KR20040094186A - construction equipment travel control device and its method - Google Patents

Abstract

PURPOSE: A device for controlling travel of a heavy equipment and a method thereof are provided to drive comfortably and conveniently by controlling the travel motor with a joystick and driving the boom. CONSTITUTION: A travel control device is composed of travel detecting units(10,11) generating electric signals by detecting operation of travel pedals(8a,8b) with a pressure switch or a pressure sensor, a joystick function selection switch(16) controlling travel motors(6a,6b) by supplying the pilot signal pressure from a pilot pump(3) to main control valves(5a,5b) in operating joysticks(9a,9b), solenoid valves(12,13,14,15) switching the spool by applying the pilot signal pressure from the joysticks to the main control valves in operating the joystick function selection switch, and a controller(17) outputting the electric signal to the solenoid valves by comparing electric signals from the travel detecting units with the electric signals in selecting the joystick function selection switch.

Description

Construction equipment travel control device and its method

The present invention is a crawler-type heavy equipment that is driven by a hydraulic driving motor driving by driving a joystick (joystick) operation to drive a work device, such as a boom, driving control of heavy equipment to provide convenience to the driver An apparatus and a control method thereof are provided.

More specifically, when traveling a long distance in a crawler-type heavy equipment, driving control device of the heavy equipment that can run in a comfortable position by controlling the driving motor using the joystick to significantly reduce the driver's fatigue And a control method thereof.

3 is a hydraulic circuit diagram of a traveling control apparatus for heavy equipment according to the prior art.

As shown, the first and second hydraulic pumps 2a and 2b and pilot pump 3 connected to and driven by the engine 1 and the work device and driving connected and driven to the first hydraulic pump 2a, respectively Working device and driving actuators 7b and 6b connected to and connected to the actuators 7a and 6a and the second hydraulic pump 2b, respectively, and the first and second hydraulic pumps 2a and 2b and the working device. Main control valves 4a, 4b and first and second hydraulic pumps 2a for the working device, respectively installed in the flow path between the actuators 7a and 7b to control the starting, stopping and redirection of the actuators 7a and 7b, respectively. 2b) and main driving valves 5a and 5b for driving, which are respectively provided in flow paths between the actuators 6a and 6b for controlling the start, stop and direction change of the actuators 6a and 6b.

Accordingly, the pilot signal pressure Pi discharged from the pilot pump 3 is applied to the work control main control valves 4a and 4b by operating a control lever such as a joystick, not shown, to switch them. Boom, arm, etc. by the work device actuators 7a, 7b driven by the operating pressure supplied via the main control valves 4a, 4b discharged from the 1,2 hydraulic pumps 2a, 2b and switched. By driving the working device of the excavation work, it is possible to carry out loading operations.

On the other hand, the pilot pedal pressure (Pi) discharged from the pilot pump (3) by pressing the driving pedal (not shown) is applied to the main control valve (5a, 5b) for driving to switch them, the first, second hydraulic pressure The heavy duty equipment can be driven at a predetermined speed by the driving actuators 6a and 6b driven by the operating pressure supplied via the main control valves 5a and 5b discharged from the pumps 2a and 2b. do.

Heavy construction equipment such as crawler type excavators have a significantly slower running speed than wheel type excavators. In the case of moving to a non-working place, the driver rides directly on the heavy equipment, so that the driver's fatigue is increased when moving a long distance while the driving pedal is continuously pressed.

On the other hand, the lever for driving may be installed to reduce the fatigue of the driver when moving a long distance, but the driving lever is installed to operate at a predetermined distance away from the driver's seat. Driving in a state of bending the waist is applied to the waist and the like, as well as pull the chair toward the driving lever to have a problem to take the inconvenience.

Therefore, an object of the present invention, when traveling in a crawler-type heavy equipment to travel a long distance, the heavy equipment that can move in a comfortable posture by controlling the driving motor by the joystick operation for the work device to significantly reduce the fatigue of the driver The present invention provides a driving control apparatus and a control method thereof.

Another object of the present invention is to provide a driving control apparatus and a control method of heavy equipment to control the driving motor by the joystick operation mounted on the left and right of the driver's seat to provide convenience and safety to the driver to improve the reliability of the heavy equipment. will be.

1 is a hydraulic circuit diagram of a traveling control apparatus for heavy equipment according to the present invention;

2 is a flowchart showing a driving control method for heavy equipment according to the present invention;

3 is a hydraulic circuit diagram of a traveling control apparatus for heavy equipment according to the prior art.

* Explanation of symbols used in the main part of the drawing

One; engine

2a; 1st hydraulic pump

2b; 2nd hydraulic pump

3; Pilot pump

4a, 4b; Main control valve for work equipment

5a, 5b; Travel main control valve

6a, 6b; Driving Actuator

7a, 7b; Actuator for Work Tool

8a, 8b; Running pedal

9a, 9b; Joystick

10,11; Driving operation detection means

12,13,14,15; Solenoid valve

16; Joystick travel function selector switch

17; Controller

18; Function display

19,20,21,22,23,24; Shuttle Valve

The object of the present invention described above is at least one hydraulic pump and a pilot pump connected to the engine, a hydraulic cylinder for the working device connected to the hydraulic pump to drive the working device, and connected to the hydraulic pump to drive the traveling device It is installed in the flow path between the driving motor, the hydraulic pump and the hydraulic cylinder for the work device, and the main control valve for the work device for controlling the start, stop and direction change of the hydraulic cylinder, and the flow path between the hydraulic pump and the travel motor. The main control valve for driving to control the starting, stopping and direction change of the driving motor, the joystick for controlling the work device by supplying the pilot signal pressure to the main control valve for the working device, and the pilot signal pressure to the main control valve for the driving motor. In the traveling control device of heavy equipment having a traveling pedal to control the driving motor by supplying

A driving operation detecting means for detecting an operation of the driving pedal and generating an electrical signal;

A joystick driving function selection switch selected by the driver to control the driving motor by supplying pilot signal pressure to the main control valve for driving by the joystick;

A solenoid valve installed in a flow path between the joystick and the driving pedal, the solenoid valve being switched by an electric signal applied when the joystick driving function selection switch is selected to supply a pilot signal pressure via the joystick to the main control valve for driving;

And a controller configured to compare the electrical signal according to the driving pedal operation input from the driving operation detecting means with the electrical signal input according to the selection of the joystick traveling function selection switch, and output an electrical signal to the solenoid valve. It is achieved by providing a traveling control device for heavy equipment.

According to a preferred embodiment, the apparatus further includes a function display device connected to the controller and configured to inform the driver of the driving state by controlling the driving motor by the joystick.

In addition, a pressure switch or a pressure sensor is used as the operation detecting means of the traveling pedal.

In addition, the pilot signal pressure is generated at the confluence point of the pilot flow path between the solenoid valve and the driving pedal, and the pilot signal pressure generated through the operation of the driving pedal and the pilot signal pressure passing through the joystick according to the selection of the joystick driving function selection switch. It is further provided with a shuttle valve to be supplied to the main control valve for driving independently of each other.

The object of the present invention described above is at least one hydraulic pump and a pilot pump connected to the engine, a hydraulic cylinder for the working device connected to the hydraulic pump to drive the working device, and connected to the hydraulic pump to drive the traveling device It is installed in the flow path between the driving motor, the hydraulic pump and the hydraulic cylinder for the work device, and the main control valve for the work device for controlling the start, stop and direction change of the hydraulic cylinder, and the flow path between the hydraulic pump and the travel motor. The main control valve for driving to control the starting, stopping and direction change of the driving motor, the joystick for controlling the work device by supplying the pilot signal pressure to the main control valve for the working device, and the pilot signal pressure to the main control valve for the driving motor. Pilot for the driving pedal to control the driving motor by supplying the motor, the main control valve for work equipment and the main control valve for driving. In the drive control method for construction equipment, which includes a solenoid valve for controlling supply to the hoap,

