JP5786036B2 - 建設機械用走行制御システム - Google Patents
建設機械用走行制御システム Download PDFInfo
- Publication number
- JP5786036B2 JP5786036B2 JP2013547271A JP2013547271A JP5786036B2 JP 5786036 B2 JP5786036 B2 JP 5786036B2 JP 2013547271 A JP2013547271 A JP 2013547271A JP 2013547271 A JP2013547271 A JP 2013547271A JP 5786036 B2 JP5786036 B2 JP 5786036B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- traveling
- spools
- travel
- switching
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15C—FLUID-CIRCUIT ELEMENTS PREDOMINANTLY USED FOR COMPUTING OR CONTROL PURPOSES
- F15C3/00—Circuit elements having moving parts
- F15C3/02—Circuit elements having moving parts using spool valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/763—Control of torque of the output member by means of a variable capacity motor, i.e. by a secondary control on the motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/438—Control of forward-reverse switching, e.g. control of the swash plate causing discharge in two directions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
更に、建設機械用走行制御システムは、左右の走行モータ6、10の起動、停止及び方向切換を制御する左右の走行スプール4、8と、左右の走行スプール4、8を切り換える左右の走行用操作装置(図示せず)と、第1及び第2の作業装置用油圧シリンダ7、11の起動、停止及び方向切換を制御する第1及び第2の作業装置スプール5、9と、第1及び第2の作業装置スプール5、9を切り換える第1及び第2の作業装置用操作装置(図示せず)と、低速走行モードを選択した状態で、両側走行と作業装置を操作して並行的に駆動させる際、左右の走行用操作装置の操作および第1及び第2の作業装置用操作装置の操作有無を判断して左右の走行モータ6、10の斜板傾転角を最小に切り換えるように、低速及び高速切換用のソレノイド弁13に高速走行制御信号を出力するコントローラ16と、を備える。
2 第1の油圧ポンプ
3 第2の油圧ポンプ
4、8 走行スプール
5、9 作業装置スプール
6 左側走行モータ
7、11 油圧シリンダ
10 右側走行モータ
12 走行速度選択スイッチ
13 低速及び高速切換用のソレノイド弁
14 走行操作感知装置
15 作業装置操作感知装置
16 コントローラ
Claims (1)
- エンジンに接続される可変容量型の第1及び第2の油圧ポンプと、
前記第1の油圧ポンプに接続され、それぞれのスプールの切換時に駆動する可変容量型の左側の走行モータ及び第1の作業装置用油圧シリンダと、
前記第2の油圧ポンプに接続され、それぞれのスプールの切換時に駆動する可変容量型の右側の走行モータ及び第2の作業装置用油圧シリンダと、
低速及び高速走行速度を選択する走行速度選択装置と、
前記走行速度選択装置からの選択信号に基づいて左右の走行モータの斜板傾転角を制御する信号圧力を出力する低速及び高速切換用のソレノイド弁と、
前記左右の走行モータの起動、停止及び方向切換を制御する左右の走行スプールと、
前記左右の走行スプールを切り換える左右の走行用操作装置と、
前記第1及び第2の作業装置用油圧シリンダの起動、停止及び方向切換を制御する第1及び第2の作業装置スプールと、
前記第1及び第2の作業装置スプールを切り換える第1及び第2の作業装置用操作装置と、
低速走行モードを選択した状態で、両側走行と作業装置を操作して並行的に駆動する際、両側走行と前記第1及び第2の作業装置用操作装置の同時操作を検出して前記左右の走行モータの斜板傾転角を最小に切り換えるように前記低速及び高速切換用のソレノイド弁に高速走行制御信号を出力するコントローラと、を備え、
前記走行用操作装置および前記第1及び第2の作業装置用操作装置の複数の電気的な出力値は、前記コントローラに入力されて、走行操作の有無および前記第1及び第2の作業装置用操作装置の操作有無を前記コントローラが判断し、複数の電気的な出力値を前記左右の走行スプールと前記第1及び第2の作業装置スプールを切り換えるための油圧力に変換する複数の電磁比例弁が、前記コントローラと前記複数のスプールとの間に配設されることを特徴とする建設機械用走行制御システム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2010/009360 WO2012091186A1 (ko) | 2010-12-27 | 2010-12-27 | 건설기계용 주행 제어시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014507609A JP2014507609A (ja) | 2014-03-27 |
JP5786036B2 true JP5786036B2 (ja) | 2015-09-30 |
Family
ID=46383249
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013547271A Expired - Fee Related JP5786036B2 (ja) | 2010-12-27 | 2010-12-27 | 建設機械用走行制御システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US8838349B2 (ja) |
EP (1) | EP2660396A4 (ja) |
JP (1) | JP5786036B2 (ja) |
KR (1) | KR20140017510A (ja) |
CN (1) | CN103429828B (ja) |
WO (1) | WO2012091186A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103890278A (zh) | 2011-10-17 | 2014-06-25 | 沃尔沃建造设备有限公司 | 用于工程机械的液压管道固定装置 |
WO2013089287A1 (ko) | 2011-12-13 | 2013-06-20 | 볼보 컨스트럭션 이큅먼트 에이비 | 휠 타입 건설장비의 조향 시스템 |
