Work support device and work machine

Abstract

To provide a work support device which can easily make a bucket linearly act on a construction surface, and a work machine provided with the same.SOLUTION: A work support device for automatically controlling the position of a bucket 9 includes a controller 50 for controlling operations of a boom 7, a stick 8, a bucket 9, an upper turning body 3, a tilt mechanism 25, and a turning mechanism 26 so that the bucket 9 linearly moves at a predetermined angle in a predetermined direction, in a state in which traveling of a lower traveling body 2 is stopped, on the basis of operation commands of turning of the upper turning body 3 and rotation of the stick 8.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work support device that automatically controls a bucket, and a work machine equipped with the same. [Background technology]

[0002] One example of work performed using a hydraulic excavator as a work machine is leveling work, which is performed as a finishing step in civil engineering projects. Leveling work (operation) typically involves operating the boom, stick, and bucket in conjunction with one another to move the bucket while maintaining the bucket bottom at a predetermined angle relative to the ground. This operation allows the ground in front of the hydraulic excavator's upper rotating body to be leveled in a straight line in the fore-and-aft direction of the vehicle. However, when the ground to be leveled is large and exceeds the range that can be achieved by moving the front working implement in the fore-and-aft direction, or when the ground to be leveled is sloped and the vehicle cannot be stopped safely, it becomes necessary to also operate the front working implement in the lateral (left-right) direction. In such cases, it has traditionally been necessary to use a special work machine with a structure called an offset boom that can offset the boom in the left-right direction of the vehicle, or to move the machine position (the position of the front working implement) by repeatedly traveling sideways to perform the work, which takes time.

[0003] On the other hand, if an attachment called a tiltrotator is attached between the stick and the bucket, the bucket can be rotated left and right, making it possible to excavate or level the ground in a lateral (left-right) direction relative to the orientation of the front work implement. However, in this case, the bucket's lateral movement in the vehicle is achieved by rotating the upper rotating body, so the bucket moves in an arc rather than a straight line, and in order to level the ground in a straight line, it is necessary to adjust the bucket's position in the fore-and-aft direction of the vehicle by operating the boom or stick in accordance with the swing operation, which makes operation difficult.

[0004] Similarly, there is a known system that attempts to solve the above problem by moving the front working implement along a predetermined axis that has been set in advance through a teaching operation or the like (see, for example, Patent Document 1). However, with this configuration, complicated preparatory work, such as a teaching operation, is required before actual work by leveling can begin. In addition, because the system automatically controls the swing operation so that a point on the bucket moves along a teaching axis that has been set in a plan view, the operator still needs to operate the front working implement in conjunction with the bucket while adjusting the bucket height and the angle of the bucket bottom relative to the construction surface. This again makes operation difficult when leveling work is mainly performed by moving the bucket in a linear manner laterally (left and right) relative to the orientation of the front working implement. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2019 / 049701 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made in consideration of these points, and aims to provide a work support device that can easily apply a bucket in a straight line to a construction surface, and a work machine equipped with the same. [Means for solving the problem]

[0007] The work support device of the present invention is a work support device for automatically controlling the position of a bucket, which is used on a work machine equipped with a machine body having a travelable lower running body and an upper rotating body that can rotate relative to the lower running body, a working device having a boom that can rotate relative to the upper rotating body, a stick that can rotate relative to the boom, and a bucket that can rotate relative to the stick, and actuators that operate the lower running body, upper rotating body, boom, stick, and bucket, and which is equipped with a tilt mechanism that supports the bucket so that it can swing in a direction intersecting the rotation direction, and a rotating mechanism that supports the bucket so that it can rotate relative to the tilt mechanism, and which is used on a work machine equipped with a work support device for automatically controlling the position of the bucket, and which is equipped with a control unit that controls the operation of the boom, stick, bucket, upper rotating body, tilt mechanism, and rotating mechanism based on operation commands for rotating the upper rotating body and rotating the stick when the lower running body is stopped, so as to move the bucket linearly in a predetermined direction and angle. [Effects of the Invention]

[0008] According to the present invention, the bucket can be easily applied linearly to the construction surface. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a side view that schematically shows an embodiment of a work machine that is equipped with a work support device according to the present invention. [Figure 2] 1A and 1B show a tilt mechanism and a swing mechanism of the same working machine, in which FIG. 1A is a side view and FIG. 1B is a schematic front view. [Figure 3] FIG. 2 is a hydraulic circuit diagram of the same work machine. [Figure 4] FIG. 2 is a block diagram showing the work support device. [Figure 5] 1A and 1B show a construction surface where automatic control is performed by the same work machine and work support device, where FIG. 1A is a perspective view and FIG. 1B is a plan view. [Figure 6] 10 is a flowchart showing the automatic control of the embodiment; [Figure 7]FIG. 10 is a model diagram schematically showing the direction of bucket movement during automatic control. [Figure 8] The figures show the slope of the construction surface by the same work machine, where (a) is a cross-sectional view at a position corresponding to II in Figure 5(b), (b) is a cross-sectional view at a position corresponding to II-II in Figure 5(b), and (c) is a cross-sectional view at a position corresponding to III-III in Figure 5(b). DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention will be described in detail below based on an embodiment shown in FIGS.

