JPS5822613B2 - Control device for arm-type work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an armhole working machine such as a hydraulic excavator or a tractor, and particularly to a control device for an operation system.

Conventionally, the operation of the hydraulic excavator shown in FIG. 1, particularly the operation of the work arm 2, work arm 3, and packet 4 supported by the main body 1, has been performed using switching valves that control the expansion and contraction of the respective operating cylinders 5, 6, and 7. (not shown) by operating three operating levers.

Therefore, when moving the cutting edge of the packet 4 along a straight line, such as when working on a slope or horizontally excavating a trench bottom, the operator must operate each cylinder at the same time using each of the three operating levers. This is an extremely complicated operation that requires skill.

The invention described in Japanese Patent Application Laid-Open No. 49-39904 solves the above problem, and will be explained with reference to FIG. 2.

A common operating lever 8a for work arms 2 and 3, which can be tilted in any direction within a circle including the neutral position, is tilted by a stroke S in a direction forming an angle θ with the horizontal axis X from the neutral position. At this time, the command speed signal generator 8 detects components in the horizontal X direction and vertical -y speed controller) 9.

This signal causes the tip point P of the work arm 3 on the arithmetic mechanism 9 to
3, a velocity VX'svy' in the x and X directions occurs at P6.

As a result, the four points P and V'(V'OC
8), model rings 2' and 3' (corresponding to work arm 2 and work arm 3) are moved in response to the movement of the 70P4 points, and the model link is detected by an angle detector (not shown). Angle α (, α6 (work arm angle α19 corresponds to work arm angle α2) is detected and output.

Further, the working arm angle α1 and the working arm angle α2 are outputted by an angle detector (not shown), and their deviation signals Δα1-α1'-α1, Δα2=α2'-α2 are subtracted at a point 10a.

10b, and this is calculated by the servo amplifier 11a.

11b.

In the servo amplifiers 11a and 11b, the deviation signal △αl
△α2 is the current value.

11*12, and these current values 1xti2 are sent to the hydraulic servo valves 12a and 12b to each cylinder 5 and 6.
The flow rates Ql and Q2 of the oil flowing into are determined.

Therefore, the working arms 2 and 3 are moved, and the tip point P3 of the arm 3 is proportional to the speed VX + Vy, respectively.
, Vy.

That is, point P3 is in the direction in which the operating lever 8 is moved (θ
=@), and its speed V is the operating lever stroke S
The speed is proportional to.

As described above, the invention disclosed in Japanese Patent Application Laid-Open No. 49-39904 allows the tip of the working arm to move in the direction in which the operating lever is moved, and the moving speed can be freely controlled. However, the movement of the two work arms can be controlled by the movement of a single operating lever, making it easier to perform tasks such as vertical excavation, horizontal excavation, and slope excavation compared to conventional methods. It is something.

However, the above invention has various problems in actual continuous work.

One problem is that when performing linear excavation with a hydraulic excavator, when the operator controls the work arms 2 and 3 with one operating lever according to the above invention, the operator operates the packet 4 with a separate operating lever. The packet cutting edge must be kept at the proper digging angle.

Therefore, when excavating one location and then continuing to excavate the next location, it is necessary to apply the packet cutting edge to the next excavation start point at an appropriate excavation angle, and this requires the two levers and In order to turn the revolving body, you have to operate the travel lever that moves the entire car body forward and backward, so there are more than three levers to operate, and you have to change the way you hold the levers, making it difficult to operate them at the same time. It becomes difficult and complicates the work.

Further, as shown in Fig. 3, when the above invention is applied to the work of loading earth and sand into a dump truck after normal excavation, the operator controls the work arms 2 and 3 with a single operating lever. While moving the tip point P3 linearly upward, the turning lever must be operated to turn the rotating body 1a, and the packet operating lever must be controlled to keep the packet 4 at an angle that prevents the excavated soil from falling out. Three or more levers must be operated, making simultaneous operation difficult and complicated.

This invention addresses the difficulty in operating an arm-hole working machine, such as the hydraulic excavator shown in FIG. It was designed to solve the problem of complication and to allow work to be done by operating as few levers as possible, and to perform work that requires linear movement of the tip of the work arm, especially work such as slope excavation work and earth and sand dumping. In the case of work that repeats the same cycle, such as loading work, the purpose is to improve the uniformity and reproducibility of the work.

