KR0138706B1 - Driving and work interlocking control device and method of construction heavy equipment - Google Patents

Abstract

The present invention relates to a control device and a control method for interlocking control by dividing work and driving in a wheel type excavator. According to a preferred embodiment, a traveling and work interlock control apparatus for heavy equipment for construction, comprising a plurality of direction change valves and hydraulic pumps for the direction change valves, the position detector for detecting the throttle lever position of the engine, A speed detector for detecting engine speed, a switch board for setting a working mode, a microcontroller for controlling the engine speed and the discharge flow rate of the hydraulic pump by inputting signals supplied from the position detector and the speed detector and the switch board. A computer, an electric motor for adjusting the engine speed in response to a signal generated from the microcomputer, and an electromagnetic proportional valve for controlling the discharge flow rate of the hydraulic pump in response to a signal generated from the microcomputer. It provides a driving and work linkage control device.

Description

Driving and work interlocking control device and method of construction heavy equipment

The present invention relates to a driving and work interlock control device and method of heavy equipment for construction, and more particularly to a device and a control method for interlocking control by separating the work and the driving in a wheel-type excavator.

In general, a large division in the use of wheel type excavators consists of excavation type work performed by a driver using a lever of a control valve and driving using a hand and a traveling pedal. At this time, as shown in Figure 1, the output of the engine 1 and the hydraulic pump (3, 5, 6) does not distinguish between work and running, any engine horsepower and RPM (rpm), which the driver instructs, The pump discharge flow rate is output, and the running speed and performance are determined by the pressure and flow rate of the hydraulic fluid according to the spool opening and closing of the driving direction change valve 11 operated by the pilot pressure of the running pedal 7.

In this case, regardless of the driving conditions, that is, various types of driving conditions such as slow running, hill driving, waiting signal while driving, and bumpy road driving, the engine 1 outputs horsepower according to the operation of the driving pedal 7. As a result, the discharge amounts of the hydraulic pumps 3, 5 and 6 are determined. As a result, undesired increase in engine noise, waste of fuel and unnecessary consumption of energy, driving performance and driving sensation are greatly deteriorated. Although some construction equipment adopts the function to automatically decelerate when driving and stopping work, the driving performance and sensation are slightly improved, but problems such as noise increase, fuel consumption and energy consumption have not been solved.

Accordingly, it is an object of the present invention to provide an apparatus and method for controlling running and working of heavy equipment for construction, which enables to properly control the output of an engine and a hydraulic pump according to various driving conditions.

1 is a view showing the configuration of a traveling and work control apparatus conventionally used.

2 is a view showing the configuration of a driving and work interlock control apparatus according to the present invention.

3 is a flowchart of a program for performing driving and work interlocking control according to the present invention.

* Explanation of symbols for main parts of the drawings

1: engine 3, 4, 6: hydraulic pump

3A, 5A: Variable displacement hydraulic pump 7: Driving pedal

9: driving motor 10: pilot pressure detector

11, 13, 15, 17, 19, 21: Directional valve 20: Link

30: electric motor 31: position detector

40: microcomputer 50: switchboard

60: electromagnetic proportional valve

An object of the present invention as described above, in the traveling and working interlock control device of heavy equipment for construction comprising a plurality of directional valves and a hydraulic pump for the directional valves, the position detector for detecting the throttle lever position of the engine A speed detector for detecting the engine speed, a switch board for setting a working mode, a signal supplied from the position detector, the speed detector, and the switch board to control the engine speed and the discharge flow rate of the hydraulic pump; A microcomputer, an electric motor for adjusting the engine speed in response to a signal generated from the microcomputer, and an electromagnetic proportional valve for controlling the discharge flow rate of the hydraulic pump in response to a signal generated from the microcomputer. It is achieved by providing a drive and work linkage control device characterized in that.