[0011] In Fig. 1, reference numeral 1 denotes a work machine. In this embodiment, a hydraulic excavator is taken as an example of the work machine 1. The work machine 1 comprises a machine body 4 in which an upper rotating body 3 is provided so as to be able to rotate relative to a lower traveling body 2, and the upper rotating body 3 is equipped with a work implement (front work implement) 5, a cab 6 which surrounds a cab in which an operator sits, and the like.

[0012] The work implement 5 includes a boom 7, a stick (arm) 8, and a bucket 9 which is an end attachment. The base end of the boom 7 is rotatably attached to the upper rotating body 3, and the base end of the stick 8 is rotatably attached to the tip of the boom 7. In this embodiment, a tiltrotator 10 can be attached to the work implement 5, and the bucket 9 is rotatably attached to the tip of the stick 8 via the tiltrotator 10. The boom 7 may be made up of multiple boom members, such as a so-called two-piece boom used in high-altitude demolition machines and the like.

[0013] The bucket 9 has a curved or bent bottom plate 12, side plates 13 continuing from both sides of the bottom plate 12, and a connecting portion 14 for connecting to the tiltrotator 10. The tip of the bottom plate 12 forms a cutting edge 15 extending in the width direction of the bucket 9. In addition, the back portion of the bottom plate 12, located on the tip side of the curved portion, forms a planar leveling portion 16 for leveling the construction surface.

[0014] The lower traveling body 2, the upper rotating body 3, and the working device 5 are each driven by an actuator. The actuator is, for example, a fluid pressure actuator, and in this embodiment, a hydraulic actuator, and a hydraulic cylinder, a hydraulic motor, etc. are used as the actuator.

[0015] The undercarriage 2 is driven by left and right travel motors 17, which are hydraulic motors serving as actuators, to cause the working machine 1 to travel.

[0016] The upper swing structure 3 swings relative to the lower traveling structure 2 by being driven by a swing motor 18, which is a hydraulic motor serving as an actuator.

[0017] The boom 7 is driven by a boom cylinder 19, which is a hydraulic cylinder serving as an actuator, to rotate relative to the upper rotating body 3. The base end of the boom cylinder 19, i.e., the cylinder portion, is rotatably and axially supported on the side of the cab 6 by the upper rotating body 3, and the tip end, i.e., the rod, is rotatably and axially supported on the boom 7.

[0018] The stick 8 is driven by a stick cylinder (arm cylinder) 20, which is a hydraulic cylinder acting as an actuator, to rotate relative to the boom 7. The base end of the stick cylinder 20, i.e., the cylinder portion, is rotatably and axially supported on the top of the boom 7, and the tip end, i.e., the rod, is rotatably and axially supported on the base end of the stick 8.

[0019] The bucket 9 is driven by a bucket cylinder 21, which is a hydraulic cylinder that serves as an actuator, and rotates together with the tiltrotator 10 relative to the stick 8. The base end of the bucket cylinder 21, i.e., the cylinder portion, is rotatably and axially supported on the front part of the stick 8, and the tip end, i.e., the rod, is rotatably and axially supported on an idler link 22 that is rotatably connected to the tip end of the stick 8.

[0020] The tiltrotator 10 has a tilt mechanism 25 and a swivel mechanism 26, and by making it possible to change the angle of the tip of the blade portion 15 of the bucket 9, i.e., the cutting edge, and the orientation of the bucket 9, it is possible to perform a variety of work on the construction surface from multiple directions using the bucket 9 without moving the work machine 1 or requiring a large work space.

[0021] The tilt mechanism 25 supports the bucket 9 together with the swing mechanism 26 on the stick 8 so that the bucket 9 can swing. The tilt mechanism 25 includes a first portion 31 on the base side attached to the stick 8, a second portion 32 on the tip side attached to the bucket 9, and a tilt cylinder 33, which is a hydraulic cylinder that serves as an actuator for swinging the second portion 32, i.e., the bucket 9, relative to the first portion 31. As shown in FIGS. 2( a) and 2(b), the first portion 31 is formed with a mounting hole 35 that is rotatably and pivotally supported on the tip of the stick 8 (FIG. 1) directly or indirectly via an adapter or coupler, and a shaft support hole 36 that is rotatably and pivotally supported on the idler link 22 (FIG. 1) directly or indirectly via an adapter or coupler. The second portion 32 is rotatably and pivotally supported on the first portion 31 via a tilt shaft 38 that extends in a direction intersecting or perpendicular to the direction in which the mounting hole 35 and the shaft support hole 36 of the first portion 31 penetrate. Therefore, the second portion 32 and the bucket 9 attached to the second portion 32 can swing within a predetermined angular range in a direction intersecting or perpendicular to the longitudinal direction, i.e., in the width direction of the bucket 9, relative to the first portion 31 and the stick 8 (FIG. 1) to which the first portion 31 is attached. One or two tilt cylinders 33 are provided. The tilt cylinder 33 has a base end, i.e., a cylinder portion, rotatably supported by the first portion 31, and a tip end, i.e., a rod, rotatably supported by the second portion 32. In this embodiment, the tilt mechanism 25 allows the bucket 9 to swing within a predetermined angle, for example, 40°, in the width direction, as shown by arrow D1.

