KR20090065633A - Automatic travel pose setting system for excavator - Google Patents

Abstract

An automatic shift posture setting up system for an excavator is provided to secure front view of a working machine because the exact driving position of the working machine can be secured through the one-touch manipulation. An automatic shift posture setting up system for an excavator comprises booms(4) which is connected to the top turning object(2), and is circled and driven with the drive of cylinders(20,21), an arm which is connected to boom, and is circled and driven with the drive of the arm cylinder(22) in relation to the boom, a bucket(10) which is connected to the leading end of arm, and is circled and driven with the bucket cylinder(23) in relation to the arm, a main control valve which controls the flow of the working fluid flowed in into cylinder, and the arm cylinder and bucket cylinder, a sensor unit which detects stroke information of the boom cylinder, bucket cylinder and arm cylinder, a driving posture set-up button which is concocted by operator and outputs the actuating signal related to the operation attitude establishment selection, and a controller which controls the main control valve so that the drive of the boom cylinder, bucket cylinder and arm cylinder are stopped.

Description

AUTOMATIC TRAVEL POSE SETTING SYSTEM FOR EXCAVATOR}

The present invention relates to an automatic moving posture setting system of an excavator, and more particularly, to an automatic moving posture setting system of an excavator that enables to appropriately cope with securing the field of view and driving posture restrictions.

In general, excavators perform a variety of tasks such as excavation, leveling, ground compaction, and lifting of heavy objects. Excavators include a one-piece boom type in which the work machine consists of a boom, an arm and a bucket, and a two-piece boom type in which the work machine consists of a lower boom, an upper boom, an arm, and a bucket. The operation of the excavator as described above is performed by controlling a working machine consisting of a boom (or a lower boom and an upper boom), an arm, and a bucket through respective hydraulic cylinders.

FIG. 1 is a schematic side view showing a driving posture restriction range of a work machine provided in a two-piece boom type excavator as an example of the above-described excavator.

The work machine 1 of the two-piece boom type excavator, as shown in FIG. 1, is provided with a lower boom 4 rotatably provided in the upper swinging body 2 and operated by the first boom cylinder 3. An upper boom 6 rotatably provided in the lower boom and movable by the second boom cylinder 5, and an arm 8 rotatably provided in the upper boom and movable by the arm cylinder 7; And a bucket 10 rotatably provided on the arm and movable by the bucket cylinder 9.

The two-piece boom type excavators are subject to the following driving posture and field of view regulations for driving the excavators in countries that require certification of equipment approval, such as Germany and Italy. . As shown in FIG. 1, the driving posture regulation should be located within 3,500 mm × 4,000 mm based on the steering column in the cabin when the driving posture is set. The area covering the driver's field of view within the Sector of vision should be 600mm or less.

On the other hand, the two-piece boom type excavator has an indicator around the leading end of the upper boom 6 and the rear end of the arm 8 so that the driver (or operator) can take advantage of the traveling position of the work machine 1. 11) (Indicator) is provided. The indicator 11 is provided with a main indicator 11a provided at the front end of the upper boom 6 and a rear end of the arm 8 so that the main indicator when the operator takes the running position of the work machine 1. It consists of a sub-indicator 11b aligned with 11a.

However, in the two-piece boom type excavator according to the prior art, as mentioned above, the driver checks the indicator 11 provided around the leading end of the upper boom 6 and the rear end of the arm 8. 1) It was a structure to take the running posture. For this reason, the two-piece boom type excavator according to the prior art is difficult for the driver in the cabin to check the indicator 11, and it is very difficult to quickly and accurately grasp the driving posture of the work machine 1 through such an indicator. .

Accordingly, the present invention has been made to solve the problems described above, the object of which is to enable the operator in the cabin to conveniently take the correct running posture of the work machine through the one-touch operation, the work machine side It is to provide an automatic moving posture setting system of an excavator that enables a secure view of the road ahead.

In order to achieve the above object, the present invention includes a boom that is pivotally connected to the upper pivot, and is pivotally driven by the driving of the boom cylinder; An arm pivotally connected to the boom and pivotally driven relative to the boom by driving an arm cylinder; A bucket pivotally connected to the tip of the arm and pivotally driven relative to the arm by a bucket cylinder; A main control valve controlling a flow of hydraulic oil flowing into the boom cylinder, the arm cylinder, and the bucket cylinder; A sensor unit for detecting stroke information of the boom cylinder, the arm cylinder, and the bucket cylinder; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; And when it is confirmed that each of the boom cylinder, the arm cylinder, and the bucket cylinder is driven to the stroke preset by the sensor unit in the state where the driving posture setting button is operated to select the driving posture setting, the boom cylinder and the arm The control unit for controlling the main control valve so that the driving of each cylinder and bucket cylinder is stopped; provides an automatic moving position setting system of an excavator.

