KR102629292B1 - A construction machine with automatic transmission apparatus - Google Patents

Abstract

A construction machine equipped with an automatic transmission device is disclosed. The present invention relates to a construction machine including a traveling motor and an automatic transmission device, wherein the automatic transmission device includes a sensor including a pressure sensor for measuring the pressure of the traveling motor and a speed sensor for measuring the rotation speed of the traveling motor; Calculate the driving driving force upshifted by one step from the pressure of the driving motor measured by the sensor, calculate driving power from the rotation speed of the driving motor measured by the sensor, and calculate the calculated upshifted driving driving force and the After comparing the driving power and giving an upshift command to the transmission, or calculating the rotation speed of the driving motor for the driving driving force downshifted by one step from the speed of the driving motor detected by the sensor, the calculated driving motor Provided is a construction machine equipped with an automatic transmission device, including a control unit that compares the rotation speed and the limit rotation speed of the traveling motor and gives a downshift command to the transmission, and a transmission that performs a shift operation according to the shift command from the control unit. .

Description

Construction machinery with automatic transmission {A CONSTRUCTION MACHINE WITH AUTOMATIC TRANSMISSION APPARATUS}

The present invention relates to an automatic transmission device for construction machinery, and more specifically, to a construction machine equipped with an automatic transmission device that can automatically shift the transmission of construction machinery such as a wheeled excavator according to situations requiring shifting.

Generally, an excavator is a type of construction machine and includes a lower traveling body, a swing body pivotally connected to the lower traveling body, a boom connected to the upper swing body, an arm connected to the boom, and an attachment selectively connected to the arm. Attachments include buckets, breakers, crushers, etc. These excavators may include wheel excavators driven by wheels. Wheel excavators are driven by hydraulic pressure generated from the main pump being transmitted to the wheels via a travel motor and transmission.

According to related technologies, transmissions can be broadly classified into a manual shift type, a semi-automatic shift type, or an automatic shift type. Among these transmissions, the manual transmission device can shift gears from low to high or vice versa by the driver manually operating the shift switch depending on the traveling speed of the wheel excavator. This manual shifting can only be performed with the wheel excavator stopped. That is, when the forward and reverse gears are in neutral and the wheel excavator is stopped, shifting is accomplished by the operator operating the shift switch. Because of this, the wheel excavator may have low fuel efficiency because the user must frequently stop the wheel excavator to change gears. In addition, frequent stopping of wheel excavators is emerging as a complaint from workers.

That is, in the case of conventional wheel excavators, a mechanical driving motor and a manual shift type transmission are used, so in order to shift gears while driving, there is the inconvenience of having to step on the brake and completely stop the excavator before changing gears. If shifting is performed while driving due to damage to the sensor, etc., the following synchronizer may be damaged.

Meanwhile, a semi-automatic transmission can be operated by a shift switch. Semi-automatic transmission does not require the wheel excavator to stop, but depending on the driving speed of the wheel excavator, there may be inconvenience in that the driver must manually operate the shift switch.

Figure 1 is a cross-sectional view showing an automatic transmission device for construction machinery to which a conventional automatic transmission method is applied.

As shown in Figure 1, Korean Patent Publication No. 10-2016-0086043, which was invented to solve the above-mentioned inconvenience, discloses an automatic transmission device 13. This automatic transmission device includes a sensor 14 that detects driving speed, a transmission 13, and a control unit 15. In detail, the transmission 13 includes a first gear 22, a second gear 24, and a synchronizer 26 installed on the output shaft 28, and the control unit 15 controls the wheel detected by the sensor 14. The rotational speeds of the input shaft 27 and the output shaft 28 are synchronized according to the running speed of the excavator.

That is, the rotational speed of the input shaft 27 and the rotational speed of the output shaft 28 are synchronized by the control unit 15 by correcting the driving power of the travel motor 12, and through this synchronization, the control unit 15 A technology capable of implementing automatic shifting of the transmission 13 has been disclosed.

However, in this prior literature, there was a problem that shift shock and noise occurred periodically because the construction machine started in first gear regardless of the current work location or work location.

Meanwhile, in the case of general small wheel excavators, mechanical driving motors and manual shift type transmissions are used, so there is a need to install mechanical driving motors to reduce the manufacturing cost of construction machines and introduce stable automatic shifting without safety accidents. It is becoming.

