KR101739373B1

KR101739373B1 - Joystick device for construction equipment

Info

Publication number: KR101739373B1
Application number: KR1020150164094A
Authority: KR
Inventors: 윤종일; 김경수; 이지환; 윤종혁
Original assignee: 재단법인 건설기계부품연구원
Priority date: 2015-11-23
Filing date: 2015-11-23
Publication date: 2017-05-25

Abstract

The present invention relates to a joystick device capable of providing a reaction force to a joystick lever representing an operation state of a hydraulic cylinder in correspondence with oil pressure acting on the hydraulic cylinder provided in construction equipment. The joystick device for construction equipment comprises: a hydraulic detection unit which detects oil pressure acting on a hydraulic cylinder provided in construction equipment; a joystick lever which represents an operation state of the hydraulic cylinder in a state of gripping the joystick lever by an operator; and a force reflection unit which provides reaction force to the joystick lever on the basis of oil pressure when the joystick lever is operated. The force reflection unit includes a pneumatic drive unit which is coupled to the joystick lever and provides reaction force to the joystick lever by air pressure based on oil pressure when the joystick lever is operated, a pneumatic proportional control valve which supplies the amount of air proportional to magnitude of oil pressure detected through the hydraulic detection unit to the pneumatic drive unit, and an operation control unit which controls an opening/closing amount of the pneumatic proportional control valve in proportional to the magnitude of oil pressure on the basis of the signal of the hydraulic detection unit.

Description

[0001] JOYSTICK DEVICE FOR CONSTRUCTION EQUIPMENT [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joystick device for a construction equipment, and more particularly, to a joystick device for a construction equipment capable of providing a reaction force to a joystick lever expressing an operating state of a hydraulic cylinder corresponding to a hydraulic pressure applied to the hydraulic cylinder, To a joystick device.

Generally, construction equipment refers to machines used for construction.

For example, excavators are mainly equipment for excavating soil, construction equipment capable of various tasks such as loading of soil, building foundation work, residential construction work and cargo loading.

Hydraulic oil sucked from a hydraulic tank is discharged from a main pump and supplied to a hydraulic actuator such as a boom cylinder, an arm cylinder, and a bucket cylinder mounted on an excavator through a control valve serving as a direction switching valve according to the operation of the joystick lever. Boom, arm, bucket and so on.

1, the excavator includes a swinging body 110 mounted on a caterpillar-type orbital body 100 so as to be rotatable by a swinging angle desired by the operator, a cockpit 111 mounted on the swinging body 110, . The boom 120 attached to the swinging body 110 is moved up and down by the boom cylinder 151 and the arm 130 is rotatably supported by the arm cylinder 152 at the end of the boom 120 Respectively. The bucket 140 is rotatably installed at the end of the arm 130 by means of the bucket cylinder 153 so that the work can be performed. At this time, the bucket 6 can be used variously according to the state of the earth and rock, the excavation method, and the mobility by changing the drag line, the clam shell, the drag shovel, and the like.

As a steering device for controlling such an excavator, a conventional steering device for an excavator uses a joystick provided in a cockpit 111 to control the operation of the bucket 140 in and out, the operation of the arm 130 up and down, And swings the swing body 110 in and out.

However, in the case of the work using the excavator, the work is often performed in a dangerous area or a poor environment depending on the work location, environment, and conditions. In such a case, it often happens that the operator is very difficult to navigate on an excavator. Under such circumstances, there is a need for a remotely controlled excavator steering device capable of controlling an excavator without the driver having to ride directly on the excavator.

Korean Patent Registration No. 10-1369839 (entitled " remote control device for an excavator and its force echo control method, published on Apr. 201, 03)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a joystick device for a construction equipment capable of providing a reaction force to a joystick lever expressing an operating state of a hydraulic cylinder corresponding to a hydraulic pressure applied to a hydraulic cylinder provided in a construction equipment, .

According to a preferred embodiment of the present invention, a joystick device for a construction equipment according to the present invention includes: a hydraulic pressure sensing unit for sensing a hydraulic pressure acting on a hydraulic cylinder of a construction equipment; A joystick lever for expressing an operation state of the hydraulic cylinder in a state in which the operator grips the joystick; A force echoing unit for applying a reaction force to the joystick lever based on the hydraulic pressure when the joystick lever is operated; A module box detachably coupled to the cockpit of the construction equipment, the module box having the joystick lever and the force echo unit installed therein; And a module fixing portion detachably fixing the module box to the cockpit, wherein the force echoing unit is coupled to the joystick lever, and the joystick lever is operated by the air pressure based on the hydraulic pressure when the joystick lever is operated A pneumatic driving unit for providing a reaction force to the joystick lever; A pneumatic proportional control valve for supplying to the pneumatic drive unit an amount of air proportional to a magnitude of a hydraulic pressure sensed through the hydraulic pressure sensing unit; A steering control unit for controlling an opening and closing amount of the pneumatic proportional control valve in proportion to a magnitude of the hydraulic pressure based on a signal of the hydraulic pressure sensing unit; A battery unit installed in the module box for applying charged power; And a pneumatic pressure generator installed in the module box and generating a pneumatic pressure for providing a reaction force to the joystick lever.

