JPS59150837A - Action regenerator of working machine - Google Patents

Abstract

PURPOSE:To regenerate the repeating action of a working machine with a high accuracy by using a system in which the position of coordinate which come near the position of the claw of a bucket is selected, and according to the memorized actions to be started from the selected position, the bucket is operated. CONSTITUTION:A memory 21 consists of plural memory elements M1-Mn, in which the actions of operation valves 9a and 9b for the ideal actions of the bucket claw to be started from a coordinate (Xi, Yj) are stored. To excavate a trench of a given cross-sectional form by repeating operations of several times, the oil-pressure shovel body S is positioned at the starting point of excavation, whereupon in a controller 22, the position of coordinate calculated in an arithmetic unit 20 is orderly compared with the position of coordinate stored in each of memory elements M1-Mn and the memory element Mr containing the most nearest position is selected. From the controller 22, the stored data are sent out to servo valves 11a and 11b, and the bucket claw is operated by operating the operation valves 9a and 9b for automatic excavation.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is installed in a working machine such as a hydraulic construction machine, and relates to an apparatus. FIG. 1 is a schematic structural diagram showing an example of a conventional motion reproducing apparatus of this type. In this figure, Xd shows an AQ actuator, such as a hydraulic cylinder, and a Bk actuator, such as a hydraulic cylinder A.
A control device that controls the operation of the drowsiness hydraulic valve B, a manual controller that outputs an operation signal to the control device C to operate the electro-hydraulic valve B, and E.
is a storage device that is connected to the control device #C and stores the operation signal of the manual controller D that is transmitted to the control device C.

In this conventional motion regeneration device, when the manual controller D is operated, the operation signal is output to the control device C, and the control device C operates the electrohydraulic valve B in response to the operation signal. This connects the hydraulic cylinder A and the hydraulic source, and the hydraulic cylinder A is operated by the pressure oil supplied from the hydraulic source.

On the other hand, the operation signal output to the control device C is stored in the storage device J.
It reminds me of ltE.

When performing regeneration operation on the hydraulic cylinder,
By giving a predetermined reproduction instruction signal to the control device C, the operation number 1g stored in the storage device ttE is called up to the control device C, and the control device C performs the operation according to the operation signal. Activate the electro-hydraulic valve B. In this way, by simply performing the operation y-+L of the manual controller D, the hydraulic cylinder A during the operation of the manual controller D can be changed without any further operation of the manual controller 1). The same operation as above can be performed any number of times, and the hydraulic cylinder A can be operated on its own.

Nowadays, there is a need to realize automatic operation of actuators in construction machinery such as hydraulic excavators and cranes, but the above-mentioned conventional 1'IJ production and regeneration system] 1t is constructed by valving pneumatic-hydraulic valve B at t. It is configured to operate hydraulic cylinder A, and therefore, generally, like the above-mentioned 1st commandment of construction equipment,
This conventional motion regeneration device cannot be applied as is to a hydraulic machine that is equipped with a manually operated valve that is operated by an operator's hands and that operates an actuator via the manually operated valve.

In addition, in this conventional motion reproducing device, since the entire connection system of the control device C1, storage/entertainment device E, and electro-hydraulic valve B is constituted by an electric system, if a failure occurs in this electric system, , the hydraulic cylinder A cannot be operated, resulting in the inability to work.

Therefore, various methods have been studied to apply the motion regeneration device to hydraulic machines that operate actuators via manually operated valves.1 An example of applying such a method to a hydraulic excavator will be described below.

FIG. 2 is a system diagram of a hydraulic circuit and an electric circuit of a motion regeneration device for a hydraulic excavator. In the figure, S indicates the main body of the hydraulic excavator. 1 is a poom attached to the main body S so that it can be raised and raised freely; 2 is an arm that is attached to the poom 1 so that it can be pivoted; 3 is a packet that is attached to the arm 2 so that it can be rotated; 4 is a poom that drives the poom 1. cylinder, 5 is an arm cylinder that drives arm 2, 6 is a packet cylinder that drives packet 3, poom 1, arm 2, packet 3
This constitutes the front mechanism of a hydraulic excavator. 7 indicates each cylinder 4, 5 . ．． A hydraulic power source is used to drive 6, and 8 is a tank that stores hydraulic oil. 9a is a boom operation valve that is interposed between the hydraulic pressure J and the boom cylinder 4 to control the turning off of the boom cylinder 4; 9b is an arm operation valve that also controls the drive of the arm cylinder 5; 9b
1 is the arm operation valve 9a, arm control valve:★valve operation 9b
This is the operating lever that operates the.

