JPH0771054A - Controller of construction machinery - Google Patents

Abstract

PURPOSE:To promote working efficiency by making it possible to reproduce an operation state inputted for once and limited value in a range of operation even if work is discontinued. CONSTITUTION:In the case limited setting in new working conditions is inputted in an RAM through setting means 12, 13, 14 and 17 or a teaching command means 15, a display value standard setting means 17, etc., it is immediately stored in an EEP and an ROM. In the case an operation lever for a working device is operated or in the case a play-back command means 16 is controlled to operate, control processing signals and display processing signals are outputted from a controller 7 so that operation in a range corresponding to the limited value set newly in the RAM is made. In the case an engine is stopped and in the case electrification of the controller 7 is stopped, the limited value stored in the RAM is immediately erased, and the same data is written into the EEP and ROM is kept, so that if the controller 7 is reelectrified, the data is read out in the RAM again, and operation with the same limited value as that of the operation before the service interruption can be reproduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working device for a construction machine,
For example, when the working range of a boom, an arm, a bucket, etc. in a hydraulic backhoe is limited in advance and used, the control device is effective when restarting under the same conditions unless the limit value is forcibly initialized. It is a thing.

[0002]

2. Description of the Related Art In a construction machine for performing various works by operating a work tool of a work device provided so as to project from a machine body, the work tool and a member for supporting the work tool. However, due to its complicated operation, accidents such as contact with external obstacles during work tended to be provoked. This is especially the case in recent years, where a construction site with a lot of mechanized construction work requires a driving operation in a narrow space, which is a conventional technique for preventing a serious disaster. However, so as not to protrude from the preset range or position, the operation stop processing is automatically performed regardless of the operation of the driver.
There is a method of preventing an accident from occurring by performing an operation speed deceleration control process or a process of operating various warning means and display means.

[0003]

The embodiment of the prior art described above will be explained by taking the case of a hydraulic backhoe as an example. FIG. 3 shows various detecting means for exerting the above-mentioned function and information from the detecting means. FIG. 3 is a side view of the hydraulic backhoe that is processed according to the method of FIG. In the figure, 1 is a lower traveling body for freely moving the aircraft to an unspecified place, 2 is an upper rotating body pivotally mounted on the lower traveling body 1 through a swing bearing so as to be fully rotatable, and 3 is the upper swing. It is a working device having its base end pivotally supported by a horizontal pin in front of the body 2, which is composed of a boom 4, an arm 5, a bucket 6 and the like which are mutually pivotally supported by a horizontal pin. By doing so, positioning of the bucket 6, excavation, scooping, dumping, etc.
At the same time, coupled with the swinging motion of the upper swing body 2, each point on each component of the working device 3 can be positioned at any point in the three-dimensional space. Further, 9 is a boom angle detecting means for the upper swing body 2, 10 is an arm angle detecting means for the boom 4, 11 is a bucket angle detecting means for the arm 5, 25 is a swing angle of the upper swing body 2 with respect to the reference line of the lower traveling body 1. Angle detection means, and angle signals from these detection means are input to the controller 24, and the controller 24 outputs a processing signal by a function described later so that the operation of the work device 3 protrudes from the set range. It is controlled so as not to exist, and the distance between the predetermined portion and the reference position is displayed.

[0004]

[Means for Solving the Problems] The above operating conditions,
A practical example of setting the operating range will be described below with reference to the drawings.
FIG. 4 is a plan view schematically showing the operating state of the hydraulic backhoe during excavation, turning, and carry-in work, and the target posture of each component of the work device 3 between the excavation position A and the loading position B. Is a turning angle θ 1, θ with respect to a reference line of the lower traveling body 1 of the upper swing body 2, for example, a forward straight ahead reference line 0-0 ′
2, ───, θm−1, θm are used as parameters to teach the controller 24 in advance together with the angle signals of the angle detecting means 9, 10, 11 for specifying the postures of the boom 4, the arm 5, the bucket 6, and the like. By performing a playback operation to read the control of the working device 3 from the position A to the loading position B and also during the loading work including the returning operation in accordance with the above-mentioned turning angle, a predetermined working device target posture is obtained. Based on that, the boom 4, the arm 5, the bucket 6, etc., which are the constituent members, are controlled, or the turning speed command is excessive, so that the operating speeds of the boom 4, the arm 5, and the bucket 6 are not sufficient. If not, there is a control method of automatically reducing the turning speed in preference to the turning speed command and performing the work in a planned target posture.

