rotatably connected in a direction, and which controls a tip position of a work machine having at least the first front member and the second front member, a range in which the vehicle body is stable. In the first front, the tip position of the working machine draws a linear trajectory in a vertical direction in a predetermined section and an arcuate trajectory in predetermined upper and lower sections that are continuous with the linear trajectory. Setting means for setting the correspondence of the target rotational position of the second front member to the rotational position of the member, operating means for operating the rotation of the first front member, and rotation of the first front member. Moving position The target rotation position of the second front member corresponding to the current rotation position of the first front member detected by the detection unit when the operation detection unit and the operation unit are operated. Control means for controlling the rotational position of the second front member is provided so as to obtain the target rotational position obtained from the contents set by the setting device.

In the second invention, as in the first invention, FIG.
As shown in FIG. 8, the working machine tip 14a has a predetermined section A to
B, in addition to moving vertically along a linear locus e, the working machine tip 14a is further moved to the linear locus e.
In the predetermined sections B to C and A to D on the upper side and the lower side which are continuous with each other, the vehicle moves along the arc-shaped loci d and g. That is, the working machine tip 14a can be continuously moved from the arc-shaped trajectory to the linear trajectory, can be continuously moved from the linear trajectory to the arc-shaped trajectory, and can be continuously reciprocated.

Even after the working machine tip 14a linearly moves, it continuously moves in an arc shape continuously, so that the burden and labor on the operator can be reduced over a wider working range.

Further, in the third invention, in the second invention,
The arc-shaped loci d and g are supposed to be loci in which the maximum working radius can be obtained within a range in which the vehicle body 3 is stable.

That is, since the working machine tip 14a draws the locus of the maximum working radius, the working efficiency is further improved.

Further, in the fourth invention, in the first invention, the second invention, and the third invention, a detection means 18 for detecting the rotational position θ2 of the second front member 7 is further provided, and the control means 50 is As shown in FIG. 11, the target rotational position θ2J of the second front member 7 obtained from the setting content S1 corresponding to the current detected rotational position θ1J of the first front member 5.
However, when the second front member 7 is deviated from the current detected rotational position θ2K, the correspondence S1 set by the setting means is corrected to S4 by an amount corresponding to the amount of deviation (the fourth). The target rotational position θ2 corresponding to the current detected rotational position θ1J of the first front member 5 is corrected to the corresponding relationship S4 that matches the current detected rotational position θ2K of the second front member 7). .

In this way, by correcting the correspondence relationship S4, as shown in FIG. 12, the loci corresponding to the current rotational position of the first front member 5 and the current rotational position of the second front member. Since the working machine tip 14a moves along R4,
Regardless of the rotational positions of the first front member 5 and the second front member 7 (regardless of the posture of the working machine), the working machine tip 14a is set to the working machine posture and position at that time. It is possible to automatically move along a linear locus corresponding to the above, or an arc-shaped locus R4 which is continuous in a straight line.

Further, in the fifth invention, in the fourth invention,
Working machine tip 1 drawn by the corrected correspondence S4
If the locus of 4a is outside the stable range of the vehicle body 3, a warning signal is output.

That is, as shown in FIG. 11, the locus drawn by the correspondence relationship corrected by the current rotational position θ2e of the second front member 7 is the range in which the vehicle body 3 is stable as shown in FIG. If it is the outer locus Re, an alarm signal is output, and the second front member 7 is currently output.
The operator is informed that the vehicle body 3 is not stable in the rotating position of. Therefore, the operator can bring the vehicle body 3 into a stable range by manually operating the second front member 7.

Further, in the sixth aspect of the invention, the first front member is disposed in the front of the vehicle body so as to be rotatable in the vertical direction, and the second front member is vertically moved with respect to the first front member. In a work machine control device for a construction machine, which is rotatably connected in a direction, and which controls a tip position of a work machine having at least the first front member and the second front member, a range in which the vehicle body is stable. The second position with respect to the rotation position of the first front member is such that the tip position of the working machine draws a linear trajectory in the vertical direction of the predetermined section.
Setting means for setting a plurality of corresponding target rotational positions of the front member, operating means for operating the rotation of the first front member, and detecting a rotational position of the first front member. No. 1 detecting means, a second detecting means for detecting the rotational position of the second front member, and the first front detected by the first detecting means when the operating means is operated. The target rotational position of the second front member corresponding to the current rotational position of the member corresponds to the current rotational position of the second front member detected by the second detection means. From the plurality of correspondences, the target rotation position of the second front member corresponding to the current detected rotation position of the first front member is obtained from the selected correspondences, and The second flap so that the obtained target rotation position can be obtained. So that comprising a control means for controlling the rotational position of the cement member.

According to the sixth invention, the same operational effect as the first invention can be obtained.

In addition to this, the following effects can be obtained.

That is, in the sixth aspect of the invention, the corresponding relationship between the turning position θ1 of the first front member 5 and the target turning position θ2 of the second front member 7 is as shown in FIG.
Multiple (S1, S4, S5, S6 ) are set.

Therefore, when the operating means 46 is operated, as shown in FIG. 10, the second rotation position θ1R of the first front member 5 detected by the first detecting means 17 corresponds to the second rotation position θ1R. The target rotational position θ2R of the front member 7 of the
The correspondence S4 that matches the current rotational position θ2R of the second front member 7 detected by the detection means 18 is selected from a plurality of correspondences S1, S4, S5, and S6.

Then, as shown in FIG. 12, the working machine tip 1 is moved along the locus R4 corresponding to the selected correspondence S4.
4a is moved.

Thus, a plurality of correspondences (S1, S4,
S5, S6 ) Since the setting has been made and a plurality of trajectories for the working machine tip 14a to draw are prepared, as shown in FIG. 12, the current rotation position of the first front member 5 and the rotation of the second front member are present. The working machine tip 14 along the locus R4 corresponding to the moving position
a moves. Therefore, the first front member 5, the second
No matter what the rotational position of the front member 7 of the work machine is (regardless of the posture of the work machine), the work machine tip 1
4a can be automatically moved along a linear locus R4 corresponding to the posture and position of the working machine at that time.

The plurality of correspondences to be set are:
As shown in FIG. 11, the work machine tip 14a has a locus R having the same shape.
Correspondence (S1, S4, S) that draws 1, R4, R5, R6
5, S6: FIG. 10), and as shown in FIG. 8 , the working machine tips 14a have different trajectories R1, R2,
Correspondences (S1, S2, S3: FIG. 9) that depict R3 may be used.

According to the seventh aspect of the invention, the first front member is rotatably arranged in the up-down direction in front of the vehicle body, and the second front member is moved up and down with respect to the first front member. In a work machine control device for a construction machine, which is rotatably connected in a direction, and which controls a tip position of a work machine having at least the first front member and the second front member, a range in which the vehicle body is stable. In the first front, the tip position of the working machine draws a linear trajectory in a vertical direction in a predetermined section and an arcuate trajectory in predetermined upper and lower sections that are continuous with the linear trajectory. Setting means for setting a plurality of correspondences of the target turning position of the second front member to the turning position of the member, operating means for operating the turning of the first front member, and the first front member. Rotation of First detecting means for detecting the location,
When the second detecting means for detecting the rotational position of the second front member and the operating means are operated, the first detecting means is operated.
The target rotational position of the second front member corresponding to the current rotational position of the first front member detected by the second detecting unit is the current position of the second front member detected by the second detecting unit. Of the plurality of corresponding relationships is selected from among the plurality of correspondences, and the target rotational position of the second front member corresponding to the current detected rotational position of the first front member is selected. A control means for controlling the rotational position of the second front member is provided so as to obtain the obtained target rotational position based on the selected correspondence.

In the seventh invention, as in the sixth invention, FIG.
As shown in, not only the working machine tip 14a moves in a predetermined section A to B in the vertical direction along a linear trajectory,
Further, the working machine tip 14a moves along an arcuate locus in predetermined upper and lower sections that are continuous with the linear locus. Even after the working machine tip 14a linearly moves, it continuously moves in an arc shape continuously, so that the burden and labor on the operator over a wider working range can be reduced.

Further, in the eighth invention, in the seventh invention, the working machine tip 14a drawn by any one of the plurality of correspondences S1, S4, S5 and S6.
The arc-shaped locus R1 is a locus that provides the maximum work radius within the range in which the vehicle body 3 is stable.

That is, at this time, since the working machine tip 14a draws a locus of the maximum working radius, the working efficiency is further improved.

In the ninth invention, the first invention and the second invention are provided.
In the invention, the third invention, the sixth invention, the seventh invention, and the eighth invention, as shown in FIG. 1, second front member operating means 46D, 46U for operating the rotation of the second front member 7.
However, it is further equipped. Then, as shown in FIG. 16 (YES at step 102, step 105), while the second front member operating means 46D, 46U are being operated, the second front member 7 by the control means 50 is operated.
Automatic control of is prohibited.

As described above, according to the ninth invention, even if the second front member 7 is being automatically driven in response to the operation of the first front member 5, If the manual operation of the front member 7 is intervened, the second front member 7 is driven according to the manual operation. In addition, while the working machine tip 14a is automatically moved along the locus R1 corresponding to the correspondence S1, the second
When the manual operation of the front member 7 of the
After the automatic control is prohibited and immediately after the manual operation, as shown in FIG. 11, the correspondence S4 corresponding to the rotational position θ2K of the second front member 7 immediately after the manual operation is selected, and the trajectory corresponding thereto is selected. The work implement tip 14a moves along R4 (YES at step 103 in FIG. 16, YES at steps 107, 108, and 109).

In this way, by the intervention of the manual operation of the second front member 7, it becomes possible to flexibly change the locus of the tip of the working machine from R1 to R4 according to the working form at that time. .

In the tenth aspect of the invention, as shown in FIG. 6 (b), the operating means 46 for the first front member 5 (knob 46N of the operating lever) raises or lowers the second front member 7. The operation means 46U and 46D for instructing the are provided. Therefore, the second front member 7 can be easily and quickly manually operated while the first front member 5 is being operated by the operation lever 46, and the operability is improved.

[0041]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.

FIG. 1 shows the overall construction of a working machine control device for a construction machine according to this embodiment. Further, FIG. 2 shows an external appearance of a hydraulic excavator assumed as a construction machine in the present embodiment.

FIG. 2 (a) is a side view of a hydraulic excavator equipped with an offset boom, and FIG. 2 (b) is shown in FIG. 2 (a).
FIG.

As shown in FIG. 2, this hydraulic excavator 1
Is a lower traveling body 2 that travels when a crawler belt is rotated by a traveling motor (not shown), and an upper portion that is arranged above the lower traveling body 2 via a swing circle 4 and that is swung by a turning motor (not shown). The revolving structure 3 (vehicle body 3), and the first boom 5, the second boom 7, the offset boom 11, and the arm 1 mounted on the vehicle body 3 in the front direction.
2. A working machine including front members of the bucket 14. As shown in FIG.
As shown in FIG. 4, an operation panel 25 having a monitor for indicating the operation content and displaying the vehicle operation status, a left and right operation lever 45 for operating the drive of each front member of the work machine,
46, operation switches 46U and 46D, and an offset boom operation pedal (offset pedal) 47 are arranged.

This working machine has a first boom 5, a second boom 7, an offset boom 11, and an arm 1 with respect to the vehicle body 3.
2, the bucket 14 is configured to be sequentially connected.

The first boom 5 is arranged on the vehicle body turning frame of the vehicle body 3 so as to be vertically rotatable about the boom foot 5a. The second boom 7 is arranged at the tip of the first boom 5 so as to be vertically rotatable about the first boom top pin as a rotation center. Similarly, arm 1
2 is provided on the bracket 9 via the second boom 7, the offset boom 11, and the bracket 9 so as to be vertically rotatable, and the bucket 14 is provided on the arm 12.
It is arranged so as to be vertically rotatable.

The first boom hydraulic cylinder 6 is a hydraulic actuator for driving the first boom 5, and the bottom side of the first boom hydraulic cylinder 6 is disposed on the vehicle body 3.
The tip of the rod is arranged at the upper end of the first boom 5. Therefore, when pressure oil is supplied to the bottom chamber of the first boom hydraulic cylinder 6, the rod is extended, and when pressure oil is supplied to the head chamber, the rod is retracted, and accordingly, the first boom is expanded. 5 is rotated upward or downward.

Similarly, with respect to the second boom hydraulic cylinder 8 for driving the second boom 7, the bottom side of the second boom hydraulic cylinder 8 is disposed on the first boom 5, and the rod tip thereof is the second boom 7. Is located at the end of the
By supplying pressure oil to the bottom chamber or the head chamber of the boom hydraulic cylinder 8, the rod is extended or retracted,
In response to this, the second boom 7 is rotated downward or upward.

