WO2019146818A1 - Safe swing system for excavator - Google Patents

Safe swing system for excavator Download PDF

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Publication number
WO2019146818A1
WO2019146818A1 PCT/KR2018/001198 KR2018001198W WO2019146818A1 WO 2019146818 A1 WO2019146818 A1 WO 2019146818A1 KR 2018001198 W KR2018001198 W KR 2018001198W WO 2019146818 A1 WO2019146818 A1 WO 2019146818A1
Authority
WO
WIPO (PCT)
Prior art keywords
swing
function
torque
excavator
electric proportional
Prior art date
Application number
PCT/KR2018/001198
Other languages
French (fr)
Inventor
Okjin SUK
Chunhan LEE
Original Assignee
Volvo Construction Equipment Ab
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 Volvo Construction Equipment Ab filed Critical Volvo Construction Equipment Ab
Priority to PCT/KR2018/001198 priority Critical patent/WO2019146818A1/en
Publication of WO2019146818A1 publication Critical patent/WO2019146818A1/en

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Classifications

    • 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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • 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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/962—Mounting of implements directly on tools already attached to the machine

Definitions

  • the present disclosure relates to an excavator, and more particularly, to a system for limiting the swing torque of an excavator during a swing and travel operation, so that the swing and travel operation can be safely undertaken.
  • a heavy object such as a pipe or rock
  • the swing torque of a related-art excavator is fixed to a swing acceleration torque required for excavation, i.e. a main operation of the excavator.
  • the swing torque may not provide suitable swing acceleration for other types of operation. For example, an operation of transporting a pipe to a location in which pipeline work is being performed by connecting the pipe to the excavator bucket and then swinging the excavator may be performed.
  • the present disclosure has been made in consideration of the above-described problems occurring in the related art, and the present disclosure proposes a technology allowing torque to be adjusted, depending on swing, when swinging an upper swing body of an excavator to prevent danger and wastage during a load lifting operation of the excavator.
  • a system for swinging an upper swing body of construction equipment including a lower travel body, the upper swing body located on the lower travel body to be able to swing, and a function unit attached to the upper swing body to lift an object or dig the earth.
  • the system may include: a swing function regulator regulating a swing function of the upper swing body; an electric proportional valve controlling a swing torque of the upper swing body; and a controller connected to the swing function regulator to control the electric proportional valve.
  • the system may further include a sensor connected to the function unit to detect a weight of an object that the function unit lifts.
  • the swing function regulator may have a function able to designate a swing torque.
  • the sensor may include a pressure sensor or a length measuring device.
  • Applications of the present disclosure can improve the safety of persons adjacent to an excavator, as well as the safety of the excavator, during a load lifting operation of the excavator.
  • FIG. 1 illustrates a configuration for adjusting the swing torque of an excavator according to exemplary embodiments
  • FIG. 2A is a graph illustrating manipulation pressures in response to the manipulation of a swing joystick
  • FIG. 2B is a graph comparing swing torques depending in response to the manipulation of a swing joystick between a conventional technology and an inventive technology.
  • FIG. 2C is a graph comparing swing velocities in response to the manipulation of a swing joystick between the conventional technology and the inventive technology.
  • excavator used herein means a typical excavator that is currently used.
  • FIG. 1 illustrates a configuration for adjusting the swing torque of an excavator according to exemplary embodiments.
  • a swinging operation of the related art will be described first, and then a swinging operation according to exemplary embodiments will be described.
  • a swing input device 1 e.g. a swing joystick