Here, the pneumatic driving unit may include: a link member linked to the joystick lever; A pneumatic drive shaft coupled to the link member; And a pneumatic motor for rotating the pneumatic drive shaft by a pneumatic pressure supplied from the pneumatic proportional control valve to provide a reaction force to the joystick lever.

The joystick device for a construction equipment according to the present invention may further include a position sensing unit for sensing a position of a partition of the hydraulic cylinder, wherein the control unit controls the operation of the joystick according to the signal of the hydraulic pressure sensing unit, A hydraulic pressure processor for controlling the opening and closing amount of the pneumatic proportional control valve; And a risk processor for controlling the pneumatic proportional control valve such that the opening and closing amount of the pneumatic proportional control valve is maximized when the partition collects signals of the position sensing unit and is located in a danger zone located at both ends of the hydraulic chamber of the hydraulic cylinder .

Here, the force echo unit may include: an operation sensing unit for sensing an operation state of the joystick lever; And a danger warning section for indicating a dangerous situation when the opening and closing amount of the pneumatic proportional control valve becomes maximum; As shown in FIG.

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Here, the force echo unit further includes a power switch unit for selecting whether to apply power to the battery unit or the air pressure generating unit.

The joystick device for a construction equipment according to the present invention further includes a selection control unit connected to a direct control unit provided on the cockpit for wired operation so that the force recovery unit is operated.

Here, the direct control unit may include: a direct wired unit connected to the hydraulic pressure sensing unit by wire; A direct pneumatic part for delivering the pneumatic pressure generated by the construction equipment; And a direct power supply unit connected to the power generated from the construction equipment by wire, wherein the selection control unit includes: a selection wired unit connected to the control unit by wire and electrically connected to the direct wired unit; A selector pneumatic part connecting the direct pneumatic part and the pneumatic proportional control valve so that the pneumatic pressure is transmitted to the pneumatic proportional control valve; And a selection power source unit electrically connected to the direct power source unit to apply power to the force echo unit.

Here, the direct wired unit may include: a first direct wired unit connected to the main control unit of the construction equipment so that a signal of the motion sensing unit that senses the operation state of the joystick lever is transmitted to the hydraulic cylinder; A second direct wired part connected to the hydraulic pressure sensing part by wire; And a third direct wired part connected to the position sensing part for sensing the position of the compartment of the hydraulic cylinder, wherein the selected wired part is connected to the control unit or the motion sensing part by wires, A first selected wired part electrically connected to the first direct wired part; A second selection wired unit connected to the steering control unit by wire and electrically connected to the second direct wired unit; And a third selection wired unit connected to the steering control unit by wire and electrically connected to the third direct wired unit.

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The joystick device for a construction equipment according to the present invention can provide a reaction force to a joystick lever expressing an operating state of a hydraulic cylinder corresponding to a hydraulic pressure applied to a hydraulic cylinder provided in a construction equipment. In the case of an excavator, it is possible to provide a reaction force to the joystick lever in response to a hydraulic pressure acting on a hydraulic cylinder operating a joint member such as a boom, an arm and a bucket.

Further, the present invention utilizes the pneumatic pressure proportional to the hydraulic pressure acting on the hydraulic cylinder, thereby simplifying the signal processing of the sensing unit and the operation of the force feedback unit, and improving the performance of the construction equipment.

In addition, the present invention can transmit a reaction force to the joystick lever through the rotational force of the pneumatic driving unit.

Further, the present invention can limit the operation of the joystick lever in the critical operation of the drive rod portion (the maximum extension state of the joint member or the maximum contraction state of the joint member), and prevent overload from being transmitted to the construction equipment.

In addition, according to the present invention, it is possible to smooth the movement of the operator, prevent safety accidents, and give a haptic sense to the operator in accordance with the manipulation of the excavator.

Further, according to the present invention, the operator can control the construction equipment without having to directly ride the construction equipment, and can transmit the operation state of the joystick lever to the hydraulic cylinder in real time.

Further, the present invention makes it easy to turn on / off the portable power supply and prevent the battery unit from being prematurely discharged.

Also, according to the present invention, not only the cockpit but also the maneuver can easily control the construction equipment through the attachment / detachment of the joystick device without directly traveling on the excavator.

Further, the present invention can operate the joystick device by the driving force of the construction equipment and can easily charge the battery portion of the force echoing unit.

In addition, the present invention can confirm whether the joystick device is detachable or not, and can improve the sensitivity of the joystick lever by stably connecting the joystick device to the construction equipment.

