KR100665347B1 - A bulldozer having remote-controller - Google Patents

Abstract

According to the invention, the radio-controlled bulldozer is installed in parallel to the vehicle body and the caterpillar band is rotated by each sprocket; Hydraulic motors for driving the respective sprockets, first control valves for controlling the supply of hydraulic oil supplied from a pump to selectively reversely rotate the hydraulic motor, and supply of hydraulic oil supplied from the hydraulic motor. A drive unit having second control valves for operating the cylinders for elevating the bucket by controlling the control unit; A wireless control means for controlling the first and second control valves and having a control unit having an external signal receiving processor and a transmitting unit for transmitting a signal to the external receiving processor and controlling the first and second control valves by the control unit; Include.

Bulldozer, Wireless, Control, Hydraulic, Control Valve, Hydraulic Motor

Description

Unmanned controlled bulldozer {a bulldozer having remote-controller}

1 is a side view of a bulldozer according to the present invention,

Figure 2 is a hydraulic circuit diagram showing a drive unit of the bulldozer according to the present invention,

Figure 3 is an inlet circuit diagram showing another embodiment of the bulldozer drive unit according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10; bulldozer

30; Drive Unit

50; Wireless control means

The present invention relates to bulldozers and, more particularly, to an unmanned adjustable bulldozer.

In general, the construction equipment for carrying out the foundation construction, such as roads, ports, housing site construction, etc. are various, such as bulldozer, excavator, tandem roller, macadam roller, dump truck, crane. Since these construction equipment is relatively large in size, it is not easy to work in a narrow space, and there is a problem in that it takes a lot of cost for transportation to the construction site. In addition, such construction equipment is directly operated by the driver, so the risk of safety accidents due to work in poor working environment, such as cutouts, steep slopes.

In view of this, Korean Patent No. 1995-006163 discloses a remote control and monitoring system for construction equipment. The disclosed system includes first and second microprocessors for digitally encoding and controlling digital signals, which are steering displacement values, and unmanned construction equipment and analog signals representing operating states of the vehicle body, and transmitting the signals through serial or parallel transmission lines. After the operation corresponding to the first and second external transmission / reception processing units and the control signal, the operation status is received through the second input unit and transmitted to the first and second external transmission / reception processing units to be displayed on the screen and indicator processing unit. It provides a structure that allows the driver to remotely control the vehicle body by the desired displacement.

However, the system as described above is not specialized to the working characteristics of the construction equipment, there is a problem that can not be operated according to the actual working characteristics. Larger construction equipment, particularly bulldozers, are driven by hydraulic pressure, making it difficult to apply the system to hydraulic systems.

It is an object of the present invention to provide an unmanned steering bulldozer capable of unmanned steering and preventing safety accidents caused by driving in a dangerous area.                         

Another object of the present invention is to provide a unmanned control bulldozer in consideration of the operating characteristics by the hydraulic, can be relatively small to work in a narrow space, to increase the reliability of the operation by detecting the obstacles in close proximity.

The unmanned steering bulldozer according to the present invention configured as described above

A caterpillar band installed parallel to the vehicle body and rotated by each sprocket;

Hydraulic motors for driving the respective sprockets, first control valves for controlling the supply of the hydraulic oil supplied from the hydraulic pump for selectively forward and reverse rotation of the hydraulic motor, and the hydraulic oil supplied from the hydraulic pump A drive unit with second control valves for controlling the supply to operate the cylinders for lifting the bucket;

A wireless control means for controlling the first and second control valves and having a control unit having an external signal receiving processor and a transmitting unit for transmitting a signal to the external receiving processor and controlling the first and second control valves by the control unit; It is characterized by what was included.

In the present invention, the control unit further comprises a hydraulic motor rotation detection sensor for controlling the driving state by detecting the rotational speed of the hydraulic motor for driving each of the caterpillar band, the control unit is a time set in the external signal receiving processor It is further provided with a blocking unit for stopping the rotation of the hydraulic motor by using the first and second control valve when not received from the transmitter.

In order to achieve the above object, the radio controlled bulldozer of the present invention,

A caterpillar band installed parallel to the vehicle body and rotated by each sprocket;

An eight-port two-position auxiliary control valve for supplying the same or different flow rates to the hydraulic motors, the hydraulic motors on both sides, for driving the respective sprockets, and from the hydraulic motor in association with the auxiliary control valve. A drive unit having first control valves for controlling the hydraulic oil to be pumped and a second control valve at a second port and a second position for operating cylinders for lifting and lowering the bucket by controlling the supply of the hydraulic oil supplied from the hydraulic pump; To;

A wireless control means for controlling the first and second control valves and having a control unit having an external signal receiving processor and a transmitting unit for transmitting a signal to the external receiving processor and controlling the first and second control valves by the control unit; It is characterized by what was included.

Hereinafter, a preferred embodiment of a radio-controlled bulldozer according to the present invention with reference to the accompanying drawings in detail as follows.

The bulldozer according to the present invention is miniaturized and wirelessly adjustable, and an embodiment thereof is illustrated in FIGS. 1 to 3.

Referring to the drawings, the bulldozer 10 is a caterpillar band 16, 17 which is rotatably installed by the sprockets 14, 15, respectively, on the pair of track frames 12, 13 installed on the vehicle body 11. And a bucket 20 supported by the support rods 18 and 19 hinged to the track frames 12 and 13, and installed in the vehicle body 11 to drive the sprockets. In addition to the left and right rotation drive unit 30 for driving the basket 20, and a wireless control means 50 for adjusting the drive unit 30 by wireless.

