KR0152402B1 - Swing-dump working control device for excavator - Google Patents

Abstract

The present invention relates to a swing-dump operation control device of an excavator which is installed on an excavator that collects and unloads soil and automates a swing-dump operation that is simply repeated.

In this case, in particular, the work fatigue is increased by repetition of a similar work. The present invention is to automate the above-mentioned countermeasure work so that the excavator can automatically perform the same work after the memory of the sequence by one manual operation. This is an excavator composed of an upper swing structure, a lower frame, a boom arm bucket and the like, and angle detectors are installed in the boom arm bucket and the like, and are provided with a work selection switch and a signal from the detector hole. It is designed to control the operation of each part according to the data stored in the command by storing and storing it in the controller.It is not only convenient for the driver by automating repetitive work but also enables the automatic operation according to the calculation of the optimum work path by itself. It is effective to contribute to improving work efficiency in a space.

Description

Swing-dump control of excavator

1 is an overall system configuration of the present invention.

Figure 2 is an excerpt of the main part of the present invention.

3 is a control flowchart of the present invention.

4 is another control flowchart of the present invention.

* Explanation of symbols for main parts of the drawings

1: upper swing body 2: lower frame

3: Boom 4: Arm

5: Bucket 6: Slewing Bearing

7 swing angle detector port 8: encoder

9: Electronic proportional control valve 10: Controller (CPU)

10 ': CPU 11: Operation Panel

12 ring 13 entoder shaft

14: boom angle detector sphere 15: rock angle detector sphere

16: bucket angle detector 17: converter

18: Initialization 19: Work mode input

20: Work path calculation 21: Data storage

22: repeat operation 23: control signal output

24: End of work 25: Differential output

The present invention relates to a swing-dump operation control device of an excavator which is installed on an excavator that collects and unloads soil and automates a swing-dump operation that is simply repeated.

Excavator is a kind of heavy equipment that unloads or transports trucks by picking up earth and sand into buckets supported by booms and arms on the front of the swinging structure (car body). It will perform a certain task according to the operation of.

However, the operation of the heavy equipment is made by the driver's various operating levers in the driver's seat, and the operation of the operating lever consists of repetition of the operation sequence having a certain sequence according to the nature of the work. In the construction work, heavy equipment is usually used all day for shortening the air, so the driver operates the operation with accumulated work fatigue, and in the case of excavator, the work fatigue is increased by repeating a similar work. The present invention is to automate the above-described repetitive operation to enable the excavator to automatically perform the same operation after the memory of the sequence by one manual operation, which is the upper swing and the lower frame and the boom, arm, bucket In the excavator which consists of a back and the like, angle detection is carried out by the said boom arm bucket The spheres are installed, equipped with a job selection switch, and configured to control the operation of each part according to the data stored by the command by processing and storing the signal from the detector unit as a controller. As follows.

1 is an overall system configuration diagram of the present invention, FIG. 2 is an extract state diagram of an essential part of the present invention, and FIG. 3 is a control flowchart of a controller which is an essential part of the present invention.

The present invention, as shown in the figure, the upper frame (1) and the boom (3) and arm () in the front swinging material by the swinging frame (6) above the lower frame (2) moved by the track 4) In an excavation structure in which drive mechanisms such as the bucket 5 are swingably connected, an operation panel 11 having a selection switch and lamps indicating a state in a driver's seat is provided, and at a predetermined position of each drive unit, A boom angle detector port 14, a rock angle detector port 5, and a bucket angle detector port 16 provided to detect each drive angle, and a ring engaged with the hub frame 2 on the pivot bearing 6 An encoder (8) having an encoder shaft (13) provided at an end thereof is provided, and a swing angle detector (7) for detecting rotation of the swing bearing (6), and the respective detectors (7, 14). Conversion unit 17 for converting the signals of the controllers 15, 16, and 16 to the gun controller 10, and the CPU 10 Initialize (18) and work mode input (19) and turn off the electronic proportional control valve (9) if it is manual and finish, and turn on each detector port (7, 14, 15, 16) if automatic. From the data, the work path calculation 20 is carried out to store the data (21), and it is determined whether the repetitive work 22 is performed. Otherwise, the electronic proportional control valve 9 is turned off and finished. ), The electronic proportional control valve 9 is driven by outputting the data 23 as a control signal, and the electronic proportional control valve 9 is turned off and terminated when the operation completion 24 is determined. ) To the control signal output 23, and after completion, the controller 10 controls to return to the first through the delay register 26, and each of the drive heads receiving the signal from the CPU 10 '. Characterized in that it consists of an electromagnetic proportional control valve (9) installed.

4 is a control flowchart of a controller which is another essential part of the present invention.

In addition, in the above-described configuration, the controller 10 stores the detection signals from the respective detector ports 7, 14, 15, and 16 after driving the valve 9 through the sole portion of the electromagnetic proportional control valve in which the controller 10 is incorporated. (21) is compared with the data and the drive amount of each electromagnetic proportional control valve (9) is added or subtracted until the differential output (25) becomes zero, and then it is configured to be processed to make a job termination judgment (24). More preferred.

In addition to the CPU 10 ', the controller 10 includes a drive unit of various buffers and electromagnetic proportional control valves as well as a conversion 17 for converting the detected angles.

