KR20120005182A - Hydraulic grab excavator - Google Patents

Abstract

PURPOSE: A hydraulic grab excavator is provided to implement stable winding and unwinding of a hydraulic hose when raising or lowering a hydraulic grab, thereby preventing damage to the hydraulic hose. CONSTITUTION: A hydraulic grab excavator comprises a Kelly bar(120), a hydraulic hose reel(180), a reel drive motor, and a control unit. The Kelly bar is formed in a multi-stage telescope type that moves a hydraulic grab(160) up and down. The hydraulic hose reel is installed on the top of the Kelly-bar to wind or unwind a pair of hydraulic hoses(181) for providing opening and closing hydraulic pressure to the hydraulic grab. The reel drive motor is connected to the central shaft of the hydraulic hose reel to rotate the hydraulic hose reel. The control unit controls the rotation of the reel drive motor in connection with the up and down motion of the hydraulic grab to start the winding or unwinding operation according to a load sensed by a load cell.

Description

Hydraulic Grab Excavator {HYDRAULIC GRAB EXCAVATOR}

The present invention relates to an excavator, and more particularly, to a hydraulic grab excavator for vertical drilling using a hydraulic grab to construct a precast retaining wall.

Recently, in the construction and civil engineering sites, after pre- digging along the ground surface, the precast panel is inserted into the excavation hole, and the precast retaining wall construction method, which improves the foundation construction efficiency, has been activated. Grab excavators are being used. Hydraulic Grab Excavator is a heavy equipment that performs excavation by opening and closing a pair of grab buckets by hydraulic pressure along with vertical drop operation. It has a pair of hydraulic hoses connected to the top of the grab bucket. Since the hydraulic hose is formed to have a very long length to connect the hydraulic grab moving with the excavator body, the hydraulic hose is wound and supported by the hydraulic hose reel to prevent damage to the hydraulic hose itself and the operation of other components.

On the other hand, in the conventional hydraulic grab is made of copper movement by the wire. In addition, the conventional hydraulic hose reel has a rotational force only in the direction of winding the hydraulic hose, and during the downward operation of the hydraulic grab, the tension acting on the hydraulic hose is greater than the rotational force acting on the hydraulic hose reel is made unwinding operation. However, the hydraulic hose reel having such a structure weights the hydraulic grab to the hydraulic hose as it is, so in the case of free fall of the hydraulic grab, the load of the hydraulic hose is greatly increased and the hydraulic hose is damaged or severe. In this case, there is a problem that the hydraulic hose is broken.

In addition, the conventional hydraulic grab excavator has a hydraulic grab rotates due to the twisting of the wire when the hydraulic grab is raised or lowered, there is a risk of damage or breakage of the hydraulic hose, there is a problem that does not accurately excavate.

The present invention has been made to solve the above problems, an object of the present invention is to provide a hydraulic grab excavator that can stably perform the winding and unwinding operation of the hydraulic hose when the hydraulic grab operation.

It is also an object of the present invention to provide a hydraulic grab excavator that can prevent the hydraulic grab from rotating due to twisting of the wire when the hydraulic grab descends.

The problem to be solved by the present invention is not limited to the above-mentioned problem, another problem to be solved by the present invention not mentioned here is apparent to those skilled in the art from the following description. Can be understood.

Hydraulic grab excavator according to the present invention is formed of a multi-stage telescope type, kelly bar for moving the hydraulic grab mounted on the bottom in the vertical direction; A hydraulic hose reel mounted on an upper portion of the kelly bar and winding or unwinding a pair of hydraulic hoses to provide opening and closing hydraulic pressure to the hydraulic grab; A reel driving motor which is connected to the central axis of the hydraulic hose reel and rotates and has a load cell mounted on the central axis for detecting a load change of the hydraulic hose according to the movement of the hydraulic grab; And control means for controlling the rotation operation of the reel drive motor in conjunction with the shank movement of the hydraulic grab, and starting the winding operation or the unwinding operation according to the load value detected by the load cell.

