KR20150114017A - Hydraulic excavator and its controlling method by using distributed actuation mechanism - Google Patents

Abstract

The present invention relates to an excavator using a distributed actuation mechanism and a control method thereof and, more specifically, relates to an excavator performing a distributed actuation mechanism using a slider moving along a guide; and a method to obtain an optimal excavation force by controlling a variable due to a movement of the slider. According to the present invention, a structure using the distributed actuation mechanism and the control method thereof are applied to the excavator. As such, the excavator obtains an optimal excavation force which cannot be obtained with an existing excavator.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator using a dispersion drive mechanism and a control method thereof, and more particularly to an excavator implementing a dispersion drive mechanism using a slider moving along a guide, Thereby obtaining the excavating force.

Excavator is a representative heavy equipment for digging and processing earth and rock in construction sites, mines and quarries, and has been developed in various forms according to work environment. However, due to recent environmental and energy problems, new excavators are required.

Robotics are being considered in a variety of ways for new technological innovations throughout the industry. In particular, an automated excavation system with robotics technology has been introduced and suggested possibilities for its use. The automation of these excavators provides much less work time and improved workability than manual control by the operator. Among the various studies on the control of excavators are presented a dynamic model of the excavator and some of the control methods such as impedance control. Another study suggested a design method for excavators and redesigned the arm and boom through structural optimization to reduce the weight by 50%.

However, in spite of many previous studies, excavators have room for improvement in many areas. That is, the structure and drive mechanism of the excavator have not changed in recent decades, and there is a problem that the excavator structure and the drive mechanism for obtaining the optimum excavating force are not changed.

KR 10-2009-0015354 A

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide an excavator with a structure using a dispersion drive mechanism and a control method thereof, and to obtain an optimal excavating force which can not be obtained in a conventional excavator .

In order to achieve the above object, an excavator using a dispersion drive mechanism according to the present invention comprises an excavator having one side connected to an excavator boom and a boom cylinder, and the other side connected to a bucket, arm); An arm cylinder connected to the arm on one side and connected to the bucket to generate a rotating action of the bucket; An arm guide which is provided in the arm and is a linear path space of a predetermined length; An arm slider moving back and forth in the arm guide; An arm cylinder connector connecting the arm slider and the arm cylinder; And a bucket connector for transmitting the force of the arm cylinder to the bucket by connecting the bucket to the other side of the arm cylinder.

The parameters for determining the turning excavation force of the bucket include an attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator during excavation work; And a value indicative of a position of the arm slider in the arm guide (hereinafter referred to as 'arm slider position parameter'), wherein the measured value of the attitude parameter is set such that the bucket rotating excavator force has an optimum value And a control unit for controlling the position of the arm slider according to the calculated arm slider position parameter value.

The attitude parameter may be an angle formed by a straight line connecting the bucket joint and the arm slider, which is a connection point between the arm and the bucket, and a straight line connecting the bucket connector joint and the bucket joint, which are connection points of the bucket connector and the bucket .

According to another aspect of the present invention, an excavator using a distributed drive mechanism includes a boom having one side connected to an excavator arm; A boom cylinder having one side connected to the boom and the other side connected to the arm to generate rotational action of the arm; A boom guide provided inside the boom, the boom guide being a linear path space of a predetermined length; A boom slider moving back and forth in the boom guide; And a boom cylinder connector for connecting the boom cylinder and the boom slider.

The parameter for determining the excavating force (hereinafter referred to as 'arm crowding force') generated in the bucket by the rotation of the arm is a parameter that determines the posture at a specific time point taken by the excavator during excavation work A posture parameter; And a value indicative of a position of the boom slider in the boom guide (hereinafter referred to as a 'boom slider position parameter'), wherein the arm excavation force is an optimal value for the measured value of the attitude parameter And a controller for calculating the boom slider position parameter value and controlling the position of the boom slider according to the calculated boom slider position parameter value.

The attitude parameter may be an angle formed by a straight line connecting the arm joint which is a connection point between the arm and the boom and a boom cylinder joint which is a connection point between the boom cylinder and the arm and a straight line formed by the boom.

