WO2022240208A1 - Système de commande d'excavatrice et procédé de commande d'excavatrice l'utilisant - Google Patents

Système de commande d'excavatrice et procédé de commande d'excavatrice l'utilisant Download PDF

Info

Publication number
WO2022240208A1
WO2022240208A1 PCT/KR2022/006792 KR2022006792W WO2022240208A1 WO 2022240208 A1 WO2022240208 A1 WO 2022240208A1 KR 2022006792 W KR2022006792 W KR 2022006792W WO 2022240208 A1 WO2022240208 A1 WO 2022240208A1
Authority
WO
WIPO (PCT)
Prior art keywords
forklift
angle
excavator
pitch
working state
Prior art date
Application number
PCT/KR2022/006792
Other languages
English (en)
Korean (ko)
Inventor
김한솔
Original Assignee
현대두산인프라코어(주)
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 현대두산인프라코어(주) filed Critical 현대두산인프라코어(주)
Publication of WO2022240208A1 publication Critical patent/WO2022240208A1/fr

Links

Images

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
    • 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
    • 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
    • E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
    • 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

Definitions

  • FIG. 1 is a conceptual view of an excavator to which an excavator control system according to various embodiments of the present invention is applicable
  • FIG. 2 is a tilt rotator 50, 50 to which an excavator control system according to various embodiments of the present invention is applied.
  • Figure 3 is a view of Figure 2 viewed from the side
  • Figure 4 shows a method for calculating the pitch angle of the forklift 60 in one embodiment of the present invention
  • 5A and 5B are diagrams illustrating a method for calculating the pitch angle of the forklift 60 in another embodiment of the present invention
  • FIG. 6 is a diagram of an excavator control system according to various embodiments of the present invention.
  • 7 is a block diagram
  • FIG. 7 is a diagram illustrating an excavator control method according to various embodiments of the present invention.
  • the excavator control system adjusts the angle of the forklift 60 according to the current work mode and work state of the excavator in the process of lifting, moving, and putting down the load using the forklift 60. By controlling, the efficiency and safety of operation can be improved.
  • the roll cylinder 55 may control the roll angle of the forklift 60 by controlling the hydraulic pressure applied to the first roll cylinder 55a and the second roll cylinder 55b by the control unit 110 .
  • the roll cylinder 55 is controlled by the control unit 110 so that the same hydraulic pressure is applied to the first roll cylinder 55a and the second roll cylinder 55b, thereby forking the fork.
  • the roll angle of the lift 60 can be controlled to be zero.
  • the sensor unit 130 may include at least one or more sensors installed in various locations, and the sensor may include an inertial measurement unit (IMU) sensor capable of measuring acceleration, angular velocity, and earth magnetic field. A pitch angle and a roll angle of the forklift 60 may be detected through the control unit 110 using the sensing values of the sensor.
  • the sensor unit 130 may include a first sensor disposed on the tilting axis 51 of the tilt rotator 50 . The first sensor may be installed on the tilting axis 51 of the tilt rotator 50 to directly sense the roll angle and the pitch angle of the tilt rotator 50 .
  • the control unit 110 may control the pitch angle of the forklift 60 to be greater than zero when it is determined that the current work state is the load work state.
  • the control unit 110 may calculate the current pitch angle of the forklift 60 through the sensor unit 130 and perform feedback control so that the pitch angle of the forklift 60 is maintained greater than 0 in a load working state.
  • the control unit 110 maintains a state where the pitch angle of the forklift 60 is greater than 0, that is, a state where the front end of the fork is tilted upward, so that the load is lifted and the position of the load is moved such as swinging or running. It is possible to perform safe operation by maintaining the fork so as not to deviate from it.
  • ⁇ arm angle formed by the arm with respect to the direction perpendicular to the ground (sensed by the second sensor installed on the arm 40, 0 degree when the arm 40 is perpendicular to the ground, the arm 40 rotates forward and +)

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Selon ses divers modes de réalisation, la présente invention concerne un système de commande d'excavatrice qui est destiné à commander une excavatrice comprenant une flèche et un bras relié de manière séquentielle à une carrosserie de véhicule et qui peut comprendre : un chariot élévateur à fourche relié au bras ; un rotateur d'inclinaison disposé entre le bras et le chariot élévateur à fourche et entraînant ledit chariot élévateur à fourche ; un cylindre de roulis disposé sur un côté du rotateur d'inclinaison et entraînant le chariot élévateur à fourche dans un sens de roulis ; un vérin de pas disposé sur le bras et entraînant le chariot élévateur à fourche dans un sens de calage ; et une unité de contrôle pour déterminer un mode de fonctionnement actuel et un état de fonctionnement de l'excavatrice. Lorsque le mode de fonctionnement est un mode de chariot élévateur à fourche, l'unité de contrôle commande le chariot élévateur à fourche à avoir un angle de roulis de 0 via le cylindre de roulis et, selon l'état de fonctionnement, commande un angle de calage du chariot élévateur à fourche via le cylindre de tangage.
PCT/KR2022/006792 2021-05-13 2022-05-12 Système de commande d'excavatrice et procédé de commande d'excavatrice l'utilisant WO2022240208A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020210062004A KR20220154446A (ko) 2021-05-13 2021-05-13 굴삭기 제어 시스템 및 이를 이용한 굴삭기 제어 방법
KR10-2021-0062004 2021-05-13

