JPS62164921A - Controller for master lever type power shovel - Google Patents

Abstract

PURPOSE:To permit a bucket to be operated on a target position by a simple operation in which control mode for excavation is selected by a mode selector, and a target for the cutting edge of bucket is indicated by a master lever to keep an optimal attitude of lesser excavation resistance for the bucket. CONSTITUTION:On the basis of excavating locus stored in a memory 36, the scooping angle is properly set up in such a way that the bottom plate of a bucket has a small scooping angle within a range not to interfere with the excavating locus. The position of bucket pins is determined and boom angle alpha, arm angle beta, and bucket angle gamma for moving toward the position of the bucket pins are determined. When drive signals are put in oil-pressure circuits 31, 32, and 33, a flow rate of pressure oil corresponding to each signal is sent out to cylinders 28, 29, and 30 to expand or contract them. The bucket can thus be moved with most efficient attitude.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for a mask slave type power shovel.

[Prior Art] A mask slave type power excavator is provided with a slave consisting of a boom and an arm force 1, and a master lever similar in shape to the slave, and the slave is operated to follow the master lever.

Therefore, the boom and arm could be freely operated simply by operating the master lever. Note that the operation of the bucket was instructed by an operating lever associated with the bucket.

[Problem that the invention seeks to solve]

However, although the above-mentioned master-slave system has made it easier to operate the excavator, the excavation resistance of the bucket, that is, the bucket edge does not face the direction of travel as shown in Figure 6(a) during excavation, and 61st mirror)
As shown in Figure 2, it was necessary to frequently operate the control lever that controls the attitude of the bucket to prevent the bottom plate of the bucket from interfering with the excavated surface and increasing unnecessary excavation resistance.

[Means for solving problems]

In order to solve the above conventional problems, the present invention provides a master lever corresponding to the boom and arm of a power excavator, and a first lever that commands target angles of the boom angle and arm angle based on the operating position of the master lever. A bucket pin position is determined based on the command value of the target angle command means, the bucket command means that commands the rotation angle or the rotation speed of the bucket, and the first target angle command means, and this is determined as the target position of the bucket cutting edge. a first calculating means for outputting a value as the angle of the power excavator; an angle detecting means for detecting the boom angle, arm angle, and bucket angle of the power shovel; and a second calculating means for determining the current position of the bucket cutting edge based on the detected values of the angle detecting means. a calculation means, a storage means for storing the locus of the bucket cutting edge based on the current position of the bucket cutting edge determined by the second calculation means, and a second calculating means for detecting the direction of the bucket bottom plate based on the detected value of the angle detection means. a second direction detecting means for detecting the bucket moving direction based on the current position of the bucket cutting edge obtained by the second calculating means and the target position of the bucket cutting edge obtained by the first calculating means ζ; A rake angle between the direction of the bucket bottom plate detected by the direction detection means and the first and second direction detection means and the bucket movement direction is set to a small angle within a range that does not cause the bucket bottom plate to collide with the stored trajectory. the bucket posture determined by the bucket movement direction detected by the second direction detection means and the rake angle set by the rake angle setting means, and the bucket cutting edge coincides with the target position. a second target angle command means for commanding the boom angle, arm angle and bucket angle as the target angles; a mode selection means for selecting either the non-excavation control mode or the excavation control mode; When the non-excavation control mode is selected by the means, a rotation command for the boom, arm, and bucket is output based on the command value of the first target angle command means, the command value of the bucket command means, and the detected value of the angle detection means. When the excavation control mode is selected by the WJl command means and the mode selection means, the boom, arm, and bucket are rotated based on the command value of the second target angle command means and the detected value of the angle detection means. It is provided with a second command output means for outputting a command, and a drive means for controlling the rotation of the boom, arm, and bucket, respectively, based on the outputs of the first and second command output means.

[Effect]

According to the present invention having such a configuration, by simply selecting the excavation control mode using the mode selection means and instructing the target position of the bucket cutting edge using the master lever, the bucket cutting edge can be moved to the target position while maintaining the optimum bucket posture with low digging resistance. can be moved to

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic configuration diagram showing an embodiment of a control device according to the present invention.

