KR102445114B1 - Control apparatus and method for attachment of construction machinery - Google Patents

Abstract

The present invention relates to an apparatus and method for controlling an attachment of a construction machine. The attachment control apparatus for a construction machine according to the present invention includes at least two operating means for operating an attachment, an input unit for selecting any one of the at least two operating means as operating means for operating the attachment, and the at least two Among the manipulation means, any one selected as the manipulation means for operating the attachment includes a control unit that activates and deactivates the rest.

Description

Attachment control device and control method of construction machinery

The present invention relates to an apparatus and method for controlling an attachment of a construction machine.

In general, construction machines such as excavators are provided with front work units such as booms, arms, and buckets to perform work. Excavators generally perform excavation work using buckets. In order to perform a special purpose work other than excavation work, an attachment may be installed in place of the bucket. Attachments include a breaker, a crusher, and a shear. The breaker is for crushing hard rock, etc., and can be operated with only one-way flow of hydraulic oil. On the other hand, the crusher is for picking up and breaking a hard object, and the shear is for cutting. In order to operate an attachment such as a crusher or a shear, a two-way flow of hydraulic oil is required.

On the other hand, the construction machine may be provided with two or more operating means of the attachment. However, when two or more operation means are operated simultaneously by the user's mistake, the construction machine may malfunction or malfunction.

In addition, when the user starts the construction machine in a state in which the user is operating the manipulation means by mistake or intentionally, the attachment is operated at the same time as the start. In this case, as a sudden load is applied to the hydraulic system, durability of the hydraulic system may be deteriorated, and the safety of users and people around the construction machine may be threatened.

US 10-2012-0000394 A

In order to solve the problems of the prior art described above, the present invention is a construction machine that can prevent malfunction and failure of the attachment due to a user's operation mistake by operating the attachment only by any one of a plurality of operation means for operating the attachment. An object of the present invention is to provide an attachment control device and a control method of

In addition, an object of the present invention is to provide an attachment control apparatus and a control method for a construction machine in which the attachment is not operated by the attachment operation means when the attachment operation means is already operated before being activated.

The present invention in order to solve the above problems, at least two operating means for operating the attachment; an input unit for selecting any one of the at least two operation means as operation means for operating the attachment; and a control unit for activating any one selected as an operation means for operating the attachment among the at least two operation means and deactivating the rest.

In this case, the at least two operation means may include a first operation means and a second operation means.

In addition, when the first manipulation means is activated, the control unit may output a control signal corresponding to the amount of manipulation of the first manipulation means.

In addition, it is possible to activate the second operating means by supplying hydraulic oil to the second operating means.

Also, when it is determined that an abnormality has occurred in any one of the at least two manipulation means, the control unit may deactivate all of the at least two manipulation means.

In addition, when it is determined that any one of the at least two manipulation means is being operated before the manipulation means for operating the attachment is selected, the control unit may deactivate all of the at least two manipulation means.

Also, the control unit may activate any one of the at least two manipulation means only when the attachment mode is activated.

In addition, the present invention, in a construction machine comprising at least two operating means for operating the attachment,

selecting any one of the at least two operation means as an operation means for operating the attachment; and

It is possible to provide an attachment control method of a construction machine comprising the step of activating any one selected as an operation means for operating the attachment among the at least two operation means, and deactivating the rest.

In this case, it may be determined whether the attachment mode is activated, and if it is determined that the attachment mode is not activated, deactivating all of the at least two operation means may be further included.

In addition, determining whether any one of the at least two operating means is being operated, further comprising the step of deactivating all of the at least two operating means when it is determined that any one of the at least two operating means is being operated can do.

In addition, the step of deactivating all of the at least two operating means by determining whether any one of the at least two operating means has occurred, if it is determined that any one of the at least two operating means has an abnormality may include

The method may further include determining whether the cut-off valve is in a released state.

According to an embodiment of the present invention, since any one selected by the user among a plurality of operation means for operating the attachment is activated and the rest are deactivated, the effect that can prevent the attachment from malfunctioning due to the user's mistake is have.

