WO2013176301A1

WO2013176301A1 - Bucket movement control device for automatically shaking off foreign substances and method therefor

Info

Publication number: WO2013176301A1
Application number: PCT/KR2012/004019
Authority: WO
Inventors: 이춘한
Original assignee: 볼보 컨스트럭션 이큅먼트 에이비
Priority date: 2012-05-22
Filing date: 2012-05-22
Publication date: 2013-11-28
Also published as: CN104334805A; KR20150023269A; CA2873021A1; US20150134209A1; EP2853642A1; KR101668733B1; EP2853642A4; BR112014028749A2

Abstract

The present invention relates to a bucket movement control device for automatically shaking off foreign substances, comprising a bucket movement control unit for controlling the movement of a bucket by determining whether to output an automatic control signal for automatically driving the bucket forward/backward at a predetermined speed or to output a manual control signal for driving the bucket according to an operating value of a joystick, and outputting a corresponding signal to a bucket driving unit even if an input value of the joystick does not change according to whether an automatic mode is selected by an automatic mode selection switch, and according to an operating value detected by an operating value detection means and an operating angle detected by an operating angle detection means. The bucket movement control device can automatically control the movement of the bucket so as to enable a driver to adjust the foreign substances within the bucket or scatter earth and sand and the like without need for an additional operation.

Description

Bucket motion control device and method for automatically dropping foreign objects

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.

In general, an excavator is a equipment used for the main purpose to move the soil in the bucket to the desired position.

However, there are many cases where a large amount of soil is stuck to the inside or outside of the bucket due to pressure in the process of soil soaking or containing water. In this case, the weight of the bucket increases and the volume of the inside decreases, resulting in a reduction in the workload.

In order to prevent this, as shown in FIG. 1, the existing worker moves the bucket back and forth and drops the earth and sand through the impact. This operation adds fatigue to the worker who continues the repeated operation for a long time.

In addition, the same type of operation is often performed for the purpose of scattering soil inside the bucket.

However, the introduction of additional controls to automatically generate these actions is not very advantageous in terms of cost or ease of use.

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.

Preferably, 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. In the control state, 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. When 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. In case of belonging to the second automatic control signal for quickly shaking the bucket, characterized in that for outputting to the bucket driver.

Bucket movement control method for automatically dropping the foreign matter according to the present invention for achieving the above object,

Depending on the automatic mode selection step, 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. Characterized in that it comprises a bucket movement control step of controlling the movement.

Preferably, in the bucket movement control step, when the automatic mode is selected and the operation value of the joystick is equal to or less than a set value, the command direction obtained from the operation angle of the joystick is in an automatic control state that matches the predefined direction. When 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.

In addition, 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. In the case of the range, the bucket is divided into a second automatic control signal for quickly shaking and outputting the bucket driver.

According to the present invention, 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.

In particular, 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

Figure 2 is a block diagram showing a bucket motion control device for automatically dropping foreign matter according to the present invention

Figure 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

Explanation of symbols on the main parts of the drawings

201: automatic mode selection switch 202: operation value detection means

203: operation angle detection means 204: bucket motion control

205: bucket driving unit

Hereinafter, with reference to the accompanying drawings will be described the present invention.

However, the embodiments described below are merely to describe in detail enough to be able to easily carry out the invention by those skilled in the art, the scope of protection of the present invention is limited It does not mean.

In order to clearly describe the present invention, parts irrelevant to the description are omitted and like reference numerals denote like parts throughout the specification.

Throughout the specification and claims, when a part includes a certain component, it means that it may include other components, not to exclude other components unless specifically stated otherwise.

2 is a view showing a bucket motion control device for automatically dropping foreign matter according to the present invention.

As shown in Fig. 2, 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. .

That is, 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 Depending on whether 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.

Here, 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.

When the automatic mode is selected by the automatic mode selection switch 201, and the operation value of the joystick is equal to or less than the set value, 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. On the other hand, when 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. That is, to determine whether to perform automatic operation or daily operation, 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. Here, the daily operation means that the bucket moves at a speed and movement corresponding to the input value of the joystick, and 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. Meanwhile, in the process of automatic operation, 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. In order to reflect the needs of the driver, when the joystick manipulation value is below the set value, 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).