In the power excavator of this embodiment, the master lever 1
0 is equipped with a boom lever rod 11 and an arm lever rod 12, and these lever rods 11 and 12 correspond to a slave boom 21 and an arm 22. A grip 13 is provided at the tip of the lever rod 12,
The position of this grip 13 corresponds to the position of the bucket pin connecting the arm 22 and the bucket 23. In addition, each shaft portion of the lever rod 11 and the lever rod 12 has
A potentiometer 14 and a potentiometer 15 are provided to detect the target angles αr and β' of the boom angle and arm angle, respectively, and the grip 13 has a mode for selecting either an excavation control mode or a non-excavation control mode. A selection switch 16 is provided.

A potentiometer 25, a potentiometer 26, and a potentiometer 27 are disposed on each shaft of the boom 21, arm 22, and bucket 23 to detect the boom angle α, arm angle β, and bucket angle γ, respectively.

In addition, the boom 21, the arm 22 and the bucket 23
A boom cylinder 28, an arm cylinder 29, and a bucket cylinder 30 are respectively disposed. The boom cylinder 28, arm cylinder 29 and bucket cylinder 30 are connected to a boom hydraulic circuit 31 and an arm hydraulic circuit 3.
2 and the bucket hydraulic circuit 33 to expand and contract the boom 21, the arm 22, and the bucket 23.
are each moved in a circular arc.

Potentiometer 14 in the master lever 10.
15 and each output of the mode selection switch 16, and the potentiometer 25 of the boom 21 and the arm 22.
Each output of the potentiometer 26 is connected to the controller 34
has been added to.

When the mode selection switch 16 is not pressed and the non-digging control mode is selected, the controller 34 sets the target angle αr of the boom angle detected by the potentiometer 14 to the actual boom detected by the potentiometer 25. In addition to detecting the deviation from the angle α, the deviation between the target arm angle βr detected by the potentiometer 15 and the actual arm angle β detected by the potentiometer 26 is also detected. Then, a boom drive signal and an arm drive signal based on the angular deviation related to the boom and the angular deviation related to the arm are transmitted to the boom hydraulic circuit 31.
and the arm hydraulic circuit 32. In addition, the bucket drive signal based on the deviation between the bucket target angle commanded by the bucket operation lever (not shown) and the actual bucket angle r detected by the potentiometer 27 is
It is added to the bucket hydraulic circuit 33.

The boom hydraulic circuit 31, the arm hydraulic circuit 32, and the bucket hydraulic circuit 33 send respective pressure oil flow rates corresponding to the respective drive signals to the boom cylinder 28, arm cylinder 29, and bucket cylinder 30 to expand and contract them. As a result, the boom 21, arm 22, and bucket 23 rotate in a direction in which each angular deviation becomes zero. Note that the bucket operating lever may be one that commands the rotational speed of the bucket 23.

Therefore, when the operator operates the master lever IO, the boom 21 and the arm 22 follow the master lever 10, and the attitude of the bucket 23 can be changed as appropriate using the bucket operating lever.

Next, a case where the excavation control mode is selected by the mode selection switch 16 will be described. This excavation control mode refers to a control mode in which the bucket 23 is moved in a posture with low excavation resistance during excavation work according to instructions from the master lever 10.

First, the attitude of the bucket 23 when the excavation resistance of the bucket 23 is reduced will be explained. Now, let us consider a case where the bucket 23 moves while drawing the bucket attitude and excavation trajectory P as shown in FIG.

During this movement, the position of the bucket cutting edge is sequentially detected,
By storing the position, the excavation trajectory P is stored. Note that this storage amount is sufficient as long as it stores the range from the current position Q of the cutting edge to the range where the bucket bottom plate 23a can interfere.

On the other hand, the target position G of the bucket cutting edge is indicated.

Then, if the angle (rake angle) formed by the direction (bucket movement direction) R of the line segment from the current position Q to the target position G and the direction S of the bucket bottom plate 23a is T, then this rake angle T is determined under the following conditions. By making a decision based on , the excavation resistance of the bucket 23 can be reduced.

