KR20130049356A - Teleoperating device for excabator and force feedback control method for the same - Google Patents

Abstract

PURPOSE: A remote control device of an excavator and a power echo control method thereof are provided to improve the stability of work and equipment by preventing work with an excessive external force in an excavation work. CONSTITUTION: A remote control device of an excavator comprises a boom control unit(10), an arm control unit(20), and a bucket control unit(30). Pressure increased by a pressure sensor mounted on a boom cylinder, an arm cylinder, and a bucket cylinder is measured. A joint torque is calculated in each cylinder and is transmitted to a control unit of the remote control device. The control unit controls the current of each driving motor so that an operator senses an external force applied to the excavator.

Description

Remote control device of excavator and its force control method {TELEOPERATING DEVICE FOR EXCABATOR AND FORCE FEEDBACK CONTROL METHOD FOR THE SAME}

The present invention relates to a control device for manipulating an excavator, and more particularly, to configure a person's arm, wrist, and finger to interlock with an excavator's boom, arm, and bucket joint so that even a beginner can easily recognize the operation of the excavator. At the same time, the present invention relates to a remote control device for an excavator that can echo the force acting on the excavator during the excavation work, and a method for controlling the force reverberation.

In general, an excavator is a construction machine used for digging or mowing land. As shown in FIG. 1, such an excavator is provided with a swing body 2 rotatable on a caterpillar type track body 3 so as to be rotatable by a desired swing rotation angle, and a cockpit is formed on the swing body 2. .

The boom 4 attached to the swing body 2 can be moved by the hydraulic cylinder, and the arm 5 is rotatably installed by the hydraulic cylinder at the end of the boom 4.

At the end of the arm 5, the bucket 6 is rotatably installed to work, and the bucket 6 is changed to dragline, clamshell, drag shovel, etc., so that the state of the soil and rock, excavation method, It can be used in various ways according to mobility.

As a control device for manipulating such an excavator, a conventional excavator control device uses a joystick to perform bucket in and out, arm up and down, boom in and out, and turning.

However, in the case of a work using an excavator, the work is often performed in a dangerous area or in a bad environment depending on the work location, environment, and conditions, and in this case, it is often difficult for the operator to ride and control the excavator. . Under these circumstances, there is a need for a remote controlled excavator control unit that can control the excavator without the operator directly boarding the excavator.

Korean Patent Publication No. 1994-0003731 discloses a remote control excavator control device. The conventional excavator remote control device 100, as shown in Figure 2, is fixed to the frame and movable with two arc-shaped movable members (101a, 101b) having a guide slot to rotate in the same way as the motor shaft, The operating lever 101 is operated by the rotational motion of the motor on the guide slot of the member.

However, in the above-mentioned conventional excavator remote control device, since the movement of the bucket, the arm and the boom of the excavator is not mapped with the movement of the joystick and the lever, there is a problem that considerable skill is required to operate the joystick and the lever. . That is, since the actual movement of the bucket, the arm, the boom of the excavator and the actual movement of the operating lever for the operation does not have a correlation, it may bring confusion to the inexperienced worker and may cause difficulty in performing the desired work.

On the other hand, Korean Patent Publication No. 2011-0074061 discloses an intuitive control device for solving the above problems. As shown in FIG. 3, the intuitive control device of the conventional excavator can control the movement of the bucket, arm and boom of the excavator to have an intuitive relationship with the movement of the wrist, lower arm and upper arm of the excavator. Disclosed is a control device configured to implement a fast and accurate skillful excavation work by improving the user interface control ability to freely operate an excavator.

However, in the above-described prior art, since it has a structure using the operator's shoulder, there is a problem that the operator's fatigue is great even if the same work is performed because a large muscle is used. In addition, in the prior art, each operation unit is mechanically coupled, and in order to rotate the bucket link, the wrist joints rotate together, so that the boom and the arm move together, so that independent driving is difficult.

In addition, in the above-mentioned prior art, since the operator receives the force received from the surroundings when the work is performed by the excavator, and the operator cannot feel such a force, more accurate and safe work is carried out when remotely controlling the work by the excavator. There was a problem that it was difficult to perform.

The present invention is to solve the above-described prior art, an object of the present invention is to provide a structure similar to the link structure of the excavator so that the manipulator, wrist, fingers of the excavator and the boom joint, arm joint, the bucket joint to interlock By constructing so that even beginners can easily recognize the operation of the excavator, and to provide a remote control device of the excavator that is configured to reduce the fatigue of the operator based on the position control and to comfortably control.

