KR20120070933A

KR20120070933A - Hydraulic controlling apparatus for an excavator

Info

Publication number: KR20120070933A
Application number: KR1020100132467A
Authority: KR
Inventors: 장경률
Original assignee: 두산인프라코어 주식회사
Priority date: 2010-12-22
Filing date: 2010-12-22
Publication date: 2012-07-02

Abstract

According to the present invention, there is provided a control apparatus including an electronic joystick or an electronic pedal operated by an operator and generating a pilot pressure according to an operation signal; Allow the operator to set the slope for the output of the pilot pressure in accordance with the manipulated amount of the manipulating means so that the excavator can have the desired operating responsiveness or provide a PID gain indicating the reaction response speed of the spool connected to the EPPR valve of the flow supply means. Input means for setting; The pilot pressure is filtered so that the pilot pressure generated by the manipulation means has an inclination of the output according to the manipulation amount set by the operator, and when the filtered pilot pressure is input, the spool connected to the EPPR valve operates according to the set PID gain. Control means for providing a current having a speed to the EPPR driver so that the spool of the EPPR valve is controlled and feeding back this current to compare with the filtered pilot pressure to compensate for errors; And a flow rate supply means having an EPPR valve for controlling the movement of the spool which is driven by the EPPR driver to control the flow rate discharged from the electromagnetic hydraulic pump.

Description

HYDRAULIC CONTROLLING APPARATUS FOR AN EXCAVATOR}

The present invention relates to an oil pressure control device of an excavator, and more particularly, to an oil pressure control device of an excavator that allows the excavator to have a desired operational responsiveness when the electronic joystick or the electric pedal of the excavator is operated.

Excavator is a construction machine that carries out the work of moving equipment as civil engineering, construction, excavation work digging ground, loading work carrying earth and sand, shredding work dismantling building, stopping work to clean up the ground. And a whole device consisting of an option such as an upper swinging body mounted on the moving body and a rotating body rotating 360 degrees, a boom and an arm and an option such as a bucket or a breaker attached to the end of the arm. Hydraulics are mainly used because they must be able to exert a lot of force when performing the tasks.

In the conventional excavator, the main control valve is controlled by a pilot signal generated from a hydraulic joystick or a hydraulic pedal, and thus the operation responsiveness of a cylinder connected to a boom, an arm, a bucket, etc. is controlled, but the manufacturing process is already performed. The operation responsiveness is determined for each model, and users who use the same model have an inconvenience to operate the excavator according to a predetermined operation responsiveness at the time of manufacture regardless of their own driving preference. In other words, a beginner worker with less experience may want a slower reaction speed for the operation of the control means. On the contrary, a very experienced worker may want a faster reaction speed for the operation of the control means. will be.

However, in order to solve the above problems, the manufacturing process must be modified from the most basic stage of manufacturing the spool to control the flow rate of the hydraulic pump, or the various ways in which the hydraulic control is made by attaching various hydraulic control aids must be raised. There is a feeling.

On the other hand, the conventional excavator is an electro-hydraulic excavator in which several components that were controlled by a hydraulic device, unlike conventional excavators, are replaced by electronic devices. Basically, the main control valve and the hydraulic pump are electronically controlled and each is proportional to the electronic proportional control valve. The flow rate is controlled by an electronic joystick and a pedal.

Therefore, in recent years, a method of allowing a cylinder to be controlled in operation with a desired reaction speed by an operator of an input means using the electrohydraulic excavator has emerged.

The present invention has been made to solve the above problems, an object of the present invention is to filter the pilot signal generated during the operation of the electronic joystick or the pedal of the excavator with a pilot signal having the desired operation responsiveness to the operator and the filtered pilot It is to provide an hydraulic control device of an excavator that can control the current of the EPPR valve at the input of the signal to a current having the operating responsiveness of the hydraulic pump desired by the operator to set the operation responsiveness of the excavator.

To this end, according to the present invention, the control means which is operated by the operator and including an electronic joystick or electronic pedal for generating a pilot pressure according to the operation signal; Allow the operator to set the slope for the output of the pilot pressure in accordance with the manipulated amount of the manipulating means so that the excavator can have the desired operating responsiveness or provide a PID gain indicating the reaction response speed of the spool connected to the EPPR valve of the flow supply means. Input means for setting; The pilot pressure is filtered so that the pilot pressure generated by the manipulation means has an inclination of the output according to the manipulation amount set by the operator, and when the filtered pilot pressure is input, the spool connected to the EPPR valve operates according to the set PID gain. Control means for providing a current having a speed to the EPPR driver so that the spool of the EPPR valve is controlled and feeding back this current to compare with the filtered pilot pressure to compensate for errors; And a flow rate supply means having an EPPR valve for controlling the movement of the spool which is driven by the EPPR driver to control the flow rate discharged from the electromagnetic hydraulic pump.

