KR19990086217A - Automatic traveling speed control device and control method for wheel type hydraulic excavator - Google Patents

Abstract

The automatic driving control device and control method of the disclosed wheel hydraulic excavator are applied to a hydraulic construction machine with a traveling mechanism such as a wheeled excavator. It automatically maintains the running state of the machine and controls the speed at this time.

According to the present invention, when the operator selects the autonomous driving function through the autonomous driving function selection switch without the brake pedal operation, the controller recognizes this and drives the pilot solenoid valve, and according to the speed selected by the operator through the cruise control switch. By outputting a current signal having a different value to the electromagnetic proportional pressure reducing valve, the pilot hydraulic pressure supplied to the forward and backward solenoid valve by the traveling remote control valve is supplied to the forward and backward solenoid valve by the electromagnetic proportional pressure reducing valve so that the operator does not operate the driving pedal. Allow the machine to drive automatically at a set speed.

Therefore, the present invention can reduce the fatigue caused by the operation of the driving pedal of the operator in a state such as a long-distance high-speed driving or low-speed driving work in the lifting state of heavy loads, improve convenience and at the same time maximize the safety of the operator misoperation and failure To provide.

Description

Automatic traveling speed control device and control method for wheel type hydraulic excavator

The present invention relates to an automatic traveling speed control device and a control method of a wheel-type hydraulic excavator, and more particularly, to a hydraulic construction machine with a traveling mechanism, such as a wheeled excavator, to improve the driving convenience of an operator's driving pedal. The present invention relates to an automatic driving speed control device and a control method of a wheel-type hydraulic excavator that can automatically maintain a running state of a machine during long-distance high-speed driving or low-speed driving without an operation, and can control the traveling speed.

1 is an exemplary view for explaining a traveling device of a wheel-type hydraulic excavator according to the prior art.

As shown, a variable displacement type hydraulic pump 3 driven by the engine 1 and driven by the engine 1 to pressurize hydraulic oil from the hydraulic tank 2 to the main oil pressure circuit part 4, A fixed displacement hydraulic pump 5 driven by the engine 1 to supply pilot pressure, and forward and backward forward driving the forward and backward solenoid valve 7 to drive the heavy equipment vehicle forward or backward according to the operator's operation. The remote control valve 9 is driven by the remote control valve 9 and the forward and backward solenoid valve 7 in which the secondary pressure is proportionally generated by the switching of the operation lever 6 and the forward and backward operation lever 6. It is composed of the main control valve 10 is driven by the pressure generated by 9) so that the driving motor 11 is rotated forward or reverse.

Reference numeral 8 denotes a travel pedal, reference numeral 12 denotes a brake pedal, and reference numeral 13 denotes a brake valve.

Referring to the operation of the traveling device of the wheel-type hydraulic excavator having the above-described configuration, the variable displacement type hydraulic pump 3 driven by the engine 1 pressurizes the hydraulic oil from the tank 2 to supply the main hydraulic circuit 4. The fixed displacement hydraulic pump 5 supplies the pilot pressure.

In the case of driving a heavy-duty vehicle such as an excavator having the above-described pumps (3) (5), the operator uses the forward-backward operating lever 6 to set forward or backward of the heavy-duty vehicle, and the forward-backward operating lever 6 The secondary pressure of the remote control valve 9 is proportionally generated according to the operation of), and the main control valve 10 is driven according to the forward or backward switching state of the forward and backward solenoid valve 7 by the generated pressure. The direction is determined and switched.

The main control valve 10 is to be supplied to the traveling motor 11 the hydraulic fluid extruded by the hydraulic pump 3 in proportion to the pressure of the above-described remote control valve (9) to allow the heavy-duty vehicle to run. When the heavy vehicle is to be stopped while driving, the operator operates the brake pedal 12, and the pilot pressure is transmitted to the brake mechanism not shown by the operation of the brake valve 13 to stop the heavy vehicle.

As described above, when moving equipment between workplaces in a driving state, especially long distance movement including city driving, an operator should operate the driving pedal 8 at a maximum for a long time.