As shown in FIG. 1, the pressure P1h of the pressure oil in the head chamber of the first boom hydraulic cylinder 6 is measured by the pressure sensor 2.
1 is detected and input to the controller 50. Similarly, the pressure in the bottom chamber of the hydraulic cylinder 6 for the first boom,
The head chamber inner pressure and the bottom chamber inner pressure of the second boom hydraulic cylinder 8 are detected by the pressure sensors 22, 23 and 24 , respectively, and input to the controller 50.

The arm hydraulic cylinder 13 for driving the arm 12 is supported by the bracket 9 provided at the tip of the offset boom 11, and the tip of the rod is at the arm 1.
2, the arm 12 is rotated in the excavating direction or the dumping direction by driving the rod of the arm hydraulic cylinder 13 to extend or retract.

The bottom side of the bucket hydraulic cylinder 15 for driving the bucket 14 is arranged on the arm 12, and the rod tip end thereof is arranged on the bucket 14 via a link 15a and a link 15b. Hydraulic cylinder for bucket 1
The bucket 14 is rotated in the excavating direction or the dumping direction by driving the bucket 5 to extend and retract or retract.

FIG. 2B shows a state in which the arm 12 is offset in the left-right direction of the vehicle body 3 with respect to the second boom 7 by turning the offset boom 11 left and right (referred to as an offset operation). ing.

That is, one end of the offset boom 11 is rotatably arranged on the second boom 7, and the other end is connected to the arm 12 via the bracket 9. The bottom side of the offset boom hydraulic cylinder 10 that drives the offset boom 11 is disposed on the second boom 7, and the rod tip thereof is disposed on the bracket 9.
The rod 11a is a rod provided so that the attitude of the bracket 9 (arm 12) with respect to the second boom 7 does not change with the offset operation. One end of the rod 11a is disposed on the second boom 7 and the other end is provided. Are arranged on the bracket 9. Therefore, when the offset boom hydraulic cylinder 10 is driven to extend or retract, the offset boom 11 is rotated to the right or left, and the arm 12 is moved to the right or left with respect to the second boom 7. The offset amount is offset according to the rotation amount. A two-dot chain line in FIG. 2B shows a state when the offset boom 11 is offset rightward. The rotation angle θ3 of the offset boom 11 with respect to the second boom 7 is detected as the offset angle θ3 by the offset boom rotation angle sensor 16 and input to the controller 50.

FIG. 3 shows only the working machine of the hydraulic excavator 1 shown in FIG. 2 and shows its geometrical relationship. 3A and 3B correspond to FIGS. 2A and 2B, respectively.

The origin O of the XYZ coordinate system is set at the position of the boom foot 5a. The polarity of the rotation angle θ1 of the first boom 5 with respect to the vehicle body 3 (first boom rotation angle θ1) is + when the first boom 5 is rotated upward,
It is defined as − when it is rotated downward. The first boom rotation angle θ1 is detected by the first boom rotation angle sensor 17. Similarly, the rotation angle θ2 of the second boom 7 with respect to the first boom 5 (second boom rotation angle θ2) is detected by the second boom rotation angle sensor 18, and the rotation angle θ4 of the arm 12 with respect to the offset boom 11 (arm 4). The rotation angle θ4) is detected by the arm rotation angle sensor 19. The detected rotation angles of the rotation angle sensors 17, 18, and 19 are input to the controller 50. For the rotation angle sensors 16 to 19, for example, potentiometers are used.

In FIG. 3, a is the second boom 7 and the first boom.
1 is a disposition position of a first boom top pin that connects the boom 5, b is a disposition position of a second boom top pin that connects the offset boom 11 and the second boom 7, and c is
This is the position of the offset boom top pin that connects the bracket 9 and the offset boom 11, and d is the arm 12
Is the position of the bracket top pin (arm bottom pin) that connects the bracket 9 and the bracket 9, and e is the bucket 14
This is an arrangement position of an arm top pin 12a (simply referred to as arm top 12a) that connects the arms 12 of FIG.

Therefore, the length L1 of the first boom 5 is represented by the length of the line segment connecting the boom foot 5a and the point a, and the vertical length L22 of the second boom 7 (second boom length 2) is The horizontal length L21 (second boom length 1) of the second boom 7 is represented by the vertical distance between the points a and b, and the length of the offset boom 11 is represented by the horizontal distance between the points a and b. L3 to b
The length L4 of the bracket 9 (third bracket length) is represented by the length of the line segment connecting the points c and c, and the length L5 of the arm 12 is represented by the length of the line segment connecting the points c and d. , And the length of the line segment connecting the points d and e. The bucket blade tip position 14a is the position of the tip of the entire working machine (see FIG. 1).

The angle γ formed by the line segment de (arm 12) with respect to the line segment vertically drawn from the arm bottom point d is
It is defined as the arm ground angle γ. This arm-to-ground angle γ represents the attitude of the arm 12.

Then, the coordinate position e (X5, Y5, Z5) of these arm tops 12a is determined by the respective rotation angles θ1, θ2, θ.
Given 3 and θ4, each known length L1, L21, L2
Using 2, L3, L4, and L5, the following arithmetic expressions (1) to (1
It is uniquely determined as shown in 1).

Also, with respect to the arm ground angle γ, when the respective rotation angles θ1, θ2, and θ4 are given, the following arithmetic expression (1
As shown in 2), it is uniquely determined.

Further, the bucket width l, the floor distance s, and the wrist radius r of the bucket 14 are known, and when the rotation angle of the bucket 14 is further given, the coordinate position e (X5, Y5, Z5) is used to uniquely determine the coordinate position (X6, Y6, Z6) of the working machine tip 14a. It should be noted that ignoring the rotation angle of the bucket 14 (assuming the bucket 14 is in a fixed state), the coordinate position e (X5, Y5, Z5) of the arm top 12a to the coordinate position (X6 of the working machine tip 14a). , Y6, Z6) can also be obtained.

Hereinafter, the arithmetic expressions for obtaining the coordinate positions of the points a to e in FIG. 3 and the arm-to-ground angle γ will be described with reference to the table shown in FIG.

First, the coordinate position of the foot 5a (origin 0) of the first boom 5 is set to X0 = 0, Y0 = 0, Z0 = 0.

Then, the X, Y, Z coordinate positions of the top (point a) of the first boom 5 are as follows: X1 = L1 × Cos θ1 (1) Y1 = L1 × Sin θ1 (2) Z1 = 0 .

Then, the X, Y, Z coordinate positions of the top (point b) of the second boom 7 are as follows: X2 = X1 + L22 × Sin (θ1 + θ2) -L21 × Cos (θ1 + θ2) (3) Y2 = Y1-L22 × Cos (θ1 + θ2) −L21 × Sin (θ1 + θ2) (4) Z2 = 0.

Then, the X, Y, Z coordinate positions of the top (point c) of the offset boom 11 are as follows: X3 = X2-L3 Cos θ3 × Cos (θ1 + θ2) (5) Y3 = Y2-L3 Cos θ3 × Sin ( θ1 + θ2) (6) Z3 = L3 × Sin θ3 (7)

Then, the X, Y, Z coordinate positions of the top of the bracket 9 (point d of the arm bottom) are: X4 = X3-L4 * Cos ([theta] 1+ [theta] 2) (8) Y4 = Y3-L4 * Sin ([theta] 1+ [theta] 2). (9) Z4 = Z3.

Then, the top 12a (e of the arm 12
The X, Y, Z coordinate position of the point) is: X5 = X4 + L5 × Cos (θ1 + θ2 + θ4) (10) Y5 = Y4 + L5 × Sin (θ1 + θ2 + θ4) (11) Z5 = Z3.

On the other hand, the arm angle γ is γ = θ1 + θ2 + θ4-270 °… (12) Is expressed as

As described above, given the rotation angles θ1 to θ4 of the working machine, the coordinate position (of the arm top 12a of the hydraulic excavator 1 (from the above equations (1) to (11)) using known lengths ( X5, Y5, Z5) can be uniquely obtained, and thus the coordinate position (X6, Y6, Z6) of the working machine tip 14a can be uniquely obtained. Also, the rotation angle θ of the working machine
Given 1, θ2 and θ4, the arm ground angle γ can be uniquely obtained. θ1 to θ4 are for each rotation angle sensor 1
It is given as detection values of 7, 18, 16, and 19.

In this embodiment, when the rotation angle θ1 of the first boom 5 is changed by the operation of the operation lever, the coordinate position (X6, Y6,
Z6) (Coordinate position of the arm top 12a (X5, Y5, Z5))
However, the rotation angle θ2 of the second boom 7 is controlled so as to be on the target line.

That is, in the memory of the controller 50 shown in FIG. 1, the length L1 of the first boom 5, the lengths L21 and L22 of the second boom 7, the length L3 of the offset boom 11,
Known values such as the length L4 of the bracket 9 and the length L5 of the arm 12 are stored, and an arithmetic expression for obtaining the coordinate position of each point a to e and a functional expression of the arm ground angle γ are stored. Based on these stored contents, the controller 50 controls the second boom rotation angle θ2 so that the work implement tip 14a moves along a desired line.

In this embodiment, the hydraulic excavator 1 having the offset boom 11 is assumed, but the present invention is also applicable to the hydraulic excavator 1 shown in FIG.

Like the hydraulic excavator 1 shown in FIG. 2, the hydraulic excavator 1 also has a lower traveling body 2 which travels when the crawler belt is rotated by a traveling motor (not shown), and a swing circle 4 on the upper portion of the lower traveling body 2. Upper revolving superstructure 3 (vehicle body 3) that is placed by a turning motor (not shown)
And a working machine mounted on the front of the vehicle body 3 and including front members of the first boom 5A, the second boom 7A, the arm 12A, and the bucket 14.

This working machine is constructed such that the first boom 5A, the second boom 7A, the fixed working machine link 7B, the arm 12A and the bucket 14 are sequentially connected to the vehicle body 3. The difference from FIG. 2 is that a fixed work implement link 7B is used instead of the offset boom 11. Therefore, the second boom 7A and the arm 12A are connected to each other via the work implement link 7B.
The arm 12A is not laterally offset with respect to A.

The first boom hydraulic cylinder 6A is used to
The boom 5A is driven and the second boom hydraulic cylinder 8A
Drives the second boom 7A, and the arm hydraulic cylinder 13A drives the arm 12A.
The point where A is rotated by a rotation angle θ1, the second boom 7A is rotated by a rotation angle θ2, and the arm 12A is rotated by a rotation angle θ4 is the same as in the hydraulic excavator shown in FIG.

Therefore, similarly to FIGS. 3 and 4, by giving the respective rotation angles θ1, θ2, and θ4, the coordinate position of the working machine tip 14a can be calculated, and the controller 50 is used by the controller 50. The second boom rotation angle θ2 can be controlled so that the tip 14a moves along a desired line.

Next, the construction of the working machine control device will be described with reference to FIG.

That is, as shown in FIG. 1, the working machine control device is roughly composed of an engine 31 and the hydraulic cylinders 6, 8, 1 driven by the engine 31.
A variable displacement hydraulic pump 32 that discharges pressure oil for driving 0 and 13, a pilot pump 33 that is driven by the engine 31 and discharges pressure oil for pilot, an operation lever 46, and operation buttons 46U and 46D. The opening area is changed according to the operation of the operation pedal 47 and the operation lever 45, whereby the flow rate of the pressure oil discharged from the hydraulic pump 32 is controlled, and the pressure oil whose flow rate is controlled is supplied to each hydraulic actuator 6. Flow control valve 3 to supply 8, 10, and 13 respectively
4, 35, 36, 37 and the engine speed Ne of the engine 31
Engine speed sensor 27 for detecting (r / min)
And a switch 26 for instructing control contents, etc., and an operation panel 25 having a monitor function for displaying the state of the device on the screen, and the rotation angle sensors 17, 18, 1.
6, 19 indicating the detected rotation angles θ1, θ2, θ3, θ4, signals indicating the detected pressures P1h of the pressure sensors 21 to 24, signals indicating the detected rotation speed Ne of the engine speed sensor 27, and operations. Lever 46, operation buttons 46U, 46D,
Signals V1, V2, V3, and V4 indicating the operation amounts (operation strokes) of the operation pedal 47 and the operation lever 45 are input, and based on these signals, the flow control valves 34, 35, 36, and 37 are driven and controlled, respectively. Command currents I1, I2, I3,
A controller 5 that outputs I4 and outputs a command current for ringing (or lighting) the alarm 28.
It is composed of 0 and 0. A functional block diagram of the controller 50 is expressed as shown in FIG. 13 as described later. In the drawings, a mechanism for driving the bucket 14, a mechanism for rotating the upper swing body 3, and a mechanism for driving the lower traveling body 2 are omitted because they are not directly related to the gist of the present invention. .

Further, a concrete description will be given.

FIG. 6A shows a layout of the operating levers 45 and 46 in the cab of the hydraulic excavator 1. Left and right operation levers 45, 46 are provided at the front of the seat 48 on which the operator is seated, and different front members can be operated by one operation lever.