Publications (1)

Publication Number Publication Date
WO2022240208A1 true WO2022240208A1 (fr) 2022-11-17

Family

ID=84029359

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2022/006792 WO2022240208A1 (fr) 2021-05-13 2022-05-12 Système de commande d'excavatrice et procédé de commande d'excavatrice l'utilisant

Country Status (2)

Country Link
KR (1) KR20220154446A (fr)
WO (1) WO2022240208A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05139697A (ja) * 1991-11-14 1993-06-08 Toyo Umpanki Co Ltd ブーム式昇降装置
EP2080730A1 (fr) * 2007-10-24 2009-07-22 Cormidi S.r.l. Véhicule industriel autopropulsé
KR101821419B1 (ko) * 2012-01-26 2018-01-23 주식회사 두산 지게차의 화물 낙하 방지 장치 및 방법
KR20180003062U (ko) * 2018-01-02 2018-10-24 김대길 굴착기용 지게차 어태치먼트
KR20200042299A (ko) * 2018-10-15 2020-04-23 주식회사 주현 굴삭기의 버킷용 틸팅로테이터의 자동 제어시스템 및 제어방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05139697A (ja) * 1991-11-14 1993-06-08 Toyo Umpanki Co Ltd ブーム式昇降装置
EP2080730A1 (fr) * 2007-10-24 2009-07-22 Cormidi S.r.l. Véhicule industriel autopropulsé
KR101821419B1 (ko) * 2012-01-26 2018-01-23 주식회사 두산 지게차의 화물 낙하 방지 장치 및 방법
KR20180003062U (ko) * 2018-01-02 2018-10-24 김대길 굴착기용 지게차 어태치먼트
KR20200042299A (ko) * 2018-10-15 2020-04-23 주식회사 주현 굴삭기의 버킷용 틸팅로테이터의 자동 제어시스템 및 제어방법

Also Published As

Publication number Publication date
KR20220154446A (ko) 2022-11-22

Similar Documents

Publication Publication Date Title
WO2012015087A1 (fr) Système de commande d'écoulement tourbillonnaire pour équipement de construction et procédé de commande de ce système
CN112041510A (zh) 挖掘机、信息处理装置
WO2013027873A1 (fr) Procédé pour commander une machine de travail
WO2011068377A2 (fr) Dispositif de cavage complet pour un godet chargeur sur roues
CN109689978B (zh) 作业机械
WO2011025197A2 (fr) Procédé et dispositif de commande de fonctionnement automatique d'un équipement de travail de type chargeuse sur pneus
US11987957B2 (en) Shovel
CA2181834C (fr) Procede de maintien de l'angle d'inclinaison du godet d'une pelle hydraulique
CN111032970B (zh) 作业机械
CN114080481A (zh) 施工机械及支援基于施工机械的作业的支援装置
CN113272499A (zh) 安全装置以及工程机械
CN112384663B (zh) 挖土机
EP3907336A1 (fr) Dispositif de surveillance et engin de chantier
WO2022240208A1 (fr) Système de commande d'excavatrice et procédé de commande d'excavatrice l'utilisant
WO2020204238A1 (fr) Équipement de construction
CN112368450B (zh) 挖土机、信息处理装置
JPS6286234A (ja) パワ−シヨベルにおける作業機の制御装置
WO2022210776A1 (fr) Excavatrice
JP7161561B2 (ja) 作業機械
WO2021193450A1 (fr) Machine de construction, système de gestion pour machine de construction, dispositif d'apprentissage automatique et système de gestion pour site de travail de machine de construction
JP2744119B2 (ja) 上部旋回体を有する作業車の旋回制御装置
CN115667637A (zh) 回转式工程机械
CN1177334A (zh) 移动式起重车辆的可动范围显示装置
JP3357120B2 (ja) 作業機の干渉防止装置
KR102054666B1 (ko) 건설 기계의 유량 제어 방법 및 이를 수행하기 위한 시스템

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22807855

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE