CN1210570A - Controller of construction machine - Google Patents
Controller of construction machine Download PDFInfo
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- CN1210570A CN1210570A CN97191997A CN97191997A CN1210570A CN 1210570 A CN1210570 A CN 1210570A CN 97191997 A CN97191997 A CN 97191997A CN 97191997 A CN97191997 A CN 97191997A CN 1210570 A CN1210570 A CN 1210570A
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- bucket
- information
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- control
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A controller of a construction machine such as a hydraulic shovel which digs the ground has an angle detecting means (20-22) for detecting the posture of an articulated arm mechanism in terms of angle information, a converting means (26) which converts the detected angle information into expansion/contraction displacement information of a corresponding cylinder actuator (120-122) and a control means (1) which controls the actuator (120-122) to have the required expansion/contraction displacement in accordance with the obtained expansion/contraction displacement information. Thus the position and posture of a working member (400) can be accurately and stably controlled while the cost is kept low.
Description
The present invention relates to a kind of construction machinery, as the hydraulic crawler excavator that is used for cutting the earth, more particularly, relate to a kind of control appliance that is used for described type construction machinery.
The construction machinery that resembles hydraulic crawler excavator and so on has a kind of structure, wherein, for example schematically illustrate as Figure 12, it comprises: a top turning unit 100 has a drivers' cab (driver's cabin) 600 and is provided on the lower running body 500 that has crawler belt spare 500A; And an articulated type arm mechanism is provided on the top turning unit 100, comprises a pivoted arm 200, a bar 300 and a bucket 400.
And, stretch/condense the information of moving according to the pivoted arm 200 that for example obtains, bar 300 and bucket 400 by stroke sensor 210,220 and 230, can suitably drive pivoted arm 200, bar 300 and bucket 400 respectively by hydraulic cylinder 120,121 and 122, when the posture of direction of advance that keeps bucket or bucket 400 is fixing, carrying out dredge operation, thus can be accurately and stably carry out the position and the ability of posture control of the work package of bucket 400 and so on.
Yet a kind of so above-mentioned conventional hydraulic crawler excavator has a problem, is that it needs higher cost on the whole because be used for detecting pivoted arm 200, bar 300 and bucket 400 to stretch/condense the stroke sensor 210,220 and 230 that moves relatively more expensive.
In view of above-mentioned a kind of like this problem has formed the present invention, and one object of the present invention is to provide a kind of control appliance that is used for construction machinery, by this control appliance when reducing cost, can be accurately and stably control the position and the posture of work package.
For this purpose, a kind of control appliance that is used for construction machinery of the present invention is characterised in that it comprises: a construction machinery body; An articulated type arm mechanism, one end thereof are installed on the construction machinery body so that be pivotable, and distolaterally have a work package its another, and this articulated type arm mechanism comprises the arm spare that at least one pair of connects with a hinge portion that places therebetween each other; A cylinder type execution device has and a plurality ofly is used for stretching/contract the cylinder type actuator of operation with actuating arm mechanism; Angle detection device is used for posture with angle information detection arm mechanism; Conversion equipment, be used for the angle information that obtains by angle detection device convert to cylinder type actuator corresponding stretching/information of moving condenses; And control device, be used for according to the cylinder type actuator that is converted to by conversion equipment stretch/contract information, master cylinder type actuator, thus cylinder type actuator can realize being scheduled to stretch/condense and move.
This articulated type arm mechanism can comprise: a pivoted arm is connected on the construction machinery body so that be pivotable at the one end; And a bar, be connected on the pivoted arm to place hinge portion therebetween at the one end; And work package can form a bucket, and this bucket places therebetween hinge portion to be connected on the bar so that be pivotable at the one end with one, and terminally can cut the earth and can adorn soil and sand therein at it.
Cylinder type execution device can comprise: a boom hydraulic cylinder places between construction machinery body and the pivoted arm, so that rotate pivoted arm by the distance between flexible its end with respect to the construction machinery body; A bar hydraulic cylinder places between pivoted arm and the bar, so as by the distance between flexible its end with respect to the pivoted arm swingle; And a bucket hydraulic cylinder, be inserted between bar and the bucket, so that rotate bucket with respect to bar by the distance between flexible its end.
And angle detection device can comprise: one first angular transducer is used for detecting the posture of pivoted arm; One second angular transducer is used for the posture of test rod; Reach a third angle degree sensor, be used for detecting the posture of bucket.
Simultaneously, conversion equipment can comprise: arithmetic unit, be used for according to the angle information that obtains by angle detection device, and determine that by calculating cylinder type actuator stretches/condense the information of moving corresponding to angle information; Perhaps can comprise: storage device is used for storage cylinder type actuator and stretches/condense the information of moving corresponding to the angle information that is obtained by angle detection device.
And, can build conversion equipment, so that stretch/condense the information of moving to what the angle information that is obtained by first angular transducer converted boom hydraulic cylinder to, stretch/condense the information of moving to what the angle information that is obtained by second angular transducer converted the bar hydraulic cylinder to, and stretch/condense the information of moving to what the angle information that is obtained by third angle degree sensor converted the bucket hydraulic cylinder to.
Be used for control appliance construction machinery, that have above-mentioned a kind of like this structure of the present invention, the angle information that detects by above-mentioned angle detection device convert to by conversion equipment actuating arm mechanism cylinder type actuator stretch/condense the information of moving, and be input to control device, even stretch/condense the expensive stroke sensor that moves without what be used for detecting each actuator in the prior art, also can carry out adopt used actuator in the classical control system stretch/condense the control that moves.Thereby, when reducing cost, can provide a kind of and can accurately and stablize the system that controls work package position and posture.
