KR20120070249A - Straight movement controlling apparatus of crawler-type excavator and method thereof - Google Patents

Abstract

PURPOSE: An apparatus and a method for controlling the straight movement of a crawler-type excavator are provided to improve work efficiency by supplying the same flow rate to left and right traveling motors. CONSTITUTION: An apparatus for controlling the straight movement of a crawler-type excavator comprises first and second flow sensors(12,13) and a controller(16). The first and second flow sensors are connected to the hydraulic lines of first and second traveling motors(3,4) and first and second traveling motor switch valves(5,6). The first and second flow sensors senses a supplied flow rate by corresponding to pilot pressure generated from a traveling operator(14). The controller controls an electronic proportional pressure reducing valve(15) and transfers the same flow rate to the first and second traveling motors.

Description

Straight running control device of crawler type excavator and its method {STRAIGHT MOVEMENT CONTROLLING APPARATUS OF CRAWLER-TYPE EXCAVATOR AND METHOD THEREOF}

The present invention relates to a straight running control device and method thereof of a crawler type excavator, and in particular, to allow the same flow rate to be supplied to the left and right traveling motor during simultaneous operation of the left and right driving lever for the straight running of the crawler type excavator The present invention relates to a straight traveling control device and a method of crawler type excavators capable of equalizing the speed of left and right traveling motors.

Excavator is a construction machine that carries out the work of moving equipment as civil engineering, construction, excavation work digging ground, loading work carrying earth and sand, shredding work dismantling building, stopping work to clean up the ground. And a whole device including an upper swinging body mounted on a moving body and a rotating body 360 degrees, a boom connected to the upper swinging body rotatably, an arm, and attachments such as a bucket or a breaker attached to an end of the arm. Hydraulics are mainly used because they must be able to exert a lot of force when performing the tasks.

1 is a view showing a schematic hydraulic circuit diagram of a traveling control device of a conventional crawler type excavator.

As shown in FIG. 1, the traveling control device of the crawler type excavator discharges the pressurized oil while the main hydraulic pumps 101 and 102 are driven by the engine 103, and the left / right traveling motors (the main hydraulic pumps 101 and 102). By controlling the hydraulic oil supplied to the 105 and 106 through the left and right travel control spools 111 and 112 of the main control valve 110, the left and right travel motors 105 and 106 are driven to allow the excavator to travel and the travel operation device ( 120 controls the oil pressure of the auxiliary pump 104 to apply the pilot pressures X1, X2 (Y1, Y2) for driving control to the left / right traveling control spools 111, 112, thereby allowing the left / right traveling control spools 111, 112 to operate. ) Is switched.

The driving control device 120 includes a left travel lever 121 and a right travel lever 122. When driving straight, the left and right travel levers 121 and 122 are pushed forward at the same time. The pilot pressures X1 and Y1 are generated in the spool 121A and the right forward spool 122A, respectively, and the left forward pilot pressure X1 and the right forward pilot pressure Y1 are respectively left running control spools 111. ) And the space travel control spool 122 to switch these control spools to the forward direction. Accordingly, the main hydraulic pumps 101 and 102 pass through the travel control spools 111 and 112, respectively, to the left travel motor 105 and the right travel motor. Pressure oil is supplied to the 106 so that the excavator travels forward.

However, in the conventional crawler type excavator as described above, the left travel lever 121 and the right travel lever 122 must be operated simultaneously when driving straight, but in most cases, they cannot be operated simultaneously due to the left and right body conditions of the driver. Accordingly, even if the driver operates the left driving lever 121 and the right driving lever 122 at the same time with the intention of driving the excavator straight, the left driving lever 121 and the right driving lever 122 are operated with a time difference, and the excavator is operated to one side. There is a problem in that the driving is biased, in this case, the driver has to re-manipulate the driving levers again to adjust the driving direction of the excavator, there is a problem that the efficiency of the work is reduced.