In addition, the control means of the present invention, the operation signal receiving unit for receiving the movement signal of the hydraulic grab, the load signal receiving unit for receiving the load signal of the load cell, and the hydraulic hose after receiving the lowering operation signal of the hydraulic grab When the load increases and the first threshold load value is reached, the unwinding operation signal is transmitted to the reel drive motor. After the upward movement signal of the hydraulic grab is received, the load of the hydraulic hose decreases to reach the second threshold load value. It characterized in that it comprises a motor control unit for transmitting the winding operation signal to the reel drive motor.

In addition, the first threshold load value of the present invention is characterized in that 200kg, the second threshold load value is 50kg.

In addition, the control means of the present invention is characterized in that for receiving the free fall operation signal or the constant velocity falling operation signal of the hydraulic grab, to control the take-up rotation speed of the reel drive motor.

In addition, the reel drive motor of the present invention is provided as a pair, is automatically controlled to interlock with each other by the control means, it is characterized in that the rotational operation of one side by the external signal input can be manually controlled.

The hydraulic grab excavator of the present invention further includes display means for displaying a load value of a pair of hydraulic hoses, displaying a winding or unwinding state of each of the pair of hydraulic hose reels, and displaying an automatic control state. It is characterized by including.

By the means for solving the above problems, the hydraulic grab excavator of the present invention can stably perform the winding and unwinding of the hydraulic hose during the movement of the hydraulic grab, it is possible to prevent damage and damage to the hydraulic hose It has an effect.

In addition, the hydraulic grab excavator of the present invention prevents damage and breakage of the hydraulic hose by the rotation of the hydraulic grab, and has the effect of making accurate excavation.

1 is a front view of a hydraulic grab excavator according to an embodiment of the present invention.
2 is a side view of a hydraulic grab excavator according to an embodiment of the present invention.
Figure 3 is a side view showing the stretched state of the kelly bar according to an embodiment of the present invention.
4 is a schematic view showing a rotating means according to an embodiment of the present invention.
5 is a perspective view showing a hydraulic hose reel and a reel driving motor according to an embodiment of the present invention.
6 is a cross-sectional view showing a hydraulic hose reel and a reel driving motor according to an embodiment of the present invention.
7 is a block diagram showing a control means according to an embodiment of the present invention.
8 is a schematic view showing display means according to an embodiment of the present invention.

Specific matters including the problem to be solved, the solution to the problem, and the effects of the present invention as described above are included in the following embodiments and the drawings. Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

Hereinafter, with reference to the accompanying drawings will be described in detail the present invention.

1 to 6 are views for explaining a hydraulic grab excavator according to an embodiment of the present invention. Specifically, FIG. 1 is a front view of a hydraulic grab excavator according to an embodiment of the present invention, FIG. 2 is a side view of a hydraulic grab excavator according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. Figure 4 is a side view showing an extended state of the kelly bar, Figure 4 is a schematic view showing a rotating means according to an embodiment of the present invention, Figure 5 is a hydraulic hose reel and reel driving motor according to an embodiment of the present invention 6 is a cross-sectional view illustrating a hydraulic hose reel and a reel driving motor according to an embodiment of the present invention.

1 to 6, the excavator according to the embodiment of the present invention, the excavator body 110, kelly bar (kelly bar, 120), the support structure (support structure, 130), the hydraulic cylinder 140, rotation means 150, hydraulic grab 160, winch means 170, hydraulic hose reel 180, reel drive motor 190, control means (Fig. 7) Reference numeral '200').

The excavator body 110 includes a hydraulic circuit configured to control the entire system, and an operating system composed of various sensors and monitors.

