• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1781-1786
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• 2003

This research develops a robot as the device which constructs underwater harbour. This construction is to build a breakwater, which is dangerous and difficult. The hydraulic parallel mechanism-typed robot is developed to mechanize the construction by operating of a stoneworker (or diver) through a joystick. The six-dof robot is able to carry 2-3 tons' heavy stone and put it on the surface of breakwater. This paper presents the mechanical design of a miniature robot, its control and application for the breakwater construction.

• 한국정밀공학회지
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• 제20권4호
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• pp.68-75
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• 2003

This paper introduces the development of hydraulic cylinder with magnetic sensors detecting absolute and precise position for automation of excavator. The system which is developed can detect absolute position with a little displacement by using algorithm for recognizing datum points, 114 divider algorithm and high precision algorithm improved position precision. We alse evaluate the developed system under the load disturbance and add band pass filter to the previous's signal process circuit for the protecting magnetic sensors's saturation.

• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.74-82
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• 1999

To meet the needs of the hydraulic excavator of large capacity, tandem axial type piston pump which is high pressure and high speed have been developed. But inevitably we can not help facing the problem of noise at that time. In order to reduce the noise of this pump, many researchers have been studying the problem of oil distribution manner. But they are not interested in the symmetric structure of tandem type pump. So, focusing on the symmetric structure of tandem type pump, this paper analyzed unbalanced force developed in the pump chamber and verified the effect of the pumping phase of the piston on vibration and noise of the tandem axial type piston pump theoretically.

• 한국공작기계학회논문집
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• 제16권6호
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• pp.117-124
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• 2007

The pressure ripple in most hydraulic systems is the root cause of their noise and vibration. This paper reduced the pressure ripple using side branch hose for an axial piston pump applied to small excavator. First, in calculating open area, a new method using groove area of valve plate is proposed. Simulation model in AMESim environment is developed to verify proposed method, find effective length and diameter of branch hose. Finally, the comparisons with experiment results show that the proposed method is more effective than previous method in reducing the pressure ripple.

• 터널과지하공간
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• 제31권6호
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• pp.415-427
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• 2021

본 기술보고는 개발 중인 암반 커팅 스플리팅 공법을 간략히 소개하였다. 이 공법은 암반 커팅 공정 후 블럭을 스플리팅하여 암반을 굴착하는 공법이다. 암반면의 커팅 지오메트리를 설계한 후 치즐을 압입하여 암석블록을 제거하는 방식이다. 이 때 적절하게 커팅블록이 설계되어야 원활한 암석블록 하단부에 인장균열이 원활히 전파된다. 인장균열 성장에 필요한 파괴인성 모드1을 이용하여 암석블럭의 스플리팅에 필요한 압입력을 추산하는 분석해를 고안하였다. 굴착기의 유압브레이커의 타격력을 분석하였고, 암석블록 설계 지오메트리에 따라 시공가능한 굴착기 등급을 분석하였다.

• 한국음향학회지
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• 제37권3호
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• pp.147-155
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• 2018

본 연구의 목적은 선형 다중회귀분석을 통해 과부하 굴삭기 소음의 불쾌감을 표현할 수 있는 음질인자를 찾고 이를 이용하여 객관적인 평가를 위한 음질인덱스를 개발하고자 하였다. 이를 위해 소음특성이 다른 굴삭기 6모델을 선별하여 과부하 조건의 운전실 소음을 녹음하고 쌍대비교법과 크기평가법에 의한 청음평가를 수행하였다. 그리고 일관성이 낮은 청음평가 결과는 군집분석을 통해 선호도 성향이 다른 2 그룹으로 분류하고 회귀분석을 실시하여 어떤 음질인자가 불쾌감(낮은 선호도)에 유의한 영향을 주는 인자인지를 고찰하였다. 그 결과 불쾌감을 표현하는 음질인자는 10 Bark까지 부분 라우드니스 인자($PN_{10Bark}$)에 따라 불쾌감을 느끼는 성향을 가진 청음 평가자 그룹과 엔진 소음($dB_{EG}$)과 유압시스템 소음의 차이($dB_1$)로 표현된 인자에 따라 불쾌감을 느끼는 성향을 가진 청음 평가자 그룹으로 구성되어 있음을 확인하였다. 그리고 쌍대비교법의 선호도 순위와 성향 분석결과를 이용하고 크기평가법과의 상관분석을 통해 신뢰도가 낮은 평가자의 결과는 제외하여 보다 신뢰성 높은 크기평가법의 청음평가 결과를 얻었다.

