KR950005009B1 - Swing control system for excavator - Google Patents

Swing control system for excavator Download PDF

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Publication number
KR950005009B1
KR950005009B1 KR1019890017499A KR890017499A KR950005009B1 KR 950005009 B1 KR950005009 B1 KR 950005009B1 KR 1019890017499 A KR1019890017499 A KR 1019890017499A KR 890017499 A KR890017499 A KR 890017499A KR 950005009 B1 KR950005009 B1 KR 950005009B1
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South Korea
Prior art keywords
work
switch
work element
control unit
actuator
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KR1019890017499A
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Korean (ko)
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KR910010021A (en
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이진한
황봉동
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삼성중공업주식회사
김연수
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/78—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices with rotating digging elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

When a driver of heavy equipment for construction only turn on a switch, the system provides a function to return all job elements of the equipment into normal positions automatically. When a switch is turned on, a feedback signal is generated. Then a control unit gathers detecting signals generated from a sensor unit according to current positions of the job elements, and evaluates the differences between the pre-determined normal position values and the detecting values for all elements, respectively. Finally, all job elements are returned to the normal positions by an motor operated according to the difference values.

Description

작업 장치의 정위치자동귀환시스템In-position automatic feedback system of work equipment

제1도는 본 발명에 따른 작업 장치의 정위치자동귀환시스템의 구성을 제어계통에 따라 도시해 놓은 블록도.1 is a block diagram showing the configuration of the automatic position feedback system of the work device according to the present invention according to the control system.

제2도와 제3도는 센서부의 구성예를 도시해 놓은 도면.2 and 3 show examples of the configuration of the sensor unit.

제4도는 본 발명에 따른 작업요소의 정위치자동귀환동작을 설명하기 위한 플로우차트이다.4 is a flowchart for explaining the exact position automatic feedback operation of the work element according to the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 원동기 2 : 유압펌프1: prime mover 2: hydraulic pump

3 : MCV 4 : 작업요소3: MCV 4: Work element

5 : 작동기 7 : 센서부5: actuator 7: sensor

8 : 구동부 10 : 제어부8 drive unit 10 control unit

11 : 회전판 12 : 구멍11: rotating plate 12: hole

13 : 피스톤막대 14 : 영구자석13: piston rod 14: permanent magnet

본 발명은 복수의 관절로 이루어진 작업요소를 갖춘 작업 장치의 정위치자동귀환시스템에 관한 것이다.The present invention relates to an exact position automatic feedback system of a work device having a work element consisting of a plurality of joints.

종래의 작업장치, 예컨대 굴삭기 등과 같은 건설용 중장비에 있어서는 운전자가 굴삭기를 작동시켜 한 작업장에서 일을 하다가 다른 작업장으로 옮겨가는 경우나, 또는 장거리 주행을 하게 되는 경우에는 차체의 불균형에서 오는 불안정성이나, 주위를 살필 수 없게 되는 것에서 오는 위험성 및 장비자체가 손상받는 것 등을 방지하기 위해 각 작업요소들을 정위치로 귀환시킨 후 이동해야만 한다.In conventional construction equipment, such as construction equipment such as excavators, when the driver operates an excavator to work at one workplace and then to another, or when driving at a long distance, the instability resulting from the unbalance of the body, Each work element must be returned to its proper position and then moved to prevent the danger from being unable to be watched and the equipment itself being damaged.

그러나, 이와 같이 각 작업요소들을 정위치로 귀환시키기 위해서는 버켓과 디퍼스틱, 붐 등의 조작을 정확히 수행하야 하므로, 그 조작이 번거로움은 물론 초보자의 경우에는 시간 낭비가 많아지게 된다는 문제가 있었다.However, in order to return each work element to the correct position as described above, the operation of the bucket, the differential, the boom, and the like must be accurately performed.

이에, 본 발명은 상기한 사정을 감안해서 발명된 것으로, 운전자가 단지 하나의 스위치만을 눌러 주게 되면 자동적으로 모든 작업요소가 정위치로 귀환되도록 한 작업 장치의 정위치자동귀환시스템을 제공함에 그 목적이 있다.Accordingly, the present invention has been invented in view of the above circumstances, and provides an exact position automatic feedback system for a work device in which all working elements are automatically returned to the correct position when the driver presses only one switch. There is this.

상기 목적을 실현하기 위한 본 발명에 따른 작업 장치의 정위치자동귀환시스템은 원동기(1)와, 이 원동기(1)에 의해 구동되는 적어도 하나의 유압펌프(2), 이 유압펌프의 토출압유에 의해 구동되는 작동기(5), 입력신호에 따라 상기 유압펌프(2)에서 작동기(5)로 흐르는 압유의 유량과 방향을 제어하도록 된 전자비례밸브를 갖춘 MCV(3), 이 MCV(3)를 구동시키기 위한 구동신호를 발생시키는 구동부(8), 상기 작동기(5)에 의해 작동하도록 된 작업요소(4) 및 상기 각 부분을 총체적으로 제어하는 제어부(10)를 갖춘 건설중장비에 있어서, 상기 각 작업요소의 위치를 검출하는 센서부(7)와 각 작업요소가 정위치로 귀환되도록 귀환신호를 발생시키는 스위치(9)를 갖추어, 상기 스위치(9)가 온되어 귀환신호가 출력되게 되면 상기 제어부(10)가 상기 센서부(7)로부터 출력되는 각 작업요소의 위치에 다른 검출신호와 그 제어부(10)에 미리 설정되어 있는 기준위치값을 비교하여 그 차이를 구하고, 이 차이에 따라 각 작업요소의 위치를 증감시켜 정위치로 귀환시키도록 된 구조로 되어 있다.The exact position automatic feedback system of the working apparatus according to the present invention for realizing the above object includes a prime mover (1), at least one hydraulic pump (2) driven by the prime mover (1), and discharge pressure oil of the hydraulic pump. MCV (3) equipped with an actuator (5) driven by the electromagnetic proportional valve to control the flow rate and direction of the hydraulic oil flowing from the hydraulic pump (2) to the actuator (5) in accordance with an input signal, the MCV (3) In construction equipment with a drive unit (8) for generating a drive signal for driving, a work element (4) adapted to be operated by the actuator (5), and a control unit (10) for totally controlling each part, And a sensor unit 7 for detecting the position of the work element and a switch 9 for generating a return signal such that each work element is returned to the correct position. When the switch 9 is turned on and the feedback signal is output, the control unit 10 is output from the sensor unit 7 Compares the other detection signal with the position of each work element and the reference position value set in advance in the control unit 10, obtains the difference, and increases or decreases the position of each work element according to the difference to return to the correct position. Structure.

상기한 구성으로 된 본 발명에 따르면, 운전자기 스위치(9)를 온시키게 되면 제어부(10)가 센서부(7)로부터의 각 작업요소(4)의 위치에 따른 검출신호와 미리 설정된 기준위치값을 근거로 구동부(8)를 구동시켜 각 작업요소를 정위치로 귀환시키게 된다.According to the present invention having the above-described configuration, when the driver switch 9 is turned on, the control unit 10 detects a detection signal corresponding to the position of each work element 4 from the sensor unit 7 and a preset reference position value. The driving unit 8 is driven on the basis of returning each work element to the correct position.

(실시예)(Example)

이하, 도면을 참조해서 본 발명을 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the drawings.

제1도는 상기한 구성으로 된 본 발명에 따른 작업 장치의 정위치자동귀환시스템의 제어계통을 도시해 놓은 블록도로, 여기에 상기 스위치(9)는 귀환신호를 발생시키도록 된 것으로, 즉, 운전자가 각 작업요소를 정위치로 귀환시키고자 할 때 온시키도록 된 것이다.1 is a block diagram showing a control system of an exact position automatic feedback system of a working apparatus according to the present invention having the above-described configuration, wherein the switch 9 is configured to generate a feedback signal, that is, a driver Is to be turned on when you want to return each work element to its original position.

상기 제어부(10)는 마이크로프로세서와 메모리 등을 갖춘 것으로, 상기 스위치(9)로부터 귀환신호가 입력되게 되면, 후에 설명할 센서부(7)로부터의 각 작업요소의 위치에 따른 검출신호와 미리 설정된 정위치값을 근거로 구동부(8)를 구동시키게 된다.The control unit 10 includes a microprocessor, a memory, and the like, and when a feedback signal is input from the switch 9, a detection signal according to the position of each work element from the sensor unit 7 to be described later and a preset signal are set. The driving unit 8 is driven based on the exact position value.

상기 MCV(Multiple Control Valve ; 3)는 전자비례밸브(도시되지 않음)를 갖춘 것으로서, 상기 구동부(8)로부터의 구동신호에 따라 작동기(5)로 공급되는 펌프토출유량 및 방향을 조절하게 된다.The multiple control valve (MCV) 3 is provided with an electromagnetic proportional valve (not shown), and adjusts the pump discharge flow rate and direction supplied to the actuator 5 according to the driving signal from the driving unit 8.

상기 작동기(5)는 상기 MCV(3)에 의해 제어된 토출유량에 따라 각 작업요소를 동작시키게 된다.The actuator 5 operates each work element according to the discharge flow rate controlled by the MCV 3.

상기 센서부(7)는 작업요소(4)의 현재의 위치를 검출하여 제어부(10)로 공급하도록 된 것으로서, 이 센서부(7)에 의한 검출방법으로서는 제2도에 도시된 바와 같이 회전판(11 ; 작업요소)에 구멍(12)을 설치하고 그 회전판(11) 상하에 도시되지 않은 발광소자 및 소광소자 등을 설치하여 그 회전속도를 검출하거나, 제3도에 도시된 바와 같이 자기물질로 된 피스톤막대(13 ; 작업요소)상에 영구자석(14)과 자기리덕턴스소자(15)로 이루어진 자기센서를 설치하여 이동위치 및 속도를 검출하고, 또는 도시되지는 않았지만 링크(link) 등에 각도센서를 설치하여 작업요소의 각도를 전압(또는 전류)으로 변환시켜서 검출하는 방법 등이 있다.The sensor unit 7 detects the current position of the work element 4 and supplies it to the control unit 10. As the detection method by the sensor unit 7, as shown in FIG. 11; a hole 12 is installed in the work element and light emitting elements and quenching elements (not shown) are installed above and below the rotating plate 11 to detect the rotational speed thereof, or as shown in FIG. A magnetic sensor composed of a permanent magnet 14 and a magnetic reduction element 15 is installed on the piston rod 13 (work element) to detect a moving position and speed, or not shown, but at an angle to a link or the like. There is a method of installing a sensor to convert the angle of the work element to a voltage (or current) to detect.

그리고, 상기 작업요소(4)는 예를 들어 굴삭기에 있어서는 붐(Boom), 버켓(Bucket), 디퍼스틱(Dipperstic) 등에 해당된다.In addition, the work element 4 corresponds to, for example, a boom, a bucket, a dipperstic or the like in an excavator.

이하, 제4도를 이용해서 본 발명에 따른 작업 장치의 정위치 자동귀환시스템의 동작을 설명한다.Hereinafter, the operation of the exact position automatic feedback system of the working apparatus according to the present invention will be described with reference to FIG.

우선, 운전자가 스위치(9)를 온시키게 되면, 제어부(10)는 센서부(7)로부터 각 작업요소(4)의 현재의 위치값을 인가받아(ST1), 그 위치값과 기준설정위치값과의 편차를 구한다(ST2).First, when the driver turns on the switch 9, the controller 10 receives the current position value of each work element 4 from the sensor unit 7 (ST1), and the position value and the reference set position value. Find the deviation from (ST2).

그리고, 상기 구해진 편차를 근거로 작업요소(4)가 정위치에 있는가를 판단하고(ST3), 정위치에 있는 경우에는 그 처리를 종료하는 한편, 정위치에 있지 않은 경우에는 작업요소의 위치값이 정위치에 해당되는 위치값보다 큰지의 여부를 판단한다(ST4).On the basis of the obtained deviation, it is determined whether the work element 4 is in the correct position (ST3). If the work element is in the correct position, the processing is terminated. It is determined whether or not it is larger than the position value corresponding to the correct position (ST4).