That is, the bucket bottom plate 23a is determined so as not to interfere with the excavation trajectory P, and the rake angle T is determined to be a predetermined small value. Of course, if the bucket bottom plate 23a interferes with the excavation trajectory P when the rake angle T is set to a predetermined small value, the rake angle T is set to the smallest value within the range that does not interfere.

Once the rake angle T is determined, the direction S of the bucket bottom plate 23a with respect to the bucket moving direction R is determined.

Therefore, the rake angle T and the direction R uniquely determine the direction S1 of the bucket bottom plate 23a, that is, the attitude of the bucket 23. Therefore, while maintaining the bucket posture determined in this way, the bucket tip is moved to the target position G.
The boom, arm, and bucket actuators can be controlled to move the boom, arm, and bucket.

Next, the operation of this apparatus in the excavation control mode will be explained with reference to the flowchart shown in FIG.

When the operator presses the mode selection switch 16 provided on the master lever 10 (step 101), an instruction for the excavation control mode is given to the controller 34, and excavation control is started (step 102).
.

When the outputs of the potentiometers 14 and 15 of the master lever 10 are applied (step 1), the controller 34
03L The boom angle αr of the boom lever rod 11 and the arm angle β' of the arm lever rod 12 as shown in FIG. 4 are detected. In a coordinate system having the axis of the boom 21 as the origin as shown in FIG. 5, each of the above angles α1 and β1,
Each preset distance 1+ and l! corresponds to the length of each lever rod 11 and 12! 2, the target position G (X, Y) of the bucket cutting edge is determined (step 104).

Next, the controller 34 determines the boom angle α, arm angle β, and bucket angle r as shown in FIG. The inclination angle δ of the vehicle body is determined based on the direction of the inclinometer 35. Then, based on the above angles α, β, r, inclination angle a, and the lengths of the boom, arm, and bucket “I + L2 and L3, the current position Q (x, y
), step 105), this current position Q(X,
y) is stored in the storage device 36.

In step 106, the rake angle is appropriately set based on the excavation trajectory stored in the storage device 36 so that the bucket bottom plate has a small rake angle within a range that does not interfere with the excavation trajectory. Note that at the start of excavation, since the excavation locus is not stored in the storage device 36, the rake angle is set to a predetermined value.

Next, the controller 34 determines the bucket movement direction (the direction of the line segment QG) based on the target position G and current position Q determined above, and also determines the bucket posture when the bucket cutting edge reaches the target position G, i.e. The direction of the bucket bottom plate is determined based on the bucket movement direction and the set rake angle.

In addition, in FIG. 5, if the angle between the direction of the bucket bottom plate and the
−δ. .

In this way, when the bucket posture at the movement target position is determined, the bucket pin position is also uniquely determined, and the boom angle α and arm angle β for moving the bucket to the bucket pin position are determined. The bucket angle γ is also determined. The controller 34 determines the target boom angle α as described above.
1', arm angle β1' and bucket angle γr' are calculated (step 107). On the right, boom angle α1', arm angle β1', and bucket angle r''ttt O are calculated based on the bucket cutting edge position and bucket attitude after one second.

Next, the target angles αr/, βr/, , r/
The target flow rates Q+, Q2, and Qs to each cylinder are calculated based on the deviations between the current angles α, β, and γ. At this time, the sum of the flow rates to each cylinder Q (=Q++Qz+Q
The flow rate to be supplied to each cylinder is allocated so that 3) becomes the maximum flow rate (step 108).

Next, the controller 34 controls each of the above-mentioned pressure oil flow rates Ql, Q2.
1Q3, and send these signals to the bucket hydraulic circuit 31 and the arm hydraulic circuit 32.
, is transmitted to the boom hydraulic circuit 33 (step 109).

When each hydraulic circuit 31, 32, 33 receives each drive signal, it operates in response to each signal, and each cylinder 28, 29, 33 operates in response to each drive signal.
(H) Each pressure oil flow rate Qt, Q2, Qs is pumped. Therefore, each cylinder 28, 29.