10a and 10b are hydraulic cylinders used to automatically operate the boom operation valve 9a and arm operation valve 9b, and lla and llb are control units that control the hydraulic cylinders 10a and 10b in accordance with No. 1g. Controlling servo valve, 12a.

121) is a switching valve that opens the circuits at both ends of each hydraulic cylinder 10a, 10b so that the hydraulic cylinders lQa, 10b do not provide resistance during manual operation using the operating levers 9a, ', 9b.

Reference numerals 13a and 13b are potentiometers that are linked to the movement of the spools of the boom operation valve 9a and the arm operation valve 9h, and generate a voltage according to the position W of the spools of both operation valves. 14 is a storage device that stores the output signals of the potentiometers 13a and 13b, that is, the position signals of the spools of both operation valves 9a and 9b; 15 is a boom operation valve 9a based on the information stored in the storage device 14;

Servo valves 11a, 111 to operate arm operation valve 9b
)2 control device. Reference numeral 16 denotes a command device that gives a regeneration operation command to the control device 15.

Now, assume that a highly skilled worker (skilled worker) operates the operating levers 9a, 9b1 to appropriately drive the poom 1 and arm 2 to perform a certain task. In this case, the work will be done properly and accurately. During this work, the pool 1 mulberry production valve 9a and the arm operation valve 9b are operated by the switching valve 1.
Since the spools 2a and 12b are located on the left side of the figure, one spool can be produced without any problem, and the movement of the spool is detected by the potentiometers 13a and 13b and stored in the storage device 1.
4 is stored. In other words, the appropriate and accurate movements of the pool 1, arm 2, and therefore the packet 3 in a certain work are stored in the storage device 14.

To perform this work automatically, first, the command device 16 drives the 161'' control device 15. After switching the cut-off valves 12a and 12b to the right position, the control device 15 takes out the stored signal from the storage device 14 and switches the servo valve 11.
Enter a, llb. Servo valve 11a.

11b operates in response to this signal, and the hydraulic cylinder 10a
, 10b to operate the operating valves 9a, 9. Operate b and check boom 1 and arm 2. In this way, the actions performed by a skilled worker are reproduced, and the hydraulic excavator is able to automatically perform appropriate and accurate work.

However, in such equipment, even if manually operated valves are available, skilled workers must operate the operating valves 9a and 9b for each hydraulic excavator, and unskilled workers are required to operate the operating valves 9a and 9b from the beginning of the work. Workers are not allowed to operate hydraulic excavators. In addition, once the work has been memorized by a skilled worker, if this work is to be repeated continuously (for example, when performing work such as laying the floor, raking, etc.), it is necessary to make a single sketch of the memorized work. After that, from the end point of the work,
If there is an error in the position of the starting point when the leading end of the packet is manually brought to the starting point of the next repeated operation, the subsequent reproducing operation may not be performed accurately or appropriately. Furthermore, if the memorized work is repeated work with different patterns, and the working conditions at the time of movement reproduction are different from the working conditions at the time of movement memorization, for example, differences in load size, load distribution ratio between boom and arm. If there is a difference in compressibility due to a difference in the temperature of the hydraulic oil or a difference in the temperature of the hydraulic oil, the action may accumulate during repeated operations, making it impossible to reproduce the action.

He has 14 points between them.

The purpose of the present invention is to solve these problems, to enable the use of manually operated valves, to enable even unskilled workers to operate the valve from the beginning of the work, and to reproduce the operation with high precision. The object of the present invention is to provide a device for reproducing the operation of a working machine.

In order to achieve this object, the present invention stores the motion of a work member including the coordinate position on the locus of the motion from a predetermined origin, while in actual repetitive work. , calculate the coordinate position of the work member from the origin, and select the coordinate position that is closest to the calculated coordinate position + ft from among the stored coordinate positions. In this case, what is to be done from the selected coordinate position using the stored iJb first word is defined as tf:f enemy.