On the other hand, in another embodiment, the present invention is a boom rotatably connected to the upper swing body, the boom is pivotally driven by the drive of the boom cylinder; An arm pivotally connected to the boom and pivotally driven relative to the boom by driving an arm cylinder; A bucket pivotally connected to the tip of the arm and pivotally driven relative to the arm by a bucket cylinder; A main control valve controlling a flow of hydraulic oil flowing into the boom cylinder, the arm cylinder, and the bucket cylinder; A sensor unit for detecting stroke information of the boom cylinder, the arm cylinder, and the bucket cylinder; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; An operation device for outputting a pilot signal corresponding to an operation signal of a driver for driving the boom, the arm, and the bucket to the main control valve; And when the driving unit detects that the boom, the arm, and the bucket are driven to a predetermined posture by the operation of the operation device while the driver posture setting is selected, the pilot signal is input to the main control valve. It provides a automatic moving posture setting system of the excavator comprising a control unit for blocking the.

On the other hand, in another embodiment, the present invention is a boom that is pivotally connected to the upper pivot body, the boom pivotally driven by the drive of the boom cylinder; An arm pivotally connected to the boom and pivotally driven relative to the boom by driving an arm cylinder; A bucket pivotally connected to the tip of the arm and pivotally driven relative to the arm by a bucket cylinder; A main control valve controlling a flow of hydraulic oil flowing into the boom cylinder, the arm cylinder, and the bucket cylinder; A sensor unit for detecting stroke information of the boom cylinder, the arm cylinder, and the bucket cylinder; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; And a controller configured to control the main control valve to drive the boom cylinder, the arm cylinder, and the bucket cylinder to a predetermined stroke when the driving attitude setting button is operated, and to stop the automatic control of the excavator. Provide a posture setting system.

In addition, the present invention further provides the following specific embodiments for each embodiment of the present invention above.

According to one embodiment of the invention, the sensor unit, the cylinder body and the movable rod of the cylinder body and the movable rod of each of the first boom cylinder, the second boom cylinder, the arm cylinder and the bucket cylinder, respectively, is installed Characterized in that it comprises a first sensor, a second sensor, a third sensor and a fourth sensor for detecting the relative movement of the.

According to one embodiment of the invention, the sensor unit, the first sensor is installed on the axis of rotation of each of the first boom cylinder, the second boom cylinder, the arm cylinder and the bucket cylinder, the first sensor, It characterized in that it comprises a second sensor, a third sensor and a fourth sensor.

The present invention makes it possible to conveniently take accurate driving posture of a work machine through one-touch operation without greatly depending on the moving posture (or driving posture) of the excavator depending on the driver's vision and skill.

In addition, the present invention enables to conveniently take accurate driving posture of the work machine through one-touch operation as described above, and also to secure a safe view of the front of the work machine side.

Hereinafter, an embodiment of an automatic moving posture setting system of an excavator according to the present invention will be described with reference to FIGS. 2 to 4.

Figure 2 is a schematic side view showing an excavator to which the automatic moving posture setting system of the excavator according to the present invention, Figure 3 is a schematic block diagram showing the configuration and operation of the automatic moving posture setting system of the excavator according to the present invention.

Automatic moving posture setting system of the excavator according to the present invention, as shown in Figure 2 and 3, the boom (4, 6), the arm (8), the bucket 10, the main control valve (not shown), the sensor unit 25, a travel attitude setting button (not shown) and a control unit 24.

Here, the booms 4 and 6 are pivotally connected to the upper swinging body 2 and are pivotally driven by the boom cylinders 20 and 21. The booms 4, 6 consist of one boom in the case of a one-piece type and a lower boom 4 and the upper boom 6 in the case of a two-piece type. The arm 8 is pivotally connected to the booms 4, 6 and is pivotally driven with respect to the booms 4, 6 by the drive of the arm cylinder 22. The bucket 10 is pivotally connected to the tip of the arm 8 and is pivotally driven relative to the arm 8 by a bucket cylinder 23.

The main control valve controls the flow of hydraulic oil flowing into the boom cylinders 20 and 21, the arm cylinder 22, and the bucket cylinder 23. The sensor unit 25 detects stroke information of the boom cylinders 20 and 21, the arm cylinder 22, and the bucket cylinder 23. The driving posture setting button is operated by the driver to output an operation signal related to whether the driving posture setting is selected.

