KR20230126103A - A construction machine and an attachment control method of the construction machine - Google Patents

Abstract

Disclosed are a construction machine and an attachment controlling method of the construction machine. According to the present embodiment, the controlling method is improved to ensure stable operation of attachment. Therefore, a shock transmitted to the construction machine is reduced and convenient manipulation of a driver is promoted. The attachment controlling method of the construction machine of the present invention comprises: a first implementing step; a first determining step; a second determining step; and a second implementing step.

Description

Construction machine and attachment control method of the construction machine {A construction machine and an attachment control method of the construction machine}

The present embodiment is for carrying out stable work of an attachment, and more particularly, relates to a construction machine and a method for controlling the attachment of the construction machine.

In general, among construction machines, an excavator is a construction machine that performs tasks such as excavation work of digging the ground at civil engineering, construction, and construction sites, loading work of transporting soil, crushing work of dismantling buildings, and ground clearance work of arranging the ground. says

The excavator is configured to include a traveling body that serves to move the equipment, an upper swing body mounted on the traveling body and rotating 360 degrees, and an attachment for work.

The attachment is used by being mounted on an excavator according to the condition of the soil and rock, the type and use of work. The type of the attachment is variously composed of a bucket, a breaker, a crusher, a drill, tongs, and the like.

The attachment can be exchanged and used in various ways according to the situation of the construction site. Typically, the bucket is in charge of general excavation and soil transport, the breaker crushes hard ground and rocks, and the crusher is used for dismantling and crushing buildings do.

In this way, various attachments for excavators are applied to almost all construction work, and are effectively used in the right place in construction work such as burying a drain, burying a pipe, digging a building foundation, and loading soil.

When working using an attachment in a conventional excavator used as described above, vibration and shock inevitably occur because the ground is dug, cut, and drilled.

Conventionally, in order to operate the attachment, an operator riding on an excavator individually operates the attachment using a system input device such as a joystick button, a joystick thumbwheel, or a pedal.

At the same time, various work operations have been performed because the attachment must be operated while simultaneously operating the work unit (boom, arm, bucket, etc.).

At the same time, complexity for operation also increases, requiring high concentration of the driver and requiring time for skilled work. In this case, when the driver performed a long-term, high-complexity task on the excavator, his concentration decreased and fatigue occurred.

In addition, unintended operation mistakes may occur as the driver directly operates the vehicle. For example, when using a hydraulic breaker, if the object to be hit is not kept flat on the floor, if the object is not properly pressed, if the object to be hit is split by hitting, or if the user's operation is mistaken without the object to be hit in the air occurs.

In this case, some hydraulic breaker manufacturers produce and sell excavators with a built-in anti-running function. If the excavator has an empty hitting prevention function, in order to arbitrarily turn on or off the empty hitting prevention function, the hydraulic breaker body can be turned on or off by working on it, but it is practically difficult to perform this frequently. there was a point

For example, when an empty hit occurs during an excavator operation, in the case of a hydraulic breaker, a shock may occur to the head of a chisel, which may adversely affect durability.

As such, the vibration and shock generated in the attachment work are transmitted from the arm to the boom, thereby reducing the lifespan of the connection part between the arm and the attachment and the connection part between the arm and the boom.

In addition, fatigue felt by the driver may increase, musculoskeletal disorders may be induced, or shock may be transmitted to the entire excavator, and thus durability may deteriorate overall.

Korean Registered Patent No. 10-0969342

In the present embodiments, when a driver operating a construction machine sets a work mode through a dashboard or a joystick and then contacts an attachment to an object to be hit, the attachment automatically operates without additional manipulation by the driver.

In addition, the present embodiment is intended to provide a method for controlling an attachment of a construction machine that can automatically stop the operation of an attachment in a situation where an empty hit can occur.