An embodiment of the present invention will be described below with reference to the drawings.

Figure 1 shows a state in which a hydraulic excavator is excavating a slope. When excavating a slope 17 by cutting to a predetermined depth, first move the packet cutting edge T from point a at the start of excavation to point b. Then move from point b to point 0 at right angles to t, move from point 0 to point d parallel to ab, then cut a little deeper from point d to point e at right angles to ab, and from point e to point U. Excavate parallel to point f and move from point f to point g perpendicular to the depth.

In slope excavation work where such operations are repeated, the operator operates the packet control lever to keep the packet angle constant, and as shown in FIG. If a changeover switch or the like can be used to instruct a certain parallel velocity vector v, to move with four velocity vectors, -v1 and velocity vectors U and -U, which are orthogonal to the above two velocity vectors and have the same magnitude. By arranging the changeover switch in a position where it can be operated with the finger of the packet operation lever, the operator can perform slope excavation work with one hand, and therefore can operate the swing lever or travel lever with the other hand. .

In this case, the operator can adjust the excavation depth, excavation length, etc. appropriately by appropriately selecting the specified time using the changeover switch while visually observing the excavation state of the slope. The problem with this control is that if you use the operating lever to instruct the excavation direction each time, the excavation direction will shift little by little and you will not be able to obtain flatness, but with this method, you can perform uniform excavation with reproducibility. I can do it.

Furthermore, if the excavation angle of the slope is determined in advance, it is also possible to set the velocity vector in the direction of that angle.

Next, Figure 3 shows the work of loading earth and sand into the dump truck 16 after excavating with a hydraulic excavator.
The same reference numerals as in the figure indicate the same parts.

In the figure, the broken line indicates work arm 2 and work arm 3 immediately after excavation.
and the attitude of the packet 4, where the solid line indicates the position within the plane where the revolving body 1a has turned by a predetermined angle from the plane shown by the broken line to the position where the rotating body 1a is loaded onto the dump truck 16 relative to the traveling body 1b. These are the postures of work arm 2, work arm 3, and packet 4.

When transitioning from the state indicated by the broken line in the figure to the state indicated by the solid line, as in the case of slope excavation described above, operate the swing lever that rotates the revolving structure 1a with one hand, and adjust the packet angle to prevent soil from spilling. While operating the packet lever with the other hand, if you can instruct the arm tip point P3 to move linearly at the speed vector V to the position indicated by the broken line by using a changeover switch appropriately placed on the packet lever at a position where it can be operated with your finger, then hold the lever and Loading onto dump trucks can be done without making any changes.

Also, when returning from the loading position to the original position, the P3
The changeover switch may be used to instruct the point to move with a velocity vector of -■.

A specific embodiment of a control device that enables the operations described above will be described with reference to FIGS. 4 to 7.

FIG. 4 shows a control system diagram of the present invention, in which the same reference numerals as in FIG. 2 indicate the same or corresponding parts.

The speed signal storage mechanism 13 is located at the arm tip point P3 shown in FIG.
As the command speed signals vx, vy corresponding to the X, y components Vx, Vy of the speed vector VC, their constant values vxo l
The speed signal switching mechanism 14 appropriately selects the command speed signals Vx, Vy from the operating lever 8a and the signal VXOT Vyo from the speed signal storage mechanism 13, and inputs the input signal vx to the calculation mechanism 9. ′、vy′
is configured to occur.

The switching signal generating mechanism 15 generates a signal S1 for appropriately switching the speed signal switching mechanism 14.

The speed signal storage mechanism 13 stores a predetermined speed signal VXO+V by tilting the operating lever 8a in a predetermined direction by a predetermined angle.
yo and convert the value into an electrical digital signal and store it in an electronic storage device, or store it as an electrical analog signal on a magnetic tape, or alternatively, convert it into a speed signal. It is also possible to display Vx and Vy on a meter and automatically set the vxo and vyo using a potentiometer or digital switch, and various conventionally known methods can be used. be.

Next, a specific embodiment of the speed signal switching mechanism 14 will be explained in the fifth section.
The diagram will be explained.

Relays &101a, 101b are external switching signals S4
relays Ra, 102a, 102b
Similarly, the relays R2, 103a and 103b are operated by an external switching signal S2, and the relays R1, 104a and 104b are operated by an external switching signal S1.