Here, the input means, the dead band interval for the neutral portion of the electronic joystick or electronic pedal having a linear (liner) characteristics, and the remaining portion is matched so that the output of the pilot pressure according to the manipulated value has a constant slope value In other words, the portion near the neutral gives a dead band section, and the output of the pilot pressure according to the manipulated value has a large slope up to a medium angle and a small slope over the angle, or the portion near the neutral portion. It is desirable to provide a UI that gives the dead band section and the pilot pressure output according to the manipulated value up to the intermediate angle to have a small slope and a larger slope for the above angle.

In addition, the input means, it is desirable to provide a UI to enable the PID gains to be made to respond slowly or quickly the operation of the boom, arm, bucket, swing and travel when the pilot pressure input from the operation means.

As described above, the present invention, the pilot signal generated during the operation of the electronic joystick or the pedal of the excavator filter the pilot signal having the desired operation responsiveness, and the operator wants the current of the EPPR valve at the input of the filtered pilot signal By controlling the current to have the operational responsiveness of the hydraulic pump, the excavator can have the desired operational reactivity.

1 is a control block diagram schematically showing a hydraulic control apparatus of an excavator according to an embodiment of the present invention.
2 to 4 are graphs showing the operation displacement of the operation means set by the filter in the hydraulic control device of the excavator of FIG. 1 and the driving pressure of the hydraulic pump, respectively.
5 is a control flow diagram showing the operation of the hydraulic control device of the excavator according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and the operation and effect thereof will be clearly understood through the following detailed description. Prior to the detailed description of the present invention, it is noted that the detailed description thereof will be omitted when it is determined that the well-known elements may obscure the gist of the present invention.

1 is a control block diagram schematically showing a hydraulic control device of an excavator according to an embodiment of the present invention, Figures 2 to 4 are each operating means set the operation responsiveness by the filter in the hydraulic control device of the excavator of Figure 1 Is a graph showing the operating displacement and the driving pressure of the hydraulic pump.

As shown in Figures 1 to 4, the hydraulic control device of the excavator according to an embodiment of the present invention, the operation means including an electronic joystick or an electronic pedal operated by the operator to generate a pilot pressure according to the operation signal ( 100), the operator to set the slope to the output of the pilot pressure according to the amount of operation of the operation means 100 or the EPPR valve 410 of the flow rate supply means 400 so that the excavator can have a desired operating reactivity Input means 200 for setting the PID gain indicating the reaction response speed of the spool 411 to be connected, so that the pilot pressure generated by the operation means 100 has a slope of the output according to the operation amount set by the operator The spool 411 connected to the EPPR valve 410 when filtering the pilot pressure and inputting the filtered pilot pressure operates according to the set PID gain. Control means for providing a current to the EPPR driver 330 to have a response to control the spool 411 of the EPPR valve 410 and feedback the current to be compared with the filtered pilot pressure to compensate for the error The flow rate supply means 400 including an EPPR valve 410 for controlling the movement of the spool 411 which is driven by the 300 and the EPPR driver 330 and controls the flow rate discharged from the electromagnetic hydraulic pump 420. It includes.

The operation means 100 includes an electronic joystick or an electronic pedal positioned in the cab of the excavator and operated by an operator to generate pilot pressure according to the operation signal.

The input means 200 is to allow the operator to set the slope for the output of the pilot pressure according to the amount of operation of the operation means 100 so that the excavator has a desired operation responsiveness, as shown in Figures 2 to 4 As shown, the dead band section is given to the neutral part of the electronic joystick or the electronic pedal having linear characteristics at the time of manufacturing, and the remaining part is matched so that the output of the pilot pressure according to the manipulated value has a constant slope value. In other words, the portion near the neutral gives a dead band section, and the output of the pilot pressure according to the manipulated value has a large slope up to a medium angle and a small slope over the angle, or the portion near the neutral portion. Gives dead band interval and the pilot pressure output according to the manipulated value It provides a screen that allows you to have a small tilt and a larger tilt for more angles.

In addition, the input means 200, the operator has a PID gain indicating the operation reaction speed of the spool 411 connected to the EPPR valve 410 of the flow rate supply means 400 so that the excavator has a desired operation responsiveness In order to set, it provides a corresponding screen to set the PID gain so that the operation such as boom, arm, bucket, swing and travel is slow response or fast response when the pilot pressure input from the operation means (100).