A method for controlling an attachment of a construction machine according to the present embodiment includes a first step of setting an attachment work by a driver riding the construction machine; A second step of determining a state of a boom provided in the construction machine after the attachment work setting is set; A third step of determining whether the boom cylinder pressure is within a preset first set pressure; and a fourth step in which the attachment is operated when all of the second to third steps are satisfied.

A fifth step of reconfirming whether or not the boom is lowered and whether a predetermined second set pressure is changed simultaneously with the operation of the attachment; and a sixth step of determining whether or not the attachment is continuously operated according to whether or not the fifth step is satisfied.

The first step includes a breaker mode selection step in which the driver selects whether to perform a breaker operation during the attachment operation.

The first step may further include selecting an empty hitting prevention mode to stop the attachment work when an empty hit occurs during the attachment work.

The first step further includes an attachment sensitivity setting step of setting sensitivity according to an attachment work operation.

In the setting of attachment sensitivity, pressure values of the first set pressure and the second set pressure are adjusted to an arbitrary pressure value within an adjustment range from a minimum value to a maximum value.

In the second step, when the driver manipulates the joystick to lower the boom, whether or not the boom is lowered is determined by detecting a change in pilot pressure transmitted through a proportional valve.

In the second step, whether or not the boom descends is determined by detecting a variation value of an electric signal generated by manipulation of an electronic joystick.

The first set pressure of the third step corresponds to a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head when the boom provided in the construction machine is lowered, and applied to the boom cylinder head A pressure value excluding the pressure applied to the boom cylinder rod from the losing pressure is measured as a pressure value smaller than the first set pressure.

The fourth step is characterized in that the breaker operation is automatically performed without additional manipulation by the driver.

In the fifth step, the second set pressure corresponds to a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head according to the breaker operation, and the pressure applied to the boom cylinder head to the boom cylinder rod As for the pressure value excluding the applied pressure, a pressure value greater than the second set pressure is measured.

In the sixth step, when the driver selects both the breaker work mode and the empty hit prevention mode as On, and the second step or the third step is not satisfied, the driver intervenes in the operation for executing the attachment work. Also, the execution of the attachment job is automatically stopped.

The construction machine according to the present embodiment includes an input unit for setting the execution of a work of an attachment; A sensor for detecting whether or not the boom provided in the construction machine is lowered, the pressure fluctuation state applied to the boom cylinder, and whether or not the driver manipulates; and a control unit receiving the setting signal of the input unit and the signal of the detection unit and controlling the operation execution of the attachment.

The control unit is characterized in that the control unit turns on or off the driving of the attachment only when the boom descends and the pressure of the boom cylinder satisfies a preset set pressure.

The input unit is characterized in that it consists of any one or a plurality selected from among a boom joystick for operating a boom joystick or a button unit made up of a plurality of buttons or an instrument panel input unit provided to input the work setting of the attachment.

The sensing unit includes a first pressure sensor installed in the boom cylinder head; a second pressure sensor installed on the boom cylinder rod; In order to detect whether the boom cylinder is actually lowered, a joystick detection sensor for receiving an electronic signal according to joystick operation is included.

The control unit may determine whether or not the attachment can work based on the signal of the sensing unit.

In the present embodiments, the attachment work can be performed automatically without the driver additionally performing a separate button or operation for the attachment operation, thereby reducing the driver's fatigue and performing the work safely.

In the present embodiments, the empty hitting prevention function can be stably implemented without mounting additional parts having the empty hitting prevention function to the construction machine, so that the choice of attachments is widened.

The present embodiments minimize the occurrence of empty hits during work, thereby reducing the impact transmitted to the boom, arm, and pump system, thereby improving the durability of the construction machine.

1 is a view showing a construction machine to which the attachment control method according to the present embodiment is applied as an example.
2 is a flow chart illustrating an attachment control method according to this embodiment.
3 is a diagram illustrating an input unit according to the present embodiment as an example;
4 is a flowchart illustrating a breaker mode by the attachment control method according to the present embodiment.
5 is a flowchart illustrating an empty hitting prevention mode of the attachment control method according to the present embodiment.
6 is a diagram showing the configuration of a construction machine according to the present embodiment.