Each relay R1, R2, Ra, R4 receives a corresponding switching signal S1. S2. s3. When S4 is an ON signal, the fifth
It is configured to be connected to the contact point indicated by 1 in the figure, and to the contact point indicated by 0 in the cross-sectional view when the OF circle number is indicated.

Contact 1 of relay R4, 101a, 101b and relay &,
102a and 102b are connected by circuits 105a and 1 osb, respectively, and relays Ra, 102a,
Circuits 106a and 106 connected to contact 1 of 102b
b and relay R2, 102a.

Circuits 107a and 10 connected to contact 0 of 102b
7b are connected at branch points 108a and 108b, respectively, and relay R210 is connected by circuits 109a and 109b.
3a and 103b are connected to contact 0, respectively.

Code converters 110a and 110b are provided in the middle of the circuits 107a and 107b, respectively.

Contact 1 of relay R2, 103a, 103b is zero potential point 1
11a and 111b, respectively.

Relays R2, 103a, 103b are connected to circuits 112a, 1
12b to relay R1, 104a.

104b, and the speed command signal generator 8 and relays R1, 104a, and 104b contact 0.
are connected by circuits 113a and 113b.

Contact 0 of the relay 101b is connected to the circuit 105a by a circuit 114, and a code converter 110c is provided in the middle of the circuit 114.

Contact 0 of relay 101a is connected to circuit 1 by circuit 115.
It is connected to 05b.

The speed signal storage mechanism 13 and the speed signal switching mechanism 14 are connected so that the constant value VX OT VyO of the speed command signal is input to the relay &101a, 101b, and the speed command signal Vx t Vy is set as described above. Relay R
1, 106a and 106b.

The speed signal switching mechanism 14 configured as described above is configured so that the switching signals S1, 82, +83, and +84 are turned on from the outside.
.

For the OFF state, inputs vx' and vy' to the arithmetic mechanism 9 are switched as shown in Table 1.

That is, as shown in Table 1, the switching signal Sl
By appropriately combining the ON and OF'F'' states of +S2, tS3, and +S4, it is possible to switch the speed input signals VX' and vy' to the arithmetic mechanism 9 from the first stage to the sixth stage.

If the speed signal switching mechanism 14 described above is applied to the control device shown in FIG. 4, the speed input signals VX'-〇,
Vy' = 0, and the arm tip point P3 stops.

In the second stage, vx'=vXo, vy'=vyo are input to the calculation mechanism 9, and the arm tip point P3 is set to the constant value vxo l of the speed command signal stored in the speed signal storage mechanism 13.
The velocity component V corresponding to Vyo moves with the synthesized velocity vector V-x i + vy J of Vy.

(However, i: X direction unit speed vector, j: Y direction unit speed vector.

) At the third stage, vX' knee vxo l Vy ' knee Vy □, and the arm tip point P3 is the velocity component - V) c
+Vy resultant velocity vector -V= (-Vx)
It moves with i+(-Vy)j.

In the fourth stage, the arm tip point P3 moves with the resultant velocity vector U=(Vy)i+VxJ of the velocity components -Va and VX.

In the fifth stage, dvx'=vyo, vy'--vxO, and the arm tip point P3 moves with the composite velocity vector -U2Vi+(-■)j of the velocity components Va+-Vx.

In the sixth stage, vx'=Vx. Vy' - Vy,
The arm tip point P3 moves with a speed vector corresponding to a speed command signal from the operating lever 8a.

As mentioned above, velocity vector V and velocity vector -■, velocity vector U and velocity vector -U have the same magnitude and differ only in direction, and are 1.Since velocity vector V and velocity vector U are orthogonal, they can be switched. Signal S1. S2. S3. S
4. By moving the arm tip point P3 by appropriately combining the "ON" and "OFF" states of
f9g Each point can be passed sequentially.

Next, one embodiment of the switching signal generating mechanism 15 will be described with reference to FIG.

The changeover switches 201 and 202 are provided, for example, at a position where they can be operated with a finger on a packet operation lever, and the changeover switch 201 has five contacts (1) and (2).
), (3), (4), and (5).

Further, the changeover switch 202 has two contacts (6) and (7) that can be switched to either one.

