KR920004541Y1 - Control devices for excavating work in excavator - Google Patents

Abstract

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Description

Working range display device of hydraulic excavator

Figure 1 is an overall configuration for specifying the present invention.

2 is a partial block diagram illustrating an embodiment of the present invention.

3 is a flowchart for explaining the operation of the control device of FIG.

4 is a view of the formula for calculating the radius of excavation and depth.

* Explanation of symbols for main parts of the drawings

1: body 2: center of rotation axis

3: boom 4: arm

5: bucket 6: tip

7, 8, 9: angle sensor 10: control device

11: A / D converter 12: microprocessor

13 key and display controller 14 display panel

The present invention relates to a device for displaying the working range in a hydraulic excavator consisting of a mechanical structure and a hydraulic device.

In general, when performing underground work using a hydraulic excavator, especially when picking or digging, the distance from the center of rotation of the excavator itself to the end of the bucket, that is, the radius of the excavator and the ground from the bucket It is very important to know the distance to the tip, that is, the excavation depth or the excavation height. However, in the related art, since the driver roughly grasped the eye and performed the work, the maintenance work was often required later.

Accordingly, an object of the present invention is to provide a display device for a hydraulic excavator that allows the driver to know exactly the digging radius and the digging depth or height.

The configuration of the present invention will be described with reference to FIG.

The present invention has a hydraulic having a boom, one end of which is rotatably fixed to the body, an arm of which one end is rotatably fixed to the other end of the boom, and a bucket having one end rotatably fixed to the other end of the arm and having a tip at the other end. An angle sensor provided in an excavator, a joint portion to which the vehicle body and the boom are connected, a joint portion to which the boom and the arm are connected, and a respective rotation center of the joint portion to which the arm and the bucket are connected, and the respective angles A / D conversion means for converting an analog voltage value signal from the sensors into respective digital values corresponding thereto, and converting each digital value from the A / D conversion means into corresponding angles, respectively. To an angle conversion means, an excavation radius and depth calculation means for calculating an excavation radius and depth at an angle converted by the angle conversion means, and to the excavation radius and depth calculation means. Key and display control means for converting the calculated excavation radius and depth into the BCD form, and a display panel for displaying the excavation radius and depth in accordance with the signal from the key and display control means, the current working range It is to be able to see exactly through the display panel.

An embodiment of the present invention will be described with reference to FIG.

In FIG. 2, (1) is a vehicle body, (2) is a rotation axis center of a main body. 3 is a boom whose one end is rotatably fixed up and down, and 4 is an arm whose one end is rotatably fixed to the other end of the boom 3. (5) is a bucket whose one end is rotatably fixed to the other end of the arm (4), and the tip (6) is provided at the other end of the bucket (5).

On the other hand, (7), (8) and (9) is an angle sensor of the potentiometer, the angle sensor (7) is the angle sensor at the rotation center of the joint portion where the vehicle body (1) and the boom (3) is connected 8 is provided at the center of rotation of the joint portion to which the boom 3 and the arm 4 are connected, and an angle sensor 9 is provided at the center of rotation of the joint portion to which the arm 4 and the bucket 5 are connected.

The angle sensor 7 generates a rotation angle formed by a vertical axis with respect to the ground, and an extension axis between the attachment point of the angle sensor 7 and the attachment point of the angle sensor 8 as an analog signal. The angle sensor 8 is rotated by an extension axis between an attachment point of the angle sensor 7 and an attachment point of the angle sensor 8 and an extension axis between each attachment point of the angle sensor 8 and the angle sensor 9. The angle is generated as a voltage signal of an analog value.

The angle sensor 9 is an analog of the rotation angle formed by the extension axis between the attachment points of the angle sensor 8 and the angle sensor 9 and the extension axis between the best end of the angle sensor 9 and the tip 6. It occurs as a voltage signal of the value.

Analog voltage values generated from the angle sensors (7), (8) and (9) are input to the control device (10). The operation of the control device will be described with reference to the flowchart of FIG.

First, in step P2, analog voltage values corresponding to respective rotation angles are input.

In step P3, each of the input analog values is converted into a constant value of the digital value in the analog / digital (A / D) converter 11.

In step P4, the microprocessor 12 converts each of the digital values converted by the A / D converter 11 into the respective angles according to the reference determined by the excavator itself.

In step P5, in step P4, the converted radius and depth are calculated by substituting each converted angle into the digging radius and depth formula. Here, the equation for obtaining the excavation radius (r) and the depth (h) is the same as the following formula (1) and (2), and is derived from the fourth road.

Digging radius (r) = R + B sin θ _B + A sin (θ _A + θ _B ) + C sin (θ _A + θ _{B +} θ _C ) ... (1)

Digging depth (h) = H + B cos θ _B + A cos (θ _A + θ _B ) + C cos (θ _A + θ _{B +} θ _C ) ... (2)

In the above formulas (1) and (2), R is a straight line distance from the rotation axis center 2 to the r axis position of the angle sensor 7, H: from the rotation axis center 2 to the h position of the angle sensor 7. Straight line distance, B: straight line distance between the attachment point of angle sensor 7 and attachment point of angle sensor 8, A: straight line distance between attachment point of angle sensor 8 and attachment point of angle sensor 9, C : Linear distance between the attachment point of the angle sensor 9 and the best end of the tip 6, θ _B : angle between the h-axis and B-axis, θ _A : angle between the B-axis and A-axis, θ _C : between A-axis The angle between C axes.

In step P6, the excavation radius and depth calculated in step P5 are converted into the BCD form by the key and the display controller 13, and output to the display panel having seven segment LEDs of the required number of digits.

In this way, the display panel displays the excavation radius and depth visually.

From the above description, according to the present invention, the current work range can be known accurately, and the work can be performed correctly.

Claims (1)

One end is rotatably fixed to the main body, a hydraulic excavator having a boom, an arm rotatably fixed to the other end of the boom, and a bucket having one end rotatably fixed to the other end of the arm and having a tip at the other end, An angle sensor provided at each center of rotation of the joint portion to which the vehicle body and the boom are connected, the joint portion to which the boom and the arm are connected, and the joint portion to which the arm and the bucket are connected; A / D conversion means for converting analog voltage value signals from the respective angle sensors into corresponding digital values; Angle conversion means for converting each digital value from said A / D conversion means into corresponding respective angles; Excavation radius and depth calculation means for calculating excavation radius and depth at an angle converted by the angle conversion means; Key and display control means for converting the excavation radius and depth calculated by the excavation radius and depth calculation means into a BCD form; And a display panel for displaying the excavation radius and the depth according to the signal from the key and the display control means.