Hereinafter, the operation of the bucket motion control apparatus for automatically dropping the foreign matter according to the present invention of FIG. 2 will be described with reference to FIG.

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.

As shown in Fig. 3, the present invention first checks whether the automatic mode is selected and detects an operation value generated by the stroke of the joystick.

In addition, the operating angle of the joystick is detected.

Then, according to whether the driver selects the automatic mode by the automatic mode selection switch and the operating value and the operating angle of the joystick, 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. It is determined whether to output or output a manual control signal for driving the bucket in accordance with the operation value of the joystick, and outputs to the bucket driving unit, thereby controlling the movement of the bucket (S301 ~ S306).

Specifically, it is as follows.

First, 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).

On the other hand, when the automatic mode is not selected by the automatic mode selection switch, when the operating value of the joystick is larger than the set value, or when the command direction obtained from the operating angle of the joystick is in a manual control state that does not match the predefined direction. In step S306, a corresponding manual control signal is output to the bucket driver.

That is, to determine whether to perform automatic operation or daily operation, 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.

Here, 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.

Meanwhile, in the process of automatic operation, 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.

In order to reflect the needs of the driver, when the joystick's operation value is below the set value, the output predefined by the joystick's command value is output.

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 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.).

As described above, 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.

As a result, 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 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.

Claims

Automatic mode selection switch;

Operation value detection means for detecting an operation value generated by the stroke of the joystick;

Operation angle detection means for detecting an operation angle of the joystick;

Depending on whether the automatic mode is selected by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, the bucket is moved at a predetermined speed even if the input value of the joystick does not change. Determines whether to output the automatic control signal for automatically driving back and forth or the manual control signal for driving the bucket according to the joystick's operation value, and outputs the corresponding signal to the bucket driver to control the bucket movement. Bucket motion control device for automatically dropping the foreign matter made, including the motion control.
The method of claim 1,

The bucket motion control unit

The automatic control signal when the automatic mode is selected by the automatic mode selection switch, and the operation value of the joystick is equal to or less than a set value and the command direction obtained from the operation angle of the joystick is in an automatic control state coinciding with a predefined direction. Output to the bucket drive unit,

If the automatic mode is not selected by the automatic mode selection switch, or the operating value of the joystick is larger than a set value, or the command direction obtained from the operating angle of the joystick is in a manual control state that does not match a predefined direction. If the bucket movement control device for automatically dropping the foreign matter, characterized in that for outputting the corresponding manual control signal to the bucket drive unit.
The method of claim 2,

The bucket motion control unit

In the automatic control state,

Outputting a first automatic control signal for slowly shaking the bucket when the joystick operation value is within a relatively small range, and second automatic control signal for quickly shaking the bucket when the joystick operation value is within a relatively large second range Bucket motion control device for automatically dropping the foreign matter, characterized in that the output to the bucket drive unit divided by.
Automatic mode selection step;

Detecting a manipulation value generated by the stroke of the joystick;

Detecting the operating angle of the joystick; And

Depending on whether the automatic mode is selected and the operating value and the operating angle of the joystick, even if the input value of the joystick does not change, an automatic control signal for automatically driving the bucket forwards and backwards at a predetermined speed or corresponding to the operation value of the joystick Determining whether to output a manual control signal for driving the bucket, and outputting the corresponding signal to the bucket driving unit, the bucket movement control method for automatically dropping a foreign substance, including a bucket movement control step of controlling the movement of the bucket.
The method of claim 4, wherein

The bucket movement control step

When the automatic mode is selected and the operating value of the joystick is equal to or less than a set value and the command direction obtained from the operating angle of the joystick is in an automatic control state coinciding with a predefined direction, the automatic control signal is output to the bucket driver. and,

If the automatic mode is not selected, or if the operating value of the joystick is larger than a set value, or if the command direction obtained from the operating angle of the joystick is a manual control state that does not match a predefined direction, the corresponding manual control signal Bucket movement control method for automatically dropping the foreign matter, characterized in that the output to the bucket drive unit.
The method of claim 5,

The bucket movement control step

In the automatic control state

Outputting a first automatic control signal for slowly shaking the bucket when the joystick operation value is within a relatively small range, and second automatic control signal for quickly shaking the bucket when the joystick operation value is within a relatively large second range Bucket movement control method for automatically dropping the foreign matter, characterized in that the output to the bucket drive unit divided by.