EP2853642A1 - Eimerbewegungssteuerungsvorrichtung zum automatischen abschütteln von fremdkörpern und verfahren dafür - Google Patents

Eimerbewegungssteuerungsvorrichtung zum automatischen abschütteln von fremdkörpern und verfahren dafür Download PDF

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Publication number
EP2853642A1
EP2853642A1 EP20120877395 EP12877395A EP2853642A1 EP 2853642 A1 EP2853642 A1 EP 2853642A1 EP 20120877395 EP20120877395 EP 20120877395 EP 12877395 A EP12877395 A EP 12877395A EP 2853642 A1 EP2853642 A1 EP 2853642A1
Authority
EP
European Patent Office
Prior art keywords
bucket
joystick
value
control signal
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP20120877395
Other languages
English (en)
French (fr)
Other versions
EP2853642A4 (de
Inventor
Chun-Han Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP2853642A1 publication Critical patent/EP2853642A1/de
Publication of EP2853642A4 publication Critical patent/EP2853642A4/de
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof. More particularly, the present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
  • an excavator is equipment that is used for the main purpose of containing earth and sand in a bucket and moving the earth and sand contained in the bucket to a target position.
  • an existing operator may move the bucket forward and backward to shake off the earth and sand through impacts, and repetition of such an operation may cause the operator's work fatigue to be increased.
  • the operator may perform such an operation for the purpose of sprinkling the earth and sand contained in the bucket.
  • an object of the present invention is to provide an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
  • an apparatus for controlling bucket movement for automatically shaking off foreign substances which includes an automatic mode selection switch; an operation value detection means for detecting an operation value generated by a stroke of a joystick; an operation angle detection means for detecting an operation angle of the joystick; and a bucket movement control unit controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, and outputting a corresponding signal to a bucket driving unit.
  • the bucket movement control unit may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected by the automatic mode selection switch, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected by the automatic mode selection switch, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
  • the bucket movement control unit may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
  • a method for controlling bucket movement for automatically shaking off foreign substances which includes selecting an automatic mode; detecting an operation value generated by a stroke of a joystick; detecting an operation angle of the joystick; and controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit.
  • the bucket movement control step may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
  • the bucket movement control step may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
  • the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
  • the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
  • Fig. 2 is a block diagram illustrating the configuration of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
  • an apparatus for controlling bucket movement for automatically shaking off foreign substances is configured to briefly include an automatic mode selection switch 201, an operation value detection means 202, an operation angle detection means 203, and a bucket movement control unit 204.
  • the apparatus includes the automatic mode selection switch 201; the operation value detection means 202 for detecting an operation value generated by a stroke of a joystick; the operation angle detection means 203 for detecting an operation angle of the joystick; and the bucket movement control unit 204 controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch 201, the operation value detected by the operation value detection means 202, and the operation angle detected by the operation angle detection means 203, and outputting a corresponding signal to a bucket driving unit 205.
  • the automatic mode selection switch 201 is a device which selects an automatic mode, in which the bucket is controlled to move quickly forward and backward to shake off the foreign substances even if the input value of the joystick is not changed, according to an operator's key operation, and inputs the result of the selection to the bucket movement control unit 204.
  • the operation value detection means 203 detects the operation value that is generated by the stroke of the joystick.
  • the detected operation value of the joystick is input to the bucket movement control unit 204 and is used to determine whether to output the automatic control signal or the manual control signal.
  • the automatic control signal that is defined according to the present invention is a signal for automatically driving the bucket forward and backward at the predetermined speed even if the input value of the joystick is not changed, and the manual control signal is defined as a signal for driving the bucket corresponding to the input operation value of the joystick.
  • the operation angle detection means 203 detects the operation angle of the joystick, and the detected operation angle is used to determine whether a command direction of the joystick coincides with a predefined direction.
  • the bucket movement control unit 204 outputs the automatic control signal to the bucket driving unit 205 in the case where the automatic mode is selected by the automatic mode selection switch 201, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (i.e., automatic control state).
  • the bucket movement control unit 204 outputs the corresponding manual control signal to the bucket driving unit 205 in the case where the automatic mode is not selected by the automatic mode selection switch 201, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (i.e., manual control state).
  • the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction.
  • the ordinary operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick
  • the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
  • a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value. For example, if the joystick input operation value is a relatively small value that is equal to or smaller than the set value, the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
  • the bucket movement control unit 204 outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit 205 if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit 205 if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
  • Fig. 3 is a flowchart illustrating the sequential operation of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
  • Fig. 3 it is first confirmed whether to select an automatic mode, and then an operation value that is generated by a stroke of a joystick is detected.
  • the bucket movement is controlled by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit 205 (S301 to S306).
  • the automatic control signal is output to the bucket driving unit 205 in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (S301 to S305).
  • the corresponding manual control signal is output to the bucket driving unit 205 in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (S306).
  • the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction.
  • the ordinary operation is performed, while in the opposite case, the automatic operation is performed.
  • the ordinary operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick
  • the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
  • a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value.
  • the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
  • the bucket movement control unit outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
  • the bucket movement can be automatically controlled so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
  • the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
  • the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
  • the present invention can be used for the apparatus for controlling bucket movement for automatically shaking off foreign substances, and the method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP12877395.9A 2012-05-22 2012-05-22 Eimerbewegungssteuerungsvorrichtung zum automatischen abschütteln von fremdkörpern und verfahren dafür Withdrawn EP2853642A4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2012/004019 WO2013176301A1 (ko) 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법

