KR100547203B1 - Automatic flat work device and method of construction machinery - Google Patents

Abstract

When flattening a predetermined angle by using a multi-joint work device such as an boom, an arm, a bucket of an excavator, the work angle is set by the driver, and then the arm driving joystick can be operated.

According to a preferred embodiment, the lower running body; An upper swing body pivotally mounted relative to the lower travel body; A first rotating member whose one end is rotatably fixed to the upper pivot; A second rotating member whose one end is rotatably fixed to the other end of the first rotating member; A bucket rotatably fixed to the other end of the second pivot member; A first sensor installed between the upper pivot member and the first pivot member to detect a relative rotation angle of the first pivot member with respect to the upper pivot member; A second sensor disposed between the first rotating member and the second rotating member to detect a relative rotation angle of the second rotating member with respect to the first rotating member; A third sensor installed between the second pivot member and the bucket to detect a relative rotation angle of the bucket relative to the second pivot member; A fourth sensor installed at a predetermined position of the upper swing structure to detect an absolute tilt angle of the equipment; An electric joystick formed to be operated in two directions and generating an electrical signal in proportion to a user's manipulation amount; Switch board for providing the user with information related to the operation status and operation method of the equipment and setting the angle of the flat surface during flat work; In the automatic flat work method of a construction machine having a controller for operating the working device according to the user's intention by controlling the flow control valve for supplying the working oil to the working device in accordance with the signal input from the electric joystick, switchboard and sensors In the case of selecting the flat work switch by the user, the work inclination angle is set to 0 ° and the auto flat work direction is set to the second pivot member retracting direction. In the case of inputting the automatic operation of the construction machine characterized in that the work speed according to the operation amount of the joystick for driving the second pivot member on the basis of the input angle to the flat work along the inclined surface set the end of the working device Provides a flat working method.

Therefore, when the flat work of a predetermined angle using a multi-joint work device such as an excavator, the work angle can be set by the driver and the operation can be performed only by the operation of the joystick for arm driving. It greatly improves workability and has the advantage of maximizing the function of equipment by increasing the degree of flat work.

Description

Automatic flat work method of construction machinery

The present invention relates to an automatic flat work method of a construction machine, and more particularly, in the case of flat work of a predetermined angle by using a multi-joint work device such as an boom, an arm, a bucket of an excavator, The present invention relates to an automatic flat work method of a construction machine, which can be operated only by operation of a joystick for arm driving.

As in an excavator, heavy equipment equipped with a work device such as a boom, an arm, a bucket, and the like, increases the operator's fatigue since several manipulation levers or pedals are operated to control the work device during the work. In addition, since the correlation between the operation lever and the working device is small, it is very difficult for the unskilled beginner to work smoothly, and a high level of skill is required to operate several operation levers with high accuracy.

In view of the specificity of such heavy equipment, a device that actually manufactures an operation device for a work device and follows a work position is disclosed in US Patent No. 4059196, Japanese Patent Application Laid-Open No. 62-33944, and Japanese Patent Publication No. 5-257551, respectively. Although disclosed, they are inconvenient for the operator because the work position must be followed continuously, the operation device is also complicated.

In addition, Japanese Patent Application Laid-Open No. 58-22613, Japan, in which an operation device installed on an existing vertical plane is installed on a horizontal plane so that an intuitive operation can be executed by making the plane of the operation device and the work device the same. Patent Publications No. 59-131066, US Patent Nos. 5160239 and 5424623, EP0361666A1, Japanese Utility Model Publication No. 4-134570, and Japanese Patent Publication Publication No. 3-275819, but these also greatly improve the existing equipment structure. Since it was changed, there was a problem to apply to the actual equipment.

On the other hand, when the control is performed along the set angle using the arm joystick, the control is performed at a constant speed regardless of the input of the joystick, so that the driver's will is not reflected or the control speed is determined for the input of the joystick. There is a problem that causes a large control vibration in the operation.

Therefore, an object of the present invention, even when a beginner is flattened at a predetermined angle using an articulated work device such as an excavator, the operation angle is set by the driver and the operation can be performed only by the operation of the joystick for arm driving. It is to provide an automatic flat work method of a construction machine that can be easily worked, to increase the degree of flat work.