[0005]

EXAMPLE FIG. 5 shows the operation of the hydraulic backhoe.
If there is an obstacle 26 on the upper side as shown in the drawing, and if the working device 3 is further rotated upward, there is a risk that one end of the arm 5 will come into contact with the drawing in the example. In the work site under such conditions, the position of the height limit line C is set by the working range setting means with the upper working range set value H having a safe margin with respect to the lower surface of the obstacle 26. The controller 2
4 in order to prevent the operation lever from protruding above the height limit line C at any combination angle of the boom 4, the arm 5, and the bucket 6 and at any part of those members. The controller 24 outputs a signal for controlling regardless of the operation.

FIG. 6 is a side view showing a partial cross section when excavating with a hydraulic backhoe. In FIG. 5, the height limit line C is set.
A depth limit line D is provided in order to obtain a safe and maximum excavation depth without damaging the ground. The depth limit line D is a lower working range when a vertical distance from a certain reference line E is set. The value is input to the controller 24 so that the value becomes I. Also at this time, as in the above-described example, the controller 24 prevents the blade edge of the bucket 6 from approaching the buried object 27 beyond the depth limit line D regardless of the operation lever during the excavation operation.
A control signal is output to the hydraulic switching valve that distributes the pressure oil to the hydraulic cylinders for operating the work device 3 in accordance with the work range set in.

Next, an example of main functions of the controller 24 used for setting the operating conditions and operating range of the above practical example will be described with reference to the block diagram of FIG. In this figure, 8 is a processing canceling means for stopping the output of a processing signal for exhibiting the function of the controller 24, 9, 10, 11, 25 are the angle detecting means described in FIG. 3, and 12, 13, 14 are working devices, respectively. It is a working range setting means such as, and operates any one or more of these to set various conditions such as height, depth, working radius, etc., and increases or decreases depending on the type of working device. It is possible. Reference numeral 15 is a teaching command means for storing all operating states of the work apparatus 3 including turning in the controller 24, 16 is a playback command means for reading the input stored by the teaching command means 15 and reproducing the same operation, 17 Is the position of the reference line when the controller 24 performs internal processing in response to an input signal from each detection means, and displays the depth of the toe of the bucket 6 from the reference line on the display means 19, for example.
The display value reference setting means 18 for specifying a predetermined position on the work device 3 is a memory, and stores, for example, each effective length of a work device constituent member, a relational shape of main parts, and the like, as in a normal controller, and is required. Accordingly, those data are utilized by the controller 24. 20a, 20b, 20c,-
Is a control device which is operated by a processing signal output from the controller 24. For example, 20a is an operation control which selectively or simultaneously operates one or a plurality of operation systems, and invalidates the operation even if it is operated. Device, 2
0b is also a pump discharge oil amount control device, and 20c is a turning speed control device, which serve as an element for limiting the operating state of the work device 3, and therefore the number thereof may increase or decrease. Reference numeral 28 is a relay that supplies power to the controller 24 in conjunction with the engine switch 21.

The function of the controller 24 of the prior art having the above-mentioned configuration is, as is apparent from the above-mentioned configuration, when the engine switch 21 is first operated to start the engine, the relay 28 is activated and the controller 24 is powered. Is understood. In this state, the upper swing body 2 and the working device 3
Is operated, the respective angle detecting means 9, 10, 1
Angle signals are input to the controller 24 from 1, 25. When most of the same work cycle is repeated, the teaching command means 15 is operated to teach the controller the operation of each part, and then the playback command means is operated to repeat the operation. Also, the working device 3
In the operating range of, for example, when it is necessary to set a certain limit on the upper side, the lower side, the horizontal distance, etc., the operating range limit setting means 12, 13, 14 and the like are operated and the limit value is stored in the controller 24. Then, if you operate the operation lever for operation, the controller 24 will
Since a control processing signal for appropriately operating the various control devices 20a, 20b, 20c, ---- is output, a working state satisfying predetermined limiting conditions is automatically guaranteed. further,
By setting the predetermined position on the work device and the specific reference position by the display value reference setting means 17, the corresponding numerical value can be visually checked on the display means 19, and is also restricted by the controller 24. Without performing the operation operation of the normal hydraulic backhoe without processing
You can operate.

[0009]

As construction machinery is increasingly used for urban civil engineering, the contents of construction have become complicated, and as a result, the number of machines that operate continuously for a long time has gradually decreased, and Due to meetings, waiting for set-up, alternate use with other models, etc., in addition to frequently interrupting work, the driver often has to leave the machine. In such a case, as a general safety measure, the driver is instructed to leave the machine in a safe place, drop the work device to the ground, stop the engine, check the safety, and get off. On the other hand, by the means as described in the section of the prior art, while preventing accidents during work in advance, while reducing the fatigue of the driver as much as possible, while adding a function that can improve the efficiency However, it is a relatively physically and psychologically complicated task such as the teaching work described in the same section and the work for setting the maximum and minimum operating range limits of the work equipment.

