WO2013176301A1 - 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법 - Google Patents

이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법 Download PDF

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Publication number
WO2013176301A1
WO2013176301A1 PCT/KR2012/004019 KR2012004019W WO2013176301A1 WO 2013176301 A1 WO2013176301 A1 WO 2013176301A1 KR 2012004019 W KR2012004019 W KR 2012004019W WO 2013176301 A1 WO2013176301 A1 WO 2013176301A1
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WO
WIPO (PCT)
Prior art keywords
bucket
joystick
value
automatic
control signal
Prior art date
Application number
PCT/KR2012/004019
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
이춘한
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 볼보 컨스트럭션 이큅먼트 에이비 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to CN201280073241.8A priority Critical patent/CN104334805A/zh
Priority to US14/400,898 priority patent/US20150134209A1/en
Priority to KR1020147032482A priority patent/KR101668733B1/ko
Priority to PCT/KR2012/004019 priority patent/WO2013176301A1/ko
Priority to CA 2873021 priority patent/CA2873021A1/en
Priority to EP12877395.9A priority patent/EP2853642A4/de
Priority to BR112014028749A priority patent/BR112014028749A2/pt
Publication of WO2013176301A1 publication Critical patent/WO2013176301A1/ko

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Classifications

    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • 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
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention relates to a bucket motion control device and method for automatically dropping foreign matters, and more particularly, to remove the foreign matter contained in the bucket or to disperse the earth and sand, etc. without a separate operation by the driver.
  • the present invention relates to a bucket motion control device and a method for automatically dropping foreign matter so as to automatically control the movement of the bucket.
  • an excavator is a equipment used for the main purpose to move the soil in the bucket to the desired position.
  • the present invention was developed to solve the above problems, to automatically control the movement of the bucket so that the driver can remove the foreign matter contained in the bucket or to scatter the soil, etc. without a separate operation. It is an object of the present invention to provide a bucket motion control apparatus and a method for automatically dropping foreign matter.
  • Bucket motion control device for automatically dropping the foreign matter according to the present invention for achieving this object
  • Automatic mode selection switch operation value detection means for detecting the operation value generated by the stroke of the joystick, operation angle detection means for detecting the operation angle of the joystick, automatic mode selection by the automatic mode selection switch and the operation value According to the operation value detected by the detection means and the operation angle detected by the operation angle detection means, whether or not to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if the input value of the joystick does not change or It is determined whether to output a manual control signal for driving the bucket in accordance with the operation value and outputs the signal to the bucket driving unit, characterized in that it comprises a bucket movement control unit for controlling the movement of the bucket.
  • the bucket motion control unit selects an automatic mode by the automatic mode selection switch, and the command direction obtained from the operating angle of the joystick coincides with a predefined direction while the operating value of the joystick is equal to or less than a set value.
  • the automatic control signal is output to the bucket driving unit, and the automatic mode is not selected by the automatic mode selection switch, or the operation value of the joystick is larger than a set value, or from the operation angle of the joystick.
  • the command direction obtained is a manual control state that does not coincide with a predefined direction
  • the manual control signal is output to the bucket driver.
  • the bucket motion control unit outputs a first automatic control signal for slowly shaking the bucket when the joystick operation value falls within the first range in which the joystick operation value is relatively small, and the second range in which the joystick operation value is relatively large.
  • the second automatic control signal for quickly shaking the bucket characterized in that for outputting to the bucket driver.
  • the operation value detection step generated by the joystick stroke, the joystick operation angle detection step, and the automatic mode selection, the joystick's operation value and the operation angle, even if the input value of the joystick does not change Outputs the corresponding signal to the bucket driver by determining whether to output an automatic control signal for automatically driving the bucket forward or backward at a predetermined speed or a manual control signal for driving the bucket in accordance with the joystick operation value.
  • the command direction obtained from the operation angle of the joystick is in an automatic control state that matches the predefined direction.
  • the automatic control signal is output to the bucket driving unit, the automatic mode is not selected, or the operation value of the joystick is larger than a set value, or the command direction obtained from the operation angle of the joystick does not match the predefined direction. If not in the manual control state, characterized in that for outputting the manual control signal to the bucket driving unit.
  • the bucket movement control step outputs a first automatic control signal for slowly shaking the bucket when the joystick operation value falls within a relatively small first range while being in the automatic control state, and the second joystick operation value is relatively large.
  • the bucket is divided into a second automatic control signal for quickly shaking and outputting the bucket driver.
  • the driver can effectively remove foreign substances attached to the bucket while reducing fatigue, and can automatically operate when necessary while performing an excavation work or the like without additional additional device manipulation.
  • the operation according to the direction of the joystick can be set separately, and the shaking speed or magnitude can be controlled in proportion to the input value of the joystick, thereby ultimately reducing the fatigue and increasing the workload while performing the original excavation work normally.
  • 1 is a conceptual diagram showing a state in which an excavator drops the soil of the bucket
  • FIG. 2 is a block diagram showing a bucket motion control device for automatically dropping foreign matter according to the present invention
  • FIG. 3 is a flow chart showing the operation of the bucket motion control device for automatically dropping foreign matter according to the present invention in order
  • operation angle detection means 204 bucket motion control
  • FIG. 2 is a view showing a bucket motion control device for automatically dropping foreign matter according to the present invention.
  • the apparatus is largely comprised of an automatic mode selection switch 201, an operation value detection means 202, an operation angle detection means 203, and a bucket motion control unit 204. .
  • the automatic mode selection switch 201 the operation value detection means 202 for detecting the operation value generated by the stroke of the joystick, the operation angle detection means 203 for detecting the operation angle of the joystick, and the automatic mode selection switch
  • the automatic mode is selected by 201, the operation value detected by the operation value detection means 202, and the operation angle detected by the operation angle detection means 203, even if the input value of the joystick does not change.
  • Outputs the corresponding signal to the bucket driver 205 by determining whether to output an automatic control signal for automatically driving the vehicle forward / backward at a predetermined speed or a manual control signal for driving the bucket corresponding to the operation value of the joystick.
  • the bucket movement control unit 204 for controlling the movement of the bucket is made of a structure.
  • the automatic mode selection switch 201 selects the automatic mode according to the driver's key operation to quickly control the bucket movement back and forth even if the input operation value of the joystick is not changed, according to the driver's key operation, and selects the result. ) Is a device for input.
  • the operation value detection means 203 detects an operation value generated by the stroke of the joystick, and the operation value of the detected joystick is input to the bucket motion control unit 204 to output an automatic control signal or a manual control signal. Used to decide whether to print or not.
  • the automatic control signal defined in the present invention is a signal for automatically driving the bucket forward and backward at a predetermined speed even if the input value of the joystick is not changed, and the manual control signal is a signal for driving the bucket corresponding to the input operation value of the joystick. Is defined.
  • the operation angle detection means 203 detects an operation angle of the joystick, and the detected operation angle is used to determine whether the command direction of the joystick coincides with a predefined direction.
  • the bucket motion control unit 204 coincides with the predefined direction by the command direction obtained from the operation angle of the joystick ( That is, in the case of the automatic control state, the automatic control signal is output to the bucket driver 205.
  • the automatic mode is not selected by the automatic mode selection switch 201, or the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with the predefined direction, that is, In the manual control state, the manual control signal is output to the bucket driver 205.
  • the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction, and an input value higher than the set value is input and the predefined value is input. If it matches the direction, the daily operation should be made, and in the opposite case, the automatic operation should be made.
  • the daily operation means that the bucket moves at a speed and movement corresponding to the input value of the joystick
  • the automatic operation means controlling the movement of the bucket quickly and backward to drop foreign substances even if the input value of the joystick does not change.
  • the driver may need to directly adjust the bucket to shake strongly or weakly, or may need to directly adjust the bucket to shake quickly or slowly.
  • the output predefined according to the command value of the joystick is exported. For example, if the joystick input operation value is a relatively small value below the set value, the bucket may be shaken slowly. If the value is a relatively large value below the set value, the bucket may be shaken quickly. To this end, the bucket motion controller outputs a first automatic control signal for slowly shaking the bucket when the joystick operation value is in a relatively small first range while being in an automatic control state, and the second range in which the joystick operation value is relatively large. In case of belonging to the second automatic control signal for quickly shaking the bucket output to the bucket drive unit 205 (in this case, the change of the automatic control signal, that is, the output signal changes the frequency or magnitude or both frequency and magnitude of the output signal Can).
  • Figure 3 is a view showing in sequence the operation of the bucket motion control device for automatically dropping the foreign matter according to the present invention.
  • the present invention first checks whether the automatic mode is selected and detects an operation value generated by the stroke of the joystick.
  • the automatic mode is selected by the automatic mode selection switch, and when the operating value of the joystick is equal to or less than the set value and the command direction obtained from the operating angle of the joystick is in the automatic control state coinciding with the predefined direction, the automatic control signal is bucketed. Output to the driver (S301 ⁇ S305).
  • step S306 a corresponding manual control signal is output to the bucket driver.
  • the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction, and an input value higher than the set value is input and the predefined value is input. If it matches the direction, the daily operation should be made, and in the opposite case, the automatic operation should be made.
  • the daily operation means that the bucket moves at a speed and movement corresponding to the input value of the joystick
  • automatic operation means to control the movement of the bucket quickly back and forth to drop the foreign matter even if the input value of the joystick does not change.
  • the driver may need to directly adjust the bucket to shake strongly or weakly, or may need to directly adjust the bucket to shake quickly or slowly.
  • the bucket may be shaken slowly. If the value is a relatively large value below the set value, the bucket may be shaken quickly.
  • the bucket motion controller outputs a first automatic control signal for slowly shaking the bucket when the operation value of the joystick falls within a relatively small first range while being in the automatic control state, and the second operation value of the joystick is relatively large. If the range falls within the range, the second automatic control signal for quickly shaking the bucket is output to the bucket driving unit (in this case, the change of the automatic control signal, that is, the output signal may change both the frequency or the magnitude or the frequency and the magnitude of the output signal. have.).
  • the present invention can automatically control the movement of the bucket so that the driver can remove the foreign matter contained in the bucket, or to disperse the earth and sand, etc. without a separate operation.
  • the driver can effectively remove foreign substances attached to the bucket while reducing fatigue, and allow the driver to automatically operate when necessary while carrying out excavation work or the like without additional device manipulation.
  • the operation according to the direction of the joystick can be set separately, and the shaking speed or magnitude can be controlled in proportion to the input value of the joystick, thereby ultimately reducing the fatigue and increasing the workload while performing the original excavation work normally.
  • the present invention automatically controls the movement of the bucket so that the driver can control the foreign matter in the bucket or to scatter the earth and sand, etc. without a separate operation, the bucket movement control for automatically dropping the foreign matter It can be used in the apparatus and the method.

