KR910009258B1 - Auto controller and method of digger - Google Patents

Abstract

The excavator controller computes target positions of working equipments-e.g. a boom, a deeper stick, a bucket- already remoried in a micro-processor, and actuates cylinders corresponding to the working equipments by turning on an operation switch after inputing work angles on the soil preparation. The controller comprises an operation lever (3) connected to a first I/O interface (6) through a first data selection circuit (5) of the microprocessor (4), an actuating part (7) connected on a second I/ O interface (9) through a first D/A convertor (8), an operation switch (10)/ a mode selection switch (11)/ a function selection switch (12) connected to a third I/O interface (13) and an angle sensor part (15) connected to the first I/O interface (6).

Description

Automatic control device for excavator stop operation and its automatic control method

1 is a block diagram of an automatic control apparatus according to the present invention,

2 is a block diagram of a microprocessor of an automatic control apparatus according to the present invention;

3 is a flowchart showing the operation of FIG.

* Explanation of symbols for the main parts of the drawings

1 lever 2 pedal

3: between adjustment 4: microprocessor

7: drive unit 10: work execution switch

11: Mode selector switch 12: Function selector switch

17: flow control pump 15: angle detection unit

18: swash plate control mechanism 20: working angle switch

22: control valve S ₁ ~ S ₆ : sensor

[Industrial use]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic control device for a stop operation of an excavator, and in particular, a work execution switch for inputting a working angle (eg, horizontal; 0 °, vertical; 90 °) for a desired stop operation during a stop operation. When turned on, the microprocessor calculates each target position of the pre-stored work tools (buoys, dipsticks, buckets) and automatically activates each actuator (cylinder) of the work tools to the set working angle with respect to the ground. An automatic control apparatus for a stopped operation of an excavator, and an automatic control method thereof.

[Traditional Technology and Problems]

In general, an excavator using hydraulic power as a power source is a plurality of actuators (hereinafter referred to as actuators), that is, a swing motor pivoting an upper frame with respect to a lower frame, a driving motor, and a boolean cylinder which is a working part, Equipped with a differential cylinder, a bucket cylinder, and so on, the driver can operate a variety of operations such as excavation, stopping, loading and unloading operations by operating an operation lever or a pedal for operating these actuators.

However, in performing the various operations as described above, the driver is required to operate the actuator lever / pedal of the actuator at the same time by hand or foot, requiring highly skilled driving skills and careful attention, for example, stopping the ground. In the case of heavy work, the driver first operates the bucket cylinder operating lever to close the tip or bottom of the bucket to the stationary work surface, and then operates the differential cylinder, the boom cylinder or the swing motor or the traveling motor. In this case, the other side of the bucket or pour cylinder is operated by operating the bucket cylinder or the boom cylinder operating lever with the left or right hand so as not to be spaced apart from the tip or bottom of the bucket on the stationary work surface. Two or more actuator control levers can be operated by operating the lever / pedal at the same time. The driver's highly skilled driving skills and careful attention are required due to the simultaneous operation of the burr / pedal, and as a result, if the work is continued for a long time, the operation fatigue accumulates and the operation lever / pedal of the actuator is not efficient. There was a problem that the operation operation operation is difficult due to the simultaneous operation of.

[Purpose of invention]

The present invention has been invented in view of the above, and according to the operation of the operation lever / pedal of the differential cylinder-type swing motor of an excavator, the bucket cylinder or the pour cylinder is always in close contact with the stationary work surface. It is an object of the present invention to provide an automatic control device for the stop operation of an excavator and an automatic control method thereof, which are automatically controlled to reduce the operation fatigue and improve the work efficiency due to the simple operation of the stop operation.

