JPS59655B2 - Power shovel - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic excavation control device for a power shovel, and more particularly to an excavation control device that automatically performs everything from excavation to soil removal by electrically sequence-controlling trench excavation work.

Power excavators have hydraulic working arms such as booms, arms, and packets, and the hydraulic pressure supply control to the hydraulic cylinder devices of these working arms has traditionally been performed manually by the operator in the driver's seat while carefully checking the working status. .

However, due to the nature of power shovels, they are often used in conditions where the operator cannot pay attention to the working conditions, making it difficult to perform accurate excavation work.

Furthermore, even if it were possible to carry out excavation work using a power shovel, it would be necessary to operate the boom, arm, and packet actuators in a complicated manner, and in order to remove soil, the swing actuator would also have to be operated. However, it was difficult for anyone but a very skilled operator to fully operate a power shovel.

For this reason, various automatic control devices for power shovels have been developed, but most of them are semi-automatic systems that can only excavate up to the width of the packet, from excavation to horizontal maintenance of the packet, and soil removal etc. must be performed manually. did not become.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to completely automate the process from excavating a pawl groove with a power shovel to removing soil.

In order to achieve the above object, a means for electrically switching the solenoid valves that control the hydraulic pressure supply to each hydraulic cylinder of the boom, arm, packet, and swing, and various operating states (tilt angle, turning angle) and the load condition applied to these (hydraulic system IJ IJ-), etc.)
and a program circuit in which the respective operations of the boom, arm, packet, and swing from excavation to earth removal are set in advance, and according to the commands of the program circuit. Provides an automatic excavation control device for a power shovel that controls the boom rotation angle, arm rotation angle, packet rotation angle, and slewing angle and allows the power shovel to automatically perform operations from excavation to earth removal. This is what I am trying to do.

Hereinafter, the present invention will be described in detail based on one embodiment of the accompanying drawings.

First, the outline of a power shovel to which the automatic excavation control device according to the present invention is applied will be explained with reference to FIG. (arrow Y) and downward (arrow X).

The arm 4 attached to the tip of the boom 2 rotates clockwise (arrow W) and counterclockwise (arrow V) in the figure around the axis B by the expansion and contraction of the arm cylinder 3b.

The packet 5 attached to the tip of the arm 4 similarly rotates clockwise and counterclockwise about the axis C by expansion and contraction of the packet cylinder 3c.

Note that when the packet 5 rotates counterclockwise in the figure, this is called a tilt, and when the packet 5 rotates clockwise, it is called a dump.

(In addition, in the case of tilting and dumping, the movement of the arm 4 etc. may also be involved.

) Also, boom 2 arm 4 packet 5 of vehicle body 1
The upper part of the vehicle body 7, which includes an operator cabin and an engine device, is rotated around a pivot axis by a swing motor 6d.
Turn clockwise or counterclockwise.

Rotation axes A and B of the boom 2, arm 4, packet 5, and upper body part 7, respectively.

C and D are detectors (potentiometers, etc.) 8a.

8b, 8c, and 8d (not shown in FIGS. 2 and 1) are arranged, and the rotation angle α of the boom 2, arm 4, and packet 5 is
β, γ, and the turning angle δ of the upper part 7 of the vehicle body are detected respectively.

Next, an automatic excavation control device for a power shovel according to the present invention will be explained based on a control block diagram in FIG. 2.

The operating order of the boom 2, arm 4, packet 5 and vehicle upper part 7 of the excavator is programmed in advance in the program circuit 9, and the setting devices 10a, 10b, 10c
, ioa is boom 2 and arm 4 according to the program.
, the rotation angle of the packet 5 and the rotation angle of the vehicle upper part 7 are set.

Assume now that the program circuit 9 commands the boom 2 to move upward.

The detector 8a disposed on the rotation axis A of the boom 2
The rotation angle α of the setting device 10 is detected, and this detected angle α and the setting device 10
The comparator 11a compares the angle a with the set angle.

The output of the comparator 11.a is applied to the control circuit 12, and according to a command from the program circuit 9, the solenoid valve 14a of the boom cylinder 3a is switched to the ascending port position via the power circuit 13a, and the boom cylinder 3a is rotated. The boom rotation angle α is controlled to be equal to the setting angle of the setting device 10a.

That is, the rotation angle α of the boom 2 is feedback-controlled using the angle set by the setting device 10a as a target value.

Even when the program setting device 9 commands the rotation of the arm 4 and the packet 5 and the rotation of the upper part of the vehicle body 7, feedback control is performed using the set values set by the setting devices 10b to 10d as target values in the same way as described above. It has become.

That is, the respective rotation angles and turning angles are detected by the detectors 8b to 9d, and the detected angles are compared with the set angles set by the setting devices 10b to 10a by the comparators 11b to 11d,
The control circuit 12 operates the solenoid valves 14b to 14b via the power circuits 13b to 13d in response to commands from the program circuit 9.
14d to control the arm cylinder 3b, packet cylinder 3c, and swing motor 6d.