1 is a view illustrating an excavator of construction equipment according to an embodiment of the present invention.
2 is a block diagram illustrating a hydraulic cylinder in a construction equipment according to an embodiment of the present invention.
3 is a block diagram illustrating a joystick device for a construction equipment according to an embodiment of the present invention.
4 is a view illustrating an example of a module fixing unit in a joystick apparatus for a construction equipment according to an embodiment of the present invention.
5 is a block diagram illustrating a force echo control method in a joystick device for a construction equipment according to an embodiment of the present invention.

Hereinafter, an embodiment of a joystick device for a construction equipment according to the present invention will be described with reference to the accompanying drawings. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

FIG. 1 is a view showing an excavator in construction equipment according to an embodiment of the present invention, FIG. 2 is a system diagram showing a hydraulic cylinder in a construction equipment according to an embodiment of the present invention, and FIG. FIG. 4 is a view illustrating an example of a module fixing unit in a joystick device for a construction equipment according to an embodiment of the present invention. FIG. 4 is a block diagram illustrating a joystick device for a construction equipment according to an embodiment of the present invention.

1 to 4, the joystick device for a construction equipment according to an embodiment of the present invention expresses the operating state of the hydraulic cylinder 150 in response to the hydraulic pressure acting on the hydraulic cylinder 150 provided in the construction equipment. And provides a reaction force to the joystick lever 20. In an embodiment of the present invention, an excavator will be described as an example of construction equipment.

In a conventional excavator, a swinging body 110 is installed on a caterpillar-type orbital body 100 so as to be rotatable by a swinging angle desired by the operator, and a cockpit 111 is formed on the swinging body 110. A boom 120 is rotatably coupled to the swing body 110 and an arm 130 is rotatably coupled to the boom 120. A bucket 140 is rotatably coupled to the arm 130, do. The bucket 140 is detachable from the arm 130. At this time, the bucket 140 can be used variously according to the state of the earth and rock, the excavation method, and the mobility by changing the drag line, the clamshell, the drag shovel, and the like. The boom 120, the arm 130, and the bucket 140 are operated by the hydraulic cylinder 150. Also, the swinging body 110 may be operated by the hydraulic cylinder 150.

The boom 120, the arm 130, and the bucket 140 are each represented by a joint member. Also, the swinging body 110 may be represented by a joint member.

The boom 120 attached to the swing body 110 is rotated up and down by the boom cylinder 151 and the arm 130 coupled to the end of the boom 120 is rotated by the arm cylinder 152, And the bucket 140 coupled to the end of the arm 130 is rotated up and down by the bucket cylinder 153. The swing body 110 is rotated by a swing angle by the swing drive unit 154. [ Accordingly, the work can be performed through the excavator.

Here, the hydraulic cylinder 150 includes the boom cylinder 151 for in and out of the boom 120, the arm cylinder 152 for up and down the arm 130, 140 of the bucket cylinder (153). The swing drive unit 154 for swinging the swing body 110 with the hydraulic cylinder 150 may also be included. The swivel driving unit 154 may be a hydraulic motor.

In particular, each of the hydraulic cylinders 150 includes a hydraulic chamber 150a in which a compartment space 150b for filling the fluid is formed, and a hydraulic chamber 150b slidably coupled to the compartment space 150b, The partition 150c is divided into a first space A and a second space B by a difference in hydraulic pressure between the first space A and the second space B, And a driving rod portion 150d for transmitting the amount of movement to the joint member (either the swing body 110 and the boom 120 and either the arm 130 or the bucket 140). The fluid filled in the compartment space 150b is stored in the hydraulic tank 150f and the fluid in the hydraulic tank 150f is supplied to the first space A or the second space B . Here, depending on whether the control valves V1, V2, V3, and V4 are open or closed or the amount of opening and closing of the control valves V1, V2, V3, and V4, the first space A or the second space B And the fluid in the first space (A) or the fluid in the second space (B) can be discharged to the hydraulic tank (150f).

The partition 150c may be disposed on the first section A or the second section A about the reference section M according to the hydraulic pressure of the first space A or the second space B. [ Out of the bucket 140 and up and down of the arm 130 and in and out of the boom 120 as the hydraulic cylinder 150 is operated while moving toward the swing The body 110 is further rotated. At the both ends of the hydraulic chamber 150a, a danger zone DZ is formed to check the maximum movement of the partition 150c. The danger zone DZ indicates the maximum extension state of the driving rod unit 150d or the maximum shrinkage state of the driving rod unit 150d and the danger zone DZ indicates the maximum contraction state of the driving rod unit 150d when the boom 120, Thereby limiting the range of operation.