That is, as shown by the arrow in FIG. 6A, the arm 12 is operated in the dumping direction and the arm 12 is operated in the excavating direction in accordance with the forward operation or the backward operation of the left operation lever 45. To be done. Then, according to the same leftward operation or rightward operation of the left operation lever 45, the upper swing body 3 is operated in the left swing direction, and the upper swing body 3 is operated in the right swing direction. Similarly, the first boom 5 is operated in the raising direction and in the lowering direction according to the forward operation or the backward operation of the right operation lever 46, and the same right operation lever 46 is operated in the left direction or the right direction. Accordingly, the bucket 14 is operated in the excavating direction and the dumping direction (see FIG. 6).
(See (b)).

As shown in FIG. 6B, the right operation lever 4
Operation buttons 46U and 46D are provided on the upper portion of the knob 46N of No. 6. These operation buttons 46U and 46D are switches for instructing upward rotation and downward rotation of the second boom 7, and when the operation button 46U is pressed, the amount of pressing operation (pressing is performed). The second boom 7 is actuated upward by an amount corresponding to the number of times and the pressing time. Similarly, when the operation button 46D is pushed, the second boom 7 is actuated downward by an amount corresponding to the pushing amount.

Since the button for operating the second boom 7 is provided above the operation lever 46 for operating the first boom 5, the second boom 7 can be operated while operating the first boom 5.
The operation of operating is performed quickly and easily, and operability is improved. The right operation lever 46 has the operation button 46
In addition to U and 46D, buttons for instructing other operations are provided. The same applies to the left operation lever 45.

Operation pedal 47 as an offset pedal
Are provided on the left and right sides of the driver's seat 48, and the offset boom 11 is operated to the left and right according to the respective operation amounts (stepping amounts).

The operation lever 46 is an electric lever, and the operation stroke amount when the first boom 5 is operated by the operation lever 46 is input to the controller 50 as an electric signal V1. Similarly, an electric signal V2 indicating the operation amount of the operation buttons 46U and 46D, an electric signal V3 indicating the stepping amount of the operation pedal 47, and an electric signal V4 indicating the operation amount when the arm 12 is operated by the operation lever 45, Each is input to the controller 50.

A signal V1 indicating the operation amount of the operation lever 46
Is converted into a command current I1 for the flow control valve 34 by the controller 50, and this is applied to the electromagnetic proportional control valve 38 or 39. Pilot pressure oil discharged from the pilot pump 33 is supplied to the solenoid proportional valves 38 and 39 through a pilot conduit 41. Then, the pilot pressure oil controlled by the solenoid proportional valve 38 or 39 is added as a pilot signal to the input port 34a or 34b of the flow rate control valve 34 via the pilot conduit 41 or 42.

When the operation amount V1 has a polarity (+) indicating the raising direction of the first boom 5, the command current I1 is applied to the electromagnetic proportional control valve 38, and the operation amount V1 is the lowering direction of the first boom 5. When the polarity (-) indicating
The command current I1 is applied to the solenoid proportional control valve 39.

For example, when the operating lever 46 is operated to raise the first boom 5, the command current I
1 is added to the solenoid proportional control valve 38. In the electromagnetic proportional control valve 38, the command current I1 is converted into a pilot pressure, and pilot pressure oil having a pilot pressure corresponding to the command current I1 is added to the input port 34a of the flow control valve 34. This drives the spool of the flow control valve 34 to the left,
By supplying the pressure oil to the bottom chamber side of the hydraulic cylinder 6, the first boom 5 is rotated upward at a speed according to the operation amount of the operation lever 46. Similarly, the operating lever 4
When 6 is operated to lower the first boom 5, the command current I1 is converted into pilot pressure by the electromagnetic proportional control valve 39, and the first boom 5 is moved at a speed according to the operation amount of the operation lever 46. It is rotated downward.

Similarly, the electric signal V2 indicating the push operation amount of the operation buttons 46U and 46D is converted into the command current I2 by the controller 50, and the flow rate control valve 35 is driven via the electromagnetic proportional control valve (not shown). The second boom 7 is rotated in the vertical direction via the hydraulic cylinder 8. Similarly, the electric signal V3 indicating the depression amount of the operation pedal 47 is converted into the command current I3 by the controller 50, the flow rate control valve 36 is driven through the electromagnetic proportional control valve (not shown), and the offset is performed through the hydraulic cylinder 10. Rotate the boom 11 in the left-right direction.

Similarly, the electric signal V4 indicating the operation amount when the arm 12 is operated by the operation lever 45 is converted into the command current I4 by the controller 50, and the flow rate control valve 37 is controlled by the electromagnetic proportional control valve (not shown). Drive and hydraulic cylinder 13
The arm 12 is rotated in the vertical direction via the.

The operation of the second boom 7 on the operation panel 25
The "automatic mode" in which the first boom 5 is automatically controlled according to the rotation angle θ1 and the drive of the second boom 7 are
Automatically select and switch one of the "manual modes" to control manually regardless of the rotation angle θ1 of the boom 5.
A manual mode changeover switch 26 is provided. The switch 26 includes a mode changeover switch 26a for selecting various work modes including the "automatic mode" and a switch 26.
Mode setting to set / cancel the contents selected in a /
It is composed of a release switch 26b. When "automatic mode" is selected with the mode changeover switch 26a and "setting" is selected with the mode setting / cancel switch 26b,
A signal instructing the “automatic mode” is input to the controller 50. "Automatic mode" with the mode selector switch 26a
Is selected and "cancel" is selected by the mode setting / cancel switch 26b, the "automatic mode" is canceled and a signal instructing the "manual mode" is input to the controller 50. The controller 50 executes control according to either of the input "automatic mode" instruction signal or "manual mode" instruction signal.

Next, the control contents of the "automatic mode" performed by the controller 50 will be described.

First Control (Automatic Control of Second Boom Rotation Angle θ2 According to First Boom Rotation Angle θ1) FIG. 7 is a side view showing the working radius of the hydraulic excavator 1.

In FIG. 7, a curve a is a tip of the working machine 14a (bucket) when the second boom rotation angle θ2 is the maximum angle (the first boom rotation angle θ1 and the arm rotation angle θ4 are also the maximum angles). The movement locus of the blade) is shown.
At this time, the locus a draws an arc-shaped locus, and the excavator 1
Has the largest working radius and the largest working range.

The curve b shows the locus along which the arm top 12a moves when the working machine tip 14a draws the locus a of the maximum working radius. At this time, the locus b draws an arc-shaped locus.

However, when the working machine tip 14a and the arm top 12a move along the loci a and b, the overturning moment of the hydraulic excavator 1 is large and there is a high possibility that the hydraulic excavator 1 will overturn.

A curve c shows the movement locus of the arm top 12a at the limit where the hydraulic excavator 1 does not fall. If the arm top 12a is located in front of the locus c, the hydraulic excavator 1 may fall due to an increase in the overturning moment.

The curve d from the point C to the point B is the tip of the working machine 14a when the arm top 12a draws the locus c.
Shows the locus of movement. At this time, the locus d draws an arc-shaped locus. Point C is the position where the first boom hydraulic cylinder 6 reaches the stroke end on the rod extension side.

When the tip 14a of the work implement moves along the above-mentioned locus d, work such as excavation work at high places can be performed within the maximum work range within which the hydraulic excavator 1 is stable.

In the hydraulic excavator 1, the work machine may be extended forward to perform gutter digging work, mass digging work, or the like. It is needless to say that such work is performed while stabilizing the hydraulic excavator 1 so as not to tip over, and it is necessary to move the working machine tip 14a straight up and down in front of the vehicle body 3.

A straight line e from the point B to the point A, which is continuous with the curve d, shows the movement locus of the working machine tip 14a when performing a gutter digging work, a mass digging work or the like.

When the tip 14a of the working machine moves along the locus e, the work can be carried out within the maximum working range within which the hydraulic excavator 1 is stable.

A curve g from the point A to the point D, which is continuous with the straight line e, shows the movement locus of the working machine tip 14a when performing a gutter digging work, a mass digging work or the like. This locus g describes an arc-shaped locus. When excavating a hole or the like below the ground surface GL, the working machine tip 14a draws this locus g. In addition,
Point D is the position where the first boom hydraulic cylinder 6 reaches the stroke end on the rod retracted side.

When the work implement tip 14a moves along the locus g, the work can be performed within the maximum work range within which the hydraulic excavator 1 is stable.

In the present embodiment, the second boom rotation angle θ2 is controlled so that the working machine tip 14a moves along the locus of the curve d, the straight line e, and the curve g (referred to as the reference line R1). It is a thing.

FIG. 8 is a diagram exemplifying a work site. By moving the working machine tip 14a along the reference line R1, the work of forming the groove HL can be easily performed.
Depending on the work mode, it may be preferable to move the work implement tip 14a along the different lines R2 and R3. However, in order to prevent the car body from tipping over, any line R
As for 2 and R3, it is necessary that they are not located in front of the reference line R1 (as viewed from the vehicle body).

FIG. 9 shows the reference line R shown in FIG. 7 or FIG.
7 is a graph showing a correspondence relationship between the first boom rotation angle θ1 and the second boom rotation angle θ2 when the working machine tip 14a moves from 1.

The line S1 showing this correspondence can be obtained from the above-mentioned arithmetic expressions (1) to (11).

That is, when the reference line R1 is determined, the coordinate position (X6, Y6, Z6) of the working machine tip 14a is determined, and thus the coordinate position (X5, Y5, Z) of the arm top 12a is determined.
5) is determined. Therefore, by fixing the arm rotation angle θ4 and the offset boom rotation angle θ3, the second boom rotation angle θ2 corresponding to the first boom rotation angle θ1 is uniquely obtained. In this way, the correspondence S1 between the first boom rotation angle θ1 and the second boom rotation angle θ2 is obtained. The controller 50 performs a process of creating this correspondence S1 based on the stored data of the known first boom length L1 and the like, and the created correspondence S1 is used as the reference line diagram S1 for the “first It is stored and stored in the target second boom angle reference diagram memory 58 "(FIG. 13) for the boom angle.

In this case, the correspondence S1 may be stored in the form of a storage table so that when θ1 is given, θ2 can be read out immediately, and it is given by using a function of θ2 = f (θ1). The function θ2 = f (θ1) may be stored so that θ2 can be calculated from the obtained θ1.

In the controller 50, as will be described later,
The current first boom rotation angle θ detected by the rotation angle sensor 17
The second boom target rotation angle θ2 corresponding to 1 is read from the stored correspondence S1 or calculated to obtain,
In order to obtain this target rotation angle θ2, the rotation angle sensor 1
The drive control is performed using the current second boom rotation angle θ2 detected in 7 as the feedback amount. That is, the target rotation angle θ
The current command I2 is output so that the deviation θd between 2r and the current rotation angle θ2 becomes zero, and the rotation of the second boom 7 is controlled.

Therefore, as the operator, the arm rotation angle θ4 is fixed to the maximum angle, and the offset boom rotation angle θ3 is set.
If is fixed to a predetermined offset angle θ3,
Only by manually operating the drive of the first boom 5 with the operation lever 46, the second boom 7 is automatically driven (correspondence S1
The work implement tip 14a can be moved along the reference line R1. This makes it possible to easily perform gutter digging work, mass digging work, and the like.

Sections θD to θA of the first boom rotation angle θ1 in FIG. 9 correspond to sections D to A of the locus g of the working machine tip 14a in FIG. 7, and the section of the first boom rotation angle θ1 in FIG. θA and θB are the working machine tip 14 in FIG.
The section A to section B of the trajectory e of a, and the section θB to θC of the first boom rotation angle θ1 in FIG. 9 correspond to the section B to C of the trajectory d of the working machine tip 14a in FIG. .

In the section θD to θA of FIG. 9, the second boom rotation angle θ2 has the maximum value θ2max (the rod retract side stroke end position of the second boom hydraulic cylinder 8), and as shown in FIG. The working machine tip 14a is farthest from the vehicle body 3, and it becomes possible to excavate the farthest position and the deepest position.

Next, in the section θA-θB of FIG. 9, the second boom rotation angle θ2 gradually decreases as the first boom rotation angle θ1 increases, and as shown in FIG.
Can move along the straight line e in the vertical direction to form the wall of the groove HL in a straight line (see FIG. 8). If the second boom rotation angle θ2 is kept at the maximum value θ2max regardless of the increase of the first boom rotation angle θ1, the working machine tip 1
4a will move along the curve a, so that the stability of the vehicle body cannot be ensured and the work efficiency will decrease.

Next, in the section .theta.B to .theta.C of FIG. 9, the second boom rotation angle .theta.2 gradually increases as the first boom rotation angle .theta.1 increases. As shown in FIG.
Can excavate the farthest position at a high place within a range where the vehicle body is stable. If the second boom rotation angle θ2 is not increased even if the first boom rotation angle θ1 is increased, the work implement tip 14a will move along the curve f, and the work range will be narrowed. This is because the work efficiency when excavating at a high place will be reduced.

