JPS636693B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for a power shovel.
The work cycle of a power shovel consists of four steps: (i) digging, (ii) lifting a bucket to dump the earth into a dump truck, (iii) removing earth, and (iv) returning to the starting point of excavation.

Among these, various automatic control methods have been proposed for (i) the excavation process, but (iv) the process of returning to the excavation starting point requires simultaneous operation of the boom, arm, bucket, and rotation for work efficiency. Due to the nature of this process, it has not been automated in the past, even though it places a heavy burden on the operator.

The present invention was proposed in view of the above circumstances, and provides a control device for a power shovel that allows an operator to automatically follow the boom and bucket and drive them to the next excavation starting point simply by turning the arm. A setting device for setting a boom angle and an arm angle according to a height from the ground of a pivot axis between the arm and the bucket at the vertical position of the arm at an excavation starting point, and a setting device for setting the bucket tort angle. a plurality of memories having a setting device for setting the angles of the boom, arm, and bucket at the excavation starting point and storing the angles at the excavation starting point and the posture after soil removal, the setting device, the arm angle detector, A boom angle target value calculation circuit that uses a boom angle detector, the above-mentioned arm and boom angle memory, and a function generator to calculate a boom angle target value that follows the arm operation amount from the post-unloading position to the excavation start point; Bucket angle detector, arm angle detector, bucket angle detector, above-mentioned arm and bucket angle memory, and function generator are used to calculate the target value of the bucket angle that follows the arm movement amount from the post-unloading posture to the excavation start point. An angle target value calculation circuit, a boom control circuit that inputs the above boom angle target value and feeds back the boom angle detected by the boom angle detector, and a boom control circuit that inputs the above bucket angle target value and feeds back the boom angle detected by the bucket angle detector. It is characterized by being equipped with a bucket control circuit that feeds back the angle.

An embodiment of the present invention will be explained with reference to the drawings.
FIG. 2 is a block diagram showing the circuit configuration.

In the above diagram, 7 is the arm angle detector, 8, 9
are memories, 10 and 11 are subtracters, 12 is a divider, 13 is a boom angle target value, 1
4 is a function generator, 15 is a multiplier, 16 is an adder,
17 is a subtracter, 18 is an adjuster, 19 is a subtracter, 2
0 is a servo mechanism, 21 is a distributor, 2
2 is a boom cylinder (load), 23 is a boom angle detector, 24 is a boom angular velocity detector, 25 is an adjuster, 26 and 27 are each a memory, 28 is a subtracter, 29 and 30 are each a memory, 31 is a subtracter , 32 is a function generator, 33 is a multiplier, 34 is an adder, 35 is a subtracter, 36 is an adjuster, 37 is a subtracter, 38 is a servo mechanism, 39 is a distributor, 40 is a bucket cylinder (load ), 41 is a bucket belt angle detector, 42 is a bucket belt angular velocity detector, 43 is an adjuster, 44 and 45 are respective setters, 46 is a boom angle signal, 47 is a bucket belt angle signal, 48 is a bucket belt angle target value, and 49 is a bucket belt angle detector. a calculator 50 that calculates the boom and arm angles from geometrical relationships based on the output of a setting device 50 to be described later;
is a setting device that gives the height from the ground of the pivot axis between the arm and the bucket at the vertical position of the arm at the return point.

In such a device, the movement of the arm 3 due to manual operation is detected by the arm angle detector 7,
The boom angle target value 13 and bucket belt angle target value 48 corresponding to this movement are determined as follows, respectively, and the boom and bucket belt are controlled.

First, regarding the boom angle target value 13, the angles of the boom 1, arm 3, and bucket 5 at the excavation starting point (the final target value of the control system) are determined by the boom angle detection attached to the boom rotation axis while maintaining the excavation starting position. 23, an arm angle detector 7 attached to the rotation axis of the boom and arm, and a bucket angle detector 41 attached to the rotation axis of the arm and bucket, and in this position, the setting device 45
The bucket angle is stored in the memory 30 by the signal , and this value is saved unless the signal from the setter 45 is issued again.

On the other hand, the posture after soil removal, that is, the posture at which control is started, is similarly stored in the memory 8, 26, 29 by a signal from the setting device 44.The setting device 44 manually operates the arm. A signal is issued by lever movement, and the angle just before it starts to move is memorized.

The subtracter 10 outputs the angular deviation of the arm that should be moved from the earth removal posture to the excavation start point, and the divider 1
2 indicates this angular deviation and the actual angular deviation of the arm from moment to moment, that is, what percentage of the stroke the arm is moving.