According to another aspect of the present invention, there is provided a method for controlling an excavator using a distributed drive mechanism, comprising the steps of: (a) measuring an attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator; (b) calculating a slider position parameter value that is a value indicating a position of the slider in the guide so that the excavating force becomes an optimum value with respect to the measured attitude parameter; And (c) controlling the position of the slider according to the calculated slider position parameter value.

Wherein when the excavating force of the step (b) is the rotary excavating force of the excavator bucket, the attitude parameter is a straight line connecting the bucket joint and the arm slider, which is the connection point between the arm and the bucket, Wherein the slider comprises an arm that moves back and forth in an arm guide which is a linear path space of a predetermined length provided inside an excavator arm, It may be an arm slider.

에 의해 결정되고, 이때,

,The bucket turning excavator force

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,

to be.

If the excavating force of step (b) is the excavating force (hereinafter referred to as 'arm crowding force') generated in the bucket by the force of the excavator arm pushing the bucket, A straight line connecting a boom cylinder joint, which is a connection point between the boom cylinder and the arm, and a straight line formed by the boom, and the slider is an excavator boom a boom slider moving back and forth in a boom guide which is a linear path space of a predetermined length provided inside the boom.

The arm-

, ≪ / RTI >

to be.

According to the present invention, by applying a structure using a dispersion drive mechanism and a control method thereof to an excavator, it is possible to obtain an optimal excavating force that can not be obtained in a conventional excavator.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view for explaining a dispersion drive mechanism made up of a finger; FIG.
Figure 2 is a modeling of excavator operation using a distributed drive mechanism in accordance with the present invention;
3 is a simulation result showing an excavating force optimized in an excavator using a dispersion drive mechanism according to the present invention.
4 is a flowchart showing an embodiment of an excavator control method using a distributed drive mechanism according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

1 is a view for explaining a dispersion drive mechanism made up of a finger.

Movement of the human finger, such as bending, elongation, etc., is caused by muscle contraction and relaxation. Figure 1 shows the movement of a finger accurately and precisely by driving several spatially dispersed muscles. Recently, the proposed distributed drive mechanism has been studied based on human drive mechanism. As shown in Fig. 1 (b), the main principle of the distributed drive mechanism is that the end of the connecting rod, which is the point of force, can move along the guide by the slider. Stretch when the slider moves outward and relax when moving inward. Also, this mechanism has a structural margin to adjust the position of the slider without changing the joint angle as shown in Fig. 1 (c). This means that the torque generation can be controlled only by changing the position of the slider without changing the posture of the excavator.

The distributed drive mechanism basically includes the connecting rod, the slider, and the hinge joints connecting the connecting rod and the slider. Therefore, the joint torque is a function of the operating force, position and joint angle of the slider. The design variable that determines the joint torque of existing mechanisms is only the actuation force, while the distributed drive mechanism plays a very important role in determining the joint torque of the slider position. Thus, the distributed drive mechanism has additional design freedom to maximize the performance of the system.

The structure and operation of the excavator using the distributed drive mechanism according to the present invention will be described with reference to FIG.

Figure 2 is a modeling of excavator operation using a distributed drive mechanism according to the present invention.

The meanings of the main notations shown in this figure are as follows.

F _p1 : force applied to the arm 221 by the boom cylinder 212

F _p2 : force applied to the arm slider joint 227 by the arm cylinder 222

F _B : bucket curling force of the bucket 240,

F _S : Excavation force (arm crowding force) generated in the bucket 240 by the rotation of the arm 221,

τ _S : torque generated in the arm joint 216

τ _B : torque generated in the bucket joint 226

θ _2: as with the arm joint (216) connecting point of the arm and the boom, the straight line (length r _S connecting the boom cylinder 212 and the arm 221, the boom cylinder joint 217, a connection point of the (The line indicated by the length d _S ) formed by the boom 211 and the line