Fig. 1 is the schematic diagram that is equipped with on it according to the hydraulic crawler excavator of a kind of control appliance of the embodiment of the invention;
Fig. 2 schematically represents according to the ordinary construction of the control appliance of the embodiment of the invention (electrical system and hydraulic system);
Fig. 3 schematically represents the control system structure according to the control appliance of the embodiment of the invention;
Fig. 4 is a block diagram, is used for explaining the functional configuration according to the control appliance of the embodiment of the invention;
Fig. 5 is the control block diagram according to the essential part of the control appliance of the embodiment of the invention;
Fig. 6 is a lateral view, schematically represent according to the hydraulic crawler excavator of present embodiment operation part (articulated type arm mechanism and bucket);
Fig. 7 is a lateral view, schematically represents hydraulic crawler excavator, so that explain the operation according to the hydraulic crawler excavator of present embodiment;
Fig. 8 is a lateral view, schematically represents hydraulic crawler excavator, so that explain the operation according to the hydraulic crawler excavator of present embodiment;
Fig. 9 is a lateral view, schematically represents hydraulic crawler excavator, so that explain the operation according to the hydraulic crawler excavator of present embodiment;
Figure 10 is a lateral view, schematically represents hydraulic crawler excavator, so that explain the operation according to the hydraulic crawler excavator of present embodiment;
Figure 11 is a lateral view, schematically represents hydraulic crawler excavator, so that explain the operation according to the hydraulic crawler excavator of present embodiment;
Figure 12 is a lateral view, schematically represents a kind of ordinary construction of conventional hydraulic crawler excavator.
As follows, describe one embodiment of the present of invention with reference to the accompanying drawings.
Comprise according to originally executing a kind of hydraulic crawler excavator of example in fact as construction machinery, for example as among Fig. 1 schematically shown in, a top turning unit (construction machinery body) 100, top turning unit 100 has gyration in a drivers' cab 600 and the horizontal plane on a lower running unit 500, and lower running unit 500 has at its left side and right crawler belt spare 500A.
An one end connects so that the pivoted arm (arm spare) 200 of oscillating motion is provided on the top turning unit 100, and an one end connects so that the bar (arm spare) 300 of oscillating motion is provided on the pivoted arm 200 by hinge portion.
A bucket (work package) 400 is provided on the bar 300, and bucket 400 one ends connect by hinge portion so that oscillating motion, and can terminally cut the earth and adorn native and husky therein with it.
By this way, an articulated type arm mechanism comprises pivoted arm 200, bar 300 and bucket 400, this articulated type arm mechanism one end thereof is installed on the top turning unit 100 so that rotatablely move, and distolaterally have a bucket 400, and also have at least as a pair of pivoted arm 200 and bar 300 by hinge portion arm spare connected to one another its another.
And, provide the boom hydraulic cylinder 120 as cylinder type actuator, a bar hydraulic cylinder 121 and a bucket hydraulic cylinder 122 (in the following description, boom hydraulic cylinder 120 can be called pivoted arm cylinder 120 or only be called cylinder 120, bar hydraulic cylinder 121 can be called bar cylinder 121 or only be called cylinder 121, and bucket hydraulic cylinder 122 can be called bucket cylinder 122 or only be called cylinder 122).
Here, boom hydraulic cylinder 120 is connected on the top turning unit 100 so that oscillating motion at the one end, and its other end is connected on the pivoted arm 200 so that oscillating motion, perhaps in other words, boom hydraulic cylinder 120 places between top turning unit 100 and the pivoted arm 200, thereby when the distance between the opposed end was stretched or contracted, pivoted arm 200 can be with respect to 100 swings of top turning unit.
Bar hydraulic cylinder 121 one ends are connected on the pivoted arm 200 so that oscillating motion, and its other end is connected on the bar 300 so that oscillating motion, perhaps in other words, bar hydraulic cylinder 121 places between pivoted arm 200 and the bar 300, thereby when the distance between the opposed end was stretched or contracted, bar 300 can be with respect to pivoted arm 200 swings.
Bucket hydraulic cylinder 122 one ends are connected on the bar 300 so that oscillating motion, and its other end is connected on the bucket 400 so that oscillating motion, perhaps in other words, bucket hydraulic cylinder 122 places between bar 300 and the bucket 400, thereby when the distance between its opposed end was stretched or contracted, bucket 400 can be with respect to bar 300 swings.Notice that a connecting rod 130 is provided at a free end of bucket hydraulic cylinder 122.
By this way, a kind of cylinder type execution device that has a plurality of cylinder type actuators of operating actuating arm mechanism by stretching is made up of above-mentioned cylinder 120 to 122.
Note, although not expression in the drawings also provides the hydraulic motor that is used for driving a left side and right-hand track chiain spare 500A and one to be used for driving top turning unit 100 rotating rotary motors.
In addition, as shown in Figure 2, above-mentioned hydraulic crawler excavator comprises a hydraulic circuit that is used for above-mentioned cylinder 120 to 122, hydraulic motor and rotary motor, and except that the change discharge capacity type pump 51 and 52 that drives by motor E, in this hydraulic circuit, also be furnished with 14, bucket main control valves of 13, bar main control valves of a pivoted arm main control valve (control valve) (control valve) (control valve) 15 or the like as Diesel engine and so on.