The above object of the present invention, the lower running body; An upper swing body pivotally mounted relative to the lower travel body; A first rotating member whose one end is rotatably fixed to the upper pivot; A second rotating member whose one end is rotatably fixed to the other end of the first rotating member; A bucket rotatably fixed to the other end of the second pivot member; A first sensor installed between the upper pivot member and the first pivot member to detect a relative rotation angle of the first pivot member with respect to the upper pivot member; A second sensor disposed between the first rotating member and the second rotating member to detect a relative rotation angle of the second rotating member with respect to the first rotating member; A third sensor installed between the second pivot member and the bucket to detect a relative rotation angle of the bucket relative to the second pivot member; A fourth sensor installed at a predetermined position of the upper swing structure to detect an absolute tilt angle of the equipment; An electric joystick formed to be operated in two directions and generating an electrical signal in proportion to a user's manipulation amount; A switch board providing information related to the operation state and operation method of the equipment to the user and setting the angle of the flat surface during the flat operation; In the automatic flat work method of a construction machine having a controller for operating the working device according to the user's intention by controlling the flow control valve for supplying the working oil to the working device in accordance with the signal input from the electric joystick, switchboard and sensors In the case of selecting the flat work switch by the user, the work inclination angle is set to 0 ° and the auto flat work direction is set to the second pivot member retracting direction. In the case of inputting the automatic operation of the construction machine characterized in that the work speed according to the operation amount of the joystick for driving the second pivot member on the basis of the input angle to the flat work along the inclined surface set the end of the working device By providing a flat working method.

According to a preferred embodiment, when the operation angle of the joystick is suddenly input by the user in the initial stage of control, the maximum value of the operation input is limited in proportion to the elapse of the initial joystick operation time, and when the operation input is greater than or equal to the set maximum value within a predetermined time. The operation input is limited to the set maximum value.

According to a preferred embodiment, the control input is proportionally limited within a predetermined range of both ends of the cylinder in order to prevent the control vibration caused by nonlinearity of the mechanical cushion generated at the end of the cylinder driving the second pivot member. do.

According to a preferred embodiment, the automatic flat working direction has three directions of the pressing direction of the second rotating member, the extending direction of the second rotating member, the pressing and unfolding direction of the second rotating member, and the automatic flattening operation. Work direction determination can be selected by double-clicking the joystick button or using a function switch on the switchboard.

According to a preferred embodiment, the setting of the working angle, by pressing the joystick button by positioning the end of the bucket at a point along the inclined surface to the user to work, and pressing the button of the joystick by moving the work device to another point both buckets Double-click the joystick button to set the work inclination angle by connecting the end of the switch board, and switchboard which can change the work inclination angle from 0。 to 90。 or 0。 to -90。 using the angle setting switch of the switchboard. Any of the methods of using the diagnostic key can be used.

According to a preferred embodiment of the present invention, when operating the first rotating member while the automatic leveling function is performed by operating the second rotating member driving joystick, the height of the flat work surface is proportional to the operation input of the first rotating member. And the flat working surface is moved according to the changed control input, and when the bucket is operated while the automatic leveling function is performed by operating the second rotating member driving joystick, the bucket is given priority to the user's operation input. This is manipulated.

According to a preferred embodiment, when the flat operation switch and the bucket angle holding switch are selected at the same time, the absolute angle of the bucket is controlled while being kept constant, and when only the flat operation switch is input, the second movement is performed without the relative movement of the bucket. The pivot member and the bucket are recognized as one virtual joint to control two axes of the first pivot member and the virtual joint.

According to a preferred embodiment, the maximum speed in all directions of the bucket end is two-axis control in which the tip of the bucket follows the control trajectory and three-axis control in which the tip of the second pivot member follows the control trajectory. The same and is adjusted to be proportional to the engine speed set speed, the input of the second rotary member driving joystick is controlled to be an output proportional to the joystick on the basis of the set maximum speed.

According to a preferred embodiment, the method for configuring the control trajectory stores the position of the tip of the work device when the start of the operation of the joystick is detected, and controls using the integral of the user's working angle and the control reference speed from the stored position. By calculating the target control trajectory, the error on the control trajectory due to the integration error can be corrected.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are intended to assist in understanding the technical contents of the present invention, and thus the technical scope of the present invention is not limited.

1 is a view showing that an automatic flat work apparatus of a construction machine according to an embodiment of the present invention is applied to an excavator.