The controller 24 controls the boom cylinders 20 and 21, the arm cylinders 22, and the bucket to a predetermined stroke by the sensor unit 25 in a state where the driving posture setting button is operated so that the driving posture setting is selected. When it is confirmed that each of the cylinders 23 is driven, the main control valve is controlled to stop driving of the boom cylinders 20 and 21, the arm cylinders 22, and the bucket cylinders 23, respectively.

The controller 24 is electrically connected to the first, second, third and fourth sensors 20a, 21a, 22a, and 23a, respectively. The control unit 24 stores the current stroke information of the cylinders 20, 21, 22, and 23 obtained through the signals generated from the sensors 20a, 21a, 22a, and 23a, and the cylinders 20, 21 previously stored. The strokes of the cylinders 20, 21, 22, and 23 are controlled through the main control valve (not shown) by generating the corresponding pilot signal by comparing the optimum stroke information of the 22 and 23. Although not shown, the control unit 24 may be configured to selectively ignore the operation signal by the operation of the operation device (not shown) installed in the cab corresponding to the information comparison result as described above.

The present embodiment as described above is limited to the case where the excavator is an electronically controlled excavator in which the main control valve is controlled by the control signal of the control unit 24. However, the present invention is not necessarily limited thereto. For example, when a driver operates an operating device (not shown) installed in a cab, a hydraulic signal (pilot signal) output from the operating device is applied to the hydraulic part of the main control valve to control the excavator. 24 cannot directly control the stroke of each cylinder. In this case, a shutoff valve (not shown) for selectively blocking a pilot line through which the pilot signal flows is further installed, and the control unit 24 is connected to the shutoff valve. According to the connection as described above, when the boom, arm, buckets are driven to a predetermined posture by the driver's operation, the shutoff valve is blocked by the control unit 24 so that the pilot signal according to the driver's operation is main. It will not be delivered to the control valve. As a result, the booms, arms, and buckets driven up to a predetermined posture are no longer driven no matter how much the manipulation device is operated unless the driving attitude setting button to be described later is released. That is, it is possible to perform the same function as the previous electronically controlled excavator.

The driving posture setting button (not shown) may enable or disable the control unit 24 or cut off the current supplied to the electric movable portion (or the transmitting unit) of each of the sensors 20a, 21a, 22a, and 23a. Enable it. The traveling attitude setting button is installed in a part of the cabin for the convenience of operation.

Each of the first, second, third and fourth sensors 20a, 21a, 22a, and 23a may be configured in various forms. For example, a rotation angle sensor may be installed on the axis of rotation of each of the cylinders 20, 21, 22, and 23 to detect the amount of rotation thereof. Each of the first, second, third and fourth sensors 20a, 21a, 22a, and 23a in the present embodiment includes a sensor unit 25 and a plurality of reflecting units 26. The sensor unit 25 passes through a portion of the cylinder bodies 20c, 21c, 22c, and 23c and faces a portion of the movable rods 20b, 21b, 22b, and 23b (not shown), and It may be composed of a receiver (not shown) provided around the transmitter. The reflector 26 reflects a signal output from the transmitter of the sensor unit 25 to the receiver, and moves the movable rods 20b, 21b, 22b, 23b of the cylinders 20, 21, 22, and 23. It is provided at regular intervals. In this case, each of the reflectors 26 may allow the control unit 24 to determine the current correct position of the movable rods 20b, 21b, 22b, and 23b through the reflected signal received through the corresponding receiver. Generates a unique reflectance (or amount of reflection), or a reflection pattern for.

On the other hand, when each sensor 20a, 21a, 22a, 23a generates a signal from the transmitter of the sensor unit 25 to the reflector 26, the corresponding signal can be properly received from the reflector to the receiver. If it is, any type can be applied. Each sensor 20a, 21a, 22a, 23a may be formed of an infrared sensor, a magnetic sensor, or the like. In addition, each of the sensors 20a, 21a, 22a, and 23a may be installed along one of the upper, lower, left, and right sides of the cylinder in consideration of interference with a counterpart or design convenience.

Meanwhile, in another embodiment, the automatic moving posture setting system of the excavator according to the present invention includes the booms 4 and 6, the arm 8, the bucket 10, and the main control valve (not shown) of the embodiment as described above. In addition, the sensor unit 25, a driving attitude setting button (not shown) and the control unit 24 may be configured to include a manipulation device (not shown).