It is preferable that the vehicle body 11 of the bulldozer 10 is not formed as large as possible so that it can be transported using a small truck. As described above, when the vehicle body is downsized, it is preferable to install a weight member (not shown) on the bulldozer 10 in consideration of the weight of the bulldozer 10.

The drive unit 30 is for driving the sprockets 14 and 15 and the bucket using hydraulic pressure, and an embodiment thereof is shown in FIG. 2.

Referring to the drawings, the drive unit 30 is formed from the first and second hydraulic motors 31 and 32 and the tank 33 respectively installed in the sprockets 14 and 15, as shown in FIG. The hydraulic pump 34 for pumping hydraulic oil and the hydraulic pump 34 and the first and second hydraulic motors 31 and 32 are installed in a conduit connecting the first and second hydraulic motors 31 ( First and second control valves 35 and 36 for intermittent supply of hydraulic oil to the tank 32 are provided. Herein, the first and second control valves use a six-port three-position control valve, and the first and second hydraulic motors may be controlled to be in reverse rotation and stop states. Meanwhile, the first and second control valves 35 and 36 are connected to the first and second control valves 35 and 36 and the first and second hydraulic motors 31 and 32 as shown in FIG. 3. The hydraulic oil supplied from the first and second hydraulic motors 31 and 32 are respectively connected to, or the hydraulic oil supplied from the first and second control valves 35 and 36 is selectively driven from the hydraulic motor on one side. An auxiliary control valve 37 for driving the motor of the other side using the discharged hydraulic oil is further provided. As shown in FIG. 3, the auxiliary control valve 37 has an integrated passage 37a in which a passage formed in the spool integrates hydraulic oil supplied from the first and second control valves 35 and 36, and passes through the hydraulic motor. It is preferable to use an 8-port 2-position control valve having a by-pass passage 37b for supplying the hydraulic oil discharged to the hydraulic motor on the other side. On the other hand, a plurality of the first and second control valves may be used to selectively drive the first and second hydraulic motors. And a relief valve 41 for controlling the set hydraulic pressure may be installed in the conduit.

In addition, a third control valve 39 for controlling the hydraulic oil supplied and recovered to the cylinder 38 is installed in the pipeline between the hydraulic pump 34 and the cylinder 38 for driving the bucket 20. The hydraulic motor and the cylinder may be installed in plural in consideration of operation according to the function of the bulldozer.

On the other hand, the radio control means 50 is to adjust the running by operating the control valves in accordance with the control signal transmitted from the transmission means, the first, second, third control valves (35) (36) (39) and Controlling the auxiliary control valve 37 and having a control unit 52 having an external signal receiving processing unit 51 and transmitting a signal to the external receiving processing unit 51 to transmit a signal for adjusting driving to the control unit 52. It is provided with a transmitter 53 for. The wireless control means 50 detects the rotation speed of the first and second hydraulic motors 31 and 32 and the rotation speed detection sensor 54 for detecting the state of the direction change, and the side of the vehicle body 11. It is further provided with obstacle detection sensors 55 for detecting when the obstacle is approached within a predetermined distance to control the running of the first and second hydraulic motors (31, 32). Here, the control unit may include a blocking unit (not shown) for stopping all functions of the bulldozer when no signal is detected for a predetermined time from the transmitting unit 53. That is, if the input time design signal set from the transmitter is not made, the driving of the hydraulic pump and the hydraulic motor is stopped using the control valves. Reference numeral 60 is a two-port, two-position control valve for controlling the hydraulic oil supply from the hydraulic pump to the first, second, third and third control valves 35, 36, 39.

In the radio-controlled bulldozer 10 according to the present invention configured as described above, the hydraulic pump 34 is driven by an engine installed in the vehicle body, and the steering mode of the bulldozer 10 is set using a water receiver. In this case, a signal is received by the external receiving processor 51 of the controller 52, and the first, second, and third control valves are selectively operated according to the signal to perform the bulldozer operation. That is, to lower the bucket 20, the third control valve 39 is operated to advance the cylinder 38, and the first and second control valves 35 and 36 are operated to operate the first and second control valves 39. 2 It is driven by supplying hydraulic oil to the hydraulic motors (31) (32). In this process, when the bulldozer 10 turns to a large radius while a large load is applied, the hydraulic oil supplied from the first and second control valves 35 and 36 by operating the auxiliary control valve 37 The hydraulic motor, that is, to be supplied to the hydraulic motor located on the inside via the hydraulic motor located on the outside in the turning direction. This action may be achieved by an integrated passage 37a and a bypass passage 37b formed in the spool of the auxiliary control valve 37. The left, right and reverse rotation of the bulldozer may be performed by selectively rotating the first and second hydraulic motors forward or reverse by using the first and second control valves 35 and 36.

As described above, the wirelessly controlled bulldozer according to the present invention is capable of unmanned control in a hazardous area or a poor working environment, thereby preventing a safety accident in advance, and there is no need for the bulldozer driver to be always on standby. You can save money.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments are possible.

Claims (4)

delete delete delete A caterpillar band installed parallel to the vehicle body and rotated by each sprocket; Pumped from the hydraulic pump in conjunction with the auxiliary control valve for driving each sprocket, the auxiliary control valve of two ports for supplying the same or different flow rate to the hydraulic motors, the hydraulic motors on both sides, respectively; A drive unit having a first control valve for controlling hydraulic oil and second control valves in second port two positions for operating cylinders for lifting and lowering the bucket by controlling the supply of hydraulic oil supplied from the hydraulic pump; A controller for controlling the first and second control valves and an external signal reception processor, and a blocker for stopping the operation of the first and second control valves and the hydraulic pump if a control signal is not received for a predetermined time; , And a radio control means for transmitting a signal to the external signal receiving processor and having a transmitter for controlling the first and second control valves by a controller.

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