In addition, another object of the present invention is to provide a remote control device for an excavator that can be manipulated more precisely by configuring the boom link, the arm link and the bucket link to be driven independently.

Still another object of the present invention is to provide a remote control device for an excavator that is easy to use by being configured to variably adjust the length of the boom link according to the arm length of the operator.

Another object of the present invention is configured to reflect the force acting on the excavator during the excavation work can be prevented by excessive external force during the excavation work to remote control device of the excavator that can improve the stability of the work and equipment It is to provide a control method of force reflection.

In order to achieve the above object, the remote control device of the excavator of the present invention is interlocked with the boom link portion of the excavator, the boom control portion that seats the elbow of the operator and can be rotated in parallel with the bottom surface, and the arm link portion of the excavator And an arm control unit coupled to the boom control unit so as to be rotatable on the same plane as the boom control unit and the bucket link unit of the excavator and rotatable on the same plane as the arm control unit. It is characterized in that it comprises a bucket control unit is fastened.

Here, the boom control unit, characterized in that it comprises a boom rotation plate that can seat the elbow of the operator, a boom drive pulley connected to the rotary shaft of the boom rotation plate, and a boom drive motor connected to the boom drive pulley.

The boom control unit may further include a guide plate fastened to the boom rotating plate, and a plurality of first variable fastening holes are formed at predetermined intervals on both sides of the guide plate.

The arm control unit, one end is fastened to the boom control unit and the other end arm plate for seating and supporting the operator's wrist, an arm drive pulley connected to the axis of rotation of the arm plate, and an arm drive connected to the arm drive pulley And an arm rotating plate rotatably connected to the rotating shaft of the arm plate.

Here, the arm plate is inserted into the guide plate and fastened, and a plurality of fastening holes corresponding to the first variable fastening holes are formed at both sides of the arm plate.

Here, the arm rotating plate is characterized in that a plurality of second variable fastening holes are formed spaced apart at regular intervals.

The bucket control unit includes a gripping unit unit into which an operator's finger can be inserted, a guide rod for guiding the gripping unit, a bucket rotating shaft connected to the guide rod, a bucket driving pulley connected to the bucket rotating shaft, and the bucket. And a bucket driving motor part connected to a driving pulley, a fastening rod connected to the bucket rotating shaft, and a bucket fastening part supporting the bucket driving motor part and fastened to the arm control unit.

The bucket control unit further includes a fastening bracket which is inserted into and fastened to the second variable fastening hole, and the bucket fastening part is fastened to the fastening bracket so as to be rotatable in a plane perpendicular to the direction of rotation of the arm control part. It is done.

In addition, the force reflection control method of the remote control device of the excavator according to the present invention, when the external force acts on the end of the bucket of the excavator and the pressure on the inlet and outlet sides of the boom cylinder and the arm cylinder and the bucket cylinder increases, Measuring the increased pressure by a pressure sensor respectively mounted to the bucket cylinder;

Calculating a pushing force in the boom cylinder, the arm cylinder and the bucket cylinder by the pressure values measured by the respective pressure sensors;

Calculating boom joint torque, arm joint torque and bucket joint torque from the calculated pushing force,

Transmitting each calculated joint torque value to a control unit of a remote control device of an excavator;

The control unit includes a current of the boom drive motor of the boom control unit interlocked with the boom link unit of the excavator, current of the arm drive motor of the arm control unit interlocked with the arm link unit of the excavator, and a bucket control interlocked with the bucket link unit of the excavator. Including a step of controlling the current of the negative bucket driving motor, characterized in that the operator senses the external force acting on the excavator.

According to the remote control device of the excavator according to the present invention having the above-described configuration, the manipulator is configured to be similar to the link structure of the excavator so that the human arm, wrist, and fingers are interlocked with the boom joint, the arm joint, and the bucket joint of the excavator. By making it easy for beginners to recognize the operation of the excavator, the elbows and wrists of the operator can be seated on the control unit, and the boom control unit, arm control unit and bucket control unit can be rotated parallel to the floor for easy operation. It can be operated easily by reducing operator's fatigue based on the position control.

In addition, by configuring the boom link, the arm link and the bucket link to be relatively rotatable and independently driven, it is possible to control the excavator more precisely, and according to the operator's arm length, the boom control unit, arm control unit, bucket It is easy to use by configuring the length of the control part to be adjusted.

In addition, by configuring the operator to feel the external force acting on the excavator by reflecting the force acting on the excavator during the excavation work, it is possible to prevent the work by the excessive force during the excavation work can improve the stability of the work and equipment.