Advantages and features of the present disclosure, and methods of achieving them, will become clear with reference to embodiments described below in detail in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the present embodiments make the disclosure of the present disclosure complete, and common knowledge in the art to which the present disclosure belongs. It is provided to fully inform the person who has the scope of the disclosure, and the disclosure is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

A component is said to be "connected to" or "coupled to" another component when it is directly connected or coupled to the other component or through another component in between. include all cases. On the other hand, when one component is referred to as “directly connected to” or “directly coupled to” another component, it indicates that another component is not intervened. “And/or” includes each and every combination of one or more of the recited items.

Terminology used herein is for describing embodiments and is not intended to limit the present disclosure. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used in the specification, "comprises." and/or "comprising" does not preclude the presence or addition of one or more other elements, steps, operations and/or elements.

Although first, second, etc. are used to describe various constituent elements, these constituent elements are not limited by these terms, of course. These terms are only used to distinguish one component from another.

In the attachment control method of the construction machine according to the present embodiment, the attachment can be automatically operated along with the driver's easy setting for the attachment work. In addition, when an empty hit occurs during the operation of the attachment, the attachment work is automatically stopped to extend the life of the connection part between the arm and the boom, prevent a decrease in durability of the entire excavator, and minimize fatigue transmitted to the operator.

The construction machine according to the present embodiment is described by being limited to an excavator as an example, but other types of construction machines may also be used. For reference, FIG. 1 is a diagram showing a construction machine to which the attachment control method according to the present embodiment is applied as an example, FIG. 2 is a flowchart illustrating the attachment control method according to the present embodiment, and FIG. 3 is a diagram according to the present embodiment It is a drawing showing an input unit as an example, and FIG. 4 is a flowchart illustrating a breaker mode by the attachment control method according to the present embodiment.

1 to 4, in the construction machine according to the present embodiment, an upper swing body 2 is pivotably mounted on a lower carriage 1, and a driver rides on the upper swing body 2. and includes a front working mechanism 4 together with a driver's cab 3 for operation.

The front working mechanism 4 includes a boom 5 provided to enable lowering and raising operations on the upper swing body 2 and an arm 6 rotatably connected to the tip of the boom 5 in the vertical direction , and an attachment is detachably attached to the front end of the arm (6).

In addition, the boom 5 is provided with a boom cylinder 10 enabling rotational operation and an arm cylinder 11 for rotational operation of the arm 6 .

The attachment may include, for example, a bucket, which is suitable for excavating soil, and in addition to the bucket, there are various things such as a breaker, a crusher, a wood grab, and an auger, An optimal attachment may be attached to the arm 6 according to the type of specific work to be performed.

On the other hand, a breaker 7 is attached to the front end of the arm 6 as an attachment to crush objects such as large rocks or concrete lumps.

The breaker 7 is provided with a chisel 7a made of a steel bar having a narrow end, and the chisel 7a is driven by the operation of the breaker cylinder 7b.

The breaker 7 is supplied to the breaker cylinder 7b of the breaker 7 through a hydraulic control valve after the oil stored in the hydraulic tank is transferred by a hydraulic pump, so that the chisel 7a reciprocates and the object to be shredded It is operated to crush by hitting on.

This embodiment is a first step (ST100) in which a driver riding a construction machine sets an attachment work to control an attachment provided in a construction machine operated as described above, and after the attachment work setting is set A second step (ST200) of determining the state of a boom provided in the construction machine, a third step (ST300) of determining whether the boom cylinder pressure is within a preset first set pressure, and the second to third When both steps ST200 and ST300 are satisfied, a fourth step ST400 in which an attachment operation is performed is included.

And, at the same time as the attachment operation, the fifth step (ST500) of reconfirming whether the boom is lowered and whether or not the second set pressure (P2) is changed, and the attachment is continuously operated according to whether or not the fifth step (ST500) is satisfied A sixth step (ST600) of determining presence or absence is included.