US9618017B2 (en) | 2012-04-17 | 2017-04-11 | Volvo Construction Equipment Ab | Hydraulic system for construction equipment |
US9568030B2 (en) * | 2014-03-24 | 2017-02-14 | Caterpillar Inc. | System and method for managing machine power system |
CN104141326B (zh) * | 2014-07-11 | 2017-05-03 | 徐州徐工挖掘机械有限公司 | 一种挖掘机的节能控制系统 |
KR102088091B1 (ko) * | 2014-11-20 | 2020-04-28 | 두산인프라코어 주식회사 | 건설기계의 유압회로 제어 장치 |
DE102016004382A1 (de) * | 2016-04-08 | 2017-10-12 | Liebherr-Werk Biberach Gmbh | Verfahren und Vorrichtung zum Planen und/oder Steuern und/oder Simulieren des Betriebs einer Baumaschine |
KR101988413B1 (ko) * | 2017-08-28 | 2019-06-12 | 하이드로텍(주) | 정유압 변속장치의 2속 주행 제어장치 |
KR102484104B1 (ko) * | 2018-01-31 | 2023-01-04 | 현대두산인프라코어(주) | 건설기계의 주행 제어 장치 및 주행 제어 방법 |
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JPH0439878Y2 (ja) * | 1986-05-19 | 1992-09-18 | ||
JP2520653B2 (ja) * | 1987-07-31 | 1996-07-31 | 株式会社小松製作所 | 建設機械の走行制御装置 |
WO1990008910A1 (en) * | 1989-01-27 | 1990-08-09 | Hitachi Construction Machinery Co., Ltd. | Hydraulic driving running apparatus |
JPH05131860A (ja) * | 1990-12-25 | 1993-05-28 | Yutani Heavy Ind Ltd | 建設機械の走行回路 |
KR960004409B1 (ko) * | 1991-01-12 | 1996-04-02 | 대우중공업주식회사 | 굴삭기의 유압제어 방법 및 장치 |
JPH08135789A (ja) * | 1994-11-09 | 1996-05-31 | Komatsu Ltd | 車両の油圧式駆動装置の変速装置およびその変速制御方法 |
US6371885B1 (en) * | 1999-04-01 | 2002-04-16 | Komatsu Ltd. | Working vehicle and vehicle speed control method thereof, variable power engine and power setting method thereof, and vehicle with variable power engine and power control method thereof |
JP3390707B2 (ja) * | 1999-10-19 | 2003-03-31 | 住友建機製造株式会社 | 建設機械の制御装置 |
JP2001301644A (ja) * | 2000-04-24 | 2001-10-31 | Sumitomo Heavy Industries Construction Crane Co Ltd | 無限軌道式走行体の操向制御装置 |
US6996982B2 (en) * | 2003-12-09 | 2006-02-14 | The United States Of America As Represented By The Administrator Of The Environmental Protection Agency | Method and device for switching hydraulic fluid supplies, such as for a hydraulic pump/motor |
JP3878190B2 (ja) * | 2004-08-20 | 2007-02-07 | 住友建機製造株式会社 | 建設機械の制御装置 |
KR101182552B1 (ko) * | 2005-12-27 | 2012-09-12 | 두산인프라코어 주식회사 | 휠타입 굴삭기의 유압펌프 마력제어장치 |
KR100974279B1 (ko) * | 2008-03-27 | 2010-08-06 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 중장비의 주행시스템 |
JP5801666B2 (ja) * | 2011-09-20 | 2015-10-28 | 日立オートモティブシステムズ株式会社 | バルブタイミング制御装置に用いられる油圧制御機構及び該油圧制御機構のコントローラ |
-
2010
- 2010-12-27 JP JP2013547271A patent/JP5786036B2/ja not_active Expired - Fee Related
- 2010-12-27 EP EP10861375.3A patent/EP2660396A4/en not_active Withdrawn
- 2010-12-27 WO PCT/KR2010/009360 patent/WO2012091186A1/ko active Application Filing
- 2010-12-27 CN CN201080070963.9A patent/CN103429828B/zh not_active Expired - Fee Related
- 2010-12-27 US US13/997,938 patent/US8838349B2/en not_active Expired - Fee Related
- 2010-12-27 KR KR1020137016541A patent/KR20140017510A/ko not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
EP2660396A1 (en) | 2013-11-06 |
WO2012091186A1 (ko) | 2012-07-05 |
EP2660396A4 (en) | 2017-11-08 |
CN103429828A (zh) | 2013-12-04 |
US20130289835A1 (en) | 2013-10-31 |
US8838349B2 (en) | 2014-09-16 |
KR20140017510A (ko) | 2014-02-11 |
JP2014507609A (ja) | 2014-03-27 |
CN103429828B (zh) | 2016-04-20 |
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