Publications (2)

Publication Number Publication Date
EP2853642A1 true EP2853642A1 (de) 2015-04-01
EP2853642A4 EP2853642A4 (de) 2016-03-02

Family

ID=49623973

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12877395.9A Withdrawn EP2853642A4 (de) 2012-05-22 2012-05-22 Eimerbewegungssteuerungsvorrichtung zum automatischen abschütteln von fremdkörpern und verfahren dafür

Country Status (7)

Country Link
US (1) US20150134209A1 (de)
EP (1) EP2853642A4 (de)
KR (1) KR101668733B1 (de)
CN (1) CN104334805A (de)
BR (1) BR112014028749A2 (de)
CA (1) CA2873021A1 (de)
WO (1) WO2013176301A1 (de)

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Publication number Priority date Publication date Assignee Title
KR101741703B1 (ko) 2013-01-24 2017-05-30 볼보 컨스트럭션 이큅먼트 에이비 건설기계의 유량 제어장치 및 제어방법
JP6604624B2 (ja) * 2015-05-11 2019-11-13 キャタピラー エス エー アール エル 作業機械の自動振動装置
CN105908797A (zh) * 2016-02-29 2016-08-31 江苏耐维思通科技股份有限公司 一种无人值守装载机的控制系统
US10246855B2 (en) 2016-10-10 2019-04-02 Wacker Neuson Production Americas Llc Material handling machine with bucket shake control system and method
JP6791827B2 (ja) * 2017-09-29 2020-11-25 株式会社小松製作所 作業車両及び作業車両の制御方法
DE102020206368A1 (de) 2020-05-20 2021-11-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum automatisierten Entfernen von an einem Ladewerkzeug einer Lademaschine anhaftendem Material
US11708681B2 (en) 2021-04-13 2023-07-25 Caterpillar Inc. System and method for bucket agitation during automated payload tip-off
CN113266046A (zh) * 2021-05-24 2021-08-17 江苏徐工工程机械研究院有限公司 挖掘装载机
US11761170B2 (en) 2021-11-17 2023-09-19 Robert Bosch Gmbh Apparatus for facilitating bucket movement
KR20240127446A (ko) * 2022-03-03 2024-08-22 에이치디현대인프라코어 주식회사 건설기계의 제어 시스템 및 이의 제어방법

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Also Published As

Publication number Publication date
US20150134209A1 (en) 2015-05-14
EP2853642A4 (de) 2016-03-02
WO2013176301A1 (ko) 2013-11-28
BR112014028749A2 (pt) 2017-06-27
KR20150023269A (ko) 2015-03-05
CA2873021A1 (en) 2013-11-28
CN104334805A (zh) 2015-02-04
KR101668733B1 (ko) 2016-10-24

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