Kelly bar 120 is a telescopic (telescope) of a multi-stage telescopic structure, in one embodiment of the present invention is composed of three stages. Since the cross section of each end of the kelly bar 120 becomes a quadrangle, it is possible to prevent the kelly bar 120 from being rotated by twisting the wire 171 when it is stretched and contracted.

The spot structure 130 serves to support the kelly bar 120. The spot structure 130 is connected to the kelly bar 120 and the rotation means 150 to support the kelly bar 120.

The hydraulic cylinder 140 is mounted on the excavator body 110 and is stretchable by hydraulic pressure and lays down when moving the support structure 130, and serves to stand up when working.

The rotation means 150 serves to rotate the kelly bar 120 by connecting the kelly bar 120 to the support structure 130. To this end, the rotation means 150, as shown in Figure 4, has a pin connecting portion 151 and the kelly bar rotation cylinder 152. The pin connector 151 connects the kelly bar 120 and the spot structure 130 with pins so that the kelly bar 120 can rotate with respect to the support structure 130. The kelly bar rotation cylinder 152 is connected to the kelly bar 120 and the other end is connected to the support structure 130 to rotate the kelly bar 120 hydraulically. That is, when the kelly bar rotation cylinder 152 expands and contracts with hydraulic pressure acting on the kelly bar rotation cylinder 152, the kelly bar 120 rotates with respect to the support structure 130.

The hydraulic grab 160 is detachably connected to the lower end of the kelly bar 120 by pins, and is composed of left and right grab buckets 160a and 160b. Hydraulic grab 160 serves to excavate by touching the ground.

The winch means 170 serves to stretch or contract the kelly bar 120 to move the hydraulic grab 160 up and down. To this end, the winch means 170 includes a wire 171 and a winch 172. The wire 171 is wound around the winch 172 and connected to the kelly bar 120. The winch 172 winds up or unwinds the wire 171. When the winch 172 unwinds the wire 171, the kelly bar 120 is extended and the hydraulic grab 160 is lowered. In one embodiment of the present invention, since the kelly bar 120 having a rectangular cross section is elongated, it is possible to prevent the rotation of the hydraulic grab due to the twisting of the conventional wire. Therefore, the hydraulic grab 160 mounted at the lower end of the kelly bar 120 may be lowered without rotation. When the winch 172 winds up the wire 171, the kelly bar 120 is contracted to raise the hydraulic grab 160.

The hydraulic hose reel 180 is mounted on an upper portion of the kelly bar 120 and serves to wind or unwind a pair of hydraulic hoses 181 that provide opening and closing hydraulic pressure to the hydraulic grab 160. Specifically, the hydraulic hose 181 is connected to the upper end of the hydraulic grab 160 from the excavator body 110, the hydraulic pressure supplied from the hydraulic supply means (not shown) mounted on the excavator body 110 It is provided to the bar 160 to open and close the hydraulic grab 160. In addition, since the hydraulic hose 181 has a very long length to be connected to the excavator body 110, the upper part of the kelly bar 120, and the hydraulic grab 160 of the lower part of the kelly bar 120, When extending or contracting the kelly bar 120 to move the grab 160 in the up and down direction, it is wound on the hydraulic hose reel 180 to exclude the interference with other components and to protect the hydraulic hose 181. Supported. The hydraulic hose reel 180 is formed in a pair in parallel to the left and right sides of the kelly bar 120 to wind up a pair of hydraulic hoses 181 connected to the grab buckets 160a and 160b, respectively. Winding or unwinding each of the hydraulic hose 181 through the counterclockwise rotation. On the other hand, since the hydraulic hose 181 is also guided by the kelly bar 120, a problem such as twisting does not occur.

