JPH02204531A - Control device for slope finishing - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a slope finishing control device used when leveling a slope using a hydraulic excavator.

[Conventional technology]

There are various types of work that can be performed by driving a hydraulic excavator, one of which is slope finishing work.

Slope finishing work is the work of leveling the excavated slope. This will be explained with reference to FIGS. 4(a) and 4(b).

FIGS. 4(a) and 4(b) are a side view and a plan view of a slope of the hydraulic excavator. In each figure, 1 indicates a hydraulic excavator.

The hydraulic excavator 1 includes a lower traveling body 2, an upper rotating body 3, and a front mechanism 4. 3a is the upper rotating body 3
The driver's cab is shown. The front mechanism 4 includes a boom 5 and an arm 6.
and bucket 7. G is the ground surface on which the hydraulic excavator 1 runs, S is a slope (slope) inclined at an angle θ with respect to the other surface G, and 2 is the distance between the rotation axis of the boom 5 and the bottom of the bucket 7.

This slope finishing work using the hydraulic excavator 1 is shown in Figure 4 (
As shown in b), operate the boom 5 and arm 6 to place the bottom of the bucket 7 at a certain point P+ on the upper end of the slope S, then operate the boom 5 and arm 6 to place the bottom of the bucket 7 on the slope. Push down along the surface S as shown by the arrow.

When the bottom of the bucket 7 reaches the point p, / at the lower end of the slope S as shown in FIG. 4(a), the lower traveling body 2
is moved along the longitudinal direction of the slope S by a distance r. Then, the bottom of the bucket 7 is pulled up along the slope S from the point P2' at the lower end to the upper point P2 as shown by the arrow. By repeating the above operations, the bottom of the bucket 7 is pressed against the slope S, and the slope S is leveled into a uniform surface.

[Problem to be solved by the invention]

The above-mentioned slope finishing work involves repeating the operation of lowering the bucket 7 along the slope S when the hydraulic excavator 1 is at a certain position, and pulling up the bucket 7 along the slope S when the hydraulic excavator 1 is at the next position. If the area of the surface S is large, this operation requires a considerable amount of time.

If the movement interval r of the hydraulic excavator 1 is increased in order to shorten the working time, a problem arises in that the slope surface finish becomes rough. Furthermore, during slope finishing work, bucket 7
The bottom of the boom 5 and the arm 6 must be moved along the slope S, and in order to do so, it is necessary to appropriately drive both the boom 5 and the arm 6 at the same time, which requires a high level of skill from the operator and can result in extreme operator fatigue. There was also the problem of getting bigger.

The purpose of the present invention is to solve the problems in the above-mentioned prior art,
To provide a slope finishing control device that can perform slope finishing work quickly and easily.

[Means to solve the problem]

In order to achieve the above object, the present invention provides a hydraulic excavator equipped with a lower traveling body, an upper rotating body, and a front mechanism consisting of a boom, an arm, and a bucket attached to the upper rotating body, in which the rotating body is rotated. a first angle detector for detecting the angle; a second angle detector for detecting the boom angle of the boom; a boom angle determination unit that determines the boom angle relative to the swing angle; and a boom angle determined by the boom angle determination unit in accordance with a detection value of the first angle detector and a detection value of the second angle detector. and a boom driving means for driving the boom based on the difference between the two.

[For production]

During slope finishing work, the hydraulic excavator operator operates only the swing lever that drives the upper swing structure. When the upper revolving body turns, the turning angle is detected by the first angle detector, and the boom angle corresponding to the turning angle is taken out from the boom angle determining section. Next, this extracted boom angle is compared with the current boom angle detected by the second angle detector, and the boom is driven based on the difference between the two angles. This allows the bottom of the bucket to always move along the slope.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIGS. 1(a) and 1(b) are a side view and a plan view of a slope of a hydraulic excavator equipped with a slope finishing control device according to an embodiment of the present invention. In the figure, the same parts as those shown in FIGS. 4<a> and 4(b) are designated by the same reference numerals, and the explanation thereof will be omitted. 8
is a slope finishing control device provided in the driver's cab 3a. The configuration other than this slope finishing control device 8 is the same as the conventional one.

The slope finishing work in this embodiment is performed in a different manner from the conventional slope finishing work shown in FIG. 4(b). That is, in the conventional method, the bottom surface of the bucket 7 is moved up and down linearly along the slope S by operating the boom 5 and the arm 6, but in this embodiment, the upper revolving structure 2 and the boom 5 are moved up and down in a straight line along the slope S. is operated to move the bottom surface of the bucket 7 in an arc along the slope S. A part of the locus of the bottom of the bucket 7 in this case is shown in FIG. 1(b). Next, these trajectories will be explained.