The present invention was devised to solve the above problems, and an object of the present invention is to supply the same flow rate to the left and right traveling motors when the left and right traveling levers of the driving control device are operated at the same time toward the front. It is to provide a straight running control device and a method of a crawler type excavator that can make the speed of the left and right traveling motor the same.

To this end, according to the first aspect of the present invention, the linear traveling control apparatus of the crawler type excavator according to the present invention, the variable displacement type 1/2 hydraulic pump and the first hydraulic pump is operated by receiving a flow rate from the first hydraulic pump A 1/2 driving motor switching valve for controlling a flow rate supplied from the first hydraulic pump to the 1/2 driving motor, and a second operating motor supplied with a flow rate from the second hydraulic pump. A 1/2 work device, a 1/2 work device switching valve for controlling a flow rate supplied from the second hydraulic pump to the 1/2 work device, and a 1/2 traveling motor switch from the first hydraulic pump The flow rate is supplied to the 1/2 traveling motor through the valve and the flow rate is supplied from the second hydraulic pump to the 1/2 working apparatus through the 1/2 working device switching valve. To ensure the traveling straightness of the excavator when working at the same time A first half connected to a straight line valve and a hydraulic line of the first and second drive motor switching valves to sense a flow rate supplied in response to a pilot pressure generated from a traveling control device; The first hydraulic pump is transmitted to the 1/2 traveling motor by transmitting the corresponding pilot pressure to the 1/2 driving motor switching valve during the operation of the travel lever or the driving pedal of the traveling control device so that the flow sensor and the excavator travel straight. Electronic proportional pressure reducing valve for supplying the corresponding hydraulic pressure from the motor, and when the pilot pressure is generated from the traveling control device when the pilot pressure is a signal for driving the excavator straight ahead, even if other load is transmitted to the 1/2 driving motor. And a controller for controlling the pressure reducing valve so as to transmit the same flow rate to the first and second driving motors.

According to a second aspect of the present invention, in the straight traveling control method of the crawler type excavator according to the present invention, the controller detects or corresponds to the inclination angle according to the operation of the traveling operation apparatus when the traveling operation apparatus simultaneously operates forward. Detecting and determining a command for a corresponding operation through the pilot pressure; and when the command detected in the step is a command for driving the excavator straight, the controller is opened to supply hydraulic pressure to the 1/2 driving motor. Determining whether the swash plate inclination angle of the first hydraulic pump matches the command; otherwise, controlling the swash plate controller of the first hydraulic pump so that the swash plate inclination angle of the first hydraulic pump has an inclination angle matching the command; The controller determines whether or not the current of the electromagnetic proportional pressure reducing valve controlling the 1/2 driving motor switching valve is the same. Controlling the electronic proportional pressure reducing valve so that the current delivered to the first / two running motor switching valve is the same; and the flow rate of the controller supplied to the first / two running motor through the first / two running motor switching valve is the same. It is judged whether or not the first flow rate sensor is controlled, and if not, the current of the electromagnetic proportional pressure reducing valve is set again to make the current delivered to the first / second running motor switching valve the same. And allowing the flow rate supplied through the 1/2 driving motor switching valve to be the same.

As described above, the present invention, even if the left / right travel lever of the drive control device at the same time when the left / right travel lever of the drive control device is not operated at the same time when the operation for the straight ahead to determine the command for this and left / By supplying the same flow rate to the right driving motor, it is possible to make the speed of the left / right driving motor the same, thereby improving the work efficiency.

1 is a view showing a schematic hydraulic circuit diagram of a traveling control device of a conventional crawler type excavator.
2 is a view schematically showing a hydraulic circuit diagram of a linear driving control apparatus of a crawler type excavator according to an embodiment of the present invention.
Figure 3 is a block diagram schematically showing the connection state of the configuration when driving the excavator in the straight running control device of the crawler type excavator.
4 and 5 is a control flow chart showing a straight running control method of a crawler type excavator according to an embodiment of the present invention, respectively.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and the operation and effect thereof will be clearly understood through the following detailed description. Prior to the detailed description of the present invention, it is noted that the detailed description thereof will be omitted when it is determined that the well-known elements may obscure the gist of the present invention.