The reel drive motor 190 is connected to the central axis of the hydraulic hose reel 180, and serves as a power source for rotating the hydraulic hose reel 180. In addition, the reel drive motor 190 is mounted on the central axis load cell 191 for detecting the load change of the hydraulic hose 181 according to the movement of the hydraulic grab 160. That is, the load applied to the hydraulic hose 181 while the hydraulic grab 160 moves up and down can be easily detected by mounting the load cell 191 to the rotating pin of the reel driving motor 190. Here, in one embodiment of the present invention, but holding the load cell as an example, if it is possible to fully detect the load acting on the hydraulic hose, other means in addition to the load cell can be installed enough, of course, the installation position is also a matter of course.

 The control means (200 of FIG. 7) controls the rotation operation of the reel drive motor 190 in conjunction with the shank-dong operation of the hydraulic grab 160, but the winding operation or unwinding is performed according to the load value detected by the load cell 191. Initiate the operation. In order to adjust the length of the hydraulic hose 181 according to the up and down position of the hydraulic grab 160, when the hydraulic grab 160 is lowered, the hydraulic hose 181 must be unwound and the hydraulic grab 160 is Since the hydraulic hose 181 must be wound when it is raised, the control means according to the embodiment of the present invention transmits a shanghai motion signal of the hydraulic grab 160 to the primary rotational motion control source of the reel drive motor 190. It is done. In the state of preparing the winding or unwinding operation in conjunction with the shank-dong motion signal, the winding motion or unwinding operation is started by using the load value of the hydraulic hose as the secondary rotational motion control source, so that the hydraulic grab motion of the hydraulic grab 160 is started. By changing the load of the hydraulic hose 181, it is possible to prevent excessive load from acting on the hydraulic hose 181. Therefore, the hydraulic hose 181 can be wound or unwound on the hydraulic hose reel 180 stably.

Hereinafter will be described the operation of the hydraulic grab excavator according to an embodiment of the present invention.

First, when a command to lower the hydraulic grab 160 in the cab of the excavator main body 110, the winch 172 unwinds the wire 171, by the weight of the hydraulic grab 160 120 is extended so that the hydraulic grab 160 is lowered. At this time, the hydraulic hose 181 is controlled to unwind in accordance with the falling of the hydraulic grab 160. As the kelly bar 120 is stretched, the hydraulic grab 160 does not rotate, but descends, and no kink of the hydraulic hose 181 occurs. The hydraulic grab 160 may fall freely or at constant speed depending on the soil condition.

Next, when the hydraulic grab 160 comes in contact with the soil, it stops the operation of the winch 172 and gives a signal to close the grab bucket (160a, 160b) of the hydraulic grab 160, according to this signal From the excavator body 110 of the hydraulic hose 181 through the hydraulic pressure to operate the hydraulic grab 160 to close the grab bucket (160a, 160b). Then, the earth and sand are contained in the hydraulic grab 160.

Next, when the operation is completed, the winch 172 is wound to lift the hydraulic grab 160 to the ground. Specifically, when a command to raise the hydraulic grab 160 in the cab of the excavator body 110, the winch 172 wound the wire 171, the kelly bar 120 is contracted to the hydraulic grab ( 160 will rise. At this time, the hydraulic hose 181 is controlled to be wound in accordance with the rise of the hydraulic grab 160. As the kelly bar 120 is contracted, the hydraulic grab 160 does not rotate and ascends as it is, and no kink of the hydraulic hose 181 occurs.

Next, when the top of the excavator body 110 is rotated and the grab buckets 160a and 160b of the hydraulic grab 160 are opened in a predetermined region, the soil is discharged therein.

On the other hand, the excavation of the corner portion that is difficult to access the excavator body 110 is easy to work in the blind area by rotating the hydraulic grab 160 using the kelly bar rotation cylinder 152 of the rotation means 150. can do.

7 is a block diagram showing a control means according to an embodiment of the present invention.

As shown in FIG. 7, the control means 200 according to an embodiment of the present invention includes an operation signal receiver 210, a load signal receiver 220, and a motor controller 230.

