WO2012161439A2

WO2012161439A2 - Excavator

Info

Publication number: WO2012161439A2
Application number: PCT/KR2012/003667
Authority: WO
Inventors: 류성기; 윤정원; 표상훈
Original assignee: 경상대학교 산학협력단
Priority date: 2011-05-25
Filing date: 2012-05-10
Publication date: 2012-11-29
Also published as: WO2012161439A3; KR20120131386A

Abstract

The present invention relates to an excavator. The excavator comprises a control device disposed in the cockpit of the excavator which is provided in the form of a miniature model corresponding to the shape of a driving part of the excavator, and which is to be grasped and controlled by the driver. When the driver moves the control device, the excavator moves with the same motion as that of the control device. In the excavator according to the present invention, the miniature model corresponding to a driving part of the excavator may be used as the control device. Thus, since the driving part moves according to the movement of the control device, anyone may drive the excavator without any specific technical training. Further, as excavators, which can be easily driven, become popular, women and the elderly may easily drive the excavators on farms having a shortage of workers in order to simultaneously increase productivity and prevent safety-related accidents.

Description

excavator

The present invention relates to an excavator, and more particularly, to an excavator having a control unit having a reduction model similar to the driver of an excavator, so that the operation is performed while the driver moves the same as the driver moves the control unit.

In general, an excavator is a term that refers to a machine that processes a digging or digging of land or rocks. The types of excavators include a tunnel excavator, a front shovel excavator, a water excavator, a tong shovel excavator, and the like.

Here, the front shovel excavator is a construction machine used when digging, breaking, digging, or shaving soft ground or rock. Such excavators can be used with appropriate working equipment depending on the condition of the soil and rock, the type and purpose of the work. Buckets for general excavation and excavation of soil, breakers for crushing hard ground or rocks, and crushers for dismantling and crushing buildings are the working devices mainly used in excavators.

As described above, the control method of the excavator uses a two control device provided in a cab called a cabin, and the driving unit is operated while the hydraulic valve is opened and closed according to the method of the driver's control. Therefore, the operation of the excavator is made through the experience and intuition of the driver's knowledge of the rotational joint angle of the drive, so in order to operate the control skillfully, special technical training or driving education must be supported.

However, due to social changes such as industrial structure advancement and Ichon village phenomena, there is a shortage of work in rural areas. There is a limit to the use of excavators because of the effort required.

In addition, safety accidents due to inexperienced driving skills are frequent and do not require special technical training, and it is necessary to introduce an excavator that anyone can easily operate the control device.

The present invention relates to an excavator, and more particularly, to provide an excavator having a control unit having a reduction model similar to the driving unit of the excavator, so that the operation is performed while the driver moves the same as the driver moves the control unit. have.

The present invention is provided in the cab of the excavator, is formed in a reduced model corresponding to the shape of the drive of the excavator, and includes a control device for the driver grips and controls, when the driver moves the control device to the movement of the control device Correspondingly, the excavator provides an excavator operated in the same operation.

The manipulator is coupled to a boom provided to be rotatable in a vertical direction, an arm coupled to one end of the boom so as to be rotatable relative to the other end of the boom, and capable of being relatively rotatable to the other end of the arm. It may include a control unit for receiving the bucket and the handle and the relative rotation amount of the boom, the arm and the bucket to be output to the drive unit.

The control device includes a first sensor for measuring the amount of rotation from the surface to which the boom is coupled, a second sensor for the arm to measure the relative amount of rotation from the boom, and the bucket to measure the amount of rotation from the arm. It may include a third sensor.

The first to third sensors may be length measuring sensors for measuring the amount of extension of the cylinder corresponding to the rotation angle of the bucket, arm and boom.

The control unit may be provided with a warning means to provide a warning signal to the driver step by step when the speed of the control device is faster than the physical available speed of the drive unit.

The control unit may include a professional valve for providing a feedback signal according to a change in the length of the hydraulic cylinder included in the driving unit so that the driver may drive the driving unit with a desired work trajectory.

Excavator according to the present invention by using the reduced model shape corresponding to the excavator driving unit as a control device is moved according to the driving unit as the control device moves, there is an effect that anyone can operate the excavator without special technical training.

In addition, since the excavator is easy to operate, the elderly and women of the farms lacking hands can operate the excavator, thereby increasing productivity and preventing safety accidents.

1 is a front view showing an excavator according to an embodiment of the present invention,

Figure 2 is a front view showing a control device for manipulating the excavator shown in Figure 1,

3 is a circuit diagram showing a control structure of the excavator and the steering device shown in FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

1 is a front view showing an excavator 100 according to an embodiment of the present invention, Figure 2 is a front view showing a control device 131 for manipulating the excavator 100 shown in Figure 1, Figure 3 is shown in Figure 1 It is a circuit diagram which shows the control structure of the excavator 100 and a control apparatus.

1 to 3, the excavator 100 according to the present invention is provided on the front of the excavator 100 is provided with a driving unit 110 for processing the excavation or excavation of the ground, the driving unit 110 A cab 130 for controlling the drive unit 110 is formed at the rear side, and a cab 131 is disposed in the cab 130 to control the drive unit 110, and after the cab 130, An engine room 150 is formed at the side, and the driving unit 170, which is a moving means, is disposed below the cab 130 and the engine room 150.

The drive unit 110 includes a boom 111, an arm 112, and a bucket 113 for performing an actual excavation operation, and includes a boom cylinder for rotating the boom 111 ( 121, a arm cylinder 122 for relatively rotating the arm 112 from the boom 111, and a bucket cylinder 123 for relatively rotating the bucket 113 from the arm 112. The boom cylinder 121, the arm cylinder 122, and the bucket cylinder 123 are hydraulic cylinders.

The excavator 100 is formed such that when the driver moves the control device 131, the driving unit 110 of the excavator 100 is operated in the same operation in response to the movement of the control device 131.

The manipulator 131 is formed to a size that the driver can grip and move in a reduced model corresponding to the shape of the drive unit 110. The control unit 131 is a boom 132 provided to be rotatable in the vertical direction on the base surface 10 on which the control unit 131 is disposed, and to allow relative rotation at the end of the boom 132. Arm 133 is coupled to the end and the other end of the arm 133, the bucket 134 is coupled to allow relative rotation and the handle portion 136 is formed so that the driver grips by hand, and the boom ( 132, a control unit 135 for receiving the relative amount of rotation of the arm 133 and the bucket 134 to be output to the drive unit 110.

The handle portion 136 is formed in a circular ring shape so as to hook the driver's finger. Of course, it can be formed in a rod shape to grab by hand, the bucket can also be used by grasping the handle.

At this time, the excavator 100 measures the relative amount of rotation of the first sensor 141 and the arm 133 from the boom 132 to measure the amount of rotation of the boom 132 from the base surface 10. The second sensor 142 and the third sensor 143 for measuring the relative amount of rotation of the bucket 134 from the arm 133.

Herein, the control unit 135 includes the respective booms in which the rotation amount measured by the first sensor 141, the second sensor 142, and the third sensor 143 is included in the driving unit 110 of the excavator 100. In response to the cylinder 121, the arm cylinder 122, and the bucket cylinder 123, the rotation amount is controlled to be transmitted in real time.

The first sensor 141 to the third sensor 143 measures the amount of extension of the cylinder in response to the rotation angle of the boom 132, the arm 133 and the bucket 134 included in the control unit 131. Apply a length measuring sensor.

In addition, the boom cylinder 121, the arm cylinder 122, and the bucket cylinder 123 included in the driving unit 110 feed back according to the change in length so that the driver can control the driving unit 110 in a desired working trajectory. A professional valve (not shown) that provides a signal. Therefore, the control unit 135 may intelligently control the amount of extension of the hydraulic cylinder through the electrical signal input from the control unit 131.

In addition, the control unit 135 provides a step by step to provide a warning signal according to the working speed limitation to the driver when the movement speed of the control unit 131 is faster than the physical available speed that the drive unit 110 can perform. Warning means (not shown). The warning means is output as a vibration, lighting, a warning sound, etc. so that the driver can be perceived through the sense of touch, sight or hearing.

