KR100264278B1 - A driving handling device and method of a construction equipment - Google Patents

Abstract

PURPOSE: A device and a method for manipulating travelling heavy equipment are provided to improve convenience without considering experience of a user in a specific manipulating method. CONSTITUTION: A device for manipulating travelling of a construction equipment comprises pilot pump(Pp) and main pump driven by an engine; a travelling motor(T/M) actuating by receiving hydraulic oil from the main pump; a control valve controlling actuation of a travelling motor by pilot pressure oil supplied form the pilot pump; a shuttle valve outputting the pilot pressure oil to the control valve by receiving from the first and second diverged pilot oil passages; a first valve mounted on the first diverged pilot oil passage; a pedal(3) controlling opening of the first valve; a second valve installed on the second diverged pilot oil passage; and a lever(4) controlling opening of the second valve. Thereby, a driver selects manipulating type in single equipment and operates the equipment without experience.

Description

Driving control device and construction method of construction equipment

The present invention relates to a traveling manipulator and a method for operating construction equipment, and more particularly, to a driving manipulator and a method for operating construction equipment that enables the driver to select a manipulation method familiar to them. .

Various methods are used for manipulating the driving of heavy equipment such as a crawler type excavator traveling on the left track and the right track. There are two types of operation methods, the pedal operation method and the lever operation method. The pedal operation method uses the left and right hydraulic operation pedals to move the left and right tracks forward and backward, respectively. The left and right tracks move forward and backward respectively. There is also a method of operating by lever, in which the two left and right tracks are moved back and forth by one lever operation.

On the other hand, a method of mixing the operation of the work device and the operation of the traveling device by one or two operation levers by selection by an arbitrary selection device is also used.

As described above, various types of operation methods are used, but a single method is adopted for a single equipment, and thus, when operating equipment of an operation method that is inconvenient and unfamiliar to the driver, fatigue in operating the equipment is eliminated. There was also a risk of safety accidents aggravated by the driver's immaturity.

Accordingly, an object of the present invention is to solve the above-described problems, to provide a driving device for heavy equipment that can be improved in the convenience of operation irrespective of the skill of the driver for a particular operation method.

1 is a schematic diagram illustrating a conceptual configuration of the present invention

Figure 2 is an electric-hydraulic circuit diagram showing a driving operation apparatus according to an embodiment of the present invention

3 and 4 illustrate a lever operation direction or an operation amount corresponding to a valve driving signal when an operation method using only one of the first and second levers is selected in the traveling operation apparatus according to an embodiment of the present invention. Schematic diagram and corresponding diagram illustrating how to make

<Code Description of Main Parts of Drawing>

E / G: engine

P, P1, P2: Hydraulic Pump

T / M, LT / M, RT / M: drive motor, left drive motor, right drive motor

Pp: Pilot Pump

CPU: controller

1: pilot Euro 1st quarter

2: pilot Euro 2

3: pedal

4: lever

A driving control apparatus according to an aspect of the present invention for achieving the above object, the main pump and the pilot pump driven by the engine; A driving motor operated by receiving hydraulic oil from the main pump; A control valve installed between the main pump and the driving motor to control the operation of the driving motor by pilot pressure oil supplied from the pilot pump; A shuttle valve receiving pilot pressure oil through a first branch pilot flow path and a second branch pilot flow path branched from the pilot pump, and outputting the combined pilot pressure oil to the control valve; A first valve installed in the first branch pilot flow path; A pedal manipulated by a driver to adjust the opening and closing degree of the first valve; A second valve installed in the second branch pilot flow path; It includes a lever that is operated by the driver to adjust the opening and closing of the second valve.

Preferably, the lever is an electric lever which is operated by a driver and outputs a corresponding electric operation signal corresponding to the lever, and the second valve is an electric proportional valve that is operated by a predetermined electric valve driving signal. And a control means installed between the second valves to receive the operation signal from the lever and output the valve driving signal to the second valve.

Also preferably, the method further comprises means for selecting whether or not to perform a function of the lever by a driver and transferring the same to the controller.