Generally, as elements in the controller for storing the above-mentioned teaching data, operating range limit set values, etc., a memory, so-called RAM, whose contents can be freely rewritten is used because the data is not fixed. However, the memory contents are instantly erased when the power supply is stopped, and on the other hand, the construction machine frequently stops the engine as described above and restarts work similar to that before the stop. Therefore, the data stored in the RAM is lost each time, and it is necessary to reset the data when the work is restarted. Therefore, the cutting angle function is not used or the work efficiency is lowered. Therefore, in view of these points, the present invention provides a control device in which it is not necessary to constantly energize the elements of the controller, the conditions once input are stored and retained even after the energization is stopped, and the set value can be changed. The challenge is to provide.

[0011]

In order to solve the above problems, the means taken by the present invention is to operate an upper swing body, a boom, an arm or a similar supporting member for supporting and operating a work tool of a construction machine. Detecting the angle, the function that can specify the operating state, operating range of each part of the working device by the combination of the signal values, and the operating state of the working device, so that the operating range does not exceed the arbitrarily limited range, In a control device for a construction machine, which is provided with a controller having a function of outputting a control processing signal whose limit value can be set, and by which a signal output from the controller is used to partially limit the operation of each work device by prioritizing the manual operation. In the controller, (1) a first memory which is free to rewrite the arbitrary limit set value input thereto, but which loses stored contents when power is cut off Via a means for storing data in a memory-holding type second memory in which data is not lost by a normal means, and (2) at the time of re-energization, the memory contents held in the second memory are stored in the first memory. And (3) an initialization unit capable of erasing all the limit set values stored in the first memory and the second memory at the same time by (3) operating during energization. Provided in the controller of.

[0012]

When the operating condition and operating range of the working device are to be restricted and to be operated, the engine switch is turned on to energize the controller, and then the initializing means is first operated to input before. If the desired data is erased and then the desired limit set value is input, it is stored in the first memory and at the same time the second data is stored in the first memory.
The same data is also stored in the memory. When the driving operation is performed in this state, the work device outputs the control processing signal from the controller under the restriction set in the first memory in preference to the manual operation, and the desired restriction processing is performed.

For convenience of work, when the engine is stopped and the controller is not energized, the set value stored in the first memory is lost, but the memory retention function of the second memory causes re-energization, that is, When the engine is restarted, the set value is read again into the first memory, and the control processing signal corresponding to the limit set value before the engine is stopped is output from the controller. Further, when it is desired to change the limit set value, the initializing means may be operated while the power is on to erase all the set values stored in the first and second memories, and then input again. Further, if the display means for remotely displaying the limit set value by the output from the controller is operated by the display processing signal output by the data of the first memory, similarly, at the time of re-energization, At, the display value under the condition set before is obtained.

[0014]

Embodiments of the present invention will be described below with reference to the flow chart of FIG. 1 and the block diagram of FIG. 2 which are block diagrams showing the configuration of the present invention and those of FIG. 7 which shows the prior art are the same parts, the same reference numerals are given and the description thereof is omitted, but they all have the same function. To fulfill. In the figure, 7 is a controller that outputs a control processing signal and a display processing signal to various control devices 20a, 20b, 20c, etc., or display means 19, and the controller 7 is the controller 24 in FIG. In addition to the storage holding means 22
And an initialization means 23 that can be operated from the outside, but the rest is the same as in the prior art.

The storage holding means 22 is commonly called EEPR.
A memory called an OM (hereinafter referred to as an EEPROM), a memory called an ordinary ROM is a read-only memory, and once stored data is not lost by any means. This is a ROM that can be rewritten by erasing the stored contents by applying a high voltage. Needless to say, the stored contents are not lost when the power supply is stopped like the RAM described above. Further, the initialization means 23 is for obtaining the same effect as that generally used under the name of a normal reset switch, and by operating the initialization means 23 (hereinafter, referred to as a reset switch), the present invention In the above, the contents stored in the EEPROM and the limit set value stored in the RAM in the controller 24 of the prior art are erased at the same time.