Of course, when the control unit 131 moves faster than the physical available speed of the driving unit 110, the driving unit 110 stores the trajectory of the control unit 131 so that the driver Control to be performed without distorting the intended trajectory.

In addition, the control unit 135 generates a reaction force from the first sensor 141 or the third sensor 143 or temporarily stops operation against an external force caused by friction or collision with the ground applied to the driving unit 110. You can also provide a denial signal, for example.

Therefore, the driver's operation ability is immature, or even in a sudden situation that occurs during driving, the driving unit 110 has an advantage that can be safely prevented by operating in advance.

Hereinafter, an operating method of the excavator 100 according to the present invention will be described with reference to the accompanying drawings.

1 to 3, the driver sits in the cab 130, checks the area in which the driving unit 110 is to work, and drives the driving unit 170 to move the excavator 100 to the working area. do.

In addition, the driver grips the control device 131, while holding the boom 132 or the base surface 10 with one hand and holding the handle 136 with the other hand. Of course, if the working condition or the drive unit 110 is required to operate in a special form, it may be able to move by holding a part of the control device 131 with both hands.

When the driver grips the handle part 136 and moves the steering device 131, the driver may move the first sensor 141 to the third sensor 143 according to the moving part of the steering device 131. Input information according to the change in length is provided to the controller 135. Then, the control unit 135 provides output information to each of the boom cylinders 121, the arm cylinders 122, and the bucket cylinders 123 provided in the driving unit 110 according to the displacement difference information. Adjust them. At this time, the driving unit 110 maintains the same trajectory as the control unit 131 along the trajectory of the control unit 131 to perform the operation.

Therefore, the driver can directly check the shape in which the control unit 131 is rotated, so that the excavator 100 can be controlled by a simple intuitive control technique, and the driver moves the control unit 131. Since the work is made in real time while the driving unit 110 of the excavator 100 rotates in shape, there is an effect that anyone can easily operate the excavator 100 without special technical training.

In addition, the control unit 135 controls the moving speed of the driving unit 110 according to the moving speed of the control unit 131, the working speed of the control unit 131 than the working speed of the drive unit 110 In the early case, the controller 110 controls the driving unit 110 to work on the track intended by the driver by storing the moving track.

In addition, the control unit 135 recognizes the ground information of the work area according to the stress, such as vibration or shock applied to the drive unit 110 to prevent the excessive loading (loading) occurs in the drive unit 110, Control to prevent the safety accidents that follow.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Claims

It is provided in the cab of the excavator, is formed in a reduced model corresponding to the shape of the drive unit of the excavator, and includes a control device for holding and manipulating the driver,

And the excavator operates the same operation in response to the movement of the control device when the driver moves the control device.
The method according to claim 1,

The control device is provided with a boom rotatable in the vertical direction;

An arm having one end coupled to an end of the boom so as to be relatively rotatable;

A bucket coupled to the other end of the arm so as to be relatively rotatable and having a handle part formed to be gripped by a driver; And a controller configured to receive the relative rotational amounts of the boom, the arm and the bucket, and output the output to the driving unit.
The method according to claim 2,

The control device includes a first sensor for measuring the amount of rotation from the surface to which the boom is coupled, a second sensor for the arm to measure the relative amount of rotation from the boom, and the bucket to measure the amount of rotation from the arm. Excavator comprising a third sensor.
The method according to claim 3,

The first to third sensors are excavators, the length measuring sensor for measuring the amount of extension of the cylinder corresponding to the rotation angle of the bucket, arm and boom.
The method according to claim 1,

The control unit is an excavator provided with a warning means to provide a warning signal to the driver step by step when the speed of the control device than the physical available speed of the drive unit.
The method according to claim 1,

The control unit includes a professional valve for providing a feedback signal according to the change in the length of the hydraulic cylinder included in the drive unit so that the driver can drive the drive to the desired work trajectory.