2 is a view schematically showing a hydraulic circuit diagram of a linear driving control apparatus of a crawler type excavator according to an embodiment of the present invention, Figure 3 is a connection state of the configuration when driving the excavator in the straight running control apparatus of the crawler type excavator A schematic block diagram.

As shown in Figures 2 and 3, the linear driving control apparatus of the crawler type excavator according to an embodiment of the present invention, variable displacement type 1/2 hydraulic pump (1, 2), the first hydraulic pump (1) The first and second driving motors 3 and 4 operated by receiving the flow rate from the first and the first and second driving motors 3 and 4 respectively controlling the flow rates supplied to the first and second driving motors 3 and 4 from the first hydraulic pump 1. 1/2 working device (7,8), second hydraulic pump, such as swing member, arm, boom, bucket, etc., operated by receiving flow from the traveling motor selector valve (5, 6), second hydraulic pump (2) 1/2 traveling device switching valves 9 and 10 for controlling the flow rate supplied from (2) to the 1/2 working device 7 and 8, respectively, from the first hydraulic pump 1 to the first / 2 traveling The flow rate is supplied to the first and second traveling motors 3 and 4 through the motor switching valves 5 and 6 and from the second hydraulic pump 2 through the 1/2 working device switching valves 9 and 10. The first and second traveling motors 3 and 4 and the first and second operations by supplying a flow rate to the second and second working devices 7 and 8 Of the traveling straight valve 11, the first and second driving motors 3 and 4 and the first and second driving motor switching valves 5 and 6 to ensure the traveling straightness of the excavator during simultaneous operation of the teeth 7 and 8 The first and second flow rate detection sensors 12 and 13 connected to the hydraulic line to sense the flow rate supplied in response to the pilot pressure generated from the drive manipulator 14, and the travel manipulator to drive the excavator straight. In operation 14 of the driving lever or the driving pedal, the pilot pressure is transmitted to the first and second driving motor selector valves 5 and 6, and the first hydraulic pump 1 is transferred to the first and second driving motors 3 and 4. When the pilot pressure is generated when the pilot pressure is generated from the electromagnetic proportional pressure reducing valve 15 and the traveling control device 14 to supply the corresponding hydraulic pressure from the first proportional driving motor 3, 4) Controls the electronic proportional pressure reducing valve 15 so that the same flow rate is transmitted to the first and second driving motors 3 and 4 even when other loads are transmitted. Group 16.

Here, the linear traveling control apparatus of the crawler type excavator according to the present invention, when the excavator is in a single driving state or a combined state of traveling and work in parallel, the first / second driving motor (3, 4) The flow rates supplied are all controlled to be supplied from the first hydraulic pump 1, and the flow rates supplied to the remaining 1/2 working apparatuses 7 and 8 are all controlled to be supplied from the second hydraulic pump 2. The first and second hydraulic pumps (1, 2) between the first traveling motor switching valve (5) and the first working device switching valve (9) and the second traveling motor switching valve (6) and the second working device switching valve (10). Orifices (5a, 6a) to compensate for the insufficient flow rate or bypass the excess flow rate is further installed.

That is, the traveling straight valve 11 has a flow rate of the first hydraulic pump 1 when the first and second traveling motors 3 and 4 and the first and second working devices 7 and 8 simultaneously operate. One end of the first hydraulic pump 1 to supply only the second / two running motors 3 and 4 and to supply the flow rate of the second hydraulic pump 2 only to the first and second working devices 7 and 8. And the first traveling motor switching valve (5) is switched, and one end of the second hydraulic pump (2) and the second work device switching valve (10).

In addition, the first driving motor switching valve 5 is an electronic proportional pressure reducing valve connected via a signal pressure transmission line in a state in which one end is connected to the traveling straight valve 11 and the other end is connected to the first driving motor 3 ( The flow rate corresponding to the pilot pressure generated from the travel control device 14 is supplied from the first hydraulic pump 1 to the first travel motor 3 in accordance with the control signal of the travel control device 14 transmitted from 15). Is controlled.

In addition, the second driving motor switching valve 6 is an electromagnetic proportional pressure reducing valve connected through a signal pressure transmission line in a state in which one end is connected to the first hydraulic pump 1 and the other end is connected to the second driving motor 4. The flow rate corresponding to the pilot pressure generated from the traveling control device 14 from the first hydraulic pump 1 to the second traveling motor 4 according to the control signal of the traveling control device 14 transmitted from (15) Controlled to be supplied.

In addition, the first work device switching valve 9 is connected to the second hydraulic pump (2) one end is connected via a signal pressure transmission line in the other end connected to the first work device (7) In response to the control signal of the work operation means (not shown) transmitted from the pressure reducing valve 15, the pilot pressure generated from the work operation means (not shown) from the second hydraulic pump 2 to the first work device 7 is shown. The corresponding flow rate is controlled to be supplied.

In addition, the second work device switching valve 10 has an electronic proportional pressure reducing end connected to the traveling straight valve 11 through a signal pressure cutting line with one end connected to the second work device 8 and the other end connected to the second work device 8. Corresponding to the pilot pressure generated from the work manipulation means (not shown) from the second hydraulic pump 2 to the second work device 8 according to the control signal of the work manipulation means (not shown) transmitted from the valve 15. Controlled flow rate is controlled.

Here, the 1/2 flow rate detection sensors 12 and 13 are connected to the hydraulic lines of the 1/2 driving motors 3 and 4 and the 1/2 driving motor selector valves 5 and 6 to drive the vehicle. The flow rate supplied in response to the pilot pressure generated from the device 14 is sensed and supplied to the controller 16 so that the controller 16 may be supplied with the flow rate currently supplied to the first and second driving motors 3 and 4. Let's calculate the speed through this.

The traveling operation device 14 is an operation means for driving an excavator, preferably a left / right traveling lever or a left / right traveling pedal.

The electromagnetic proportional pressure reducing valve 15 corresponds to the pilot pressure corresponding to the 1/2 driving motor selector valves 5 and 6 when the traveling lever or the driving pedal of the traveling control device 14 is operated to drive the excavator. The first flow rate is supplied from the first hydraulic pump 1 to the first and second driving motors 3 and 4, or when the work operation means (not shown) is operated to operate the excavator. It is controlled such that the flow rate is supplied from the second hydraulic pump 2 to the 1/2 working device 7, 8 by transmitting a current corresponding to the corresponding pilot pressure to the / 2 working device switching valve 9, 10. .

The controller 16, in addition to causing the flow rate corresponding to the pilot pressure of the working operation means (not shown) from the second hydraulic pump 2 to the first / second working device (7, 8), When the pilot pressure is generated from the traveling manipulator 14 and the pilot pressure is a signal for driving the excavator straight ahead, even if a load other than the current is transmitted to the first and second driving motors 3 and 4, the electronic proportional pressure reduction By controlling the valve 15 so that the same flow rate is transmitted to the first and second traveling motors 3 and 4, the inclination angle is detected during the operation of the traveling control device 14 or a command for the corresponding operation is performed through the pilot pressure. If the determined command is related to the straight traveling of the excavator after the determination, the electromagnetic proportional pressure reducing valve 15 is supplied such that the same flow rate is supplied from the first hydraulic pump 1 to the 1/2 driving motors 3 and 4, respectively. To control.