At this time, the excavator is provided with a hydraulic pressure sensing unit 155 for sensing the hydraulic pressure acting on the hydraulic cylinder 150. The hydraulic pressure sensing unit 155 may be divided into a first hydraulic pressure sensing unit for sensing the hydraulic pressure in the first space A and a second hydraulic pressure sensing unit for sensing the hydraulic pressure in the second space B. Here, the hydraulic pressure sensing unit 155 is not limited to the hydraulic pressure sensing unit 155, and the hydraulic pressure acting on the hydraulic cylinder 150 can be sensed through various forms.

In addition, the excavator is provided with a position sensing unit 157 that senses the position of the partition 150c provided in the hydraulic cylinder 150 corresponding to the position of the joint member. The position sensing unit 157 includes a first position sensing unit for sensing the position of the partition 150c in the first space A and a second position sensing unit for sensing the position of the partition 150c in the second space B. [ And a second position sensing unit which senses the position of the second position sensing unit. The first position sensing unit may sense whether the partition 150c is located in the danger zone DZ formed in the first space A. [ The second position sensing unit may detect whether the partition 150c is located in the danger zone DZ formed in the second space B. [ Here, the position sensing unit 157 is not limited to the position sensing unit 157, and the position of the partition 150c included in the hydraulic cylinder 150 can be sensed through various forms.

The joystick device for a construction equipment according to an embodiment of the present invention includes the hydraulic pressure sensing unit 155, the joystick lever 20, and the force feedback unit 30.

The joystick lever 20 is coupled to the module box 10. The joystick lever 20 expresses the operation state of the hydraulic cylinder 150 provided in the excavator in a state that the joystick is grasped by the operator. The joystick lever 20 may have various shapes to express the operation state of the hydraulic cylinder 150.

The force sense unit 30 provides a reaction force to the joystick lever 20 based on the hydraulic pressure acting on the hydraulic cylinder 150 of the excavator when the joystick lever 20 is operated.

The force echoing unit 30 includes a pneumatic drive unit 32, a pneumatic proportional control valve 35, and a steering control unit 36.

The pneumatic drive unit 32 is coupled to the joystick lever 20 and provides a reaction force to the joystick lever 20 by a pneumatic pressure based on the hydraulic pressure when the joystick lever 20 is operated. The pneumatic driving unit 32 includes a link member 321 linked to the joystick lever 20, a pneumatic driving shaft 322 coupled to the link member 321, And a pneumatic motor (323) for rotating the pneumatic drive shaft (322) by pneumatic pressure supplied from the pneumatic proportional control valve (35)

The air pressure proportional control valve 35 supplies the air pressure driving unit 32 with the amount of air proportional to the magnitude of the oil pressure sensed through the oil pressure sensing unit 155. The pneumatic proportional control valve 35 can supply the pneumatic pressure to the pneumatic motor 323 of the pneumatic drive unit 32 in proportion to the hydraulic pressure sensed through the hydraulic pressure sensing unit 155.

The steering control unit 36 controls the amount of opening and closing of the pneumatic proportional control valve in proportion to the magnitude of the hydraulic pressure based on the signal of the hydraulic pressure sensing unit 155.

At this time, the joystick device for a construction equipment according to an embodiment of the present invention may further include the position sensing unit 157. Accordingly, the steering control unit 36 includes a hydraulic pressure processing unit 362 for controlling the opening and closing amount of the pneumatic proportional control valve in proportion to the magnitude of the hydraulic pressure based on the signal from the hydraulic pressure sensing unit 155, The signal of the sensing unit 155 is collected and when the partition 150c is located in the danger zone DZ located at both ends of the hydraulic chamber 150a of the hydraulic cylinder 150, And a danger processor 363 for controlling the air pressure proportional control valve 35 so that the opening and closing amount is maximized.

The force recovery unit 30 may further include an operation detection unit 31. [

The motion sensing unit 31 senses the operation state of the joystick lever 20. [ The operation sensing unit 31 includes a first motion sensing unit for sensing a state in which the joystick lever 20 is tilted in the first direction corresponding to the operation of the hydraulic cylinder 150, And a second motion sensing unit for sensing a tilting state in a second direction opposite to the first direction. Here, the operation detecting unit 31 is not limited to the above, and the operation state of the joystick lever 20 can be detected through various forms.

The steering control unit 36 may further include an operation processing unit 361 for collecting signals of the motion sensing unit 31 and transmitting the signals to the hydraulic cylinder 150.

The force echo unit 30 may further include a danger warning unit 37 for indicating a dangerous situation when the opening / closing amount of the pneumatic proportional control valve 35 becomes the maximum. The danger warning unit 37 displays the dangerous situation by light, sound, or text so that the operator can recognize the dangerous situation. The danger warning unit 37 may indicate a dangerous situation as the partitioning unit 150c is located in the danger zone DZ. In addition, the danger warning unit 37 may display a dangerous state as the pneumatic pressure supplied from the pneumatic proportional control valve 37 becomes the maximum, even if the partition 150c is not located in the danger zone DZ . In addition, the danger warning section 37 may indicate a dangerous situation even when a malfunction thereof or an erroneous operation of an excavator occurs.