[Configuration of Invention]

In order to achieve the above object, the present invention provides an automatic stop operation control apparatus for an excavator for performing a stop operation by using a microprocessor (4) comprising a data selection circuit unit, an analog / digital conversion unit, and a latch unit. (3) is connected to the first input / output interface (6) via the first data selection circuit section (5) of the microprocessor (4), and the driving section (7) is connected to the first digital / analog converter (8). 2 is connected to the input and output interface 9, the work execution switch 10, the mode selection switch 11 and the function selection switch 12 is connected to the third input and output interface 13, each of the angle detection unit 15 The sensors S ₁ to S ₆ are connected to the first input / output interface 6 via the second data selection circuit 16, and the swash plate control mechanism 18 of the flow control pump 17 is connected to the second digital / analog conversion. Decoder 22 connected to section 19 and connected to memories 14a, 14b, 14c, 14d. The first, second, third, is connected to the input-output interface (6,9,13), it characterized in that the spaced-apart from the front end to prevent or stop the bottom portion side of the bucket operation at stop operation can be controlled.

In addition, the present invention is to select the standard function operation by placing the selection mode switch 11 in the standard function operation mode (FUNCTION) (step S1), and to perform the horizontal stop operation according to the selection of the function selection switch 12. Inputting a function selection signal for a function (step S2), adjusting a work angle switch 20 to input a desired work tilt angle θc (step S3), and calculating a function signal according to the work tilt angle θc. Step (step S4), determining whether the work execution switch 10 is in an on state (step S5), calculating the working tilt angle θc as a voltage value by a control voltage calculation function (step S6), and Converting the voltage value into the current i (step S7), and adjusting the flow rate Q of the control valve 22 and the swash plate control mechanism 18 according to the application of the current i (step S8). , The working angle θo of each part of the excavator in progress is calculated, and the working angle θo is described above. Based adjusted (step S9), the lever (1) that feedback to S4 to change the angle (θio) of the operation target position in accordance with step (step S10), and, where the function of modifying the operation proceeds angle (θ _R) Step (step S11), characterized in that the front end or the bottom of the bucket can be controlled so as not to be spaced apart from the stop working surface during the stop operation.

EXAMPLE

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

1 shows a block diagram of an automatic control apparatus according to the present invention, and FIG. 2 shows a block diagram of a microprocessor of the automatic control apparatus according to the present invention. It is composed of a lever (1) and a pedal (2) for operating the differential and bucket, etc., the microprocessor (4) is connected to the first input and output interface (6), the drive unit 7 is the boolean and the differential and It consists of a control valve 22 for actuating the bucket and is connected to the second input / output interface 9 of the microprocessor 4 and according to program instructions stored in the excavator manually or in the memory 14a, 14b, 14c, 14d. A function selection switch 12 for automatically operating and a mode selection switch 11 for operating an excavator in accordance with the function selected by the switch 12 are connected to the third input / output interface 13 of the microprocessor 4. do. In addition, each sensor (S ₁ ~ S) of the angle detection unit 15 for detecting the boom of the excavator and the working speed of the differential and bucket, the swing angle of the upper swing body, the rotation angle of the lower vehicle body and the absolute angle of the vehicle body ₆ ) is connected to the second data selection circuit section 15 of the microprocessor 4, and the swash plate control mechanism 18 of the flow control pump 17 for supplying fluid through the control valve 22 of the drive section 7. Is connected to the second digital-to-analog converter 19 of the microprocessor 4.

Next, the standard functional operation of the horizontal stop operation will be described in detail with reference to the flowchart shown in FIG. 3 of the apparatus according to the present invention configured as described above.

The mode selection switch 11 shown in FIG. 1 is placed in the standard functional operation mode (FUNCTION) to select the standard functional operation (step S1). If the mode selection switch 11 is positioned at M, the operation is performed manually. Subsequently, a function selection signal for performing the horizontal stop operation is input according to the selection of the function selection switch 12 to prepare a job (step S2), and the desired work inclination angle θc is input to the work angle switch 20 ( Step S3: In this example, since the work is performed for the horizontal stop work, the working inclination angle θc becomes 0 °. Subsequently, when the bucket is placed at the start position, the function signals θi (buoy θ _BU ), differential (θ _DP ) and bucket θ _BK ) are calculated, that is, the lever 1 and the pedal 2. By inputting the working inclination angle (θc) for each operation part by operating the operation execution switch 10, the memory of the input operation inclination angle (θc) signal is made (step S4), at this time the work execution switch ( When 10) is turned on (step S5), the working inclination angle [theta] c is calculated and processed into a voltage value by a control voltage calculation function (step S6), and this voltage value is set to an amplification stage (not shown). After being converted into the current i (step S7), the current i is applied to the control valve 22 of the drive unit 7 and the swash plate control mechanism 18 of the flow rate control pump 17 to flow rate (θ). ) Is adjusted (step S8).