The present invention will be explained below based on the example shown in FIG.

Figure 3 is a system diagram of the hydraulic circuit and rL air circuit of the operation regeneration 3A+d of the hydraulic excavator according to the embodiment of the present invention.

In the figure, parts that are the same as those shown in FIG. 2 are given the same reference numerals, and explanations thereof will be omitted. 17 is a boom angle detector that detects the relative angle between the main body S and the boom 1; 18 is an arm angle 1 friend detector that detects the relative angle between the boom 1 and the arm A2; 19
is a packet angle detector that detects the relative angle between arm 2 and packet 3. 20, each corner of these detectors 17
．． This is a computing unit that takes in the angle signals from 18° and 19 and calculates the position of the claw of the packet 3 based on these signals. The position of the claw of the packet 3 is calculated as the coordinate position from the origin, with the position of the packet claw when the boom 1, arm 2, and packet 3 are displaced to a certain specific state as the origin of the coordinate axis. Figure 4 shows this coordinate axis.

FIG. 4 is a diagram showing coordinate axes representing the position of the keratin claw of the hydraulic excavator. This coordinate axis is parallel to the ground
The direction perpendicular to the ground (depth direction) is the Y axis.

As mentioned above, the position of the claw of the packet when the boom 1, arm 2, and packet 3 are displaced to a specific state, that is, the origin, is indicated by (x,,y,). Boom 1, arm 2,
/(The length between the supporting points of Kerato 3 is known, so if each relative angle is detected by the valley angle detector 17°18.19) The coordinate position can be calculated.

Returning to FIG. 3 again, reference numeral 21 is a storage device that stores the movements of each operation fP9a, 9b, that is, the operation of the packet claw. The storage device 21 is composed of a storage element that stores the movements of a predetermined work performed by a skilled worker using the same type of hydraulic excavator. In this embodiment, the storage device 21 is the storage device 1.aa. Part M, , fVi2
......-IX4n.

Each storage unit M, , M2...Mn stores necessary coordinate positions on the coordinate axes shown in FIG. 4, for example (Xi,
Yj), the operation of the packet claw starting from this coordinate position 1911, +ulj, i% of the position lη [hereinafter, the operation of the packet claw is stored. As a result, in the storage device a21, a series of continuous work operations are stored in M multiple pieces for each set coordinate, broken down and stored.
The more precisely the coordinate positions are set, the more the number of storage units increases. 22 is performance')? 1 unit 2Q data and notes 1
, based on the data of the device 21, the servo valve 11a,
It is 1tll (ill % M) that operates Ilb, and is composed of a microcomputer and the like.

The operation when excavating a groove with a predetermined cross-sectional shape using the operation reproduction device of this embodiment will be described. In this case, since the depth of the groove is too deep (if so, it is not possible to obtain the desired depth in - times of excavation operations), digging 611 in the width direction of the groove is performed several times. Excavating twice is one cycle of edging work.When this one cycle of operation is completed, the hydraulic excavator Kimoto S is moved 6 times in the longitudinal direction of the trench.
While moving the hydraulic excavator main body S sequentially in this way, the same one-cycle operation is performed again.
This one cycle operation is repeated. Here, considering the operation of the packet claw within one cycle, for example, the packet claw finishes the first excavation according to the data in the storage unit 'ri, 21, and then performs deeper excavation automatically or manually:
Assume that the IJ returns to the starting point of the second excavation. At this time, the 4g device 20 determines the coordinate position of the return point of the packet claw. The control device 22 stores the coordinate position calculated by the calculator 20 and each storage section M1゜! V2・・・・・・・・・Described in Mn・1. d, and after finding the coordinate position closest to the calculated coordinate position among these coordinate positions, the memory section 1 town containing this found monument position is created. Select 1 The selected memory section Nor has the operation of the packet claw starting from that coordinate position (,I!l)
In other words, since the operation of the spools of each operating valve 9a, 9b is stored, the control device 22 transfers the stored data to the servo valve 11a.

11b, and operate each operating valve 9a, 9b to operate the bucket claw. Such an operation is performed each time excavation within the cycle is started.

Usually, the coordinate position of each excavation start is stored in each storage unit At.