The force echoing unit 30 interrupts the signals from the hydraulic pressure sensing unit 155, the motion sensing unit 31 and the position sensing unit 157, And may further include a stopper 38. The emergency stop section 38 interrupts the signal from the hydraulic pressure sensing section 155, the motion sensing section 31 and the position sensing section 157 according to the continuation of the dangerous situation, Can be stopped. The emergency stop section 38 also interrupts the signals from the hydraulic pressure sensing section 155, the motion sensing section 31 and the position sensing section 157 in the event of a malfunction or malfunction of the excavator , The operation of the air pressure generating portion 34 can be stopped. The emergency stop section 38 may be operated on / off according to a signal of the steering control unit 36 or an operation of a controller.

The force echo unit 30 may further include a battery unit 33 and a pneumatic pressure generating unit 34.

The battery unit 33 applies the charged power. The battery unit 33 may be disposed on an installation space of the module box 10 to be described later. When the power source is discharged, the battery unit 33 can be replaced with another battery unit or charged through an external power source.

The pneumatic pressure generator 34 may be disposed on an installation space of a module box 10 to be described later. The pneumatic pressure generator (34) generates a pneumatic pressure for providing a reaction force to the joystick lever (20). The pneumatic pressure generating unit 34 may generate a pneumatic pressure by a power source of the excavator according to the connection of the power source or a direct power source unit 173 to be described later and a selection power source unit 43 to be described later. The pneumatic pressure generating unit 34 may generate pneumatic pressure through various forms.

According to the above description, the joystick device for a construction equipment according to an embodiment of the present invention can be remotely controlled.

The force echo unit 30 may further include a power switch unit 331 for selecting whether the battery unit 33 is powered on or off. The power switch unit 331 can be turned on / off according to the operation of the controller to select whether the battery unit 33 is powered on or off.

The joystick device for a construction equipment according to an embodiment of the present invention may further include a module box 10.

The module box 10 is detachably coupled to the cockpit 111 of the excavator. The module box 10 is provided with the joystick lever 20 and the force echo unit 30.

The module box 10 includes a hollow module body 11 for forming an installation space therein and a module lid portion 12 for opening and closing the installation space of the module body portion 11, And a locking portion 13 for holding the installation space of the installation space through the module lid portion 12 in the module portion 11. [ When the module cover 12 is locked through the lock 13, the module cover 12 is fixed to the module body 11 to maintain the closed space of the installation space. Further, when the module lid part 12 is unlocked through the lock part 13, the module lid part 12 can be rotated or detached from the module body part 11, so that the installation space can be opened.

The joystick device for a construction equipment according to an embodiment of the present invention includes a selection control unit 40.

The selection control unit 40 is connected to the direct steering unit 170 provided in the cockpit 111 by wire so that the force sense unit 30 is operated. The selection control unit 40 is connected to the force echo unit 30 by wire.

Here, the direct steering unit 170 includes a direct wire unit 171, a direct air pressure unit 172, and a direct power unit 173. [

The direct wired part 171 is connected to the hydraulic pressure sensing part 155 by wire. The direct wired part 171 is a connector for wire connection between the hydraulic pressure sensing part 155 and the steering control unit 36.

The direct wired part 171 may be added for wire connection between the motion sensing part 31 and the position sensing part 157. The direct wired part 171 includes a first direct wired part 171a for wired connection of the motion sensing part 31 and a second direct wired part 171a for wired connection of the hydraulic sensing part 155. [ And a third direct wired part 171c for wired connection of the position sensing part 157. [

The first direct wired section 171a is connected to the main control unit of the construction equipment so that a signal of the motion sensing unit 31 sensing the operation state of the joystick lever 20 is transmitted to the hydraulic cylinder 150 MCU). Also, the second direct wired part 171b is connected to the hydraulic pressure sensing part 155 by wire. The third direct wired part 171c is connected to the position sensing part 157 which senses the position of the partition 150c of the hydraulic cylinder 155 by wire.

The direct pneumatic part 172 transfers the pneumatic pressure generated in the excavator. The direct pneumatic part 172 can transmit the pneumatic pressure generated in the excavator to the pneumatic proportional control valve 35. The direct pneumatic unit 172 is a connector of a pneumatic line for supplying pneumatic pressure generated in an excavator under the control of a main control unit (MCU) provided in an excavator.

The direct power source 173 is connected to a power source generated from an excavator by wire. The direct power source unit 173 may apply a power generated from an excavator to the force recovery unit 30. The direct power supply unit 173 is a connector for an electric wire that applies power generated in an excavator under the control of a main control unit (MCU) provided in an excavator.

The selection control section 40 includes a selection wire section 41, a selection pneumatic section 42, and a selection power supply section 43.

The selected wired section 41 is connected to the operation control unit 36 by wire or by wire to the operation control unit 31. The selected wire section 41 is electrically connected to the direct wire section 171. The selected wired section 41 is a connector connected to the steering control unit 36 by wire. The selected wired unit 41 includes a first selected wired unit 41a connected to the control unit 36 or the motion sensing unit 31 by wires and electrically connected to the first direct wired unit 171a, A second selected wired part 41b connected to the steering control unit 36 by wire and electrically connected to the second direct wired part 171b and a second selected wired part 41b connected by wire to the steering control unit 36 And a third selected wired part 41c electrically connected to the third direct wired part 171c. When the direct wired section 171 and the selected wired section 41 are connected, the steering control unit 36 can release the wireless connection state with the excavator.

The selective pneumatic portion 42 delivers pneumatic pressure to the pneumatic proportional control valve. The selective pneumatic section 42 connects the direct pneumatic section 172 to the pneumatic proportional control valve 35. The selected pneumatic portion 42 is a connector connected to the pneumatic proportional control valve 35. When the direct pneumatic portion 172 is connected to the selected pneumatic portion 42, the selected pneumatic portion 42 may cut off the connection between the pneumatic proportional control valve 35 and the pneumatic pressure generator 34.

The selection power source unit 43 applies power to the force sense unit 30. [ The selection power supply unit 43 is electrically connected to the direct power supply unit 173. The selection power supply unit 43 is a connector connected to at least one of the battery unit 33 and the air pressure generating unit 34.

Then, the selection power source unit 43 may connect the direct power source unit 173 and the battery unit 33 to charge the battery unit 33. The selection power supply unit 43 may connect the direct power supply unit 173 and the air pressure generating unit 34 to operate the air pressure generating unit 34.

At this time, when the direct power supply unit 173 and the selection power supply unit 43 are connected, the selection power supply unit 43 can release the connection state of the battery unit 33 and the pneumatic power generation unit 34. Further, the force echo unit 30 may be operated by a power source applied through the selection power source unit 43.

The manipulator for an excavator according to an embodiment of the present invention may further include a module fixing portion 50. The module fixing portion 50 detachably fixes the module box 10 to the cockpit 111. In the embodiment of the present invention, the module fixing portion 40 is provided in the cockpit 111 so that the module box 10 is inserted and fixed.

Here, the module fixing portion 50 is not limited to the module fixing portion 50, but may be formed of at least one of various types of fitting means and engaging means so that the module box 10 can be detachably fixed to the cockpit 111 have.

A force echo control method in a joystick device for a construction equipment according to an embodiment of the present invention will now be described. 5 is a block diagram illustrating a force echo control method in a joystick device for a construction equipment according to an embodiment of the present invention.

5, a force echo control method in a joystick device for a construction equipment according to an embodiment of the present invention includes a hydraulic cylinder 150 provided in a construction equipment (excavator) when the joystick lever 20 is operated, And the reaction force is applied to the joystick lever 20 based on the hydraulic pressure acting on the joystick lever 20. [

A force echo control method in a joystick device for a construction equipment according to an embodiment of the present invention includes a hydraulic pressure sensing step S3, a pneumatic proportional control step S4, and a pneumatic driving step S5.

The hydraulic pressure sensing step S4 senses the hydraulic pressure acting on the hydraulic cylinder 150 according to the operation of the joystick lever 20. [ The hydraulic pressure sensing step S4 may sense the hydraulic pressure acting on the hydraulic cylinder 150 according to an operation sensing step S3 described later. The hydraulic pressure sensing step S4 may sense the hydraulic pressure acting on the hydraulic cylinder 150 according to the operation of the hydraulic pressure sensing unit 155. [

The air pressure proportional control step S6 adjusts the air pressure in proportion to the oil pressure sensed through the oil pressure sensing step S4. The air pressure proportional control step (S6) may control the amount of opening and closing of the air pressure proportional control valve (35) under the control of the steering control unit (36). That is, the pneumatic proportional control step (S6) may control the pneumatic pressure discharged from the pneumatic proportional control valve (35) under the control of the steering control unit (36).

The pneumatic actuation step (S7) provides a reaction force to the joystick lever (20) by a pneumatic pressure regulated via the pneumatic proportional control step (36). The pneumatic driving step S7 may provide a reaction force to the joystick lever 20 as the pneumatic driving unit 32 is operated by the air pressure supplied through the pneumatic proportional control valve 35. [

The force echo control method in the joystick device for a construction equipment according to an embodiment of the present invention may further include a pneumatic pressure generating step (S2).

