KR0141978B1 - Automatic vibration method and apparatus for hydraulic excavator - Google Patents

Abstract

The present invention is used in hydraulic excavators that have a work machine consisting of pours, arms, and buckets, and it is possible to reduce the excavation resistance even in changing soils and various works, and to provide efficient power for the excavator. Vibration method and apparatus thereof.

In particular, in the present invention, the work mode (B _O , A, B _U , S _K ) and the jinjin copper mode (L, M, S) are set in advance according to the soil and the work type. Is automatically generated.

In addition, the operation amount of the work lever is added to the vibration mentioned above.

Therefore, even simple and delicate repetitive work such as voltage work, pus work, or excavation while applying vibration to the bucket can be carried out easily and uniformly without imposing great burden and fatigue for the driver. The workability can be greatly improved.

Description

[Name of invention]

Automatic vibration method of hydraulic excavator and device thereof.

[Technical Field]

The present invention is used in hydraulic excavators having a work machine consisting of pours, arms, and buckets, and the hydraulic excavator is designed to give an appropriate electric power to the work machine to reduce the excavation resistance efficiently even in changing soils and various works. An automatic vibration method and apparatus thereof are provided.

[Background]

In recent years, the development of electronic technology has been remarkable, and even in the working machine cylinders of construction machinery, electrohydraulic control is adopted for its operation instead of mechanical control.

For example, in FIG. 5, the manipulated variable of the lever 51 operated by the driver is converted into an electric signal by the converter 52 and input to the controller 53. FIG.

From the controller 53, an electrical signal proportional to the above operation amount is output to the solenoids 55 and 56 of the electromagnetic proportional valve 54.

The electromagnetic proportional valve 54 is opened and closed in proportion to the above-described electrical signal, and the flow rate proportional to the opening and closing amount is transferred from the hydraulic pump 57 to the work machine cylinder 61 via the conduits 58, 59 or 60. Supplied.

The discharge oil from the work machine cylinder 61 is configured to be returned to the tank 63 via the conduit 62.

However, since the conventional technique is a manual operation, the voltage operation of the hydraulic excavator ( In simple and delicate repetitive work such as pus), the driver was burdened and tired.

In addition, in the voltage work, the pus work, or the work of excavating while applying vibration to the bucket in order to increase the excavation force, the above-described electromagnetic proportionality valve 54 must be operated fairly quickly.

However, especially in large-capacity electromagnetic proportional valves, the inertial force is high and the conversion speed is limited. Therefore, it was not possible to provide the bucket with adequate vibration to cope with changes in work type and soil quality.

SUMMARY OF THE INVENTION In view of the above circumstances, an object of the present invention is to provide an automatic vibration method and apparatus for a hydraulic excavator that can reduce the excavation resistance and efficiently excavate even in changes in soil and various operations.

[Initiation of invention]

The present invention relates to a work mode for selecting at least one vibration signal from a boolean, an arm and a bucket from a memory according to a work type, and a vibration mode for selecting the amplitude and frequency of a selected vibration signal from a memory according to a work type. And an automatic vibration mode for outputting the vibration signal selected by the work mode and the vibration mode to the electromagnetic hydraulic valve of the work machine actuator, and furthermore, the work machine to the vibration signal selected by the work mode and the vibration mode. It is an automatic vibration method of a hydraulic excavator which adds an imaginary operation signal to the lever operation amount.

In addition, a work mode switch for selecting at least one vibration signal from the memory according to the work type and a vibration mode for selecting the amplitude and frequency of the selected vibration signal from the memory according to the work type. And an automatic vibration mode switch for inputting the vibration signal selected by the work mode switch and the vibration mode switch to the electromagnetic hydraulic valve of the work actuator, and further selected by the work mode and vibration mode. An automatic vibration device of a hydraulic excavator provided with an addition circuit for adding an operation signal corresponding to the operation amount of the work lever.

According to such a configuration, the driver selects at least one vibration signal of the work machine from the memory with the work mode switch, and selects the amplitude and frequency of the vibration signal from the memory with the vibration mode switch, and also the automatic vibration motor. Automatic vibration mode by the odd switch, the vibration signal is input to the electro-hydraulic back of the working fluid actuator, it is possible to automatically vibrate the selected work machine at the selected amplitude and frequency.

Further, the addition circuit allows the driver to add an operation signal corresponding to the operation amount of the work lever to the vibration signal, and vibrate as described above while moving the selected work machine.

In this way, the work mode and vibration mode can be set in advance according to the soil quality and work type, and appropriate vibration can be automatically generated as the automatic vibration mode, and the operation amount of the work lever can be added to the vibration mentioned above. Even simple and delicate repetitive work such as voltage work, pus work, or excavation while applying vibration to the bucket can be performed easily and uniformly without forcing the driver a great deal of burden and fatigue. Workability greatly improves.