[0022] The swing mechanism 26 supports the bucket 9 on the tilt mechanism 25 so that the bucket 9 can swing. The swing mechanism 26 includes the second portion 32 of the tilt mechanism 25, a swing shaft 40, and a swing motor 41, which is a hydraulic motor that serves as an actuator for swinging the bucket 9 relative to the second portion 32. The swing shaft 40 axially supports the bucket 9 on the second portion 32 so that the bucket 9 can swing along a direction that intersects or is perpendicular to the tilt shaft 38. Therefore, the bucket 9 can swing relative to the second portion 32 while remaining parallel or approximately parallel to the tilt shaft 38. For example, in this embodiment, the swing mechanism 26 allows the bucket 9 to swing 360° relative to the second portion 32, as shown by arrow D2.

[0023] The flow rate and direction of hydraulic oil, which is the working fluid supplied to each actuator, is controlled by a control valve 43 shown in Fig. 3. A control valve, which is a spool, is arranged in the control valve 43 corresponding to each actuator, and hydraulic oil is supplied to and discharged from each actuator via each control valve.

[0024] A main pump 45 is connected to the control valve 43, and the main pump 45 is driven by an engine 46. In this embodiment, the main pump 45 is a variable displacement pump, and the discharge flow rate can be variably adjusted by controlling a displacement varying means such as a swash plate via a regulator 47 or a control valve.

[0025] Furthermore, the operations of the control valves of the control valve 43, the main pump 45, the engine 46, etc. are controlled by a controller 50 serving as a control section. The controller 50 generates control signals based on command signals input by an operator via an operating device 51, such as an operating lever or an operating pedal, disposed in the cab 6 (FIG. 1), and outputs the control signals to the control valves of the control valve 43, the main pump 45, the engine 46, etc. That is, in this embodiment, the control valves are electromagnetic proportional valves that are directly operated by electric signals, but the present invention is not limited to this, and control valves that are operated by pilot pressure may also be used.

[0026] In this embodiment, the controller 50 is equipped with a function for automatically controlling the position of the bucket 9 shown in FIG. 1 as a work support device.

[0027] A description will now be given of the automatic control function of the controller 50. In order to clarify the explanation, Fig. 4 basically shows only the parts related to the automatic control function of the controller 50, and other parts are omitted.

[0028] For example, as shown in Figures 5(a) and 5(b), there are cases in which excavation or leveling work involves a construction surface A that is offset laterally from the work implement 5, that is, excavation or leveling work is performed on construction surface A that is located outside the vehicle beyond the working range B of the work implement 5 at the stopping angle of the upper rotating body 3. As an example, there is a case in which, while the work surface C is on a slope where the work machine 1 cannot safely stop, the work surface A is on a slope where it is difficult for the work machine 1 to stop safely, and work is to be performed in a direction (in the direction of arrow D3) that intersects or is perpendicular to the slope of construction surface A. In this case, it is necessary to stop the work machine 1 on work surface C and perform work from work surface C to construction surface A. Therefore, with the travel of the undercarriage 2 of the work machine 1 stopped, based on an operation command from the operator to rotate the upper rotating body 3 and the stick 8, that is, when at least the rotation of the upper rotating body 3 and the rotation of the stick 8 are operated simultaneously, the controller 50 has an automatic control function (automatic linear work control) that operates the boom 7, stick 8, bucket 9, upper rotating body 3, and tiltrotator 10 (tilt mechanism 25 and swing mechanism 26) to move the bucket 9 linearly in a predetermined direction and angle, thereby automatically performing excavation work or leveling work on the construction surface A with the bucket 9, and an automatic control mode that can perform this automatic control function is set. Note that the construction surface A may be based on 3D data of the construction site that is stored in advance in a memory unit that can be referenced by the controller 50, or may be based on data input by the operator using input means such as a touch panel monitor provided inside the cab 6. Also, although Fig. 5(a) and Fig. 5(b) show an example of a construction surface A located on the left side of the work machine 1 or the operator, the same applies to a construction surface A located on the right side.

[0029] The automatic control mode can be switched on and off by an operator via input means, for example.

[0030] To carry out the above-described automatic control, controller 50 needs to detect the local three-dimensional coordinates of a predetermined point, such as cutting portion 15 (cutting edge) or smoothing portion 16 of bucket 9. Therefore, as shown in Fig. 1 and Fig. 4, controller 50 is connected to a sensor unit 52 for attitude detection that acquires information for determining the attitude of work machine 1. In this embodiment, sensor unit 52 detects attitude information of each part of work machine 1 and inputs a signal indicating the detected attitude information to controller 50, which then calculates the coordinates of the predetermined point on bucket 9.