The pneumatic pressure generating step S2 generates a pneumatic pressure to provide a reaction force to the joystick lever 20. [ The pneumatic pressure generating step S2 may generate a pneumatic pressure as the pneumatic pressure generating part 34 is operated by an applied power source. The pneumatic pressure generating step S2 may generate a pneumatic pressure in accordance with the connection between the direct pneumatic part 172 and the selected pneumatic part 42. [ The pneumatic pressure generated in the pneumatic pressure generating step (S2) is supplied to the pneumatic proportional control valve (35).

The force echo control method in the joystick device for a construction equipment according to an embodiment of the present invention may further include a motion detection step (S3).

The operation sensing step S3 senses the operation state of the joystick lever 20. [ The operation detecting step S3 may detect the operation state of the joystick lever 20 according to the operation of the operation detecting unit 31. [

The force echo control method of the joystick for an excavator according to an embodiment of the present invention may further include at least one of a power applying step S1, a position sensing step S5, and a danger warning step S8.

The power application step (S1) selects whether or not the charged power source is applied. The power applying step S1 may select whether or not the power is applied according to the operation of the power switch unit 331. [ In addition, the power applying step S1 may select whether or not the power is applied depending on whether the direct power source unit 171 and the selection power source unit 43 are connected.

The position sensing step S5 senses the position of the partition 150c provided in the hydraulic cylinder 150 corresponding to the position of the joint member of the excavator. The position sensing step s5 may sense the position of the partition 150c according to the operation of the position sensing unit 157. [ At this time, the pneumatic proportional control step S6 adjusts the pneumatic pressure to a maximum when the dividing part 150c is located in the danger zone DZ. The air pressure proportional control step (S6) may control the air pressure supplied from the air pressure proportional control valve (35) under the control of the steering control unit (36).

The danger warning step S8 indicates a dangerous situation when the pneumatic pressure reaches a maximum through the pneumatic proportional control step S7. The danger warning step S8 may display a dangerous situation according to the operation of the danger warning unit 37. [

In the danger warning step S8, the signals of the hydraulic pressure sensing unit 155, the motion sensing unit 31 and the position sensing unit 157 are interrupted, and the operation of the air pressure generating unit 34 is stopped . The danger warning step S8 blocks the signals from the hydraulic pressure sensing unit 155, the motion sensing unit 31 and the position sensing unit 157 according to the operation of the emergency stop unit 38, The operation of the generator 34 can be stopped.

According to the above-described power steering unit of the joystick for excavator, the force echo control method, and the steering apparatus for excavator equipped with the force echo unit, the hydraulic cylinder (150) 150 to the joystick lever 20, which represents the operating state of the joystick lever 20. In the case of an excavator, a reaction force is applied to the joystick lever 20 in response to the hydraulic pressure acting on the hydraulic cylinder 150 operating the boom 120, the arm 130 and the joint member such as the bucket 140 .

In addition, by using the pneumatic pressure proportional to the hydraulic pressure acting on the hydraulic cylinder 150, the signal processing of the sensing unit and the operation of the force feedback unit 30 can be simplified, and the work performance of the construction equipment can be improved. In addition, reaction force can be transmitted to the joystick lever 20 through the rotational force of the pneumatic drive unit 32. [ The operation of the joystick lever 20 is limited in a critical operation (the maximum extension state of the drive rod portion 150d or the maximum shrinkage state of the drive rod portion 150d) of the drive rod portion 150d, It is possible to prevent overload from being transmitted to the construction equipment.

In addition, by using the portable power source, it is possible to smoothly move the operator, prevent a safety accident, and give a haptic sense to the operator according to the steering of the construction equipment. In addition, the operator can control the construction equipment without having to directly ride the construction equipment, and can transmit the operation state of the joystick lever 20 to the hydraulic cylinder 150 in real time. In addition, on / off of the portable power source can be simplified, and the battery unit 33 can be prevented from prematurely discharging.

In addition, through the detachment of the joystick device, the operator can easily control the construction equipment as well as the cockpit 111, without the operator having to ride the construction equipment directly. Further, the joystick device can be operated by the driving force of the construction equipment, and the battery unit 33 of the force recovery unit 30 can be easily charged. In addition, it is possible to check whether the joystick device is detachable or not, and to improve the sensitivity of the joystick lever 20 by stably connecting the joystick device to the construction equipment.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Modify or modify the Software.