1 is a view showing a general example of an excavator.
2 and 3 is a view showing the control device of the excavator according to the prior art.
4 is a view showing a remote control device for an excavator according to the present invention.
5 is a view showing a boom control unit of the present invention.
6 and 7 are views showing a bucket control unit of the present invention.
8 is a view showing an example of using a remote control device of the excavator according to the present invention.
9A and 9B are diagrams illustrating a force reflection control method of an excavator remote control apparatus according to the present invention.
10 is a schematic diagram of a force reflection control method for an excavator remote control apparatus according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the remote control device of the excavator according to the present invention and a force reflection control method thereof.

4 to 8, the remote control device 1 of the excavator of the present invention includes a boom control unit 10, an arm control unit 20, and a bucket control unit 30, It is composed of a structure similar to the link structure.

The boom control unit 10 is interlocked with the boom link unit of the excavator, and is supported by seating the elbow of the operator. As shown in Figs. 4 and 5, the boom control unit 10 is rotatably provided on a plane parallel to the bottom surface on which the remote control device is installed.

The boom control unit 10 includes a frame 11, a boom rotating plate 12, a boom drive pulley 13, a boom drive motor 15, and a guide plate 16.

The boom rotation plate 12 is formed in a substantially disk shape, and is supported by the frame 11, and rotates as the operator rotates the left and right in the direction required for operation by placing an elbow on the upper portion of the boom rotation plate. It is configured to do so.

The boom drive rotary shaft is fastened to the lower portion of the boom rotation plate 12, the boom drive pulley 13 is fastened to the lower portion of the boom drive rotary shaft, the boom drive pulley of the boom drive motor 15 by a timing belt or the like It is connected to the rotating shaft 14.

Guide plate 16 is integrally formed on the boom rotating plate 12. A plurality of first variable fastening holes 17 are formed on both side surfaces of the guide plate 16 at regular intervals. An arm plate, which will be described later, may be inserted into the guide plate, and the first variable fastening hole 17 and the plurality of fastening holes formed in the arm plate may be aligned and then fixed by fixing means such as bolts or screws. It is composed. Thus, after the arm plate is inserted into the guide plate according to the arm length of the operator using the remote control apparatus, the arm plate may be adjusted to a desired length, and then the length may be adjusted by aligning the first variable fastening hole and the fastening hole.

In addition, a guide groove 16b is formed at an opposite end of the guide plate 16 to the boom rotating plate, and the bottom surface of the guide plate of the portion where the guide groove 16b is formed protrudes inwardly. ) Can be formed. The arm plate inserted into the guide plate is supported by the protrusion, and the arm plate support is inserted into the guide groove 16b to be moved.

In addition, a cover may be installed on the upper surface of the rotating plate and the guide plate as an elbow rest of the operator.

When the operator puts the elbows on the rotating plate and rotates the plane, the boom control unit having the above-described configuration rotates the rotating plate accordingly, and the boom driving rotating shaft coaxially connected to the rotating plate is driven to rotate. The rotating shaft of the boom drive motor is rotated through the boom drive pulley. According to the rotation of the rotary shaft of the boom drive motor current value by the rotation of the boom drive motor is measured and transmitted to the control device of the excavator through the control unit of the remote control device to drive the boom link of the excavator.

On the other hand, the arm control unit 20 is connected to the boom control unit. The arm control unit 20 is interlocked with the arm link unit of the excavator and is configured to be rotatable on the same plane as the boom control unit.

As shown in FIG. 4, the arm control unit 20 includes an arm plate 21, an arm drive pulley 22, an arm drive motor 23, and an arm rotation plate 24.

One end of the arm plate 21 is fastened to the guide plate of the boom control unit, and the other end is configured to seat and support the wrist of the operator.

The lower end of the other end of the arm plate 21 for supporting the operator's wrist is connected to the rotary shaft, the arm drive pulley 22 is connected to the rotary shaft. The arm drive pulley 22 is connected to the rotating shaft of the arm drive motor 23 by a timing belt or the like.

In addition, an arm support plate 21a connected to the arm drive motor and supporting the arm drive motor is connected to the lower portion of the arm plate 21 by a support bracket 21b. As described above, when adjusting the length of the arm plate is inserted into the guide plate according to the arm length of the operator, the support bracket is inserted into the guide groove and the arm drive motor and the arm plate can be guided and moved together. It is configured to be.

A plurality of fastening holes corresponding to the first variable fastening holes are formed at both sides of the arm plate.

In addition, an arm rotating plate 24 is provided between the arm plate and the arm drive pulley. The arm rotation plate 24 is rotatably connected to the rotation axis of the arm plate, as shown in Figure 8, is configured to be rotatable on the same plane as the arm plate as the user rotates the wrist.