In the first step (ST100), the driver may perform an input through the input unit 100 provided for executing an attachment job.

For example, the input unit 100 may be provided on a dashboard of a construction machine or at a separate location, and may be configured in a touch type, button type, or other method.

Most preferably, the input unit 100 may be provided on the instrument panel, but it may be possible to use an electronic joystick operated by a driver's hand manipulation or other components operated similarly thereto.

The input unit 100 can be easily activated or deactivated by the driver, thereby improving operational convenience. In addition, when an electronic joystick is used, the accuracy and sensitivity of wheel manipulation are more accurately and easily controlled, thereby improving convenience.

In the first step (ST100), it is possible to select whether or not to execute the breaker operation through the breaker mode selection step (ST110) of selecting whether or not to execute the breaker operation among the attachment operations.

Also, in the first step (ST100), the driver may select an empty hitting prevention mode step (ST120) for stopping the attachment work when an empty hit occurs during the attachment work together with the aforementioned breaker mode selection step (ST110).

In the breaker mode selection step (ST110), convenience is improved because the driver can conveniently set an on or off state through the input unit 100 by hand manipulation.

In the empty driving prevention mode step (ST120), it is possible to easily prevent empty driving through control of the existing hydraulic circuit line without installing an additional empty driving prevention unit in the construction machine, thereby improving the durability of the construction machine and reducing operator fatigue. reduction and driver's operating convenience can be improved at the same time.

This embodiment, together with the above-described embodiment, further includes an attachment sensitivity setting step (ST130) of setting the sensitivity according to the attachment work operation.

In the attachment sensitivity setting step (ST130), for example, the driver can conveniently manipulate the attachment by hand manipulation in a range from low sensitivity to high sensitivity, so convenience and maneuverability can be improved at the same time.

Here, the meaning of sensitivity is to adjust the range of the first and second set pressures (P1. P2). For example, when set to a low sensitivity, when the chisel is in contact with the material to be ground at a low pressure, it does not operate and relatively This means that the attachment works only when it is pressurized.

In addition, when set to high sensitivity, it means that the attachment operates even when the chisel is in contact with the object to be pulverized at a low pressure.

In the attachment sensitivity setting step, the pressure values of the first set pressure P1 and the second set pressure P2 are adjusted to an arbitrary pressure value within an adjustment range from a minimum value to a maximum value. A detailed description of the first set pressure P1 and the second set pressure P2 will be described later.

The second step (ST200) is to determine whether the boom is actually lowered. When the driver operates the joystick to lower the boom, the boom is lowered by detecting a change in pilot pressure transmitted through a proportional valve. existence can be determined.

Through this, it is possible to accurately determine whether the boom actually descends.

Whether or not the boom actually descends can be checked through the operation value of the electronic joystick in the case of FEH (Full Electric Hydraulic).

In addition, in the case of an electro-hydraulic system using VBO (Virtual Bleed Off), the descent of the boom can be checked through the pilot hydraulic pressure value.

In addition, by adding a means for measuring the pressure to the pilot pressure line for the boom down direction, it is possible to receive an input on whether or not the boom is going down.

In the second step (ST200), it is possible to determine whether or not the boom descends by detecting a variation value of an electric signal generated by manipulation of an electronic joystick.

As described above, the electronic joystick is advantageous for the driver to more accurately and precisely operate the operation of the construction machine through hand manipulation and the operation for detailed work. In this case, whether or not the boom is descending can be accurately determined.

The first set pressure P1 of the third step ST300 corresponds to a pressure value obtained by subtracting the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head when the boom provided in the construction machine descends. . That is, a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head is measured as a pressure value smaller than the first set pressure P1.

In the third step (ST300), it can be confirmed whether the attachment is in contact with the ground or the target, and the first pressure (P1) may be set to 10 Bar, for example, but may also be changed to other pressures.