[Brief Description of Drawings]

1 is an electrohydraulic circuit diagram of a work machine vibration apparatus according to an embodiment of the present invention.

2 is a flowchart of a work machine automatic vibration method according to an embodiment of the present invention.

3 is a detailed view of the automation controller in FIG.

4 is an operation explanatory diagram of an actuator according to an embodiment of the present invention.

5 is a conventional electric hydraulic circuit.

* Explanation of symbols for main parts of the drawings

1a, 1b: Work lever 4: Vibration mode switch

5: Work mode switch 6: Automatic vibration mode switch

10,11,12,13: Electro-hydraulic valve L: vibration mode (amplitude: large, frequency: small)

M: Vibration Mode (Amplitude: Medium, Frequency: Medium) S: Vibration Mode (Amplitude: Small, Frequency: Large)

B _O : Boolean vibration mode A: Arm vibration mode

B _U : Bakquet Vibration Module S _K : Skeleton Vibration Module

Detailed description of the invention

FIG. 1 is an electric / hydraulic circuit of an automatic vibration machine of a working machine according to an embodiment of the present invention, wherein 1a and 1b are left and right work levers, and 2a, 2c and 2b are shown in the above-described work levers 1a and 1b. It is a device that converts the manipulated variable into an electric signal.

3 is an automation controller, and the vibration mode and the memory of the work mode embedded therein are selected by the electric signals instructed by the vibration mode switch 4 and the work mode switch 5, and then automatically When the vibration mode switch 6 is turned OFF, the progress signal of the selected vibration mode working mode is input to the electronic control controller 7.

That is, in the vibration mode switch 4, the L mode: amplitude band, small frequency, small, M mode: vibration, medium frequency, and the S mode: vibration station Which vibration mode is selected among the frequency bands.

In the work mode switch 5, the BO mode: buoyant vibration, A mode: arm vibration, B _{U mode} : bucket vibration S _K : mode: simultaneous vibration of the arm and the bucket (hereinafter referred to as skeleton vibration). Any work mode is selected. The vibration signal of the above-mentioned vibration mode working mode output from the automation controller is input to the electronic control controller 7 as the voltage signals J _BO , J _A , J _BU , J _SK of the pulses.

For example, the relationship between the boolean voltage signal J _BO and the command flow rate to the boolean cylinder 15 in the controller 7 is set as shown in 7b, and the temporal change of the command flow rate is shown in 7c. It is set.

In addition, since the relationship between the command flow rate and the current signal is set as shown in 7d, the boolean voltage signal J _BO finally becomes a current signal as shown in 7e and 7f, and the electromagnetic hydraulic valve 10 Is output to the solenoids 8 and 9 of (11) (12) and (13).

The automatic vibration system thus configured operates as follows.

Turn off the automatic vibration mode switch (6), set the working mode switch (5) to the B _O mode, set the vibration mode switch (4) to the L mode, and set it to 7a from the controller (3). The voltage signal of the pulse as displayed is input to the electronic control controller 7 as the boolean voltage signal J _BO .

In this controller 7, the solenoids of the solenoid hydraulic valves 10, 11, 12, 13 are converted into a boolean rising current signal and a boolean falling current signal as shown by the voltage signals J _BO shown in 7e and 7f. 8) (9).

When the boolean rising current signal of 7e is input to the solenoid 8, the compressed oil discharged from the hydraulic pump 14 is supplied to the bottom chamber of the pour cylinder 15 in accordance with this signal, and the piston rod is indicated by the arrow (p). Move in the direction of

At the same time, the compressed oil discharged from the rod chamber is returned to the tank 16.

In addition, when the pour-down current signal of 7f is input from the electronic controller 7 to the solenoid 9, the poppet valves 12 and 13 open in response to this signal, Therefore, the compressed oil discharged from the hydraulic pump 14 is supplied to the pour cylinder 15 and is discharged to the tank 16, the piston rod moves in the direction of the arrow (Q).

In this way, the piston rod of the pour cylinder 15 is stroke reciprocated in the L mode in the direction of the arrow P (Q).

Since there are three vibration modules L, M, and S for four working modes B _O , A, B _U , and S _K , a total of 12 working modes can be provided in combination.

In FIG. 1, only the operation of the boom cylinder 15 is displayed, but the description of the other working cylinders is the same as that described above, and thus description thereof will be omitted.

A second turning a flow difference art of the automatic vibration method according to the embodiment of the present invention, after the start, the jakeopmo Eau switch 5 at a step S2, and OFF the automatic vibration mode Eau switch 6 in step S1 B _O Mo When set to odd, and then proceeds to step S3, by setting the vibration mode Eau switch 4 to the L mode odd, is output in step S4 Mo B _O · L odd odd mode of the vibration signal memory.

This vibration signal is input to the electronic control controller 7 as a boolean voltage signal J _BO of the pulse.

