WO2024019030A1 - Dispositif d'élimination de terre - Google Patents

Dispositif d'élimination de terre Download PDF

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Publication number
WO2024019030A1
WO2024019030A1 PCT/JP2023/026188 JP2023026188W WO2024019030A1 WO 2024019030 A1 WO2024019030 A1 WO 2024019030A1 JP 2023026188 W JP2023026188 W JP 2023026188W WO 2024019030 A1 WO2024019030 A1 WO 2024019030A1
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WO
WIPO (PCT)
Prior art keywords
earth removal
height
removal plate
control unit
ground surface
Prior art date
Application number
PCT/JP2023/026188
Other languages
English (en)
Japanese (ja)
Inventor
拓野 長峰
康 黄
Original Assignee
日本精機株式会社
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 日本精機株式会社 filed Critical 日本精機株式会社
Publication of WO2024019030A1 publication Critical patent/WO2024019030A1/fr

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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
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems

Definitions

  • the present invention relates to an earth removal device mounted on a working machine such as a hydraulic excavator.
  • a working machine generally includes a self-propelled lower traveling body and an upper rotating body that is rotatably provided on the lower traveling body, and the lower traveling body and the upper rotating body constitute a vehicle body.
  • the upper revolving body is provided with an attachment (movable part) such as a bucket for carrying out work such as excavating earth and sand
  • the lower traveling body is provided with an earth removal device for carrying out work such as removing earth and sand.
  • the earth removal device includes a stay provided on the front side of the lower traveling body so as to be rotatable in the vertical direction, and an earth removal plate provided at the tip of the stay. , and a hydraulic cylinder that rotates the stay in the vertical direction to raise and lower the earth removal plate.
  • the present invention aims to provide an earth removal device that does not cause a decrease in marketability.
  • the present invention includes a detection means that is attached to an earth removal member mounted on a working machine and acquires attitude information of the earth removal member, and a control unit into which the attitude information is input, and the control unit is configured to When it is determined based on the posture information that the height from the virtual reference plane of the working machine to the lower end of the earth removal member is in an abnormal state where it is not within a predetermined reference height range, a notification means is used to notify the user of this fact. It is characterized in that the notification means is operated to notify the operator.
  • the present invention is characterized in that the detection means includes an inertial sensor.
  • an earth removal device that can achieve the intended purpose and that does not cause a decrease in marketability.
  • FIG. 1 is a side view showing a working machine according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the electrical configuration of the work machine according to the embodiment.
  • FIG. 3 is a plan view of the earth removal device according to the same embodiment. The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal plate by the same embodiment. The figure which shows the calculation example of the height from the ground surface to the lower end of an earth removal board when it is in an abnormal state by the same embodiment.
  • the working machine 10 can be any of various track-type working machines such as a hydraulic excavator, and includes a lower traveling body 20 having a crawler 21, an earth removal plate (earth removal member) 22, and a detection means 23;
  • the lower traveling body 20 includes a swingable upper rotating body 30 installed on the lower traveling body 20.
  • the stay S1 is provided on the front side of the lower traveling body 20 so as to be rotatable in the vertical direction, the earth removal plate 22 provided at the tip of this stay S1, and the stay S1 is rotated in the vertical direction.
  • a hydraulic cylinder S2 that raises and lowers the soil removal plate 22, a detection means 23 attached to a predetermined location of the stay S1, a control unit provided in the upper revolving body 30 to be described later, a notification unit provided in the upper revolving body 30 to be described later, etc.
  • a soil device is constructed.
  • symbol S3 is the cylinder part of the hydraulic cylinder S2, and the code
  • the detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10. More specifically, the detection means 23 here is attached to the back side of the earth removal plate 22, which will be on the driver's cab side, which will be described later, using an appropriate fixing means.
  • the detection means 23 includes a detection section 23a, a calculation section 23b, and a communication section 23c, and is operated by the power of a built-in battery to acquire posture information of the earth removal plate 22, and transmits the posture information to the control unit. Output.
  • an inertial sensor (INERTIAL MEASUREMENT UNIT) can be applied to the detection unit 23a.
  • the detection unit 23a is a detection medium that acquires and outputs three-dimensional acceleration information and angular velocity information.
  • the calculation unit 23b processes the measurement results by the IMU sensor output from the detection unit 23a using a built-in calculation processing circuit, and acquires posture information indicating the posture of the earth removal plate 22.
  • the communication unit 23c sends the attitude information that can be acquired by the calculation unit 23b to the control unit through data communication via wireless communication.
  • the upper revolving body 30 includes an attachment 31 having a boom 31a, an arm 31b, and a bucket 31c, a control unit 32 into which attitude information is input, a driver's cab (not shown) in which an operator rides, and a notification section (notification means) 33. It is equipped with
  • the boom 31a is rotatably provided in front of the upper revolving structure 30 by a boom pin C1.
  • An arm 31b is rotatably provided on the front side (tip side) of the boom 31a by an arm pin C2.
  • a bucket 31c is rotatably provided on the front side (tip side) of the arm 31b by a bucket pin C3.
  • the operator boards the operator's cab and operates the attachment 31 using a control lever or the like to perform earth and sand excavation work. Further, the operator is seated in the driver's cab and operates the soil removal plate 22 using a control lever or the like to perform earth and sand removal work. In addition, when changing the work place for the earth removal work, the operator needs to raise the earth removal plate 22 to a certain height using a control lever or the like.