The coils C1, C2, C3, and C4 are respectively connected to the relays R1, R2, Ra, and R4 of the speed signal switching mechanism 14 shown in FIG. The signals of 38+34 are in the ON state, and each relay Rt 9R2, R3, R4 is connected to contact 1. One end of the coil C1 is connected to the changeover switch 20.
One end of the coil C2 is connected to the contact (1) of the changeover switch 201.

Coil C8 is connected to relay □-R5, contact 0 of relay R5 is connected to contact (4) of changeover switch 201, contact 1 of relay R5 branches through contact 1 of relay R6, which will be described later, and connects to the changeover switch. The contact (1) of 201 is connected to one end of another coil C5.

Coil c4 is connected to relay R6, contact 0 of relay R6 is connected to contact (3) of changeover switch 201, and contact 1 of relay & is connected to contact (2) of changeover switch 201 and one end of coil C5 as described above. is connected to.

The other end of the coil C1 sequentially passes through the other ends of the coil C2+C8t 04 and branches, and is connected to the other end of the coil C5 and the power source 203.

A power source 203 is also connected to the changeover switches 201, 202.

Furthermore, the contact (5) of the changeover switch 201 is at the zero potential point 2.
Connected to 05.

The switching signal generating mechanism 15 configured as described above has a second
As shown in the table, switching signals Sl, S2 . S3. S4 to enable input signals Vx' g Vy' to the arithmetic unit 9 from the first stage to the sixth stage in Table 1.

That is, when the changeover switch 202 is switched to the contact (6) and the changeover switch 201 is switched to the contact (1), the coil C1 and the coil C2 are excited, the signals Sl and S2 are turned ON, and the speed signal switching mechanism 14 is turned on by the calculation mechanism. 9 input to VX':0.

The arm tip point P3 shown in FIG. 1 is stopped as vy'20.

Next, with the changeover switch 202 switched to the contact (6), the contacts (2) and (3) of the changeover switch 201 are turned on.

When switching (4) and (5) sequentially, coil C1
is energized, coil C2 is de-energized, and X coil C3 and
The four coil c coils are turned ON and OFF as appropriate, and the switching signals 81 from the second stage to the fifth stage in Table 1 are sequentially turned on.
, 82 j 83184 are generated, and the speed signal switching mechanism 14 switches the inputs vx', vy' to the calculation mechanism 19 as shown in Table 1, so that the arm tip point P3 sequentially changes the speed vectors V, - as described above. You will be working at V, U, -U.

Next, when the changeover switch 201 is switched to contact (7), the coil c1 is de-energized and the switching signal s1 is turned OFF.
', and the state of the sixth stage in Table 1 is reached, and the inputs vX' and vy' to the arithmetic mechanism 9 are VX' = Vy
, Vy' becomes two Vy.

In this state, as described above, the arm tip point P3 moves with a speed vector corresponding to an arbitrary speed command signal from the operating lever 8a.

The above shows one preferred embodiment of the switching signal generating mechanism 15 corresponding to Table 1, but the switching signal generating mechanism 15 can be modified in various ways. is the switching signal 81 + S2 t
ON corresponding to 83 + 84.

It may be provided with an "OFF" switch.

Since many such specific examples are conceivable, the present specification will limit itself to the above examples.

This invention has been described above with reference to the embodiment shown in FIG.
Various embodiments of this invention are possible based on FIG. 4.

FIG. 7 shows another embodiment of the present invention, in which the same reference numerals as in FIG. 4 indicate the same or corresponding parts.

The embodiment shown in FIG. 7 differs from the case shown in FIG. 4 in that the operating lever 8a of the command speed signal generator 8 is provided with a locking mechanism so that the operating lever 8a can be locked at any position.

This allows the operating lever 8a to be locked at an appropriate position so that the operating lever 8a also serves as the command speed signal storage mechanism 13.

be.

In this way, while the operating lever 8a is locked, the constant value VXOtVVO of the command speed signal is always input to the speed signal switching mechanism 14, and the switching signals from the first stage to the fifth stage in Table 1 are On the other hand, as shown in Table 1, the calculation mechanism 9
Inputs vx′, vy′ to.

Switch.

Further, by unlocking the operating lever 8a, it is possible to enter the state of the sixth stage in Table 1, that is, to input an arbitrary command speed signal VX y Vy to the speed signal switching mechanism 14.