Here, the operation device enables outputting a pilot signal corresponding to the driver's operation signal for driving the booms 4 and 6 and the arm 8 and the bucket 10 to the main control valve. In this case, the control unit 24 is driven by the operation of the operating device in the state that the driver posture setting is selected that the booms 4, 6, the arm 8 and the bucket 10 is driven to a predetermined posture When detected through the sensor unit 25, the pilot signal is blocked from being input to the main control valve.

In another embodiment, the automatic moving posture setting system of the excavator according to the present invention includes the booms 4 and 6, the arm 8, the bucket 10, the main control valve (not shown) of one embodiment as described above, In an embodiment including a sensor unit 25, a driving position setting button (not shown), and a control unit 24, the control unit 24 may be configured to be differently defined as follows. In this case, when the driving posture setting button is operated, the control unit 24 controls the main control valve to move the boom cylinders 20, 21, the arm cylinders 22, and the bucket cylinders 23 up to a predetermined stroke. Stop after driving.

On the other hand, in each of the above embodiments, the sensor unit 25 is each of the first boom cylinder 20, the second boom cylinder 21, the arm cylinder 22 and the bucket cylinder 23. It can be installed in the connection portion of the cylinder body (20c, 21c, 22c, 23c) and the movable rod (20b, 21b, 22b, 23b). In this case, the sensor unit 25 is the first sensor 20a, the second sensor for detecting the relative movement of the cylinder body (20c, 21c, 22c, 23c) and the movable rod (20b, 21b, 22b, 23b) It is preferable that it is made into the form containing 21a, the 3rd sensor 22a and the 4th sensor 23a.

As another example, in each of the above embodiments, the sensor unit 25 may include the first boom cylinder 20, the second boom cylinder 21, the arm cylinder 22, and the bucket cylinder 23, respectively. It can be installed on the axis of rotation. In this case, the sensor unit 25 preferably includes a first sensor 20a, a second sensor 21a, a third sensor 22a, and a fourth sensor 23a for detecting the rotation amount. Do.

Meanwhile, the present invention can be applied to both a crawler type excavator as well as a wheel type excavator. The wheel type excavator may be moved after first taking a driving posture when moving directly along a road, and the crawler type excavator may first move to a loading compartment of a transport truck and take a driving posture and then carry it through a transport truck.

The operation of the automatic moving posture setting system of the excavator according to the embodiment of the present invention configured as described above will be described with reference to FIGS. 2 to 4.

After completing the work, when moving the excavator directly along the road or moving it to the loading compartment of the transport truck, the driver confirms that there is no risk of safety accident in the vicinity of the excavator before setting the driving posture in the cabin. Press the button (not shown).

Then, when the travel attitude setting button is turned on, the control section 24 is activated by the travel attitude setting button, and a current is applied to the electric movable portion of each sensor 20a, 21a, 22a, 23a.

Then, the control unit 24 receives the corresponding cylinders 20, 21, 22, 23 obtained from the signal reflected from the corresponding reflecting unit 26 of the first, second and third sensors 20a, 21a, 22a, 23a to the receiving unit. Current stroke information of < RTI ID = 0.0 >) < / RTI >

Subsequently, the control unit 24 controls the main control valve (not shown) through the pilot signal to apply the strokes of the cylinders 20, 21, 22, and 23 so that the work machine 1 of the excavator is in a traveling position. Control (see FIG. 4).

At this time, the control unit 24 is a signal input through the first, second, third and fourth sensors 20a, 21a, 22a, 23a, respectively, the first boom cylinder 20, the second boom cylinder 21, the bucket By controlling the strokes of the cylinder 23 and the arm cylinder 22, the work machine 1 automatically takes a running posture under the control of the control unit 24.

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and simple substitutions, modifications, and changes within the technical idea of the present invention will be apparent to those skilled in the art.

1 is a schematic partially enlarged side view showing an excavator having a typical two-piece boom.

Figure 2 is a schematic side view showing an excavator to which the automatic moving posture setting system of the excavator according to the present invention is applied.

Figure 3 is a schematic block diagram showing the configuration and operation of the automatic moving position setting system of an excavator according to the present invention.

Figure 4 is a schematic side view showing the automatic moving posture of an excavator to which the automatic moving posture setting system according to the present invention is applied.