The operation signal receiving unit 210 receives a moving motion signal of the hydraulic grab 160, and the load signal receiving unit 220 receives a load signal of the load cell 191. That is, as mentioned above, in one embodiment of the present invention, the shank motion signal and the load signal are used as parameters for controlling the winding and unwinding operation of the hydraulic hose reel 180.

The motor controller 230 transmits the unwinding operation signal to the reel driving motor 190 when the load of the hydraulic hose 181 increases after the falling operation signal of the hydraulic grab 160 is received to reach the first threshold load value. do. That is, when the hydraulic grab 160 begins to descend by the lowering operation signal, a load due to tension is applied to the hydraulic hose 181 connected thereto, and the hydraulic grab 180 does not rotate, so the hydraulic grab As the distance from the 160 increases, the load increases. This load can be easily detected by the load cell 191. When the increasing load reaches the first threshold load value, the unwinding operation signal is transmitted to the reel driving motor 190, and the speed of the unwinding operation, that is, the rotational speed, is such that the detected load maintains the first threshold load value. Accordingly, the motor controller 230 may stably control the unwinding operation by generating the unwinding operation signal when both the falling operation signal and the first threshold load value reaching condition are satisfied.

In this case, the first threshold load value may prevent the hydraulic hose 181 from being excessively unwound and relaxed as compared with the descending speed of the hydraulic grab 160, and the hydraulic hose 181 may be damaged or broken. It is a load that can be prevented. That is, it corresponds to a load value that can be unwound at an appropriate speed without straining the hydraulic hose 181. In order to have such an effect and an effect, it is preferable that a 1st threshold load value shall be about 200 kg.

In addition, the motor controller 230 transmits a winding operation signal to the reel driving motor 190 when the load of the hydraulic hose 181 decreases to reach the second threshold load value after the rising operation signal of the hydraulic grab is received. . That is, when the hydraulic grab 160 starts to rise due to the rising operation signal, a load due to tension is applied to the hydraulic hose 181 connected thereto, and the hydraulic grab 180 does not rotate, so the hydraulic grab As the separation with the 160 is reduced, the load is reduced. This load can be easily detected by the load cell 191. When the decreasing load reaches the second threshold load value, the winding operation signal is transmitted to the reel driving motor 190, and the speed of the winding operation, that is, the rotational speed, is such that the detected load maintains the second threshold load value. Accordingly, the motor controller 230 may stably control the winding operation by generating a winding operation signal when both the rising operation signal and the second threshold load value reaching condition are satisfied.

At this time, the second threshold load value is a load that can prevent the hydraulic hose 181 from being excessively wound and damaged or broken as compared with the rising speed of the hydraulic grab 160. That is, it corresponds to a load value that can be wound up at an appropriate speed without applying excessive pressure to the hydraulic hose 181. In order to have such an effect and an effect, it is preferable that a 2nd threshold load value shall be about 50 kg.

On the other hand, the control means 200 according to an embodiment of the present invention receives the free fall operation signal or the constant velocity falling operation signal of the hydraulic grab 160, to control the take-up rotation speed of the reel drive motor 190 It is possible. As mentioned above, in order to adjust the impact strength of the excavation surface of the hydraulic grab 160 according to the state of the earth and sand, the hydraulic grab 160 can freely fall or constant fall, thereby controlling the drop speed. . In connection with this, in one embodiment of the present invention, by controlling the unwinding rotation speed, it is possible to stably unwind the hydraulic hose 181.