Thus, along the correspondence S1, the second
By controlling the boom rotation angle θ2, the maximum work range can be secured within the range where the vehicle body is stable, and work can be performed safely and efficiently.

As described above, when the working machine of the hydraulic excavator 1 is extended forward to perform the gutter digging work, the mass digging work, or the like, the working machine tip 14a can be moved only by operating one operating lever 46. Since the vehicle body is automatically moved along the linear locus e within a stable range, the hydraulic excavator 1 can be stabilized and prevented from tipping over, and the working machine tip 14a is located in front of the vehicle body. Even for a task that requires a complicated combined operation of moving it up and down in a straight line, the operator's burden and labor can be dramatically reduced without requiring skill. Further, even when there is an obstacle such as a utility pole or a wall of a building in the front when performing work in a narrow area, once the work implement tip 14a is positioned in front of these obstacles, the work implement is moved from that position. Tip 14
Since a can be automatically moved in the vertical direction along the linear trajectory e, it is necessary to always pay attention to the fact that the working machine tip 14a interferes with an obstacle and operate the movement of the working machine tip. Disappear. Therefore, it is possible to concentrate on the operation of the work machine without paying attention to the obstacle, the work efficiency is improved, and the work machine tip 14a does not interfere with the obstacle, and the work is safely performed.

In addition to the line S1 corresponding to the reference line R1 in FIG. 8, a line S2 corresponding to the line R2 in FIG. 8 and a line S3 corresponding to the line R3 in FIG.
It may be stored and stored in the memory 58 of the controller 50.

The section θE to θF of the line S2 in FIG.
8 corresponds to the sections E to F of the line R2 in FIG. 8, and the section .theta.F to .theta.C 'of the line S2 in FIG. 9 corresponds to the sections F to C'of the line R2 in FIG.

In addition, section θG of line S3 in FIG.
θF corresponds to the sections G to F of the line R3 in FIG.
Further, the section θF to θC ′ of the line S3 in FIG.
It corresponds to the sections F to C'of the line R3 in.

The lines S1, S2, S3 are stored in the memory 58, the line closest to the current position of the working machine tip 14a is selected from these lines, and the second boom rotation is performed along the selected line. The angle θ2 may be controlled, and one of the lines S2 and S3 is stored in the memory 58,
The second boom rotation angle θ2 may be controlled along the stored line.

Further, the work machine tip line R having a different shape
Rather than setting the lines S1, S2, S3 corresponding to 1, R2, R3, it corresponds to the working machine tip lines R1, R4, R5, R6 of the same shape as the reference line R1 as shown in FIG. The lines S1, S4, S5, S6 to be executed may be stored in the memory 58 as shown in FIG. The working machine tip lines R4, R5, R6 are lines obtained by sequentially translating the reference line R1 toward the vehicle body 3 side as shown in FIG.
The lines S4, S5, and S6 shown in FIG. 10 can be obtained by sequentially moving the reference line S1 downward in parallel. However, the line S cannot be set below the second boom rotation angle θ2 below the minimum angle θ2min (extension side stroke end position of the rod of the second boom hydraulic cylinder 8).

In this case, the lines S1, S4,
S5 and S6 may be stored, a line closest to the current position of the working machine tip 14a may be selected from these lines, and the second boom rotation angle θ2 may be controlled along the selected line. Any one of the lines S4, S5, and S6 is stored in the memory 58, and the second line is stored along the stored line.
The boom rotation angle θ2 may be controlled.

In FIG. 11, the working machine tip 14 is stored in the memory 58.
The reference line S1 corresponding to the reference line R1 of a is stored, and the reference line S1 is moved in parallel downward so that the line S corresponding to the working machine tip line R passing through the current position of the working machine tip 14a. It shows how to create.

The contents of this processing will be described below with reference to the functional block diagram of the controller 50 shown in FIG. 13 and the flowchart shown in FIG.

In step 101 shown in FIG. 16, first,
By switching the automatic / manual mode switch 26,
It is determined whether the "automatic mode" or the "manual mode" has been selected. If it is determined that the "automatic mode" has been selected (YES at step 101), then it is determined whether the operation buttons 46U and 46D have been operated, that is, whether the second boom 7 has been manually operated. (Step 102).

If it is determined that the second boom 7 is not manually operated (NO at step 102), then it is determined whether or not it is immediately after the operation buttons 46U and 46D are operated, that is, the second boom. It is determined whether or not it is immediately after the boom 7 is manually operated (step 103).

At the start of the "automatic mode", the first
In order to obtain the initial values of the rotation angles θ1 and θ2 of the boom 5 and the second boom 7, the controller 50 executes the processing of steps 107 to 109 at the time of rising.

Thereafter, the first boom 5 is manually operated,
If the second boom 7 has not been manually operated yet, the determination in step 103 is NO, and the procedure proceeds to step 106.

For example, the initial values of the rotation angles θ1 and θ2 of the first boom 5 and the second boom 7 are the angles θ1 on the reference line S1.
If s and θ2s, the process of automatically controlling the second boom 7 is executed according to the reference line S1 stored in the memory 58 shown in FIG.

That is, in FIG. 13, the controller 50 receives the first boom rotation angle detection signal and the second boom rotation angle detection signal from the rotation angle sensors 17 and 18 as voltage values. The two-boom angle calculation unit 51 calculates the first boom rotation angle θ1 and the second boom rotation angle θ2 by performing processing such as engineering unit conversion of this voltage value.

Now, the operation lever 46 is operated by a predetermined amount from the neutral position, and the operation amount signal V1 is changed to the controller 50.
Input to the first boom operation valve command calculation unit 5
In 4, the command I1 corresponding to the manipulated variable V1 is calculated, and the current output unit 57 outputs the command current I1 to the electromagnetic proportional control valve 38 or 39 corresponding to the first boom flow control valve 34. As a result, the first boom 5 is rotated upward or downward at a speed corresponding to the operation amount V1 of the operation lever 46.

On the other hand, in the difference calculation unit 52 between the second boom angle and the target second boom angle, the second calculation unit 52 corresponds to the current first boom rotation angle θ1 obtained from the detection result of the sensor 17 in the second boom angle. A process of obtaining the boom target rotation angle θ2r from the correspondence S1 stored in the memory 58 is executed.

That is, as shown in FIG. 11, when the current first boom rotation angle θ1 is θ1s, this first boom rotation angle θ1
The second boom angle θ2s corresponding to the boom angle θ1s is read as the second boom target rotation angle θ2r from the storage table of the correspondence S1.

Therefore, in the compensating element calculation unit 53, the deviation θd between the read second boom target rotation angle θ2r and the current second boom target rotation angle θ2 is settled quickly to zero. The compensation element rd of is calculated.

That is, as shown in FIG. 11, it is assumed that the operator operates the operation lever 46 to rotate the first boom 7, and the first boom rotation angle θ1 changes from θ1N to θ1M. At this time, the second boom 7 has the original rotation angle θ2N.
The rotation is still stopped at (the rotation angle corresponding to the first boom angle θ1N), and the deviation θd = θ2M (the target rotation angle) from the target rotation angle θ2M (the rotation angle corresponding to the first boom angle θ1M).
-Θ2N (current rotation angle) is generated.

Therefore, a proportional element to this deviation θd,
Compensation by a differential element, an integral element, etc. is performed as follows.

Rd = F1 (θd) (13) Here, the function F1 is an arithmetic expression for compensating for θd. When the compensation element calculation unit 53 executes the above processing,
The second boom operation valve command calculation unit 56 corrects the calculated compensation element calculation value rd using a correction value Is according to the size of the dead zone of the second boom flow control valve 35, Command I2 for the second boom flow control valve 35
Is calculated as follows.

I2 = Is + rd (14) When the second boom operation valve command calculation unit 56 calculates the above command I2, the current output unit 59 changes it to the command current I2.
And outputs it to the electromagnetic proportional control valve corresponding to the second boom flow control valve 35.

However, the second boom operation valve command calculation unit 56
, The magnitude of the control deviation θd is monitored, and the range where the control deviation θd is determined to be substantially zero (−θd1 <θd
When <θdh), the command I2 is calculated as I2 = 0 (15), the command current I2 output from the current output unit 59 is turned off (I2 = 0), and the second boom 7 is rotated. Stop.

As a result, the current angle θ2 of the second boom 7 is
Always matches the target rotation angle θ2r (the control deviation θd becomes zero).

In the compensation element calculation process in the compensation element calculation unit 53 and the command calculation process in the second boom operation valve command calculation unit 56, the first boom operation lever 46 is operated by a predetermined amount from the neutral position, and the operation amount signal is output. It is executed only when V1 is input. When the manipulated variable signal V1 is not input (V1 = 0), the first boom 5 remains stopped, and accordingly, the compensation element calculation is performed in order to stop the rotation of the second boom 7 accordingly. The compensation element calculation process in the unit 53 and the command calculation process in the second boom operation valve command calculation unit 56 are not executed. That is, the current command I2 output from the controller 50 is turned off (I2 =
0), the second boom 7 remains stopped at the current rotation position.

As described above, by controlling the second boom 7 according to the reference line S1, the working machine tip 14a
Will move along the reference line R1 shown in FIG. 7 or FIG.

By the way, the operator may want to move the working machine tip 14a along a line closer to the vehicle body 3 with respect to the reference line R1 depending on the form of work. For example, there is an obstacle such as a wall approaching the front of the vehicle body 3 and it is desired to move the working machine tip 14a in the vertical direction in front of this wall.

Under such a circumstance, the operation button 46D is operated to pull the working machine toward the vehicle body 3 and the working machine tip 1
4a is positioned closer to the vehicle body 3.

Then, the determination result of step 102 is YE.
Even if "S" is set, the "automatic control" process of step 106 is prohibited even if the "automatic mode" is being executed, and the procedure proceeds to step 105. In step 105, the second boom 7 is rotated at a speed corresponding to the amount of operation of the work button 46D. That is, the second boom 7 is manually operated independently of the operation of the first boom 5 (step 1
05).

Then, when the operation of the operation button 46D is completed, the determination result of step 102 is NO, and step 103
The result of the determination is YES, and the procedure moves to step 107.

Hereinafter, in the target second boom angle diagram creation unit 55 for the first boom angle, the line S corresponding to the work implement tip line R passing through the work implement tip position positioned by the operation of the operation button 46D is used as a reference. A process of creating the line S1 by moving the line S1 downward is executed (steps 107, 108, 109).

That is, as shown in FIG. 11, assuming that the first boom rotation angle θ1 currently calculated by the first and second boom angle calculation units 51 is θ1J, this first boom angle θ1J becomes The corresponding second boom angle θ2J is the reference line S
The data is read from the storage table No. 1 and obtained (step 107).

Next, the second boom rotation angle θ2k currently calculated by the first and second boom angle calculation units 51 is acquired. As shown in FIG. 12, by operating the work button 46D,
It is assumed that the working machine tip 14a is currently located at a point K closer to the vehicle body 3 with respect to the point J on the reference line R1 (step 108).

Next, the deviation Δθ2 between the second boom angle θ2J on the reference line S1 thus obtained and the current second boom angle θ2k is calculated, and this deviation Δθ2 (= θ2J-θ2k) is temporarily stored. The reference line S1 is translated downward by an amount corresponding to the deviation Δθ2 to create the line S4 (step 109).

Thereafter, in step 106, the second boom 7 is automatically controlled according to the line S4 thus created. Therefore, as shown in FIG. 12, the working machine tip 14a moves along the working machine tip line R4, which is displaced toward the vehicle body 3 with respect to the reference line R1.

Further, during the "automatic control" in step 106, the operator operates the operation button 46D to
If the second boom rotation angle is changed from θ2P to θ2Q as shown in 1, the "automatic control" process is once prohibited, and the line S5 further shifted by the deviation θ2P-θ2Q at this time is The line drawing is created by the line drawing creating unit 55 (steps 107, 108, 109). Therefore, as shown in FIG. 12, the working machine tip 14a moves along the working machine tip line R5 which is further displaced toward the vehicle body 3 with respect to the line R4.

As described above, according to the present embodiment, by simply storing the reference line S1 in advance, the working machine tip line passing through the working machine tip position positioned by manually operating the second boom 7 is stored. The line S corresponding to R can be automatically created. Of course, if the vehicle body is within a stable range, the operation button 46D for lowering the second boom
Operation button 46 for raising the second boom as well as operating
By operating U, each line S4, S5, S6 deviated from the reference line S1 can be arbitrarily created, and the working machine tip 14a can be moved along each working machine tip line R4, R5, R6. it can.

