KR19980086293A - Travel control device of hydraulic construction machine - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a hydraulic construction machine. The present invention relates to an electric joystick used to operate a bucket, an arm, a boom, and a swing work device, and a traveling drive using a joystick of a hydraulic construction machine such as an excavator having a crawler traveling device. And a prime mover, a hydraulic pump and a pilot pump connected to and driven by the prime mover, a work cylinder and a driving motor connected to the hydraulic pump to be driven by the supply of hydraulic oil, and a work and run state. A selector switch to be selected, an electric joystick that outputs an electrical signal in response to an operation amount, an arithmetic device that receives and calculates an electric signal according to the operation of the electric joystick and the changeover switch, and outputs the operation result as an electric signal; Drive in accordance with the electrical signal output from the computing device to the pilot pump It is installed between the electromagnetic proportional valve for controlling the pilot signal pressure discharged, and between the computing device, the work cylinder control device and the traveling motor control device and is driven according to the application of a predetermined signal, and the pilot pressure from the electromagnetic proportional valve is controlled by the work cylinder. Provided is a traveling control device for a hydraulic construction machine, characterized in that it comprises a solenoid valve for selectively supplying the control device and the driving motor control device.

Description

Travel control device of hydraulic construction machine

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a hydraulic construction machine, and more particularly to an electric joystick for a hydraulic construction machine such as an electric joystick used to operate a bucket, an arm, a boom, and a swing work device and an excavator having a crawler traveling device. The present invention relates to a traveling control device for a hydraulic construction machine capable of controlling a driving drive by using.

In general, when driving a hydraulic construction machine, such as an excavator, the driver steps on the driving pedal, or controls the driving by manipulating the driving lever connected to the driving pedal by hand. In this case, the driver is uncomfortable when the driver presses the driving pedal, and it becomes very difficult to adjust the degree of pressing the driving pedal. In addition, when the driving lever is operated by hand, the upper body of the driver is leaned forward, which causes inconvenience.

In order to improve such a problem in the use of the driving pedal or the driving lever in the operation of the work device control joystick to control the driving drive to provide convenience to the user.

As an example, as disclosed in Japanese Patent Laid-Open No. 7-119710 shown in Fig. 1, the joystick 13 and the joystick 13 which are operated in the front, rear, left and right directions to control the arm and the turning work cylinder. The arm, the turning work cylinder control and the driving switch control for switching between the switch 16 to determine whether or not to selectively use, and the application of the electric signal according to the operation of the joystick 13 is switched to drive the arm, turning work cylinder Drive by the solenoid valve 17 which controls the pilot signal pressure supplied to the control valve 14,15, and the predetermined signal applied according to the operation of the joystick 13 mentioned above, and drive left-right from the hydraulic pump P A left and right traveling motor control valve 18 for controlling the hydraulic oil supplied to the motor 19 is provided.

Therefore, when the driver switches the above-described changeover switch 16 to the use state of the arm and the swinging work cylinder control, the signal is applied to the solenoid valve 17 to switch it to the A position in the drawing. The pilot hydraulic line of 13) is connected to the arm and swing work cylinder control valves 14 and 15, thereby enabling the arm and swing work cylinders to be operated by the operation of the joystick 13.

On the other hand, when the driver switches the above-described changeover switch 16 to the use state of the drive control, the signal is applied to the solenoid valve 17 and is switched to the B position on the drawing, so that the joystick 13 The pilot hydraulic line is connected to the traveling motor control valve 18, thereby enabling the driving motor 19 to be operated by the operation of the joystick 13.

And, as disclosed in Japanese Patent Laid-Open No. 7-119710 shown in Fig. 2, the arm is operated in the front, rear, left, right direction, provided with a potential meta to detect the operation of the front, rear, left and right And joystick 20 for controlling the turning work cylinder, switching switch 22 for determining whether the joystick 20 is selectively used for arm, turning work cylinder control and driving drive control, and operation of the joystick 20. The electric signal according to the operation of the joystick 20 and the arithmetic unit 21 which transmits the electric signal according to the arm, the turning work cylinder control electric control valve (23, 24) and the drive motor control electric control valve (25). And a left and right traveling motor control valve 25 for driving the hydraulic oil supplied from the hydraulic pump P to the left and right traveling motor 26 by a predetermined signal.