The pressure detectors 15b and 15c detect the load state applied to the arm cylinder 3b and the packet cylinder 3c, and when the pressure detector 15b detects the load on the arm cylinder 3b, it indicates that the excavation starting point has been reached. ,
A signal is sent to the control circuit 12, the solenoid valve 14c is switched via the power circuit 13c, and the packet cylinder 3c is controlled to tilt the packet 5.

Further, the pressure detector 15c is configured to send a signal to the control circuit 12 when the load applied to the packet cylinder 3c exceeds a predetermined value, so that the control circuit 12 commands the boom to rise and simultaneously adds The sum of the boom rotation angle α, the arm rotation angle β, and the packet rotation angle γ is determined by the comparator 16, and this value is converted to the set angle θ0 (key 270°) by the comparator 17.
, boom cylinder 3a1 arm cylinder 3b, packet cylinder 3c so that α1β10γ2θ0
are controlled at the same time to keep the opening of the packet horizontal.

As an example of automatic excavation by the excavation control device of the present invention, FIG.
This figure shows the case where the earth is turned by ±δ3 and the earth is discharged from the dump truck 1 to the rack T2.

3a shows the excavation groove 18, the power shovel 1, and the dump trucks T, T2. It is a top view which shows arrangement|positioning of T3, and b is a QQ' sectional view of the excavation groove 18.

Point a in the figure P 1 n = P 5 n is located at the upper part of the vehicle body 7 (Fig. 1) with the longitudinal central axis 19 of the power shovel as a reference
+2δ1. +δ1,0. −δ1. -2 δ Indicates the center position of the packet 5 when turning 1, and the upper part 7 of the vehicle body is +2
By sequentially turning and excavating from δ1 to 12δ, a groove with an excavation width t is created.

Here, the subscript n indicates the depth when the excavation is performed deeper one after another as shown in b of the figure.

When the boom arm packet of the power shovel operates and the excavation at the excavation point is completed, the boom is rotated upward (in the direction of arrow Y in Figure 1), and at the same time, while keeping the opening of the packet horizontal, 7 by +δ2 and dumps the packet 5, thereby discharging it onto the dump truck T1.

Subsequently, the upper part 7 of the vehicle body is rotated and returned to the excavation position to start excavation.

Similarly, if the earth is turned by ~δ2, the earth can be unloaded onto the dump truck T3, and if the earth is turned by ~δ3, the dump truck T3 can be unloaded.
The soil can be removed in 3 days.

FIG. 4 shows a timing chart for realizing the series of operations described above, and based on this, the order of excavation operations to which the present invention is applied will be explained.

First, when a start switch (not shown) that commands automatic operation is turned on, the boom 2 is commanded to rise at the rotation angle α set in the setting device 10a.

The setting angle β is set by the command setter 10b for the lowering operation of the arm 4 after the arm 4 has risen to a certain point and stopped.

At the same time, the dumping operation of the packet 5 is commanded, and the packet 5 is set by the setting device 10c to the rotation angle γ.

location of the dump.

Arm 4 and packet 5 have a set angle β.

, γ0, the upper part 7 of the vehicle body is commanded to turn, and stops at the setting angle +2δ1 set by the setting device 10d, and the excavation operation at the excavation point pH is started.

First, lower boom 2 to α1, then lower arm 4.
is controlled to decrease to β1.

At this time, when the pressure detector 15b detects the load applied to the arm cylinder 3b, it indicates that the excavation start point is at point pH in FIG. 3, so the packet is tilted to γ2.

As a result, when the load applied to the packet cylinder 3c exceeds a predetermined value, this is detected by the pressure detector 15c, and the boom 2 is moved to α.

rise to. At this time, in order to prevent the α excavated soil of packet 5 from falling, the outputs of the detectors 8a, 8b, and 8c are added in an adding circuit 16, and the boom rotation angle α and arm rotation angle β are added.
, find the sum of the packet rotation angles γ, and calculate α + β + γ + 270°
The arm 4 is also operated at the same time so that the opening of the packet 5 is controlled to be horizontal.

When it stops, the upper part 7 of the vehicle is turned to β3, and the packet 5 is dumped onto the dump truck T2, thereby removing the soil and completing the excavation at the point pH.

Next, the upper part of the vehicle 7 is turned to +δ1 in order to move the packet 5 to the excavation point P2.

At this time, arm 4 is β at the same time.

- rise to -. When the packet moves to the excavation point P21, the boom 2 descends to α1 as in the case of the excavation point pH, and then the arm 3 descends to β1, and the pressure detector 15b
When the load is detected by the pressure detector 15c, the packet 5 is tilted to γ2, and when the load detected by the pressure detector 15c reaches a predetermined value, the boom 2 is tilted while maintaining the opening of the packet 5 horizontally.
α.