Therefore, in this case the speed switching mechanism 14 is of the embodiment shown in FIG.

The relays R1, 104a, 104b are not necessary in the case of the above.

As mentioned above, the embodiment of FIG. 7 has the same functions as the embodiment of FIG. input to V
After setting x' ``Vx, Vy' to Vy, switch again and, for example, set vX' to Vxo + V in the second stage.
y': Vyo can be reproduced, whereas in the case of Fig. 7, once the operating lever 8a is unlocked, it is difficult to lock it again in the exact same position, that is, the reproducibility is somewhat impaired. It is a point.

However, there is an advantage that the control system is simplified.

Next, as a further simplified embodiment of the present invention, the speed signal switching mechanism 14 of the embodiment of FIGS. 4 and 7 is the same as that of FIG. It can be raised when used as

In this case, the signal generated by the switching signal generation mechanism 15 is set to three stages, and the input Vx' g Vy from the speed signal switching mechanism 14 to the calculation mechanism 9 is expressed as the first stage signal: vx'=OVy'=Q2nd stage For the signal: ■X': vxovy'=vy.

For the third stage signal: Vx'=-Vxo VyL:
Vy.

Make it so that

Increase it one more step and Vx' ``VX I Vy'
=Vy.

In this case, in the slope excavation work shown in Figure 1, the arm tip point P
Control 3 can only control speed vectors V, -V and stop, but this control alone is effective for slope excavation work, and is sufficient for the work of loading excavated earth and sand into a dump truck as shown in Figure 3. be.

Next, an application example in which the above-described embodiment of the present invention is developed will be described.

In the explanation so far, the signals for each stage in Table 1 are generated independently by the operator changing the changeover switch, but if we take the slope excavation work shown in Figure 1 as an example,
The b c s de + f g operations of the packet cutting edge T may occur automatically and continuously after the ab and cd+ef operations.

In other words, the second stage state (velocity vector V) in Table 1
After moving in the state of the first stage (stop), the signal of the fourth stage (velocity vector U) is output for a predetermined period of time until the state of the first stage (stop) is reached.After moving in the state of the third stage (velocity vector - The fifth stage (
Operator operability can be further improved by configuring the switching signal generating mechanism 15 so as to output a signal of the speed vector -U).

Various specific examples of the switching signal generating mechanism 15 that generates a decoded signal by sequentially combining the signals in Table 1 in this way can be considered from the above-mentioned example and the prior art, and the description thereof will be omitted here.

Furthermore, other advanced embodiments of this invention will be described.

Taking the slope excavation work shown in Figure 1 as an example, it is better to move the packet cutting edge T in fast forward mode except for ab and ef, so constants are set at appropriate locations in the speed signal switching mechanism 140 circuit shown in Figure 5. By inserting twice as many computing units, the arm end point moves at twice the speed for all except the velocity vector V.

In this case, the inputs vx' and vy' to the arithmetic mechanism 9 are VX'-〇 for the first stage signal and vy' = 0 for the second stage signal, where k is a constant of 1 or more including 1. tevx'-vXo, vy'-vy.

vX'=-kVxo IVy for the third stage signal
−+kVy.

vx'--kvy for the fourth stage signal.

vy −kVx.

Vx':kVy for the fifth stage signal.

Vy'=-kVx.

becomes.

Further developing the invention described above, there is a speed signal storage mechanism that not only stores one set of speed signals vx Ot Vyo, but also stores multiple sets of speed signals, and sequentially combines and switches those speed signals. By replacing the speed signal switching mechanism and the switching signal generating mechanism that generates the signal for controlling the switching mode with the embodiment shown in FIG. 4, the effects of the present invention can be made even more remarkable.

Moreover, in the embodiments of FIGS. 4 and 1, -.

The operation lever 8a is used as a common operation lever for the work arm and the work arm 3, and the movement speed of the tip point P8 of the work arm 3 is controlled.
It is also possible to control the moving speed of the packet cutting edge T by using it as a common operating lever including the packet 4. In this case, the packet operating lever can be flipped and the finger-operable changeover switch can be moved to another lever (for example, It can be installed on the travel lever, rotation lever, etc.).

As explained above, the present invention has the following effects.