Φ _2: straight line connecting the arm 221 and the bucket of the bucket and the point of connection (240) Joint (226) and the slider arm 224 (the length _B R Or x _B represented by a line), and the bucket connectors 230 and the bucket 240 and the connection point of the bucket connector joint 229 and the bucket line connecting the joint 226 (denoted by a length l ₂ lines )

x _S : Boom slider position parameter indicating the position of the boom slider 214 within the boom guide 213

x _B : arm slider position parameter indicating the position of the arm slider 224 in the arm guide 223

R _S : length of the boom guide 213

R _B : length of arm guide 223

First, referring to 200 and 250 of FIG. 2, the structure of the boom 211 will be described below.

One side of the boom 211 is connected to an excavator arm 221. One side of the boom cylinder 212 is connected to the boom 211 and the other side of the boom cylinder 212 is connected to the boom cylinder joint 217 And is connected to the arm 221 through a boom cylinder 212 and generates a rotating action of the arm 221 by the action of a boom cylinder 212. The boom cylinder 212 may be a hydraulic cylinder. A portion where the boom cylinder 212 is connected to the boom 211 can be connected through a boom cylinder connector 218 and a boom slider 214 as shown. The boom slider 214 can be moved back and forth in a boom guide 213 which is a linear path space of a predetermined length provided inside the boom 211 and can be moved in the same posture of the excavator, By adjusting the position x _S of the boom guide 213 in the boom guide 213, it is possible to further optimize the arm excavating force F _S.

The parameter for determining the excavating force (hereinafter referred to as "arm crowd force") F _s generated in the bucket by the rotary action of the arm is set so that the posture of the excavator during the excavation operation (Hereinafter referred to as " boom slider position parameter ") _xs indicating a position of the boom slider 214 in the boom guide 213 . The attitude parameter includes a female joint 216 as a connection point between the arm 221 and the boom 211 and a boom cylinder joint 217 as a connection point between the boom cylinder 212 and the arm 221. [ the straight line connecting the (r _s length indicated by the line), and the boom 211 is formed in a straight line (indicated by the length _s d-line) that may be forming engraved θ _2.

In addition to the cancer digging force F _s is calculated a value (x _s) the boom slider position parameter, a boom slider position parameter calculated value (x _s) such that the optimum value for a measurement value θ ₂ of the position parameters And a control unit for controlling the position of the boom slider 214. [

Next, the structure on the side of the arm 221 will be described with reference to 200 and 270 of FIG.

One side of the arm 221 is connected to an excavator boom 211 and a boom cylinder 212 by a female joint 216 and a boom cylinder joint 217, (240). The arm cylinder 222 has one side connected to the arm 221 at the arm cylinder joint 225 and the other side connected to the bucket 240 to generate a rotating action of the bucket 240. The arm cylinder 222 may be a hydraulic cylinder. The bucket connector 230 connects the other side 227 of the arm cylinder 222 with the bucket connector joint 229 to transmit the force of the arm cylinder 222 to the bucket 240. The arm slider 224 can be moved back and forth in an arm guide 223 which is a linear path space of a predetermined length provided inside the arm 221 and can be moved in the same posture of the excavator, By adjusting the position x _B in the arm guide 223 of the bucket, the buckling rotational excavation force F _B can be more greatly optimized. Here, the female cylinder connector 228 connects the female slider 224 and the female cylinder 222.

The parameters for determining the rotational excavating force F _B of the bucket include an attitude parameter that characterizes the attitude of the excavator during the excavation work and the arm guide 223 of the arm slider 224, (Hereinafter, referred to as a 'female slider position parameter') x _B within a predetermined range of the position of the slider. The attitude parameter includes a straight line (indicated by the length x _B ) connecting the bucket joint 226 and the arm slider 224, which is the connection point between the arm 221 and the bucket 240, 230) with the bucket 240 and the connection point of the bucket joint connector 229, and a straight line (line labeled with the length l ₂ for connecting the bucket joint 226) may be stamped Φ ₂ forms.