As shown, the lower traveling body 1, the upper swinging body 2 rotatably mounted on the lower traveling body 1, and one end of the upper swinging body 1 are driven by the boom cylinder 6 A first pivot member 3 (boom) pivotally pivotally rotatable, and a second pivot member 4 pivotally pivotally rotatable by an arm cylinder 7 drive to the other end of the first pivot member 3 ( Arm), a working device such as a bucket 5 fixedly rotatably driven by the bucket cylinder 8 at the other end of the second rotating member 4, and a flow rate for controlling the flow direction of the hydraulic oil supplied to the aforementioned hydraulic cylinders. Applied to construction equipment with a control valve (9).

Therefore, according to a preferred embodiment of the present invention, the relative rotation angle of the first pivot member 3 with respect to the upper pivot body 2 between the upper pivot body 2 and the first pivot member 3 described above is detected. The first sensor 10 (boom relative angle detection sensor) is installed, and the second rotating member 4 with respect to the first rotating member 3 between the first rotating member 3 and the second rotating member 4. The second sensor 11 (arm relative angle detection sensor) for detecting the relative rotation angle of the (3) is installed, and the bucket (2) for the second pivot member 4 between the second pivot member 4 and the bucket 5 3rd sensor 12 (bucket relative angle detection sensor) which detects the relative rotation angle of 5) is provided, and the 4th sensor 13 (inclined angle) which detects the absolute tilt angle of the equipment in the upper pivot 2 predetermined position. Detection sensor) is installed, the electric joystick 14 for generating an electrical signal in proportion to the user's operation amount is formed to be operated in two directions, and the operation state and operation method of the equipment The switchboard 15 is provided to provide the user with relevant information, determine whether to maintain the absolute angle of the bucket 5 during the operation, and set the angle of the flat surface when performing the flat operation, and the electric joystick 14 switch. The controller 16 is connected to the board 15 and the detection sensor to control the flow control valve 9 for supplying the working oil to the working device according to the signal input from the same.

The above-described switch board 15 includes a display unit 17 for informing the user of information related to the operation of the equipment, a flat work switch 18 selected by the user in the case of flat work, and a bucket 5 during operation. Bucket angle holding switch 19 for determining whether to maintain a constant absolute angle, and an angle setting switch 20 for setting the angle of the flat surface to be worked in the case of flat work. At this time, the angle setting switch 20 may be a potentiometer (POTENTIOMETER) or UP (DOWN) switch can be used to set the angle continuously.

Referring to the automatic flat work method of a construction machine according to an embodiment of the present invention configured as described above are as follows.

When the user operates the function key of the above-described switchboard 15, the initialization of the auto leveling function is executed. At this time, the working tilt angle is set to 0 °, and the automatic flat working direction is set in the direction of the ARM IN of the second rotating member 4 (arm) described above.

Accordingly, when the working angle is input by the user, the work can be flattened along the inclined surface at which the end of the working device has the working speed according to the operation amount of the joystick for driving the second pivot member 4 based on the input angle. Will be.

As shown in Figure 2, when the operation angle of the joystick by the user at the beginning of the control suddenly generates a large control vibration to the work device adversely affects the control function, in order to prevent the initial joystick operation time elapsed In proportion to the maximum value of the manipulation input, and when the manipulation input is more than the set maximum value R within the set predetermined time LT, the manipulation input is limited to the set maximum value R.

As shown in FIG. 3, both ends of the arm cylinder 7 are prevented in order to prevent the control vibration caused by the nonlinearity of the mechanical cushion generated at the end of the arm cylinder 7 which drives the above-mentioned second pivot member 4. The control input is proportionally limited within the predetermined range of the stage.

In addition, the above-described automatic flattening direction includes the ARM IN direction of the second rotating member 4, the ARM OUT direction of the second rotating member 4, and the ARM IN of the second rotating member 4. ) And 3 directions of spreading (ARM OUT), the automatic flat work direction determination can be selected by double-clicking the joystick 14 button or the function switch of the switch board 15 described above. The above-described automatic flat working direction is changed in the following order.

ARM IN → ARM OUT → ARM IN & ARM OUT

In the above-described work angle setting, a method of double-clicking a button of the joystick 14 and a method of using a function key of the switch board 15 are used.

In the method of using the button of the joystick 14, as shown in FIG. 4, the end of the bucket 5 is positioned at one point along the inclined surface to be operated by the user to press the joystick 14 button, and the work is performed at another point. When the device is moved to press the button of the joystick 14, the ends of both buckets 5 are connected to set the working tilt angle. At this time, when the button input of the joystick 14 only enters once, the working device may be freely operated.