[0031] The sensor unit 52 is provided with a vehicle tilt angle sensor 54 .

[0032] The vehicle body tilt angle sensor 54 is a sensor that detects the roll angle (the relative tilt angle of the vehicle body 4 in the left-right direction with respect to the horizontal direction) and pitch angle (the relative tilt angle of the vehicle body 4 in the fore-aft direction with respect to the horizontal direction) of the vehicle body 4. The vehicle body tilt angle sensor 54 is, for example, an acceleration sensor such as an inertial measurement unit (IMU), and may be disposed in any position as long as it can detect each angle. In the illustrated example, the vehicle body tilt angle sensor 54 is disposed, for example, on the upper rotating body 3.

[0033] The sensor unit 52 also includes a boom angle sensor 56, a stick angle sensor 57, and a bucket angle sensor 58.

[0034] The boom angle sensor 56 detects the rotation angle of the boom 7 relative to the machine body 4, the stick angle sensor 57 detects the rotation angle of the stick 8 relative to the boom 7, and the bucket angle sensor 58 detects the rotation angle of the bucket 9 relative to the stick 8. These sensors 56, 57, and 58 are, for example, acceleration sensors such as inertial measurement units, and may be arranged in any positions as long as they can detect their respective angles. In the example shown, the boom angle sensor 56 is arranged between both ends of the boom 7, the stick angle sensor 57 is arranged between both ends of the stick 8, and the bucket angle sensor 58 is arranged at the tip of the idler link 22. However, the sensors 56, 57, and 58 may be, for example, general rotation angle sensors, or may detect angles by detecting the extension and contraction amounts of the cylinders 19, 20, and 21. Furthermore, if the boom 7 is made up of multiple boom members, such as a two-piece boom, a boom angle sensor 56 may be arranged for each boom member, and the rotation angle of the boom 7 may be detected from the detection results of each.

[0035] Furthermore, the sensor unit 52 is provided with a tilt angle sensor 60 and a turning angle sensor 61, as shown in FIGS. 2(a) and 2(b).

[0036] The tilt angle sensor 60 is a sensor that detects the tilt angle of the bucket 9 caused by the tilt mechanism 25. The tilt angle sensor 60 is, for example, an acceleration sensor such as an inertial measurement unit, and may be disposed in any position as long as it can detect the relative tilt angle. In the example shown, however, it is disposed, for example, on the second section 32 side of the tilt mechanism 25, such as inside the second section 32. However, the tilt angle sensor 60 is not limited to this, and may be, for example, a general rotation angle sensor, or may be configured to detect the relative tilt angle by detecting the amount of extension / contraction of at least one of the tilt cylinders 33.

[0037] Furthermore, the swing angle sensor 61 is a sensor that detects the swing angle (rotation angle) of the bucket 9. The swing angle sensor 61 is, for example, a rotation angle sensor (rotary encoder) or the like, and may be disposed in any position as long as it can detect the swing angle. In the illustrated example, the swing angle sensor 61 is disposed, for example, on the second portion 32 side of the tilt mechanism 25, for example, inside the second portion 32.

[0038] Additionally, the sensor unit 52 shown in Fig. 4 is provided with a pressure sensor 63. The pressure sensor 63 detects pressure corresponding to, for example, the operation of the operating device 51 by the operator, i.e., the movement of the boom 7, stick 8, and bucket 9 shown in Fig. 1, the travel of the lower traveling body 2, the rotation of the upper rotating body 3, etc.

[0039] The controller 50 shown in FIG. 4 includes at least a judgment unit 65 that processes signals input from the operating device 51, the sensor unit 52, etc. and makes judgments based on those signals, a calculation unit 66 that processes signals input from the sensor unit 52 and calculates information for control, and a machine control unit 67 that generates and outputs control signals based on the information calculated by the calculation unit 66.

[0040] The determination unit 65 determines whether or not each operation has been input by the operation device 51, and whether or not automatic control is to be performed.

[0041] The calculation unit 66 is a target calculation unit that calculates the target automatic control amount (target angular velocity) of each of the upper rotating body 3, boom 7, stick 8, bucket 9, tilt mechanism 25, and swing mechanism 26 shown in FIG. 1 that is required to operate the bucket 9 to move linearly in a predetermined direction and angle.

[0042] The machine control unit 67 shown in Fig. 4 is a signal generating unit that calculates a current value, which is a calculated value corresponding to the automatic control amount of the actuator, in accordance with each target automatic control amount calculated by the calculation unit 66, and generates a signal that outputs the current value to a control valve, which is an electromagnetic proportional valve that controls the amount of oil supplied to the actuator. Control valves 70 to 75 are provided as the control valves. The control valves 70 to 75 correspond to the swing motor 18, boom cylinder 19, stick cylinder 20, bucket cylinder 21, tilt cylinder 33, and swing motor 41, respectively, shown in Fig. 1.