In addition, according to an embodiment of the present invention, since the attachment manipulation means is activated only in the attachment mode, in the case of not the attachment mode, even if the manipulation means is operated, the attachment does not operate, so that the malfunction of the construction machine can be prevented.

In addition, according to an embodiment of the present invention, if an abnormality has occurred in the operation means before activating the attachment operation means or the operation means is already being operated, the hydraulic system is prevented from being damaged because the attachment operation means is not activated, It has the effect of improving the stability of construction machinery.

1 is a diagram schematically illustrating a configuration of an attachment control apparatus for a construction machine and a hydraulic system including the same according to an embodiment of the present invention.
2 is a flowchart of a method for controlling an attachment of a construction machine according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a diagram schematically illustrating a configuration of an attachment control apparatus for a construction machine and a hydraulic system including the same according to an embodiment of the present invention. Referring to FIG. 1 , the apparatus for controlling an attachment for a construction machine according to an embodiment of the present invention and a hydraulic system including the same include at least two operating means 10 and 20 , a control unit 30 , a hydraulic pump 40 , and a cut It may include an off valve 50 , a pedal shutoff valve 60 , an attachment actuator 70 , a shuttle valve 80 , and an input unit 90 .

The hydraulic pump 40 is driven by a driving source such as an engine and a motor to discharge hydraulic oil. The hydraulic pump 40 may be a variable displacement pump such as a piston pump capable of adjusting the volume by adjusting the inclination angle of the swash plate, or may be a fixed displacement pump having a fixed volume, such as a gear pump. The hydraulic oil discharged from the hydraulic pump 40 may be supplied through the supply line 41 .

A cut-off valve 50 is provided on the supply line 41 to control the flow of hydraulic oil. The cut-off valve 50 operates between a first position 50a of blocking the flow path of the supply line 41 and a second position 50b of opening it. When the cut-off valve 50 is switched to the first position 50a, the hydraulic oil discharged from the hydraulic pump 40 is blocked from flowing through the supply line 41, and the hydraulic oil in the supply line 41 is drained into the tank. can be When the cut-off valve 50 is switched to the second position 50b , the hydraulic oil discharged from the hydraulic pump 40 may flow through the supply line 41 . Hereinafter, a state in which the cut-off valve 50 operates at the second position 50b so that the hydraulic oil discharged from the hydraulic pump 40 can flow through the supply line 41 is released by the cut-off valve 50 . state is defined

The cut-off valve 50 may be a solenoid valve. When the cut-off valve 50 is a solenoid valve, the cut-off valve 50 may be operated by a cut-off valve changeover switch (not shown). Also, the cut-off valve 50 may be operated manually. When the cut-off valve 50 is a manual valve, the position of the cut-off valve 50 may be switched by operating the cut-off lever.

At least two of the operating means (10, 20) are operating means provided in the construction machine to operate the attachment. The at least two operation means 10 and 20 may be various types of operation means. In this embodiment, the at least two operating means (10, 20) is shown to include the first operating means (10) and the second operating means (20). However, the operating means 10, 20 may be provided with three or more.

The first operating means 10 may be a thumb wheel of a joystick. When the first manipulation means 10 is manipulated by the user, it may output a manipulation signal corresponding to the manipulation amount. For example, the first operation means 10 may generate an operation signal by the operation of rolling the thumb wheel back and forth. The manipulation signal may be a voltage signal having a magnitude proportional to a manipulation amount of the thumb wheel. An operation signal of the first operation means 10 may be input to the control unit 30 . The attachment actuator 70 may be operated by the operation signal of the first operation means 10 . At this time, when the first operation means 10 is an operation means that generates an electronic signal without directly generating a flow rate of hydraulic oil by operation, such as an electronic thumb wheel, corresponding to the operation amount of the first operation means 10 A thumb wheel valve 12 may be provided to generate a flow rate of hydraulic oil. A pair of thumb wheel valves 12 may be provided. A thumb wheel line 42 connected to the supply line 41 may be connected to each thumb wheel valve 12 . The hydraulic oil supplied through the supply line 41 may be respectively supplied to the pair of thumb wheel valves 12 through the thumb wheel line 42 . The thumb wheel valve 12 may be operated by the control unit 30 . The pair of thumb wheel valves 12 may be respectively connected to the input ports of the pair of shuttle valves 80 through the thumb wheel output line 43 . In a state in which the first operating means 10 is not activated, the control unit 30 does not operate the thumb wheel valve 12 even when the first operating means 10 is operated. On the other hand, when the first operation means 10 is activated, the control unit 30 operates the thumb wheel valve 12 in response to the operation of the first operation means 10 . When the thumb wheel valve 12 is operated, hydraulic oil supplied through the thumb wheel line 42 is outputted through any one of the pair of thumb wheel output lines 43 and input to the shuttle valve 80 .

A pedal line 45 connected to the supply line 41 may be connected to the second operating means 20 . The hydraulic oil supplied through the supply line 41 may be supplied to the second operating means 20 through the pedal line 45 . A pedal shutoff valve 60 may be provided on the pedal line 45 . The pedal shutoff valve 60 is provided on the pedal line 45 to control the flow of hydraulic oil. The pedal shutoff valve 60 operates between a first position 60a for blocking the flow path of the pedal line 45 and a second position 60b for opening the pedal line 45 . When the pedal shutoff valve 60 is switched to the first position 60a, the hydraulic oil supplied from the supply line 41 is blocked from being supplied to the second operating means 20, and the hydraulic oil in the pedal line 45 is transferred to the tank. can be drained. When the pedal shutoff valve 60 is switched to the second position 60b , the hydraulic oil supplied from the supply line 41 may be supplied to the second operating means 20 . The pedal shutoff valve 60 may be a solenoid valve whose operation is controlled by the controller 30 .

The second operation means 20 may be an attachment operation pedal. The second operating means 20 may include a pedal 22 and a pedal valve 24 . A pedal line 45 may be connected to the pedal valve 24 . When the pedal 22 is manipulated, the pedal valve 24 operates in association with it, and accordingly, the hydraulic oil supplied through the pedal line 45 may be output through the pedal output line 46 . At this time, when the pedal shut-off valve 60 is switched to the first position 60a and the hydraulic oil is cut off, even if the pedal 22 is operated, the hydraulic oil is not output through the pedal output line 46 . The pedal output lines 46 may each be connected to an input port of the shuttle valve 80 .

A pressure sensor 26 may be provided on the pedal output line 46 , respectively. The pressure sensor 26 measures the pressure in the pedal output line 46 . The reason for measuring the pressure of the pedal output line 46 is to determine whether an abnormality has occurred in the second operating means 20 and whether the second operating means 20 is already operated before selecting the attachment mode. it is for The measured value of the pressure sensor 26 may be transmitted to the controller 30 , and the controller 30 determines whether the second manipulation means 20 is abnormal and the second manipulation means based on the measured value of the pressure sensor 26 . (20) can be determined whether the operation.

A pair of shuttle valves 80 may be provided, and a thumb wheel output line 43 and a pedal output line 46 may be connected to an input port of each shuttle valve 80 . The higher pressure of the hydraulic oil input to the shuttle valve 80 through the thumb wheel output line 43 and the hydraulic oil input to the shuttle valve 80 through the pedal output line 46 is the output of the shuttle valve 80 . It can be output through the port. The output port of the shuttle valve 80 may be connected to the attachment actuator 70 via a shuttle output line 48 .

The attachment actuator 70 may be actuated by hydraulic oil supplied through the shuttle output line 48 . The attachment actuator 70 may be a one-way or two-way actuator. In addition, the attachment actuator 70 may be a linear actuator, such as a hydraulic cylinder, or a rotary actuator, such as a hydraulic motor. The attachment actuated by the attachment actuator 70 may be of various types depending on the purpose of the operation.