In addition, the arm according to the measurement values of the orientation parameters for the Φ _2, with the bucket rotated digging force F _B is calculated for the arm slider position parameters x _B such that the optimum value, the value of the arm slider position parameter calculation x _B And a control unit for controlling the position of the slider 224. [

The slider and the guide as described above may be present only in the boom 211 or only in the arm 221 or may be present in both the boom 211 and the arm 221. [

The formula for the above is as follows.

The torques τ _S and τ _{B applied} to the arm joint 216 and the bucket joint 226 are expressed by Equation (1).

From this, the arm excavating force F _S and the bucket rotary excavating force F _B are expressed by Equation (2).

here,

to be.

F _S and F _B from equations (2), (3) and (4)

As shown in FIG.

Here, θ ₂ and φ ₂ , and x _S and x _B have been described in detail above.

Also, in one embodiment,

.

3 is a simulation result showing an excavating force optimized in an excavator using a dispersion drive mechanism according to the present invention.

Table 310 shows various parameters used in the simulation. ? ₂ and? ₂ were increased between 50 and 90 degrees, respectively.

In the simulation result graphs 320 and 330, the red line is the result of the conventional excavator, and the blue line is the result of the present invention, which shows that the optimum excavating force can be obtained by adjusting the posture and the slider position. According to the figure, the improvement was 112% for F _S and 172% for F _B. According to the present invention, as a result of applying the dispersion drive mechanism using the guide and the slider as in the present invention, it is possible to effectively secure a larger excavation force without using a very large cylinder.

4 is a flowchart showing an embodiment of an excavator control method using a dispersion drive mechanism according to the present invention.

This will be described below with reference to FIG. 2 and FIG.

The excavator of the present invention may have only the guide 221 and the slider structure in the boom 211 or only the arm 221 and may have both the boom 211 and the arm 221. [ If there is only one of them, step S400 may not be required in the following.

First, in the case of controlling the bucket turning excavating force F _B to an optimum value (S400), an attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator under excavation work is measured (S411). The attitude parameter includes a straight line (indicated by the length x _B ) connecting the bucket joint 226 and the arm slider 224, which is the connection point between the arm 221 and the bucket 240, ) and the bucket (240) and a connection point of the bucket joint connector 229 and the bucket line connecting the joint 226 (line labeled with the length l ₂₎ this may be a forming stamp Φ _2. With respect to the measured position parameter Φ _2, and calculates the bucket rotation digging force F _B is, rock guide 223, a value indicating the position of the female slider 224 in the arm slider position parameters x _B such that the optimum value (S412). The position of the arm slider 224 is controlled according to the calculated arm slider position parameter value (S413).

In addition, when it is desired to control the bucket's arm excavating force F _S to an optimum value (S400), an attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator under excavation work is measured (S421). At this time, the attitude parameter includes an arm joint 216, which is a connection point between the arm 221 and the boom 211, and a boom cylinder joint 216, which is a connection point between the boom cylinder 212 and the arm 221, this can be engraved θ ₂ forming the 217 line (line length denoted by r _s) for connecting the said boom (211) is formed in a straight line (indicated by the length _s d line) to. The boom slider position parameter value x _S which is a value indicating the position of the boom slider 214 in the boom guide 213 is calculated so that the arm excavating force F _S becomes an optimum value for the measured attitude parameter? ₂ S422). The position of the boom slider 214 is controlled in accordance with the calculated boom slider position parameter value x _S (S423).

211: boom
212: boom cylinder
213: Boom guide
214: boom slider
215: Boom slider joint
216: arm joint
217: Boom cylinder joint
218: Boom cylinder connector
221: arm
222: arm cylinder
223: arm guide
224: arm slider
225: female cylinder joint
226: bucket joint
227: female slider joint
228: Female cylinder connector
229: bucket connector joint
230: Bucket connector
240: Bucket

Claims (11)