100: track body 110: swing body 111: cockpit
120: boom 130: arm 140: bucket
150: hydraulic cylinder 151: boom cylinder 152: arm cylinder
153: bucket cylinder 154: swivel driving part 155: hydraulic pressure sensing part
157: Position sensing part 150a: Hydraulic chamber 150b: Compartment space
A: first space B: second space 150c:
150d: drive rod portion 150e: hydraulic pump 150f: hydraulic tank
MCU: Main control unit M: Reference point DZ: Danger zone
170 direct control unit 171 direct wired unit 172 direct pneumatic unit
173: Direct power supply V1, V2, V3, V4: Control valve
10: Module box 11: Module body part 12: Module cover part
13: locking part 20: joystick lever 21: first lever
22: second lever 30: force echoing unit 31: motion detecting unit
32: pneumatic drive unit 321: link member 322: pneumatic drive shaft
323: Supply motor 33: Battery unit 331: Power switch unit
34: Pneumatic pressure generator 35: Pneumatic proportional control valve 36: Steering control unit
361: operation control section 362: hydraulic pressure processing section 363:
37: danger warning section 38: emergency stop section 40: selection control section
41: selected wire section 42: selective pneumatic section 43: selection power section
50: module fixing section

Claims

A hydraulic pressure sensing unit for sensing a hydraulic pressure acting on a hydraulic cylinder of the construction equipment;
A joystick lever for expressing an operation state of the hydraulic cylinder in a state in which the operator grips the joystick;
A force echoing unit for applying a reaction force to the joystick lever based on the hydraulic pressure when the joystick lever is operated;
A module box detachably coupled to the cockpit of the construction equipment, the module box having the joystick lever and the force echo unit installed therein; And
And a module fixing part detachably fixing the module box to the cockpit,
The force echoing unit includes:
A pneumatic drive unit coupled to the joystick lever and providing a reaction force to the joystick lever by a pneumatic pressure based on the hydraulic pressure when the joystick lever is operated;
A pneumatic proportional control valve for supplying to the pneumatic drive unit an amount of air proportional to a magnitude of a hydraulic pressure sensed through the hydraulic pressure sensing unit;
A steering control unit for controlling an opening and closing amount of the pneumatic proportional control valve in proportion to a magnitude of the hydraulic pressure based on a signal of the hydraulic pressure sensing unit;
A battery unit installed in the module box for applying charged power; And
And a pneumatic pressure generator installed in the module box and generating a pneumatic pressure for providing reaction force to the joystick lever.

The method according to claim 1,
The pneumatic drive unit includes:
A link member linked to the joystick lever;
A pneumatic drive shaft coupled to the link member; And
And a pneumatic motor for rotating the pneumatic drive shaft by a pneumatic pressure supplied from the pneumatic proportional control valve to provide a reaction force to the joystick lever.

The method according to claim 1,
And a position sensing unit for sensing a position of the compartment of the hydraulic cylinder,
The steering control unit includes:
A hydraulic pressure processor for controlling an opening / closing amount of the pneumatic proportional control valve in proportion to a magnitude of the hydraulic pressure based on a signal of the hydraulic pressure sensing unit; And
And a risk processor for controlling the pneumatic proportional control valve such that the opening and closing amount of the pneumatic proportional control valve is maximized when the partition collects signals of the position sensing unit and is located at a dangerous section located at both ends of the hydraulic chamber of the hydraulic cylinder And a joystick device for a construction equipment.

4. The method according to any one of claims 1 to 3,
The force echoing unit includes:
An operation sensing unit for sensing an operation state of the joystick lever; And
A danger warning section for indicating a dangerous situation when the opening and closing amount of the pneumatic proportional control valve becomes maximum; The joystick device of claim 1,

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The method according to claim 1,
The force echoing unit includes:
And a power switch unit for selecting whether to apply power to the battery unit or the air pressure generating unit.

7. The method according to claim 1 or 6,
And a selection control unit connected to the direct steering unit provided on the cockpit for wired operation so that the force echoing unit is operated.

8. The method of claim 7,
The direct-
A direct wired part connected to the hydraulic pressure sensing part by wire;
A direct pneumatic part for delivering the pneumatic pressure generated by the construction equipment; And
And a direct power source unit in which the power generated from the construction equipment is connected by a wire,
Wherein the selection control unit comprises:
A selection wired unit connected to the steering control unit by wire and electrically connected to the direct wired unit;
A selector pneumatic part connecting the direct pneumatic part and the pneumatic proportional control valve so that the pneumatic pressure is transmitted to the pneumatic proportional control valve; And
And a selection power unit electrically connected to the direct power unit to apply power to the force echo unit.

9. The method of claim 8,
The direct-
A first direct wired unit connected to the main control unit of the construction equipment by wires so that a signal of an operation sensing unit for sensing an operation state of the joystick lever is transmitted to the hydraulic cylinder;
A second direct wired part connected to the hydraulic pressure sensing part by wire; And
And a third direct wired part connected to the position sensing part for sensing the position of the compartment of the hydraulic cylinder by wire,
The selected wire-
A first selected wired unit connected to the steering control unit or the motion detection unit by wires and electrically connected to the first direct wired unit;
A second selection wired unit connected to the steering control unit by wire and electrically connected to the second direct wired unit; And
And a third selection wired unit connected to the steering control unit by wire and electrically connected to the third direct wired unit.

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