On the other side of the arm rotating plate, a plurality of second variable fastening holes 25 are formed at regular intervals. The fastening bracket of the bucket control unit to be described later is fastened to the second variable fastening hole, and the fastening position of the fastening bracket can be adjusted according to the length of the wrist of the operator.

The arm control unit having the above-described configuration, when the operator puts the wrist on the arm plate and rotates in a plane, the arm rotation plate is rotated accordingly, the arm drive rotation shaft coaxially connected to the arm rotation plate is driven to rotate The rotation axis of the arm drive motor is rotated through the arm drive pulley. As the rotation axis of the arm drive motor is rotated, a current value due to the rotation of the arm drive motor is measured and transmitted to the control device of the excavator through a control unit of the remote control device to drive the arm link part of the excavator.

Bucket control unit 30 is connected to the arm rotating plate. The bucket control unit 30 is interlocked with the bucket link unit of the excavator and is configured to be rotatable on the same plane as the arm control unit.

As shown in FIG. 6 and FIG. 7, the bucket control unit 30 includes a grip unit 31, a guide rod 32, a bucket rotation shaft 33, a bucket drive pulley 34, and a bucket. The fastening part 36 and the bucket drive motor part 37 are comprised.

The gripping portion unit 31 has an insertion hole into which the guide rod 32 is inserted, and a lower end portion of the gripping portion unit 31 allows the operator's finger to be inserted as shown in FIG. 8. The holding part 31a which is opened and formed in substantially n-shape is formed. When the operator inserts a finger into the holding part, the holding part unit 31 slides back and forth along the guide rod according to the length of the operator's finger.

One end of the guide rod 32 is fastened to the unit fastening bracket 32a, and the unit fastening bracket is rotatably fastened to the bucket rotation shaft 33.

The bucket rotating shaft 33 is supported by the fastening rod 35, the bucket driving pulley 34 is coaxially connected to the bucket rotating shaft 33, and the bucket driving pulley 34 is bucketed by a timing belt or the like. It is connected to the rotating shaft of the drive motor unit 37.

A bucket drive motor is built in the bucket drive motor part 37, and a handle part 38 is provided on an outer surface of the case of the bucket drive motor part 37 so that an operator can easily grip it.

The bucket driving motor part 37 is fastened to the bucket fastening part 36. The fastening rod is supported by the connecting bracket 36a on the upper side of the bucket fastening portion, and the bucket fastening portion 36 is installed on the arm rotation plate 24 through the fastening bracket 39. A hinge hole is formed in the lower portion of the bucket fastening portion 36 to be rotatably fastened to the fastening bracket 39 by a hinge pin or the like, and the fastening bracket 39 is pivotable to the arm rotating plate. Is fastened.

Thus, the bucket control unit, as shown in Figure 6, is configured in a structure having two degrees of freedom so as to be rotatable about the X-axis and Y-axis is configured to allow the operator to hold the handle and operate comfortably.

The bucket control unit having the above-described configuration, when the operator inserts a finger into the holding portion and rotates in a plane, the holding unit rotates accordingly, and the bucket rotating shaft rotates according to the rotation of the holding unit. The rotating shaft of the bucket driving motor is rotated through the bucket driving pulley. According to the rotation of the rotating shaft of the bucket drive motor current value by the rotation of the bucket drive motor is measured and transmitted to the control device of the excavator through the control unit of the remote control device to drive the bucket link portion of the excavator.

On the other hand, the remote control device of the excavator according to the present invention performs bidirectional communication between the excavator and the remote control device, not only to perform the excavator operation by the operation of the remote control device of the operator, but also to provide information about the surrounding environment of the excavator Can be controlled by the operator to grasp.

To this end, the remote control device of the excavator according to the present invention controls the force reflection by the external force acting on the excavator.

Hereinafter, with reference to Figures 9a to 10 will be described a force reflection control method of the remote control device of the excavator according to the present invention.

As shown by the double arrows in FIG. 9B, when an external force is applied to the end of the bucket of the excavator, the pressure at the inlet and outlet sides of the boom cylinder, the arm cylinder, and the bucket cylinder is increased to perform the excavation work exceeding the applied external force. . As the pressure in each cylinder increases, the increased pressure is measured by pressure sensors mounted on the boom cylinder, the arm cylinder and the bucket cylinder respectively.

Then, by the pressure value measured at each of the pressure sensors, as shown by the arrow of Fig. 9b, the pushing force is generated in the boom cylinder, the arm cylinder and the bucket cylinder, respectively, and calculated.