The input unit 90 is for activating the attachment mode and for selecting an operation means to be activated. The input unit 90 may be implemented in various forms such as a touch screen, a toggle button, a dial switch, and the like. When the user operates the input unit 90 to select the attachment mode, this is transmitted to the control unit 30 . After that, when the user selects an operation means to be activated through the input unit 90, the corresponding operation means is activated. When the operation means is activated, the attachment actuator 70 is operated in response to the operation of the corresponding operation means. On the other hand, when the operation means is deactivated, the attachment actuator 70 is not operated even if the operation means is operated. If the attachment mode is not activated, that is, when the attachment mode is not selected by the user, the control unit 30 may not activate any of the manipulation means 10 and 20 . In addition, the control unit 30 may not activate the rest except for the manipulation means selected by the user.

The control unit 30 may activate and deactivate the operation means by the following method.

First, in the case of the first manipulation means 10 that can be implemented as a thumb wheel of a joystick, in the inactivated state, even if the first manipulation means 10 is manipulated and a manipulation signal is transmitted to the controller 30 , the controller 30 controls the thumb No control signal is output to the wheel valve 12 . Accordingly, since the thumb wheel valve 12 is not operated, hydraulic oil is not supplied to the attachment actuator 70 , and as a result, the attachment actuator 70 is not operated. On the other hand, in a state in which the first operating means 10 is activated, when the first operating means 10 is operated and an operation signal is transmitted to the control unit 30 , the control unit 30 transmits a corresponding control signal to the thumb wheel valve 12 . ) is output. As the thumb wheel valve 12 operates according to the control signal, hydraulic oil is supplied to the attachment actuator 70 through the shuttle valve 80 . Accordingly, the attachment actuator 70 is operated.

In the case of the second operation means 20 that can be implemented as an attachment operation pedal, in the deactivated state, the control unit 30 converts the pedal shut-off valve 60 to the first position 60a and supplies it to the pedal line 45 . shut off the working oil. In this case, even if the pedal valve 24 is opened by manipulating the pedal 22 , since the hydraulic oil is not supplied to the pedal valve 24 , the hydraulic oil is not output from the pedal valve 24 . Accordingly, hydraulic oil is not supplied to the attachment actuator 70 , so that the attachment actuator 70 is not operated. On the other hand, when the second operating means 20 is activated, the control unit 30 switches the pedal shut-off valve 60 to the second position 60b. Accordingly, the hydraulic oil may be supplied to the pedal valve 24 through the pedal line 45 , and when the pedal 22 is operated in this state, the hydraulic oil is output through the pedal valve 24 . The hydraulic oil output from the pedal valve 24 is supplied to the attachment actuator 70 through the shuttle valve 80 , so that the attachment actuator 70 may be operated.

Hereinafter, an attachment control method of a construction machine according to the present embodiment will be described with reference to the above-described components.

2 is a flowchart of a method for controlling an attachment of a construction machine according to an embodiment of the present invention.

Referring to FIG. 2 , in the method for controlling an attachment of a construction machine according to an embodiment of the present invention, as an operation means for operating the attachment, selecting any one of the at least two operation means 10 and 20 ( S60 ) , any one selected as an operation means for operating the attachment among the at least two operation means (10, 20) is activated and the rest is deactivated (S70). In addition, in the method for controlling an attachment of a construction machine according to an embodiment of the present invention, before the step (S60) of selecting any one of the at least two operation means 10 and 20 as an operation means for operating the attachment, cut-off Determining whether the valve 50 is in the released state (S10), determining whether an abnormality has occurred in any one of the at least two operating means (10, 20) (S20), at least two operating means ( 10, 20) may further include at least one of determining whether any one of the operation (S40) and the step (S50) of determining whether the attachment mode is activated. In this case, the order of performing steps S10, S20, S40, and S50 is not limited to the order shown in FIG. 2 , and the order may be changed as necessary.