An object of the present invention described above, the driving of heavy equipment for construction including a plurality of directional valves, electromagnetic proportional valve for controlling the discharge flow rate of the hydraulic pump for the directional valves, and the engine for driving the hydraulic pump and A work interlock control method, comprising: a first process of comparing a position of a throttle lever of an engine with a predetermined reference position when a vehicle body of the heavy equipment is running in a driving mode; a first process when the position of the throttle lever is less than the reference position And applying a fixed current value corresponding to the working mode to the electromagnetic proportional valve, and applying a control current value corresponding to a second working mode to the electromagnetic proportional valve when the position of the throttle lever is equal to or greater than the reference position. It is achieved by providing a driving and work linkage control method characterized in that.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which is not intended to limit the technical scope of the present invention.

2 is a view showing the configuration of the traveling and work interlocking control apparatus according to the present invention, Figure 3 is a flow chart of a program for performing the driving and work interlocking control according to the present invention.

As shown in detail in the drawing, referring to FIG. 2, the driving pedal 7 includes a pilot pressure detector 10 for detecting a pilot pressure to the direction change valve 11 for controlling the driving motor 9. Is installed. The pilot pressure detection signal detected from the pilot pressure detector 10 described above is applied to the microcomputer 40. The electric motor 30 driven by the microcomputer 40 is connected to the link unit 20 between the driving pedal 7 and the engine, and the output of the position detector 31 for detecting the throttle lever position of the engine is Is applied to the microcomputer 40.

The rotation speed of the engine 1 is controlled through the link unit 20 by the traveling pedal 7 and the electric motor 30. The output of the speed detector 41 installed in the engine 1 is applied to the microcomputer 40. The switch board 50 is connected to the microcomputer 40. The output of the microcomputer 40 is applied to an electromagnetic proportional valve 60 that adjusts the swash plate inclination angle of the variable displacement hydraulic pumps 3A and 5A.

Although not shown, the switch board 50 includes a travel switch, a switch for setting a work mode, a switch for changing the engine speed, and a switch for setting output states of the engine and the pump in a corresponding work mode. . Determining the output state of the engine and pump includes H-mode, S-mode and L-mode. When the H-mode is set, the control current generated by the calculation in the microcomputer 40 is supplied to the electromagnetic proportional valve 60. When the S-mode and the L-mode are set, a constant fixed current is applied to the electromagnetic proportional valve 60. Is supplied. In H-mode and S-mode, the engine speed is fixed at a high idle speed, and in L-mode, the engine speed is fixed at a speed per line at the maximum output torque point of the engine.

Therefore, a variable displacement hydraulic pump for supplying hydraulic oil to the direction change valves 11, 13, 15, 17, 19, and 21 for controlling work devices (including the traveling motor 9) (boom, arm, bucket, swing, etc.). It can be seen that the discharge states of 3A and 5A are adjusted according to the operating state of the electromagnetic proportional valve 60 controlled by the output current output through the microcomputer 40. In addition, it can be understood that the horsepower of the engine 1 driving the variable displacement hydraulic pumps 3A and 5A is adjusted by the rotation of the electric motor 30 controlled by the microcomputer 40.

Next, the flow of the control program executed by the microcomputer 40 will be described with reference to FIG. The microcomputer 40 according to the present invention is a signal relating to selection of modes (H, S and L-modes) for determining the output states of the engine and the pump from the switchboard 50, and the engine (from the position detector 31). A signal relating to the position of the throttle lever of 1) and a signal relating to the engine speed are input from the rotation speed detector 41 to output a signal for controlling the electric motor 30 and the electromagnetic proportional valve 60.

First, in step 4a, it is determined whether the travel switch is on, and if the travel switch is on, after the travel preparation signal is set in step 4b, the process proceeds to step 4d. If it is determined in step 4a that the travel switch is off, the travel stop signal is set in step 4c and the process proceeds to step 4d.

In step 4d, it is determined whether the vehicle is in the driving mode. If it is not in the driving mode, it is determined in step 4e whether the vehicle body is currently running. If the vehicle is not in operation, the operation is terminated. In operation 4f, the driving LED is turned off and the previous work mode is set. Next, the vehicle is ready for travel in step 4g and ends. In this case, since the vehicle body is not in a running state, the previous work is performed.

If it is determined in step 4d that the vehicle is in the current driving mode state, it is determined in step 4h whether the current vehicle body is running. If driving, the position of the current throttle lever is compared with a predetermined reference position in step 4i. The rotation speed of the engine 1 varies depending on the position of the throttle lever. If the current position of the throttle lever is less than the reference position, the process proceeds to step 4j to light up the S-mode light emitting diode, and then, in step 4k, the fixed current value required for the S-mode is applied to the electromagnetic proportional valve 60. On the contrary, if the position of the current throttle lever is equal to or greater than the reference position, the process proceeds to step 4l, the LED for the H-mode is turned on and applied in step 4m. The control current value required for the H-mode is applied to the electromagnetic proportional valve 60 and ends.

If it is determined in step 4h that the vehicle body is not currently running, then in step 4n the current rpm of the engine 1 is compared to the reference rpm needed to start running. If the current revolutions per minute is less than or equal to the reference revolutions per minute, the light emitting diode for the S-mode is turned on in step 4n, and then the fixed current value required for the S-mode is applied to the electromagnetic proportional valve 60 in step 4p to end.

If the current rpm is above the standard rpm in step 4n, the current rpm is forcibly lowered below the reference rpm in step 4g, and then in step 4r, the S-mode and driving LED are turned on and the S The fixed current value corresponding to the mode is output to the electromagnetic proportional valve 60 and then terminated. Then, the motor is ready to use the rpm of the engine 1 in the maximum proportional to the minimum in proportion to the stroke of the running pedal 7 stepped on by the driver. The microcomputer 40 then prohibits the use of switches for increasing or decreasing the rpm of the engine 1 and switches for H, S and L-modes.

As described above, according to the exemplary embodiment of the present invention, since the driver can set and operate various work modes even during the driving mode, there is an effect that the equipment can be adjusted according to the driver's will according to the driving conditions and the driving conditions. .

In addition, based on the information on the position of the throttle lever controlling the current engine speed and the information on the pilot pressure by the pedal, the discharge flow rate and pressure of the pump can be adjusted according to the operation mode by the driver. It has the advantage of providing driving and working conditions.

Claims (4)

A traveling and work linkage control apparatus for construction heavy equipment including a plurality of direction change valves and a hydraulic pump for the direction change valves; A position detector for detecting a throttle lever position of the engine; A speed detector for detecting the engine speed; A switch board for setting a working mode; A microcomputer controlling the engine speed and the discharge flow rate of the hydraulic pump by inputting signals supplied from the position detector, the speed detector, and the switch board; An electric motor for adjusting the engine speed in response to a signal generated from the microcomputer; And an electromagnetic proportional valve for adjusting a discharge flow rate of the hydraulic pump in response to a signal generated from the microcomputer. A driving and work linkage control method for heavy equipment for construction comprising a plurality of directional valves, an electromagnetic proportional valve for controlling the discharge flow rate of the hydraulic pump for the directional valves, and an engine for driving the hydraulic pump; A first step of comparing the position of the throttle lever of the engine with a predetermined reference position when the vehicle body of the heavy equipment is running in the driving mode; And applying a fixed current value corresponding to the first working mode to the electromagnetic proportional valve when the position of the throttle lever is less than the reference value, and a control current value corresponding to the second working mode when the position of the throttle lever is greater than or equal to the reference position. And a second process of applying the electronic proportional valve to the electromagnetic proportional valve. 3. The driving and work interlocking control method according to claim 2, wherein the previous work is performed when the vehicle body is traveling in a state other than the driving mode state in the first process. 4. The fixed current value corresponding to the first working mode when the current revolutions per minute of the engine is less than or equal to the revolution starting reference minute when the vehicle body is not running in the driving mode in the first process. When applied to the electromagnetic proportional valve, and the current revolutions per minute of the engine is greater than or equal to the running start reference rpm, the current revolutions per minute is lowered to less than or equal to the running start reference RPM and then to the first working mode. And a fixed current value per row is applied to the electromagnetic proportional valve.