KR20130024273A - Remotely-operated robot for excavator and remotely-operated cavator thereof - Google Patents

Abstract

PURPOSE: A remotely-operated robot for an excavator and a remotely-operated excavator using thereof are provided to control the excavator remotely only by installing a front camera and multiple sensors in a robot for operating the excavator and in the body of the excavator without an extra reconfiguration of the excavator. CONSTITUTION: A remotely-operated robot comprises a frame(100), a pair of a first arms(200), a pair of a second arms(300), a first motor(250), a second motor(350), a pair of a third racks, a pair of a third arms(400), and a third motor. The frame includes a pair of a first racks(110) transversely arranged inside facing each other. The first arms perpendicularly arranged to move side to side along the pair of the first racks includes a pair of second racks(210) and a pair of first pinions(220). The second arms perpendicularly arranged to move side to side along the second racks includes an operating lever and a pair of second pinions(310). The first motor arranged at one side of the frame supplies power to the first pinions. The second motor arranged at one side of the frame supplies power to the second pinions. The third racks arranged at one side of the lower plane of the frame are parallel to the first arms. The third arms include a hemispheric binder(410) for fastening a driving lever and a third pinion contacting to the third racks. The third motor arranged at one side of the frame supplies power to the third pinion.

Description

Excavator Robot and Remote Control Excavator using Remote Control

The present invention relates to an excavator operation robot and a wireless operation excavator using the same, and more specifically, an excavator operation robot that can operate the excavator wirelessly in a harsh environment by using an excavator operation robot detachable to the driver's seat and other modifications. Or it relates to a wireless operation excavator that can be operated wirelessly by adding only a plurality of sensors to the excavator operation robot and excavator body without modification.

Excavators are generally heavy equipment for digging, and in some cases, they must also work in high-risk areas, such as mountainous or mine, building demolition and sewer work. However, when working in such a place, the excavator may fall or fall or crash, and the excavator itself may be damaged or a disaster may be caused by a driver's cab. If such a disaster occurs, there is a problem that the driver may be seriously injured or die in serious cases.

In order to solve this problem, an excavator remote control apparatus for unmanning an excavator and remotely controlling it in a safe place spaced from the excavator has recently been studied.

1 is a side view showing a driver's seat of an excavator. However, in the case of the existing hydraulic excavator heavy equipment, as shown in Figure 1, because it is adjusted by a mechanical lever, such as an operating lever for operating a handle to excavate dirt and a driving lever and a pedal for operating the driving of the excavator heavy equipment, this is In order to operate remotely, the excavator heavy equipment itself has to be converted into an electro-hydraulic lever, which is difficult to develop and expensive. In addition, the excavator heavy equipment by this technology is a problem that the user feels a cost burden because it is not compatible with the existing equipment.

In addition, when unmanned excavator heavy equipment is operated unattended, remote control is performed in a safe place away from the excavator heavy equipment. Currently, the commercially available device is a one-way control system where the driver checks the working status of the excavator heavy equipment directly from the work site and remotely. Perform the adjustment. However, such a device has a problem that it is difficult for the remote controller to accurately check the inclination state of the excavator in the mine and building demolition or the collapsed concrete debris, which the excavator is not able to check with the operator's eyes.

Accordingly, the present invention has been made to solve the above problems, using an excavator operation robot detachable from the excavator's driver's seat, without an excavator operation robot and a separate modification or modification that can operate the excavator wirelessly in a harsh environment. An object of the present invention is to provide a wireless operation excavator that can be operated wirelessly by adding only a front camera and a plurality of sensors to the excavator operation robot and the excavator body.

An object of the present invention as described above is provided with a frame provided in the transverse direction so that a pair of first racks facing each other; A pair of first arms provided in a direction perpendicular to the first rack, having a second rack formed on one side thereof in a longitudinal direction, and having a first pinion contacting the first rack on one side thereof; A pair of second arms provided vertically with the first arm and engaging the operation lever provided on one side of the driver's seat of the excavator, and having a second pinion on one side in contact with the second rack; A first motor provided at one side of the frame and providing power to the first pinion to move the first arm and the second arm from side to side along the first rack; A second motor provided at one side of the frame and providing power to the second pinion to move the second arm in the front-rear direction along the second rack; A pair of third racks provided in parallel with the first arm on one side of the bottom surface of the frame; A pair of third arms having a third pinion in contact with the third rack, and engaging the traveling lever provided on one side of the driver's seat; And a third motor provided at one side of the frame to power the third pinion to move the third arm in the front-rear direction along the third rack.

At this time, the end of the second arm is made of a tong-shaped member, and further includes a hydraulic cylinder for manipulating the tong-shaped member.

In addition, a plate-shaped support plate extending left and right is further provided at a lower end of the frame to fix the frame to one side of the excavator operating lever, and one side of the support plate is formed with a through hole through which the operating lever can pass. .

In addition, the transceiver for transmitting and receiving the operation signal with the outside; And a control unit for manipulating the excavator operation robot according to a signal received from the transmission and reception unit.

In addition, a flexible coupling connected to the first motor and the first pinion, the second motor and the second pinion, and the third motor and the third pinion is further provided to transmit power.

In another category, an object of the present invention is an excavator operation robot; A camera provided outside the excavator in order to detect the surrounding situation of the excavator; A first sensor unit provided in the body of the excavator to detect the position, posture and sound of the excavator; A second sensor unit attached to a joint part of the excavator to adjust hydraulic pressure for manipulating the joint part; And a remote control unit for receiving and monitoring signals from the camera, the first sensor unit, and the second sensor unit, and remotely controlling the excavator operation robot.

According to the present invention there is an effect that can be remotely controlled only by installing an excavator operation robot without changing the structure of the existing excavator. As such, since the structure of the excavator is not required, the cost burden of the user can be reduced. In addition, since the structure is not changed, there is an effect that the user can directly ride and operate as well as remote operation.

In addition, since the structure is simple, the mounting is easy, and there is an effect that the remote operation and the direct operation can be easily exchanged.

In addition, by remotely controlling the excavator through two-way communication using a wireless communication control technology, a camera and a plurality of sensors, it is easy to operate the excavator even if it is not visible to the user's view of operating the excavator.

In addition, since the state of the excavator can be checked through the camera and the sensor, there is an effect that can be quickly operated in the excavator even in an emergency situation.

The following drawings, which are attached in this specification, illustrate preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention. It should not be interpreted.
1 is a side view showing a driver's seat of an excavator;
2 is a schematic side view of an excavator driver's seat equipped with an excavator operation robot according to the present invention;
3 is a schematic rear view of an excavator driver's seat equipped with an excavator operation robot according to the present invention;
4 is a plan view of an excavator operation robot according to the present invention,
5 is a side cross-sectional view of an excavator operating robot according to the present invention.

< Excavators  Configuration of Operation Robot>

2 is a schematic side view of an excavator driver's seat equipped with an excavator operation robot according to the present invention, Figure 3 is a schematic rear view of an excavator driver's seat equipped with an excavator operation robot according to the present invention, Figure 4 is an excavator operation according to the present invention 5 is a plan view of the robot, and FIG. 5 is a side cross-sectional view of an excavator operation robot according to the present invention. Excavator operation robot 10 according to the present invention, as shown in Figures 2 to 5, the frame 100, the first arm (200) (200) to the third arm (410), the first motor (250) To third motor (not shown).

Frame 100 according to the present invention forms the appearance of the excavator operation robot 10, the device such as the first motor 250, the second motor 350 and the first arm 200 is inserted therein Provides space to be fixed. At this time, the frame 100 is provided so that the first rack 110 to face each other on one side surface facing each other. The first rack 110 is provided in the transverse direction along the longitudinal direction of the frame 100. In addition, the lower end of the frame 100 is provided with a plate-shaped support portion extended to the left and right to support the load of the frame 100. The support part is provided on a pedestal 1111 provided with an operation lever 1110 of the excavator 1000 to support the frame 100, and a through hole through which the operation lever 1110 penetrates on one side of the support plate 120. 121 is formed. That is, the support part supports the frame 100 while being mounted on the driver's seat 1100 by simply placing it on the pedestal 1111 provided with the operation lever 1110 so that the operation lever 1110 penetrates.

The first arm 200 according to the present invention is a device provided in a vertical direction on a pair of first racks 110 provided on the inner surface of the frame 100 to move left and right along the first racks 110. At this time, the first arm 200 has a second rack 210 is formed on one side, and has a pair of first pinions 220 in contact with the first rack 110, respectively. As such, since the second pinion 310 is simultaneously hung on the pair of first racks 110 provided to face the inside of the frame 100, the second pinion 310 may move without shaking when moving left and right. At this time, one side of the first arm 200 is further provided with a roller 230 in contact with the other side facing the one side formed with the threaded thread of the first rack 110, the first side on both sides of the first rack 110 Since the pinion 220 and the roller 230 hold the first rack 110, it is possible to more stably prevent shaking.