First, the controller 30 may determine whether the cut-off valve 50 is in a released state. If the cut-off valve 50 is not in the released state, even if the operating means 10 and 20 are operated, since hydraulic oil cannot be supplied to the attachment actuator 70, wait until the cut-off valve 50 is in the released state. can

On the other hand, when an abnormality occurs in the operation means (10, 20), there is a high possibility that the attachment actuator (70) cannot be operated properly. Therefore, it is determined whether any one of the at least two operating means (10, 20) has an abnormality, and when an abnormality occurs in any one of the at least two operating means (10, 20), the operating means (10, 20) can be all deactivated (S30).

Determination of whether an abnormality occurs in the operation means 10 and 20 may be performed by the following method. The first manipulation means 10 , which may be implemented as a thumb wheel of a joystick, may output a voltage signal of 1V to 4V as a manipulation signal according to a manipulation amount. Therefore, when the operation signal of the first operation means 10 is less than 1V or exceeds 4V, it can be determined that an abnormality has occurred in the first operation means 10 .

In addition, in the second operation means 20 that can be implemented as an attachment operation pedal, when the pedal 22 is not operated, hydraulic oil is not supplied to the pedal output line 46 , so the measured value of the pressure sensor 26 is 0 becomes this However, when an abnormality occurs in the second operating means 20 , hydraulic oil may be supplied to the pedal output line 46 to form a pressure, and in this case, the measured value of the pressure sensor 26 may not be zero. Accordingly, when the measured value of the pressure sensor 26 is not 0, it may be determined that an abnormality has occurred in the second manipulation means 20 .

On the other hand, if the user intentionally or accidentally operating the operation means (10, 20) in a state in which the operation means (10, 20) is activated, the attachment actuator (70) may suddenly and abruptly operate. In this case, by abruptly applied a load to the attachment actuator 70, not only the attachment actuator 70 may be damaged, but also the sudden operation of the construction machine may threaten the safety of the user or surrounding people. Therefore, it is preferable not to activate the operating means (10, 20) when the operating means (10, 20) is already being operated before activating the operating means (10, 20).

In the method for controlling attachment of a construction machine according to an embodiment of the present invention, it is determined whether any one of the at least two operation means 10 and 20 is being operated (S40), and the at least two operation means 10, 20 ), when it is determined that any one of them is being operated, at least two of the operation means 10 and 20 may be deactivated (S30).

Determination of whether the operation means 10, 20 is being operated may be performed by the following method. The first operation means 10 that may be implemented as a thumb wheel of a joystick may generate a voltage signal of 2.2V to 2.7V in a neutral state that is not operated. Accordingly, when an operation signal less than 2.2V or greater than 2.7V is input to the control unit 30 , the control unit 30 may determine that the first operation means 10 is being operated.

In addition, in the second operation means 20 that can be implemented as an attachment operation pedal, when the pedal 22 is not operated, hydraulic oil is not supplied to the pedal output line 46 , so the measured value of the pressure sensor 26 is 0 becomes this Therefore, when the measured value of the pressure sensor 26 is not 0, it can be determined that the second manipulation means 20 is being operated.

On the other hand, when the attachment manipulation means 10 and 20 are activated even though the attachment mode is not activated, if the manipulation means 10 and 20 are operated by the user's mistake, the construction machine may malfunction. Therefore, it is determined whether the attachment mode is activated (S50), and when the attachment mode is not activated, it is possible to prevent malfunction of the construction machine by deactivating all of the operation means 10 and 20. The user may select to operate the construction machine in the attachment mode through the input unit 90 . When the attachment mode is selected by the user, the selection result may be transmitted to the control unit 30 , and the control unit 30 may determine whether the attachment mode is activated based on the selection result. At this time, when it is determined that the attachment mode is not activated, all of the manipulation means 10 and 20 may be deactivated.

The user may select an operation means to be used as an operation means for operating the attachment through the input unit 90 (S60). The user's selection result may be transmitted to the control unit 30 , and the control unit 30 may activate the operation means selected by the user and deactivate the operation means not selected by the user. Accordingly, even if two or more of the plurality of attachment operation means provided in the construction machine are simultaneously operated, the attachment is operated only by one operation means selected by the user, and thus the attachment is prevented from malfunctioning due to a user's mistake.