Korean Patent Publication No. 10-2016-0086043

Therefore, the purpose of the present invention to solve this problem is to prevent damage to parts of construction machinery related to shifting because shifting is performed through shifting conditions optimized for situations where shifting increases or shifting shocks and noises occur periodically. To provide construction machinery equipped with an automatic transmission device that can prevent

In order to achieve the above object, the present invention includes a hydraulic pump that is connected to an engine and receives driving force to discharge hydraulic oil; In the construction machine including a traveling motor and an automatic transmission device that are driven by the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump to generate driving power, the automatic transmission device includes a pressure sensor that measures the pressure of the traveling motor and the A sensor including a speed sensor that measures the rotation speed of the travel motor; Calculate the driving driving force upshifted by one step from the pressure of the driving motor measured by the sensor, calculate driving power from the rotation speed of the driving motor measured by the sensor, and calculate the calculated upshifted driving driving force and the After comparing the driving power and giving an upshift command to the transmission, or calculating the rotation speed of the driving motor for the driving driving force downshifted by one step from the speed of the driving motor detected by the sensor, the calculated driving motor Provided is a construction machine equipped with an automatic transmission device, including a control unit that compares the rotation speed and the limit rotation speed of the traveling motor and gives a downshift command to the transmission, and a transmission that performs a shift operation according to the shift command from the control unit. .

In addition, the control unit calculates the torque of the traveling motor using [Calculation Equation 1] from the pressure of the driving motor measured by the pressure sensor, calculates the driving driving force upshifted by one step using [Calculation Equation 2], and From the measured speed of the driving motor, the vehicle speed and acceleration of the construction machine are calculated using [Calculation 3] to calculate the force required for driving, and combined with the driving resistance to calculate driving power, the calculated upshifted driving driving force and driving power are calculated. By comparing the power, an upshift command can be given to the transmission.

[Calculation 1] Torque of driving motor

Vm: Volume of driving motor Pm: Pressure of driving motor

ηm: Volumetric efficiency of travel motor

[Calculation Formula 2] Driving force

Tm: Torque of driving motor in: Gear ratio of nth gear of transmission

ηn: gear efficiency of nth gear of transmission ia: axle gear ratio

ηm: Volumetric efficiency of travel motor ηa: Gear efficiency of axle

[Calculation 3] Vehicle speed of construction machinery

nm: Number of revolutions of the driving motor

n: gear 1st or 2nd gear

in: gear ratio of nth gear of transmission ia: axle gear ratio

In addition, the control unit calculates the vehicle speed for the current driving force using [Calculation Equation 3] from the speed of the traveling motor measured by the speed sensor, and calculates the vehicle speed of the current construction machine and [Calculation Equation 4] The rotation speed of the driving motor for the driving driving force downshifted by one step is calculated, and the calculated rotation speed of the driving motor is compared with the preset limit rotation speed of the driving motor, and a downshift command can be issued to the transmission. .

[Calculation Equation 4] Rotation speed of driving motor

V: Vehicle speed of construction machinery

n: gear 1st or 2nd gear

in: gear ratio of nth gear of transmission ia: axle gear ratio

Additionally, a hydraulic pump is connected to the engine and receives driving force to discharge hydraulic oil; It further includes a travel motor that is driven by the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump to generate driving power, and the transmission includes: an input shaft that receives driving power from the driving motor; An output shaft that transmits driving power to the axle; A first gear installed on the output shaft; It includes a second gear installed on the output shaft and a synchronizer connected to an input shaft that receives driving power from the travel motor, and the synchronizer is selectively connected to the first gear or the second gear according to the control of the control unit. You can.

Additionally, the speed sensor may measure the rotational speed of the output shaft of the travel motor or the input shaft of the transmission.

In addition, the control unit may synchronize the rotation speeds of the input shaft and the output shaft according to the running speed of the construction machine detected by the sensor.

According to the construction machine equipped with the automatic transmission device of the present invention described above, shifting is performed through shifting conditions optimized for situations where shifting increases or shifting shocks and noises occur periodically, so construction related to shifting is performed. It has the effect of preventing damage to machine parts.

In addition, the number of sensors required for automatic shifting can be reduced as much as possible, and the sensor input values that can be processed by the control unit can be minimized to simplify the configuration of the control unit, which has the effect of reducing the manufacturing and design costs of construction machinery. There is.

Figure 1 is a cross-sectional view showing an automatic transmission device for construction machinery to which a conventional automatic transmission method is applied.
Figure 2 is a cross-sectional view showing an automatic transmission device for construction machinery according to an embodiment of the present invention.
Figure 3 is a diagram schematically showing a construction machine equipped with an automatic transmission device according to the present invention.
Figure 4 is a flowchart showing an automatic shift method for determining whether or not a construction machine is upshifted according to the present invention.
Figure 5 is a flowchart showing an automatic shift method for determining whether a construction machine is downshifted according to the present invention.

In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. This example is provided to more completely explain the present invention to those with average knowledge in the art. Therefore, the shapes of elements in the drawings may be exaggerated to emphasize a clearer description. It should be noted that identical members in each drawing may be indicated by the same reference numerals. Additionally, detailed descriptions of known functions and configurations that are judged to unnecessarily obscure the gist of the present invention are omitted.

Figure 2 is a cross-sectional view showing an automatic transmission device for construction machinery according to an embodiment of the present invention.

Referring to FIG. 2, a construction machine equipped with an automatic transmission device according to this embodiment includes an engine 100, a hydraulic pump 110, a traveling motor 120, a transmission 130, and automatic shifting of the transmission 130. It includes a control unit 150, an axle 160, and a wheel 170 that control whether In addition, the automatic transmission device of the present invention includes a transmission 130 and a control unit 150, and the control unit 150 may include various sensors 140 to be described later for controlling whether the transmission 130 automatically shifts. . Also, as an example, the construction machine may include a wheel excavator driven by wheels.

The hydraulic pump 110 is connected to the engine 100 and receives the driving force of the engine 100 to discharge hydraulic oil to the traveling motor 120. That is, the engine 100 can burn fuel to generate driving force and transmit the driving force to the hydraulic pump 110 through the power shaft of the engine 100. For example, engine 100 may be a diesel engine, or the engine may be a liquefied natural gas (LNG) engine, a compressed natural gas (CNG) engine, an adsorbed natural gas (ANG) engine, a liquefied petroleum gas (LPG) engine, Or it could be a gasoline engine.

In this case, the traveling motor 120 is driven by the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump 110 to generate driving power. The travel motor 120 may be divided into an electronic travel motor and a mechanical travel motor. In the case of an electronic driving motor, it is a variable capacity type whose volume is controlled by a capacity control valve, and refers to a motor that can be used and operated by electronically controlling the entire range from minimum to maximum, while a mechanical driving motor refers to a motor that can be operated by controlling the swash plate angle to the minimum and maximum ranges. It is a driving motor that can be operated by mechanically fixing up to two parts. It has the advantage of being less expensive than an electronic driving motor and is mainly applied to small construction machinery.

The transmission 130 can shift the driving power in accordance with the driving speed of the wheel excavator, and automatic shifting of the transmission 130 can be implemented under the control of the control unit 150. The driving power automatically shifted by the control unit 150 is transmitted to the wheel 170 through the axle 160. This automatic shifting of the transmission 130 by the control unit 150 can also be applied to other construction machines driven on wheels, such as wheel loaders.

In addition, the automatic transmission device for construction machinery according to the present invention includes a transmission 130 and a control unit 150. In detail, the transmission 130 of the automatic transmission device includes a first gear installed on the output shaft 138 ( 132), a second gear 134, and a synchronizer 136, and the control unit 150 includes a sensor 140 that detects the pressure, speed, rotation speed, and other conditions of the construction machine of the driving motor 120. Including, whether to shift the transmission 130 is automatically controlled based on sensing values such as pressure and rotation speed of the driving motor 120 sensed by the sensor 140. In this case, the control unit 150 outputs a shift signal to the transmission 130, and the transmission 130 performs a shift operation based on the shift signal.

In this case, the synchronizer 136 may be connected to the input shaft 137 that receives driving power from the driving motor 120. Additionally, the synchronizer 136 may be selectively connected to the first gear 132 and the second gear 134 according to the user's operation or control of the control unit 150 according to the driving speed. That is, when the synchronizer 136 is engaged with the first gear 132, the construction machine runs in first gear, and when the synchronizer 136 is engaged with the second gear 134, the construction machine runs faster than the first gear. It runs in 2nd gear.

For example, the sensor 140 is provided on one side of the travel motor 120 to detect the travel speed of the construction machine and can detect the speed, number of rotations, and pressure of the travel motor 120. In this case, the sensor 140 is shown as a sensor provided on one side of the travel motor 120 and detects the speed and pressure of the travel motor 120, but is not limited thereto and may additionally be used as an example of the transmission 130. It may further include other sensors that provide information about the construction machine, such as detecting the running speed.

The control unit 150 may synchronize the rotation speeds of the input shaft 137 and the output shaft 138 according to the speed of the traveling motor 120 detected by the sensor 140. That is, the rotational speed of the input shaft 137 and the rotational speed of the output shaft 138 can be synchronized by correcting the driving power of the driving motor 120. The control unit 150 may include a transmission control unit (TCU) that controls the operation of the transmission 130. For example, the control unit 150 may adjust the swash plate angle of the travel motor 120 using the current value to make the rotation speed of the travel motor 120 the same as the actual travel speed of the wheel excavator.

At this time, the transmission 130 may each include at least one clutch and at least one reducer. The clutch and the reducer may be arranged in a gear train. The transmission ratio can be set using various arrangements of the clutch and the reducer and gears of various diameters. In the present invention, the transmission 130 will be described as having a configuration capable of shifting to 1st or 2nd gear.

Meanwhile, when the control unit 150 attempts to shift the transmission 130, it blocks the hydraulic oil supplied from the hydraulic pump 110 to the traveling motor 120. Accordingly, the volume of the traveling motor 120 instantly becomes 0 cc. That is, the driving motor 120 and the transmission 130 are switched to the no-load state by blocking the hydraulic oil, and the synchronizer 136 engaged with the first gear 132 or the second gear 134 is moved to the neutral mode position. It is moved.

In this neutral mode, the control unit 150 can control the swash plate angle of the travel motor 120 to correct the driving power generated from the driving motor 120 to be equal to the actual driving speed. Accordingly, the shift speed range can be set in the control unit 150. When the rotational speeds of the input shaft 137 and the output shaft 138 are synchronized through the above operations, the control unit 150 may transmit a shift signal to the synchronizer 136. The synchronizer 136 may be selectively engaged with the first gear 132 or the second gear 134 according to the shift signal.

In this case, under normal circumstances, work and driving in the second gear shift can be performed without any problems without any special shifting. However, non-normal situations may also occur, as follows. That is, in the case of a work site with a high slope where construction machinery is used, there may be a site where the high slope is continuously extended, so if the gear shift is performed forcefully in this situation, the synchronizer 136 may be damaged. there is.

To prevent this, control is required to shift from 2nd gear to 1st gear. After this, in the first gear driving state, if you encounter a flat ground that requires low torque and high speed, you need to shift to the second gear. However, as the number of shifting situations increases, it is necessary to reduce shift shock caused by frequent shifting. In other words, in the present invention, shifting is performed through shifting conditions optimized for situations in which such shifts increase or shift shocks and noises occur periodically in construction machines equipped with automatic shifting devices, so the parts of the construction machine related to shifting are performed. It has the effect of preventing damage.

In other words, in the case of wheel-driven construction machinery, the transmission and reducer specifications are determined depending on the electric motor power (torque, rpm), so the transmission depends on whether the torque is high and the speed is low, the speed is high and the torque is low, or the torque and speed are high. , the specifications of the reducer are determined, and the optimal specifications must be determined by considering all these situations.

In particular, in the construction machine equipped with the automatic transmission device according to the present invention, the control unit 150 determines whether the transmission 130 automatically shifts using only the pressure sensor 141 and the speed sensor 142 provided in the traveling motor 120. Since it can be determined, the manufacturing cost of construction machinery can be reduced by maximizing the number of sensors required for automatic shifting, and it is also characterized by a configuration that can minimize sensor input values that can be processed by the control unit 150.

Hereinafter, a detailed description of the above-described feature configuration will be continued through FIG. 3.

Figure 3 is a diagram schematically showing a construction machine equipped with an automatic transmission device according to the present invention.

As shown in FIG. 3, in a construction machine equipped with an automatic transmission device according to the present invention, the sensor 140 includes a pressure sensor 141 that measures the pressure of the traveling motor 120 and the rotation speed of the traveling motor 120. It includes a speed sensor 142 that measures. That is, in the construction machine equipped with the automatic transmission device of the present invention, a separate sensor is provided on the output shaft 138, or a pressure sensor provided in the traveling motor 120 without the need for a separate acceleration sensor or a separate gradient sensor. It is characterized by a configuration that uses only (141) and the speed sensor 142 to calculate all condition values required for shifting, such as acceleration and gradient, in the control unit 150 to determine whether or not the transmission 130 is automatically shifting. there is.

Meanwhile, the rotation speed of the driving motor 120 measured by the speed sensor 142 may be the same as the rotation speed of the input shaft 137 of the transmission 130, and the input shaft 137 has an electronic proportional valve (EPPR valve, Electronic Proportional Pressure Reduce valve) can be attached. In this case, if an electronic proportional valve is not attached to the input shaft 137, torque loss occurs because spare torque must be maintained at all times regardless of whether electrical components are used. Therefore, when using the electronic proportional valve, set the maximum torque of the hydraulic pump 110 higher than the maximum torque of the engine, monitor the load on the engine, and then reduce the maximum torque of the hydraulic pump 110 when the load increases. Losses can be significantly reduced. For example, the hydraulic pump 110 may receive an electronic control signal (current signal) transmitted from the control unit 150 through an electronic proportional valve (EPPR) and adjust its discharge flow rate.

Hereinafter, the determination of whether the automatic transmission device according to the present invention is upshifted and the downshifted will be described.

[Determination of upshift transmission]

First, in determining whether to upshift or not, in the present invention, for a construction machine equipped with a traveling motor 120 capable of swash plate control and a transmission 130 capable of automatic shifting, ① the traveling motor sensed by the pressure sensor 141 ( Calculate the driving driving force (F_drive) or the driving driving force upshifted by one step (F_drive+1 Upshift) from the pressure of ②, and calculate the number of revolutions on the input shaft 137 of the transmission 130 measured by the speed sensor 142. Calculate the vehicle speed (V) from (which may be the same as the number of revolutions of the driving motor 120), ③ obtain the acceleration (a) of the current construction machine based on the vehicle speed (V), and ④ calculate the driving power of the current construction machine. It is possible to determine whether upshifting is performed by comparing the driving driving force (F_drive+1 Upshift) of a gear that is upshifted by one step in a specific gear.

Meanwhile, driving power can be calculated as the sum of the force required for driving (M*a) and driving resistance (F_res), and the driving resistance (F_res) includes air resistance (F_aero), rolling resistance (F_rolling), and gradient resistance ( F_grade) may be included. In addition, the meaning of a gear that is upshifted by one step from a specific gear means that if the current gear of the construction machine is in 1st gear, it means that the gear is upshifted by 1 step to 2nd gear.

First, in the driving motor 120 capable of swash plate control to determine whether to upshift, the control unit 150 determines the volume (Vm) of the driving motor 120 and the pressure of the driving motor sensed by the pressure sensor 141. Through (Pm) and the volumetric efficiency (ηm) of the traveling motor 120, the torque (Tm) of the traveling motor 120 is calculated through [Calculation 1] below.

In this case, in the travel motor 120 capable of swash plate control, the capacity of the travel motor 120 is controlled by the control unit 150, so information about the capacity of the travel motor 120 can be obtained from the control unit 150. . Alternatively, the control unit 150 may receive information about the volume from a separate controller provided in the travel motor 120. Additionally, the pressure (Pm) of the traveling motor can be obtained by the pressure sensor 141. Additionally, the volumetric efficiency (η) of the travel motor 120 is a preset value of the travel motor 120 and may have different values depending on the travel motor installed in the construction machine.

That is, since the torque (Tm) of the traveling motor 120 can be calculated through the pressure (Pm) of the traveling motor, which is the sensing value of the pressure sensor 141, and the volume (ηm) of the traveling motor 120, the torque of the traveling motor ( To calculate Tm), the sensing value of the speed sensor 142 is not used.

[Calculation Formula 1] Torque of driving motor (Tm)

Vm: Volume of driving motor Pm: Pressure of driving motor

ηm: Volumetric efficiency of travel motor

Additionally, the control unit 150 can calculate the driving driving force (F_drive) according to the number of gears using the torque (Tm) of the traveling motor calculated by [Calculation Equation 1] and [Calculation Equation 2] below. That is, the driving driving force (F_drive) can be calculated through [Calculation Equations 1 and 2] using only the pressure sensor 141.

[Calculation 2] Driving force (F_drive)

Tm: Torque of driving motor in: Gear ratio of transmission n-stage (1st, 2nd)

ηn: gear efficiency of nth gear of transmission ia: axle gear ratio

ηm: Volumetric efficiency of travel motor ηa: Gear efficiency of axle

To summarize, in order to calculate the driving driving force (F_drive), the torque of the driving motor is calculated through [Calculation Equation 1], and through [Calculation Equation 2], the driving driving force (F_drive) or the driving driving force upshifted by one step (F_drive+ 1 Upshift) can be calculated.

Additionally, apart from [Calculation Equations 1 and 2], the control unit 150 can calculate the vehicle speed (V) of the construction machine using the sensor value of the speed sensor 142 and [Calculation Equation 3]. Meanwhile, the rotation speed (nm) of the traveling motor 120 may be measured by the speed sensor 142.

[Calculation 3] Vehicle speed of construction machinery (V)

nm: Number of revolutions of the driving motor

n: gear 1st or 2nd gear

in: gear ratio of transmission n-speed (1st, 2nd) ia: axle gear ratio

[Determination of upshift transmission]

Figure 4 is a flowchart showing an automatic shift method for determining whether or not a construction machine is upshifted according to the present invention.

As shown in FIG. 4, first, the control unit 150 calculates the vehicle speed V1 calculated in [Calculation Equation 3] at a specific point in time t1 (S11). Additionally, at a specific point in time (t2) after a certain period of time, the vehicle speed (V2) calculated in [Calculation 3] is calculated (S13). Afterwards, the acceleration (a) of the construction machine is calculated using the vehicle speed (V1, V2) and the time point (t1, t2) (S15).

In this way, the acceleration (a) calculated in step S15 can be multiplied by the weight (M) of the construction machine to obtain the force (M*a) required for running the construction machine, and this force (M*a) is the driving resistance (F_res). In addition, the overall required driving power (M*a + F_res) can be obtained. Meanwhile, the running resistance (F_res) may include air resistance (F_aero), rolling resistance (F_rolling), and grade resistance (F_grade), as described above.

Meanwhile, when the driving force (F_drive) calculated from the torque (Tm) of the driving motor 120 is smaller than the driving power (M*a + F_res), the vehicle speed of the construction machine is expected to decelerate, so it is used as a standard for upshifting. You can take it. In other words, through this comparison, it is possible to know the currently required driving power (M*a + F_res) or the driving power required during upshift (M*a + F_res).

In detail, if the current gear stage of the construction machine is 1st gear, the control unit 150 uses the driving driving force (F_drive+1 Upshift) of the 2nd gear upshifted by one step obtained through [Calculation 2] as the driving power (M*a + F_res) (S17). At this time, if the driving driving force (F_drive+1 Upshift) in the control unit 150 is smaller than the driving power (M*a + F_res), the current gear is maintained (S19), and the driving driving force of the second gear is the driving power If it is greater than (M*a + F_res), the gear is upshifted from 1st to 2nd gear (S18).

[Determination of downshifting]

Figure 5 is a flowchart showing an automatic shift method for determining whether a construction machine is downshifted according to the present invention.

As shown in FIG. 5, in determining whether to downshift, in the present invention, for a construction machine equipped with a travel motor 120 capable of swash plate control and a transmission 130 capable of automatic shifting,

① The current driving driving force ( Calculate the vehicle speed (V) for (F_drive) (S21).

② Using the current vehicle speed (V) of the construction machine calculated in step S21, the driving motor (120) for the driving driving force (F_drive-1 Downshift) downshifted by one step through [Calculation 4] below, a modified version of [Calculation 3] ) Calculate the number of rotations (nm) (S23).

[Calculation Formula 4] Rotation speed of driving motor (nm)

V: Vehicle speed of construction machinery

n: gear 1st or 2nd gear

in: gear ratio of transmission n-speed (1st, 2nd) ia: axle gear ratio

③Compare the rotation speed of the traveling motor 120 and the preset limited RPM of the traveling motor 120 (S25).

④ At this time, if the rotation speed of the traveling motor 120 in the control unit 150 is greater than the preset limited RPM of the traveling motor 120, the current speed is maintained (S28), and if it is smaller, the current speed is maintained (S28). Downshifting of the gear from gear to gear is performed (S27).

The embodiments of the construction machine equipped with the automatic transmission device of the present invention described above are merely illustrative, and various modifications and other equivalent embodiments can be made by those skilled in the art. You will be able to clearly see that this is the case. Therefore, it will be understood that the present invention is not limited to the forms mentioned in the detailed description above. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached patent claims. In addition, the present invention should be understood to include all modifications, equivalents and substitutes within the spirit and scope of the present invention as defined by the appended claims.

100: Engine 110: Hydraulic pump
120: driving motor 130: transmission
132: 1st gear 134: 2nd gear
136: synchronizer 137: input shaft
138: output shaft 140: sensor
141: pressure sensor 142: speed sensor
150: Control unit 160: Axle
170: wheel

Claims (7)

A hydraulic pump (110) connected to the engine and receiving driving force to discharge hydraulic oil; In the construction machine including a traveling motor 120 and an automatic transmission device that are driven by the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump 110 to generate driving power,
The automatic transmission device,
A sensor 140 including a pressure sensor 141 for measuring the pressure of the traveling motor 120 and a speed sensor 142 for measuring the rotation speed of the traveling motor 120;
Calculate the driving driving force (F_drive+1 Upshift) upshifted by one step from the pressure of the driving motor 120 measured by the sensor 140, and rotate the driving motor 120 measured by the sensor 140. A control unit 150 that calculates driving power from the number, compares the calculated upshifted driving driving power (F_drive+1 Upshift) with the driving power, and outputs a shift signal to perform an upshift to the transmission 130, and
A construction machine equipped with an automatic transmission device including a transmission (130) that performs a shift operation according to the shift signal from the control unit (150). In claim 1,
The control unit 150,
The torque (Tm) of the traveling motor is calculated from the pressure of the traveling motor 120 measured by the pressure sensor 141, and the driving driving force (F_drive+1) upshifted by one step from the torque (Tm) of the traveling motor is calculated. Upshift),
The vehicle speed (V) and acceleration (a) of the construction machine are calculated from the speed of the driving motor 120 measured by the speed sensor 142 to calculate the force required for driving, and combined with the driving resistance (F_res) to obtain driving power Calculate ,
A construction machine equipped with an automatic transmission device, characterized in that the calculated upshifted driving force is compared with the driving power and an upshift shift signal is output to the transmission (130). A hydraulic pump (110) connected to the engine and receiving driving force to discharge hydraulic oil; In the construction machine including a traveling motor 120 and an automatic transmission device that are driven by the hydraulic pressure of the hydraulic oil discharged from the hydraulic pump 110 to generate driving power,
The automatic transmission device,
A sensor 140 including a pressure sensor 141 for measuring the pressure of the traveling motor 120 and a speed sensor 142 for measuring the rotation speed of the traveling motor 120;
After calculating the rotation speed (nm) of the driving motor 120 for the driving driving force (F_drive-1 Downshift) downshifted by one step from the speed of the driving motor 120 detected by the sensor 140, the calculation A control unit 150 that compares the rotation speed of the driving motor 120 and the limit rotation speed of the driving motor 120 and outputs a shift signal to perform a downshift to the transmission 130, and
A construction machine equipped with an automatic transmission device including a transmission (130) that performs a shift operation according to the shift signal from the control unit (150). In claim 3,
The control unit 150,
Calculate the vehicle speed (V) for the current driving driving force (F_drive) from the speed of the driving motor 120 measured by the speed sensor 142,
Calculate the number of revolutions (nm) of the driving motor 120 for the driving driving force (F_drive-1 Downshift) downshifted by one step through the calculated vehicle speed (V) of the current construction machine,
Automatic shifting, characterized in that a downshift signal is output to the transmission 130 by comparing the calculated rotation speed of the driving motor 120 with a preset limited RPM of the driving motor 120. Construction machinery equipped with devices. In claim 1 or claim 3,
The transmission 130 is,
An input shaft 137 that receives driving power from the driving motor 120;
An output shaft 138 that transmits driving power to the axle 160;
A first gear 132 installed on the output shaft 138;
A second gear 134 installed on the output shaft 138 and
It includes a synchronizer 136 connected to the input shaft 137 that receives driving power from the driving motor 120,
The synchronizer 136 is
A construction machine equipped with an automatic transmission device, characterized in that it is selectively connected to the first gear (132) or the second gear (134) under the control of the control unit (150). In claim 5,
The speed sensor 142 is
A construction machine equipped with an automatic transmission device that measures the rotational speed of the output shaft of the traveling motor (120) or the input shaft (137) of the transmission (130). In claim 5,
The control unit 150,
A construction machine equipped with an automatic transmission device that synchronizes the rotation speeds of the input shaft 137 and the output shaft 138 according to the driving speed of the construction machine detected by the sensor 140.

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