Therefore, when the driver switches the above-described changeover switch 22 to the use state of the arm and the swing work cylinder control, the signal is applied to the calculation device 21. Accordingly, the calculation device 21 of the joystick 20 The electric signal according to the operation is transmitted to the electric control valves 23 and 24 for controlling the arm and the turning work cylinder, and thus the arm and the turning work cylinder can be operated by the operation of the joystick 20.

On the other hand, when the driver switches the above-described changeover switch 22 to the use state of the driving control, the signal is applied to the calculation device 21. Accordingly, the calculation device 21 according to the operation of the joystick 13 The electric signal is transmitted to the electric control valve 25 for driving motor control, thereby enabling the driving motor 26 to be operated by the operation of the joystick 20.

However, in the case of an excavator using an electric joystick, it is extremely rare to use an electric control valve for controlling a work cylinder and a driving motor of the prior art as described above, and in most cases, a hydraulic control valve is used for controlling a work cylinder and a driving motor. As the electronic proportional valve is provided between the joystick and the hydraulic control valve, the hydraulic excavator has a problem in that the electric control valve as described above cannot be used.

Accordingly, an object of the present invention is to provide convenience to the user by controlling the driving of hydraulic construction machines such as an electric joystick used to operate a bucket, an arm, a boom and a swing work device, an excavator having a hydraulic driving motor, and the like. To provide a traveling control device of a hydraulic construction machine to provide.

1 is a hydraulic circuit diagram of a traveling control apparatus for a hydraulic construction machine according to the prior art,

2 is a hydraulic circuit diagram of a traveling control apparatus for a hydraulic construction machine according to another prior art;

3 is a hydraulic circuit diagram of a traveling control apparatus for a hydraulic construction machine according to an embodiment of the present invention;

4 is a hydraulic circuit diagram of a traveling control apparatus for a hydraulic construction machine according to another embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

1: electric joystick

1a: Potion Meta

2: computing device

3a-3d: electromagnetic proportional valve

4a-4d: solenoid valve

5a: bucket cylinder control valve

5b: boom cylinder control valve

6a: bucket cylinder

6b: boom cylinder

7a: Left running motor control valve

7b: Space Motor Control Valve

8a: left motor

8b: Space Motor

9a, 9b: pedal

10a-10d: shuttle valve

11: changeover switch

P: Hydraulic Pump

P, P: Pilot Pump

The object of the present invention described above is a prime mover, a hydraulic pump and a pilot pump connected to and driven by the prime mover, a work cylinder and a traveling motor connected to the hydraulic pump to be driven by the supply of hydraulic oil, and a working and running state. A selector switch to be selected, an electric joystick that outputs an electrical signal in response to an operation amount, an arithmetic device that receives and calculates an electric signal according to the operation of the electric joystick and the changeover switch, and outputs the operation result as an electric signal; An electromagnetic proportional valve for driving the pilot signal pressure discharged from the pilot pump by driving according to the electric signal output from the computing device, and installed between the computing device, the work cylinder control device and the traveling motor control device to apply a predetermined signal. And the pilot pressure at the electromagnetic proportional valve is controlled by the working cylinder control device and Is accomplished by a running control apparatus for a hydraulic construction machine, characterized by configured by comprising a solenoid valve for controlling that selectively supplies the line to provide a motor control device.

According to a preferred feature of the present invention, the solenoid valve is driven according to the application of a predetermined electrical signal which is input to the calculation device according to the operation of the changeover switch and output after the calculation.

A preferred feature of the present invention is installed between the solenoid valve and the driving motor control device, and compares the pilot pressure passing through the solenoid valve with the pilot pressure converted according to the operating state of the pedal to supply the driving motor control device. A shuttle valve is further provided.