That is, A = atan ((EDY-SDY) / (EDX-SDX))

(A; working inclination angle,

EDY, EDX, SDX, SDY; X, Y coordinates of the end of the bucket (5))

In addition, in the method of using the function key of the switch board 15 described above, the working tilt angle is set by the user using the angle setting switch 20 of the switch board 15 from 0 ° to 90 ° or 0 ° to -90. You can change it to.

Then, when the first rotating member 3 is operated while the automatic leveling function is performed by operating the aforementioned joystick for driving the second rotating member 4, the height of the flat working surface is controlled by the first rotating member 3. According to the input, it changes proportionally and the flat work surface moves according to the changed control input. Meanwhile, when the bucket 5 is operated while the auto leveling function is performed, the bucket 5 operates in preference to the user's input. do.

That is, SY = SY + MV × IN × CT

Where SY is the Y-axis reference point of the

MV; Maximum control speed of work equipment tip,

IN; Input of the joystick 14 for driving the second pivot member 4,

CT; Control position change speed adjustment constant relative to the input of the first joystick (3) joystick (14)

When the above-described flat operation switch 18 and the bucket angle holding switch 19 are selected at the same time, the absolute angle of the bucket 5 is kept constant and controlled. When only the above-mentioned flat operation switch 18 is inputted, the bucket ( The second pivot member 4 and the bucket 5 are recognized as one virtual joint without the relative motion of 5), thereby controlling two axes of the first pivot member 3 and the virtual joint.

The maximum speed in all directions of the end of the bucket 5 described above is two-axis control in which the tip of the bucket 5 follows the control trajectory, and three axes in which the tip of the second pivot member 4 follows the control trajectory. The same for the control and is adjusted to be proportional to the engine speed setting speed, the input of the joystick 14 for driving the second rotating member 4 described above is proportional to the joystick 14 on the basis of the set maximum speed. To be controlled. In this case, the control trajectory integrates the control reference absolute speed and then converts it to the Cartesian coordinate component when the automatic function is performed, and when the control is not performed, the reference position, which is the reference for integrating the absolute speed, as the target position (TD) Coping

As shown in Fig. 5, the method of constructing the control trajectory stores the position of the tip of the work device when the start of operation of the joystick 14 is detected, and the integral of the user's working angle and control reference speed is stored from the stored position. By calculating the control target control trajectory, the error on the control trajectory caused by the integration error can be corrected.

The above control trajectory is calculated by the following equation.

RD = RD + AV × dT

TX = SX + cos (A)

TY = SY + sin (A)

(At this time, AV; control reference absolute speed input

RD; Relative displacement during control

TX, TY; Control reference Cartesian coordinate position

dT; Sampling time (0.01s)

A; Working angle

SX; X-axis reference point of the flat working surface

SY; Y-axis reference point of the flat working plane)

As described above, according to the preferred embodiment, when the flat work of a predetermined angle using a multi-joint work device such as an excavator, the operation angle is set by the driver, and the operation can be performed only by the operation of the joystick for arm driving. It can easily work even for beginners, greatly improving workability, and has the advantage of maximizing the function of equipment by increasing the degree of flat work.

1 is a view applying an automatic flat work method of a construction machine according to an embodiment of the present invention to an excavator,

2 is a graph showing the maximum input relationship according to the initial joystick operation time of the automatic flat work method of construction machinery according to an embodiment of the present invention,

Figure 3 is a graph showing the maximum input relationship according to the arm cylinder position of the automatic flat work method of construction machinery according to an embodiment of the present invention,

Figure 4 is a graph showing the working angle relationship by the joystick button of the automatic flat work method of a construction machine according to an embodiment of the present invention,

5 is a graph showing a control reference position relationship in the equipment reference coordinate.