Here, the input means 200, when providing a slope setting screen for the output of the pilot pressure according to the operation amount of the electronic joystick or the electronic pedal provides a plurality of graphs as shown in Figs. The curve allows the operator to move freely and provides a UI that allows the user to freely set the PID gain with the scroll bar so that the boom, arm, bucket, swing, and travel can respond slowly or quickly when the pilot pressure is input. do.

The control means 300, the filter 310 for filtering the pilot pressure through the corresponding algorithm so that the pilot pressure input from the operation means 100 through the CAN communication has a slope of the output according to the operation amount set by the operator, When the pilot pressure filtered by the filter 310 is input, the EPPR driver 330 provides a current for the spool 411 connected to the EPPR valve 410 to have an operation response speed according to the set PID gain. The spool 411 of the valve 410 is controlled and the PID controller 320 for feeding back the current and comparing the filtered pilot pressure with the filtered pilot pressure to compensate for the error, and the EPPR driver using the PWM signal. And a PWM output unit 340 for applying a corresponding voltage to 330.

Therefore, according to the control means 300, EPPR in a state in which the pilot pressure generated from the manipulation means 100 is filtered to correspond to the slope of the output of the pilot pressure according to the manipulation amount of the manipulation means 100 preset by the operator. By controlling the reaction speed of the spool 411 connected to the valve 410 to have an operation reaction speed according to the PID gain preset by the operator, the excavator can be controlled to have the desired operation response.

The flow rate supply means 400 is driven by the EPPR driver 330, EPPR valve 410 for controlling the movement of the spool 411 for controlling the flow rate discharged from the electromagnetic hydraulic pump 420, the electromagnetic hydraulic pressure The engine 430 for transmitting the rotational force to the pump 420 and the main control valve 440 for providing the hydraulic pressure supplied from the electro-hydraulic pump 420 to the boom, arm, bucket, swing and travel, and the like, Since the flow rate and hydraulic pressure discharged from the electromagnetic hydraulic pump 420 are controlled by the control means 300, a detailed description thereof will be omitted.

Hereinafter, with reference to the drawings will be described the operation of the hydraulic control device of the excavator according to an embodiment of the present invention.

5 is a control flow diagram showing the operation of the hydraulic control device of the excavator according to an embodiment of the present invention.

As shown in Figure 5, the hydraulic control device of the excavator according to an embodiment of the present invention, first, to provide a corresponding screen for setting the operation responsiveness of the excavator through the main menu screen of the input means 200, Allows the user to set the operational responsiveness of the excavator through a plurality of manuals.

In this case, the plurality of manuals may be divided into '1. beginner (slow)', '2. intermediate (default)', '3. advanced (fast)', '4. expert setting'.

Here, the '1. beginner (slow)' to '3. advanced (fast)', when the operator selects the '1. beginner (slow)' has a slow motion responsive to the beginners, the ' 2.When selecting 'default', the excavator has the operating responsiveness set in normal manufacturing for the general worker, and when selecting '3. In order to have, the slope and the PID gain of the output of the pilot pressure in accordance with the operation amount of the electronic joystick or the electronic pedal of the operation means 100 has an appropriately preset state.

Meanwhile, the '4. expert setting' is divided into sub-manuals of '1. joystick adjustment' and '2. PID gain adjustment', when the operator selects the '1. joystick adjustment' by the electronic joystick or electronically. By providing a plurality of graph curves for selecting an inclination with respect to the output of the pilot pressure according to the manipulation amount of the pedal, the operator may select a desired graph to set the operation responsiveness of the operation means 100. In addition, when the operator selects the '2.PID gain adjustment', the operator can provide a scroll bar that allows the PID gain to be set so that the operation such as boom, arm, bucket, swing and travel may be slow or react quickly. It is possible to set the desired PID gain value to set the operation responsiveness of the boom, arm, bucket, swing and travel according to the pilot pressure of the operation means (100).

Then, when the corresponding pilot pressure is generated from the electronic joystick or the electronic pedal of the operation means 100, the control means 300 to control the excavator while having the above set operation responsiveness, if the operation responsiveness setting manual by the operator When the '1. beginner (slower)' is selected in the hydraulic supply means 400 is controlled so that the excavator has a slow motion responsiveness for the beginner, when the '2. intermediate (default)' is selected The hydraulic supply means 400 is controlled so that the excavator has the operation responsiveness set in the normal manufacturing for the general worker, and when the '3. advanced (fast) is selected, the excavator is fast for the skilled worker. The hydraulic supply means 400 is controlled to have an operation responsiveness.