  • the control unit 32 is provided in the upper revolving body 30 and includes a calculation section 32a and a communication section 32b.
  • the control unit 32 outputs notification information, which will be described later, to the notification section 33 through wireless data communication.
  • the arithmetic unit 32a controls the operations of each unit by executing a control program related to the control unit 32 using a built-in arithmetic processing circuit.
  • the calculation unit 32a acquires posture information from the detection means 23.
  • the communication unit 32b sends and receives various data to and from the detection means 23 by wireless data communication.
  • a monitor having a display screen provided at the driver's seat of the working machine 10 can be applied.
  • the notification unit 33 displays a message (notification information) indicating that the earth removal device is out of order based on a signal indicating an abnormal state, which will be described later.
  • the notification unit 33 may apply auditory information such as audio and alarm sounds instead of a monitor.
  • the notification information and the auditory information may be used together.
  • the reference point T is set at the rear end of the endless track of the working machine 10 on the ground surface P1. Then, using this reference point T (ground surface P1) as a reference, the height H from the reference point T (ground surface P1) to the tip of the earth removal plate 22 (the lower end of the earth removal plate 22) is detected. First, setting information regarding the length of the virtual reference link, the length of the virtual link, and posture information in the basic posture of the soil removal plate 22 is input in advance to the calculation unit 32a.
  • the symbol L1 is a virtual reference link that virtually connects the reference point T and the center axis of the boom pin C1 with a straight line, and in FIG. This is a virtual link connecting the lower ends of the plates 22 with a straight line.
  • the calculation unit 32a also registers data for correcting the posture information detected by the detection means 23 based on information on the angle of the virtual link L2 with respect to the reference direction (for example, the horizontal direction). Further, information about the angle ⁇ 1 with respect to the ground surface P1 is input to the calculation unit 32a regarding the virtual reference link L1.
  • the calculation unit 32a uses the attitude information to set the reference point T (ground surface P1) as a reference.
  • the tip (lower end) position of the earth removal plate 22 is detected.
  • the calculation unit 32a detects the height H1 of the boom pin C1 with respect to the reference point T (ground surface P1) based on the angle ⁇ 1 of the virtual reference link L1 with respect to the ground surface P1 and the length of the virtual reference link L1. Also, from the angle ⁇ 2 of the virtual link L2 detected by the attitude information and the length of the virtual link L2, the height H2 of the lower end of the earth removal plate 22 with respect to the boom pin C1 (reference plane P2 passing through the boom pin C1 and substantially parallel to the ground surface P1) can be calculated. To detect.
  • the calculation unit 32a determines the reference point from the height H1 of the boom pin C1 relative to the reference point T (ground surface P1) detected in this manner and the height H2 of the lower end of the earth removal plate 22 relative to the boom pin C1 (reference surface P2).
  • the height H from T (ground surface P1) to the lower end of the earth removal plate 22 is detected.
  • the height H is obtained by subtracting the height H2 from the height H1.
  • the calculation unit 32a calculates the height H from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 based on the attitude information obtained from the detection means 23.
  • the earth removal plate 22 is moved to a height H from the ground surface P1. It is possible that it will not be possible to maintain the position. That is, in this case, as shown in FIG. 5, the earth removal plate 22 is considered to gradually descend toward the ground surface P1 side due to its own weight.
  • the calculation unit 32a calculates the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 by subtracting the height H2 from the height H1 based on the posture information. calculate.
  • the height H is 50 cm and the height h is 20 cm, and from the value obtained by subtracting 15 cm from the height H to the value obtained by subtracting and adding 15 cm to the height H. (that is, the range of height H from 35 to 65 cm) is within a predetermined reference height range that indicates the normal state of the earth removal plate 22, then the height h is within the predetermined reference height range. Since the height h from the reference point T (ground surface P1) to the lower end of the earth removal plate 22 is not within the predetermined reference height range, the calculation unit 32a at this time determines that the earth removal plate is in an abnormal state (earth removal plate abnormal state). ), and operates the notification unit 33 in order to notify (notify) the operator using the notification unit 33 to that effect (that the height h is not within the predetermined reference height range).
  • the detection means 23 is attached to the earth removal plate 22 mounted on the working machine 10 and acquires the attitude information of the earth removal plate 22, and the control unit 32 into which the attitude information is input. Based on the posture information, the control unit 32 determines that there is an abnormal state in which the height h of the working machine 10 from the ground surface P1 to the lower end of the earth removal plate 22 is not within the predetermined reference height range. When the determination is made, the notification unit 33 is operated to notify the operator of the determination.
  • the operator can confirm that the soil removal device is in an abnormal state (that is, the soil removal plate 22 is not being operated).
  • the height from the ground surface P1 to the lower end of the earth removal plate 22 is fluctuating without permission, even though there is no difference in the height of the soil removal plate 22. It has the advantage of increasing sex.
  • the calculation unit 32a was provided in the control unit 32 of the upper revolving body 30, but instead of the control unit 32, for example, a mobile phone such as a smartphone that is connected to the control unit 32 in a wireless manner can be used.
  • the calculation unit 32a may be provided in the terminal (external device).