이어, 상기 판단결과, 정위치값보다 작은 경우에는 제어부(10)는 작업요소위치값을 증가시키기 위한 신호를 출력시키는 한편(ST5), 정위치값보다 큰 경우에는 작업요소위치값을 감소시키기 위한 신호를 출력시킨 후(ST6), 스템(ST1)으로 복귀하여 다시 작업요소의 위치값을 읽게 된다.Subsequently, as a result of the determination, the control unit 10 outputs a signal for increasing the work element position value when it is smaller than the exact position value (ST5), and decreases the work element position value when it is larger than the correct position value. After outputting the signal (ST6), it returns to the stem (ST1) and reads the position value of the work element again.

즉, 이상과 같이 하여 각 작업요소를 정위치로 귀환시키게 된다.In other words, the work elements are returned to their original positions as described above.

이상 설명한 바와 같이 본 발명에 의하면, 운전자가 스위치를 한번 조작하는 것만으로 각 작업요소가 정위치로 귀환되게 되므로, 건설중장비 등에 있어서 각 작업요소를 정위치로 귀환시키는 번거로움을 제거할 수 있게 된다.As described above, according to the present invention, since each work element is returned to the home position only by operating the switch once by the driver, the trouble of returning each work element to the home position can be eliminated. .

Claims (1)

원동기(1)와, 이 원동기(1)에 의해 구동되는 적어도 하나의 유압펌프(2), 이 유압펌프의 토출압유에 의해 구동되는 작동기(5), 입력구동신호에 따라 상기 유압펌프(2)에서 작동기(5)로 흐르는 압유의 유량과 방향을 제어하도록 된 전자비례 밸브를 갖춘 MCV(3), 이 MCV(3)를 구동시키기 위한 구동신호를 발생시키는 구동부(8), 상기 작동기(5)에 의해 작동하도록 된 작업요소(4) 및 상기 각 부분을 총체적으로 제어하는 제어부(10)를 갖춘 건설중장비에 있어서, 상기 각 작업요소(4)의 위치를 검출하는 센서부(7)와 각 작업요소(4)가 정위치로 귀환되도록 귀환신호를 발생시키는 스위치(9)를 갖추어, 상기 스위치(9)가 온되어 귀환신호가 출력되게 되면 상기 제어부(10)가 상기 센서부(7)로부터 출력되는 각 작업요소(4)의 위치에 다른 검출신호와 그 제어부(10)에 미리 설정되어 있는 기준위치값을 비교하여 그 차이를 구하고, 이 차이에 따라 각 작업요소의 위치를 증감시켜 정위치로 귀환시키도록 된 것을 특징으로 하는 작업장치의 정위치자동귀환시스템.A prime mover 1, at least one hydraulic pump 2 driven by the prime mover 1, an actuator 5 driven by the discharge pressure oil of the hydraulic pump, and the hydraulic pump 2 in accordance with an input drive signal. MCV (3) having an electromagnetic proportional valve to control the flow rate and direction of the hydraulic oil flowing to the actuator (5), a drive unit (8) for generating a drive signal for driving the MCV (3), the actuator (5) In construction equipment having a work element (4) and a control unit (10) for total control of each part, the sensor unit (7) for detecting the position of each work element (4) and each work The switch 4 is provided with a switch 9 for generating a feedback signal so that the element 4 is returned to the home position. When the switch 9 is turned on and the feedback signal is output, the control unit 10 outputs from the sensor unit 7. Different detection signals at the positions of the respective work elements 4 to be set and preset in the control unit 10 Control by comparing the reference position value to obtain a difference, increase or decrease the position of each element work in accordance with the difference in position servo system of the working device, characterized in that the return to a normal position.
KR1019890017499A 1989-11-30 1989-11-30 Swing control system for excavator KR950005009B1 (en)

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Application Number Priority Date Filing Date Title
KR1019890017499A KR950005009B1 (en) 1989-11-30 1989-11-30 Swing control system for excavator

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Application Number Priority Date Filing Date Title
KR1019890017499A KR950005009B1 (en) 1989-11-30 1989-11-30 Swing control system for excavator

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KR910010021A KR910010021A (en) 1991-06-28
KR950005009B1 true KR950005009B1 (en) 1995-05-17

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KR1019890017499A KR950005009B1 (en) 1989-11-30 1989-11-30 Swing control system for excavator

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KR910010021A (en) 1991-06-28

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