The process of shifting the reference line S1 to create the lines S4, S5, S6 may be performed not only during the work but also at the start of the work. This is because the work machine is stored compactly at the start of work and may not be in a posture suitable for work. By manually operating the first boom 5 and the second boom 7 at the start of the work, the work implement tip 14a can be positioned so that the operator has a desired work implement attitude (NO at step 103). The working machine tip 14a can be moved along the lines R1, R4, R5, R6 passing through the working machine tip position (steps 107, 108, 1).
09).

However, during execution of the "automatic control" in step 106 or at the start of work, the operator mistakenly operates the operation button 46U for raising the second boom,
Line Re virtually showing the working machine tip 14a in FIG.
It may be positioned above.

If the tip 14a of the working machine is moved along the line Re, the vehicle body may be overturned due to an increase in the overturning moment.

Therefore, as shown in FIG.
The boom raising operation button 46U is operated, and the reference line S1
When a signal instructing an angle θ2e larger than the second boom rotation angle θ2L above is input, the controller 50
An alarm command signal is output to the alarm device 28. As a result, the alarm 28 is activated, and the operator is alerted by ringing or lighting. In this case, for safety, the operation signal V3 from the second boom raising operation button 46U
Is input to the controller 50, the controller 50 turns off the command current I3 to the second boom flow control valve 35 (I3 = 0).

When the operator recognizes the alarm from the alarm 28, the operator pushes the operation button 46 in the direction in which the vehicle body is stabilized.
It becomes possible to operate U and 46D.

In FIG. 16, when the "manual mode" is selected by the automatic / manual mode changeover switch 26 (determination NO in step 101), step 10
4, the second boom 7 is rotated at a speed according to the amount of operation of the work buttons 46U and 46D. That is, independently of the operation of the first boom 5, the second boom 7
Is manually operated (step 104).

In the present embodiment, the memory 5 shown in FIG.
In FIG. 8, only the reference line S1 is stored, and the other lines are obtained by correcting the reference line S1 by the amount of deviation. However, as shown in FIG. , S4 S5, S6 may be stored in plural.

For example, if the rotation angle θ2 of the second boom 7 immediately after the operation buttons 46U and 46D are operated is θ2R, a plurality of lines S4 having the current rotation angle θ2R as the target angle on the line are provided. It will be selected from among the lines S1, S4, S5, S6. Then, as shown in FIG. 12, the work implement tip 14a is moved along the work implement tip line R4 corresponding to the selected line S4. The same applies when the other lines S1, S5 and S6 are selected.

As shown in FIG. 9, the lines S1, S2 corresponding to the working machine tip lines R1, R2, R3 having different shapes are
S3 may be stored in the memory 58, and a line having the current second boom rotation angle as the angle on the line may be similarly selected from the plurality of lines S1, S2, and S3.

By the way, in the above-described embodiment, the working machine tip 14a has a line R1 (or R2, R, which is a combination of a straight line and an arc consisting of the locus g, the locus e, and the locus d).
Although the rotation of the second boom 7 is automatically controlled so as to move along 3, R4, R5, R6), the working machine tip line to be automatically controlled is not necessarily the arc-shaped trajectory g or d. Need not be included. That is, it suffices to automatically control the rotation of the second boom 7 so that at least the work implement tip 14a moves along the work implement line including the linear trajectory e. For example, in FIG.
Instead of storing the reference line S1 for the entire section θD to θC, the reference line S1 may be stored only for the section θA to θB.

Further, in the present embodiment, assuming that the offset boom rotation angle θ3 is a fixed angle, the work implement tip 14a is moved to the desired work implement tip line (for example, the reference line R1) on the XY two-dimensional coordinate system. ) Even though the offset boom 11 is operated and the angle θ3 changes during the work, the control to maintain the upper position is performed.
Control may be performed to maintain the work implement tip 14a on a desired work implement tip plane (for example, a plane obtained by extending the reference line R1 in the Z-axis direction) on the XYZ three-dimensional coordinate system. When such control is performed, for example, FIG.
, The offset boom 11 is operated and the angle θ3
, The trajectory of the working machine tip 14a is a plane (X-Y-) obtained by extending the reference line R1 (a line on the XY two-dimensional coordinate system) perpendicularly (in the Z-axis direction) to the paper surface. Z3
It will move on a plane on the dimensional coordinate system).

Further, in the present embodiment, it is assumed that the second boom 7 is automatically controlled according to the operation of the first boom 5, but if it is the front member constituting the working machine, it is manually operated. The combination of the front member to be controlled and the front member to be automatically controlled according to the manual operation can be set arbitrarily. For example, the first boom 5 may be automatically controlled according to the manual operation of the arm 12 of the hydraulic excavator 1,
The second boom 7 may be automatically controlled according to the manual operation of the arm 12.

The above is the contents of the "first control".

Second control (control for limiting the maximum speed value of the first boom when the angular deviation of the second boom becomes large (predicted)) The first control described above is executed, and The second boom 7 is rotated following the diagram created by the diagram creation unit 55, for example, S1, and the working machine tip 14a follows the locus R1 corresponding to this diagram S1 as shown in FIG. If moved accurately, it means that ideal control was performed.

However, in actuality, when the first boom 5 is suddenly operated by the operating lever 46 and the angle change of the first boom 5 becomes large, the speed of the hydraulic cylinder 8 for driving the second boom 7 is increased. Is saturated and the above diagram S
It becomes difficult to control along 1.

That is, when the angle change of the first boom 5 per unit time is small, the control deviation θd between the target rotation angle θ2r of the second boom 7 and the current rotation angle θ2 (feedback amount) is small or zero. The second boom 7 is ideally driven and controlled in accordance with the diagram S1.

However, when the angle change of the first boom 5 per unit time becomes large, the speed of the second boom hydraulic cylinder 8 cannot follow the large angle change, and the control deviation θd increases. . For this reason, the rotation angle θ2 of the second boom 7 deviates from the above-mentioned diagram S1, and the working machine tip 14a deviates from the desired locus R1. Therefore, the work may not be performed accurately.

Especially, when the first boom 5 is rotated downward, gravity is applied to the working machine, and the
In many cases, the angular acceleration of the boom 5 becomes large and the locus of the working machine tip 14a deviates from the desired locus R1.

In this second control, even if the first boom 5 is suddenly operated (especially even if the first boom 5 is rotated downward), the rotation angle θ2 of the second boom 7 is always targeted. Work machine tip 14 so that it matches the rotation angle θ2r.
The trajectory of a is the desired trajectory R1 (or R2, R3, R3, R
4, R5, R6) so that the work can be performed accurately.

Further, in the hydraulic excavator 1, as shown in FIG. 1, the hydraulic pump 32 is driven by the engine 31, and the pressure oil discharged from the hydraulic pump 32 is supplied to the hydraulic cylinders 6, 7 and the like. To be done. Then, each of the hydraulic cylinders 6, 7 and the like is driven at a speed according to the flow rate of the supplied pressure oil, so that each of the front members of the working machine, such as the first boom 5, the second boom 7, etc., is driven. It is rotated at a rotation speed according to the speed.

Here, the engine speed Ne (re
A decrease in v / min) means a decrease in the flow rate Q (l / min) discharged from the hydraulic pump 32. This is because the flow rate Q is represented by a relationship of Q = q · Ne, where Ne (rev / min) is the rotational speed of the engine 31 and q (cc / rev) is the displacement volume of the hydraulic pump 32. When the flow rate Q decreases, the driving speed of the hydraulic cylinders 6 and 8 decreases, and the rotation speeds of the first boom 5 and the second boom 7 decrease.

Therefore, when the rotational speed Ne of the engine 31 becomes small, the flow rate Q discharged from the hydraulic pump 32 becomes small and is supplied to the hydraulic cylinder 8 which drives the second boom 7 accordingly. Since the flow rate to be reduced is also small,
The drive speed of the hydraulic cylinder 8 is easily saturated.
That is, when the engine speed Ne becomes low, the speed of the second boom driving hydraulic cylinder 8 is saturated, as in the case where the first boom operating lever 46 is rapidly operated, and the second boom is driven. 7 deviates from the above-mentioned diagram S1, and the working machine tip 14a deviates from the desired locus R1.

Consequently, even when the discharge amount Q of the hydraulic pump 32 itself becomes small, the speed of the second boom driving hydraulic cylinder 8 is saturated in the same manner, and the second boom 7 moves from the above-mentioned diagram S1. It has come off and the working machine tip 14a
Will deviate from the desired trajectory R1.

In this second control, the engine speed Ne
Even when the discharge amount Q of the hydraulic pump 32 decreases, the rotation angle θ of the second boom 7 decreases.
2 is made to always match the target rotation angle θ2r, and the locus of the working machine tip 14a is set to the desired locus R1 (or R2, R
3, R3, R4, R5, R6) so that the work can be performed accurately.

In the second control embodiment, the deviation θd and the first boom lowering speed maximum value I1max as shown in FIG. 17 are set.
The correspondence relationship with is stored in the controller 50 as a storage table. Note that an arithmetic expression for obtaining I1max from θd may be stored.

Here, I1max on the vertical axis in FIG. 17 is an electromagnetic proportional control valve 39 corresponding to the first boom flow control valve 34.
The upper limit value of the current command I1 for (boom lowering direction) is shown. That is, the current command I in the first boom lowering direction
By setting the maximum value I1max of 1, the maximum rotation speed in the first boom lowering direction can be limited.

In the correspondence relationship shown in FIG. 17, when the deviation θd is smaller than the predetermined threshold value θda, the first boom lowering speed maximum value I1max is set to 100%. When the deviation θd is equal to or greater than the threshold value θda, the first boom lowering speed maximum value I1max is 100% as the θd increases.
It is set to decrease more gradually. Here, the threshold value θda is set in advance to a size at which it is determined that the second boom 7 cannot be controlled by following the reference line S1.

Therefore, as shown in FIG. 13, the current deviation θd calculated by the difference calculation unit 52 between the second boom angle and the target second boom angle is input to the first boom operation valve command calculation unit 54. .

Then, the first boom lowering speed maximum value I1max corresponding to the present deviation θd is obtained from the correspondence relationship shown in FIG. Then, within a range not exceeding the obtained first boom lowering speed maximum value I1max, the command I1
Is generated and output to the electromagnetic proportional control valve 39 corresponding to the first boom flow rate control valve 34 via the current output unit 57. Therefore, the lowering direction rotation speed of the first boom 5 is suppressed within the range of the maximum rotation speed according to the first boom lowering speed maximum value I1max.

That is, when θd is smaller than the threshold value θda and I1max is 100% accordingly, it means that there is no limitation on the rotation speed in the first boom lowering direction. A command I1 corresponding to the operation amount V1 of the lever 46 is generated and applied as it is to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the first boom flow control valve 34 as the command current I1.

However, when θd is equal to or greater than the threshold value θda and I1max is less than 100% in response to this, the rotation speed in the first boom lowering direction is limited. Therefore, the command I1 according to the operation amount V1 of the operation lever 46 is limited by I1max. And
The degree of the limitation increases as the deviation θd increases. For example, when I1 ≦ I1max, I1 is added as it is to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the first boom flow control valve 34.
When 1> I1max, I1max is added to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the first boom flow control valve 34.

As described above, according to the second control, when the first boom operation lever 46 is rapidly operated downward and the angular deviation θd of the second boom 7 actually increases, Since the speed command I1 for the first boom 5 is limited, the rotation speed of the first boom 5 in the lowering direction can be suppressed, and thus the deviation θd can be reduced. As a result, the locus of the working machine tip 14a moves to the desired locus R1 and the work can be performed accurately. In this embodiment, the reference line R1 is assumed, but the same applies to the case where the working machine tip 14a is moved along the other lines R2, R3, R3, R4, R5, R6.

In this embodiment, when the first boom 5 is rotated in the lowering direction, the lowering direction rotation speed of the first boom is limited. The rotation speed of the first boom in the raising direction may be limited when the first boom is rotated.

Next, an embodiment will be described in which the engine speed Ne is used instead of the deviation θd. The setting dial for setting the target speed of the engine speed Ne,
This embodiment is useful when low speed is set and low speed work is performed.

In this embodiment, the correspondence relationship between the engine speed Ne and the first boom lowering speed maximum value I1max as shown in FIG. 18 is stored in the controller 50 as a storage table. An arithmetic expression for obtaining I1max from Ne may be stored.

Here, I1max on the vertical axis in FIG. 18 is the electromagnetic proportional control valve 39 corresponding to the first boom flow control valve 34.
The upper limit value of the current command I1 for (boom lowering direction) is shown. That is, the current command I in the first boom lowering direction
By setting the maximum value I1max of 1, the maximum rotation speed in the first boom lowering direction can be limited.

In the correspondence relationship shown in FIG. 18, when the engine speed Ne is higher than the predetermined threshold value Nea, the first boom lowering speed maximum value I1max is set to 100%. When the engine speed Ne is less than or equal to the threshold value Nea, the first boom lowering speed maximum value I1max gradually increases in accordance with the increase in Ne, and is set to reach 100%.