The output of the divider 12 is input to the function generator 14,
This function generator 14 outputs the (movement) pattern of the boom to be moved relative to the arm.

On the other hand, for the boom, the angular deviation to be moved from the soil unloading position to the excavation start point is stored in memory 26, 2.
It is obtained by inputting the output of 7 to the subtracter 28. The output of the subtracter 28 and the output of the function generator 14 are input to the multiplier 15, and the output of the multiplier 15 and the output of the memory 27 are added by the adder 16, thereby obtaining the boom angle target value 13. demand.

This is a value associated with the movement of the arm 3, and the movement is based on a pattern set by the function generator 14.

The boom 1 uses this boom angle target value 13 as a command signal, and uses this command signal 13 and the boom angle detector 2 as a command signal.
The deviation from the actual boom angle output by the servo mechanism 2 is determined by the subtractor 17 and sent to the servo mechanism 2 via the adjuster 18.
0, controlled by a feedback circuit that moves a boom cylinder (load) 22 via a distributor 21.

Here, the servo mechanism 20 is a mechanism that moves the distributor 21, and outputs a mechanical displacement using an electric signal such as a servo cylinder or a stroke control valve.

Furthermore, this feedback control system has a built-in circuit that detects the boom angular velocity using the boom angular velocity detector 24 and provides feedback to the subtracter 19 via the regulator 25, thereby improving the ability of the boom to follow the arm.

Next, the bucket cart is also controlled in substantially the same manner as the boom described above.

According to such a device, the following effects can be achieved. In other words, (1) Conventionally, moving from earth removal to the next excavation start point required simultaneous boom, arm, bucket, and swing operations, but with this device, the boom and bucket can be moved by arm, arm, and swing, respectively. The operator only has to perform two operations, arm and turning, by using a control mechanism that follows the movement of the robot, thereby reducing the burden on the operator and improving work efficiency.

(2) Settings can be easily changed by providing the movement patterns of the boom and bucket that follow the arm using function generators, and there is no need to use expensive calculation elements.

(3) By specifying the excavation start point (return point) as the height from the ground of the pivot axis between the arm and the bucket, the operator can intuitively set the excavation start point, improving work efficiency. can be achieved.

[Brief explanation of the drawing]

Figure 1 is a side view of a known power shovel, Figure 2 is a side view of a known power shovel;
The figure is a block diagram showing the circuit configuration of an embodiment of the present invention. 1...Boom, 2...Boom cylinder, 3...
Arm, 4... Arm cylinder, 5... Bucket, 6... Bucket cylinder, 7... Arm angle detector, 8, 9... Memory, 10, 11... Subtractor, 12... Divider, 13... Boom angle target value, 14... Function generator, 15... Multiplier, 16
... Adder, 17 ... Subtractor, 18 ... Adjuster,
19...Subtractor, 20...Servo mechanism, 21...
Distributor, 22...boom cylinder,
23...Boom angle detector, 24...Boom angular speed detector, 25...Adjuster, 26, 27...Memory, 28...Subtractor, 29, 30...Memory, 31...Subtractor, 32... ...Function generator, 33
... Multiplier, 34 ... Adder, 35 ... Subtractor,
36...Adjuster, 37...Subtractor, 38...Servo mechanism, 39...Distributor, 40...
Bucket cylinder, 41... Bucket angle detector, 42... Bucket angular velocity detector, 43... Adjuster, 44, 45... Setting device, 46... Boom angle signal, 47... Bucket angle signal, 48... ... Bucket angle target value, 49 ... Calculator, 50 ... Setting device.

Claims (1)

[Claims] 1. A setting device that sets the boom angle and the arm angle according to the height from the ground of the pivot axis between the arm and the bucket at the vertical position of the arm at the excavation start point;
a setting device for setting the bucket angle; and a plurality of memories each having a setting device for setting the angles of the boom, arm, and bucket at the excavation starting point and storing the angles at the excavation starting point and the posture after soil removal; Using the setting device, arm angle detector, boom angle detector, arm and boom angle memory, and function generator, calculate the target value of the boom angle that follows the arm movement amount from the post-unloading position to the excavation start point. A boom angle target value calculation circuit,
The above setting device, arm angle detector, bucket angle detector, arm and bucket angle memory,
A bucket angle target value calculation circuit that uses a function generator to calculate a bucket angle target value that follows the arm movement amount from the post-unloading posture to the excavation start point, and a boom angle detector that inputs the above boom angle target value. A control device for a power shovel, comprising: a boom control circuit that feeds back a detected boom angle; and a bucket control circuit that inputs the target bucket angle value and feeds back a bucket angle detected by a bucket angle detector. .