KR960013594B1 - Auto-control method of excavating work for excavator operation - Google Patents

Abstract

The method automates the processes of excavating, digging or loading in the electronic & hydraulic type excavator so as to improve the work efficiency. The method comprises the steps of: inputting an angle, a distance and a height of a target position of a bucket; actuating a proportional control valve or a spool of a servo valve in order to move the bucket if the data sensed from a position sensor, installed at an end of an excavator arm, corresponds to the input data; driving the bucket cylinder and performing a bucket out if the data sensed from angle sensor, installed at a swing part and joints of a boom and the arm, corresponds to the input data; controlling the speed of bucket out operation based on the data from a load cell installed at the bucket.

Description

Automated Hydraulic Excavator Control Method

1 is an embodiment of an excavator equipped with three angle sensors and a load cell of the present invention.

2 is an excavator equipped with an angle sensor, a bucket position detection mechanism, and a load cell of the present invention.

3 is a layout view of a control function selection switch of the present invention.

4 is an example of a work function block diagram of the present invention.

* Explanation of symbols for main parts of the drawings

a: Arm angle sensor b: Boom angle sensor

c: swing angle sensor d: load cell

3: Position detecting transmitter f: Position detecting sensor

g: Analog work position selection device h: Digital work position selection device

The present invention relates to a method of controlling automation of an electro-hydraulic excavator, and more particularly, to improve work efficiency when moving gravel, sand, soil, small rocks, etc. using an excavator to another place or loading it on a dump truck. It is to let.

In the case of actual work by excavator, such as conventional excavator loading work or soil excavation work, as the work is carried out, the loading position of the excavator and the excavation position and the environment of the work place also change every time. It was often unreasonable.

In view of the above, the operation of the boom and the arm is performed manually by the operator unless the excavator is fully robotized, and then the operation signal according to the movement of the electric joystick is memorized. In the operation of the operation according to the operation signal, the present invention is to automatically operate the bucket in or out work in accordance with the environment changes of the work place to be able to perform a convenient and efficient work.

And already known Japanese Patent Application Laid-Open No. 1-22325 detects only the operation direction and the movement amount of the operation lever when the operator moves the operation lever and stores it in the controller, and transfers it based on the stored operation information the next time the operator performs the same work. It is characterized by automatically regenerating the work trajectory.

However, the present invention is equipped with a sensor for detecting the load applied to the end of the bucket in addition to the joystick position signal of the operating lever and the position signal of the turning part, boom, arm, bucket of the excavator, and also differs from the prior art system as well as the excavator It is a device that automatically discharges the contents of sand or gravel in the bucket when the bucket end of the excavator reaches the target position set by the signal calculated from the turning and boom and arm position signals as in the case of dumping Since the weight of is measured by the load sensor, the soft soil or sand is discharged at high speed when the contents are discharged, and the heavy stones, etc. are controlled by the controller to discharge slowly to minimize the impact upon discharge. It's completely different from the track autoplay.

In addition, the method of measuring the position of the bucket is presented as a method of measuring from a sensor transceiver (for example, a laser signal or an infrared signal) at the arm end and the upper part of the excavator cabin. It is composed of the working position recognition device of excavator bucket.

DETAILED DESCRIPTION Hereinafter, the gist of the present invention will be described in detail with reference to the accompanying drawings which are embodiments thereof.

As shown in FIG. 1, the excavator is equipped with a boom angle sensor (b), an arm angle sensor (a), a swing angle sensor (c) and a bucket load cell (d), and a signal sent from each position sensing sensor at the time of operation. Is sent to the control so that the bucket position can be finally controlled.

2 shows the position detecting transmitter (e) at the end of the arm and the position detecting sensor (f) at the top of the bucket canopy to detect the direction and position of the bucket, and sends the bucket to the load cell (d). Direction, position and speed can be controlled.

3 is for selecting the working position of the bucket, g is the working position selection device by the analog method, h is the working position selection device for the digital method.

And g and h each have a switch to select whether to move the bucket in or out automatically or manually, and to specify how much to move the number of micro movements according to the number of operations. There is a device for determining and the micro direction of 8 functions such as up, down, left, right, up + right and down + right can be determined.

4 is a block diagram of the working method, and the electrical signal from the joystick is sent as a current signal from a proportional pressure reducing valve or servovalve through an A / D converter, a controller, and a D / A converter, and is supplied to the pilot line by this current. The flow rate controls the direction and flow rate of the main control valve and moves the actuator cylinder. At this time, the target point, the number of operations and the amount of micro movements are input by the operator. By this signal, the coat roller performs an arithmetic function and sends a command signal to the valve. And if the actuator speed adjustment selection SW is pressed to adjust the speed of the bucket, the signal is output to be in inverse proportion to the load according to the signal of the load cell installed in the bucket, and the out speed of the bucket is controlled by the signal, and the variable discharge pump output flow is also adjusted. It is supposed to be.

The present invention is provided so as to control the spool of the main control valve using an electronic proportional control valve or a servovalve in the excavator, and the load applied to the angle sensor and the bucket that can detect the rotation angle of the boom and the arm In an excavator equipped with a load cell or a load cell equipped with a load cell for measurement, or by detecting movement of the end of the arm, the boom can be operated by the operation signal of the joystick during the loading operation of the excavator or during the topdressing operation. When the bucket position reaches the target position by controlling the and arm, the joystick position signal becomes a neutral or near neutral position signal, and this target position signal and the joystick neutral position signal supply or discharge flow rate to the bucket slider. A signal is applied from the controller so that the load in the bucket is automatically Positioning from the excavator reference point to the bucket target point is determined by the operator's eyes, inputting the bucket target position angle, distance and height by analog or digital signal, and then by the position sensor mounted on the arm end of the excavator. When the distance, height and angle are calculated and match the calculated value of the target point, signals are sent to move the spool of the solenoid control valve or servovalve to operate the bucket actual distance, and measured from the angle sensor mounted on the boom joint and the arm joint. If the target position of the bucket coincides with the calculated value based on the position (distance and height) by the value and the angle measured from the angle sensor mounted on the swing part, move the bucket cylinder by moving the spool of the proportional control valve or servovalve. Heavy load arm with load, bucket out and load cell The bucket cylinder speed is controlled to be inversely proportional to the load when dumping the back or light material such as earth and sand, and it is possible to alleviate the impact of discharging the load on the dump truck, etc. It is possible to automatically change the work target position of the bucket so that the variable adjustment to move the distance by a few M per number of times by a certain distance can be done simultaneously with one or two left, right, up and down, for example You can choose left + up or right + down.

Therefore, according to the present invention, an automatic function is added to the excavation, loading and discharging work to reduce the work load of the worker, thereby reducing fatigue and improving work efficiency.

Claims (1)

When moving the operation lever of the electro-hydraulic excavator, the operating direction and the movement amount of the operation lever are detected and stored in the controller, and when the next work is performed by the operator, the previous operation trajectory is automatically reproduced based on the stored operation information. The position from the excavator reference point to the bucket target point is determined by the operator's eyes, inputting the bucket target position angle, distance and height by analog or digital signal, and then mounted by the position sensor on the arm end of the excavator. If the distance, height and angle are calculated and match the calculated value of the target point, a signal is sent to move the spool of the solenoid control valve or servovalve to operate the bucket actual distance, and measured from the angle sensor mounted on the boom joint and the arm joint Position (distance and height) by the set value and the angle sensor If the target position of the bucket coincides with the calculated value, the bucket cylinder is operated by moving the spool of the electromagnetic proportional control valve or servovalve, the bucket cylinder is mounted, and the load cell is mounted on the bucket to be inversely proportional to the load. By controlling the out speed of the bucket, the working position of the bucket can be changed by a certain distance to the left and right, and up and down, respectively, by a certain distance, and the number of left, right, top and bottom can be selected at the same time. Method of controlling automation of electrohydraulic excavator.