[0043] Furthermore, when the target automatic control amount calculated by the calculation unit 66 shown in Fig. 4 is large, it is preferable to increase the flow rate of the main pump 45 (Fig. 3) to approach the target automatic control amount as quickly as possible. Therefore, in this embodiment, the machine control unit 67 generates and outputs a control signal for the regulator 47 (Fig. 3) for the main pump 45. For example, the machine control unit 67 calculates the current value to be output to the regulator 47 (Fig. 3) according to the current value to be output to the control valves 70 to 75, and outputs the signal to a control valve 76 for controlling the regulator 47 (Fig. 3).

[0044] Preferably, the automatic control function of controller 50 of this embodiment operates only when the operator desires it while the automatic control mode is on. For example, in this embodiment, a trigger switch 77 is provided for the operator to indicate his or her intention to start the automatic control function, and the automatic control function operates when the trigger switch 77 is pressed down in addition to the rotation of at least upper structure 3 and stick 8 shown in FIG. 1 while the automatic control mode is on. Preferably, trigger switch 77 is located on operating device 51, such as an operating lever, located inside cab 6.

[0045] Next, the operation during automatic control of this embodiment will be described.

[0046] 5(a) and 5(b), the direction of the undercarriage 2 of the work machine 1 (the direction of the straight line formed by the side edges of the tracks of the undercarriage 2) is defined as the X-axis direction, the direction perpendicular to the X-axis on the work surface C, which is the plane on which the undercarriage 2 is located (the direction perpendicular to the straight line L formed by the side edges of the tracks of the undercarriage 2) is defined as the Y-axis direction, and the direction perpendicular to the work surface C on which the undercarriage 2 is placed is defined as the Z-axis direction. In automatic control, the controller 50 controls the work implement 5, including the tiltrotator 10, based on the operator's turning and operation of the stick 8 so that the bucket 9 performs excavation work or leveling work parallel or approximately parallel to the X-axis.

[0047] First, the operator aligns the bucket 9 with the desired work start position by normal operation of the work implement 5. The work start position is a position away to the side (right or left) of the undercarriage 2 of the work machine 1, and can be set to a desired location within the range in which the cutting edge 15 or leveling part 16 of the bucket 9 can reach the construction surface A with the work implement 5, that is, within the workable range of the work implement 5. This operation is performed manually by the operator and is not included in the automatic control function of the controller 50.

[0048] Next, in the automatic control mode, the operator indicates their intention to start automatic control and the direction of movement of the bucket 9 through the operation device 51 (shown in FIG. 1 ) by rotating the upper rotating body 3 and the stick 8, and by inputting the trigger switch 77. The controller 50 then automatically moves the bucket 9 in the movement direction along a virtual line L1 that is parallel or approximately parallel to the X-axis and passes through the starting point P, starting from the work start position, while maintaining the angle of the cutting edge or leveling portion 16 of the bucket 9 relative to the construction surface A (shown in FIGS. 5( a ) and 5 ( b )). This automatic control is preferably initiated on the condition that the bucket 9 is in a position that allows automatic control to be implemented. For example, automatic control is implemented only when the attitude of the work machine 1 is within a predetermined range. The attitude of the work machine 1 refers, for example, to the orientation of the bucket 9 relative to the construction surface A. For example, if the bucket 9 is determined to be facing sideways or upward relative to the construction surface A, the automatic control is not implemented. When automatic control is initiated, the operator is preferably notified via a notification means (display means) such as a touch panel monitor.

[0049] The movement direction of the bucket 9 on the imaginary line L1 parallel or approximately parallel to the X-axis is determined based on the direction (stick-in direction / stick-out direction) of the rotation operation of the stick 8 by the operating device 51 shown in FIG.

[0050] In automatic control, the controller 50 controls the operation of the boom 7, stick 8, bucket 9, tilt mechanism 25, and swing mechanism 26 based on the swing speed and swing angle of the upper structure 3. Automatic control by the controller 50 continues until the working implement 5 leaves the reachable range of the blade 15 or leveling part 16 of the bucket 9, i.e., the workable range of the working implement 5, provided that the operation of the swing of the upper structure 3 by the operation device 51, the operation of the stick 8 by the operation device 51, and the input of the trigger switch 77 are being performed. Furthermore, if at least one of the operation of the swing of the upper structure 3 by the operation device 51, the operation of the stick 8 by the operation device 51, and the input of the trigger switch 77 is stopped, the automatic control mode may continue even if the automatic control mode is stopped. Furthermore, even in automatic control mode, normal control of the working implement 5 in accordance with the operator's operation input by the operation device 51 may be performed unless the trigger switch 77 is input.

[0051] The above automatic control will be explained in more detail with reference to the flowchart of FIG.