As an excavator using a distributed drive mechanism,
One side is connected to an excavator boom and a boom cylinder, the other side is connected to a bucket;
An arm cylinder connected to the arm on one side and connected to the bucket to generate a rotating action of the bucket;
An arm guide which is provided in the arm and is a linear path space of a predetermined length;
An arm slider moving back and forth in the arm guide;
An arm cylinder connector connecting the arm slider and the arm cylinder;
A bucket connector for transmitting the force of the arm cylinder to the bucket by connecting the bucket to the other side of the arm cylinder;
Wherein the excavator comprises a plurality of excavators. The method according to claim 1,
The parameter for determining the rotational excavation force of the bucket includes:
An attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator during excavation work; And
(Hereinafter referred to as 'arm slider position parameter') indicating the position of the arm slider in the arm guide,
/ RTI >
A controller for calculating the arm slider position parameter value for causing the bucket turning excavator force to be an optimal value for the measurement value of the attitude parameter and for controlling the position of the arm slider according to the calculated arm slider position parameter value,
Further comprising
Wherein the excavator is mounted on the excavator. The method of claim 2,
The attitude parameter
A straight line connecting the bucket joint and the arm slider, which is a connection point between the arm and the bucket,
A straight line connecting the bucket connector joint, which is a connection point between the bucket connector and the bucket,
An imprint of this
Wherein the excavator is mounted on the excavator. As an excavator using a distributed drive mechanism,
A boom having one side connected to an excavator arm;
A boom cylinder having one side connected to the boom and the other side connected to the arm to generate rotational action of the arm;
A boom guide provided inside the boom, the boom guide being a linear path space of a predetermined length;
A boom slider moving back and forth in the boom guide;
A boom cylinder connector for connecting the boom cylinder and the boom slider
Wherein the excavator comprises a plurality of excavators. The method of claim 4,
The parameter for determining the excavating force (hereinafter referred to as 'arm crowding force') generated in the bucket by the rotation of the arm is,
An attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator during excavation work; And
A value indicating a position of the boom slider in the boom guide (hereinafter, referred to as 'boom slider position parameter'),
/ RTI >
A controller for calculating the boom slider position parameter value for causing the arm excavating force to be an optimum value for the measurement value of the attitude parameter and for controlling the position of the boom slider according to the calculated boom slider position parameter value,
Further comprising
Wherein the excavator is mounted on the excavator. The method of claim 5,
The attitude parameter
A straight line connecting a boom cylinder joint which is a connection point between the boom cylinder and the arm,
The straight line formed by the boom
An imprint of this
Wherein the excavator is mounted on the excavator. An excavator control method using a distributed drive mechanism,
(a) measuring an attitude parameter that characterizes the attitude of the excavator at a specific time point taken by the excavator under excavation;
(b) calculating a slider position parameter value that is a value indicating a position of the slider in the guide so that the excavating force becomes an optimum value with respect to the measured attitude parameter; And
(c) controlling the position of the slider according to the calculated slider position parameter value
Wherein the excavator is driven by the excavator. The method of claim 7,
If the excavating force of the step (b) is the rotary excavating force of the excavator bucket,
The attitude parameter
A straight line connecting the bucket joint and the arm slider, which is a connection point between the arm and the bucket,
A straight line connecting the bucket connector joint, which is a connection point between the bucket connector and the bucket,
Respectively,
The slider
An arm slider which moves back and forth in an arm guide which is a linear path space of a predetermined length provided inside an excavator arm
Wherein the excavator is driven by a drive motor. The method of claim 8,
The bucket turning excavator force

, ≪ / RTI >

,

Wherein the excavator is driven by the excavator. The method of claim 7,
If the excavating force of the step (b) is the excavating force (hereinafter referred to as 'arm crowding force') generated in the bucket by the force of the excavator arm pushing the bucket,
The attitude parameter
A straight line connecting a boom cylinder joint which is a connection point between the boom cylinder and the arm,
The straight line formed by the boom
Respectively,
The slider
A boom slider which moves back and forth in a boom guide which is a linear path space of a certain length provided inside an excavator boom
Wherein the excavator is driven by a drive motor. The method of claim 10,
The arm-

, ≪ / RTI >

Wherein the excavator is driven by the excavator.

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