According to a preferred aspect of the present invention, the computing device outputs a signal output according to the operation of the electric joystick in the forward direction to the electromagnetic proportional valve for driving left and right, and according to the operation in the rear direction of the electric joystick. Outputs the output signal to the electronic proportional valve for the left and right driving backwards, and outputs the signal to the electronic proportional valve for the left driving forward and space travel backwards according to the operation of the electric joystick in the left direction, the electric joystick The signal output according to the operation in the right direction of the output to the electromagnetic proportional valve for the left driving backward and space forward, respectively, so that the operation direction of the electric joystick and the driving direction of the driving motor is formed.

According to a preferred aspect of the present invention, there is provided a first electromagnetic proportional valve for a bucket cylinder and a left running motor control device connected to the arithmetic unit and driven by an electric signal output from the arithmetic unit in response to the electric joystick operation. A first solenoid valve installed between the electromagnetic proportional valve and the solenoid valve, the first solenoid valve controlling an electric signal output from the computing device according to the electric joystick operation to the bucket cylinder in and out controller and the left driving motor controller; A second electromagnetic proportional valve connected to the arithmetic unit and driven by an electric signal output from the arithmetic unit in response to the operation of the electric joystick; and a second electromagnetic proportional valve and the solenoid valve for controlling the space travel motor. Installed between the output from the operation unit according to the operation of the electric joystick It is provided with a second solenoid valve for controlling that supply electric signals to the boom cylinder raising and lowering control and the motor control device space line.

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

3 is a hydraulic circuit diagram of a traveling control apparatus for a hydraulic construction machine according to an embodiment of the present invention, Figure 4 is a hydraulic circuit diagram of a traveling control apparatus of a hydraulic construction machine according to another embodiment of the present invention.

As shown in the figure, the prime mover E, the hydraulic pumps P and pilot pumps P and P connected to and driven by the prime mover E, and discharged therefrom to the above-described hydraulic pump P A bucket, boom cylinders 6a, 6b) and left and right traveling motors 8a, 8b, driven by hydraulic fluid, are respectively connected, and the aforementioned hydraulic pump P and the bucket and boom cylinders 6a, 6b are described above. Bucket and boom cylinder control valves 5a and 5b which are driven by the pilot pressure discharged from the pilot pumps P and P to perform the start, stop and direction change of the above-described bucket and boom cylinders 6a and 6b. Each is installed.

Pilot pressure passing through the shuttle valves 10a-10d constituting the OR logic for the pilot pressure discharged from the above-described pilot pumps P and P and the pilot pressure converted according to the pressurized state of the pedals 9a and 9b. The left and right traveling motor control valves 7a and 7b which are driven by each of them are provided between the above-described hydraulic pump P and the left and right traveling motors 8a and 8b, respectively.

An electric joystick 1 which is operated in the front, rear, left and right directions and controls the driving of the above-described bucket and boom cylinders 6a, 6b, and has a position meter 1a for outputting a voltage signal corresponding to the operation amount of the front, rear, right and left sides; In operation, the electric signal input in accordance with the operation of the electric joystick 1 described above, an electric signal input in accordance with the operation of the switch 11 to select the operation and the driving operation, and calculates the operation result as an electric signal Electronic proportional valves 3a-3d for controlling pilot pressure by driving the arithmetic unit 2 to output and the predetermined electric signals inputted from the arithmetic unit 2 to the above-described pilot pumps P and P. ) Are each connected.

Electrical signals output from the above-mentioned computing device 2 between the above-described electromagnetic proportional valves 3a-3d and the boom, bucket cylinder control valves 5a, 5b, and left and right traveling motor control valves 7a, 7b. And solenoid valves 4a-4d for controlling the flow direction of the pilot pressure supplied to the above-described boom, bucket cylinder control valves 5a, 5b and left and right traveling motor control valves 7a, 7b. do.

Referring to the operation of the traveling control apparatus of the hydraulic construction machine according to the present invention configured as described above, by switching the above-described changeover switch 11 to the operation operation state (OFF) by the driver to operate the above-mentioned joystick (1) In this case, the 0V voltage signal according to the operation of the above-described switching switch 11 is output and input to the above-mentioned computing device 2, and the boom and bucket cylinder 6a and 6b according to the operation of the joystick 1 described above. Each voltage signal corresponding to the operation of) is input to the computing device 2.