In addition, in the case of a work such as moving a heavy equipment vehicle in the state of lifting a heavy object due to the operation characteristics of the excavator, the operator must run the equipment at a low speed in the state of finely manipulating the driving pedal (8), depending on the road surface of the workplace Due to the fact that the heavy-duty vehicle may vibrate during low-speed driving, a situation may arise in which the operator cannot always keep the operation of the driving pedal 8 constant in a fine state.

Therefore, as described above, when a long-distance travel and a heavy lifting work or a low-speed travel state using a conventional excavator, there is a problem that the fatigue caused by the driving pedal operation of the operator increases.

Accordingly, an object of the present invention is to improve the convenience of the operator in the low-speed traveling equipment requiring long-distance high-speed driving or traveling fine operation required for continuous maximum operation on the driving pedal for the wheel-type hydraulic excavator equipped with a traveling device to solve the above-mentioned problems. To provide an automatic traveling speed control device and control method for a wheel-type hydraulic excavator to ensure optimal performance and safety.

1 is an exemplary view for explaining a traveling device of a wheel-type hydraulic excavator according to the prior art,

Figure 2 is an exemplary embodiment for explaining the automatic control device of a wheel-type hydraulic excavator according to the present invention,

Figure 3 is another embodiment for explaining the automatic control device of a wheel-type hydraulic excavator according to the present invention,

Figure 4 is another exemplary embodiment for explaining the automatic control device of a wheel-type hydraulic excavator according to the present invention,

5 is an operation flowchart illustrating a method for controlling the automatic driving function device shown in FIG. 2;

6 is an operation flowchart illustrating a method for controlling the automatic driving function device shown in FIG. 3;

7 is an operation flowchart illustrating a method for controlling the automatic driving function device shown in FIG. 4;

8 is a graph showing an example of a traveling speed selection signal and an electromagnetic proportional pressure reducing valve pressure diagram;

9 is a graph showing an example of the electromagnetic proportional pressure reducing valve pressure and current value diagram.

* Description of Signs of Main Parts of Drawings *

10: engine 20: hydraulic tank

30: variable displacement hydraulic pump 40: hydraulic oil supply line

50: fixed displacement hydraulic pump 60: forward and backward operating lever

70: forward and backward solenoid valve 80: running pedal

90: remote control valve 100: main control valve

110: driving motor 120: brake pedal

130: brake valve 140: controller

150: automatic driving function selection switch 160: pilot solenoid valve

170: brake pedal operation detection unit 180: running pedal operation detection unit

190: Forward and backward operating lever state detection unit 200: Electronic proportional pressure reducing valve

210: cruise control switch

In the wheel-type hydraulic excavator according to the present invention for achieving the above object, the present invention, when the operator selects the automatic driving function through the automatic driving function selection switch in the state that does not operate the brake pedal, the controller recognizes the pilot The pilot hydraulic pressure supplied to the solenoid valve forward and backward by the traveling remote control valve is reduced by driving the solenoid valve and outputting a current signal having a value different according to the speed selected by the cruise control switch. The valve is supplied to the forward and backward solenoid valve so that the equipment can automatically run at a predetermined speed without the operator's driving pedal operation.

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

2 is an exemplary view for explaining an automatic control device of a wheel-type hydraulic excavator according to the present invention.

Since the basic driving system shown in FIG. 1 is the same as described above with reference to FIG. 1, a description thereof will be omitted.

The pressure source A includes an engine 10 and a plurality of hydraulic pumps 20 and 50 driven by the engine 10 to discharge hydraulic oil.

The traveling motor 110 is driven by the hydraulic oil discharged from the pressure source A.

The main control valve 100 is installed on the flow path between the pressure source A and the driving motor 110 to control the driving direction of the driving motor 110.

The running pedal 80 is installed on the flow path between the pressure source A and the main control valve 100 to supply pilot pressure discharged from the pressure source A when the driving line is pilot line of the main control valve 100. To feed.

The forward and backward solenoid valve 70 is installed on the flow path between the main control valve 100 and the traveling pedal 80 to adjust the operation direction of the control valve in accordance with the forward and backward operation lever 60.

The cruise control means (B) is installed between the branch flow path between the pressure source (A) and the travel pedal (80) and the forward and backward solenoid valve 100 to control whether the cruise speed.

The brake pedal detector 170 detects whether the brake pedal 120 located in the pilot flow path of the hydraulic source A is operated.

The cruise control switch 150 sets the driving state of the equipment.

The controller 140 is connected to the cruise control switch 210, the cruise control means B, and the brake detection means 170 to control the driving state of the traveling motor 110.

Engine speed selector 210 is connected to the controller 140 to specify the running speed of the equipment.

The forward and backward operation lever state detector 190 detects whether the forward and backward operation lever 60 is forward or backward and outputs a signal to the controller 140.

The driving pedal operation detection unit 180 outputs a driving pedal operation detection signal to the controller 140 when the driving pedal 80 is operated.

The above-mentioned cruise control means (B) is installed on the flow path between the pressure source and the driving pedal pilot pilot solenoid valve 160 for controlling whether the cruise is running, the pilot solenoid valve 160 and the forward and backward solenoid Located in the flow path between the valve 70 and the electromagnetic proportional pressure reducing valve 200 for adjusting the pilot pressure from the hydraulic source (A), and located between the traveling pedal 80 and the electromagnetic proportional pressure reducing valve 200 It consists of a shuttle valve 220.

Referring to Figure 5 attached to the automatic driving method of the wheel-type hydraulic excavator according to the present invention having the above-described configuration, first, the controller 140 outputs an off signal to the pilot solenoid valve 160 (S500) and In operation S510, the automatic driving function selection signal is set to off.

When the operator selects the automatic driving function through the automatic driving function selection switch 150 after the initial setting is completed in step S500 (S510), the cruise control switch 150 outputs a selection signal accordingly and the controller 140. Determining whether or not this signal is being input (S520).

As a result of the determination in step S520, when the automatic driving function selection signal is input by the cruise control switch 150, it is determined whether the brake pedal operation detection signal is not input by the brake pedal operation detection unit 170. In operation S530, when the brake pedal operation detection signal is not input as a result of the determination, the controller 140 determines that the operator has selected the automatic driving function, and outputs an on signal to the pilot solenoid valve 160. In operation 200, the operator outputs a current value corresponding to the traveling speed selected through the traveling speed selector 210.

If the condition is satisfied to perform the automatic driving function in step S540, the automatic driving function selection signal is set to on so as to perform the automatic driving function until the automatic driving function selection signal is turned off (S550). The operation is performed again from step S530.

Figure 3 is another exemplary view for explaining the automatic control device of a wheel-type hydraulic excavator according to the present invention.

As shown, the cruise control switch 150, the pilot solenoid valve 160, the electromagnetic proportional pressure reducing valve 200, the forward and backward operating lever 60, the traveling speed selector 210, the brake pedal The automatic travel function selection signal is input by the operation detection unit 170, the travel pedal operation detection unit 180 which outputs the driving pedal operation detection signal when the driving pedal is operated by the operator, and the automatic driving function selection switch 150. When the driving pedal operation detection signal is input by the driving pedal operation detection unit 180 while the brake pedal operation detection signal is not input by the brake pedal operation detection unit 170, the pilot solenoid valve 160 and the electronic proportional pressure are reduced. The controller 140 ′ outputs a signal to the valve 200 so that the pilot pressure is directly connected to the forward and backward solenoid valve 70.

Referring to Figure 6 attached to the automatic driving method of the wheel-type hydraulic excavator having another embodiment of the present invention having the above-described configuration, first, the controller 140 'outputs an off signal to the pilot solenoid valve 160 (S600). ), And set the automatic driving function selection signal to off (S610).

When the operator selects the automatic driving function through the automatic driving function selection switch 150 after the initial setting is completed in step S600 (S610), the cruise control switch 150 outputs the selection signal according to the controller 140 '. ) Determines whether or not this signal is being input (S620).