* Explanation of symbols used in the main part of the drawing

1; lower running body

2; upper swing

3; first rotating member (boom)

4; second rotating member (arm)

5; bucket

10; first sensor (boom relative angle detection sensor)

11; second sensor (arm relative angle detection sensor)

12; third sensor (bucket relative angle detection sensor)

13; fourth sensor (inclined angle detection sensor)

14; electric joystick

15; switchboard

16; controller

17; indicator

18; flattening switch

19; bucket angle holding switch

20; angle setting switch

Claims (9)

Undercarriage; An upper swing body pivotally mounted relative to the lower travel body; A first rotating member whose one end is rotatably fixed to the upper pivot; A second rotating member whose one end is rotatably fixed to the other end of the first rotating member; A bucket rotatably fixed to the other end of the second pivot member; A first sensor installed between the upper pivot member and the first pivot member to detect a relative rotation angle of the first pivot member with respect to the upper pivot member; A second sensor disposed between the first rotating member and the second rotating member to detect a relative rotation angle of the second rotating member with respect to the first rotating member; A third sensor installed between the second pivot member and the bucket to detect a relative rotation angle of the bucket relative to the second pivot member; A fourth sensor installed at a predetermined position of the upper swing structure to detect an absolute tilt angle of the equipment; An electric joystick formed to be operated in two directions and generating an electrical signal in proportion to a user's manipulation amount; A switch board providing information related to the operation state and operation method of the equipment to the user and setting the angle of the flat surface during the flat operation; In the automatic flat work method of a construction machine having a controller for operating the working device according to the user's intention by controlling the flow control valve for supplying the working oil to the working device in accordance with the signal input from the electric joystick, switchboard and sensors In: When the flat work switch is selected by the user, the work tilt angle is set to 0 ° and the auto flat work direction is set to the second rotation member recessed direction, and the initialization of the auto leveling function is executed, and the work angle is input by the user. In the case of having a working speed in accordance with the operation amount of the joystick for driving the second pivot member on the basis of the input angle to the flat operation of the construction machine, characterized in that for the flat work along the set slope Way. The method of claim 1, wherein when the operation angle of the joystick is suddenly input by the user at the initial stage of control, the maximum value of the operation input is limited in proportion to the elapse of the initial joystick operation time, and when the operation input is over the set maximum value within the predetermined time. Automatic flat work method of a construction machine, characterized in that for limiting the operation input to the set maximum value. The control input of claim 1, wherein the control input is proportionally limited within a predetermined range of both ends of the cylinder to prevent control vibration caused by nonlinearity of the mechanical cushion generated at the end of the cylinder driving the second pivot member. Automatic flat work method of a construction machine, characterized in that. The method of claim 1, wherein the automatic flat working direction has three directions of the pressing direction of the second rotating member, the extending direction of the second rotating member, and the pressing and spreading direction of the second rotating member. Determination of the flat working direction can be selected by double-clicking the joystick button, or by the function switch of the switchboard. The method of claim 1, wherein the working angle setting; When the user presses the joystick button by placing the end of the bucket at a point along the slope to work, and presses the joystick button by moving the work device to another point, the joystick button connects the ends of both buckets to set the working tilt angle. Double-click and use the switchboard's diagnostic key to change the working tilt angle from 0 ° to 90 ° or 0 ° to -90 ° using the angle setting switch on the switchboard. Automatic flat work method of a construction machine characterized in that it can. 2. The method of claim 1, wherein the height of the flat work surface is proportional to the operation input of the first rotating member when the first rotating member is operated while the second rotating member driving joystick is operated. And the flat work surface moves according to the changed control input. When the bucket is operated while the automatic flattening function is performed by operating the second rotating member driving joystick, the bucket is operated in preference to a user's manipulation input. The method of claim 1, wherein when the flat operation switch and the bucket angle holding switch are selected at the same time, the absolute angle of the bucket is controlled while being constant. When only the flat operation switch is input, the second movement is performed without the relative movement of the bucket. Recognizing the rotating member and the bucket as a virtual joint, the automatic flat work method of a construction machine, characterized in that the two-axis control of the first rotating member and the virtual joint. According to claim 1, wherein the maximum speed in all directions of the bucket end is for two-axis control in which the tip of the bucket follows the control trajectory, and three-axis control in which the tip of the second pivot member follows the control trajectory. The same, and is adjusted to be proportional to the engine speed set speed, the input of the second rotary member driving joystick is controlled to be an output proportional to the joystick on the basis of the set maximum speed automatic How to work flat. The method of claim 8, wherein the control trajectory is configured to store the position of the tip of the work device when the start of operation of the joystick is detected, and to control by using the integral of the working angle of the user and the control reference speed from the stored position. An automatic flat work method for a construction machine, characterized in that for correcting an error in a control trajectory due to an integration error by calculating a target control trajectory.