Note to become discharge capacity type pump 51 and 52 each all so build so that its inclination angle is by 27 controls of an engine pump controller that will be described below, thereby can change the discharge capacity of working oil to hydraulic circuit.And, in Fig. 2 the interconnection two elements every line be the place of solid line, just represent that this line is an electrical system, but the interconnection two elements every line be the place of dotted line, just represent that this line is a hydraulic system.
And, in order to control main control valve 13,14 and 15, provide guide's hydraulic circuit, and a pioneer pump 50, electromagnetic proportional valve 3A, 3B and 3C, electromagnetism directional control valve 4A, 4B and 4C, selector valve 18A, 18B and 18C or the like of being driven by motor E are arranged in this guide's hydraulic circuit.
In hydraulic crawler excavator of the present invention, a controller (control device) 1 is provided, be used for through electromagnetic proportional valve 3A, 3B and 3C control main control valve 13,14 and 15, thereby with should be so controlled according to a kind of wherein pivoted arm 200, bar 300 and bucket 400 they have the pattern of desirable stretching/condense and move, control pivoted arm 200, bar 300 and bucket 400.Notice that controller 1 comprises the memory of microprocessor, ROM and a RAM and so on, suitable input/output interface or the like.
Signal (comprising signalization) from each sensor is input to controller 1, and controller 1 is according to carrying out above-mentioned control from the detection signal of sensor.Note utilizing this control of controller 1 to be called semiautomatic control, even and during the excavation under semiautomatic control (semi-automatic mining mode), also can manually realize the fine setting of bucket angle and target bevel altitude.
As a kind of above-mentioned the sort of semiautomatic control pattern (semi-automatic mining mode), a kind of bucket angle control model (with reference to Fig. 7), a kind of inclined-plane mining mode (terminal straight line mining mode of bucket or raking pattern) (with reference to Fig. 8), the smooth pattern (with reference to Fig. 9) as inclined-plane mining mode and the combination of bucket angle control model, automatic backtrack mode of a kind of bucket angle (backtrack mode automatically) (with reference to Figure 10) or the like are available.
Here, bucket angle control model is a kind of like this pattern, even wherein bar 300 and pivoted arm 200 motions, bucket 400 also always keeps constant with respect to the angle (bucket angle) of horizontal direction (vertical direction), as shown in Figure 7, if and bucket angle gauge tap on the following control panel 10 is carried out this pattern when connecting.Note when manual movement bucket 400, cancelling this pattern, and the bucket angle in the moment when stopping bucket 400 is stored as new bucket maintenance angle.
The inclined-plane mining mode is a kind of like this pattern, the end 112 of bucket 400 (can be called bucket end 112 sometimes) rectilinear motion wherein, as shown in Figure 8.Yet bucket cylinder 122 does not move.And bucket angle φ changes with bucket 400 motions.
Inclined-plane mining mode+bucket angle control model is a kind of like this pattern, end 112 rectilinear motions of bucket 400 wherein, and bucket angle φ also keeps constant during excavating, as shown in Figure 9.
The automatic backtrack mode of bucket is a kind of like this pattern, and wherein the bucket angle is returned the angle that sets in advance automatically, as shown in Figure 10, and returns the bucket angle by control panel 10 settings.When a bucket on connecting pivoted arm/bucket control stick 6 returns starting switch 7 automatically, start this pattern.The moment when bucket 400 returns the angle that sets in advance is cancelled this pattern.
Here, when a semiautomatic control switch of connecting on the control panel 10, and an inclined-plane of connecting on the lever operation bar 8 excavates switch 9, and when making lever operation bar 8 and pivoted arm/bucket control stick 6 both or any motion in addition, enters above-mentioned inclined-plane mining mode peace integral pattern.Notice that the target bevel angle is by the switching manipulation setting on the control panel 10.
And in inclined-plane mining mode peace integral pattern, the operational ton of lever operation bar 8 provides the bucket on the target bevel angle parallel direction terminal movement velocity, and the operational ton of pivoted arm/bucket control stick 6 provides the bucket of vertical direction terminal movement velocity.Thereby, if moving lever control stick 8, its rectilinear motions of the end 112 of bucket 400 beginning so along the target bevel angle, and during excavating, can carry out fine setting by manually operated target bevel altitude by motion pivoted arm/bucket control stick 6.
In addition, in inclined-plane mining mode peace integral pattern,, can not only finely tune the bucket angle during the excavation, and can change the target bevel altitude by operation pivoted arm/bucket control stick 6.
Attention is in native system, and manual mode also is possible, and in this manual mode, the operation that not only is equivalent to conventional hydraulic crawler excavator is possible, and the indication of the coordinate of the end 112 of bucket 400 also is possible.
Also prepared a kind of maintenance mode that is used for carrying out the maintenance of whole automanual system, and this maintenance mode by being connected on the controller 1, is realized an exterior terminal 2.And,, carry out the adjusting of ride gain, initialization of various sensors or the like by this maintenance mode.
In addition, as the various sensors that are connected on the controller 1, as shown in Figure 2, pressure switch 16, pressure sensor 19,28A and 28B, 20 to 22, inclination of vehicle angular transducers 24 of phase-splitter (angular transducer) or the like are provided.And, be connected to having on the controller 1: engine pump controller 27, on-off switch (above-mentioned bucket returns starting switch automatically) 7, another on-off switch (above-mentioned inclined-plane excavates switch) 9, have the control panel (display switch plate) 10 that a target bevel angle is provided with the unit.Attention is connected to exterior terminal 2 on the controller 1 when ride gain adjusting, sensor initializing or the like.
What pressure sensor 28A and 28B detected pivoted arm cylinder 120 and bar cylinder 121 stretches/contracts state.