In the fourth step (ST400), when the second to third steps (ST200 and ST300) are all satisfied, the actual construction machine performs the breaker work, and the breaker work is automatically performed without additional manipulation by the driver. That is, when it is determined that the boom is descending, the breaker operation is performed immediately.

In the fifth step (ST500), the second set pressure corresponds to a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head according to the breaker operation, and the pressure applied to the boom cylinder head corresponds to the boom As for the pressure value excluding the pressure applied to the cylinder rod, a pressure value greater than the second set pressure P2 is measured.

The second set pressure (P2) is set to 45Bar ~ 50Bar as the pressure applied to the boom cylinder while the actual breaker operation is performed, but may also be set to a larger pressure value.

In this embodiment, the breaker operation continues when both the second set pressure P2 and whether or not the boom is lowered are satisfied.

In the sixth step (ST600), when the second set pressure P2 is different from the above-described pressure or when the boom is raised without descending, the attachment operation is controlled to stop, and when satisfied, the operation of the attachment is maintained.

Referring to FIG. 5 attached, this embodiment corresponds to a case in which the driver selects both the breaker operation mode and the empty hit prevention mode to be On among the above-described embodiments.

The empty hitting prevention mode is selected to prevent an impact transmitted to the construction machine due to a user's operation error when the target is missed, the object to be hit is split by the blow, or the attachment is in the air.

The driver selects anti-balling through the input unit, adjusts the sensitivity to a specific position, and sets it (ST110).

When the driver manipulates the electronic joystick to lower the boom, a change in pilot pressure is detected and whether or not the boom is lowered is determined (ST200).

When the first set pressure P1 is satisfied when the boom descends (ST300), it may be determined whether the attachment is in contact with the ground or a target.

In this embodiment, even when the driver arbitrarily operates the attachment (ST350) and the attachment is operated (ST400), the second set pressure (P2) and whether or not the boom is lowered meet the preset set values only (ST500). Attachment work continues.

If the boom does not descend or if the second set pressure (P2) is different from the preset pressure, it is determined that the attachment work is not proceeding any further, and the driver additionally intervenes in the operation for executing the attachment work. The attachment job execution is automatically stopped.

That is, the operation of the hydraulic pump is stopped regardless of the driver's operation, and the hydraulic control valve does not supply hydraulic pressure to the attachment, so the attachment work is stopped (ST600).

Therefore, durability deterioration due to impact and malfunction applied to the construction machine is prevented.

A construction machine to which the attachment control method according to the present embodiment is applied will be described with reference to the drawings.

Referring to FIG. 6 attached, the construction machine according to the present embodiment automatically operates without additional manipulation of the driver by sensing data sensed by the sensing unit 200 when the driver sets the work mode through the input unit 100 to be described later. You can work on attachments with .

In addition, in this embodiment, in a situation in which empty hitting can occur due to data input through the sensor 200, the prevention of empty hitting is stably performed, thereby preventing work stoppage due to failure by increasing the durability and lifespan of the construction machine. It can be prevented.

To this end, the construction machine according to the present embodiment includes an input unit 100 for setting the operation of the attachment, the presence or absence of the descent of the boom provided in the construction machine, the state of pressure fluctuation applied to the boom cylinder, and the presence or absence of operator manipulation. It includes a sensing unit 200, a control unit 300 that receives the input unit 100, a setting signal of the input unit 100, and a signal from the sensing unit 200 and controls the execution of the attachment.

For the input unit 100, for example, an instrument panel input unit 102 is provided in front of the driver's seat of the construction machine to input work settings of the attachment. The instrument panel input unit 102 is provided at a location where a general instrument panel is installed, but may be located in a different location.

The input unit 100 includes a button unit 104 composed of a plurality of buttons as a separate or additional configuration from the instrument panel input unit 102 described above. The button unit 104 may include buttons or levers for setting an empty hit prevention mode, a break mode, and sensitivity required for attachment work.

In addition, the input unit 100 may use a boom joystick for manipulating the boom, and the type of joystick may be variously changed when an electronic joystick is used, but is not particularly limited and an attachment work setting is possible.

The input unit 100 is composed of one or a plurality of input units selected from the instrument panel input unit 102, the button unit 104, or the boom joystick 106, and is not limited to the above-described configuration and can be variously changed to input the driver's convenience. can

The input unit 100 can be used by turning on or off by the driver, and can be configured to additionally change a set value. Also, the input unit 100 may be configured to be activated or deactivated by a driver.

The anti-balling mode is configured to select On or Off, and the sensitivity setting ranges from low sensitivity to high sensitivity, so that the driver can select it arbitrarily.

When the input unit 100 is configured in this way, it is easy to select even for non-skilled drivers, and it is possible to safely operate even when various fluctuations occur according to the attachment work, so it is easy to use and the impact applied to the construction machine is reduced. reduced to improve durability.

The sensing unit 200 includes, for example, a first pressure sensor 202 installed on the boom cylinder head, a second pressure sensor 204 installed on the boom cylinder rod, and a joystick to detect whether the boom cylinder is actually lowered. It includes a joystick detection sensor 206 that receives electronic signals according to operation.

For example, the first pressure sensor 202 is configured to sense the pressure applied to the boom cylinder head, and the second pressure sensor 204 is configured to sense the pressure applied to the boom cylinder rod.

The joystick detection sensor 206 is provided to detect an electronic signal corresponding to the operation of the boom joystick 106 by the driver. When the joystick detection sensor 206 is provided in the construction machine, it is possible to perform accurate work according to the driver's manipulation, so that a stable working state is maintained.

The joystick operation is performed by the operator and corresponds to when the boom is lowered for attachment work.

In this embodiment, a pressure sensor may be directly installed on the boom lowering spool pilot line to detect boom lowering, or a signal value according to manipulation may be detected through an electronic joystick.

In this way, when detecting whether or not the joystick signal or the boom cylinder is lowered, it is possible to accurately detect whether or not the attachment work is actually performed, thereby improving accuracy.

For example, when the pressure of the boom cylinder is sensed, whether the chisel is in direct contact with the ground or the object to be crushed can be accurately detected as a pressure fluctuation state.

In this way, the detection unit 200 detects whether or not the boom is descending and detects the pressure fluctuation state of the boom cylinder, detects whether the actual boom is in use for attachment work, and transmits it to the control unit 300.

For reference, the pressure applied to the boom cylinder when the boom is lowered is defined as the first set pressure (P1), and the pressure applied to the boom cylinder when the attachment operation is performed is defined as the second set pressure (P2), and the sensor In (200), the first set pressure (P1) and the second set pressure (P2) are detected and transmitted to the control unit (300).

The control unit 300 controls the driving of the attachment to be turned on or off only when the boom descends and the pressure of the boom cylinder satisfies a preset set pressure.

The control unit 300 determines whether or not the attachment can work based on the signal of the detection unit 200 .

For example, the control unit 300 controls the operation of the hydraulic control valve 400 (Main control valve) that controls the operation of the attachment through stroke control according to the pilot pressure transmitted through the proportional control valve 20 to control the attachment ( 50) controls whether or not oil is supplied.

The controller 300 operates the attachment only when the boom is lowered and the first and second set pressures P1 and P2 satisfy the preset set pressure.

The control unit 300 controls the progress or stop of operation of the above-described attachment 500 through valve control of the proportional control valve 20 .

The controller 300 may control oil stored in the hydraulic tank 30 to be supplied to the hydraulic control valve 400 through the hydraulic pump 40 .

In the above, one embodiment of the present invention has been described, but those skilled in the art can add, change, delete, or add components within the scope not departing from the spirit of the present invention described in the claims. The present invention can be variously modified and changed by the like, and this will also be said to be included within the scope of the present invention.