On the other hand, the control means 300, when the '4. Expert setting' is selected in the operation responsive setting manual by the operator to control the hydraulic supply means 400 so that the excavator has the operation responsiveness set by the operator First, the pilot pressure is filtered through the corresponding algorithm such that the pilot pressure input from the manipulation means 100 through the filter 310 has an inclination of the output according to the manipulation amount set by the operator, and then the PID controller 320 is filtered. When the pilot pressure filtered by the filter 310 through the spool 411 connected to the EPPR valve 410 to provide a current to the EPPR driver 330 to have an operation response speed according to the set PID gain Allow the spool 411 of the EPPR valve 410 to be controlled and feed back this current to compare with the filtered pilot pressure to compensate for errors, and the PWM output 340 By applying a corresponding voltage to the EPPR driver 330 by using the PWM signal to the calculated current value, the movement speed of the spool 411 of the EPPR valve 410 driven by the EPPR driver 330 is controlled to the electromagnetic pressure The flow rate discharged from the pump 420 is controlled.

Therefore, as described above, according to an embodiment of the present invention, the pilot signal generated during the operation of the electronic joystick or the pedal of the excavator is filtered by the pilot signal having the desired operational responsiveness to the operator and the EPPR valve at the input of the filtered pilot signal By controlling the electric current of the hydraulic pump to the current having the desired operating reactivity, it is possible for the excavator to have the desired operating responsiveness.

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains have various permutations, modifications, and changes without departing from the spirit or essential features of the present invention. It is to be understood that modifications may be made and other embodiments may be embodied. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: operation means 200: input means
300: control means 400: hydraulic pressure supply means

Claims

Operation means including an electronic joystick or an electronic pedal operated by an operator and generating a pilot pressure according to an operation signal;
Allow the operator to set the slope for the output of the pilot pressure in accordance with the manipulated amount of the manipulating means so that the excavator can have the desired operating responsiveness or provide a PID gain indicating the reaction response speed of the spool connected to the EPPR valve of the flow supply means. Input means for setting;
The pilot pressure is filtered so that the pilot pressure generated by the manipulation means has an inclination of the output according to the manipulation amount set by the operator, and when the filtered pilot pressure is input, the spool connected to the EPPR valve operates according to the set PID gain. Control means for providing a current having a speed to the EPPR driver so that the spool of the EPPR valve is controlled and feeding back this current to compare with the filtered pilot pressure to compensate for errors; And
And a flow rate supply means having an EPPR valve for controlling the movement of the spool which is driven by the EPPR driver to control the flow rate discharged from the electromagnetic hydraulic pump.

The method of claim 1, wherein the input means,
The dead band section is given to the neutral part of the electronic joystick or electronic pedal having linear characteristics, and the remaining parts are matched so that the output of the pilot pressure according to the manipulated value has a constant slope value,
Alternatively, the area near the neutral gives a dead band section, and the pilot pressure output has a large slope up to an intermediate angle and a small slope over the angle,
Alternatively, the portion near the neutral gives a dead band section and provides a UI that allows the output of the pilot pressure according to the manipulated amount to have a small inclination up to an intermediate angle and a large inclination for more angles. Hydraulic control of the excavator.

The method of claim 1, wherein the input means,
Hydraulic control device of the excavator, characterized in that to provide a UI to set the PID gains so that the operation of the boom, arm, bucket, swing and travel to respond slowly or quickly when the pilot pressure input from the operation means.

The method of claim 2, wherein the input means,
An inclination of the output of the pilot pressure according to the operation amount of the electronic joystick or the electronic pedal provides a plurality of graphs, wherein the curve of the graph allows the operator to move freely.

The method of claim 3, wherein the input means,
Hydraulic control device of the excavator, characterized in that when the input of the pilot pressure, the boom, arm, bucket, swing and travel to the slow response or to quickly set the PID gain to the scroll bar to respond quickly.

The method of claim 1, wherein the control means,
A filter for filtering the pilot pressure through a corresponding algorithm such that the pilot pressure input from the manipulation means has an inclination of the output according to the manipulation amount set by the operator;
When the pilot pressure filtered by the filter is input, a current is supplied to the EPPR driver so that the spool connected to the EPPR valve has an operation response speed according to the set PID gain so that the spool of the EPPR valve is controlled and fed back. A PID controller for compensating for the error by comparing with the filtered pilot pressure; And
And a PWM output unit for applying a corresponding voltage to the EPPR driver using the calculated current value using a PWM signal.