Note, when above-mentioned semiautomatic control, lever operation bar 8 is used for determining the terminal movement velocity of bucket set on the parallel direction of excavating the inclined-plane with respect to one, and pivoted arm/bucket control stick 6 is used for determining with respect to the end of the bucket on the vertical direction on this settings inclined-plane movement velocity.Thereby, when while action bars control stick 8 and pivoted arm/bucket control stick 6,, determine the direction of motion and the movement velocity of the end 112 of bucket 400 by in a composite vector with respect to the parallel and vertical direction that the inclined-plane is set.
Phase-splitter 20 is provided at the rotation mounting portion (hinge portion) of the pivoted arm 200 on the construction machinery body 100 and locates, and can monitor the posture of pivoted arm 200 herein, and phase-splitter 20 works to be used for to detect one first angular transducer of the posture of pivoted arm 200.Phase-splitter 21 is provided at the rotation mounting portion (hinge portion) of pivoted arm 200 upper booms 300 and locates, and can monitor the posture of bar 300 herein, and phase-splitter 21 works to be used for one second angular transducer of posture of test rod 300.And phase-splitter 22 is provided at connecting rod rotation installation portion office, can monitor the posture of bucket 400 herein, and phase-splitter 22 works to be used for to detect a third angle degree sensor of the posture of bucket 400.By these phase-splitters 20 to 22, composition is used for the angle detection device of the posture of angle information detection arm mechanism.
The information of moving is stretched/condensed to a signal adapter (conversion equipment) 26 to what the angle informations that obtained by phase-splitter 20 converted pivoted arm cylinder 120 to, stretch/condense the information of moving to what the angle information that is obtained by phase-splitter 21 converted bar cylinder 121 to, and stretch/condense the information of moving to what the angle information that is obtained by phase-splitter 22 converted bucket cylinder 122 to, promptly the angle information that obtains by phase-splitter 20 to 22 convert to cylinder 120 to 122 corresponding stretching/information of moving condenses.
For this reason, signal adapter 26 comprises: an input interface 26A is used for from phase-splitter 20 to 22 received signals; A memory (storage device) 26B wherein keeps one to be used for the look-up table 26B-1 that stretch/condense move information of storage cylinder 120 to 122 corresponding to the angle information that is obtained by phase-splitter 20 to 22; A main arithmetic element (CPU) 26C, can calculate cylinder 120 to 122 corresponding to the angle information that obtains by phase-splitter 20 to 22 stretch/condense the information of moving, and the information of moving is stretched/condensed to the cylinder of communicating by letter with controller 1; And an output interface 26D, the information of moving is stretched/condensed to the cylinder that is used for sending out autonomous arithmetic element (CPU) 26C.
In addition, utilize the cosine law can calculate cylinder 120 to 122 stretching/condensing and move information λ bm, λ st and λ bk corresponding to the angle information θ bm, the θ st that obtain by phase-splitter 20 to 22 and θ bk according to following expression (1) to (3):
λbm=(L
101/102 2+L
101/111 2-2L
101/102·L
101/111cos(θbm+Axbm))
1/2
…(1)
λst=(L
103/104 2+L
104/105 2-2L
103/104·L
104/105cosθst)
1/2 …(2)
λbk=(L
106/107 2+L
107/109 2-2L
106/107·L
107/109cosθst)
1/2 …(2)
Here, in above expression formula (1) in (3), L
I/jRepresent regular length, Axbm represents fixed angle, and the subscript of L has the information between node i and the j.For example, L
101/102Distance between representation node 101 and the node 102.Note node 101 is defined as the initial point (with reference to Fig. 6) of xy coordinate system.
Nature when obtaining angle information θ bm, θ st and θ bk by phase-splitter 20 to 22, just can pass through arithmetic unit (for example, CPU 26C) and calculate above expression formula.In this example, CPU26C forms arithmetic unit, and this arithmetic unit is according to obtaining angle information by phase-splitter 20 to 22, calculates cylinder 120 to 122 and stretches/condense the information of moving corresponding to angle information.
FEEDBACK CONTROL when attention is of use not only in semiautomatic control by the signal that is converted to by signal adapter 26, and be used for measuring the coordinate of the measurement/indication of the position that is used for bucket end 112.
Certain of hydraulic crawler excavator top turning unit 100 a bit as initial point, is calculated the position (this position hereinafter can be called bucket terminal position 112) of bucket end 112 in the automanual system.Yet, when top turning unit 100 when the front rod direction tilts, must rotate the angle of the unified inclination of vehicle of coordinate system that is used to control calculating.Inclination of vehicle angular transducer 24 is used for coordinate system is done the correction of coordinate system amount of spin.
Although electromagnetic proportional valve 3A to 3C responds the signal of telecommunication of self-controller 1, the hydraulic pressure that control is supplied with from pioneer pump 50, and controlled hydraulic pressure is by control valve 4A to 4C or selector valve 18A to 18C, so that act on main control valve 13,14 and 15, spool position with control main control valve 13,14 and 15, thereby can obtain target cylinder speed, if control valve 4A to 4C is set to the manual mode side, so manually master cylinder 120 to 122.
Note the afflux ratio of a bar afflux control ratio valve two pumps 51 of 11 adjustings and 52, so that obtain oil mass corresponding to target cylinder speed.
And above-mentioned on-off switch (inclined-plane excavation switch) 9 is installed on the lever operation bar 8, and when operator's console switch 9, selects or do not select semi-automatic pattern.Then, if selected semi-automatic pattern, the end 112 of motion bucket 400 so point-blank.