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

1: working machine 2: upper pivot

4: lower boom 6: upper boom

8: arm 10: bucket

20a, 21a, 22a, 23a: first sensor, second sensor, third sensor, fourth sensor

20b, 21b, 22b, 23b: movable rod 20c, 21c, 22c, 23c: cylinder body

20: first boom cylinder 21: second boom cylinder

22: arm cylinder 23: bucket cylinder

24: control unit 25: sensor unit

26: reflector

Claims (5)

Booms (4, 6) pivotally connected to the upper swinging structure (2) and pivotally driven by driving of the boom cylinders (20, 21); An arm (8) pivotally connected to the booms (4,6) and pivotally driven with respect to the booms (4,6) by driving an arm cylinder (22); A bucket (10) pivotally connected to the tip of the arm (8) and pivotally driven relative to the arm (8) by a bucket cylinder (23); A main control valve controlling a flow of hydraulic oil flowing into the boom cylinders 20 and 21, the arm cylinders 22, and the bucket cylinder 23; A sensor unit 25 for detecting stroke information of the boom cylinders 20 and 21, the arm cylinders 22 and the bucket cylinders 23; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; And The boom cylinders 20 and 21, the arm cylinders 22, and the bucket cylinders 23 are each operated by the sensor unit 25 until the stroke is set by operating the driving attitude setting button. If it is confirmed that the drive, the control unit 24 for controlling the main control valve so that the driving of the boom cylinder (20, 21), the arm cylinder (22) and the bucket cylinder (23) is stopped; Moving position setting system of excavator. Booms (4, 6) pivotally connected to the upper swinging structure (2) and pivotally driven by driving of the boom cylinders (20, 21); An arm (8) pivotally connected to the booms (4,6) and pivotally driven with respect to the booms (4,6) by driving an arm cylinder (22); A bucket (10) pivotally connected to the tip of the arm (8) and pivotally driven relative to the arm (8) by a bucket cylinder (23); A main control valve controlling a flow of hydraulic oil flowing into the boom cylinders 20 and 21, the arm cylinders 22, and the bucket cylinder 23; A sensor unit 25 for detecting stroke information of the boom cylinders 20 and 21, the arm cylinders 22 and the bucket cylinders 23; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; An operation device for outputting a pilot signal corresponding to an operation signal of a driver for driving the booms (4, 6), the arms (8), and the bucket (10) to the main control valve; And When the driver posture setting is selected, the booms 4, 6, the arm 8, and the bucket 10 are driven to a predetermined posture by the operation of the operating device through the sensor unit 25. And a control unit (24) for blocking the pilot signal from being input to the main control valve when detected. Booms (4, 6) pivotally connected to the upper swinging structure (2) and pivotally driven by driving of the boom cylinders (20, 21); An arm (8) pivotally connected to the booms (4,6) and pivotally driven with respect to the booms (4,6) by driving an arm cylinder (22); A bucket (10) pivotally connected to the tip of the arm (8) and pivotally driven relative to the arm (8) by a bucket cylinder (23); A main control valve controlling a flow of hydraulic oil flowing into the boom cylinders 20 and 21, the arm cylinders 22, and the bucket cylinder 23; A sensor unit 25 for detecting stroke information of the boom cylinders 20 and 21, the arm cylinders 22 and the bucket cylinders 23; A driving attitude setting button which is operated by the driver and outputs an operation signal related to the driver attitude setting selection; And When the driving posture setting button is operated, the main control valve 24 controls the boom cylinders 20 and 21, the arm cylinder 22, and the bucket cylinder 23 to a predetermined stroke and then stops the control unit 24. Automatic moving posture setting system of an excavator comprising a ;. The method according to any one of claims 1 to 3, The sensor unit 25 is a cylinder body (20c, 21c, 22c, respectively) of the first boom cylinder 20, the second boom cylinder 21, the arm cylinder 22 and the bucket cylinder 23, 23c) is provided at the connecting portion of the movable rods 20b, 21b, 22b, 23b to detect the relative movement of the cylinder bodies 20c, 21c, 22c, 23c and the movable rods 20b, 21b, 22b, 23b. An automatic moving posture setting system of an excavator comprising a first sensor (20a), a second sensor (21a), a third sensor (22a) and a fourth sensor (23a). The method according to any one of claims 1 to 3, The sensor unit 25 is provided on the rotation shaft of each of the first boom cylinder 20, the second boom cylinder 21, the arm cylinder 22, and the bucket cylinder 23 to adjust the amount of rotation thereof. An automatic moving posture setting system of an excavator comprising a first sensor (20a), a second sensor (21a), a third sensor (22a) and a fourth sensor (23a) for detecting.

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