Here, the control of the flow rate supplied by the controller 16 to the first and second traveling motors 3 and 4 is performed as follows. First, the control of the flow rate in the traveling state using only the first and second traveling motors 3 and 4 is a command for the straight running of the excavator in the state in which the traveling command generated from the traveling manipulator 14 is detected. Recognition is determined (the angle generated during the movement of the traveling operation device 14 and the output value corresponding thereto is transmitted to the controller 16 through CAN communication so that the driving command corresponding to the output value is compared and calculated) After determining whether the inclination angle of the swash plate inclination of the first hydraulic pump 1 opened to supply the hydraulic pressure to the driving motors 3 and 4 matches the driving command, the 1/2 driving motor switching valve 5, It is determined whether the current of the electromagnetic proportional pressure reducing valve 15 for controlling 6) is the same, and is then supplied to the 1/2 driving motors 3 and 4 through the 1/2 driving motor switching valves 5 and 6. The flow rate is determined by the process of determining whether the flow rate is the same by the first and second flow rate detection sensors 12 and 13.

On the other hand, control of the flow rate in the mixed state of traveling and work using the first and second traveling motors 3 and 4 and the second and second working apparatuses 7, and 8 is performed in the control process. Instead of the process of determining whether the swash plate inclination angle of the first hydraulic pump 1 opened to supply the hydraulic pressure to 3 and 4 matches the driving command, the current first and second driving motors 3 and 4 It is determined whether the simultaneous work of the 1/2 work device (7, 8) is made. This is because the driving command and the first hydraulic pressure due to problems such as the movement of the hydraulic pressure for mutual replenishment because not only the first hydraulic pump 1 but also the second hydraulic pump 2 operates during the simultaneous operation of the excavator. This is because the swash plate tilt angle matching of the pump 1 is incorrect.

Hereinafter, a linear driving control method of a crawler type excavator according to an embodiment of the present invention will be described with reference to the drawings.

4 and 5 are control flow charts showing a straight running control method for each crawler type excavator according to an embodiment of the present invention.

The straight running control method of the crawler type excavator according to the embodiment of the present invention is largely divided into two control modes when the excavator is in a single driving state and when the driving and work are combined.

First, the linear driving control method of the crawler type excavator when the excavator is in a single driving state, as shown in Figure 4, when the driving lever or the driving pedal of the traveling control device 14 at the same time toward the front controller ( 16) detects the inclination angle according to the operation of the traveling operation device 14 or detects the command for the operation through the pilot pressure corresponding thereto (S10).

Subsequently, when the controller 16 determines that the command of the left / right traveling lever or the left / right traveling pedal in this step is a command for driving the excavator straight (S11), the controller 16 then performs a first half. It is determined whether the inclination angle of the swash plate inclination of the first hydraulic pump 1 opened to supply the hydraulic pressure to the driving motors 3 and 4 is matched with the command (S12), and if the command and the first hydraulic pump 1 If the inclination angle of the swash plate does not match the command to control the swash plate controller (not shown) of the first hydraulic pump 1 so that the swash plate inclination angle of the first hydraulic pump 1 has an inclination angle matching the command ( S13).

Subsequently, the controller 16 determines whether or not the current of the electromagnetic proportional pressure reducing valve 15 that controls the 1/2 driving motor switching valves 5 and 6 is the same (S14), and if the 1/2 driving motor is the same. If the current of the electromagnetic proportional pressure reducing valve 15 transmitted to the switching valves 5 and 6 is not the same, the electromagnetic proportional pressure reducing valve 15 is made to be equal to the current transmitted to the first and second traveling motor switching valves 5 and 6. ) To be controlled (S15).