M2・・・・・・・・・N1nv) Tsuchinoi- “Reka no Ki・1. It should match the coordinate position stored in part C. However, if the coordinate position is ml-+/4 Due to some reasons, the position of the vinegar packet nail and the coordinate position stored in the 5 part may not match, resulting in a difference of 1.A. If you do not take such measures, the accumulation of errors will be like a dog. In this case, if the depths of the packet claws are different even though the same trajectory is drawn, if we take into account that the operating valves 9a and 9b (Kurisaku) are also different, the above error will be extremely large, and the error will be extremely large. Making excavation impossible.However.

In this example, 1. At each excavation start point, the coordinate position closest to the coordinate position of the packet claw is selected in four memory sections, and subsequent operations are performed according to that data. The packet claw will perform an optimal motion close to a helping hand, and even if errors accumulate to a certain extent, errors will be canceled during the accumulation. For example, when the packet claw is at the excavation start position, the position shown in FIG.
1, Yρ should be the starting point of excavation, but in reality, point W is the starting point of excavation. If the point W is actually the starting point of excavation, then (Xl-1-+, "j-)-+" is selected as the stored coordinate position. The subsequent operation will be the same as the operation from this seated position, and the error will be much smaller than when the zero movement is performed from the point W at the coordinate position @(xi, yρ).

In this way, in this embodiment, the coordinate position of the packet claw is calculated, the storage unit in which the coordinate position closest to this is recorded is selected, and the process starts from the coordinate position recorded in the storage unit. Since the operation is carried out, it is not only possible to use a manually operated valve, but also the operation can be reproduced with high precision. Also, magnetic force □− is applied to this storage device.
By using a trigger or the like, even an unskilled worker can perform the operation from the beginning.

Note that the working machine is not limited to a hydraulic shovel, and can be applied as long as it is equipped with working members driven by hydraulic pressure, and the applicable motions are also limited to the working examples shown in the examples. There isn't.

As described above, in the present invention, the coordinate position of the work member is calculated, the coordinate position closest to this coordinate position is selected from the first coordinate position, and the stored coordinate position starting from the selected coordinate position is calculated. Since the work members are operated according to the movement, not only can a manually operated valve be used, but even an unskilled worker can operate the work piece from the beginning, and it is possible to reproduce repeated movements. It can be done with high catch rate.

[Brief explanation of the drawing]

Fig. 1 is a system diagram of the hydraulic circuit and electric circuit of a conventional hydraulic excavator motion regeneration device, Fig. 2 is a system diagram of the hydraulic circuit and electric circuit of an improved hydraulic excavator motion regeneration device, and Fig. 3 is a system diagram of the hydraulic excavator motion regeneration device. Operation of the hydraulic excavator according to the embodiment of the invention
FIG. 4 is a system diagram of the hydraulic circuit and electric circuit of the regeneration device, and is a diagram showing coordinate axes representing the position of the packet claw of the hydraulic excavator. l...Boom, 2...Arm, 3...
... Packet, 4 ... Boom cylinder, 5
...Arm cylinder, 9a...Boo J-operation valve, 9b...Ar J-operation valve, 10a, l
Ob...Hydraulic cylinder, lia, 11b.
... Servo valve, 17, 18.19 ... Angle detector, 2o ... Arithmetic unit, 21 ... Recording device holder, 22 ... Control Elevation, wall, S... Hydraulic excavator body. , ' Representative - person Patent attorney 2 - Tsujibe (and 1 other person) Fig. 1 Fig. 2 Fig. 4

Claims (1)

[Claims] In an operation regeneration device for a working machine, which includes a working member driven by hydraulic pressure, an operating valve that controls the driving of the operating member, and a control device that automatically operates the operating valve according to a pre-stored operation. , a storage unit that stores the operation of the working member including a coordinate position from a predetermined origin, a calculation means for determining the coordinate position of the working member from the origin, and a storage unit that stores the coordinate position of the working member from the origin; a selection means for selecting the coordinate position closest to the coordinate position obtained in the calculation stage, and an operation signal stored in the storage unit starting from the coordinate position selected by the selection means to the control device. A motion reproducing device for a working machine that is characterized by being equipped with an output means for outputting the output.