As a result of the determination in step S620, when the automatic driving function selection signal is input by the cruise control switch 150, it is determined whether the brake pedal operation detection signal is not input by the brake pedal operation detection unit 170. In operation S630, when the brake pedal manipulation detection signal is not input, it is determined whether the driving pedal manipulation detection signal is input by the driving pedal manipulation detection unit 180 according to the output signal of the driving pedal manipulation detection unit 180. (S640).

As a result of the determination in step S640, when the driving pedal operation detection signal is input while the brake pedal operation detection signal is not input, the controller 140 ′ determines that the operator has selected the automatic driving function, and thus the pilot solenoid valve 160. Outputs a ON signal, and outputs a current value corresponding to the traveling speed selected by the operator through the traveling speed selector 210 to the electronic proportional pressure reducing valve 200 (S650).

If the condition is satisfied to perform the automatic driving function in step S650, the automatic driving function selection signal is set to on so as to perform the automatic driving function until the automatic driving function selection signal is turned off (S660). The operation is performed again from the step S620.

Figure 4 is another exemplary embodiment for explaining the automatic control device of a wheel-type hydraulic excavator according to the present invention.

As shown, the automatic driving function selection switch 150, the pilot solenoid valve 160, the electromagnetic proportional pressure reducing valve 200, the forward and backward operating lever 60, the traveling speed selector 210, The brake pedal operation detection unit 170 and the forward and backward operation lever state detection unit 190 for detecting whether the state of the forward and backward operation lever 60 is the forward or backward state or a neutral state and outputting a signal corresponding to the detected state; , The automatic driving function selection signal is input by the cruise control switch 150, and the brake pedal operation detection unit 170 does not input the brake pedal operation detection signal. When the state of the forward and backward operating lever 60 is in the forward or backward position, the signal is output to the pilot solenoid valve 160 and the electromagnetic proportional pressure reducing valve 200 so that the pilot pressure is directly connected to the forward and backward solenoid valve 70. As far as possible Controller 140 ".

Referring to Figure 7 attached to the automatic driving method of the wheel-type hydraulic excavator having another embodiment of the present invention having the above-described configuration, first, the controller 140 "outputs an off signal to the pilot solenoid valve 160 ( S700), and sets the automatic driving function selection signal to OFF (S710).

When the operator selects the automatic driving function through the cruise control switch 150 after the initial setting is completed in steps S700 and S710, the cruise control switch 150 outputs a selection signal accordingly, and the controller 140 ″ It is determined whether or not this signal is being input (S720).

As a result of the determination in step S720, when the automatic driving function selection signal is input by the cruise control switch 150, it is determined whether the brake pedal operation detection signal is not input by the brake pedal operation detection unit 170. In operation S730, when the brake pedal operation detection signal is not input, it is determined according to the output signal of the forward and backward operation lever state detection unit 190 whether the forward and backward operation lever 60 is located in the forward or backward direction ( S740).

As a result, when the brake pedal operation detection signal is not input and the forward and backward operation lever 60 is located in the forward or backward direction, the controller 140 "determines that the operator has selected the automatic driving function, and thus the pilot solenoid valve 160 And outputs a ON signal, and outputs a current value corresponding to the traveling speed selected by the operator through the traveling speed selector 210 to the electronic proportional pressure reducing valve 200 (S750).

If the condition is satisfied to perform the automatic driving function in step S750, the automatic driving function selection signal is set to on so as to perform the automatic driving function until the automatic driving function selection signal is turned off (S760). The operation is performed again from step S720.

8 is a graph showing an example of a traveling speed selection signal and an electromagnetic proportional pressure reducing valve pressure diagram, wherein the operator selects the driving speed selection signal and the secondary pressure of the electromagnetic proportional pressure reducing valve 200 through the traveling speed selecting unit 210. Is a proportional relationship, and as the traveling speed of the heavy-duty vehicle increases, the secondary pressure of the electromagnetic proportional pressure reducing valve 200 increases, which eventually controls the hydraulic pressure of the hydraulic oil supplied to the driving motor 110. 9 is a graph showing an example of the electromagnetic proportional pressure reducing valve pressure and current value diagram, wherein the secondary pressure of the electromagnetic proportional pressure reducing valve 200 shown in FIG. 8 is controlled by the controller 140, 140 ′, 140 ″. It is shown that the relationship is almost proportional to the current value supplied from the electron proportional pressure reducing valve 200 from.