[0052] In step S1, the controller 50 determines, based on input from the sensor unit 52, whether the angle of the cutting edge 15 (cutting edge) or the leveling portion 16 of the bucket 9 is within a predetermined angle range using the determination unit 65. If it is determined in step S1 that the angle of the cutting edge 15 (cutting edge) or the leveling portion 16 of the bucket 9 is not within the predetermined angle range (NO in step S1), the controller 50 repeats step S1 without performing automatic control. If it is determined in step S1 that the angle of the cutting edge 15 (cutting edge) or the leveling portion 16 of the bucket 9 is within the predetermined angle range (YES in step S1), the controller 50 determines, based on input from the sensor unit 52, based on input from the sensor unit 52 using the determination unit 65 in step S2, whether the swing angle of the upper swing body 3 and the swing angle of the bucket 9 by the swing mechanism 26 are each within a predetermined angle range. Steps S1 and S2 are steps for determining in advance whether or not the attitude of the work machine 1 (the orientation of the bucket 9) is within a predetermined range. The order of steps S1 and S2 may be reversed.

[0053] If it is determined in step S2 that at least one of the swing angle of the upper swing body 3 and the swing angle of the bucket 9 by the swing mechanism 26 is not within a predetermined angle range (NO in step S2), the process proceeds to step S1 without performing automatic control. Also, if it is determined in step S2 that the swing angle of the upper swing body 3 and the swing angle of the bucket 9 by the swing mechanism 26 are each within a predetermined angle range (YES in step S2), in step S3, based on inputs from the operation device 51 and / or the pressure sensor 63 and inputs from the trigger switch 77, the controller 50 determines with the determination unit 65 whether or not the swing operation of the upper swing body 3 by the operation device 51, the rotation operation of the stick 8 by the operation device 51, and the input from the trigger switch 77 are each being performed.

[0054] In step S3, if it is determined that at least one of the operation of rotating the upper rotating body 3 by the operating device 51, the operation of rotating the stick 8 by the operating device 51, and the input of the trigger switch 77 has not been performed (NO in step S3), the process proceeds to step S1 without performing automatic control. Also, in step S3, if it is determined that the operation of rotating the upper rotating body 3 by the operating device 51, the operation of rotating the stick 8 by the operating device 51, and the input of the trigger switch 77 have each been performed (YES in step S3), the controller 50 notifies the operator in step S4 via notification means such as display means that the conditions for performing automatic control are met.

[0055] Subsequently, in step S5, the controller 50 calculates a target automatic control amount for the rotation of the upper rotating body 3 by the calculation unit 66 in response to the operation amount input of the rotation operation of the upper rotating body 3 by the operation device 51.

[0056] That is, based on the operation amount input of the operating device 51 for the swing operation, the controller 50 calculates the target automatic control amount (target angular velocity) for the swing of the upper swing body 3 by the calculation unit 66. This control is the same as the output to the control valve 70 for, for example, a normal swing operation of the upper swing body 3. That is, the swing angular velocity of the upper swing body 3 is determined in accordance with the operation amount input of the operating device 51 for the swing operation.

[0057] Furthermore, in step S6, the controller 50 calculates, in accordance with the input from the sensor unit 52, the target automatic control amount of the rotation of the upper rotating body 3 calculated in step S5, and the operating direction of the rotation operation of the stick 8 by the operating device 51, the calculation unit 66 calculates the target automatic control amount of the rotation of the boom 7, stick 8, and bucket 9, and the target automatic control amount of the swing and rotation of the bucket 9, so as to keep the cutting edge 15 (cutting edge) or leveling portion 16 of the bucket 9 aligned with the construction surface A and to maintain the rotation angle of the bucket 9 the same as when control started.

[0058] The calculation of the target automatic control amount in step S6 will now be described.

[0059] For example, as shown in Figure 7, while under normal circumstances, when the upper rotating body 3 swings clockwise, the bucket 9 moves along an arc-shaped trajectory L2, this automatic control moves the bucket 9 along a virtual line L1 that is parallel or approximately parallel to the X-axis. Therefore, when the upper rotating body 3 swings at a certain angular velocity, the movement speed of the bucket 9 in the X-axis direction is defined as the X-axis component of the angular velocity of the bucket 9, and therefore varies depending on the swing angle of the upper rotating body 3. In other words, the movement speed of the bucket 9 in the X-axis direction is determined according to the swing angular velocity and swing angle of the upper rotating body 3. Therefore, the swing angle is required in addition to the swing angular velocity of the upper rotating body 3 to calculate the target automatic control variable.

[0060] Regarding the direction of bucket 9 movement, for example, to move the bucket 9 in the direction of arrow D4 on virtual line L1 while rotating the upper structure 3 clockwise from the starting point P, it is necessary to move the bucket 9 toward the rotation center CT by a stick-in operation. Conversely, to move the bucket 9 in the direction of arrow D5 on virtual line L1 while rotating the upper structure 3 counterclockwise, it is necessary to move the bucket 9 in the direction opposite to the rotation center CT by a stick-out operation. Therefore, by detecting the rotation direction and input in the stick-in or stick-out direction by the operation device 51 (FIG. 1), it is possible to detect in which direction the operator is attempting to move the bucket 9 on virtual line L1, which is parallel or approximately parallel to the X-axis. The operation amount input to the operation device 51 (FIG. 1) for operating the stick 8 is used only to detect the input direction by the operator and is not used to control the speed of the stick 8 (stick cylinder 20).