(1) The arm hole work machine can be operated with fewer lever operations, making operator operation extremely easy.

(2) The uniformity and reproducibility of the work can be improved when the arm end point (including the packet cutting edge) of the arm-hole working machine repeatedly performs work that involves linear movement.

[Brief explanation of drawings]

Fig. 1 is a diagram showing slope excavation work of a hydraulic excavator to which this invention is applied, Fig. 2 is a control system diagram of a conventional armhole working machine, and Fig. 3 is a diagram showing earth and sand excavation work of a hydraulic excavator to which this invention is applied. A diagram showing dump truck loading work. Fig. 4 is a control system diagram of an armhole work machine showing one embodiment of the present invention, Fig. 5 is a diagram showing an embodiment of the speed signal switching mechanism in Fig. 4, and Fig. 6 is a diagram showing an embodiment of the speed signal switching mechanism in Fig. 4. FIG. 7 is a control system diagram of an armhole working machine showing another embodiment of the present invention. 2... Working arm, 3... Working arm, 4... Packet, 8... Command speed signal generator, 8a... Operation Lever, 9...
- Arithmetic mechanism, 11a, 11b... Servo amplifier, 12
a, 12b...Hydraulic servo valve, 13...
- Speed signal storage mechanism, 14...speed signal switching mechanism, 15... switching signal generation mechanism.

Claims (1)

[Claims] 1. One operating lever common to a plurality of arms that can tilt in any direction within a circle including the neutral position, and a horizontal (x ) direction and the perpendicular (y) direction to detect (x) and (y
) direction, a command speed generator that generates command speed signals Vz, Vy, and a calculation mechanism that inputs and calculates the command speed signals Vx, Vy, and outputs displacement signals to be taken by each arm;
and a servo mechanism that controls the position of each arm by inputting the displacement signal, and the velocity in the (X) and (y) directions is proportional to the command velocity signals VX and Vy. (2) In a control device for an armhole work machine configured to move an arm end point with a composite speed vector Vc, constant values vx, vy of the command speed signals Vx, Vy. and a speed signal storage mechanism for storing the speed signals V)c, V
a speed signal switching mechanism that inputs y and vxo l Vy□ and switches inputs VX' and Vy' to the calculation mechanism; a switching signal generating mechanism and control system that generates a signal s1 that controls the mode of the speed signal switching mechanism; A control device for an arm hole work machine, which is characterized by being added to the above. 2. The signal generated by the switching signal generation mechanism is set to three stages or four stages, and the input vX' and standing' from the speed signal switching mechanism to the calculation mechanism are ~VX'-0+Vy' with respect to the first stage signal.
−=0 for the second stage signal vx′−vXo,
vy′2vy. Vx""'-Vx for the third stage signal. . Vy--Vy. or further, for the fourth stage signal, vx′2VX +Vy””V
2. A control device for an armhole working machine according to claim 1, wherein the control device is configured to have a position of y. 3 The signal emitted by the switching signal generator is set as the fifth stage or sixth stage, and the inputs vX' and vy' from the speed signal switching mechanism to the calculation mechanism are set to VX': 0. For the second stage signal of Va'=0, take "vxO+Vy'"
■' −” −Vx o for the VyO third stage signal
+Vy −”−Vy. For the fourth stage signal, vx′ knee Vyo IV a′ −
Vx. For the fifth stage signal ``'= vyO+Vy '=
-Vx. Furthermore, for the signal of the sixth stage, VX ' ``VX I Vy
2. The control device for an armhole working machine according to claim 1, wherein the control device is configured to have a power of 2 Vy. 4 When the signal emitted by the switching signal generation mechanism is the fifth or sixth stage, and k is a constant of 1 or more including 1, the inputs Vx', V from the speed signal switching mechanism to the calculation mechanism
y' for the first stage signal VX' = O, Vy'
= 0 for the second stage signal v, /2VX O+
Vy '==vy O For the third stage signal Vx
'-' kVxo. Vy'---k Vx6 For the fourth stage signal vX/ =: -k VyQ
tVy -kVx. ■Work'-kvyo for the fifth stage signal. Vy--kvX. or further, for the signal of the sixth stage vX′2Vx + Vy′
A control device for an arm hole work machine according to claim 1, characterized in that the control device is configured such that =”'Vy.