The operation and effect of the present invention having the above-mentioned configuration added to the conventional control device will be described with reference to the flowchart of FIG. In the present invention, when the engine switch 21 is first turned on, the power is also connected to the controller 7 by the action of the relay 28 in conjunction with this. However, the setting is made just before the energization before that is stopped. The limit value is stored in the EEPROM, and this value is read out to the RAM in the controller 7 again. When the machine is operated under this condition, the controller 7 operates on the basis of the contents stored in the RAM.
0a, 20b, 20c, etc., or a control processing signal and a display processing signal are output to the display means 19 as necessary, so that the operating state, operating range, etc. of the working device 3 (not shown in FIG. 2) are subject to predetermined restrictions. The display means 19 displays the distance between specific parts.

Next, when the limit set value stored in the EEP ROM and RAM is changed due to a change in working conditions or the like, when the reset switch is operated, it is stored in the EEP ROM and RAM at that time. Both set values are completely cleared and initialized. Here, the limit set value suitable for the new work condition is RA by various setting means 12, 13, 14, 17 or the teaching command means 15 display value reference setting means 17 or the like.
When you input it to M, those settings are immediately written to EEPROM.
Will also be stored. After performing the setting operation like this,
When a work device operating lever (not shown) is operated, or in addition to this, the playback command means 16 is operated, the operation is performed within a range corresponding to the limit set value newly set in the RAM. As described above, the control processing signal and the display processing signal are output from the controller 7. Further, in this state, if the engine is stopped for some reason, that is, the energization of the controller 7 is stopped, the limit set value stored in the RAM immediately disappears. Since the data written in the EEPROM is retained, the data can be read out to the RAM again when the controller 7 is re-energized, and the operation at the same limit set value as before the energization stop can be reproduced. It is possible.

Furthermore, if the operator does not set any limit value and intends to operate the machine under the original operating conditions and operating range of the machine, the machine must be operated after operating the processing releasing means 8 shown in FIG. The good points are as described above.

[0019]

When the control device according to the present invention is provided in the control system of a construction machine, even when the engine is often stopped to interrupt the work depending on the work content, the working state of the work device set before that is set. When the limit value of the operating range is secured in the memory holding means in the controller and the engine is restarted to restart the work, the limit set value before the engine is stopped is reproduced together with the display of the set value. There is no need to input complicated setting values each time, which is useful for improving work efficiency and safe driving. Also, even when the working conditions change and the input of the set value has to be changed, the engine is not stopped once each time and there is no waiting for a few seconds, and the operation of simply pressing the reset switch, which is the initialization means, is performed. Since the new limit set value can be immediately input to the setting means, the operation can be performed quickly.

[Brief description of drawings]

FIG. 1 is a flowchart showing the function of a controller according to the present invention.

FIG. 2 is a block diagram showing an embodiment of the present invention.

FIG. 3 is an external side view of a hydraulic backhoe equipped with a work range limiting device.

FIG. 4 is a plan view of a hydraulic backhoe for explaining the operation of the turning speed limiting device.

FIG. 5 is a side view of the hydraulic backhoe for explaining the upper work range restriction setting.

FIG. 6 is a side view of the hydraulic backhoe for explanation when the lower work range limit is set.

FIG. 7 is a block diagram showing an example of a conventional technique in which a controller is provided with a work range limiting function.

[Explanation of symbols]

 3 Working Devices 7, 24 Controller 12 Working Range Limit Setting Means 13 Working Range Limit Setting Means 14 Working Range Limit Setting Means 15 Teaching Command Means 16 Playback Command Means 17 Display Value Standard Setting Means 18 Memory 19 Display Means 22 Memory Holding Means 23 Initialization means

Claims (2)

[Claims] 1. A working state and a working range of the working device, which has a storage means for control capable of setting an arbitrary limit value, and outputs a control processing signal for limiting the working of the working device in preference to a manual operation. In a control device for a construction machine having a controller, the setting value is read via the storage means for control, and a storage holding means capable of holding this even when power supply to the controller is stopped, A means for writing the set value stored in the memory holding means at the time of de-energizing upon re-energization to the memory means for control, and a means for arbitrarily initializing the memory values of the memory means and the memory holding means. A control device for a construction machine, comprising: 2. A controller having a storage means for calculation capable of calculating a three-dimensional distance between a position of a predetermined portion of the work device and an arbitrarily specified position by means of detection means for detecting the posture of the work device. In a provided construction machine, a display unit for displaying a result calculated by the controller, and a memory for storing set values of a predetermined portion of the working device and an arbitrarily specified position even when power supply to the controller is stopped. Holding means, means for writing the set value of the memory holding means stored at the time of stop when re-energized to the arithmetic storage means, and means for arbitrarily initializing the stored value of each storage means A control device for a construction machine, comprising: