Work machine and actuator correction system

Abstract

The purpose of the present invention is to provide a work machine and an actuator correction system capable of correcting an actuator in a short time. Therefore, when the correction device instructs the actuator to correct, the control device instructs to shift to a correction mode in which the command value of the regulator for controlling the pump flow rate is changed in accordance with a predetermined mode while the directional control valve is held at the neutral position. After the control device is instructed to shift to the correction mode, an update map in which the measured value of the pump flow rate and the command value are associated is created, and a conversion map is updated with the update map.

Description

Technical Field

[0001] The invention relates to a hydraulic excavator and other working machines and an actuator correction system. Background Art

[0002] As an existing hydraulic system installed in a working machine such as a hydraulic excavator, it sometimes includes a hydraulic pump driven by a prime mover such as an engine, an actuator that drives the vehicle body and the front device (working device), and a directional control valve that controls the flow direction of the pressure oil supplied from the hydraulic pump to the actuator. The operator of the working machine can indicate the direction and speed of movement of the actuator by operating an operating device such as an operating lever.

[0003] In addition, recent work machines (guided excavators) include: a mechanism that can input a construction drawing that is a design drawing for the terrain to be constructed, etc.; a mechanism that estimates the position of the work tool including the bucket claw position information and posture information and outputs the part of the construction drawing close to the work tool position as the design surface that can actually be excavated; and a monitor that notifies the operator of the relationship between the design surface and the work tool position. In addition, there are also the following work machines (semi-automatic control excavators) that control the boom movement according to the relationship between the operator's operation and the design surface work tool position to avoid over-excavating the design surface, thereby controlling the bucket to move along the design surface, and improving the excavation accuracy by assisting the operator's operation.

[0004] In such a hydraulic excavator, it is essential to calibrate the actuator so that the actuator operates at a speed requested by an operator or a controller. Patent Document 1 is an example of a prior art document that discloses a calibration method when the actuator is a hydraulic cylinder.

[0005] Patent document 1 describes a control system for an engineering machine, the engineering machine including an operating machine including a boom, an arm and a bucket, and an operating device for accepting input of an operating instruction of an operator for driving the operating machine, the control system including: a hydraulic cylinder that drives the operating machine; a directional control valve having a movable valve column, and supplying working oil to the hydraulic cylinder through the movement of the valve column to actuate the hydraulic cylinder; a control valve that can move the valve column based on the operating instruction; a cylinder speed sensor that detects the cylinder speed of the hydraulic cylinder; and a data acquisition unit that acquires an operating instruction value representing the value of the operating instruction signal and data representing the cylinder speed in a state where an operating instruction signal for actuating the hydraulic cylinder is output. , the data includes an initial state in which the cylinder speed is zero, a speed region in which the cylinder speed is greater than zero and less than a specified speed, namely a micro-speed region, and a speed region in which the cylinder speed is greater than the specified speed, namely a normal speed region; a derivation unit, which derives an action start operation instruction value when the hydraulic cylinder in the initial state starts to move, and a micro-speed action characteristic and a normal speed action characteristic representing the relationship between the operation instruction value and the cylinder speed in the micro-speed region and the normal speed region based on the data acquired by the data acquisition unit; a storage unit, which stores the action start operation instruction value and the micro-speed action characteristic derived by the derivation unit; and a work machine control unit, which controls the work machine based on the storage information of the storage unit.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: International Publication No. 2015 / 137524 Summary of the invention

[0009] Problems to be solved by the invention

[0010] In the hydraulic excavator described in Patent Document 1, when obtaining the micro-operation action characteristics and the normal speed action characteristics (equivalent to the calibration of the hydraulic cylinder) indicating the relationship between the operation command value and the cylinder speed, it is necessary to output the operation command to actuate the hydraulic cylinder and obtain the cylinder speed after the cylinder speed is stabilized, so the calibration takes time. In addition, when the driven component (an attachment such as a bucket) driven by the hydraulic cylinder is changed to a heavier component, the inertia of the driven component increases and the time until the cylinder speed stabilizes becomes longer, resulting in a problem that the time required for calibration further increases.

[0011] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a working machine and an actuator correction system capable of correcting an actuator in a short time.

[0012] Means for solving problems

[0013] In order to achieve the above-mentioned purpose, the working machine of the present invention includes: a variable capacity hydraulic pump; a regulator, which controls the discharge flow rate of the hydraulic pump, that is, the pump flow rate; an actuator, which is driven by the pressure oil supplied from the hydraulic pump; a directional control valve, which can be switched to a connecting position in which the pressure oil can be supplied from the hydraulic pump to the actuator and a neutral position in which the pressure oil cannot be supplied from the hydraulic pump to the actuator, to control the flow direction of the pressure oil supplied from the hydraulic pump to the actuator; an operating device, which indicates the action of the actuator; and a control device, which controls the regulator and the directional control valve in accordance with the operation of the operating device, the control device storing a conversion mapping diagram that establishes a correspondence between a target value of the pump flow, that is, a target pump flow, and an instruction value of the regulator, and calculates the operation of the operating device. The target pump flow corresponding to the amount is converted into the instruction value according to the conversion map, and the instruction signal corresponding to the instruction value is output to the regulator. The working machine includes: a correction device, which performs correction on the actuator; and a correction indication device, which indicates the correction of the actuator with respect to the correction device. When the correction device indicates the correction of the actuator, the control device is instructed to enter a correction mode. In the correction mode, the instruction value is changed according to a prescribed mode while the directional control valve is maintained in the neutral position. After the control device is instructed to enter the correction mode, an update conversion map is created to establish a correspondence between the measured value of the pump flow and the instruction value, and the conversion map is updated with the update conversion map.

[0014] In addition, the working machine of the present invention includes: a variable capacity hydraulic pump; a regulator, which controls the discharge flow rate of the hydraulic pump, that is, the pump flow rate; an actuator, which is driven by the pressure oil supplied from the hydraulic pump; a directional control valve, which can be switched to a connecting position in which the pressure oil can be supplied from the hydraulic pump to the actuator and a neutral position in which the pressure oil cannot be supplied from the hydraulic pump to the actuator, to control the flow direction of the pressure oil supplied from the hydraulic pump to the actuator; an operating device, which instructs the action of the actuator; and a control device, which stores a conversion map that establishes a correspondence between a target value of the pump flow rate, that is, a target pump flow rate, and an instruction value of the regulator, calculates the target pump flow rate corresponding to the operation amount of the operating device, and calculates the target pump flow rate according to the operation amount of the operating device. The target pump flow is converted into the command value according to the conversion map, and the command signal corresponding to the command value is output to the regulator. The directional control valve is controlled according to the operation of the operating device. In an actuator correction system having a correction device for correcting the actuator for the working machine, the correction device instructs the control device to enter a correction mode. In the correction mode, the command value is changed according to a prescribed pattern while keeping the directional control valve in the neutral position. After instructing the control device to enter the correction mode, an update conversion map is created to establish a correspondence between the measured value of the pump flow and the command value, and the conversion map is updated with the update conversion map.

[0015] According to the present invention constructed in the above manner, since the actuator can be calibrated without operating the actuator, the time required for calibration can be shortened. In addition, since the change in pump flow rate accompanying the operation of the actuator during calibration is suppressed, the reduction in calibration accuracy can be suppressed.

[0016] Effects of the Invention

[0017] According to the working machine or actuator calibration system of the present invention, the actuator can be calibrated in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a side view of the hydraulic excavator according to the first embodiment of the present invention.

[0019] Figure 2 It is a block diagram of the hydraulic control system in the first embodiment of the present invention.

[0020] Figure 3 It is a structural diagram of the hydraulic device in the first embodiment of the present invention.

[0021] Figure 4 It is a control block diagram of the control device in the first embodiment of the present invention.

[0022] Figure 5 This is a control block diagram of the pump solenoid valve control unit in the first embodiment of the present invention.

[0023] Figure 6 This is a control block diagram of the directional control solenoid valve control unit in the first embodiment of the present invention.

[0024] Figure 7 It is a control block diagram of the correction device in the first embodiment of the present invention.

[0025] Figure 8 This is a control block diagram showing a first modified example of the correction instruction output processing unit in the first embodiment of the present invention.

[0026] Fig. 9 This is a control block diagram showing a second modified example of the correction instruction output processing unit in the first embodiment of the present invention.

[0027] Fig.10 This is a control block diagram showing a third modified example of the correction instruction output processing unit in the first embodiment of the present invention.

[0028] Fig.11 It is a control block diagram of the control device in the second embodiment of the present invention.

[0029] Fig.12 This is a control block diagram of the semi-automatic control unit in the second embodiment of the present invention. DETAILED DESCRIPTION

[0030] Hereinafter, a hydraulic excavator will be described as an example of a working machine according to an embodiment of the present invention with reference to the drawings. It should be noted that in each of the drawings, the same reference numerals are given to the same components, and duplicate descriptions are omitted as appropriate.

[0031] Example 1

[0032] Figure 1 The hydraulic excavator 100 includes a lower traveling structure 1, an upper revolving structure 2 as a vehicle body mounted on the lower traveling structure 1 so as to be revolvable by means of a revolving device 8, and a working device 110 connected to the front side of the upper revolving structure 2 so as to be rotatable in the up-down direction.

[0033] The upper revolving body 2 has a revolving frame 2a constituting a basic lower structure. The working device 110 is connected to the front side of the revolving frame 2a so as to be rotatable in the up-down direction. A counterweight 3 for achieving weight balance with the working device 110 is installed on the rear side of the revolving frame 2a. A cab 4 is provided at the left front part of the revolving frame 2a. A left operating lever 15L and a right operating lever 15R (such as a right operating lever 15L) are arranged in the cab 4 as operating devices for operating the upper revolving body 2 and the working device 110. Figure 2 or Figure 3 The revolving frame 2a is equipped with an engine 16 as a prime mover, including one or more hydraulic pumps 9a, 9b (such as Figure 3 The control valve unit 10 controls the flow of pressurized oil supplied from the pump device 9 to the rotary motor 8a and multiple actuators including the boom cylinder 5a, the arm cylinder 6a, and the bucket cylinder 7a described later. An engine speed sensor 16a for detecting the engine speed is installed on the engine 16.

[0034] The working device 110 includes: a boom 5 whose base end is connected to the right front part of the revolving frame 2a so as to be rotatable in the up-down direction; an arm 6 connected to the front end of the boom 5 so as to be rotatable in the up-down direction and front-back direction and to be raised and lowered through the boom 5; a bucket 7 as a working tool which is connected to the front end of the arm 6 so as to be rotatable in the up-down direction and front-back direction and to be raised and lowered through the boom 5 or the arm 6; a boom cylinder 5a for driving the boom 5; an arm cylinder 6a for driving the arm 6; and a bucket cylinder 7a for driving the bucket 7.

[0035] Attitude sensors 11a, 11b, 11c, and 11d are attached to the upper swing body 2, the boom 5, the arm 6, and the bucket link 7b connecting the rod tip of the bucket cylinder 7a to the arm 6 and the bucket 7. The attitude sensors 11a to 11d are constituted by angle sensors and IMUs.

[0036] Figure 2 2 is a block diagram of a hydraulic control system mounted on the hydraulic excavator 100. The hydraulic control system 200 includes operating levers 15L and 15R, a control device 20, and a hydraulic device 23.

[0037] The operating levers 15L and 15R are devices for the operator to instruct the control device 20 on the operation of the hydraulic excavator 100, and output operation signals corresponding to the operator's lever operation to the control device 20. The control device 20 outputs a command current to the hydraulic device 23 based on the operation signals from the operating levers 15L and 15R, the construction drawing information, and the posture information from the posture sensors 11a to 11d. In addition, the control device 20 calculates the discharge flow rate (pump flow rate) of the hydraulic pumps 9a and 9b described later based on the command current of the pump solenoid valve described later and the engine speed, and outputs it to the correction device 24 together with the command current of the pump solenoid valve.

[0038] The hydraulic device 23 supplies pressure oil to the boom cylinder 5 a , the arm cylinder 6 a , the bucket cylinder 7 a , and the swing motor 8 a based on the command current from the control device 20 , thereby driving the boom 5 , the arm 6 , the bucket 7 , and the swing device 8 .

[0039] The monitor 22 can display information (working tool position, design surface, construction drawing) output from the control device 20 .

[0040] The correction device 24 is a device for correcting the actuators 5a, 6a, 7a, 8a, and constitutes an actuator correction system. The correction of the actuators 5a, 6a, 7a, 8a refers to the correction of the movement speed of the actuators 5a, 6a, 7a, 8a. When a signal (correction instruction signal) indicating the correction of the actuators 5a, 6a, 7a, 8a is input from the correction instruction device 25 composed of a switch, etc., information indicating the transition to the correction mode (correction mode flag) is output to the control device 20, and the conversion map M1 (such as Figure 5 The update map M2 (as shown) is updated Figure 7 It should be noted that the system in which the attitude sensors 11a to 11d, the monitor 22, and the storage device 26 storing the construction drawing information are added to the hydraulic control system 200 is set as a machine guidance system. The correction device 24 and the correction instruction device 25 in this embodiment are mounted on the hydraulic excavator 100, but can also be composed of equipment independent of the hydraulic excavator 100, and connected to the control device 20 when the actuators 5a, 6a, 7a, and 8a are calibrated.

[0041] Figure 3 1 is a block diagram of the hydraulic device 23. The hydraulic device 23 includes a tank 111 storing hydraulic oil, variable displacement hydraulic pumps 9a and 9b pressurizing and discharging hydraulic oil sucked from the tank 111, regulators 109a and 109b controlling the capacities of the hydraulic pumps 9a and 9b in accordance with a command current from the control device 20, actuators 5a, 6a, 7a, and 8a, directional control valves 101 to 104 controlling the flow direction of the pressurized oil supplied from the hydraulic pumps 9a and 9b to the actuators 5a, 6a, 7a, and 8a, and electromagnetic valves 105a, 105b, 106a, 106b, 107a, 107b, 108a, and 108b (hereinafter referred to as directional control electromagnetic valves) generating pilot pressures of the directional control valves 101 to 104 in accordance with the command current from the control device 20.

[0042] The hydraulic pumps 9a and 9b change their capacity (discharge volume per rotation) in accordance with the angle (tilting angle) of the inclined plate or the inclined shaft. The regulators 109a and 109b have built-in pistons for driving the inclined plates or the inclined shafts of the hydraulic pumps 9a and 9b and electromagnetic valves (hereinafter referred to as pump electromagnetic valves) for generating driving pressure (pilot pressure) for the pistons. The pump electromagnetic valves reduce the pilot primary pressure input from the pilot pump (not shown) to generate pilot pressure in accordance with the command current output from the control device 20. The discharge flow rate (pump flow rate) of the hydraulic pumps 9a and 9b is calculated by multiplying the capacity of the hydraulic pumps 9a and 9b by the engine 16 (such as Figure 1 The capacity of the hydraulic pumps 9a and 9b can be obtained from the pilot pressure of the regulators 109a and 109b or the command current of the pump solenoid valve.

[0043] The directional control valves 101 to 104 can be switched to two communication positions where the hydraulic pumps 9a and 9b can supply the pressure oil to the actuators 5a, 6a, 7a and 8a, and a neutral position where the hydraulic pumps 9a and 9b cannot supply the pressure oil to the actuators 5a, 6a, 7a and 8a, and the switching is performed in accordance with the pilot pressure output from the directional control solenoid valves 105a, 105b, ..., 108a and 108b. The directional control solenoid valves 105a, 105b, ..., 108a and 108b reduce the pilot primary pressure input from the pilot pump (not shown) in accordance with the command current output from the control device 20, thereby generating the pilot pressure of the directional control valves 101 to 104.

[0044] Figure 4 : is a functional block diagram of the control device 20. The control device 20 has an operator command processing unit 30, a pump solenoid valve control unit 31, a direction control solenoid valve control unit 32, and a pump flow rate calculation unit 33. The control device 20 is composed of a controller with a calculation processing function, an input / output interface for inputting and outputting signals with external devices, etc., and realizes the functions of each part by executing a program stored in a storage device such as a ROM.

[0045] The operator command processing unit 30 determines target flow rates of the actuators 5 a , 6 a , 7 a , 8 a based on the operation amounts of the operating levers 15L, 15R, and outputs the target flow rates to the pump solenoid valve control unit 31 and the directional control solenoid valve control unit 32 .

[0046] When the calibration mode flag is invalid, the pump solenoid valve control unit 31 outputs the command current corresponding to the target flow rate of the actuators 5a, 6a, 7a, and 8a to the pump solenoid valve, and when the calibration mode flag is valid, the pump solenoid valve control unit 31 outputs the preset calibration command current to the pump solenoid valve. In addition, when the calibration mode flag is valid and the update map M2 is input, the pump solenoid valve control unit 31 converts the map M1 (such as Figure 5 As shown) is updated with mapping M2.

[0047] When the correction mode flag is invalid, the directional control solenoid valve control unit 32 outputs a command current to the directional control solenoid valves 105a, 105b, ..., 108a, 108b corresponding to the target flow of the actuators 5a, 6a, 7a, 8a; when the correction mode flag is valid, a pre-set correction command current is output to the directional control solenoid valves 105a, 105b, ..., 108a, 108b.

[0048] The pump flow calculation unit 33 calculates the capacity (discharge volume per rotation) of the hydraulic pumps 9a and 9b based on the command current output from the pump solenoid valve control unit 31, and calculates the discharge flow rate (pump flow rate) of the hydraulic pumps 9a and 9b by multiplying the capacity by the engine speed. It should be noted that the engine speed is not limited to the actual measured value input from the engine speed sensor 16a, but may also be a control value input from an engine controller (not shown).

[0049] Figure 5 2 is a functional block diagram of the pump solenoid valve control unit 31. The pump solenoid valve control unit 31 includes a pump solenoid valve command current calculation unit 40, a calibration-time pump solenoid valve command current calculation unit 41, and a command current switching unit 42.

[0050] The pump solenoid valve command current calculation unit 40 stores a conversion map M1 that establishes a correspondence between the target flow rate (target pump flow rate) of the hydraulic pumps 9a and 9b and the command current of the pump solenoid valve. When the correction mode flag is invalid, the command current corresponding to the input target flow rate is output from the operator command processing unit 30. When the correction mode flag is valid, the update map M2 (such as the one input from the correction device 24) is used. Figure 7 As shown) updates the conversion mapping M1 stored in itself.

[0051] During calibration, the pump solenoid valve command current calculation unit 41 stores a command current mode, and when the calibration mode flag is valid, outputs a command current corresponding to the time elapsed from the time when the calibration mode flag becomes valid. The command current mode here is a calibration mode, and is usually set so that the command current increases in steps as time passes.

[0052] When the correction mode flag is invalid, the instruction current switching unit 42 outputs the instruction current input from the pump solenoid valve instruction current calculation unit 40 to the pump solenoid valve. When the correction mode flag is valid, the instruction current input from the pump solenoid valve instruction current calculation unit 41 during correction is output to the pump solenoid valve.

[0053] Figure 62 is a control block diagram of the directional control solenoid valve control unit 32. The directional control solenoid valve control unit 32 includes a directional control solenoid valve command current calculation unit 50, a constant unit 51, and a command current switching unit 52.

[0054] The directional control solenoid valve command current calculation unit 50 stores a conversion map that establishes correspondence between the target flow of the actuators 5a, 6a, 7a, 8a and the command current of the directional control solenoid valves 105a, 105b, ..., 108a, 108b, and outputs a command current corresponding to the target flow input from the operator command processing unit 30.

[0055] The constant unit 51 outputs a command current of the directional control solenoid valves 105a, 105b, ..., 108a, 108b during calibration (a command current for keeping the directional control valves 101 to 104 at the neutral position).

[0056] The command current switching unit 52 outputs the command current input from the direction control solenoid valve command current calculation unit 50 when the correction mode flag is invalid, and outputs the command current input from the constant unit 51 when the correction mode flag is valid.

[0057] Figure 7 2 is a control block diagram of the correction device 24. The correction device 24 has a correction mode flag output unit 60 and an update map generation unit 61. The correction device 24 is composed of a controller having a calculation processing function, an input / output interface for inputting and outputting signals with external devices, etc., similarly to the control device 20, and the functions of each part are realized by executing a program stored in a storage device such as a ROM.

[0058] The calibration mode flag output unit 60 sets the calibration mode flag to be valid and outputs it when a calibration instruction signal is input from the calibration instruction device 25 , and otherwise sets the calibration mode flag to be invalid and outputs it.

[0059] When the correction mode flag input from the correction mode flag output unit 60 is valid, the update map generation unit 61 generates and outputs an update map M2 that associates the command current of the pump solenoid valve input from the control device 20 with the discharge flow rate (pump flow rate) of the hydraulic pumps 9a and 9b.

[0060] Figure 81 is a control block diagram showing a first variant of the correction mode flag output unit 60. The correction mode flag output unit 60A sets the correction mode flag to be valid and outputs it when there is an input of the correction instruction signal and the directional control solenoid valves 105a, 105b, ..., 108a, 108b are normal, otherwise the correction mode flag is set to be invalid and output. The directional control solenoid valve state flag in the figure is a result of determining whether the directional control solenoid valves 105a, 105b, ..., 108a, 108b are normal or not. For example, in the case where the electrical circuit of the solenoid valve is short-circuited (short), current cannot flow into the solenoid valve. Therefore, by monitoring the current flowing into the directional control solenoid valves 105a, 105b, ..., 108a, 108b with the control device 20, it is possible to determine whether the directional control solenoid valves 105a, 105b, ..., 108a, 108b are normal or not. With such a configuration, the control device 20 enters the calibration mode only when there is no problem in the operation of the directional control valves 101 to 104 , and thus the directional control valves 101 to 104 can be reliably held at the neutral position during calibration.

[0061] Fig. 9 1 is a control block diagram showing a second modified example of the correction mode flag output unit 60. The correction mode flag output unit 60B sets the correction mode flag to be valid and outputs it when there is an input of the correction instruction signal and the absolute value of the angular velocity of the driven parts 2, 5 to 7 is below the threshold value, and sets the correction mode flag to be invalid and outputs it in other cases. By configuring in this way, it is possible to prevent the control device 20 from switching to the correction mode before the actuators 5a, 6a, 7a, 8a stop. As a result, since the change in the pump flow rate accompanying the operation of the actuators 5a, 6a, 7a, 8a can be suppressed during correction, the correction accuracy of the actuators 5a, 6a, 7a, 8a is improved.

[0062] Fig.10: is a control block diagram showing a third modified example of the correction mode flag output unit 60. The correction mode flag output unit 60C sets the correction mode flag to be valid and outputs it when there is an input of the correction instruction signal and the absolute value of the angular velocity of the driven components 2, 5 to 7 is less than the threshold value and the mechanical guidance system is normal, and sets the correction mode flag to be invalid and outputs it in other cases. The mechanical guidance system state flag in the figure is a result of determining whether the mechanical guidance system is normal or not. The mechanical guidance system state flag is a value indicating normality when all the components of the mechanical guidance system (hydraulic control system 200, attitude sensors 11a to 11d, monitor 22 and storage device 26) are normal, and is a value indicating abnormality when any component is detected to be abnormal. For example, when the attitude sensors 11a to 11d are short-circuited (short), the output current or output voltage of the attitude sensors 11a to 11d is zero. Therefore, by monitoring the output of the attitude sensors 11a to 11d by the control device 20, it is possible to determine whether the attitude sensors 11a to 11d are normal or not. The method of determining whether other components are normal or not is omitted. By configuring in this way, when an abnormality occurs in the machine guidance system, the control device 20 can be prevented from switching to the calibration mode regardless of the measured values ​​of the angular velocities of the driven components 2, 5 to 7. As a result, changes in the pump flow rate associated with the operation of the actuators 5a, 6a, 7a, 8a can be reliably suppressed during calibration.

[0063] (Summarize)

[0064] In the present embodiment, the working machine 100 includes: variable capacity hydraulic pumps 9a, 9b; regulators 109a, 109b for controlling pump flow rates as discharge flow rates of the hydraulic pumps 9a, 9b; actuators 5a, 6a, 7a, 8a driven by pressure oil supplied from the hydraulic pumps 9a, 9b; and a connection position that can be switched between a position in which pressure oil can be supplied from the hydraulic pumps 9a, 9b to the actuators 5a, 6a, 7a, 8a and a position in which pressure oil cannot be supplied from the hydraulic pumps 9a, 9b to the actuators 5a, 6a, 7a, 8a. Directional control valves 101 to 104 for controlling the flow direction of the pressure oil supplied from the hydraulic pumps 9a and 9b to the actuators 5a, 6a, 7a and 8a in a neutral position; operating devices 15L and 15R for instructing the operation of the actuators 5a, 6a, 7a and 8a; and a control device 20 for controlling the regulators 109a and 109b and the directional control valves 101 to 104 in accordance with the operation of the operating devices 15L and 15R, the control device 20 storing a target pump flow rate and a target pump flow rate of the pump flow rate. a, 109b establish a corresponding conversion map M1, calculate the target pump flow corresponding to the operation amount of the operating device 15L, 15R, convert the target pump flow into the command value according to the conversion map M1, and output the command signal corresponding to the command value to the regulator 109a, 109b, the working machine 100 includes: a correction device 24 for correcting the actuator 5a, 6a, 7a, 8a; and a correction indicator for instructing the correction device 24 to correct the actuator 5a, 6a, 7a, 8a The indicating device 25, when indicating the correction of the actuators 5a, 6a, 7a, 8a, the correction device 24 instructs the control device 20 to enter the correction mode. In the correction mode, while the directional control valves 101~104 are maintained in the neutral position, the instruction value is changed according to a prescribed pattern. After instructing the control device 20 to enter the correction mode, an update mapping map M2 is created to establish a correspondence between the measured value of the pump flow and the instruction value, and the conversion mapping map M1 is updated by the update mapping map M2.

[0065] The effects achieved by the present embodiment constructed as described above are compared with the prior art. In the prior art, when calibrating the hydraulic cylinder, it is necessary to output an operation command to actuate the hydraulic cylinder and obtain the cylinder speed after the cylinder speed stabilizes, so the calibration takes time. In addition, when the driven component (ancillary device such as a bucket) driven by the hydraulic cylinder is changed to a heavier structure, the inertia of the driven component increases and the time until the cylinder speed stabilizes becomes longer, resulting in a problem that the time required for calibration becomes further longer.

[0066] In this regard, in the present embodiment, the conversion map that establishes a correspondence between the target pump flow and the command value of the regulator can be updated without causing the actuators 5a, 6a, 7a, and 8a to operate. Here, the actuator speed can be calculated based on the pump flow, the size of the actuators 5a, 6a, 7a, and 8a, the weight of the driven body, and the like. That is, updating the conversion map M1 is essentially the same as correcting the actuators 5a, 6a, 7a, and 8a. In this way, the actuators 5a, 6a, 7a, and 8a can be corrected without causing the actuators 5a, 6a, 7a, and 8a to operate, so the time required for correction can be shortened. In addition, since the change in the pump flow associated with the action of the actuators 5a, 6a, 7a, and 8a during correction is suppressed, the correction accuracy can be suppressed from decreasing. It should be noted that in the present embodiment, a device that makes the control device 20 and the correction device 24 independent is used for explanation, but these functions can also be installed in a single controller.

[0067] In addition, the working machine 100 in this embodiment includes a vehicle body 2, a working device 110 mounted on the vehicle body 2 and having a working tool 7, a plurality of actuators 5a, 6a, 7a, 8a for driving the vehicle body 2 and the working device 110, and a plurality of directional control valves 101 to 104 for controlling the flow direction of the pressure oil supplied from the hydraulic pumps 9a, 9b to the plurality of actuators 5a, 6a, 7a, 8a. In the calibration mode, the control device 20 keeps the plurality of directional control valves 101 to 104 in the neutral position regardless of the operation of the operating devices 15L, 15R. Thus, the working machine 100 can be prevented from moving during calibration.

[0068] In addition, the working machine 100 in this embodiment is provided with attitude sensors 11a to 11d for measuring the attitude of the vehicle body 2 or the working device 110. When the change per unit time of the measured values ​​of the attitude sensors 11a to 11d exceeds a predetermined threshold value, the correction device 24 does not instruct the control device 20 to enter the correction mode even when the correction of the actuators 5a, 6a, 7a, and 8a is instructed. Thus, the control device 20 does not enter the correction mode before the actuators 5a, 6a, and 7a stop, and thus the change in the pump flow rate accompanying the operation of the actuators 5a, 6a, and 7a can be suppressed during the correction.

[0069] In addition, when the posture sensors 11a to 11d are abnormal, the correction device 24 in this embodiment does not instruct the control device 20 to enter the correction mode regardless of the measured values ​​of the posture sensors 11a to 11d. As a result, the control device 20 can be reliably prevented from entering the correction mode when the actuators 5a, 6a, 7a, and 8a are not stopped.

[0070] Furthermore, when there is a problem with the operation of the directional control valves 101 to 104, even when the calibration of the actuators 5a, 6a, 7a, 8a is instructed, the calibration device 24 in this embodiment does not instruct the control device 20 to enter the calibration mode. Thus, the directional control valves 101 to 104 can be reliably maintained in the neutral position during calibration.

[0071] Example 2

[0072] The working machine according to the second embodiment of the present invention will be described focusing on the differences from the first embodiment.

[0073] In the hydraulic excavator 100 having the semi-automatic control function, the boom 5 automatically moves to correct the position of the bucket 7. Therefore, the control device 20 is switched to the correction mode after waiting for the actuators 5a, 6a, 7a, and 8a to stop (e.g. Fig. 9 or Fig.10 In the case of the above, the operator may delay the transition to the correction mode due to the action of the boom cylinder 5a that the operator does not want, resulting in a problem that the time from the operator instructing the correction to the completion of the correction becomes longer. This embodiment is used to solve this problem.

[0074] Fig.11 20 is a control block diagram of the control device 20 in this embodiment. Figure 3 The semi-automatic control unit 34 is provided on the basis of the structure shown in FIG. The semi-automatic control unit 34 controls the bucket position according to the target flow rate input from the operator instruction processing unit 30, the posture information input from the posture sensors 11a to 11d, and the construction drawing information input from the storage device 26 to prevent the designed surface from being over-excavated.

[0075] Fig.12 3 is a control block diagram of the semi-automatic control unit 34. The semi-automatic control unit 34 includes a claw tip deviation calculation unit 70, a constant unit 71, a multiplication unit 72, and a boom target flow rate switching unit 73.

[0076] The claw tip deviation calculation unit 70 calculates the difference between the height of the bucket claw tip position and the height of the design surface (claw tip deviation) based on the posture information and the construction drawing information. The multiplication unit 72 calculates the boom target flow rate for correcting the bucket position so that the design surface is not over-excavated by multiplying the gain input from the constant unit 71 by the claw tip deviation.

[0077] The boom target flow rate switching unit 73 outputs the boom target flow rate input from the operator command processing unit 30 when the correction mode switching signal is valid, and outputs the boom target flow rate input from the multiplication unit 72 when the correction mode switching signal is invalid. It should be noted that, although not shown in the figure, the semi-automatic control unit 34 directly outputs the target flow rate input from the operator command processing unit 30 as the target flow rate of the actuators 6a, 7a, and 8a other than the boom cylinder 5a. That is, when the boom target flow rate switching unit 73 outputs the boom target flow rate input from the operator command processing unit 30 (when the correction mode switching signal is valid), the semi-automatic control function is invalid, and the actuators 6a, 7a, and 8a are controlled in accordance with the manual operation of the operator. On the other hand, when the boom target flow rate switching unit 73 outputs the boom target flow rate input from the multiplication unit 72 (when the correction mode switching signal is invalid), the semi-automatic control function is valid, and the actuators 6a, 7a, and 8a are controlled so that the working tool 6 moves along the design surface.

[0078] (Summarize)

[0079] The working machine 100 in this embodiment has a storage device 26 for storing construction drawing information, and the control device 20 has a semi-automatic control function for controlling the movement of the working tool 6 so that the working tool 6 moves along the design surface selected from the construction drawing information as the construction object of the working tool 6. When the timing of the correction of the actuators 5a, 6a, 7a, and 8a is indicated, the correction device 24 invalidates the semi-automatic control function.

[0080] According to the present embodiment constructed as described above, after the operator instructs the calibration of the actuators 5a, 6a, 7a, 8a, the semi-automatic control function is immediately disabled, so that the actuators 5a, 6a, 7a, 8a can be quickly stopped when the calibration of the actuators 5a, 6a, 7a, 8a starts. Figure 8 or Fig. 9 As shown in the figure, the time from when the operator instructs the actuator 5a, 6a, 7a, 8a to be corrected to when the correction is completed can be shortened.

[0081] The embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments and includes various modified examples. For example, the above embodiments are described in detail in order to clearly and easily explain the present invention, but are not necessarily limited to having all the described structures. In addition, a part of the structure of another embodiment can be added to the structure of a certain embodiment, or a part of the structure of a certain embodiment can be deleted or replaced with a part of another embodiment.

[0082] Description of Reference Numerals

[0083] 1…lower travel body, 2…upper swing body (vehicle body), 2a…swing frame, 3…counterweight, 4…cab, 5…boom, 5a…boom cylinder (actuator), 6…arm, 6a…arm cylinder (actuator), 7…bucket, 7a…bucket cylinder (actuator), 8…swing device, 8a…swing motor (actuator), 9…pump device, 9a, 9b…hydraulic pump, 10…control valve unit, 11a to 11d…attitude sensor, 15L…left operating lever (operating device), 15R…right operating lever (operating device), 16…engine, 20…control device, 22…monitor, 23…hydraulic device, 24…calibration device, 25…calibration instruction device, 26…storage device, 30…operator instruction processing unit, 31…pump solenoid valve control unit, 32…direction control solenoid valve control unit, 33…pump flow rate calculation unit, 34 …semi-automatic control unit, 40…pump solenoid valve command current calculation unit, 41…calibration pump solenoid valve command current calculation unit, 42…command current switching unit, 50…direction control solenoid valve command current calculation unit, 51…constant unit, 52…command current switching unit, 60…calibration mode flag output unit, 61…update map generation unit, 70…claw tip deviation calculation unit, 71…constant unit, 72…multiplication unit, 73…boom target flow rate switching unit, 100…hydraulic excavator (working machine), 101~104…direction control valve, 105a, 105b, 106a, 106b, 107a, 107b, 108a, 108b…direction control solenoid valve, 109a, 109b…regulator, 110…working device, 111…tank, 200…hydraulic control system, M1…conversion map, M2…update map.