Subsequently, the controller 16 determines whether or not the flow rates supplied to the first and second traveling motors 3 and 4 through the first and second driving motor switching valves 5 and 6 are the same. 12 and 13 to control (S16), if the flow rate supplied to the first / second driving motor (3, 4) is not the same is transmitted to the first / second driving motor switching valve (5, 6) The first electric current of the electromagnetic proportional pressure reducing valve 15, that is, the current of the electromagnetic proportional pressure reducing valve 15 provided to the first and second traveling motor switching valves 5 and 6, is reduced to become the minimum value so that the current is the same. The flow rate supplied to the 1/2 driving motors 3 and 4 through the first and second driving motor switching valves 5 and 6 is the same (S17).

On the other hand, in the case where the excavator is a combined state of traveling and work in parallel, the traveling control method of the crawler type excavator, as shown in Figure 5, the driving lever or the driving pedal of the traveling control device 14 at the same time forward In operation S20, the controller 16 detects an inclination angle according to the operation of the traveling operation apparatus 14 or detects a command for the corresponding operation through a pilot pressure corresponding thereto (S20).

Subsequently, when the controller 16 determines that the command of the left / right traveling lever or the left / right traveling pedal in this step is a command for driving the excavator straight (S21), the controller 16 then operates the first hydraulic pump. (1) and the hydraulic discharge amount of the second hydraulic pump 2 or whether the excavator is in the mixed state mode through the presence or absence of a corresponding command transmitted from a work operation means (not shown) (S22), if the determination result When the excavator is not in the mixed state mode, the process after step S12 of the control method in the case where the excavator is in a single driving state is performed (S23).

If the excavator is in the mixed state mode, the controller 16 determines whether the current of the electromagnetic proportional pressure reducing valve 15 controlling the first and second driving motor switching valves 5 and 6 is the same. It is determined whether or not (S24), if the current of the electromagnetic proportional pressure reducing valve 15 transmitted to the 1/2 driving motor switching valve (5, 6) is not the same, the 1/2 driving motor switching valve (5, 6) The electronic proportional pressure reducing valve 15 is controlled so that the current delivered to the same becomes the same (S25).

Here, the flow rate control in the hybrid state mode of the excavator, that is, the flow rate in the mixed state of the driving and work using the first / second traveling motor (3, 4) and the first / second work device (7, 8) In the control of the first and second traveling motors 3 and 4 and the first and second working devices 7, 8 and 8 at the same time, not only the first hydraulic pump 1 but also the second hydraulic pressure Since the pump 2 is operated, at this time, the driving command and the swash plate inclination angle of the first hydraulic pump 1 are inaccurate due to problems such as movement of hydraulic pressure for replenishment. The process of determining whether the inclination angle of the swash plate inclination of the first hydraulic pump 1 opened to supply the hydraulic pressure to the first and second traveling motors 3 and 4 as in the case matches the driving command is omitted, instead. , Including a process of determining whether the first and second driving motors 3 and 4 and the second and second working devices 7 and 8 are simultaneously operated. .

Subsequently, the controller 16 determines whether or not the flow rates supplied to the first and second traveling motors 3 and 4 through the first and second driving motor switching valves 5 and 6 are the same. 12 and 13 to control (S26), if the flow rate supplied to the first / second driving motor (3, 4) is not the same is transmitted to the first / second driving motor switching valve (5, 6) The first electric current of the electromagnetic proportional pressure reducing valve 15, that is, the current of the electromagnetic proportional pressure reducing valve 15 provided to the first and second traveling motor switching valves 5 and 6, is reduced to become the minimum value so that the current is the same. The flow rate supplied to the 1/2 driving motors 3 and 4 through the first and second driving motor switching valves 5 and 6 is the same (S27).

Therefore, as described above, according to the embodiment of the present invention, even if the left / right travel lever of the drive control device is not operated at the same time when the left / right travel lever of the drive control device at the same time for the straight run toward the front By judging the command and by supplying the same flow rate to the left / right traveling motor, the speed of the left / right traveling motor can be the same, thereby improving work efficiency.