In addition, the reel driving motor 190 according to an embodiment of the present invention is provided as a pair, and automatically controlled to interlock with each other by the control means 200, and manually controls the rotational operation of one side by an external signal input. It is also possible. Since the hydraulic hose 181 is provided in a pair, the hydraulic hose reel 180, the reel drive motor 190 and the load cell 191 are also provided in pairs, respectively. At this time, the above-mentioned winding and unwinding control is generally automatically controlled to interlock a pair of reel drive motor 190 with each other. However, in case of an emergency or when necessary, the reel driving motor 190 may be manually controlled to an external signal input by an external input means. In the case of manual control, for example, the hydraulic hose reel 180, the hydraulic hose 181, the reel drive motor 190, one side of the load cell 191 is damaged urgently need to temporarily drive or control the other one When the load or winding degree does not match between the hydraulic hoses 181 due to the situation of the winding and unwinding operation due to the continuous excavation operation, it is necessary to horizontally correct it, and when it is necessary to maintain it when an overload occurs on one reel driving motor 190. Equivalent to

8 is a schematic view showing display means according to an embodiment of the present invention.

As shown in FIG. 8, the display means according to the exemplary embodiment of the present invention displays a load value of the detected pair of hydraulic hoses 181 on the screen, respectively (①, ②), and the pair of hydraulic pressures. It is possible to display the winding or unwinding state of each of the hose reels 180 (③, ④, ⑤, ⑥), and to display the automatic control state (⑦). By displaying the respective load values, it is possible to inform the user whether the level is well aligned, and by displaying the respective winding or unwinding states, whether each is working well for automatic control or well controlled for manual control. The user can be notified, and by displaying the automatic control status, the user can be informed whether the automatic control is well performed or the automatic control / manual control status.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

Therefore, the above-described embodiments are to be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the following claims rather than the detailed description, and the meaning and scope of the claims and their All changes or modifications derived from an equivalent concept should be construed as being included in the scope of the present invention.

110: excavator body
120: Kelly Bar
130: support structure
140: hydraulic cylinder
150: means of rotation
151: pin connection
152: Kelly Bar Cylinder
160: hydraulic grab
160a, 160b: Grab Bucket
170: winch means
171: wire
172: winch
180: hydraulic hose reel
181: Hydraulic Hose
190: Reel Drive Motor
191: load cell
200: control means
210: operation signal receiver
220: load signal receiving unit
230: motor control unit

Claims (6)

Kelly bar is formed of a multi-stage telescope type, for moving the hydraulic grab mounted on the bottom in the vertical direction;
A hydraulic hose reel mounted on an upper portion of the kelly bar and winding or unwinding a pair of hydraulic hoses that provide opening and closing hydraulic pressure to the hydraulic grab;
A reel driving motor which is connected to the central axis of the hydraulic hose reel and rotates and has a load cell mounted on the central axis for detecting a load change of the hydraulic hose according to the movement of the hydraulic grab; And
Control means for controlling the rotational operation of the reel drive motor in conjunction with the shank movement of the hydraulic grab, and initiating a winding or unwinding operation in accordance with the load value detected by the load cell;
Hydraulic grab excavator including a. The method of claim 1,
Wherein,
After receiving the operation signal receiving unit for receiving the movement signal of the hydraulic grab, the load signal receiving unit for receiving the load signal of the load cell, and the lowering operation signal of the hydraulic grab after receiving the load of the hydraulic hose increases When the first threshold load value is reached, the unwinding operation signal is transmitted to the reel driving motor, and after the lifting operation signal of the hydraulic grab is received, the load of the hydraulic hose decreases to reach the second threshold load value. And a motor controller for transmitting a winding operation signal to the drive motor. The method of claim 2,
The first threshold load value is 200kg, the second threshold load value is a hydraulic grab excavator, characterized in that 50kg. The method of claim 1,
And the control means receives the free fall operation signal or the constant velocity drop operation signal of the hydraulic grab, and controls the unwinding rotation speed of the reel drive motor. The method of claim 1,
The reel drive motor is provided in a pair, the automatic control to interlock with each other by the control means, the hydraulic grab excavator, characterized in that the manual control of the rotational motion of one side by an external signal input. The method of claim 5,
And a display means for displaying a load value of the pair of hydraulic hoses, displaying a winding or unwinding state of each of the pair of hydraulic hose reels, and displaying the automatic control state. Bro excavator.

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