Therefore, as shown in FIG. 14, the current engine speed Ne detected by the engine speed sensor 27 is detected.
Is input to the first boom operation valve command calculation unit 54.

Then, the first boom lowering speed maximum value I1max corresponding to the current engine speed Ne is set to the value shown in FIG.
It is obtained from the correspondence relationship shown in FIG. Then, the command I1 is generated within the range that does not exceed the calculated first boom lowering speed maximum value I1max, and the command I1 is generated via the current output unit 57.
Electromagnetic proportional control valve 39 corresponding to boom flow control valve 34
Is output to. Therefore, the rotation speed of the first boom 5 is suppressed within the range of the maximum rotation speed according to the first boom lowering speed maximum value I1max.

That is, when Ne is larger than the threshold value Nea and I1max is 100% in response to this, it means that there is no limitation on the rotation speed in the first boom lowering direction. A command I1 corresponding to the operation amount V1 of the lever 46 is generated and applied as it is to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the first boom flow control valve 34 as the command current I1.

However, Ne is equal to or less than the threshold Nea when, for example, low-speed work is being performed, and I1 is accordingly reduced.
If max is less than 100%, the first
This means that the rotation speed in the boom lowering direction is limited, and the command I1 according to the operation amount V1 of the operation lever 46 is I
Limited by 1max. And the degree of the restriction is
It becomes larger as the rotation speed Ne becomes smaller. For example, I1
When ≦ I1max, I1 is added as it is to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the first boom flow control valve 34, but when I1> I1max, I1max becomes the first It is added to the electromagnetic proportional control valve 39 (boom lowering direction) corresponding to the one-boom flow control valve 34.

As described above, according to the present embodiment, when the low speed work is performed, it is predicted that the angular deviation θd of the second boom 7 will increase by detecting the engine speed Ne. Speed command I1 for the first boom 5
Therefore, the rotation speed of the first boom 5 in the lowering direction can be suppressed, and thus the deviation θd can be reduced. As a result, the locus of the working machine tip 14a moves to the desired locus R1 and the work can be performed accurately. In this embodiment, the reference line R1 is assumed, but other lines R2, R3, R3, R4, R5, R6 are used.
The same applies to the case where the working machine tip 14a is moved along.

Further, in the embodiment shown in FIGS. 14 and 18, when the first boom 5 is rotated in the lowering direction, the lowering direction rotation speed of the first boom is limited. When the first boom 5 is rotated in the raising direction, the first boom 5
The rotation speed of the boom in the raising direction may be limited.

Further, in FIG. 18, the engine speed Ne on the horizontal axis may be used as the discharge amount Q of the hydraulic pump 32.

In the embodiment described above, the maximum speed of the first boom 5 is limited on the assumption that the second boom 7 is automatically controlled according to the operation of the first boom 5. If it is a front member that constitutes a working machine, the combination of the front member that should be manually operated and the front member that should be automatically controlled according to this manual operation can be set arbitrarily, and the maximum speed is limited accordingly. The front member to be used can be set arbitrarily. For example, in the case of automatically controlling the first boom 5 or the second boom 7 according to the manual operation of the arm 12 of the hydraulic excavator 1,
The maximum speed of the arm 12 may be limited.

In FIGS. 17 and 18, the correspondence relationship is set such that I1max is gradually decreased or increased with the threshold as a boundary, but the value of I1max is binary before and after the threshold. It is also possible to set a correspondence relationship that changes to.

The above is the contents of the "second control".

Third control (control for limiting the maximum speed value of the first boom when the load pressure of the first boom increases) In the above-described first control, for example, as in S1 of FIG. A diagram S1 showing a correspondence relationship between the rotation angle θ1 of the first boom 5 and the target rotation angle θ2 of the second boom 7 is set, and the first boom 5 is operated according to the operation of the first boom 5 so as to follow the diagram S1. The two booms 7 are drive-controlled.

That is, the second boom 7 is connected to the first boom 5
It is driven according to the manipulated variable.

If the operation amount with respect to the first boom 5 is large, the second boom 7 is largely rotated so as to follow the diagram S1 accordingly.

By the way, as an operator, when a heavy load is applied to the working machine, the operator often operates the operation lever for operating the first boom 5 to abruptly operate the first boom 5 in order to remove the load.

For example, at the work site, the first boom 5 is operated in the lowering direction to ground the bucket 14 to the ground,
A swing operation is performed in which the upper swing body 3 is swung to change the swing direction while the shoe body of the hydraulic excavator 1 is lifted from the ground contact surface.

In this case, since the working machine tip 14a is grounded to the ground and the working machine fulfills the function of "outrigger", the working machine is heavily loaded.

Therefore, when the turning operation is completed, the operator is required to remove the load applied to the working machine and perform a normal excavation work, etc.
You will have to make a large sudden movement in the direction of raising.

Then, since the work implement was grounded to the ground, the second boom 7, which had been stopped until then, abruptly removes the load applied to the work implement, and thus the first boom operation lever has a large sudden movement. It will operate suddenly according to the operation.

This is an unexpected operation contrary to the operator's intention, resulting in a reduction in work efficiency. In addition, the bucket 14 is activated by the sudden operation of the second boom 7.
May slide violently on the ground and damage the bucket contact surface and the bucket body. Further, in some cases, the sudden operation of the second boom 7 may cause an unexpected accident.

In the third control, when a large load is applied to the working machine, the movement of the front member is moved even if the operator largely operates the front member to remove the large load. Therefore, the inconvenience caused by the sudden actuation of the other front member driven in accordance with the above is eliminated.

In the third embodiment of the control, the load P1h applied to the working machine, that is, the hydraulic cylinder 6 for driving the first boom 5 is driven by the pressure sensor 21 as the load detecting means.
The head side pressure P1h is detected.

Therefore, according to the correspondence relationship shown in FIG. 19, when the detected load P1h is equal to or higher than the predetermined threshold value P1ha, the maximum rotation speed of the first boom 5 in the raising direction is limited to the predetermined value or less. To be done. The details will be described below.

In the third control embodiment, the controller 50 stores the correspondence between the head side pressure P1h of the first boom hydraulic cylinder 6 and the first boom raising speed maximum value I1max as shown in FIG. It is stored as a table. An arithmetic expression for obtaining I1max from P1h may be stored.

Here, I1max on the vertical axis of FIG. 19 is an electromagnetic proportional control valve 38 corresponding to the first boom flow rate control valve 34.
It shows the upper limit of the current command I1 for (boom raising direction). That is, the current command I in the first boom raising direction
By setting the maximum value I1max of 1, the maximum rotation speed in the first boom raising direction can be limited.

In the correspondence relationship shown in FIG. 19, when the pressure P1h is smaller than the predetermined threshold value P1ha, the first boom raising speed maximum value I1max is set to 100%. When the pressure P1h is equal to or higher than the predetermined threshold value P1ha, the first boom raising speed maximum value I1max is set to a value smaller than 100%. Where threshold P1ha
Is, for example, 100 kg / cm 2, and is set in advance to the magnitude of the load at which it is determined that the first boom 5 is suddenly operated.

Therefore, as shown in FIG. 15, the head side pressure P1h of the first boom hydraulic cylinder 6 detected by the pressure sensor 21 is input to the first boom operation valve command calculation unit 54.

Then, the first boom raising speed maximum value I1max corresponding to the present pressure P1h is obtained from the correspondence shown in FIG. Then, within the range that does not exceed the obtained first boom raising speed maximum value I1max, the command I1
Is generated and output to the electromagnetic proportional control valve 38 corresponding to the first boom flow control valve 34 via the current output unit 57. Therefore, the turning speed of the first boom 5 in the raising direction is suppressed within the range of the maximum turning speed corresponding to the first boom raising speed maximum value I1max.

That is, when P1h is now smaller than the threshold value P1ha and I1max is 100% accordingly, there is no limitation on the rotation speed in the first boom raising direction. A command I1 corresponding to the operation amount V1 of the lever 46 is generated and applied as it is to the electromagnetic proportional control valve 38 (boom raising direction) corresponding to the first boom flow rate control valve 34 as the command current I1.

However, if P1h is equal to or greater than the threshold value P1ha and I1max is less than 100% in response to this, the rotation speed in the first boom raising direction is limited. That is, the operation amount V1 of the operation lever 46
The command I1 in accordance with is limited by I1max. For example, when I1 ≦ I1max, I1 is added as it is to the electromagnetic proportional control valve 38 (boom raising direction) corresponding to the first boom flow control valve 34, but when I1> I1max, I1max is added to the electromagnetic proportional control valve 38 (boom raising direction) corresponding to the first boom flow control valve 34.

In this way, according to the third control, even if the first boom operation lever 46 is largely and suddenly operated, if the load P1h applied to the working machine is large,
Since the speed command I1 for the first boom 5 is limited, when the load applied to the working machine is suddenly removed thereafter, the second boom 7 suddenly operates in response to a large sudden operation of the operating lever 46. It will not happen.

Therefore, an unexpected operation contrary to the operator's intention does not occur, so that the working efficiency is improved. Further, it is prevented that the bucket 14 violently slides on the ground due to the sudden operation of the second boom 7, and the bucket ground surface and the bucket body are damaged. Further, the sudden operation of the second boom 7 does not cause an unexpected accident.

In the present embodiment, the first boom 5 is operated upward in order to remove the load from the state in which the working machine tip is grounded to the ground and the working machine functions as an "outrigger". Assuming the bottom, the first boom 5
The maximum raising speed of the first boom 5 is limited when the first boom 5 is rotated upward, but the present invention is not limited to this, and the first boom 5 can be operated by a large sudden operation to remove the load. Under such a circumstance, when the first boom 5 is rotated downward, it is possible to limit the maximum speed value below the first boom 5.

Further, in the present embodiment, the load applied to the working machine is detected by the pressure sensor provided in the hydraulic cylinder. However, if the load can be detected in addition to the pressure, the detection method and the kind of sensor Is optional.

Further, in the present embodiment, the load applied to the working machine is detected by the load P1h applied to the first boom 5, but the load is limited to the first boom 5 as long as the load applied to the working machine can be detected. Instead, the load on the work machine may be detected by detecting the load on the other front member such as the second boom 7.

In the above-described embodiment, the maximum speed of the first boom 5 is limited, assuming that the second boom 7 is automatically controlled according to the operation of the first boom 5. If it is a front member that constitutes a working machine, the combination of the front member that should be manually operated and the front member that should be automatically controlled according to this manual operation can be set arbitrarily, and the maximum speed is limited accordingly. The front member to be used can be set arbitrarily. For example, in the case of automatically controlling the first boom 5 or the second boom 7 according to the manual operation of the arm 12 of the hydraulic excavator 1,
The maximum speed of the arm 12 may be limited.

In FIG. 19, before and after the threshold value, I1m
Although the correspondence relationship is set such that the value of ax is changed in a binary manner, it is also possible to set the correspondence relationship in which the I1max value is gradually decreased with the threshold value as a boundary.

The above is the contents of the "third control".

Fourth Control (Control for Limiting Offset Speed According to Height Position of Working Machine) In the hydraulic excavator 1 having the structure shown in FIG. 2, by operating the operation pedal 47 for the offset boom, as shown in FIG. As shown in b), the offset boom 11 is offset in the left-right direction with respect to the vehicle body 3, and the arm 12 and the bucket 14 are offset with respect to the second boom 7 to perform gutter digging work, mass digging work, and the like. I am trying to make it.

By the way, when performing a gutter digging work or the like, it is necessary to finely operate the offset boom 11 so that the bucket 14 moves left and right in the groove at a relatively low speed. By performing the offset operation by a fine operation, workability is improved.

In this case, as the operator, by finely adjusting the operation amount of the offset pedal 47, the bucket 14 is moved left and right in the groove at a low speed while suppressing the speed of the offset operation.

However, the fine operation work of finely adjusting the offset pedal 47 with the foot to move the bucket 14 left and right in the groove at a low speed requires a high technique,
Requires skill. Moreover, this is all the more true under the situation where other operation levers such as the arm operation lever 45 other than the offset pedal 47 must be simultaneously operated.

Therefore, not only for unskilled operators, but also for skilled operators, the work load is heavy and the fatigue is great.

On the other hand, when the working machine is at a high position,
There is a demand to perform a high-speed excavation work, etc. by quickly performing an offset operation to the left and right without requiring fine operation.

In the fourth control, fine operation work can be performed without burden on the operator when the gutter digging work or the like is performed without impairing workability when the work machine is at a high position. Is.

In the fourth embodiment of the control, first, the height position of the working machine, specifically, the height H of the arm top 12a is detected. This arm top height H is obtained by obtaining the coordinate position (X5, Y5, Z5) of the arm top 12a from (1) to (11) described above, and obtaining the obtained Y5 from the ground surface GL to the boom foot 5a by a known length. By adding
To be acquired.