Now, the center of rotation of the upper rotating body 3 is at the point P shown in FIG. 2(b).
Suppose it is in 1. The distance l between the rotation axis of the boom 5 and the bottom of the bucket 7 is fixed, and the bottom of the bucket 7 is placed at a point K at the upper end of the slope S, which is a distance l from the point P. In this embodiment, the slope is finished by turning the upper revolving body 3 from this state in the direction of the point P1 on the lower end opposite to the above-mentioned point P. It is clear that the bottom surface of the bucket 7 rises above the slope S as it moves from point K to point PI'. Therefore, as the upper revolving structure 3 is rotated, the boom 5 is lowered so that the bottom surface of the bucket 7 is always pressed against the slope S.

The locus of the bottom of the bucket 7 that has moved on the slope S in this manner is shown by an arc C8 in FIG. 1(b). When the bottom of the bucket 7 passes point PI' and the swing continues, the bucket 7 will dig into the slope S if the boom 5 is fixed in the current state. Therefore, after passing point P1', the boom 5 will be raised as the upper revolving structure 3 turns. Thus, bucket 7
When the bottom of the upper rotating body 3 reaches the upper end of the slope S, the rotation of the upper rotating body 3 is stopped. In the above operation, the vertical movement of the boom 5 is automatically performed by the slope finishing control device 8, which will be described later.

As described above, after the bottom of the bucket 7 completes its movement through one arc C0, as shown in FIG. 1(b), if the hydraulic excavator 1 is moved by the same distance r as in the conventional method, Suppose that the bottom of the bucket 7 draws an arc in the opposite direction and this operation is repeated. A part of the locus of the bottom of the bucket 7 in this case is shown in FIG. 1(b). This is shown in Figure 4 (b
), the former is dense and the latter is coarse, as is clear from the following. This naturally results from the fact that the trajectory of one movement of the bottom of the bucket 7 when the hydraulic excavator 1 is stopped is considerably larger in the former case. Therefore, when performing slope surface finishing with the same surface roughness as in conventional slope surface finishing work, in this embodiment, the moving distance r of the hydraulic excavator 1 to the next point is made larger than that in the conventional method. The larger the area of the slope S, the more the work time can be reduced. Conversely, if the travel distance r of the hydraulic excavator 1 is the same as in the conventional method, it is possible to finish the slope more closely.

Next, the slope finishing control device 8 of this embodiment will be explained. FIG. 2 is a block diagram of a hydraulic excavator in which the slope finishing control device shown in FIG. 1 is used. In the figure,
3.5 indicates the upper revolving body and the boom shown in FIG. 1, and 10 outputs an electric signal according to the amount of operation when a swing lever (not shown) that drives the upper revolving body 3 is operated. It is a turning lever instruction value generator. 11
is a swing electromagnetic proportional hydraulic directional control valve which is driven in proportion to the signal from the swing lever instruction value generator 10. 2 is a turning motor that turns the upper rotating body 3;
The upper rotating body 3 is rotated according to the operating amount and operating direction of the rotating electromagnetic proportional hydraulic directional control valve 11. 13 is an upper revolving body angle sensor that detects the turning angle α of the upper revolving body 3 and outputs a signal proportional to the detected value.

Reference numeral 14 denotes a boom lever instruction value generator that outputs an electric signal according to the amount of operation of a boom lever (not shown) that drives the boom 5 when the boom lever is operated. 15 is a boom target value calculator that functions in slope finishing work.

The configuration of this boom target value calculator 15 will be described later with reference to FIG. Reference numeral 16 denotes a mode changeover switch, which causes the boom target value calculator 15 to function during slope finishing work, stops the function of the boom target value calculator 15 during other work, and outputs the output signal of the boom lever reading value generator 14. output as is. Reference numeral 17 denotes a boom electromagnetic proportional hydraulic directional switching valve which is driven in proportion to the output signal of the boom target value calculator 15. A boom cylinder 18 drives the boom 5 according to the operating amount and operating direction of the boom electromagnetic proportional hydraulic directional switching valve 17. 1
A boom angle sensor 9 detects the boom angle β of the boom 5 and outputs a signal proportional to the detected value.

FIG. 3 is a block diagram of the boom target value calculator shown in FIG. 2. In the figure, the same parts as those shown in FIG. 2 are given the same reference numerals. 15a is a storage section, and the upper revolving body 3
The boom angle of the boom 5 with respect to the turning angle α of the boom 5 is stored. That is, when the upper revolving body 3 is at a certain turning angle, the boom angle for positioning the bottom surface of the bucket 7 on the slope S is stored for each turning angle. This stored boom angle is represented by β'.

Reference numeral 15b denotes a deviation calculation section, which calculates the deviation Δβ between the boom angle β' taken out from the storage section 15a and the current boom angle β detected by the boom angle sensor 19. 15c
is a target value calculating section, which calculates a target value (target signal) Q for driving the boom 5 by the deviation Δβ obtained by the deviation calculating section 15b.