In addition, above-mentioned on-off switch (bucket returns starting switch automatically) 7 is installed on pivoted arm/bucket control stick 6, and when the operator connected switch 7, bucket 400 can return the angle that sets in advance automatically.
Provide safety valve 5 to supply to the pilot pressure of electromagnetic proportional valve 3A to 3C, and and if only if safety valve 5 when being in logical state, pilot pressure just supply to electromagnetic proportional valve 3A to 3C with switching.Thereby, when certain fault taking place in semiautomatic control or,, can stopping the automatic control of connecting rod rapidly by safety valve 5 is switched to disconnected state in analogue following time.
The rotary speed of motor E is different according to the position [this position being set by operation throttle dial (not shown)] of the engine throttle that is provided with by the operator, and even engine throttle is fixed, engine rotational speed also becomes with load.Because pump 50,51 and 52 directly is connected on the motor E, if so engine rotational speed changes, pump delivery also changes so, therefore, even fixedly main control valve 13,14 and 15 spool position, cylinder speed also changes with the variation of engine rotational speed.In order to correct this problem, engine rotational speed sensor 23 has been installed, and when engine rotational speed is low, has been provided with the target speed of bucket end 112 lowlyer.
Have control panel 10 (can be called " control panel 10 " sometimes simply) that a target bevel angle is provided with the unit and not only be used for the unit that is provided with that target bevel angle α (with reference to Fig. 6 and 11) and bucket return angle as one, and with the indicator of the distance between the coordinate that acts on bucket end 112, the bevel angle that measures or tested two point coordinates.Notice that control panel 10 and control stick 6 and 8 are provided in the drivers' cab 600 together.
Specifically, in system according to present embodiment, pressure sensor 19 and pressure switch 16 are included in conventional guide's fluid pressure line, to detect the operational ton of control stick 6 and 8, and utilize phase- splitter 20,21 and 22 to realize FEEDBACK CONTROL, can independently realize the multiple degrees of freedom FEEDBACK CONTROL for each of cylinder 120,121 and 122 simultaneously.Therefore, eliminated the requirement of adding the oily unit of pressure-compensated valve and so on.And, utilize inclination of vehicle angular transducer 24 to proofread and correct the obliquity effects of top turning units 100, and use electromagnetic proportional valve 3A to 3C in order to be used for the signal of telecommunication driving cylinder 120,121 and 122 of self-controller 1.Note the artificially manual/a kind of pattern of semi-automatic pattern alteration switch 9 selections of land productivity of operator, and in addition a target bevel angle can be set.
As follows, the control computing of the automanual system that is undertaken by controller 1 is described.The control computing of the semi-automatic pattern (except that the automatic backtrack mode of bucket) that is realized by controller 1 basically as shown in Figure 4.
Specifically, angle is set, is used for the information of guide's hydraulic pressure, inclination of vehicle angle and engine rotational speed of control lever cylinder 121 and pivoted arm cylinder 120, at first calculate the movement velocity and the direction of bucket end 122 by the target inclined-plane.Then, calculate the target velocity of hydraulic cylinder 120,121 and 122 according to computing information (movement velocity of bucket end 112 and the direction of motion).In this example, the information that needs engine rotational speed is to determine the upper limit of cylinder speed.
And controller 1 comprises, shown in Fig. 3 and 4, and control section 1A, the 1B and the 1C that provide independently of one another for cylinder 120,121 and 122, and control section is constructed to independently controls feedback control loop, as shown in Figure 4, thereby they can be not interfering with each other.
The essential part of the control appliance of present embodiment is described here.Compensation in closed-loop control shown in Figure 4 is configured in each of control section 1A, 1B and 1C, have a kind of comprising, and comprise feedback control loop type compensation arrangement 72 that has a variable ride gain (controlling parameter) and the feedforward loop circuit type compensation arrangement 73 that has a variable ride gain (controlling parameter) about a feedback control loop of displacement shown in Figure 5 and speed and the multiple degrees of freedom structure of a feedforward loop circuit.
Specifically, if provide a target velocity, the process of being undertaken according to following path so by feedback control loop type compensation arrangement 72: a path, wherein the deviation between target velocity and the speed feedback information multiply by a predetermined gain Kvp (with reference to label 62); Another path, wherein target velocity is integrated once (with reference to the integral element 61 of Fig. 5), and the deviation between target velocity integration information and the Displacement Feedback information multiply by a predetermined gain Kpp (with reference to label 63); And another path, wherein the deviation between target velocity integration information and the Displacement Feedback information multiply by a predetermined gain Kpi (with reference to label 64), and by further integration (with reference to label 66); And carry out a process by a path by feedforward loop circuit type compensation arrangement 73, target velocity multiply by a predetermined gain Kf (with reference to label 65) in this path.
In above-mentioned process, the feedback control loop process is described in more detail.This equipment comprises, as shown in Figure 5, be used for detecting the operation information checkout gear 91 of the operation information of cylinder 120 to 122, and the object run information that controller 1 receives the detection information and is set to the information of importing by desired value setting device 80 from operation information checkout gear 91 (for example, target speed), and be provided with and the output control signal, thereby the arm spare of pivoted arm 200 and bucket (work package) 400 and so on can present target operational state.And operation information checkout gear 91 can detect the cylinder position checkout gear 83 of the position of cylinder 120 to 122 specifically, and in the present embodiment, cylinder position checkout gear 83 is made up of phase-splitter 20 to 22 and above-mentioned signal adapter 26.
The value of noting gain Kvp, Kpp, Kpi and Kf can be changed by a gain procedure device 70.