Then, as shown in FIG. 20, when the detected height position H of the working machine is equal to or less than the predetermined threshold value Ha, the maximum offset operation speed of the offset boom 11 is limited. The details will be described below.

In the fourth embodiment of the control, the arm top height H and the offset boom 11 as shown in FIG.
The corresponding relationship with the offset maximum speed ve3 (Q3) of is stored in the controller 50 as a storage table. An arithmetic expression for obtaining ve3 (Q3) from H may be stored.

Here, ve3 on the vertical axis of FIG. 20 is the rotational speed of the offset boom 11, which is proportional to the flow rate Q3 supplied from the offset boom flow control valve 36 to the offset boom hydraulic cylinder 10. , Is proportional to the current command I3 to the offset boom flow control valve 36.

In the correspondence relationship shown in FIG. 19, when the arm top height H is larger than a predetermined threshold value Ha (set to 1 m, for example), the maximum offset speed value ve3
(Q3) is set to 100%. The maximum offset speed value ve3 (Q3) gradually decreases when the arm top height H is equal to or lower than a predetermined threshold value Ha, and is set to 70% when the arm top height H is equal to or lower than the ground surface GL. Here, the threshold value Ha is equal to or less than the height of the offset boom 11
The size is set in advance to a size that is judged to be finely operated.

On the other hand, as shown in FIGS. 21 (a) and 21 (b), the correspondence relation between the operation amount St of the offset pedal 47 and the offset operation speed (flow rate command) Q3P of the offset boom 11 is set.

That is, there is a proportional relationship between the operation stroke amount St of the offset pedal 47 and the offset voltage V3 which is an electric signal indicating the operation stroke amount (FIG. 21).
(A)), this offset voltage V3 and the offset operation speed (flow rate command) Q3P are in a proportional relationship (FIG. 21).
(B)).

Then, the current arm top height H is calculated, and the maximum offset speed value Q3 of the offset boom 11 corresponding to this is calculated from the correspondence relationship in FIG.

On the other hand, the operator operates the offset pedal 47.
When is operated, the operation amount V3 is input to the controller 50, and the speed Q3P of the offset boom 11 corresponding to the current operation amount V1 is obtained from the correspondence shown in FIG. 21 (b).

Then, the speed Q0 of the smaller offset boom 11 of the speeds Q3 and Q3P of the offset boom 11 thus obtained is selected.

Then, according to the proportional relationship shown in FIG. 22 (a), a current command I3 proportional to the speed Q0 of the selected offset boom 11 is generated and applied to the offset boom flow control valve 36. As a result,
According to the proportional relationship shown in FIG. 22 (b), the offset boom 11 is rotated left and right at a speed ve3 proportional to the current command I3.

FIG. 23 shows the operation stroke amount St of the offset pedal 47 and the rotation speed ve3 of the offset boom 11.
Shows the correspondence relationship of.

Now, the arm top height H is equal to the threshold value Ha.
It is assumed that

Then, as shown in FIG. 23, the operation stroke amount St of the offset pedal 47 is within the fine operation region (.about.St).
In the case of 1), the speed of the offset boom 11 increases in proportion to the pedal depression amount. Eventually, when the operation stroke amount St of the offset pedal 47 reaches the full operation region (St1 to St2), even if the pedal is depressed, the speed of the offset boom 11 remains a constant value veD and does not rise any further. This constant value veD is set to a smaller value as the arm top height H is lower. For example, H
VeD is 70% below the ground surface GL.

Therefore, when the arm top 12a is at a low position and a ditch digging operation is performed, the operating speed ve3 of the offset boom 11 is low regardless of the operation stroke amount St of the offset pedal 47. It will be suppressed (speed veD or less).

Now, the arm top height H is equal to the threshold value Ha.
It is assumed that the value is larger than

Then, as shown in FIG. 23, the operation stroke amount St of the offset pedal 47 is set in the fine operation region (.about.St).
In the case of 1), the speed of the offset boom 11 increases in proportion to the pedal depression amount. Eventually, even if the operation stroke amount St of the offset pedal 47 reaches the full operation region (St1 to St2), the speed of the offset boom 11 increases in proportion to the pedal depression amount and reaches the maximum speed veU.

Therefore, when the arm top 12a is at a high position and excavation work at a high place is being performed, the speed ve3 corresponding to the operation stroke amount St of the offset pedal 47 is increased.
The offset boom 11 is operated at high speed.

Therefore, as an operator, when the working machine is at a low position and the gutter work is performed, the operator is relieved of the work of finely operating the offset pedal 47, and the work load and fatigue are reduced. On the other hand, when the work implement is at a high position and excavation work at a high place is performed, the operation speed of the offset boom 11 is not limited to a low speed, and thus work efficiency can be improved.

In this embodiment, the arm top 12
Although the height of the working machine is detected by detecting the height H of a, the present invention is not limited to this, and the bucket blade position 14a or the like can be used as long as the location indicates the height of the working machine. The portion whose height is to be detected can be set arbitrarily.

Although the means for operating the offset boom 11 is assumed to be a pedal, any operation means such as an operation lever and an operation switch can be used.

In FIG. 20, the correspondence relationship is set such that the offset speed is gradually changed with the threshold as a boundary, but the value of the offset speed is changed binary before and after the threshold. It is also possible to set such correspondence.

In this embodiment, it is assumed that the offset voltage V3 proportional to the amount of depression of the offset pedal 47 is output (FIG. 21 (a)). It is also applicable to the case where the offset voltage V3 is changed in a binary manner. The relationship between the pedal stroke St (on / off signal) and the offset speed ve3 in this case is represented by a two-dot chain line in FIG.

When the pedal is off (up to St1), the speed of the offset boom 11 becomes zero. When the pedal is on (St1 to St2), the arm top position 12a is at a low position (H is 1 m above the ground surface GL).
(Below) and when performing gutter digging work, etc., the operating speed ve3 of the offset boom 11 is a low speed v.
It becomes eD. When the pedal is on (St1 to St2)
When the arm top 12a is at a high position (H is 1 m or more above the ground surface GL) and excavation work at a high place is being performed, the operating speed ve3 of the offset boom 11 is a high speed veU.

The above is the contents of the fourth control.

Fifth control (control for limiting the rotation speed of the second boom in accordance with the height position of the work machine) In the hydraulic excavator 1 having the structure shown in FIG. 2, the second boom operation buttons 46U, 46D are provided. By operating the, the second boom 7 is rotated to perform gutter digging work, mass digging work, and the like.

By the way, when performing a gutter digging work or the like, it is necessary to finely operate the second boom 7 so that the bucket 14 moves in the groove at a relatively low speed. Workability is improved by finely operating the second boom 7.

Therefore, conventionally, as an operator, by finely adjusting the operation of the second boom operation buttons 46U and 46D, the operation speed of the second boom 7 is suppressed and the bucket 14 is lowered in the groove. I was trying to move at speed.

However, the second boom operation buttons 46U, 46
The fine operation work of finely adjusting the operation of D and moving the bucket 14 at a low speed in the groove requires a high degree of skill and requires skill. Moreover, the second boom operation button 46
In addition to U and 46D, under the situation that other operation levers such as bucket operation levers must be operated simultaneously,
Even more so.

Therefore, not only for unskilled operators, but also for skilled operators, the work load is heavy and the fatigue is great.

On the other hand, when the working machine is at a high position,
There is a demand for quick operation of the second boom 7 in order to efficiently perform high-area excavation work without requiring fine operation.

In the fifth control, the fine operation work in the case of performing the gutter digging work or the like can be performed without burdening the operator without impairing the workability when the working machine is at a high position. Is.

In the fifth control embodiment, first, the height position of the working machine is detected. Specifically, the rotation angle θ1 of the first boom is detected by the rotation angle detection sensor 17 as a value indicating the height position of the work machine.

Then, as shown in FIG. 24, when the detected first boom rotation angle θ1 is equal to or smaller than the predetermined threshold θ1a, the maximum speed value of the second boom 7 is limited. Less than,
This will be specifically described.

In the fifth embodiment of the control, the controller 50 stores the correspondence relationship between the first boom rotation angle θ1 and the maximum speed ve2 (Q2) of the second boom 7 as a storage table as shown in FIG. Be done. An arithmetic expression for obtaining ve2 (Q2) from θ1 may be stored.

Here, ve2 on the vertical axis in FIG. 24 is the rotation speed of the second boom 7, which is the flow rate Q2 supplied from the second boom flow control valve 35 to the second boom hydraulic cylinder 8. And is proportional to the current command I2 to the second boom flow control valve 35.

In the correspondence relationship shown in FIG. 24, when the first boom rotation angle θ1 is larger than a predetermined threshold value θ1a (for example, set to 40 °), the second boom speed maximum value ve2 (Q2). Is set to 100%. When the first boom rotation angle θ1 is equal to or less than the predetermined threshold value θ1a, the second boom speed maximum value ve2 (Q2) gradually decreases and reaches 60% at the predetermined angle θ1b (for example, 10 °), Is set to maintain 60%. here,
The threshold value θ1a is set in advance to a size at which it is determined that the second boom 7 is finely operated when the angle is less than that angle.

On the other hand, as shown in FIGS. 25 (a) and 25 (b), the second boom operation buttons (switches) 46U, 4U
The correspondence of the operation speed (flow rate command) Q2P of the second boom 7 to the operation amount St of 6D is set.

That is, there is a proportional relationship between the operation amount St of the operation buttons 46U and 46D and the second boom voltage V2 which is an electric signal indicating this operation amount (FIG. 25 (a)). , 2nd boom operation speed (flow rate command) Q2P
And are in a proportional relationship (FIG. 25 (b)).

Therefore, the current first boom rotation angle θ1 is detected, and the corresponding maximum velocity value Q2 of the second boom 7 is detected.
Is obtained from the correspondence relationship in FIG.

On the other hand, the operator operates the operation buttons 46U and 46D.
Is operated, the operation amount V2 is input to the controller 50, and the second boom 7 corresponding to the current operation amount V2 is input.
Speed Q2P is calculated from the correspondence shown in FIG.

Then, the speed QB of the second boom 7 which is the smaller of the speeds Q2 and Q2P of the second boom 7 thus obtained is selected.

Then, according to the proportional relationship shown in FIG. 26 (a), the current command I2 proportional to the speed QB of the selected second boom 7 is generated, and this is added to the second boom flow control valve 35. To be As a result, according to the proportional relationship shown in FIG. 26 (b), the second boom 7 is rotated at the speed ve2 proportional to the current command I2.

FIG. 27 shows the correspondence between the operation amount St of the second boom operation buttons (switches) 46U and 46D and the rotation speed ve2 of the second boom 7.

Now, the first boom rotation angle θ1 is equal to the threshold value θ1.
It is assumed that it is a or less.

Then, as shown in FIG. 27, the operation button 46
When the operation amount St of U and 46D is in the fine operation region (to St1), the speed of the second boom 7 increases in proportion to the operation amount of the operation button. Eventually, when the operation amount St of the operation buttons 46U and 46D reaches the full operation area (St1 to St2), the speed of the second boom 7 will be a constant value veD even if the operation button is pressed.
It remains as it is and does not rise any further. This constant value veD takes a lower value as the first boom rotation angle θ1 is smaller. When θ1 is θ1b or less, veD is 60%.

Therefore, when the first boom rotation angle θ1 is small and the ditch digging work is performed, the operation button 46 is pressed.
The operation speed ve2 of the second boom 7 can be suppressed to be low (below the speed veD) regardless of the operation amounts St of U and 46D.

Now, the first boom rotation angle θ1 is equal to the threshold value θ1.
It is assumed that the value is larger than a.

Then, as shown in FIG. 27, the operation button 46
When the operation amount St of U and 46D is in the fine operation region (to St1), the speed of the second boom 7 increases in proportion to the operation amount of the operation button. Eventually, even if the operation amount St of the operation buttons 46U and 46D reaches the full operation region (St1 to St2), the speed of the second boom 7 increases in proportion to the operation amount of the operation button, and the maximum speed veU Reach

Therefore, the first boom rotation angle θ1 is large,
When excavating at high places, etc., the operation button 46U,
The second boom 7 is operated at a high speed at a speed ve2 corresponding to the operation amount St of 46D.

As a result, as an operator, the operation button 46 is used when the working machine is at a low position and a ditch digging operation is performed.
The work and the fatigue of the work are reduced because the work of fine-tuning the U and 46D is released. On the other hand, when the work implement is at a high position and the excavation work is performed at a high place, the operation speed of the second boom 7 is not limited to the low speed, so that the work efficiency can be improved.

In the present embodiment, the height of the work implement is detected by detecting the first boom rotation angle θ1, but the present invention is not limited to this.
Height H, the height of the first boom 5 or the second boom 7, etc.,
A height other than the angle may be used as long as it is a value indicating the height of the work machine, and a portion whose height should be detected can be arbitrarily set.