For example, when the user selects the first operating means 10 as the operating means, the control unit 30 switches the pedal shut-off valve 60 to the first position 60a to supply hydraulic oil to the second operating means 20 . make sure it doesn't happen In this case, the user may operate the attachment by manipulating the first operating means 10, and even if the user accidentally or intentionally manipulates the second operating means 20, the hydraulic oil is not output from the pedal valve 24, so 2 The operation of the operating means (20) does not affect the operation of the attachment actuator (70).

On the other hand, when the user selects the second operation means 20 as the operation means, the control unit 30 switches the pedal shut-off valve 60 to the second position 60b so that the hydraulic oil is supplied to the second operation means 20 . to be supplied. In this case, when the user operates the second operation means 20 , hydraulic oil is supplied from the pedal valve 24 to the attachment actuator 70 , so that the attachment can be controlled by the second operation means 20 . At this time, even if the user manipulates the first operating means 10 by mistake or intentionally, since the control unit 30 does not output a control signal to the thumb wheel valve 12, the operation of the first operating means 10 is performed by the attachment actuator ( 70) does not affect the operation.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes and substitutions will be possible without departing from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. . Therefore, the embodiments disclosed in the present invention are for explanation rather than limiting the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: first operating means 12: thumb wheel valve
20: second operation means 22: pedal
24: pedal valve 26: pressure sensor
30: control unit 40: hydraulic pump
41: supply line 42: thumb wheel line
43: Thumb wheel output line 45: Pedal line
46: pedal output line 48: shuttle output line
50: cut-off valve 60: pedal shut-off valve
70: attachment actuator 80: shuttle valve
90: input unit

Claims (12)

at least two operating means for operating the attachment;
an input unit for selecting any one of the at least two operation means as operation means for operating the attachment; and
Among the at least two operating means, any one selected as an operation means for operating the attachment includes a control unit that activates and deactivates the rest,
The control unit is, before the attachment mode is selected and the operation means for operating the attachment is selected so that both the operation means for operating the attachment mode and the attachment are activated, any one of the at least two operation means is being operated If it is determined that the attachment control device of the construction machine to deactivate all of the at least two operation means. According to claim 1,
The at least two operation means is an attachment control device for a construction machine including a first operation means and a second operation means. 3. The method of claim 2,
When the first manipulation means is activated, the control unit outputs a control signal corresponding to the amount of manipulation of the first manipulation means. 3. The method of claim 2,
An attachment control device for a construction machine that activates the second operating means by supplying hydraulic oil to the second operating means. According to claim 1,
The control unit is an attachment control device for a construction machine that deactivates all of the at least two operating means when it is determined that an abnormality has occurred in any one of the at least two operating means. delete According to claim 1,
The control unit, an attachment control device for a construction machine that activates any one of the at least two operation means only when the attachment mode is activated. In the construction machine comprising at least two operating means for operating the attachment,
selecting an attachment mode and selecting any one of the at least two operation means as operation means for operating the attachment; and
Among the at least two operating means, any one selected as an operation means for operating the attachment comprises the step of activating and deactivating the others,
When the attachment mode is selected and an operation means for operating the attachment is selected, it is determined whether any one of the at least two operation means is being operated before both the attachment mode and the operation means for operating the attachment are activated Thus, if it is determined that any one of the at least two operation means is being operated before both the attachment mode and the operation means for operating the attachment are activated, the step of deactivating both the at least two operation means further comprising A method for controlling attachments in construction machinery. 9. The method of claim 8,
Determining whether the attachment mode is activated, if it is determined that the attachment mode is not activated, the attachment control method of a construction machine further comprising the step of deactivating all of the at least two operation means. delete 9. The method of claim 8,
Further comprising the step of determining whether any one of the at least two operating means has an abnormality, and deactivating all of the at least two operating means when it is determined that an abnormality has occurred in any one of the at least two operating means A method for controlling attachments in construction machinery. 9. The method of claim 8,
Attachment control method of a construction machine further comprising the step of determining whether the cut-off valve is in the released state.

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