100: input unit
200: sensing unit
300: control unit
400: hydraulic control valve

Claims (17)

A first step of setting an attachment work by a driver riding the construction machine;
A second step of determining a state of a boom provided in the construction machine after the attachment work setting is set;
A third step of determining whether the boom cylinder pressure is within a preset first set pressure; and
Attachment control method for a construction machine comprising a fourth step in which the attachment is operated when all of the second to third steps are satisfied. According to claim 1,
A fifth step of reconfirming whether or not the boom is lowered and whether a predetermined second set pressure is changed simultaneously with the operation of the attachment; and
A sixth step of determining whether or not the attachment is continuously operated according to whether or not the fifth step is satisfied. According to claim 1,
The first step is an attachment control method for a construction machine comprising a breaker mode selection step in which the driver selects whether to perform a breaker operation during the attachment operation. According to claim 1,
The first step further comprises a step of selecting an empty hitting prevention mode for stopping the attachment work when empty hitting occurs during attachment work. According to claim 1,
The first step further comprises an attachment sensitivity setting step of setting sensitivity according to an attachment work operation. According to claim 2,
Wherein the attachment sensitivity setting step adjusts the pressure values of the first set pressure and the second set pressure to an arbitrary pressure value in an adjustment range from a minimum value to a maximum value. According to claim 1,
In the second step, when the driver operates the joystick to lower the boom, the attachment control method of a construction machine for determining whether the boom is lowered by detecting a change in pilot pressure transmitted through a proportional valve. According to claim 1,
The second step is an attachment control method for a construction machine for determining whether or not the boom is descending by detecting a change value of an electric signal generated by manipulation of an electronic joystick. According to claim 1,
The first set pressure of the third step corresponds to a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head when the boom provided in the construction machine is lowered, and applied to the boom cylinder head Attachment control method of a construction machine in which a pressure value other than the pressure applied to the boom cylinder rod from the losing pressure is measured as a pressure value smaller than the first set pressure. According to claim 1,
The fourth step is an attachment control method for a construction machine in which a breaker operation is automatically performed without additional manipulation of the driver. According to claim 2,
In the fifth step, the second set pressure corresponds to a pressure value excluding the pressure applied to the boom cylinder rod from the pressure applied to the boom cylinder head according to the breaker operation, and the pressure applied to the boom cylinder head to the boom cylinder rod A pressure value excluding the applied pressure is an attachment control method for a construction machine in which a pressure value greater than the second set pressure is measured. According to claim 2,
In the sixth step, when the driver selects both the breaker work mode and the empty hit prevention mode as On, and the second step or the third step is not satisfied, the driver intervenes in the operation for executing the attachment work. Attachment control method of a construction machine in which the execution of the attachment work is automatically stopped. an input unit for setting task execution of the attachment;
A sensor for detecting whether or not the boom provided in the construction machine is lowered, the pressure fluctuation state applied to the boom cylinder, and whether or not the driver manipulates; and
A construction machine comprising a control unit receiving the setting signal of the input unit and the signal of the sensing unit and controlling execution of a task of the attachment. According to claim 13,
The control unit controls the drive for the attachment to be turned on or off only when the boom is lowered and the pressure of the boom cylinder satisfies a preset set pressure. According to claim 13,
The input unit is a construction machine, characterized in that consisting of any one or a plurality selected from the instrument panel input unit provided to input the work setting of the attachment, a button unit consisting of a plurality of buttons, or a boom joystick for manipulating the boom. According to claim 13,
The sensing unit includes a first pressure sensor installed in the boom cylinder head;
a second pressure sensor installed on the boom cylinder rod;
Construction machine including a joystick detection sensor that receives an electronic signal according to joystick operation to detect whether the boom cylinder is actually lowered According to claim 13,
The control unit determines whether the attachment can work based on the signal of the sensing unit, characterized in that the construction machine

Images