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

Abstract

La présente invention concerne un dispositif d'élimination de terre sans risque de réduction de la valeur de produit. Le dispositif d'élimination de terre comprend : un moyen de détection 23 qui est fixé à une plaque d'élimination de terre 22 montée sur un engin de chantier 10 et acquiert des informations de posture de la plaque d'élimination de terre 22 ; et une unité de commande 32 à laquelle les informations de posture sont introduites. Lorsque l'unité de commande 32 (unité de calcul 32a) détermine, sur la base des informations de posture, qu'il existe un état anormal dans lequel la hauteur h de la surface de sol P1 à l'extrémité inférieure de la plaque d'élimination de terre 22 dans l'engin de chantier 10 n'est pas dans une plage de hauteur de référence prédéfinie, l'unité de commande 32 actionne une unité de notification 33 pour notifier à un opérateur cet effet à l'aide de l'unité de notification 33.
PCT/JP2023/026188 2022-07-19 2023-07-18 Dispositif d'élimination de terre WO2024019030A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-114939 2022-07-19
JP2022114939 2022-07-19

Publications (1)

Publication Number Publication Date
WO2024019030A1 true WO2024019030A1 (fr) 2024-01-25

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PCT/JP2023/026188 WO2024019030A1 (fr) 2022-07-19 2023-07-18 Dispositif d'élimination de terre

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076223A1 (en) * 2014-09-12 2016-03-17 Caterpillar Inc. System and Method for Controlling the Operation of a Machine
WO2019124549A1 (fr) * 2017-12-21 2019-06-27 住友建機株式会社 Pelle et procédé de gestion de pelle
JP2020041279A (ja) * 2018-09-07 2020-03-19 コベルコ建機株式会社 作業機械
JP2020165255A (ja) * 2019-03-29 2020-10-08 住友重機械工業株式会社 ショベル

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160076223A1 (en) * 2014-09-12 2016-03-17 Caterpillar Inc. System and Method for Controlling the Operation of a Machine
WO2019124549A1 (fr) * 2017-12-21 2019-06-27 住友建機株式会社 Pelle et procédé de gestion de pelle
JP2020041279A (ja) * 2018-09-07 2020-03-19 コベルコ建機株式会社 作業機械
JP2020165255A (ja) * 2019-03-29 2020-10-08 住友重機械工業株式会社 ショベル

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