Accordingly, the arithmetic unit 2 calculates a current signal corresponding to the voltage signal input from the joystick 1, and then outputs the result of the calculation as a current signal to each of the electromagnetic proportional valves 3a-3d. In the electromagnetic proportional valves 3a-3d, the pilot pressures discharged from the pilot pumps P and P are converted in accordance with the operation amount of the joystick 1 described above. In addition, the arithmetic unit 2 transmits the 0V voltage signal inputted from the above-mentioned changeover switch 11 to each solenoid valve 4a-4d, which causes the solenoid valve 4a-4d to be positioned in the A position in the drawing. As it is switched to, the pilot pressure via each of the above-described electromagnetic proportional valves 3a-3d is transmitted to the above-described bucket and boom cylinder control valves 5a and 5b.

Therefore, it is possible to control the above-mentioned driving of the bucket and boom cylinders 6a and 6b by the operation of the joystick 1 by the driver.

On the other hand, when the driver switches the aforementioned switching switch 11 to the driving operation state (ON) and then operates the joystick 1 described above, the 5V voltage signal according to the operation of the aforementioned switching switch 11 Outputted and inputted to the arithmetic unit 2, the respective voltage signals corresponding to the operation of the left and right traveling motors 8a and 8b are output to the arithmetic unit 2 according to the operation of the joystick 1 described above. Is entered.

Accordingly, the arithmetic unit 2 calculates a current signal corresponding to the voltage signal input from the joystick 1, and then outputs the result of the calculation as a current signal to each of the electromagnetic proportional valves 3a-3d. In the electromagnetic proportional valves 3a-3d, the pilot pressures discharged from the pilot pumps P and P are converted in accordance with the operation amount of the joystick 1 described above. In addition, the arithmetic unit 2 transmits the 5V voltage signal inputted from the above-described changeover switch 11 to the respective solenoid valves 4a-4d, which causes the solenoid valves 4a-4d to the B position in the drawing. As it is switched to the pilot pressure via each of the above-described electromagnetic proportional valve (3a-3d) is transmitted to the above-described left and right running motor control valve (7a) (7b).

Therefore, the above-described driving of the left and right traveling motors 8a and 8b can be controlled by the operation of the joystick 1 by the driver.

The left and right traveling motor control valves 7a and 7b are installed between the solenoid valves 4a and 4d and the left and right driving motor control valves 7a and 7b, and the pedals 9a and 9b described above. The operation can be performed also by the pilot pressure passing through the shuttle valves 10a-10d constituting the OR logic with respect to the pilot pressure discharged from the above-described pilot pumps P and P by the operation of.

Then, when the driver switches the aforementioned switch 11 to the driving operation state ON and then controls the aforementioned left and right traveling motors 8a and 8b due to the operation of the joystick 1, the arithmetic unit 2 ) Outputs a current signal corresponding to the amount of operation in the front direction of the joystick 1 (A direction in the drawing) to the electromagnetic proportional valves 3a and 3c for left and right traveling forward, and in the rearward direction of the joystick 1 described above ( The current signal according to the operation amount in the B direction) is output to the electromagnetic proportional valves 3b and 3d for left and right driving backwards, and the current signal according to the operation amount in the left direction of the joystick 1 (C direction on the drawing) is left. It outputs to the electromagnetic proportional valves 3a and 3d for traveling forward and space forward, and transmits a current signal according to the amount of operation in the right direction of the joystick 1 (D direction on the drawing). 3b, 3c).

As a result, the operation direction of the joystick 1 described above coincides with the driving directions of the left and right traveling motors 8a and 8b described above, thereby providing convenience to the driver.

As shown in FIG. 4, in the traveling control apparatus of a hydraulic construction machine according to another embodiment of the present invention, when a joystick 1 is operated by a driver, a voltage signal corresponding to an operation amount is input to the computing device 2. Accordingly, the calculation device 2 calculates a current signal corresponding to the voltage signals input from the joystick 1, and calculates the result of the first and second electromagnetic proportional valves 3'a and 3'b. Output as a current signal. At the same time, the first solenoid valve 3a and the boom cylinder 6b which control the pilot pressure for the IN or OUT driving of the bucket cylinder 6a are transferred to the calculation result of the arithmetic unit 2 described above. It outputs to the second solenoid valve 3b which controls the UP or DOWN driving pilot pressure. Since the following description is applied in the same manner as shown in FIG. 3, the description thereof will be omitted.

As a result, a plurality of electromagnetic proportional valves 3'a (3'b) and a plurality of solenoid valves 3a (instead of the electromagnetic proportional valves 3a-3d having a high component price as shown in FIG. By using 3b), the cost of parts can be greatly reduced.

As described above, the traveling control device of the hydraulic construction machine according to the present invention, the driving of the hydraulic construction machine, such as an electric joystick used to operate the bucket, arm, boom and the swing working device and an excavator having a hydraulic traveling motor, and the like. By controlling by using an electric joystick, the joystick is easy to operate has the advantage that can provide a user convenience by greatly reducing the fatigue of the driver when driving for a long time.

Claims (5)

A prime mover, a hydraulic pump and a pilot pump connected to and driven by the prime mover, a work cylinder and a traveling motor connected to the hydraulic pump to be driven by the supply of hydraulic oil, a changeover switch for selecting a work and a driving state, and an electric quantity corresponding to the operation amount An electric joystick for outputting a signal, an arithmetic device that receives an electric signal according to the operation of the electric joystick and a changeover switch, and outputs the arithmetic result as an electric signal, and drives according to the electric signal output from the arithmetic device The electronic proportional valve for controlling the pilot signal pressure discharged from the pump and is installed between the operation device and the working cylinder control device and the driving motor control device to drive according to the application of a predetermined signal, the pilot pressure in the electromagnetic proportional valve Optionally supplied to cylinder control and drive motor control A running control apparatus for a hydraulic construction machine according to the configured by comprising a solenoid valve for controlling characteristics. The driving control apparatus for a hydraulic construction machine according to claim 1, wherein the solenoid valve is driven in response to a predetermined electric signal applied to the operation device and output after the operation according to the operation of the changeover switch. The shuttle valve of claim 1, wherein the shuttle valve is installed between the solenoid valve and the driving motor control device, and compares the pilot pressure passing through the solenoid valve with the pilot pressure converted according to an operation state of the pedal to supply the driving motor control device. The traveling control device of the hydraulic construction machine, characterized in that further comprises. The electronic device of claim 1, wherein the operation unit outputs a signal output according to the operation of the electric joystick in the forward direction to the electromagnetic proportional valve for the left and right driving forward, and is output in response to the operation in the rear direction of the electric joystick. Outputs a signal to the electronic proportional valve for left and right traveling backwards, and outputs a signal to the electronic proportional valve for left traveling forward and space travel backwards according to an operation in the left direction of the electric joystick, and to the right of the electric joystick Hydraulic construction machine outputs a signal output according to the operation in the direction to the left proportion drive for the forward driving and space forward, respectively, so that the operation direction of the electric joystick and the driving direction of the driving motor is formed to match. Driving control system. The first electromagnetic proportional valve for a bucket cylinder and a left running motor control device, wherein the first electromagnetic proportional valve is connected to the arithmetic device and driven by an electric signal output from the arithmetic device according to the operation of the electric joystick. And a solenoid valve installed between the solenoid valve and controlling the electric signal output from the operation device to be supplied to the bucket cylinder in and out control device and the left driving motor control device according to the electric joystick operation. A second electromagnetic proportional valve and a second electromagnetic proportional valve for a boom cylinder and a space travel motor control device driven by an electrical signal output from the computing device according to the operation of the electric joystick, and are installed between the second electromagnetic proportional valve and the solenoid valve. An electrical signal output from the computing device according to the electric joystick operation The raising and lowering the boom cylinder control and the drive control device of a hydraulic construction machine, characterized by configured by comprising a second solenoid valve for controlling the space that the supply line to the motor control apparatus.