Then, the boom joint torque, the arm joint torque and the bucket joint torque T1, T2, T3 are calculated from the calculated pushing force and the inclination angles θ1, θ2, θ3 of each cylinder. Then, the calculated joint torque value is transmitted to the controller of the remote control device of the excavator.

The control unit receiving the joint torque value includes the current of the boom drive motor of the boom control unit interlocked with the boom link unit of the excavator, the current of the arm drive motor of the arm control unit interlocked with the arm link unit of the excavator, and the bucket of the excavator. By controlling the current of the bucket drive motor of the bucket control unit linked with the link unit, the operator interrupts the rotation when the operator wants to rotate the boom control unit, the arm control unit, and the bucket control unit according to the controlled current value. Configure to feel the external force acting on.

Accordingly, it is possible to prevent the work by the excessive external force during the excavation work can be improved the stability of the work and equipment.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to be exemplary and explanatory only and are not to be construed as limiting the scope of the inventive concept. And it is obvious that it is included in the technical idea of the present invention.

1: Remote control device of excavator
10: boom control unit 12: boom rotation plate
15: boom drive motor 16: guide plate
20: arm control unit 21: arm plate
23: arm drive motor 24: arm rotation plate
30: bucket control unit 31: gripping unit
32: guide rod 36: bucket fastening portion
37 bucket drive motor part 39 fastening bracket

Claims (8)

Interlocked with the boom link part of the excavator, the boom control part which seats the elbow of the operator and can rotate in parallel with the floor;
An arm control part interlocked with the arm link part of the excavator and fastened to the boom control part so as to be rotatable on the same plane as the boom control part;
And a bucket control part interlocked with the bucket link part of the excavator and fastened to the arm control part so as to be rotatable on the same plane as the arm control part.
The method of claim 1, wherein the boom control unit,
The boom rotation plate which can seat an elbow of the operator,
A boom driving pulley connected to the rotating shaft of the boom rotating plate;
And a boom drive motor connected to the boom drive pulley.
The method of claim 1, wherein the arm control unit,
One end is inserted into the boom control unit and fastened, and the other end has an arm plate for seating and supporting the operator's wrist;
An arm drive pulley connected to the axis of rotation of the arm plate, an arm drive motor connected to the arm drive pulley,
And an arm rotating plate rotatably connected to the rotating shaft of the arm plate.
The method of claim 1, wherein the bucket control unit,
A gripper unit into which an operator's finger can be inserted,
A guide rod for guiding the holding unit;
A bucket rotating shaft connected to the guide rod, a bucket driving pulley connected to the bucket rotating shaft,
A bucket driving motor unit connected to the bucket driving pulley;
Bucket fastening part connected to the bucket rotating shaft and the bucket driving motor part and fastened to the arm control part.
Excavator remote control device characterized in that it comprises.
The method according to any one of claims 1 to 4,
The boom control unit is further provided with a guide plate fastened to the boom rotating plate,
Both sides of the guide plate is a remote control device of the excavator, characterized in that the plurality of first variable fastening holes are formed at regular intervals.
The method of claim 3, wherein
The arm rotating plate is a remote control device of the excavator, characterized in that the plurality of second variable fastening holes are formed at regular intervals apart.
The method of claim 6, wherein the bucket control unit further comprises a fastening bracket which is inserted into the second variable fastening hole and fastened, wherein the bucket fastening portion is rotatably connected in a plane perpendicular to the rotation direction of the arm control unit Excavator remote control device, characterized in that fastened to the bracket.
When the external force is applied to the end of the bucket of the excavator and the pressure on the inlet and outlet sides of the boom cylinder, the arm cylinder and the bucket cylinder increases, measuring the increased pressure by pressure sensors mounted on the boom cylinder, the arm cylinder and the bucket cylinder, respectively; ,
Calculating a pushing force in the boom cylinder, the arm cylinder and the bucket cylinder by the pressure values measured by the respective pressure sensors;
Calculating boom joint torque, arm joint torque and bucket joint torque from the calculated pushing force,
Transmitting each calculated joint torque value to a control unit of a remote control device of an excavator;
The control unit includes a current of the boom drive motor of the boom control unit interlocked with the boom link unit of the excavator, current of the arm drive motor of the arm control unit interlocked with the arm link unit of the excavator, and a bucket control interlocked with the bucket link unit of the excavator. Controlling the force reflection of the remote control device of the excavator, characterized in that the operator can sense the external force acting on the excavator including the step of controlling the current of the negative bucket drive motor.

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