The means for operating the second boom 7 is the electric signal V input to the controller 50 according to the operation amount.
Although buttons 46U and 46D in which 2 changes proportionally are assumed, any operation means such as an operation lever, an operation pedal, and an operation switch can be used.

In FIG. 24, the correspondence relationship is set such that the second boom speed is gradually changed with the threshold as the boundary. However, the value of the second boom speed is binary before and after the threshold. It is also possible to set a correspondence relationship that changes dynamically.

In this embodiment, the operation buttons 46U, 4U,
It is assumed that the second boom voltage V2 is output in proportion to the operation amount of 6D (FIG. 25 (a)), but it is also possible to change the offset voltage V2 in a binary manner by turning the switch on and off. Applicable. The relationship between the operation amount (ON / OFF signal) St of the second boom operation switch and the second boom speed ve2 in this case is represented by a two-dot chain line in FIG.

When the second boom operation switch is off (up to St1), the speed of the second boom 7 becomes zero. When the second boom operation switch is turned on (St1 to St2), the first boom angle is a small angle (θ1 is smaller than 40 °), and the gutter digging work is performed. The operating speed ve2 of the second boom 7 is a low speed veD. When the second boom operation switch is on (St1 to St2), the first boom operation switch
When the boom angle is a large angle (θ1 is 40 ° or more) and excavation work at a high place is being performed, the operating speed ve2 of the second boom 7 is a high speed veU.

The above is the contents of the fifth control.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of a control device for a construction machine according to the present invention.

FIG. 2 (a) is a side view of a hydraulic excavator provided with an offset boom, and FIG. 2 (b) is an arrow A view of FIG. 2 (a).

3 is a diagram showing a geometrical relationship of the working machine of the hydraulic excavator shown in FIG. 2, FIG. 3 (b) is a side view, and FIG.
Is a top view.

FIG. 4 is a table showing a coordinate position of each point of the working machine of the hydraulic excavator shown in FIG. 3 and a functional expression of an arm-to-ground angle.

FIG. 5 is a side view of a hydraulic excavator having two booms.

6 (a) is a diagram showing the arrangement of left and right levers, and FIG. 6 (b) is a perspective view showing the upper part of the left lever shown in FIG. 6 (a).

FIG. 7 is a side view showing a locus drawn by the tip of the working machine of the hydraulic excavator.

FIG. 8 is a side view showing the locus drawn by the tip of the working machine at the work site by the hydraulic excavator.

9 is a diagram showing a correspondence relationship between a first boom angle and a second boom target angle stored in the controller shown in FIG. 1.

10 is a diagram showing another correspondence relationship between the first boom angle and the second boom target angle stored in the controller shown in FIG.

FIG. 11 is a diagram showing still another correspondence relationship between the first boom angle and the second boom target angle stored in the controller shown in FIG. 1.

FIG. 12 is a side view illustrating the locus drawn by the tip of the working machine.

FIG. 13 is a diagram exemplifying a functional block diagram of the controller shown in FIG. 1.

FIG. 14 is a diagram exemplifying a functional block diagram of the controller shown in FIG. 1.

FIG. 15 is a diagram exemplifying a functional block diagram of the controller shown in FIG. 1.

FIG. 16 is a flowchart exemplifying a procedure of processing executed by the controller shown in FIG. 1.

FIG. 17 is a graph showing a correspondence relationship between the deviation between the target angle and the current angle of the second boom and the maximum value of the speed in the lowering direction of the first boom.

FIG. 18 is a graph showing a correspondence relationship between the engine speed and the maximum value of the speed in the lowering direction of the first boom.

FIG. 19 is a graph showing a correspondence relationship between the head side pressure of the first boom cylinder and the maximum value of the speed in the lowering direction of the first boom.

FIG. 20 is a graph showing a correspondence relationship between an arm top height and an offset boom speed (flow rate command).

FIG. 21 (a) is a graph showing a correspondence relationship between a stroke of an offset boom pedal and an offset voltage corresponding to an operation amount of the offset pedal.
(B) is a graph showing a correspondence relationship between an offset voltage and a flow rate command for an offset boom.

FIG. 22 (a) is a graph showing a correspondence relationship between a flow rate command for an offset boom and a current command for an offset boom flow control valve, and FIG. 22 (b) is a current for an offset boom flow control valve. It is a graph which shows the correspondence of a command and the drive speed of an offset boom.

FIG. 23 is a graph showing a correspondence relationship between the stroke of the offset boom pedal and the drive speed of the offset boom in the embodiment.

FIG. 24 is a graph showing a correspondence relationship between the angle of the first boom and the speed (flow rate command) of the second boom.

25 (a) is a graph showing a correspondence relationship between the operation amount of the second boom switch and the second boom voltage corresponding to the operation amount of the second boom switch, and FIG.
(B) is a graph showing a correspondence relationship between the second boom voltage and the flow rate command for the second boom.

FIG. 26 (a) is a graph showing a correspondence relationship between a flow rate command for the second boom and a current command for the second boom flow rate control valve, and FIG. 26 (b) is a flow rate control for the second boom. It is a graph which shows the correspondence of the electric current command to a valve, and the drive speed of the 2nd boom.

FIG. 27 is a graph showing the correspondence relationship between the operation amount of the second boom switch and the drive speed of the second boom in the embodiment.

[Explanation of symbols]

1 hydraulic excavator 3 vehicle body (upper swing structure) 5, 5A first boom 6, 6A first boom hydraulic cylinder 7, 7A second boom 7B work implement link 8, 8A second boom hydraulic cylinder 9, 9A bracket 10 offset Hydraulic cylinder 11 offset boom 12, 12A arm 12a arm top position 13, 13A arm hydraulic cylinder 12a arm top position 14 bucket 14a bucket tip position (working machine tip position) 17 first boom angle sensor 18 second boom angle sensor 16 Offset angle sensor 19 Arm angle sensor 21 First boom hydraulic cylinder head pressure sensor 22 First boom hydraulic cylinder bottom pressure sensor 23 Second boom hydraulic cylinder head pressure sensor 24 Second boom hydraulic cylinder bottom pressure sensor 25 Operation panel (Monitor) 26 Dynamic / manual mode switch 27 Engine speed sensor 28 Alarm 31 Engine 32 Hydraulic pump 33 Pilot pump 34 First boom flow control valve 35 Second boom flow control valve 36 Offset boom flow control valve 37 Arm flow control Valve 45 Left operation lever 46 Right operation levers 46U, 46D Second boom manual operation switch 47 Offset pedal operation pedal 50 Controller 51 First and second boom angle calculation unit 52 First boom angle and target second boom angle Difference calculation unit 53 Compensation element calculation unit 54 First boom operation valve command calculation unit 55 Target second boom angle diagram creation unit 56 for first boom angle Second boom operation valve command calculation unit 57, 59 Current output unit 58 First Target second boom angle reference diagram memory for boom angle

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Shinichi Nakamura 23, Tsutsumachi, Komatsu City, Ishikawa Prefecture Komatsu Ltd., Awazu Plant (72) Inventor, Kyohito Tsuchita 23, Komatsu, Komatsu City, Ishikawa Prefecture Komatsu Corporation Factory Awazu Factory (72) Inventor Gozo Ando Tsu 23, Otsumachi, Komatsu City, Ishikawa Prefecture Komatsu Manufacturing Co., Ltd. Awazu Factory (72) Inventor Takeo Yamada 23, Otsu, Komatsu City, Ishikawa Prefecture Awazu Factory Co., Ltd. (56) References JP-A-63-219731 (JP, A) JP-A-5-18122 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E02F 3/43

Claims (10)

(57) [Claims] 1. A first front member is rotatably arranged in a vertical direction in front of a vehicle body, and a second front member is vertically rotatably attached to the first front member. To the first front member and the second
In a working machine control device for a construction machine, which is configured to control a leading end position of a working machine having at least the front member, a tip end position of the working machine is a linear trajectory in a vertical direction in a predetermined section in a range where the vehicle body is stable. As shown in FIG. 5, setting means for setting the correspondence between the rotational position of the first front member and the target rotational position of the second front member, and operating means for operating the rotation of the first front member. A detection unit for detecting a rotation position of the first front member, and a detection unit corresponding to a current rotation position of the first front member detected by the detection unit when the operation unit is operated. And a control unit for controlling the rotational position of the second front member so as to obtain the target rotational position of the second front member from the contents set by the setting unit. The ingredients Work machine control device for construction machinery. 2. A first front member is rotatably arranged in the vertical direction in front of a vehicle body, and a second front member is vertically rotatably movable with respect to the first front member. To the first front member and the second
In a working machine control device for a construction machine, which is configured to control a leading end position of a working machine having at least the front member, a tip end position of the working machine is a linear trajectory in a vertical direction in a predetermined section in a range where the vehicle body is stable. Of the target rotation position of the second front member with respect to the rotation position of the first front member so as to draw an arc-shaped locus in upper and lower predetermined sections continuous with the linear locus. Setting means for setting a relationship; operating means for operating the rotation of the first front member; detection means for detecting a rotational position of the first front member; and a case where the operating means is operated. The target rotation position of the second front member corresponding to the current rotation position of the first front member detected by the detection means is obtained from the contents set by the setting means, and the obtained target rotation is obtained. Movement A working machine control device for a construction machine, comprising: a control unit that controls a rotational position of the second front member so that the position can be obtained. 3. The work machine control device for a construction machine according to claim 2, wherein the arcuate locus is a locus in which a maximum work radius is obtained within a range in which the vehicle body is stable. 4. The detection means for detecting the rotational position of the second front member is further provided, and the control means obtains from the setting contents corresponding to the current detected rotational position of the first front member. When the target rotational position of the second front member is deviated from the current detected rotational position of the second front member, the setting means sets the amount corresponding to the amount of the deviation. The working machine control device for a construction machine according to claim 1, 2 or 3, wherein the relationship is corrected. 5. The construction according to claim 4, wherein an alarm signal is output when the trajectory of the working machine tip drawn by the corrected correspondence is outside the stable range of the vehicle body. Machine work equipment control device. 6. A first front member is rotatably arranged in a vertical direction in front of a vehicle body, and a second front member is vertically rotatably attached to the first front member. To the first front member and the second
In a working machine control device for a construction machine, which is configured to control a leading end position of a working machine having at least the front member, a tip end position of the working machine is a linear trajectory in a vertical direction in a predetermined section in a range where the vehicle body is stable. As shown in the drawing, setting means for setting a plurality of correspondences between the rotational position of the first front member and the target rotational position of the second front member, and an operation for operating the rotation of the first front member. Means, a first detecting means for detecting a turning position of the first front member, a second detecting means for detecting a turning position of the second front member, and the operating means are operated. In this case, the target rotational position of the second front member corresponding to the current rotational position of the first front member detected by the first detection means is the second rotational position of the second front member.
The corresponding detected position of the second front member detected by the detecting means is selected from the plurality of correspondences, and the detected detected rotational position of the first front member is selected. The target rotational position of the second front member corresponding to
A working machine control device for a construction machine, comprising control means for controlling the rotational position of the second front member so as to obtain the obtained target rotational position, which is obtained from the selected correspondence. 7. A first front member is rotatably arranged in a vertical direction in front of a vehicle body, and a second front member is vertically rotatably attached to the first front member. To the first front member and the second
In a working machine control device for a construction machine, which is configured to control a leading end position of a working machine having at least the front member, a tip end position of the working machine is a linear trajectory in a vertical direction in a predetermined section in a range where the vehicle body is stable. Of the target rotation position of the second front member with respect to the rotation position of the first front member so as to draw an arc-shaped locus in upper and lower predetermined sections continuous with the linear locus. the relationship, double
Setting means for setting the number, operating means for operating the rotation of the first front member, first detection means for detecting the rotational position of the first front member, and second operation means for the second front member. Second detection means for detecting a rotation position, and a second detection means corresponding to a current rotation position of the first front member detected by the first detection means when the operation means is operated. The target rotational position of the front member is the second
The corresponding detected position of the second front member detected by the detecting means is selected from the plurality of correspondences, and the detected detected rotational position of the first front member is selected. The target rotational position of the second front member corresponding to
A working machine control device for a construction machine, comprising control means for controlling the rotational position of the second front member so as to obtain the obtained target rotational position, which is obtained from the selected correspondence. 8. The arcuate locus of the working machine tip drawn by any one of the plurality of correspondences is a trajectory in which a maximum work radius is obtained within a range in which the vehicle body is stable. Item 7. A work machine control device for a construction machine according to Item 7. 9. The control means further comprises second front member operating means for operating the rotation of the second front member, while the second front member operating means is operated. The working machine control device for a construction machine according to any one of claims 1, 2, 3, 6, 7, and 8, wherein the automatic control by the above is prohibited. 10. The operation means for operating the rotation of the first front member is provided with the operation means for the second front member for instructing an up or down movement of the second front member. 9. A work machine control device for a construction machine according to item 9.