According to the present invention configured as described above, the first driver places the switch installed in the operation panel 11 in the automatic mode when the operation with the excavator is expected to be repeated continuously, and the controller 10 starts the operation. When excited by the key, the work mode 19 is cycled until automatically input. When the automatic mode input 19 is obtained, the angles detected from the detectors 7, 14, 15, and 16 installed in the respective drive mechanisms are converted. At 17, converting (digitalize the analog signal) is transmitted to the CPU 10 '. The CPU 10' adds or subtracts an input value for an amount of repeated angular displacement, and calculates each work weight 20. After storing the data in the memory or buffer 21 of the controller 10, the stored data is used as the command data of the repetitive operation, and at this time, a capacity for storing a large amount of data of each detector is stored.The.

The reference point for storing the data is based on the completion of the angle detection from the angle detector port 16 of the bucket 5, which is generally performed by the excavator's work to excavate the soil with the bucket 5 and the boom 3 and the arm. (4) and the upper revolving body (1) by a certain angle to the excavated soil in the target position by the bucket (5) is made by a sequence for manipulating the angle, at this time there is a shield or obstacle on the work path If the in-movement is difficult, the complementary data may be stored in the memory to divide and store each movement 21.

When the storage of the reference data is completed as described above, it is determined whether it is a repetitive task 22, which is automatically input from the controller 10 by the completion of the data storage, and the driver does not feel the need for the automatic operation during the operation. If the switch of the operation panel 11 is switched to the manual mode in order to cancel the operation, the repetitive operation 22 signal can be turned off in the user interrup. In this case, the electromagnetic proportional control valve 9 is turned off by bypass. And the repetitive operation 22 signal is turned on and the control signal output 23 with the data stored in the memory 21 is inverted through the solenoid valve drive unit (number omitted) (Invertin; analog signal) And the electromagnetic proportional control valve 9 is opened and closed at this value to drive the respective drive mechanisms 3, 4 and 5.

At this time, the upper swing structure 1 of the drive mechanism is different from the other drive mechanism, so that the output control signal 23 is transmitted to the encoder 8 and the encoder shaft 13 is rotated in response to the ring 12. It is designed to drive the swing gear (number abbreviation).

In another configuration of the present invention, the control signal output 23 is the same as that of driving the electromagnetic proportional control valve 9, but thereafter, the angle of displacement is redetected from the respective drive mechanisms 1, 3, 4, and 5. By comparing them with the data stored in the memory 21, a difference output is issued, and the drive amount of the electromagnetic proportional control valve 9 is repeatedly added or subtracted until the difference output 25 becomes 0, and this feedback (Feed-Back) It is possible to automatically correct the amount of motion of each drive mechanism (1, 3, 4, 5) by the precise control.

In addition, in the controller 10 of the present invention, when all the work ends or bypasses, the delay register returns to the beginning after a predetermined time and starts again from the initialization 18 so that the excavator is started at any time as long as the start of the excavator is applied. The mode operation was made possible.

The present invention configured as described above is effective to contribute to the improvement of work efficiency in a narrow space by automating repetitive work, as well as for the convenience of the driver, as well as other automatic operation by calculating the work optimum path by itself.

Claims (2)

Driving of the lower frame 2 moved by the track and the upper swinging body 1 swinging by the swinging bearing 6 and the boom 3, the arm 4, the bucket 5 and the like from the front side. An excavator configured to be swingably connected with mechanisms, comprising: an operation panel 11 having a select switch and lamps indicating a state in a driver's seat; A boom angle detector mechanism (14), a dark angle detector mechanism (5), and a bucket angle detector mechanism (16) provided to detect respective driving angles at predetermined positions of the driving portions; An encoder (8) having an encoder shaft (13) at the end of which the ring (12) engaging with the lower frame (2) is installed on the pivot bearing (6), and detects the rotation of the pivot bearing (6). A swing angle detector port 7; A converter 17 for converting the signals of the detector ports 7, 14, 15, and 16 to the controller 10; When excited, it is initialized (18) through the CPU 10 'and the operation mode input 19 is performed. If it is manual, the electronic proportional control valve 9 is turned off and finished. If it is automatic, each detector port (7, 14, 15, 16) Turn on the data, calculate the work path from these data (20), store the data (21), determine whether it is a repetitive operation (22), or turn off and terminate the electronic proportional control valve (9) and repeat the operation (22). ) Outputs the stored data 21 as a control signal to drive the electromagnetic proportional control valve 9, and when the operation is completed, the electronic proportional control valve 9 is turned off and finished. A controller 10 for returning to the control signal output 23 if it is not the end of work 24 and returning to the first through a delay register after completion; An electromagnetic proportional control valve (9) provided with each drive mechanism receiving a signal from the CPU (10 '); swing-dump operation control device of the excavator, characterized in that consisting of. The detection signal from each detector port (7, 14, 15, 16) is stored after driving the proportional control valve (9) through the drive unit of the electromagnetic proportional control valve in which the controller (10) is incorporated. (21) compared with the data, and each of the drive amount of the electromagnetic proportional control valve (9) is added or subtracted until the differential output (25) becomes zero, and then it is configured to be processed to make a job end determination (24). Swing-dump control of excavators.