Claims

1. A working machine, comprising: Variable capacity hydraulic pump; A regulator that controls the discharge flow rate of the hydraulic pump, i.e., the pump flow rate; an actuator driven by the pressurized oil supplied from the hydraulic pump; a directional control valve, which can be switched between a communication position in which pressure oil can be supplied from the hydraulic pump to the actuator and a neutral position in which pressure oil cannot be supplied from the hydraulic pump to the actuator, and controls the flow direction of the pressure oil supplied from the hydraulic pump to the actuator; an operating device for instructing the action of the actuator; as well as a control device for controlling the regulator and the directional control valve in response to the operation of the operating device, The control device stores a conversion map that establishes a correspondence between a target value of the pump flow, i.e., a target pump flow, and an instruction value of the regulator, calculates the target pump flow corresponding to the operation amount of the operating device, converts the target pump flow into the instruction value according to the conversion map, and outputs an instruction signal corresponding to the instruction value to the regulator. The working machine is characterized by comprising: a calibration device for calibrating the actuator; and a correction indicating device for indicating the correction of the actuator to the correction device, When the correction device instructs the actuator to be corrected, the correction device instructs the control device to enter a correction mode. In the calibration mode, the command value is changed according to a predetermined pattern while the directional control valve is kept at the neutral position. After the control device is instructed to enter the calibration mode, an update conversion map is created that associates the measured value of the pump flow rate with the command value, and the conversion map is updated using the update conversion map.

2. The working machine according to claim 1, characterized in that: include: Car body; A working device, which is mounted on the vehicle body and has a working tool; a plurality of actuators, including the actuator, driving the vehicle body and the working device; as well as a plurality of directional control valves, including the directional control valve, for controlling the flow direction of the pressure oil supplied from the hydraulic pump to the plurality of actuators; In the calibration mode, the control device maintains the plurality of directional control valves in the neutral position regardless of the operation of the operating device.

3. The working machine according to claim 2, characterized in that: An angle sensor is provided for measuring the angle of the vehicle body or the working device. When a change per unit time of the measurement value of the angle sensor exceeds a predetermined threshold value, the correction device does not instruct the control device to shift to the correction mode even when correction of the actuator is instructed.

4. The working machine according to claim 3, characterized in that: When an abnormality occurs in the angle sensor, the correction device does not instruct the control device to enter the correction mode regardless of the measurement value of the angle sensor.

5. The working machine according to claim 2, characterized in that: A storage device for storing construction drawing information is provided, The control device has a semi-automatic control function, which controls the movement of the working tool so that the working tool moves along a design surface selected from the construction drawing information as a construction object of the working tool. The semi-automatic control function is disabled at the timing when the correction device instructs the correction of the actuator.

6. The working machine according to claim 1, characterized in that: When there is a problem in the operation of the directional control valve, the correction device does not instruct the control device to shift to the correction mode even when correction of the actuator is instructed.

7. An actuator calibration system, comprising a calibration device for calibrating an actuator of a working machine, wherein the working machine comprises: Variable capacity hydraulic pump; a regulator that controls the discharge flow rate of the hydraulic pump, i.e., the pump flow rate; and an actuator that is driven by the pressure oil supplied from the hydraulic pump; 20. The directional control valve according to claim 19, wherein the directional control valve is configured to control the flow direction of the pressure oil supplied from the hydraulic pump to the actuator and the neutral position in which the pressure oil cannot be supplied from the hydraulic pump to the actuator, thereby controlling the flow direction of the pressure oil supplied from the hydraulic pump to the actuator; an operating device, which instructs the action of the actuator; and a control device, which stores a conversion map that establishes a correspondence between a target value of the pump flow, i.e., a target pump flow, and an instruction value of the regulator, calculates the target pump flow corresponding to the operation amount of the operating device, converts the target pump flow into the instruction value according to the conversion map, outputs an instruction signal corresponding to the instruction value to the regulator, and controls the directional control valve in accordance with the operation of the operating device. The actuator correction system is characterized in that: The correction device instructs the control device to switch to a correction mode. In the calibration mode, the command value is changed according to a predetermined pattern while the directional control valve is kept at the neutral position. After instructing the control device to enter the calibration mode, a conversion map for updating is created that associates the measured value of the pump flow rate with the command value. The conversion map is updated using the update conversion map.

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