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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)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
PCT/KR2012/004019 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법 WO2013176301A1 (ko)

Priority Applications (7)

Application Number Priority Date Filing Date Title
CN201280073241.8A CN104334805A (zh) 2012-05-22 2012-05-22 用于自动抖落杂质的铲斗运动控制装置及其方法
US14/400,898 US20150134209A1 (en) 2012-05-22 2012-05-22 Bucket movement control device for automatically shaking off foreign substances and method therefor
KR1020147032482A KR101668733B1 (ko) 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법
PCT/KR2012/004019 WO2013176301A1 (ko) 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법
CA 2873021 CA2873021A1 (en) 2012-05-22 2012-05-22 Bucket movement control device for automatically shaking off foreign substances and method therefor
EP12877395.9A EP2853642A4 (de) 2012-05-22 2012-05-22 Eimerbewegungssteuerungsvorrichtung zum automatischen abschütteln von fremdkörpern und verfahren dafür
BR112014028749A BR112014028749A2 (pt) 2012-05-22 2012-05-22 equipamento para o controle do movimento de caçamba para descarregar automaticamente substâncias estranhas; e método para o controle do movimento da caçamba para descarregar automaticamente substâncias estranhas

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2012/004019 WO2013176301A1 (ko) 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법

Publications (1)

Publication Number Publication Date
WO2013176301A1 true WO2013176301A1 (ko) 2013-11-28

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Application Number Title Priority Date Filing Date
PCT/KR2012/004019 WO2013176301A1 (ko) 2012-05-22 2012-05-22 이물질을 자동으로 떨어내기 위한 버켓 움직임 제어 장치 및 그 방법

Country Status (7)

Country Link
US (1) US20150134209A1 (de)
EP (1) EP2853642A4 (de)
KR (1) KR101668733B1 (de)
CN (1) CN104334805A (de)
BR (1) BR112014028749A2 (de)
CA (1) CA2873021A1 (de)
WO (1) WO2013176301A1 (de)

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Publication number Priority date Publication date Assignee Title
DE112013006501T5 (de) 2013-01-24 2016-03-31 Volvo Construction Equipment Ab Vorrichtung und Verfahren zum Steuern einer Flussrate bei Baumaschinen
JP6604624B2 (ja) * 2015-05-11 2019-11-13 キャタピラー エス エー アール エル 作業機械の自動振動装置
CN105908797A (zh) * 2016-02-29 2016-08-31 江苏耐维思通科技股份有限公司 一种无人值守装载机的控制系统
US10246855B2 (en) 2016-10-10 2019-04-02 Wacker Neuson Production Americas Llc Material handling machine with bucket shake control system and method
JP6791827B2 (ja) * 2017-09-29 2020-11-25 株式会社小松製作所 作業車両及び作業車両の制御方法
DE102020206368A1 (de) 2020-05-20 2021-11-25 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum automatisierten Entfernen von an einem Ladewerkzeug einer Lademaschine anhaftendem Material
US11708681B2 (en) 2021-04-13 2023-07-25 Caterpillar Inc. System and method for bucket agitation during automated payload tip-off
CN113266046A (zh) * 2021-05-24 2021-08-17 江苏徐工工程机械研究院有限公司 挖掘装载机
US11761170B2 (en) 2021-11-17 2023-09-19 Robert Bosch Gmbh Apparatus for facilitating bucket movement
WO2023167548A1 (ko) * 2022-03-03 2023-09-07 현대두산인프라코어(주) 건설기계의 제어 시스템 및 이의 제어방법

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Also Published As

Publication number Publication date
EP2853642A4 (de) 2016-03-02
BR112014028749A2 (pt) 2017-06-27
CN104334805A (zh) 2015-02-04
US20150134209A1 (en) 2015-05-14
CA2873021A1 (en) 2013-11-28
EP2853642A1 (de) 2015-04-01
KR20150023269A (ko) 2015-03-05
KR101668733B1 (ko) 2016-10-24

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