30 expands and contracts in response to the respective pressure oil flow rates Ql, Q2, and Qs (step 110). That is, the bucket 23 moves to the target position specified by the operator with the bottom plate 23a in a position that does not interfere with the excavated ground and with the rake angle minimized.

Then, when the bucket angle α, arm angle β, and bucket angle r change (step 111), the above process is executed again based on the changed angles and the target position G of the cutting edge.
This process is repeated at every 0.1 second interval.

In this way, the operator can simply operate the master lever 10 without causing the bucket bottom plate 23a to interfere with the excavation path and with the rake angle of the bucket 23 minimized.
That is, the bucket can be moved to the target position with the bucket in the most efficient posture.

〔Effect of the invention〕

As explained above, according to the present invention, the bucket is controlled differently during excavation and non-excavation using the master-slave system, and in particular, during excavation, the bucket can be controlled in the most efficient manner by simply instructing the target position of the bucket cutting edge using the master lever. It can be moved in any posture and is extremely easy to operate.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of a control device for a master-slave type power shovel according to the present invention, FIG. 2 is a diagram showing the excavation locus of a bucket, etc. used to explain the present invention in principle, and FIG. A flowchart showing a control operation according to an embodiment of the present invention, FIGS. 4 and 5 are diagrams used to explain the instruction of the target position of the bucket cutting edge, and FIG. 6 is a diagram showing a conventional power shovel bucket for excavating FIG. 3 is a diagram used to explain a malfunction in operation. IO...Master lever, 11...Boom lever rod,
12... Arm lever rod, 13... Grip, 14
゜15... Potentiometer, 16... Mode selection switch, 21... Boom, 22... Arm, 23...
...Bucket, 25, 26.27... Potentiometer, 28... Boom cylinder, 29... Arm cylinder, 30... Bucket cylinder, 31... Boom hydraulic circuit, 32... Arm hydraulic circuit, 33. ... Bucket hydraulic circuit, 34 ... Controller, 35 ... Inclinometer, 3
6...Storage device.
, - Applicant's agent Takahisa Kimura Figure 4 Figure 5 (Q) Figure 6 (b)

Claims (1)

[Scope of Claims] A master lever corresponding to a boom and an arm of a power shovel; a first target angle command means for commanding target angles of a boom angle and an arm angle based on the operating position of the master lever; A bucket command means for commanding a rotation angle or a rotation speed; and a first calculation means for determining a bucket pin position based on a command value of the first target angle command means and outputting this as a target position of the bucket cutting edge. and angle detection means for detecting the boom angle, arm angle, and bucket angle of the power shovel, respectively, a second calculation means for calculating the current position of the bucket cutting edge based on the detected value of the angle detection means, and this second calculation means.
storage means for storing the trajectory of the bucket cutting edge based on the current position of the bucket cutting edge determined by the calculation means; first direction detection means for detecting the direction of the bucket bottom plate based on the detected value of the angle detection means; a second direction detecting means for detecting a bucket moving direction based on the current position of the bucket cutting edge obtained by the second calculating means and the target position of the bucket cutting edge obtained by the first calculating means; rake angle setting means for setting a rake angle between the direction of the bucket bottom plate detected by the second direction detection means and the bucket moving direction to a minute angle within a range that does not cause the bucket bottom plate to collide with the stored trajectory; boom angle, arm angle, and bucket when the bucket posture is determined by the bucket moving direction detected by the direction detection means 2 and the rake angle set by the rake angle setting means, and the bucket cutting edge coincides with the target position; a second target angle command means for commanding a corner as the target angle; a mode selection means for selecting either the non-excavation control mode or the excavation control mode; and the mode selection means selects the non-excavation control mode. a first command output means for outputting a rotation command for the boom, arm, and bucket based on the command value of the first target angle command means, the bucket command means, and the detected value of the angle detection means; When the mode selection means selects the excavation control mode, a second target angle command means outputs rotation commands for the boom, arm, and bucket based on a command value of the second target angle command means and a detected value of the angle detection means. A control device for a master-slave type power shovel, comprising: a command output means; and a drive means for controlling rotation of a boom, an arm, and a bucket, respectively, based on outputs of the first and second command output means.