[0061] Then, assuming that the x, y, and z coordinates of a given point J of the cutting edge 15 or leveling portion 16 of the bucket 9 on the construction surface A are Jx, Jy, and Jz, respectively, in order to move the bucket 9 along an imaginary line L1 that is parallel or approximately parallel to the X-axis on the construction surface A while maintaining a constant angle between the cutting edge 15 (cutting edge) or leveling portion 16 of the bucket 9 and the construction surface A, the following conditions (a) to (d) must be satisfied.

[0062] (a) The amount of movement of the specified point J in the Y-axis direction per unit time is 0. In other words, dJy / dt=0 (b) The movement amount of the specified point J in the Z-axis direction per unit time is adjusted according to the movement amount of the specified point J in the X-axis direction per unit time and the inclination angle of the construction surface A in the X-axis direction shown in Figure 8(a) (the inclination angle of the construction surface A (virtual line L1) with respect to the X-axis or work surface C). In other words, where the inclination angle of the construction surface A in the X-axis direction is tgt_bkt_slope, dJz / dt = dJx / dt tan(tgt_bkt_slope) (c) During control, the angle of the blade 15 (cutting edge) or leveling part 16 of the bucket 9 relative to the construction direction (X-axis direction) is constant (the change in the angle of the blade 15 (cutting edge) or leveling part 16 of the bucket 9 due to the swing operation is adjusted by the swing angle of the bucket 9 by the swing mechanism 26. In other words, assuming that the swing angle of the bucket 9 is rot and the swing angle of the upper swing body 3 is swg, d(rot) / dt=d(swg) / dt (d) During control, the angle of the cutting edge 15 (cutting edge) or leveling part 16 of the bucket 9 and the angle between the construction surface A are kept constant. In other words, regarding the rotation angle around the bucket pin, the absolute rotation angle of the bucket 9 is wbkt, and d(wbkt) / dt=0. Regarding the rotation angle around the tilt pin, the absolute tilt angle of the bucket 9 is wtilt, and d(wtilt) / dt=0.

[0063] The controller 50 uses the calculation unit 66 (FIG. 4) to calculate a boom target automatic control amount (boom cylinder speed), a stick target automatic control amount (stick cylinder speed), a bucket target automatic control amount (bucket cylinder speed), a tilt target angular velocity automatic control amount (tilt cylinder speed), and a swing angular velocity target automatic control amount (swing motor speed) so as to satisfy the respective formulas of these conditions (a) to (d). Furthermore, if at least one of the target automatic control amounts calculated by the calculation unit 66 (FIG. 4) is greater than a predetermined threshold control amount, the calculation unit 66 (FIG. 4) may further calculate a main pump target automatic control amount (pump discharge rate).

[0064] The coordinates and angles of the bucket 9 are values ​​related to the attitudes of the work implement 5 and tiltrotator 10 detected by the sensor unit 52, and the rotation angle of the upper rotating body 3. However, since each value can be determined based on, for example, the constraints of the work machine 1 and work implement 5, specific formulas will be omitted.

[0065] Furthermore, while the above relational expression (b) only takes into account the tilt angle in the X-axis direction for construction surface A, if the tilt target angular velocity automatic control amount is calculated taking into account the tilt angle in the Y-axis direction (tgt_bkt_cross_slope, i.e., the tilt angle of construction surface A (virtual line L1) with respect to the Y-axis or work surface C) shown in Figures 8(b) and 8(c), it will be possible to control the bucket 9 with even greater accuracy.

[0066] Then, in step S7, the controller 50 calculates the current value in the machine control unit 67 so as to achieve the target automatic control amount calculated in steps S5 and S6, and starts automatic control by outputting the current value to the control valves 70 to 75 and, if necessary, to the control valve 76.

[0067] When automatic control starts, in step S8, similar to step S3, the controller 50 determines, based on input from the operating device 51 and / or pressure sensor 63 and the trigger switch 77, using the judgment unit 65, whether or not the rotation operation of the upper rotating body 3 by the operating device 51, the rotation operation of the stick 8 by the operating device 51, and the input of the trigger switch 77 are being performed.

[0068] If it is determined in step S8 that the rotation operation of the upper rotating body 3 by the operating device 51, the rotation operation of the stick 8 by the operating device 51, and the input of the trigger switch 77 are all being performed (YES in step S8), then in step S9 the controller 50 determines, using the determination unit 65, calculation unit 66, machine control unit 67, or the like, whether the cutting portion 15 (cutting edge) or the smoothing portion 16 of the bucket 9 is within a predetermined range that can be reached by the work device 5, based on the posture information and / or control information of the work machine 1, such as the rotation angle of the upper rotating body 3, the coordinates of point J, or the upper / lower limits of each automatic control variable.