As described above, it is determined that the driving pedal 80 is selected by the operator in the function of performing the automatic driving function selection of the heavy-duty vehicle by determining that the driving state of the cruise control switch 150 and the brake pedal detection signal are not input. By adding a function to determine whether the automatic driving function is selected or by determining whether the forward and backward operating lever 60 is located in the forward or backward direction, and adding the function of performing the automatic driving function selection of the heavy-duty vehicle. When the vehicle performs the automatic driving function, its safety can be improved.

Therefore, by applying the present invention to the wheel-type hydraulic excavator as described above, the fatigue caused by the operator's driving pedal operation in the state such as long-distance high-speed driving or low-speed driving work in the lifting state of heavy weight, alleviate the fatigue and improve the convenience at the same time It provides the effect of maximizing safety against operation and failure.

Claims (8)

In the automatic driving control device of heavy equipment, A pressure source having an engine and a plurality of hydraulic pumps driven by the engine to discharge hydraulic oil; A driving motor driven by hydraulic oil discharged from the pressure source; A main control valve installed on a flow path between the pressure source and the driving motor to control a driving direction of the driving motor; A traveling pedal installed on a flow path between the pressure source and the main control valve and supplying pilot pressure discharged from the pressure source during driving to a pilot line of the main control valve; A forward and backward solenoid valve installed on a flow path between the main control valve and the travel pedal to adjust an operation direction of the control valve according to the forward and backward operation lever; A cruise control means installed between the branch flow path between the pressure source and the traveling pedal and the forward and backward solenoid valve to control whether the cruise is driven; Brake pedal detection means for detecting whether the brake pedal located in the pilot oil passage of the hydraulic source is operated; A cruise control switch for setting a driving state of the equipment; And And a controller connected to the cruise control switch, the cruise control means and the brake detection means to control a driving state of the traveling motor. According to claim 1, The cruise control means; A pilot solenoid valve installed on a flow path between the pressure source and the driving pedal to control whether the cruise is driven; An electromagnetic proportional pressure reducing valve positioned in a flow path between the pilot solenoid valve and the forward and backward solenoid valve to adjust a pilot pressure from the hydraulic source; And And a shuttle valve positioned between the traveling pedal and the electromagnetic proportional pressure reducing valve. 3. The automatic driving control apparatus for heavy equipment according to claim 1 or 2, further comprising an engine speed selector connected to the controller to designate a driving speed of the equipment. The method of claim 1 or 2, further comprising a forward and backward operating lever state detection unit for detecting whether the forward and backward operating lever state is forward or backward and outputting a signal to the controller. Travel control. The automatic driving control apparatus for heavy equipment according to claim 1 or 2, further comprising a traveling pedal operation detection unit for outputting a traveling pedal operation detection signal to the controller when the traveling pedal is operated. A first step of outputting an off signal from the pilot solenoid valve and setting the automatic travel function selection signal to off; A second step of determining whether the automatic driving function is selected by the operator after the first step is performed and a selection signal corresponding thereto is input; A third step of determining whether the brake pedal operation detection signal is not being input when the automatic driving function selection signal is input as a result of the determination in the second step; A fourth step of outputting an on signal to the pilot solenoid valve and outputting a current value corresponding to the traveling speed selected by the electronic proportional pressure reducing valve when the brake pedal operation detection signal is not input as a result of the determination in the third step; And a fifth step of re-running from the second step after setting the auto-driving selection signal to ON after performing the fourth step. The method of claim 6, further comprising determining whether the driving pedal manipulation detection signal is input when the brake manipulation detection signal is not input in the fourth step. . The method of claim 6, wherein if the brake operation detection signal is not input in the fourth step, determining whether or not the forward and backward operating lever is positioned in the forward and backward direction, further comprising the step of automatically driving the heavy equipment How to adjust.