Receiving a detection value according to whether a driving pedal is operated and whether the driver's joystick driving function is selected according to the selection of the joystick driving function selection switch from the driving operation detecting means installed in the driving pedal;

Determining whether the joystick driving function selection switch is turned on;

Determining whether the driving pedal is operated through the driving operation detecting means when the joystick driving function selection switch is turned on;

Maintaining the solenoid valve as an initial off state so that the driving motor can be controlled by the operation of the driving pedal, and releasing the function operating state to the function display device;

By switching the solenoid valve so that the driving motor can be controlled by the operation of the joystick, the pilot signal pressure passing through the joystick and the solenoid valve is supplied to the driving main control valve to be switched, and the driving mode by the joystick It is achieved by providing a driving control method for heavy equipment, characterized in that it comprises the step of notifying the driver by displaying on the function display that is set.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are intended to explain in detail enough to enable those skilled in the art to easily practice the present invention. This does not mean that the technical spirit and scope of the present invention is limited.

1 and 2, the traveling control apparatus for heavy equipment according to the present invention, at least one hydraulic pump (2a, 2b) and pilot pump (3) which is connected to the engine 1 and driven, hydraulic pressure Hydraulic cylinders 7a and 7b for working devices connected to pumps 2a and 2b and driving motors 6a and 6b connected to hydraulic pumps 2a and 2b to drive traveling devices. )Wow,

The main control valve 4a for the work device, which is installed in the flow path between the hydraulic pumps 2a and 2b and the hydraulic cylinders 7a and 7b for the work device, controls the start, stop and direction change of the hydraulic cylinders 7a and 7b. 4b) and the main control valve 5a for driving which is installed in the flow path between the hydraulic pumps 2a and 2b and the driving motors 6a and 6b to control the starting, stopping and direction change of the driving motors 6a and 6b. 5b),

The pilot signal pressure is supplied to the joysticks 9a and 9b for controlling the work device by supplying the pilot signal pressure Pi to the main control valves 4a and 4b for the work device and the main control valves 5a and 5b for the driving motor. The heavy equipment having the traveling pedals 8a, 8b for supplying Pi to control the traveling motors 6a, 6b is applied substantially the same as that shown in FIG. Detailed descriptions are omitted, and the same reference numerals are used for like reference numerals.

Therefore, the heavy-duty traveling control apparatus according to the present invention includes a driving operation detecting means (10, 11) that is used to detect the presence or absence of the operation of the driving pedal (8a, 8b) and generate an electrical signal or a pressure switch or pressure sensor, etc. , The driving motors 6a and 6b can be controlled by supplying the pilot signal pressure Pi discharged from the pilot pump 3 to the driving main control valves 5a and 5b by operating the joysticks 9a and 9b. A joystick traveling function selection switch 16 selected by the driver so that

Is installed in the flow path between the joystick (9a, 9b) and the driving pedal (8a, 8b), when the joystick running function selector switch 16 is selected by switching the electrical signal applied via the joystick (9a, 9b) Solenoid valves 12 and 13 (14 and 15) for supplying a pilot signal pressure Pi to the main control valves 5a and 5b for driving to switch the internal spool;

Solenoid valve by comparing the electrical signal according to the operation of the driving pedal (8a, 8b) input from the driving operation detection means (10, 11) and the electrical signal input according to the selection of the joystick traveling function selection switch 16 A controller 17 for outputting an electrical signal to (12, 13) (14, 15) and a state connected to the controller 17 and driven by controlling the traveling motors 6a, 6b by means of joysticks 9a, 9b. A function display unit 18 for informing a driver of

Pilot signal pressure Pi, which is installed at the confluence point of the pilot flow path between the solenoid valves 12, 13, 14, 15 and the traveling pedals 8a, 8b, is generated according to the operation of the traveling pedals 8a, 8b. And the pilot valve pressure Pi passing through the joysticks 9a and 9b according to the selection of the joystick travel function selector switch 16 to the main control valves 5a and 5b for driving independently of each other. 20, 21, 22, 23, and 24.

Hereinafter, the driving control method of the heavy equipment according to the present invention will be described in more detail with reference to FIGS. 1 and 2.

As shown in the first step (see S100), the detection value according to the operation of the driving pedals 8a and 8b is input from the driving operation detecting means 10 and 11 installed in the driving pedals 8a and 8b. In response, the joystick driving function selection switch 16 receives input of whether the joystick driving function is selected by the driver.

At this time, since the pilot signal pressure Pi generated when the driver presses the driving pedals 8a and 8b acts on the driving operation detecting means 10 and 11, an electrical signal according to the operation of the driving pedals 8a and 8b is generated. It is input to the controller 17.

As shown in the second step (see S200), it is determined whether the joystick driving function selection switch 16 is in an ON state, and if it is in the " on " state, the process proceeds to a third step S300 and " off " In the case of " state, the process proceeds to the fourth step S400 to be possible according to the operation of the driving pedals 8a and 8b.

As shown in the third step (S300), when the joystick driving function selection switch 16 is turned on, it is determined whether the driving pedals 8a and 8b are operated by the driving operation detecting means 10 and 11. At this time, even when the driving pedals 8a and 8b are operated in any of the forward and backward directions, the pressure is detected through the shuttle valves 20 and 23.

Therefore, when it is determined that the driving pedals 8a and 8b are in operation, the process proceeds to the fourth step S400. When it is determined that the driving pedals 8a and 8b are not operated, the driving pedals 8a and 8b move to the fifth step S500. Proceed.

As shown in the fourth step (see S400), the driving motors 6a, 6b are controlled by the operation of the driving pedals 8a, 8b, so that the solenoid valves 12, 13, 14, 15 are initialized. To remain off and proceed to step S600. At this time, the hydraulic cylinders 7a and 7b for the work device are controlled according to the operation of the joysticks 9a and 9b.

As shown in the fifth step (S500), since the electrical signal according to the selection of the joystick traveling function selection switch 16 is input to the controller 17, the electrical signal applied from the controller 17 is a solenoid. The valves 12, 13 and 14 and 15 are respectively applied and switched (shown by dotted lines in FIG. 1) to proceed to the seventh step S700.

Accordingly, the pilot signal pressure Pi discharged from the pilot pump 3 passes through the solenoid valves 12, 13, 14, 15 switched with the joysticks 9a, 9b. , 5b) to switch.

For this reason, the operating pressure discharged from the hydraulic pumps 2a and 2b passes through the main control valves 4a and 4b for the work device and the traveling main control valves 5a and 5b in turn. 6b), it is possible to travel by the operation of the joystick (9a, 9b).

As shown in the sixth step (refer to S600), since the vehicle is driven by the operation of the driving pedals 8a and 8b, the function operation state display is released on the function display device 18.

As shown in the seventh step (refer to S700), since the vehicle is driven by the operation of the joysticks 9a and 9b, the function display device 18 indicates that the vehicle is driven by the joysticks 9a and 9b. Inform

As described above, when traveling directly to a crawler type heavy equipment traveling by driving a hydraulic motor to a work place, the driving motors 6a and 6b controlled according to the operation of the driving pedals 8a and 8b may be used. Since the vehicle is selectively controlled by the joysticks 9a and 9b to operate, the driver can travel in a comfortable and stable posture when moving a long distance, thereby providing convenience to the driver.

As described above, the traveling control apparatus for heavy equipment and the control method according to the present invention has the following advantages.

When traveling a long distance in a crawler-type heavy equipment equipped with a hydraulic motor, the joystick for the work device can control the driving motor to move in a comfortable position can significantly reduce the fatigue of the driver.

In addition, it is possible to improve the reliability of expensive heavy equipment by providing convenience and safety to the driver by controlling the driving motor by the joystick operation mounted on the left and right of the driver's seat.

Claims (5)

At least one hydraulic pump and a pilot pump connected to the engine, a hydraulic cylinder for the work device connected to the hydraulic pump to drive the work device, a driving motor connected to the hydraulic pump to drive the traveling device, and a hydraulic pump; The main control valve for the working device, which is installed in the flow path between the hydraulic cylinders for the work device and controls the start, stop, and direction change of the hydraulic cylinder, and the flow, between the hydraulic pump and the travel motor, is used for starting, stopping, and the direction of the travel motor. Controls the traveling motor by supplying pilot signal pressure to the main control valve for driving to control changeover, supplying pilot signal pressure to the main control valve for working equipment, and supplying pilot signal pressure to the main control valve for driving motor. In a traveling control apparatus of heavy equipment having a traveling pedal: Driving operation detecting means for detecting an operation of the driving pedal to generate an electrical signal; A joystick driving function selection switch selected by a driver to control the driving motor by supplying a pilot signal pressure to the driving main control valve by the joystick; The solenoid valve is installed in the flow path between the joystick and the driving pedal and is switched by an electrical signal applied when the joystick driving function selection switch is selected to supply the pilot signal pressure passing through the joystick to the driving main control valve. ; And And a controller configured to compare the electrical signal according to the driving pedal operation input from the driving operation sensing means with the electrical signal input according to the selection of the joystick traveling function selection switch, and output an electrical signal to the solenoid valve. Travel control device of heavy equipment, characterized in that. The apparatus of claim 1, further comprising a function display device connected to the controller and configured to inform a driver of a driving state by controlling a driving motor by the joystick. The apparatus of claim 1, wherein a pressure switch or a pressure sensor is used as the operation detecting means of the traveling pedal. According to claim 1, It is provided at the confluence point of the pilot flow path between the solenoid valve and the running pedal, passing through the joystick in accordance with the selection of the pilot signal pressure generated by the driving pedal operation and the joystick driving function selection switch. And a shuttle valve for supplying pilot signal pressures to the main control valve for driving independently of each other. At least one hydraulic pump and a pilot pump connected to the engine, a hydraulic cylinder for the work device connected to the hydraulic pump to drive the work device, a driving motor connected to the hydraulic pump to drive the traveling device, and a hydraulic pump; The main control valve for the working device, which is installed in the flow path between the hydraulic cylinders for the work device and controls the start, stop, and direction change of the hydraulic cylinder, and the flow, between the hydraulic pump and the travel motor, is used for starting, stopping, and the direction of the travel motor. Controls the traveling motor by supplying pilot signal pressure to the main control valve for driving to control changeover, supplying pilot signal pressure to the main control valve for working equipment, and supplying pilot signal pressure to the main control valve for driving motor. Supply pilot signal pressure to the driving pedal, main control valve for work equipment and main control valve for driving to control In the drive control method for construction equipment, which includes a solenoid valve: Receiving a detection value according to whether the driving pedal is operated and whether the driver's joystick driving function is selected according to the selection of the joystick driving function selection switch from the driving operation detecting means installed in the driving pedal; Determining whether the joystick driving function selection switch is on; Determining whether the driving pedal is operated by the driving operation detecting means when the joystick driving function selection switch is turned on; Maintaining the solenoid valve as an initial off state so that the driving motor can be controlled by operation of the driving pedal, and releasing a function operating state to a function display device; And The solenoid valve is switched so that the driving motor can be driven by operating the joystick, and the pilot signal pressure passing through the joystick and the solenoid valve is supplied to the driving main control valve to be switched. And displaying to the function display apparatus that the driving mode is set by the driver to inform the driver.