  • a volume of hydraulic fluid is discharged by a pump 4 at a predetermined flow rate, in response to an input, input by the manipulation of the input device 1.
  • the volume of hydraulic fluid is supplied to a swing motor 5 via an electric proportional valve 10 located between the pump 4 and the swing motor 5 to control the flow rate.
  • a flow of hydraulic fluid discharged from the swing motor 5 returns to a tank via an electric proportional valve 9 located between the swing motor 5 and the tank 13. Consequently, the swing motor 5 performs swinging in a clockwise direction.
  • the related-art system has been a swing system corresponding to the configuration of FIG. 1, from which a swing function regulator 2, a controller 3, and electric proportional valves 8 and 11 are omitted.
  • the swing input device 1 is manipulated, so that a signal generated via the manipulation of the swing input device 1 is input into the controller 3.
  • the electric proportional valve 8 located between a supply line of the pump 4 and the tank 13 is opened by a predetermined value, so that hydraulic fluid is discharged by the pump 4 at a predetermined flow rate.
  • the hydraulic fluid then flows to the swing motor 5 via the electric proportional valve 10.
  • the hydraulic fluid directly returns to the tank 13 at a portion of the predetermined flow rate, via the electric proportional valve 8 located between the supply line 4 and the tank 13. Since swinging is performed using a flow rate lower than the flow rate used in the related-art system, even though the swing motor performs swinging in a clockwise direction, a velocity is slower due to lower torque and slower acceleration, compared to the conventional system.
  • the configuration according to exemplary embodiments includes: the swing function regulator regulating a swing function of an upper swing body; electric proportional valves controlling the swing torque of the upper swing body; and a controller connected to the swing function regulator to control the electric proportional valves, in addition to the swing system of the related art.
  • a switch 2-1 indicating that the function should be turned on or off may be added to the swing function regulator 2.
  • the swing function regulator 2 may have a function allowing an excavator's operator to designate an intended swing torque.
  • the controller may calculate a proper swing torque in consideration of a weight detected by a sensor 3-1 and control degrees by which the valves are opened by adjusting set values of electric proportional valves 8, 9, 10, and 11 by reflecting the calculated torque, so that swinging is performed at the proper torque.
  • the sensors may be weight meters or pressure gauges.
  • FIGS. 2A, 2B, and 2C compare a conventional swinging operation and a swinging operation according to exemplary embodiments.
  • FIG. 2A representing joystick pressures due to the manipulation of a swing joystick (i.e. a swing input device)
  • a swing torque generated by a swing motor is B, as illustrated in FIG. 2B.
  • the swing torque B corresponds to a pressure set in a relief valve 6 (see FIG. 1).
  • swing acceleration is undertaken to a level C, as illustrated in FIG. 2C.
  • FIG. 2A the same joystick pressures as in the conventional system are represented in FIG. 2A.
  • a joystick pressure for a swinging operation is A
  • the torque of the swing motor is set to be B', as illustrated in FIG. 2B.
  • the swing torque B' is lower than the swing torque B of the conventional system, due to the electric proportional valve 8, as illustrated above with reference to FIG. 1.
  • Due to the swing toque generated by the swing motor swing acceleration is undertaken to a level C', as illustrated in FIG. 2C, which is lower than the swing acceleration C of the conventional system.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A system for swinging an upper swing body of construction equipment including a lower travel body, the upper swing body located on the lower travel body to be able to swing, and a function unit attached to the upper swing body to lift an object or dig the earth. A swing function regulator regulates a swing function of the upper swing body. An electric proportional valve controls a swing torque of the upper swing body. A controller is connected to the swing function regulator to control the electric proportional valve. The system limit the swing torque of an excavator during a swing and travel operation, so that the swing and travel operation can be safely undertaken.

Description

SAFE SWING SYSTEM FOR EXCAVATOR
The present disclosure relates to an excavator, and more particularly, to a system for limiting the swing torque of an excavator during a swing and travel operation, so that the swing and travel operation can be safely undertaken.
In the related art, during the operation of an excavator, a heavy object, such as a pipe or rock, is often connected to an excavator bucket using a rope while being lifted and moved to from one place to another. The swing torque of a related-art excavator is fixed to a swing acceleration torque required for excavation, i.e. a main operation of the excavator. In some cases, the swing torque may not provide suitable swing acceleration for other types of operation. For example, an operation of transporting a pipe to a location in which pipeline work is being performed by connecting the pipe to the excavator bucket and then swinging the excavator may be performed. Even in the case that an operator carefully manipulates the swinging operation of an excavator to transport heavy pipes, the operator may not be able to properly manipulate the swinging operation, since it may be difficult to determine the weight of the pipes. When the swinging operation is improperly manipulated, a reaction may be caused due to the inertia of the pipe in swinging motion, so that workers assisting in the operation adjacent to the excavator may be at risk of an accident. In severe cases, the excavator may be overturned and the operator of the equipment may consequently be injured.
Accordingly, the present disclosure has been made in consideration of the above-described problems occurring in the related art, and the present disclosure proposes a technology allowing torque to be adjusted, depending on swing, when swinging an upper swing body of an excavator to prevent danger and wastage during a load lifting operation of the excavator.
According to an aspect of the present disclosure, provided is a system for swinging an upper swing body of construction equipment including a lower travel body, the upper swing body located on the lower travel body to be able to swing, and a function unit attached to the upper swing body to lift an object or dig the earth. The system may include: a swing function regulator regulating a swing function of the upper swing body; an electric proportional valve controlling a swing torque of the upper swing body; and a controller connected to the swing function regulator to control the electric proportional valve.
The system may further include a sensor connected to the function unit to detect a weight of an object that the function unit lifts.
The swing function regulator may have a function able to designate a swing torque.
The sensor may include a pressure sensor or a length measuring device.
Applications of the present disclosure can improve the safety of persons adjacent to an excavator, as well as the safety of the excavator, during a load lifting operation of the excavator.
FIG. 1 illustrates a configuration for adjusting the swing torque of an excavator according to exemplary embodiments;
FIG. 2A is a graph illustrating manipulation pressures in response to the manipulation of a swing joystick;
FIG. 2B is a graph comparing swing torques depending in response to the manipulation of a swing joystick between a conventional technology and an inventive technology; and
FIG. 2C is a graph comparing swing velocities in response to the manipulation of a swing joystick between the conventional technology and the inventive technology.
The term "excavator" used herein means a typical excavator that is currently used.
FIG. 1 illustrates a configuration for adjusting the swing torque of an excavator according to exemplary embodiments. With reference to FIG. 1, a swinging operation of the related art will be described first, and then a swinging operation according to exemplary embodiments will be described.
In the related art, when a swing input device 1 (e.g. a swing joystick) is manipulated, a volume of hydraulic fluid is discharged by a pump 4 at a predetermined flow rate, in response to an input, input by the manipulation of the input device 1. The volume of hydraulic fluid is supplied to a swing motor 5 via an electric proportional valve 10 located between the pump 4 and the swing motor 5 to control the flow rate. A flow of hydraulic fluid discharged from the swing motor 5 returns to a tank via an electric proportional valve 9 located between the swing motor 5 and the tank 13. Consequently, the swing motor 5 performs swinging in a clockwise direction.
That is, the related-art system has been a swing system corresponding to the configuration of FIG. 1, from which a swing function regulator 2, a controller 3, and electric proportional valves 8 and 11 are omitted.
In contrast, in a swing operation according to exemplary embodiments, after the swing function regulator 2 is turned on, the swing input device 1 is manipulated, so that a signal generated via the manipulation of the swing input device 1 is input into the controller 3. Thus, the electric proportional valve 8 located between a supply line of the pump 4 and the tank 13 is opened by a predetermined value, so that hydraulic fluid is discharged by the pump 4 at a predetermined flow rate. The hydraulic fluid then flows to the swing motor 5 via the electric proportional valve 10. The hydraulic fluid directly returns to the tank 13 at a portion of the predetermined flow rate, via the electric proportional valve 8 located between the supply line 4 and the tank 13. Since swinging is performed using a flow rate lower than the flow rate used in the related-art system, even though the swing motor performs swinging in a clockwise direction, a velocity is slower due to lower torque and slower acceleration, compared to the conventional system.
Thus, the configuration according to exemplary embodiments includes: the swing function regulator regulating a swing function of an upper swing body; electric proportional valves controlling the swing torque of the upper swing body; and a controller connected to the swing function regulator to control the electric proportional valves, in addition to the swing system of the related art.
Here, a switch 2-1 indicating that the function should be turned on or off may be added to the swing function regulator 2. In addition, the swing function regulator 2 may have a function allowing an excavator's operator to designate an intended swing torque.
A proper swing torque differs depending on the weight. Thus, the controller may calculate a proper swing torque in consideration of a weight detected by a sensor 3-1 and control degrees by which the valves are opened by adjusting set values of electric proportional valves 8, 9, 10, and 11 by reflecting the calculated torque, so that swinging is performed at the proper torque. The sensors may be weight meters or pressure gauges.
FIGS. 2A, 2B, and 2C compare a conventional swinging operation and a swinging operation according to exemplary embodiments.
A swing and travel operation by a conventional system will be described with reference to FIGS. 2A to 2C. Referring to FIG. 2A representing joystick pressures due to the manipulation of a swing joystick (i.e. a swing input device), when a joystick pressure for a swinging operation is A, a swing torque generated by a swing motor is B, as illustrated in FIG. 2B. The swing torque B corresponds to a pressure set in a relief valve 6 (see FIG. 1). In addition, due to the torque generated by the swing motor, swing acceleration is undertaken to a level C, as illustrated in FIG. 2C.
Referring to a swing and transport operation according to exemplary embodiments, the same joystick pressures as in the conventional system are represented in FIG. 2A. When a joystick pressure for a swinging operation is A, the torque of the swing motor is set to be B', as illustrated in FIG. 2B. The swing torque B' is lower than the swing torque B of the conventional system, due to the electric proportional valve 8, as illustrated above with reference to FIG. 1. Due to the swing toque generated by the swing motor, swing acceleration is undertaken to a level C', as illustrated in FIG. 2C, which is lower than the swing acceleration C of the conventional system.
As set forth above, when the swing and travel function is activated during the swing and travel operation performed using the configuration according to exemplary embodiments, it is possible to control swing acceleration to be lower than the swing acceleration of the conventional system, so that the swing and travel operation can be performed more safely.
Description of Reference Numerals of Drawings
1: swing input device(joystick) 2: swing function regulator
2-1: switch 3: controller
4: pump 5: swing motor
6, 7: relief valve 8, 9, 10, 11: electric proportional valve
12, 13: tank