And, provide a non-linear removal table 71 to remove the non-linear nature of electromagnetic proportional valve 3A to 3C, main control valve 13,14 and 15 or the like, by the computer that uses a kind of table lookup technique wherein to use the process of non-linear removal table 71 at a high speed.
When semi-automatically carrying out a kind of like this inclined-plane dredge operation of target bevel angle α shown in Figure 11 with the hydraulic crawler excavator with above-mentioned structure, in the system of present embodiment, different with the conventional system of manual control, an electro-hydraulic system of the resultant motion amount by regulating pivoted arm 200 and bar 300 automatically according to excavation speed can be realized those above-mentioned semiautomatic control functions.
Specifically, detection signal (configuration information that comprises a target bevel angle) is input to the controller 1 that is installed on the hydraulic crawler excavator from each sensor, and controller 1 is according to the detection signal (detection signal that comprises the phase-splitter 20 to 22 that receives through signal adapter 26) from sensor, by electromagnetic proportional valve 3A, 3B and 3C control main control valve 13,14 and 15, to realize such control, thereby make pivoted arm 200, bar 300 and bucket 400 can present stretching/condense and moving of hope, to realize above-mentioned this semiautomatic control.
Then, when semiautomatic control, the information of guide's hydraulic pressure, inclination of vehicle angle and the engine rotational speed of angle, control lever cylinder 121 and pivoted arm cylinder 120 is set by the target inclined-plane, calculate the movement velocity and the direction of bucket end 112, and according to the target velocity of this information calculations cylinder 120,121 and 122.In this example,, need the information of engine rotational speed when determining going up in limited time of cylinder speed.And, carry out all control as the feedback control loop independently of one another that is used for cylinder 120,121 and 122, and all control non-interference.
Note, by a kind of method, a kind of two point coordinates input methods or a kind of input method of utilizing the bucket angle based on the numerical value input that utilizes the switch on the control panel 10, can carry out the setting of the target bevel angle in the automanual system, and similarly, by method or a kind of method, carry out the setting that bucket in the automanual system returns angle based on the bucket motion based on the numerical value input that utilizes the switch on the control panel 10.For all these, use known technology.
And, as follows, stretch/condense the information of moving according to the cylinder that obtains by the angle information that detects by phase-splitter 20 to 22 by signal adapter 26 conversions, realize above-mentioned semiautomatic control pattern and control method.
At first, in bucket angle control model, the length of control bucket cylinder 122, thus make angle (bucket angle) φ that is defined between bucket 400 and the x axle can be fixed on each any position.In this example,, then determine bucket cylinder length lambda bk if determine pivoted arm cylinder length lambda bm, bar cylinder length lambda st and above-mentioned angle φ.
In smooth pattern, owing to bucket angle φ is maintained fixed, so bucket terminal position 112 and node 108 parallel motions.At first, consider that wherein node 108 is parallel to the situation (level excavation) that the x axle moves.
Specifically, in this example, the coordinate of the node 108 when beginning to excavate in the connecting rod posture (x
108, y
108) expression, and calculate the cylinder length of the pivoted arm cylinder 120 in the connecting rod posture and bar cylinder 121 in this example, and calculate the speed of pivoted arm 200 and bar 300, thus x
108Can horizontal movement.The movement velocity of attention node 108 depends on the operational ton of lever operation bar 8.
On the other hand, in the parallel motion occasion of considering node 108, the coordinate of node 108 (x after very short time Δ t
108+ Δ x, y
108) expression, Δ x is a very little displacement of depending on movement velocity.Thereby, by Δ x is considered x
108In, can calculate the target length of pivoted arm and bar cylinder after the Δ t.
In the inclined-plane mining mode, can be similar to the control in the smooth pattern.Yet the point of motion changes to bucket terminal position 112 from node 108, and control considers that bucket cylinder length fixes.
And, when proofreading and correct final angle of inclination, at its initial point the calculating of carrying out the front rod position on the xy coordinate system of node 101 of Fig. 6 by inclination of vehicle angular transducer 24.Thereby if car body with respect to the xy plane inclination, rotates the xy coordinate so, and change is with respect to the target angle of inclination on ground.In order to correct this problem, inclination of vehicle angular transducer 24 is installed on the vehicle, and when being detected car body by inclination of vehicle angular transducer 24 and rotate β with respect to the xy plane, target song rake angle should replace it and proofreaies and correct with β being added to the value that obtains on it.
As follows by preventing of degenerating of 23 pairs of control accuracies of engine rotational speed sensor.Specifically, with regard to the correction of target bucket tip speed, target bucket tip speed depends on the position and the engine rotational speed of lever operation bar 8 and pivoted arm/bucket control stick 6.Simultaneously, owing to hydraulic pump 51 and 52 directly is connected on the motor E, so when engine rotational speed was low, pump delivery was less and cylinder speed is also lower.Therefore, the detection of engine velocity of rotation, and calculate target bucket tip speed, so that consistent with the variation of pump delivery.
Simultaneously, with regard to the peaked correction of target cylinder speed, consider that target cylinder speed is changed by the posture of connecting rod and angle of inclination, target inclined-plane, and consider when pump delivery and reduce with engine rotational speed and when reducing, also must reduce vat speed, proofread and correct.Note,, so just reduce target bucket tip speed, thereby make target cylinder speed can not surpass vat speed if target cylinder speed surpasses its vat speed.