[0069] If it is determined in step S9 that the cutting edge 15 (cutting edge) or the leveling portion 16 of the bucket 9 is within the predetermined range (YES in step S9), the process proceeds to step S8. If it is determined in step S8 that at least one of the operation of rotating the upper structure 3 by the operating device 51, the operation of rotating the stick 8 by the operating device 51, and the input of the trigger switch 77 has not been performed (NO in step S8), or if it is determined in step S9 that the cutting edge 15 or the leveling portion 16 of the bucket 9 is not within the predetermined range (NO in step S9), the automatic control ends in step S10 and the process proceeds to step S1. The order of steps S8 and S9 may be reversed.

[0070] Therefore, in the automatic control mode, the operator can stop the work machine 1 from traveling, change the work start position, and perform automatic control, thereby easily performing excavation or leveling work over a wide area of ​​the construction surface A along the X-axis direction.

[0071] As described above, in this embodiment, when the lower traveling body 2 is stopped, the controller 50 controls the operation of the boom 7, stick 8, bucket 9, upper rotating body 3, tilt mechanism 25, and swivel mechanism 26 based on operation commands for the rotation of the upper rotating body 3 and the rotation of the stick 8 so that the bucket 9 moves linearly in a predetermined direction and angle. This allows the operator to perform only the swivel operation to determine the direction and speed of movement of the bucket 9 in a straight line, and the stick operation to determine the direction of movement of the bucket 9 in a straight line, and the bucket 9 automatically moves linearly while maintaining its direction and angle relative to the construction surface A. Therefore, the bucket 9 can easily act linearly on the construction surface A, and even an inexperienced operator can easily perform tasks that generally require skill, such as excavation operations and leveling operations in the lateral (left and right) direction relative to the direction of the work implement 5.

[0072] By setting the predetermined direction in which the bucket 9 is moved to a direction parallel to the direction of the lower running structure 2, when it is desired to change the working range or direction of work, the operator can determine the direction in which the bucket 9 will move linearly by simply deciding on the direction of the lower running structure 2 of the work machine 1 in the direction in which work is desired and stopping it, without the need for complicated teaching operations or data input for the work surface A, and it becomes possible to easily determine and correct the direction of the automatic control of the bucket 9 by referring to the direction of the lower running structure 2 depending on the conditions at the site.

[0073] Furthermore, by incorporating such a controller 50 or work support device (work support program) into the work machine 1, no detailed prior definition or instruction is required, and by simply inputting the operation of the upper rotating body 3 and stick 8, the bucket 9 can be automatically moved in a straight line at a position to the side of the body 4 of the work machine 1 while maintaining the angle and height with respect to the construction surface A, thereby making it possible to easily perform work that generally requires skilled operation from an operator, and to provide a work machine 1 that is easy to work with and convenient for the operator. [Industrial Applicability]

[0074] The present invention has industrial applicability to businesses involved in the manufacturing and sales of work machines such as hydraulic excavators and their work support devices. [Explanation of symbols]

[0075] 1. Work machinery 2 Undercarriage 3 Upper rotating body 4 aircraft 5. Work equipment 7. Boom 8 sticks 9 Buckets 17 Travel motor as an actuator 18 Swing motor as an actuator 19 Boom cylinder as an actuator 20 Stick cylinder as an actuator 21 Bucket cylinder as an actuator 25 Tilt mechanism 26 Swivel mechanism 50 Controller as a control unit

Claims

1. A work support device for automatically controlling the position of a bucket is used on a work machine having a machine body with a travellable lower traveling body and an upper rotating body that can rotate relative to the lower traveling body, a work device having a boom that can rotate relative to the upper rotating body, a stick that can rotate relative to the boom, and a bucket that can rotate relative to the stick, and actuators that operate the lower traveling body, the upper rotating body, the boom, the stick, and the bucket, and the work device is equipped with a tilt mechanism that supports the bucket so that it can swing in a direction intersecting the rotation direction, and a rotating mechanism that supports the bucket so that it can rotate relative to the tilt mechanism, The control unit controls the operation of the boom, stick, bucket, upper rotating body, tilt mechanism, and swing mechanism based on an operation command for swinging the upper rotating body and rotating the stick while the traveling of the lower traveling body is stopped, so that the bucket moves linearly in a predetermined direction and angle. A work support device characterized by:

2. The predetermined direction is parallel to the direction of the undercarriage.

2. The work support device according to claim 1.

3. a machine body having a lower running body and an upper rotating body that can rotate relative to the lower running body; a working device to which can be attached a tilt mechanism having a boom rotatable relative to the upper rotating body, a stick rotatable relative to the boom, and a bucket rotatable relative to the stick, the tilt mechanism supporting the bucket so that it can swing in a direction intersecting the rotation direction, and a swing mechanism supporting the bucket so that it can swing relative to the tilt mechanism; actuators for operating the lower traveling body, the upper rotating body, the boom, the stick, and the bucket; The work support device according to claim 1 or 2; A work machine comprising:

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