The second arm 300 according to the present invention is a device which is provided perpendicular to the first arm 200 and moves back and forth along the second rack 210 formed on one side of the first arm 200. At this time, at one side of the second arm 300, a binding hole 331 for binding the operation lever 1110 provided at one side of the driver's seat 1100 of the excavator 1000 is formed, the second rack 210 A second pinion 310 is provided in contact with the. Here, the one end portion formed with the binding port 331 of the second arm is formed of the tongs-shaped member 330, and the tongs-shaped member 330 is moved by the hydraulic cylinder 333, thereby operating the lever 1110 for operation. Can grab or loose In addition, a packing 332 of a rubber member is provided at one side of the binding hole 331 to prevent slippage when fixing the operation lever 1110.

The first motor 250 according to the present invention is provided on one side of the frame 100 to provide power to the first pinion 220. At this time, the first motor 250 is connected to transmit power through the first pinion 220 and the flexible coupling 500. The flexible coupling 500 serves to transfer power to the motor and pinion, and is easy to install regardless of the size of the space and serves to accurately transmit power. The first motor 250 may be any motor as long as it is a motor capable of forward rotation and reverse rotation. As such, when the first motor 250 rotates forward or reverse, the first pinion 220 is rotated by receiving power through the flexible coupling 500. Accordingly, the first arm 200 and The second arm 300 is moved in the left and right directions along the thread of the first rack 110.

The second motor 350 according to the present invention is provided on one side of the frame 100 to provide power to the second pinion 310. At this time, the second motor 350 is connected to transmit power through the second pinion 310 and the flexible coupling 500. The second motor 350 uses a motor capable of forward rotation and reverse rotation similarly to the first motor 250. As such, when the second motor 350 rotates forward or reverse, the second pinion 310 is rotated by receiving power through the flexible coupling 500. As a result, the second arm 300 is rotated. It moves in the front-rear direction along the thread of the second rack 210 formed on one side of the first arm 200.

As described above, since the first arm 200 and the second arm 300 are formed in two degrees of freedom that can move in the left and right directions and the front and rear directions, respectively, the operation lever provided in the driver's seat 1100 of the excavator 1000. 1110 is operable at 360 °. In this manner, the user can freely manipulate the handle of the excavator 1000 in the same manner as the driver directly manipulates the lever 1110 for operation through the first arm 200 and the second arm 300 having two free paths. .

In addition, by adjusting the position of the first arm 200 and the second arm 300 symmetrically on the first rack 110 through the first rack 110, the size and type of the excavator 1000 Regardless, it is possible to mount on all excavators 1000.

The third rack (not shown) according to the present invention is provided in a pair in parallel with the first arm 200 on one side of the bottom surface of the frame 100.

The third arm 410 according to the present invention is provided with a third pinion (not shown) in contact with the third rack on one side, and the traveling lever provided on one side of the driver's seat 1100 of the excavator 1000 on one side of the end portion. A hemispherical binding hole 410 for binding the 1120 is provided. At this time, since the third arm 410 is composed of a pair, the hemispherical binding sphere 410 may hold and fix the driving lever 1120 on both left and right sides. Here, one side of the hemispherical binding sphere 410 is provided with a packing 420 of a rubber member in order to prevent slippage when fixing the driving lever.

The third motor according to the present invention is provided on one side of the frame 100 to provide power to the third pinion. At this time, the third motor is connected to transmit power through the third pinion and the flexible coupling 500. The third motor uses a motor capable of forward rotation and reverse rotation similarly to the first motor 250. As such, when the third motor rotates forward or reverse, the third pinion is rotated by receiving power through the flexible coupling 500. As a result, the third arm 410 is configured to replace the thread of the third rack. Therefore, it moves forward and backward and operates the lever for driving.

One side of the frame 100 according to the present invention, the excavator operation robot 10 in accordance with a transmission and reception unit (not shown) for transmitting and receiving an operation signal for operating the excavator operation robot 10 to the outside and a signal received from the transmission and reception unit. A control unit (not shown) for controlling the components of the device is provided.

Excavator operation robot 10 according to the present invention can be operated in accordance with the input signal in advance, or by a signal input from the outside through the transceiver.

<Wireless operation Excavator  Configuration>

The wireless operation excavator 1000 according to the present invention is composed of an excavator operation robot 10, a camera, a first sensor unit, a second sensor unit and a remote control unit.

Excavator operation robot 10 according to the present invention is made of the same configuration as the above-described <Configuration of excavator operation robot>, the operation lever 1110 and the traveling lever provided on one side of the driver's seat 1100 of the excavator 1000 1120 is provided to be fastened.

Camera according to the present invention is provided with at least one on the outer side of the excavator (1000). Such a camera is provided in the outside front of the excavator 1000 is a device for photographing the progress of the excavator 1000 and the progress of work using the handle. Any camera can be used as long as this object can be achieved. However, it is preferable to use a camera that can zoom in and zoom out and rotate the lens direction as necessary. At this time, the camera may be further provided on the outer left and right sides of the excavator 1000 or one side of the handle according to the working situation.

The first sensor unit according to the present invention is provided on one side of the excavator 1000 to detect the position, posture and sound of the excavator 1000. The first sensor unit includes an inclination angle sensor provided at one side of the excavator 1000 to measure the degree of inclination of the excavator 1000, a work site, and a microphone for measuring the state of the excavator 1000 by sound. In addition, additional sensors may be further provided in addition to the inclination angle sensor and the microphone according to the driving and driving of the excavator 1000 according to the working situation.

The second sensor unit according to the present invention comprises a pressure sensor for measuring the oil pressure of the hydraulic regulator mounted on the joint portion of the excavator 1000, more particularly, the joint portion of the handle for digging soil. In order to more clearly measure the operation of the handle, additional sensors may be provided in addition to the pressure sensor.

The remote control unit according to the present invention receives the image taken by the camera and the measurement values received from the first sensor unit, the second sensor unit provides the measurement information so that the user can monitor, the excavator 1000 is requested by the user A device that can be remotely controlled to perform a task.

As described above, those skilled in the art will understand that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10: excavator operation robot
100: frame
110: first rack
120: support plate
121: Through hole
200: first arm
210: second rack
220: first pinion
230: roller
250: the first motor
300: second arm
310: second pinion
330: tong shape member
331: binding fastener
332: Packing
333: Hydraulic Cylinder
350: second motor
400: third arm
410: hemispherical binding sphere
420: Packing
500: flexible coupling
1000: Excavator
1100: driver's seat
1110: Operation lever
1111: Operation lever base
1120: driving lever

Claims (6)

A frame provided transversely therein such that the pair of first racks face each other;
A pair of first arms provided in a direction perpendicular to the first rack, a second rack formed on one side thereof in a longitudinal direction, and having a first pinion on one side in contact with the first rack;
A pair of second arms provided vertically with the first arm and engaging the operation lever provided on one side of the driver's seat of the excavator, and having a second pinion on one side in contact with the second rack;
A first motor provided at one side of the frame to provide power to the first pinion for moving the first arm and the second arm from side to side along the first rack;
A second motor provided at one side of the frame to provide power to a second pinion to move the second arm in the front-rear direction along the second rack;
A pair of third racks provided in parallel with the first arm on one side of a lower surface of the frame;
A pair of third arms having a third pinion in contact with the third rack, and engaging a traveling lever provided on one side of the driver's seat of the excavator; And
And a third motor provided at one side of the frame to provide power to a third pinion to move the third arm in the front-rear direction along the third rack. The method of claim 1,
The end of the second arm is made of a tong-shaped member,
An excavator operating robot, characterized in that the hydraulic cylinder for operating the tongs-shaped member is further provided. The method of claim 1,
The lower end of the frame is further provided with a plate-shaped support plate extending to the left and right to fix the frame on one side with the operation lever of the excavator,
An excavator operation robot, characterized in that the through-hole is formed through one side of the support plate through which the operation lever can pass. The method of claim 1,
Transmitting and receiving unit for transmitting and receiving the operation signal with the outside; And
And a control unit for manipulating the excavator operation robot according to the signal received from the transmission / reception unit. The method of claim 1,
In order to transmit power, a flexible coupling is further provided which is connected to the first motor, the first pinion, the second motor, the second pinion, the third motor, and the third pinion, respectively. Excavator operation robot.
An excavator operation robot according to any one of claims 1 to 5;
A camera provided outside the excavator to detect an ambient situation of the excavator;
A first sensor unit provided in the body of the excavator to detect the position, posture and sound of the excavator;
A second sensor unit attached to a joint part of the excavator to adjust hydraulic pressure for manipulating the joint part; And
And a remote control unit for receiving and monitoring signals from the camera, the first sensor unit, and the second sensor unit, and remotely controlling the excavator operation robot.

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