Next, the operation of the slope finishing control device 8 will be explained.

In the slope finishing work of the slope S, the boom target value calculator 15 is put into a functional state by the mode changeover switch 16. Now, the center of rotation of the upper rotating body 3 is shown in Fig. 1(b).
Assume that the bucket 7 is located at a point P shown in , and the bottom surface of the bucket 7 is located at a point K. From this state, the operator of the hydraulic excavator 1 operates the swing lever in order to move the bottom surface of the bucket 7 to a point at the upper end of the slope S facing the point. As a result, a signal corresponding to the operation is output from the swing lever instruction value generator 10, the swing electromagnetic proportional hydraulic directional control valve 11 opens, pressure oil is supplied to the swing motor 12, and the upper swing structure 3
turns. The upper rotating body angle sensor 13 is connected to the upper rotating body 3.
Detect the turning angle α of the boom target value calculator 15.
Output to. The boom target value calculator 15 extracts a boom angle β' corresponding to the detected rotation angle α from the storage unit 15a based on the detected rotation angle α. Next, input the current boom angle β detected by the boom angle sensor 19,
The deviation calculation unit 15b calculates the deviation Δβ, and the target value calculation unit 1
．． At 5G, a target value Q is calculated according to the deviation Δβ. This target value Q is output to the boom electromagnetic proportional hydraulic directional switching valve 17, which is driven by an amount corresponding to the target value Q.

As a result, the boom 5 is driven by the boom cylinder 18 by the deviation angle Δβ.

By repeating the above control operation, as shown in FIG.
), the upper revolving body 3 rotates and the boom 5 is lowered, and as a result, the bottom of the bucket 7 traces a trajectory C1 on the slope S. The transition will be made while leveling the surface S. When the bottom of the bucket 7 passes through points P and ', the boom 5 is raised as the upper rotating body 3 rotates, so that the bottom of the bucket 7 draws an arc while leveling the slope S. The transition will be made. When the bottom of the bucket 7 eventually reaches the top of the slope S, the operator stops the upper revolving body 3, moves the hydraulic excavator 1 a predetermined distance, and then returns the upper revolving body 3 to the previous position using the same operation as above. continues the work of leveling the slope S by turning in the opposite direction.

In this way, in this embodiment, the upper revolving body of the hydraulic excavator is rotated to perform slope finishing work.
Work can be done more quickly than conventional work. Furthermore, when the movement is performed at the same intervals as in the conventional work, the slope surface can be finished more closely than in the conventional work.

Furthermore, since the boom is automatically operated according to the swing angle, the operator only needs to operate the swing lever, making it possible to perform slope finishing work extremely easily.

In addition, in the description of the above embodiment, an example was explained in which the boom angle corresponding to the rotation angle is stored in the storage section in the boom target value calculator, but the invention is not limited to this, and it is possible to use a function generator or a calculator. It can also be used.

〔Effect of the invention〕

As described above, in the present invention, the upper revolving body of the hydraulic excavator is rotated to level the slope while drawing an arc, so that the slope finishing work can be performed quickly.

In addition, since the boom is automatically operated in accordance with the turning angle, the operator only has to perform an operation to drive the upper revolving structure, and slope finishing work can be easily carried out.

[Brief explanation of the drawing]

1(a) and (b) are a side view of a hydraulic excavator equipped with a slope finishing control device according to an embodiment of the present invention and a plan view of a slope, and FIG. 2 is a plan view of the slope shown in FIG. 1. Figure 3 is a block diagram of the hydraulic excavator in which the finishing control device is used; Figure 3 is a block diagram of the boom target value calculator shown in Figure 2; Figures 4 (a) and (b) are side views of the hydraulic excavator; It is a top view of a slope. 3... Upper revolving body, 5... Boom, 6
...Arm, 7...Bucket, 8...
... Slope finishing control device, I3 ... Upper revolving body angle sensor, 15 ... Boom target value calculator, 15a ... Storage section, 15b ... ...Difference calculation section, 15c...Target value calculation section, 19...
...Boom angle sensor, S...Slope. Agent: Patent Attorney Junji Takeshi Department (1 other person)

Claims (1)

[Claims] In a hydraulic excavator equipped with a lower traveling body, an upper rotating body, and a front mechanism consisting of a boom, an arm, and a bucket attached to the upper rotating body, a first angle detector that detects a turning angle of the rotating upper body; a second angle detector that detects the boom angle of the boom; and a boom angle determination that determines the boom angle relative to the swing angle for the bottom surface of the bucket to move in contact with a slope when the upper rotating structure is turned. and a boom drive that drives the boom based on the difference between the boom angle determined by the boom angle determining unit according to the detected value of the first angle detector and the detected value of the second angle detector. A slope finishing control device characterized by being provided with means.