Though more than described various control models and control method, they all adopt and a kind ofly stretch/condense the information of moving based on cylinder and realize their technology, and are well-known according to the control content of this technology.Specifically, in system, because by phase-splitter 20 to 22 detection angles information, and by signal adapter 26 angle information is converted to cylinder then and stretch/condense the information of moving, so can use known technology for later processing according to present embodiment.
Though in system according to the present invention, carry out various controls by controller 1, but because the angle information signal that is detected by phase-splitter 20 to 22 converts the cylinder displacement information to by signal adapter 26, and be input to controller 1 then, even so do not use each cylinder of being used for detecting pivoted arm 200, bar 300 and bucket 400 in the prior art stretch/condense the expensive stroke sensor that moves, also can carry out and wherein use cylinder used in the classical control system to stretch/condense the control that moves.Therefore, although reduced cost, also can provide can be accurately and stably control the position of bucket cylinder 400 and a system of posture.
And because feedback control loop is independent of each other for cylinder 120,121 and 122, and control algolithm is the multiple degrees of freedom control of displacement, speed and feedforward, so can simplified control system.And, because can be with linear the non-linear conversion of hydraulic test at a high speed, so native system also helps the raising of control accuracy by a kind of table lookup technique.
In addition, owing to descend by proofread and correct the influence of inclination of vehicle or read in engine rotational speed, proofread and correct the control accuracy that causes by engine throttle position and load variations by inclination of vehicle angular transducer 24, so native system helps the realization of more accurate control.
And, also owing to utilizing exterior terminal 2 can carry out the maintenance of gain-adjusted and so on, so can also easier advantage such as adjusted grade.In addition, owing to utilize pressure sensor 19 or the like to determine the operational ton of control stick 7 and 8 according to the variation of pilot pressure, and in addition in statu quo use the conventional meta valve hydraulic system of opening, so the advantage that does not need to add pressure-compensated valve etc. is arranged, and can show the terminal coordinate of bucket in real time having on the control panel 10 that a target bevel angle is provided with the unit.And, owing to adopt the structure of safety valve 5, the pathological system operation in the time of can also preventing system exception.
Note, the present invention is used for hydraulic crawler excavator, the invention is not restricted to this although described in the above-described embodiments.The present invention can be used for the construction machinery of tractor, loader or bulldozer and so on similarly, as long as construction machinery has the articulated type arm mechanism by cylinder type actuator driven, and in any construction machinery, can obtain above-mentioned similar effect.
And the invention is not restricted to the embodiments described, and can realize with various improved forms, and do not break away from spirit of the present invention.
As mentioned above, according to a kind of control appliance that is used for construction machinery of the present invention, because by carrying out the control of adopting by the used actuator of above-mentioned classical control system of stretching/condensing the information of moving, when reducing cost, can be accurately and stably control the position and the posture of the arm mechanism of construction machinery, so this control appliance that is used for construction machinery helps to reduce the cost of equipment investment expense very much, shortening work period in the workplace of the expectation of construction site and so on or the like, and think that the practicality of this control appliance of being used for construction machinery is very high.
Claims (7)
1. control appliance that is used for construction machinery is characterized in that it comprises:
A construction machinery body (100);
An articulated type arm mechanism, one end thereof is installed in described construction machinery body (100) and goes up so that be pivotable, and distolaterally having a work package its another, described articulated type arm mechanism comprises the arm spare (200,300) that at least one pair of connects with a hinge portion that places therebetween each other;
A cylinder type execution device has and a plurality ofly is used for stretching/contract the cylinder type actuator (120 to 122) of operation to drive described arm mechanism;
Angle detection device (20 to 22) is used for detecting with angle information the posture of described arm mechanism;
Conversion equipment (26), be used for the angle information that obtains by described angle detection device (20 to 22) convert to described cylinder type actuator corresponding stretching/information of moving condenses; And
Control device (1), be used for according to by stretching/contract information by the described cylinder type actuator (120 to 122) that is converted to of described conversion equipment (26), control described cylinder type actuator (120 to 122), thus described cylinder type actuator (120 to 122) can realize being scheduled to stretch/condense and move.
2. the control appliance that is used for construction machinery according to claim 1 is characterized in that described articulated type arm mechanism can comprise:
A pivoted arm (200) is connected to described construction machinery body (100) at the one end and goes up so that be pivotable; And
A bar (300) is connected on the described pivoted arm (200) to place described hinge portion therebetween at the one end; And its feature also is:
Described work package (400) can form a bucket (400), and bucket (400) is gone up so that be pivotable to place therebetween a hinge portion to be connected to described bar (300) at the one end, and terminally can cut the earth and can adorn soil and sand therein at it.
3. the control appliance that is used for construction machinery according to claim 2 is characterized in that described cylinder type execution device comprises:
A boom hydraulic cylinder (120) places between described construction machinery body (100) and the described pivoted arm (200), so that rotate described pivoted arm by the distance between flexible its end with respect to described construction machinery body;
A bar hydraulic cylinder (121) places between described pivoted arm (200) and the described bar (300), so that rotate described bar (300) by the distance between flexible its end with respect to described pivoted arm (200); And
A bucket hydraulic cylinder (122) places between described bar (300) and the described bucket (400), so that rotate described bucket (400) by the distance between flexible its end with respect to described bar.
4. the control appliance that is used for construction machinery according to claim 2 is characterized in that described angle detection device can comprise:
One first angular transducer (20) is used for detecting the posture of described pivoted arm (200);
One second angular transducer (21) is used for detecting the posture of described bar (300); And
A third angle degree sensor (22) is used for detecting the posture of described bucket (400).