On the other hand, when the driver operates the work lever 1a, this manipulation amount is converted into the boolean lever operation signal I _BO in the electric signal conversion device 2a, and this signal I _BO is vibrated at step S5. It is added to the signal memory.

This added vibration signal is input to the electronic control controller 7 as a boolean voltage signal K _BO of the pulse.

The boolean electronic signal K _BO becomes a current signal in the electronic control controller 7 and is input to the solenoids 8 and 9.

Further, in the second-degree step 92 by setting the jakeopmo Eau switch 5 to the A mode odd, the same step and L all odd described within the framework of the process is advanced to step S9, and B _O display from the step S1, S2 The arm voltage signal J _A or K _A is output in the case of flow within the frame indicated by A, and the arm oscillation is performed in the same manner as in the case of the above-described buoy tube.

Next, when the work mode switch 5 is set to the B _U mode, the process proceeds from step S1 (S2) (S9) to step 10 and includes the same step as the L mode described in the frame indicated by B _O. The bucket voltage signal J _BU or K _BU is output via the flow in the frame indicated by B _U to cause vibration of the basket. In addition, if the work mode switch 5 is set to S _K mode, steps S1, S2, S9 and S10 include the same steps as the L modes described in the frame of the B _O display and are set to S _K. Skeleton voltage signal J _SK or K _SK is output via the flow within the frame to oscillate the skeleton.

In addition, the Skelton work refers to the work of putting the soil in the Skeleton shape bucket into two sieves, but usually the operation of the arm and the basket simultaneously.

3 is a detailed view of the automation controller 3 in FIG. 1, when the automatic vibration mode switch 6 is turned on, the switch 18 is attracted by the magnet 17 to become a passive mode. .

When the automatic vibration mode switch 6 is turned OFF, the switch 18 is separated from the magnet 17 to become an automatic vibration mode, and each module set by the vibration mode switch 4 and the work mode switch 5 is turned on. The vibration signal corresponding to the odd is output from the memory 19.

This vibration signal is input to the electronic control controller 7 as the voltage signal J of the pulse.

On the other hand, when the driver operates the work levers 1a and 1b, this operation amount is converted into an electric signal by the electric signal converters 2a, 2b and 2c, and the adder 20 is applied to the vibration signal described above. It is added.

The vibration signal added by this addition circuit is also input to the electronic control controller 7 as the voltage signal K of the pulse.

4 is an operation explanatory diagram of an actuator according to an embodiment of the present invention, in which the vertical side indicates the reciprocating stroke (amplitude) of the actuator and the horizontal side indicates the time (frequency).

When the work levers 1a and 1b are not operated, the actuator is pulsed at a constant amplitude e and at a constant frequency.

When the work machine levers 1a and 1b are operated, only the operation amount is added and the reference level of the pulse changes.

When the actuator is explained in the example of the boolean cylinder, when the boolean raising and lowering operation is performed, the boolean is raised and lowered at a large period while maintaining the vibration of the amplitude (e).

The automatic vibration method and apparatus thereof according to the present invention are used in a hydraulic excavator having a work machine consisting of buoys, arms, and a bucket, and in particular, give a suitable vibration to the work machine to increase voltage work, pus work, or digging force, which are simple repetitive operations. It is useful for excavation work.

Claims (4)

In a hydraulic excavator having a work machine consisting of a boolean, an arm, and a bucket, a work mode (B _O ), (A), (A) which selects at least one vibration signal from the memory according to the work type among the boolean, the arm and the bucket. B _U ) (S _K ), vibration modules L, M, and S for selecting the amplitude and frequency of the selected vibration signal from the memory according to the work type, and the work mode and vibration described above. An automatic vibration method of a hydraulic excavator, characterized in that the automatic vibration mode for outputting the vibration signal selected by the module to the electromagnetic hydraulic valve of the work machine actuator. The vibration signal according to claim 1, wherein the vibration signal selected from the memory by the above-mentioned working modes B _O , A, B _U , S _K and vibration modules L, M, and S. And an operation signal corresponding to the operation amount of the work levers (1a) and (1b) is added to the automatic vibration method of the hydraulic excavator. In a hydraulic excavator having a work machine consisting of a boolean, an arm and a bucket, a work mode switch 5 for selecting at least one vibration signal of the boolean, arm and the bucket from a memory according to the work type, and the vibration signal as described above. The vibration signal selected from the memory according to the work type and the vibration signal selected by the work mode switch 5 and the vibration mode switch 4, respectively. An automatic vibration device for a hydraulic excavator, characterized in that the valve (10), (11), (12), (13) is provided with an automatic vibration mode switch (6). 4. The circuit according to claim 3, further comprising an addition circuit for adding the operation signal corresponding to the operation amount of the work lever to the vibration signal from the memory 19 with respect to the work mode switch 5 and the vibration mode switch 4 described above. Automatic vibration device of the hydraulic excavator, characterized in that.