Claims (4)

1. A system for swinging an upper swing body of construction equipment including a lower travel body, the upper swing body located on the lower travel body to be able to swing, and a function unit attached to the upper swing body to lift an object or dig the earth, the system comprising:
a swing function regulator regulating a swing function of the upper swing body;
an electric proportional valve controlling a swing torque of the upper swing body; and
a controller connected to the swing function regulator to control the electric proportional valve.
The system of claim 1, further comprising a sensor connected to the function unit to detect a weight of an object that the function unit lifts.
The system of claim 1, wherein the swing function regulator has a function able to designate a swing torque.
The system of claim 2, wherein the sensor comprises a pressure sensor or a length measuring device.
PCT/KR2018/001198 2018-01-26 2018-01-26 Safe swing system for excavator WO2019146818A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2018/001198 WO2019146818A1 (en) 2018-01-26 2018-01-26 Safe swing system for excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2018/001198 WO2019146818A1 (en) 2018-01-26 2018-01-26 Safe swing system for excavator

Publications (1)

Publication Number Publication Date
WO2019146818A1 true WO2019146818A1 (en) 2019-08-01

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PCT/KR2018/001198 WO2019146818A1 (en) 2018-01-26 2018-01-26 Safe swing system for excavator

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130245897A1 (en) * 2012-03-16 2013-09-19 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US20140303855A1 (en) * 2011-12-28 2014-10-09 Sumitomo(S.H.I.) Construction Machinery Co., Ltd. Swivel control apparatus and method
JP2015214808A (en) * 2014-05-08 2015-12-03 住友建機株式会社 Construction machine
US20160348340A1 (en) * 2014-02-20 2016-12-01 Hitachi Construction Machinery Co., Ltd. Construction machine
US20170342683A1 (en) * 2014-12-24 2017-11-30 Volvo Construction Equipment Ab Swing control apparatus of construction equipment and control method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140303855A1 (en) * 2011-12-28 2014-10-09 Sumitomo(S.H.I.) Construction Machinery Co., Ltd. Swivel control apparatus and method
US20130245897A1 (en) * 2012-03-16 2013-09-19 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US20160348340A1 (en) * 2014-02-20 2016-12-01 Hitachi Construction Machinery Co., Ltd. Construction machine
JP2015214808A (en) * 2014-05-08 2015-12-03 住友建機株式会社 Construction machine
US20170342683A1 (en) * 2014-12-24 2017-11-30 Volvo Construction Equipment Ab Swing control apparatus of construction equipment and control method thereof

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