The upper part of the vehicle body 7 is rotated to a height of 163 to dump the packet and discharge the excavated soil.

When the earth removal is completed, the upper part of the vehicle body 7 is rotated to the next excavation point P31, and the arm 4 is raised to β9, and excavation at the excavation point P31 is started.

Thereafter, when the same operation is performed and the excavation at the excavation point P41 j P51 is completed, the excavation depth moves to the second step, and from the excavation point P]2, the same operation as above is performed to the point P22. P3□, P4
21P52 will be excavated sequentially.

At this time, the setting angles of the lowering positions of the boom 2 and arm 4 at the excavation point are α2°β2.
The set angle of 0b is changed.

However, the turning angle of the packet 5 and the upper part of the vehicle body 7 (
The set angles of the setters 10c and 10d) remain the same as in the first stage.

When the excavation at the excavation point P5□ is completed, the third stage of excavation will be started.
Excavation point P131 P23 + P33 # P34 j
P35 is excavated in sequence, and the set angle for lowering boom 2 and arm 4 at this time is α3. It is assumed to be β3.

Similarly, the lowering angle of boom 2 and arm 4 is set to α4.
4th stage excavation point P14 t P24 p P34 at β4
+ P44 + P54 is excavated.

In this way, excavation up to the fourth depth step with the trench excavation width t has been automatically performed.

The setting angles α0 to α4 of the boom stop angle setting device 10a, the setting angles β0 to β4 of the arm stop angle setting device 10a, and the setting angles ±δ1. It is preferable to set δ3 appropriately depending on the working conditions at the site and the quality of the excavated soil.

Since the present invention has the above-mentioned configuration, it is possible to completely automate everything from excavation to earth removal work, and work can be performed accurately even in difficult situations.

Furthermore, the excavation width is not limited to the width of the packet, making it extremely efficient.

.

[Brief explanation of the drawing]

FIG. 1 is a side view schematically showing a power shovel to which an automatic excavation control device according to the present invention is applied, and FIG. 2 is a block control diagram showing an embodiment of the automatic excavation control device for a power shovel according to the present invention. Figure 3 a. b is a diagram showing an example of automatic excavation according to the same embodiment, and FIG. 4 is a timing chart of the automatic excavation shown in FIG. 3. 3a...Boom cylinder 3b...Arm cylinder, 3c...Packet cylinder, 3d
....Swivel motor, 8a-8d...Detector, 9...Program setting circuit, 10a-10
d...Setting device, 11a-11d...Comparator, 12...Control circuit, 13a-13d...
...Power circuit, 14a-14d...Solenoid valve, 15b, 15c...Pressure detector, 16...
...Adder, 17...Comparator.

Claims (1)

[Claims] 1. A boom drive hydraulic system that controls the rotation of the boom, an arm drive hydraulic system that controls the rotation of the arm, a packet drive hydraulic system that controls the rotation of the packet, and a rotation of the upper part of the vehicle body. In an automatic excavation control system for a power excavator that has an upper body drive hydraulic system, the operating direction of the boom, arm, packet, and upper body,
It has a program circuit that pre-programs the amount of movement and the order of movement, and a boom rotation angle detector that detects the rotation angle of the boom.
a boom control circuit that controls the boom 1 drive hydraulic system based on a deviation between a detection value of the boom rotation angle detector and a boom rotation angle target value generated in response to a command from the program circuit; an arm rotation angle detector for detecting a rotation angle of the arm, and an arm load detector for detecting a load applied to the arm, the arm rotation angle detector detecting a rotation angle of the arm, and an arm load detector detecting a load applied to the arm; The program circuit controls the arm and drive hydraulic device based on the generated deviation from the arm rotation angle target value, and also sends a signal to terminate the drive of the arm by the arm drive hydraulic device based on the output of the arm load detector. a packet rotation angle detector that detects the rotation angle of the packet; and a packet load detector that detects when the load applied to the packet exceeds a predetermined value; The packet drive hydraulic system is controlled based on the deviation between the detection value of the angle detector and the packet rotation angle target value generated in response to the command from the program circuit, and the packet drive hydraulic system is controlled based on the output of the packet load detector. a packet control circuit that sends a signal to the program circuit to terminate driving of the packet by the packet drive hydraulic system; and a vehicle upper turning angle detector that detects a turning angle of the upper vehicle body; a vehicle body upper control circuit that controls the vehicle body upper drive hydraulic system based on a deviation between a detected value and a vehicle body upper turning angle target value generated in response to a command from the program circuit; and a boom raising command from the program circuit. At this time, the boom drive hydraulic system is configured such that the sum of the output value of the boom rotation angle detector, the upper blade value of the arm rotation angle detector, and the output value of the packet rotation angle detector is maintained at a predetermined value. , an arm drive hydraulic system, and a control circuit for controlling a packet drive hydraulic system.