• 드라이브 ㆍ 컨트롤
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• 제17권2호
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• pp.55-62
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• 2020

There are two types of IMV for MCV, the spool type and the poppet type. The spool type is used in the existing excavator MCV and easily meets large-capacity flow conditions, but has a flow force problem which affects the spool control. The poppet type stably blocks the flow and has excellent rapid response. However, the larger the capacity, the larger the diameter of the poppet needed, requiring a strong spring to withstand the oil pressure. In this study, a bi-directional three-stage IMV for MCV that can be used in medium and large hydraulic excavators was proposed. This is a poppet type, enabling bi-directional flow control and resolves the problem of proportional solenoid suction force limitation. To investigate the validity of the proposed valve, the system was mathematically modeled and the static and dynamic characteristics were investigated through the simulation using commercial software. It has been concluded that the reverse flow is possible in a regeneration circuit and that the proposed IMV can be used to perform various excavation modes.

• 드라이브 ㆍ 컨트롤
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• 제16권4호
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• pp.56-64
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• 2019

Recently, as the environmental regulation for earth moving equipment has been tightened, advanced systems using electronic control have been introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control systems that provides more flexible controllability and potential for energy savings in excavators, when compared to the conventional 4-way spool valve system. To fully realize an IMV, a two-stage bi-directional flow control valve which can regulate the large amount of flow in both directions, should be developed in advance. A simple design that allows proportional flow control to apply the pilot pressure from the current-controlled solenoid to the spring loaded flow control spool and thus valve displacement, is proportional to the solenoid current. However, this open-loop type valve is vulnerable to flow force which directly affects the valve displacement. Force feedback servo of which the position loop is closed by the feedback spring which interconnects the solenoid valve and flow control spool, could compensate for the flow force. In this study, linearity for the solenoid current input and robustness against load pressure disturbance is investigated by linear analysis of the static nonlinear equations for the IMV proportional flow control valve with feedback spring. Gains of the linear system confirm the performance improvement with the feedback spring design.

• 한국기계가공학회지
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• 제8권4호
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• pp.97-103
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• 2009

Since a demand for an extensive range of earthmoving equipment like a hydraulic excavator with a capacity of 85tons has been asked in construction fields, a performance of its track drive unit has to be verified experimentally. Among the verification of the performances, a torque measurement is at issue, in which a torque meter is utilized widely. However, the very large scaled torque meter is necessary when a discharged torque from the track drive unit is increased significantly. In addition, the price for experimental set-up of a torque meter is too high due to its limitation of the geometry such as long length, and a break down in operation occurs frequently. In this study, to measure a high torque up to 200,000Nm, a new technique was proposed as an alternative of conventional measurement by using a torque meter. The new technique enables to measure the high torque stably in a compact space via a torque arm and two load cells. The experimental results showed a propriety of the proposed torque measuring technique for a track drive unit with very large capacity.

• 드라이브 ㆍ 컨트롤
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• 제12권2호
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• pp.39-48
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• 2015

In order to control the actuators of hydraulic machinery such as excavators, various control valves are typically assembled in a single block. Such a control block is called a main control valve(MCV). In this paper, we analyzed the working principle and the particular purpose of the design of all valves included in the MCV system. To Examine the reliability of the analysis model, the pressure drop of the MCV at each port was measured. The authors developed an analytical model of the control valve(main spool, load poppet, pressure relief, make up, and regeneration). The authors considered the notch shape of the spool while developing the analytical models of the main spool valve. Most importantly, at the stage before the analysis model was applied in the design tuning, the reliability was ensured by comparing the analysis results with the test results. This paper showed a process of developing an analysis model that can be utilized in the design and tuning stages.