Driving operation apparatus according to another aspect of the present invention for achieving the above object, the main pump and the pilot pump driven by the engine; Left and right driving motors operated by receiving hydraulic oil from the main pump; First and second control valves installed between the main pump and the left and right driving motors to control operation of the left and right driving motors by pilot pressure oil supplied from the pilot pumps; At least one first valve for blocking or proportionally allowing the flow of the pilot pressure oil from the pilot pump to the first and second control valves; At least one pedal in charge of controlling at least one of the left and right driving motors by adjusting the opening and closing of the first valve by a driver's operation; At least one lever for controlling at least one of the left and right driving motors by adjusting the opening and closing of the second valve by a driver's operation; A controller installed between the lever and the second valve and receiving an operation signal from the lever to perform a predetermined operation and output a valve driving signal to the second valve; And means for receiving a driver's selection as to whether or not to enable / disable operation by the lever and delivering it to the controller.

Preferably, the number of the lever is two, the first operation of the one lever to control the left driving motor and the other lever to control the right driving motor, and Means for receiving a driver's selection of which one of the second modes of operation such that one of the levers is responsible for the control of the left and right traveling motors at the same time; do.

A traveling operation method according to an aspect of the present invention for achieving the above object, in the traveling operation method of construction equipment equipped with a traveling motor driven by an engine, and a pedal and a lever for operating the traveling motor, The operation by the pedal is always enabled, the operation by the lever is characterized in that the enable / disable state is switched by the driver's selection.

Driving operation method according to another aspect of the present invention for achieving the above object, at least any one or more for operating at least one or more of the left and right traveling motor driven by the engine, and the left and right traveling motor In a traveling operation method of a construction equipment having a pedal and at least one or more levers for operating at least one of the left and right driving motors, the operation by the pedals are always enabled, Operation is characterized in that the enable / disable state is switched by the driver's selection.

Preferably, the number of the lever is two, the first operation of the one of the lever to handle the operation of the left driving motor and the other one of the lever to handle the operation of the right driving motor, and One of the levers has a second operation method for simultaneously operating the left and right driving motor, characterized in that any one of the first operation method and the second operation method is determined by the driver's selection do.

According to the present invention configured as described above, the driver can perform the driving operation of the equipment by selecting the operation method familiar to him from the operation method by the pedal and the operation method by the lever. In addition, even if the driver selects the operation method by lever, since the operation method by the pedal is always enabled, it is possible to cope with an emergency situation.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram for explaining a conceptual configuration of the present invention.

According to FIG. 1, the engine E / G is provided as a drive source of equipment, and the main pump P and the pilot pump Pp are driven by this engine E / G. The driving motor (T / M) is operated by receiving hydraulic oil from the main pump (P). A control valve (CV) is installed between the main pump (P) and the travel motor (T / M) to control the operation of the travel motor (T / M). The pilot pressure oil is supplied from the pilot pump (Pp) to the control valve. When applied to (CV), the spring (not shown) in the control valve (CV) is moved to the left and right, while the internal flow path is connected to the running motor (T / M) from the main pump (P) Supply and shut-off of the hydraulic oil occurs in the furnace, and eventually the driving motor (T / M) starts and stops and changes direction.

On the other hand, the pilot pressure oil supplied from the pilot pump Pp is branched by the first branch pilot flow path 1 and the second branch pilot flow path 2, and then joined again by the shuttle valve SV / V. It is comprised so that it may apply to the above-mentioned control valve CV. In the first branch pilot flow path 1, a first valve PV1 is provided to block or proportionally allow the flow of the pilot pressure oil through the first branch pilot flow path 1 according to the stroke of the spring. One valve PV1 is controlled by the pedal 3 operated by a driver. Moreover, also in the 2nd branch pilot flow path 2, the 2nd valve PV2 which interrupts or proportionally permits the flow of pilot pressure oil through the 2nd branch pilot flow path 2 according to the stroke of a spring is provided. This second valve PV2 is controlled by the lever 4 operated by the driver.

Preferably, the above-mentioned first valve PV1 is a mechanical proportional valve in which the spring stroke is determined in accordance with the above-described stepping amount of the pedal 3 by the driver.

Also preferably, the above-mentioned lever 4 is an electric lever which is operated by a driver and outputs a predetermined electric operation signal corresponding thereto, and the above-described second valve PV2 is operated by a predetermined electric valve driving signal. Electric proportional valve. In addition, in this case, it is installed between the above-mentioned lever 4 and the second valve PV2 so as to receive the above-mentioned operation signal from the lever 4 and output the above-mentioned valve driving signal to the second valve PV2. The controller (CPU) is provided.