5. the control appliance that is used for construction machinery according to claim 1 is characterized in that described conversion equipment (26) comprising:
Arithmetic unit (26C) is used for according to the angle information that is obtained by described angle detection device (20 to 22), determines that by calculating described cylinder type actuator (120 to 122) stretches/condense the information of moving corresponding to angle information.
6. the control appliance that is used for construction machinery according to claim 1 is characterized in that described conversion equipment (26) comprising:
Storage device (26B) is used for storing described cylinder type actuator (120 to 122) and stretches/condense the information of moving corresponding to the angle information that is obtained by described angle detection device (20 to 22).
7. the control appliance that is used for construction machinery according to claim 3, it is characterized in that building described conversion equipment (26) so that
Stretch/condense the information of moving to what the angle information that is obtained by described first angular transducer (20) converted described boom hydraulic cylinder (120) to, stretch/condense the information of moving to what the angle information that is obtained by described second angular transducer (21) converted described bar hydraulic cylinder (121) to, and stretch/condense the information of moving to what the angle information that is obtained by described third angle degree sensor (22) converted described bucket hydraulic cylinder (122) to.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8323161A JPH10159123A (en) | 1996-12-03 | 1996-12-03 | Control device of construction machinery |
| JP323161/96 | 1996-12-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1210570A true CN1210570A (en) | 1999-03-10 |
Family
ID=18151774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97191997A Pending CN1210570A (en) | 1996-12-03 | 1997-11-28 | Controller of construction machine |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP0900887A4 (en) |
| JP (1) | JPH10159123A (en) |
| KR (1) | KR19990081852A (en) |
| CN (1) | CN1210570A (en) |
| CA (1) | CA2242755A1 (en) |
| WO (1) | WO1998024985A1 (en) |
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| CN101666105B (en) * | 2009-07-08 | 2011-08-10 | 北汽福田汽车股份有限公司 | Method for controlling rising velocity of movable arm of excavator, control system and excavator |
| CN102535569A (en) * | 2012-01-14 | 2012-07-04 | 浙江濠泰机械有限公司 | Intelligent control system of movement track of engineering machine executing mechanism and control method thereof |
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| CN102912816A (en) * | 2012-11-19 | 2013-02-06 | 中联重科股份有限公司渭南分公司 | Control method and control device of excavator and excavator |
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| JP3364419B2 (en) | 1997-10-29 | 2003-01-08 | 新キャタピラー三菱株式会社 | Remote radio control system, remote control device, mobile relay station and wireless mobile work machine |
| CN105350595B (en) * | 2015-08-27 | 2017-08-29 | 中国航空工业集团公司西安飞行自动控制研究所 | The operating device of excavator controlled based on position |
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| JPS5774437A (en) * | 1981-06-01 | 1982-05-10 | Hitachi Constr Mach Co Ltd | Automatic operating device for straight excavation of hydraulic shovel |
| JPH076212B2 (en) * | 1985-02-27 | 1995-01-30 | 株式会社小松製作所 | Position control device for power shovel |
| JPS62185928A (en) * | 1986-02-13 | 1987-08-14 | Komatsu Ltd | Method and apparatus for automatic excavation of loading machine |
| DE3883848T2 (en) * | 1987-05-29 | 1994-02-24 | Hitachi Construction Machinery | Device for controlling the arm movement of an industrial vehicle. |
| JP2614624B2 (en) * | 1987-12-29 | 1997-05-28 | 日立建機株式会社 | Excavator |
| EP0380665B1 (en) * | 1988-08-02 | 1993-10-27 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for controlling working units of power shovel |
| JPH02232430A (en) * | 1989-03-03 | 1990-09-14 | Komatsu Ltd | Controller for depth of excavation of hydraulic shovel |
| JPH0823155B2 (en) * | 1990-05-01 | 1996-03-06 | 株式会社小松製作所 | Work machine control device |
| JP3273575B2 (en) * | 1992-09-01 | 2002-04-08 | 株式会社小松製作所 | Work machine control method |
| JPH07197485A (en) * | 1993-12-28 | 1995-08-01 | Komatsu Ltd | Working machine control device for construction machine |
-
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- 1996-12-03 JP JP8323161A patent/JPH10159123A/en active Pending
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- 1997-11-28 CA CA002242755A patent/CA2242755A1/en not_active Abandoned
- 1997-11-28 WO PCT/JP1997/004361 patent/WO1998024985A1/en not_active Application Discontinuation
- 1997-11-28 EP EP97913472A patent/EP0900887A4/en not_active Withdrawn
- 1997-11-28 KR KR1019980705563A patent/KR19990081852A/en not_active Application Discontinuation
- 1997-11-28 CN CN97191997A patent/CN1210570A/en active Pending
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| CN100429357C (en) * | 2002-10-21 | 2008-10-29 | 洋马株式会社 | Skid steer loader |
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| CN105569340B (en) * | 2014-10-31 | 2019-11-05 | 西法股份公司 | The method and apparatus of mobile articulated jib |
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| CN108286272B (en) * | 2017-12-27 | 2023-08-29 | 青岛雷沃工程机械有限公司 | Semi-automatic slope repairing excavator |
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| CN113795633A (en) * | 2019-04-05 | 2021-12-14 | 沃尔沃建筑设备公司 | Construction equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH10159123A (en) | 1998-06-16 |
| CA2242755A1 (en) | 1998-06-11 |
| EP0900887A4 (en) | 2000-05-24 |
| WO1998024985A1 (en) | 1998-06-11 |
| EP0900887A1 (en) | 1999-03-10 |
| KR19990081852A (en) | 1999-11-15 |
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