Since the flow rate Q is a function of the speed V (Q = AV; A is a cross-sectional area), when the integral is integrated, the working angle θo of each part of the excavator currently being processed is calculated (step S9). The working angle θo is fed back and applied to step S4, and in this step S4 it is repeated until the input working tilt angle θc coincides with the current working angle θo. As such, the fluid is continuously supplied from the flow control pump 17 until the coincidence point is performed.

The following describes the process of changing a program that is already set. That is, if the work progress angle θ _R is corrected by adjusting with the remote controller lever 1 constituting the adjustment period 3 (step S10), the work target point is based on the position function θio = f (θ _R ). The angle &thetas; io is changed (step S11). Accordingly, in step S4, a calculation function is performed according to a new function signal operation to control the newly changed work in accordance with the above procedure.

[Effects of the Invention]

According to the present invention as described above, according to the operation of the differential cylinder or the swing motor, the bucket cylinder and the pour cylinder is controlled so that the bucket is not separated from the stationary work surface, the operation operation for the stop operation is performed by the differential cylinder or the swing motor. The operation is made simply, so that the unskilled person can easily proceed with the operation, and the fatigue of the operation is reduced, thereby improving work efficiency.

Claims (2)

In an automatic stop operation control apparatus for an excavator which executes a stop operation by using a microprocessor (4) comprising a data selection circuit portion, an analog / digital conversion portion, and a latch portion, the adjustment period (3) is the microprocessor (4). Connected to the first input / output interface 6 through the first data selection circuit part 5 of the driver, and the driver 7 is connected to the second input / output interface 9 through the first digital / analog converter 8, The work execution switch 10, the mode selection switch 11, and the function selection switch 12 are connected to the third input / output interface 13, and each sensor S ₁ to S ₆ of the angle sensing unit 15 is provided. 2 is connected to the first input / output interface 6 through the data selection circuit section 16, the swash plate control mechanism 18 of the flow control pump 17 is connected to the second digital / analog converter 19, and the memory ( Decoder 22 connected to 14a, 14b, 14c, and 14d connects the first, second and third input / output interfaces. (6,9,13), automatic stop device for excavator operation, characterized in that the tip or bottom of the bucket can be controlled so as not to be spaced apart from the stationary work surface during the stop operation. Selecting the standard function operation by placing the selection mode switch 11 in the standard function operation mode (FUNCTION) (step S1), and selecting a function selection signal for performing the horizontal stop operation according to the selection of the function selection switch 12; Inputting (step S2), adjusting the working angle switch 20 to input a desired working tilt angle θc (step S3), calculating a function signal according to the working tilt angle θc (step S4) Determining whether the work execution switch 10 is in an on state (step S5), calculating the working tilt angle θc as a voltage value by a control voltage calculation function (step S6), and converting the voltage value into a current ( i) converting (step S7), adjusting the flow rate (Q) of the control valve 22 and the swash plate control mechanism 18 according to the application of the current (i) (step S8), the excavator in progress Calculate the working angle θo of each part of and feed back this working angle θo to the step S4. Key (step S9), step (the step of changing the angle (θio) of the operation target position in accordance with step (step S10) and, a function of the position of the adjusting lever (1) to modify the operation proceeds angle (θ _R) S11), the stop operation automatic control device of the excavator, characterized in that the tip or bottom portion of the bucket can be controlled so as not to be spaced apart from the stop working surface during the stop operation.

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