More preferably, the driver is selected to perform the function of the above-mentioned lever 4, that is, whether to adopt the operation method by the lever 4, so as to select the controller ( And selecting means (5) for transmitting to the CPU.

According to the operating device of the present invention configured as described above, when the driver presses the pedal 3 or not, the operation method of the lever 4 is selected by the above-mentioned selection means 5, the pilot pump Pp The pilot pressure oil is applied to the control valve CV through the first branch pilot flow path 1 and the shuttle valve (SV / V) to control the operation of the traveling motor (TM). In other words, the operation method by the pedal 3 is always enabled (Enable) state. On the other hand, when the operating method of the lever 4 is selected by the driver, an operation signal generated by the driver operating the lever 4 is transmitted to the controller CPU, and the controller CPU transmits a valve driving signal corresponding thereto. Since it is applied to the second valve PV2, the pilot pressure oil from the pilot pump Pp is applied to the control valve CV through the second branch pilot flow path 2 and the shuttle valve SV / V. The operation of the driving motor TM can be controlled.

Therefore, the driver can select the operation method familiar to him and perform the driving operation.

On the other hand, Figure 2 is an electro-hydraulic circuit diagram showing an example in which the operation device of the present invention having the above concept is applied in more detail.

According to FIG. 2, the 1st hydraulic pump P1, the 2nd hydraulic pump P2, and the pilot pump Pp which are driven by the engine E / G are provided, and are provided from the 1st hydraulic pump P1. It operates by receiving hydraulic oil and is operated by receiving the hydraulic oil from the left driving motor (LT / M) and the second hydraulic pump (P2) which drives the left track (not shown) of the equipment. Right drive motor (RT / M) is provided. The first control valve CV1 and the second control between the first hydraulic pump P1 and the left travel motor LT / M and between the second hydraulic pump P2 and the right travel motor RT / M, respectively. The valve CV2 is provided to control the operation of the left travel motor LT / M and the right travel motor RT / M, respectively.

When the pilot pressure oil is applied to the left end or the right end of the spring from the pilot pump Pp, the first and second control valves CV1 and CV2 are connected to the inner flow path while the spring is moved leftward or rightward. By blocking or allowing the hydraulic oil supplied from the first and second hydraulic pumps P1 and P2 to the left and right travel motors LT / M and RT / M, respectively, the left and right travel motors LT / M and RT / M) to control the start, stop and redirection. For convenience of explanation, when the pilot pressure is applied to the left end of the first control valve CV1 spring, the left driving motor LT / M is forward driven, and when the pilot pressure is applied to the right end of the first control valve CV1 spring, the left side When the driving motor LT / M is driven in reverse rotation and applied to the left end of the second control valve CV2 spring, the right driving motor RT / M is driven in the forward rotation and the second control valve CV2 spring is driven. When applied to the right end of the wool, it is assumed that the right driving motor (RT / M) is driven in reverse rotation. If both drive motors (LT / M and RT / M) are driven forward, the machine will drive straight ahead. If both drive motors (LT / M and RT / M) are driven backward, the machine will run straight. It is natural to drive backwards.

Therefore, the pilot flow path is connected from the pilot pump Pp to the left end and the right end of each of the springs of the first and second control valves CV1 and CV2, and this pilot flow path is connected to the spring of the first control valve CV1. Left driving motor forward rotation pilot path 11 for applying pilot pressure oil to the left end, left driving motor reverse rotation driving pilot flow path 12 for applying pilot pressure oil to the right end of the first control valve CV1. ), To apply pilot pressure oil to the right driving motor for forward rotation drive pilot flow path 13 for applying pilot pressure oil to the left end of the spring of the second control valve CV2, and to the right end of the spring of the second control valve CV2. It consists of a pilot flow passage 14 for driving the reverse motor for reverse rotation.

In addition, the pilot pressure oil supplied from the pilot pump Pp includes the four pilot flow paths described above, that is, the pilot flow path 11 for forward drive of the left drive motor, the pilot flow path 12 for reverse drive of the left drive motor, and the right side. Each of the shuttle valves branched to the first branch pilot flow path and the second branch pilot flow path, respectively, before being connected to the driving motor forward driving pilot flow passage 13 and the right driving motor reverse rotation driving pilot flow passage 14. It is configured to join again by.

In more detail, the pilot pressure oil supplied from the pilot pump Pp is, firstly, the first branch pilot passage 21 for forward driving of the left driving motor and the second branch pilot passage 22 for forward rotation driving of the left motor. After branching to, it is joined by the first shuttle valve 31 and applied to the left end of the spring of the first control valve CV1 through the pilot passage 11 for driving the forward rotation of the left driving motor described above.

Further, the pilot pressure oil supplied from the pilot pump Pp is branched to the first branch pilot flow passage 23 for driving the left driving motor in reverse rotation and the second branch pilot flow passage 24 for driving the reverse driving in the left direction. The first shuttle valve 32 is joined by the second shuttle valve 32 and is applied to the right end of the spring of the first control valve CV1 through the pilot channel 12 for driving the reverse rotation of the left driving motor.

In addition, the pilot pressure oil supplied from the pilot pump Pp is branched to the first branch pilot flow path 25 for forward rotation of the right traveling motor and the second branch pilot flow path 26 for forward rotation driving of the right driving motor. And joined by the third shuttle valve 33, and are applied to the left end of the spring of the second control valve CV2 through the pilot flow path 13 for driving the forward-right driving motor described above.

Finally, the pilot pressure oil supplied from the pilot pump Pp is branched into the first branch pilot flow path 27 for the right drive motor reverse rotation drive and the second branch pilot flow path 28 for the right drive motor reverse rotation drive. Then, it is joined by the fourth shuttle valve 34 and applied to the right end of the spring of the second control valve CV2 through the pilot flow passage 14 for driving the reverse rotation of the right driving motor described above.

The above-described shuttle valves 31, 32, 33, 34, when the pilot pressure oil is input through any one of the respective first branch and the second branch pilot flow path, it is connected to each corresponding pilot flow path OR shuttle valves that can be output.

On the other hand, in the first branch pilot flow passage 21 for forward drive of the left traveling motor, the first valve for forward drive for left drive motor for blocking or proportionally allowing the flow of pilot pressure oil passing through the pilot flow passage 21 ( 41) is provided, and in the second branch pilot flow passage 22 for forward driving of the left driving motor, the left driving motor forward rotation driving for blocking or proportionally allowing the flow of pilot pressure oil passing through the pilot flow passage 22 is performed. The second valve 42 is provided. The first valve 41 is controlled by the stepping amount of the pedal 51 for driving the left traveling motor. The second valve 42 is an electric proportional valve whose flow rate is controlled proportionally according to the valve driving signal (electrical signal).

Next, in the first branch pilot flow path 23 for driving the reverse driving of the left driving motor, the first valve for driving the reverse driving of the left driving motor which blocks or proportionally permits the flow of the pilot pressure oil passing through the pilot flow path 23 ( 43) is provided, and in the second branch pilot flow passage 24 for driving the reverse driving of the left driving motor, the left driving motor reverse rotation driving for blocking or proportionally allowing the flow of the pilot pressure oil passing through the pilot flow passage 24 is performed. The second valve 44 is provided. The first valve 43 is controlled by the stepping amount of the pedal 51 for driving the left traveling motor. The second valve 44 is an electric proportional valve whose flow rate is controlled proportionally according to the valve driving signal (electrical signal).

Next, in the first branch pilot flow path 25 for forward rotation of the right driving motor, the first valve for forward rotation drive of the right driving motor for blocking or proportionally allowing the flow of pilot pressure oil passing through the pilot flow path 25 ( 45) is provided, and in the second branch pilot flow path 26 for forward drive of the right traveling motor, the right drive motor forward rotation drive for blocking or proportionally allowing the flow of pilot pressure oil passing through the pilot flow path 26 is performed. The second valve 46 is provided. The first valve 45 is controlled by the stepping amount of the pedal 52 for driving the right traveling motor. The second valve 46 is an electric proportional valve whose flow rate is controlled proportionally according to the valve driving signal (electrical signal).

Finally, in the first branch pilot flow path 27 for the right driving motor reverse rotation driving, the first valve for the right driving motor reverse rotation driving which blocks or proportionally permits the flow of the pilot pressure oil passing through the pilot flow path 27. In the second branch pilot flow passage 28 for driving the reverse driving of the right driving motor, 47 is provided, and the right driving motor reverse rotation that blocks or proportionally allows the flow of the pilot pressure oil passing through the pilot flow passage 28 is performed. The drive second valve 48 is provided. The first valve 47 is controlled by the stepping amount of the pedal 52 for driving the right traveling motor. The second valve 48 is an electric proportional valve whose flow rate is controlled proportionally according to the valve driving signal (electrical signal).

If the above-described control of the first valve group 41, 43, 45, 47 is performed by the stepping amount of the pedals 51, 52 or the like, the control of the second valve group 42, 44, 46, 48 is performed with the pedal. Is performed by operating the levers 61 and 62 separately provided. That is, when the first lever 61 and the second lever 62 are provided, and these levers 61 and 62 are operated by the driver, the above-described valve driving signal corresponding to this operation is applied to the corresponding second valve ( 42, 44, 46, 48). For convenience, it is assumed that the first lever 61 is responsible for driving the left travel motor, and the second lever 62 is responsible for driving the right travel motor. When the first and second levers 61 and 62 are operated by the driver, respectively, the first and second levers 61 and 62 are configured to output a predetermined operation signal (electrical signal) corresponding to the operation direction and the operation amount.

A controller (CPU) is provided between the levers (61, 62) and the second valve group (42, 44, 46, 48), the controller (CPU) is a lever when operating the driver's lever (61, 62) The above-described operation signal output from 61 and 62 is input, and after performing a predetermined operation, the above-described valve driving signal is output to the corresponding second valve group 42, 44, 46, 68.

In the traveling operation apparatus of the present embodiment having the above configuration, the traveling operation may be performed by the pedals 51 and 52 or by the levers 61 and 62.

Preferably, in the case of the driving operation by the levers 61 and 62, whether or not the driver performs the driving operation by the lever and travels by using both levers 61 and 62. Selection means 70 is provided for selecting whether or not to operate, whether to operate the driving using only one of the two levers 61 and 62, and the like. The input unit of the selection means 70 is provided with a button or the like, not shown, to receive the driver's selection, and the output unit is connected to the above-described controller CPU to convert the selection by the driver into an electrical signal to control the controller CPU. To pass on.

The controller CPU receives the electrical signals (operation signal and selection signal) from the levers 61 and 62 and the selection means 70 described above, interprets them, and passes the corresponding second operation to the corresponding second operation. The valve drive signal is output to the valves in the valve groups 42, 44, 46, and 48.

On the other hand, the operation by the pedals 51, 52 is maintained in a possible state at any time, even if any lever operation is selected or no lever operation is selected. In other words, the operation by the pedal can always work effectively in any case.

In the case of the operation by the lever, there may be various ways of matching the operation direction and the operation amount of the lever with the valve driving signal.

First, in the case of both lever operation (driving operation using both levers 61 and 62), if the first lever 61 is placed in neutral, no operation signal is output and therefore the left driving motor LT / M Is stationary. When the first lever 61 is pushed in the forward direction, the controller (CPU) receiving the corresponding operation signal outputs a valve driving signal to the second valve 42 for forward driving of the left motor, and the left driving motor ( LT / M) rotates forward, and the machine rotates slightly forward.

When the first lever 61 is pulled in the reverse direction, the controller (CPU) receiving the corresponding operation signal outputs a valve driving signal to the second valve 44 for reverse rotation driving of the left driving motor. LT / M) will rotate in reverse, and the machine will turn left slightly back.

On the other hand, if the second lever 62 is placed in neutral, no operation signal is output, and therefore the right traveling motor RT / M is in a stopped state. When the second lever 62 is pushed in the forward direction, the controller (CPU) receiving the corresponding operation signal outputs the valve driving signal to the second valve 46 for forward rotation of the right driving motor, and the right driving motor ( RT / M) will turn forward and the machine will turn slightly forward.

When the second lever 62 is pulled in the reverse direction, the controller (CPU) receiving the corresponding operation signal outputs the valve driving signal to the second valve 48 for the reverse driving of the right driving motor, and the right driving motor ( RT / M) will reverse, and the machine will reverse slightly and turn right.

In addition, when the first lever 61 and the second lever 62 are pushed in the forward direction at the same time, the second valve 42 and the right side of the forward driving of the left driving motor are right in the controller CPU that receives the corresponding operation signal. At the same time, the valve driving signal is outputted to the second motor 46 for forward rotation of the traveling motor. At this time, the left driving motor (LT / M) and the right driving motor (RT / M) rotate at the same time. You will drive straight ahead.

When the first lever 61 and the second lever 62 are pulled in the reverse direction at the same time, the controller CPU that receives the corresponding operation signal receives the second valve 44 and the right side for the reverse driving of the left driving motor. At the same time, the valve driving signal is output to the second valve 48 for driving the motor in reverse rotation. At this time, the left driving motor (LT / M) and the right driving motor (RT / M) are rotated at the same time. Drive straight backwards.

The first lever 61 is pushed in the forward direction and the second lever 62 is pulled in the backward direction to make the right turn of the equipment more effective. Likewise, the first lever 61 is pushed in the reverse direction. The first lever 61 is pulled in the reverse direction and the second lever 62 is pushed in the forward direction.

Since the valve opening / closing degree of the second valve group 42, 44, 46, 48 is determined according to the operation amount (stroke) of the levers 61, 62, the driving speed of the traveling motors LT / M, RT / M is increased. It is natural to be adjusted to slow down or slow down.

Next, referring to FIGS. 3 and 4, when an operation method using only one of the first and second levers 61 and 62 is selected, a method of associating the lever operation direction or operation amount with the valve drive signal. An example of this is explained.

When driving the left and right traveling motors LT / M and RT / M at the same time with one lever, the point when the lever is not operated can be represented by the x-y coordinates as the origin (0). If the signal when the lever is operated is (x, y), how to map this point to the left and right driving motors (LT / M, RT / M: left track and right track in the equipment). There may be a myriad of methods for whether or not, but in the present embodiment, as shown in FIGS. 3 and 4, the xy coordinates are divided into eight regions by dividing the xy coordinates into 45-degree sections, and each region corresponds to the driver's intuition. Allocate to an area that performs a specific function.

In other words, section 2-3 corresponds to the forward driving of the equipment, section 4-5 corresponds to the left turn of the equipment, section 6-7 corresponds to the backward driving of the equipment, and section 8-1 corresponds to the right turning of the equipment. Be sure to When the lever is operated, two kinds of signals are generated, corresponding to the "reference key" and the "change value at an angle change", to drive the equipment accordingly. "Reference key" means the item corresponding to the absolute value of (x, y), that is, velocity in the area, and "change value when the angle changes" means the change of the corresponding signal as the angle increases. . In other words, if the reference key has a ratio of 1, the change value at the angle increase has a value of a constant ratio (0-1) according to the angle. When the controller CPU determines the angle belonging to the section by calculating the angle with the value of (x, y), it determines the second valves 42, 44, 46, and 48 to output the valve driving signal. , y) and the value obtained by multiplying the change value (0-1) by the absolute value of (x, y) when the angle changes, and as the valve driving signal, the second valve 42, 44, 46, To 48).

Once again, the left and right driving motors (LT / M, RT / M) are controlled simultaneously by one lever operation, the lever forward direction operation corresponds to the forward driving of the equipment, The reverse direction of the operation corresponds to the backward driving of the equipment, the right operation of the lever corresponds to the right rotation of the equipment, the left operation of the lever corresponds to the left rotation of the equipment. Further, the operation in any angular direction between the forward direction and the right direction of the lever corresponds to the driving in which the machine rotates right while moving forward, and the operation in any angular direction between the forward direction and the left direction of the lever Corresponds to the driving in which the lever rotates forward while moving forward, and the operation in any angular direction between the reversing direction and the right direction of the lever corresponds to the driving in which the equipment rotates in the right direction while reversing, and between the reversing direction and the left direction of the lever. The operation in the angular direction of the machine corresponds to the driving in which the machine reverses and turns to the right.

Also, when the lever is operated in any angular direction between the forward direction and the right direction, the closer the angular direction is to the forward direction, the faster the driving speed of the equipment (i.e., the forward propensity is stronger), the closer to the right direction The right turn speed of the machine is increased (ie the right turn tends to be stronger). Likewise, when the lever is operated at any angle between the forward direction and the left direction, the closer the angular direction is to the forward direction, the faster the running speed of the equipment (i.e. the forward propensity is stronger), and the closer to the left direction the equipment The left turn speed becomes faster (ie, the left turn tendency becomes stronger).

On the other hand, when the lever is operated in any angular direction between the reverse direction and the right direction, the closer the angular direction is to the reverse direction, the faster the driving speed of the equipment (i.e., the reverse tendency becomes stronger), and the closer to the right direction the equipment The right turn speed becomes faster (ie, the right turn tendency becomes stronger). Likewise, when the lever is operated at any angle between the reverse direction and the left direction, the closer the angular direction is to the reverse direction, the faster the driving speed of the machine (i.e., the reverse tendency becomes stronger), and the closer to the left direction the The left turn speed is increased (that is, the left turn tends to be stronger).

Which of the valves of the second valve group 42, 44, 46, 48 should be selected by the controller according to the driving direction of the desired equipment, that is, forward driving, backward driving, left turn and right turn Since it is the same as in the operation method using the two levers described in detail above, it will not be described again.

As described above, according to the driving control apparatus of the present invention, since the driver can freely select an operation method that is familiar to the user in a single device, the equipment can be effectively driven regardless of the driver's skill in a specific operation method, and thus the operation The convenience of can be significantly enhanced.

Claims (8)

A main pump and a pilot pump driven by the engine; A driving motor operated by receiving hydraulic oil from the main pump; A control valve installed between the main pump and the driving motor to control the operation of the driving motor by pilot pressure oil supplied from the pilot pump; A shuttle valve receiving pilot pressure oil through a first branch pilot flow path and a second branch pilot flow path branched from the pilot pump, and outputting the combined pilot pressure oil to the control valve; A first valve installed in the first branch pilot flow path; A pedal manipulated by a driver to adjust the opening and closing degree of the first valve; A second valve installed in the second branch pilot flow path; And And a lever operated by a driver to adjust the opening and closing degree of the second valve. The method according to claim 1, The lever is an electric lever which is operated by the driver and outputs a predetermined electrical operation signal corresponding thereto. The second valve is an electric proportional valve actuated by a predetermined electric valve drive signal, And a control means installed between the lever and the second valve to receive the operation signal from the lever to perform a predetermined operation and to output the valve driving signal to the second valve. Controls. The method according to claim 2, And a means for selecting whether or not to perform a function of the lever by a driver and transmitting it to the controller. The method of claim 1, wherein the number of the lever is two, A first operation method in which one of the levers is responsible for the control of the left driving motor and the other one is in charge of the control of the right driving motor; and one of the levers is one of the left and right driving motors. And a means for receiving a driver's selection of whether to use one of the second operation methods for simultaneously controlling the control, and for transmitting the selection of the driver to the controller. Left and right driving motors driven by the engine, at least one or more pedals for operating at least one or more of the left and right driving motors, and at least one for operating at least one or more of the left and right driving motors In the traveling operation method of the construction equipment having the above lever, the operation by the pedal is always enabled, the operation by the lever is characterized in that the enable / disable state is switched by the driver's selection Operation method of driving construction machinery. The method according to claim 5, The forward direction operation of the lever corresponds to the forward driving of the equipment, The reverse direction operation of the lever corresponds to the reverse driving of the equipment, The right direction manipulation of the lever corresponds to the right turn of the equipment, The left operation of the lever is a driving operation method of the construction machine, characterized in that corresponding to the left turn of the equipment. The method according to claim 6, Manipulation in any angular direction between the forward direction and the right direction of the lever corresponds to the driving in which the device rotates right as it moves forward, Manipulation in any angular direction between the forward direction and the left direction of the lever corresponds to the driving in which the equipment rotates left while advancing, The operation in any angular direction between the reverse direction and the right direction of the lever corresponds to the driving in which the equipment rotates right while reversing, And an operation in any angular direction between the reverse direction and the left direction of the lever corresponds to the driving in which the equipment rotates to the right while reversing. The method according to claim 7, When the lever is operated in any angular direction between the forward direction and the right direction, the closer the angular direction is to the forward direction, the stronger the forward tendency of the equipment is. Stronger; When the lever is operated in any angular direction between the forward direction and the left direction, the closer the angular direction is to the forward direction, the stronger the forward propensity of the equipment is, and the closer the angular direction is to the left direction, the more the leftward propensity of the equipment is Stronger; When the lever is operated in any angular direction between the reverse direction and the right direction, the closer the angular direction is to the backward direction, the stronger the backward tendency of the equipment, and the closer the angular direction is to the right direction, the stronger the tendency of the right direction of rotation of the equipment. ; When the lever is operated in any angular direction between the reverse direction and the left direction, the closer the angular direction is to the reverse direction, the stronger the backward tendency of the equipment, and the closer the angular direction is to the left direction, the stronger the tendency of the left rotation of the equipment. Travel operation method of a construction machine, characterized in that.