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains have various permutations, modifications, and changes without departing from the spirit or essential features of the present invention. It is to be understood that modifications may be made and other embodiments may be embodied. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: 1st hydraulic pump 2: 2nd hydraulic pump
3: 1st driving motor 4: 2nd driving motor
5: 1st driving motor switching valve 6: 2nd driving motor switching valve
7: first working device 8: second working device
9: 1st working device switching valve 10: 2nd working device switching valve
11: driving straight valve 12: first flow rate sensor
13: second flow rate sensor 14: driving control device
15 electronic proportional pressure reducing valve 16 controller

Claims (7)

In the traveling control device of a crawler type excavator,
A second flow rate sensor connected to the hydraulic line of the first and second drive motor switching valves to detect a flow rate supplied in response to the pilot pressure generated from the traveling control device;
If the pilot pressure is a signal for driving the excavator straight when the pilot pressure is generated from the traveling manipulator, the electronic proportional pressure reducing valve is controlled by the electronic proportional pressure reducing valve even if another load is transmitted to the 1/2 driving motor. Straight running control device of the crawler type excavator, characterized in that it comprises a controller for transmitting the flow rate. The method of claim 1,
And a traveling straight valve for switching one end of the first hydraulic pump and the first travel motor switching valve and switching the one end of the second hydraulic pump and the second work device switching valve. Device. The method of claim 2, wherein the first running motor switching valve,
The first hydraulic pump from the first hydraulic pump according to the control signal of the traveling operation device is transmitted from the electromagnetic proportional pressure reducing valve connected through a signal pressure transmission line in the state that one end is connected to the traveling straight valve and the other end is connected to the first driving motor. A traveling control apparatus for crawler type excavators, characterized in that the flow rate corresponding to the pilot pressure generated from the traveling control device is supplied to the traveling motor. The method of claim 1, wherein the second running motor switching valve,
One end is connected to the first hydraulic pump and the other end is connected to the second driving motor from the first hydraulic pump according to the control signal of the traveling control device transmitted from the electromagnetic proportional pressure reducing valve connected through a signal pressure transmission line; And a flow rate corresponding to the pilot pressure generated from the traveling control device to the second traveling motor. The method of claim 1, wherein the controller,
Instead of judging a command for the operation through the pilot pressure generated from the traveling manipulator,
And a command for a corresponding operation by detecting an inclination angle during the operation of the traveling operation device. The controller detecting the inclination angle according to the operation of the traveling control device or detecting a command for the corresponding operation through the corresponding pilot pressure when the traveling control device simultaneously moves forward;
And a step of controlling, by the controller, a current transmitted to the electromagnetic proportional pressure reducing valve that controls the 1/2 traveling motor switching valve so that the flow rate supplied to the 1/2 traveling motor is the same. Driving control method. The controller detecting the inclination angle according to the operation of the traveling control device or detecting a command for the corresponding operation through the corresponding pilot pressure when the traveling control device simultaneously moves forward;
When it is determined that the command detected in the step is a command for straight traveling of the excavator, the excavator is provided with the hydraulic discharge amount of the first hydraulic pump and the second hydraulic pump or the corresponding command transmitted from a work operation means (not shown). Determining whether the hybrid mode is in a mixed state mode, and if the excavator is not in the mixed state mode, performing control when the excavator is in a single driving state;
If the excavator is in the mixed state mode, the controller determines whether the current of the electromagnetic proportional pressure reducing valve controlling the 1/2 driving motor switching valve is the same, and if not, otherwise, the 1/2 driving motor switching valve. Controlling the electromagnetic proportional pressure reducing valve so that the current delivered to the same is equal to,
The controller determines whether the flow rate supplied to the 1/2 driving motor through the 1/2 driving motor switching valve is the same by controlling the 1/2 flow detection sensor, and if not, the 1/2 driving motor And controlling the current transmitted to the electromagnetic proportional pressure reducing valve for controlling the first and second traveling motor switching valves so that the flow rate supplied to the same flow rate is equal to the flow rate supplied to the crawler type excavator.

Images