KR20170095489A - Control system and control method for construction machine - Google Patents

Abstract

The present invention relates to a control system and a control method for a construction machine. According to an embodiment of the present invention, in a control system and a control method for a construction machine, a plurality of control valve units are provided in a main control valve, and each of the control valve units individually has an electronic proportional control valve. In the control system for a construction machine, wherein a pilot signal to control the control valve units is outputted to an electric signal, when an error occurs in a hydraulic system, or initial malfunction occurs, operation of the electronic proportional control valve is blocked. Moreover, arbitrary operation of a relevant actuator can be prevented.

Description

Technical Field [0001] The present invention relates to a control system and a control method for a construction machine,

[0001] The present invention relates to a control device and a control method for a construction machine, and more particularly, to a control device and a control method for a construction machine, And more particularly, to a control device and a control method of a construction machine that allow a construction machine to be controlled by an operation of an electronic input device.

Generally, various working devices of construction machines are operated by hydraulic pressure. The working device is provided with an actuator, and the actuator is controlled by the operation of the corresponding control valve provided in the main control valve (MCV).

More specifically, since the pilot flow rate is provided to the spool pressure portion of the control valve, and the pilot flow rate corresponds to the size of the pilot signal, the spool of the control valve can be moved corresponding to the pilot signal. Then, when the spool is moved to form a flow path, high-pressure operating fluid is supplied to the actuator through the flow path.

The pilot signal may be generated by an electronic input device. The electronic input device may be a joystick or a pedal. That is, when the joystick or pedal is operated, a pilot electric signal in the form of an electric signal is output.

The pilot electrical signal is input to a control unit, and the control unit provides the pilot electrical signal to an electronic proportional control valve (EPPR V / V) that matches the corresponding pilot electrical signal.

The electron proportional control valve can be set to an opening amount according to the intensity of the pilot electrical signal. That is, the electron proportional control valve opens the flow path more greatly as the intensity of the pilot electric signal becomes larger.

When the electron proportional control valve is opened, the pilot flow rate is provided to the shovel hydraulic pressure portion of the corresponding control valve through the electron proportional control valve.

Therefore, when the electronic input device is operated to operate a specific actuator, a pilot electric signal is generated, the corresponding proportional control valve is opened based on the pilot electric signal, the pilot flow rate passes through the proportional control valve, And when the spool of the corresponding control valve is moved, the operating fluid is supplied to the actuator so that the corresponding actuator is operated.

On the other hand, the construction machine can be equipped with optional equipment in addition to basic working equipment. And the optional device may be connected to an electronic input device, a control valve, and an electronic proportional control valve as described above.

However, in the conventional construction machine, since the hydraulic system is provided with a component for using an electric signal, noise may be generated or short-circuited in the electric signal.

Particularly, in the conventional construction machine, there is a possibility that the operation device or the attachment is operated regardless of the intention of the operator due to the malfunction of the electronic input device.

On the other hand, an electronic joystick or an electronic pedal for generating a pilot electric signal can be used as the electronic input device, and the electronic joystick can be tilted or manipulated by the operator's body irrespective of the intention of the operator. The electronic pedal may also be stepped on. In any case, when the electronic joystick is manipulated or the electronic pedal is depressed, a pilot electric signal corresponding to the operation can be generated and a situation can be produced in which such a pilot electric signal can be transmitted to the control unit.

In the above-described situation, when the construction machine is started, the pilot electric signal is provided to the control unit, and the control unit controls the control valve provided in the main control valve to actuate the actuator corresponding to the pilot electric signal .

Such a situation is an abnormal situation, and there is a problem that a certain actuator suddenly can be suddenly operated irrespective of the will of the operator, and the risk of an accident is very high.

On the other hand, a problem may arise in the pilot electrical signal line causing the pilot electrical signal to be transmitted while the construction machine is normally working. If there is a problem with the pilot electric signal line, it is necessary to correct the posture of the construction machine or move to a safe place to prevent further accidents. However, the conventional construction machine does not have a proper countermeasure when a problem occurs in transmitting the pilot electric signal.

Korean Patent Publication No. 10-2012-0072748 (2012.07.04.) Japanese Unexamined Patent Publication No. 2010-286116 (December 24, 2010)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a construction machine using an electronic input device, in which an actuator can not be actuated before an actuator is suddenly operated, And to provide a control device and a control method of a construction machine that can prevent the occurrence of such a problem.

It is another object of the present invention to provide a construction machine that can arrange the posture of a construction machine or move to a safe place when a problem occurs in a pilot electrical signal line for transferring a pilot electrical signal, A control device and a control method.

According to an aspect of the present invention, there is provided an apparatus for controlling a construction machine, including: an electronic input device (10) for generating first and second pilot electric signals for operating a plurality of actuators (41, 42); A control unit (20) which is controlled so that the first and second pilot electric signals are provided to the corresponding electron proportional control valve; First and second control valve units (31, 32) controlled so that hydraulic oil is supplied to the plurality of actuators (41, 42), respectively; A first and second electromagnetic proportional control valve (51, 52) controlled to be provided with a first pilot flow rate by the first pilot electrical signal and to be provided to a spool pressure portion of the first control valve unit (31); A third and fourth electromagnetic proportional control valve (61, 62) controlled to be controlled by the second pilot electrical signal and to be provided to the spool pressure portion of the second control valve unit (32); The pilot cutoff valve 70 is controlled so that the first and second pilot flow rates are immediately drained when the pilot cutoff lever is not in the safety position; Second, third and fourth electronic proportional control valves 51, 52 and 61 (hereinafter, referred to as " first and second pilot flow control valves ") when an error occurs in the oil pressure circuit and / or when the electronic input device 10 malfunctions at first. , And an EPPR cut-off valve (80) which is shut off controlled so as not to be provided to the first,

When a short error occurs in the first and second control valve units 31 and 32 or the EPPR cut-off valve 80, the control device of the construction machine according to the embodiment of the present invention further includes: The EPPR cutoff valve 80 may be blocked.

The controller of the construction machine according to the embodiment of the present invention may further comprise a control unit for controlling the operation of the first and second control valve units 31 and 32 or the EPPR cut- It may be switched to emergency operation.

The controller of the construction machine according to the embodiment of the present invention further includes a monitor (not shown) for indicating whether the pilot cut-off valve 70 is operating, whether the EPPR cut-off valve 80 is operating, 100) < / RTI >

Further, in the emergency operation of the control apparatus of the construction machine according to the embodiment of the present invention, the pilot electric signal line connected to the control valve unit in which the error is generated is disconnected, and the pilot electric signal line connected to the normal control valve unit is disconnected And to be connected to the control valve unit in which an error has occurred.

The control device of the construction machine according to the embodiment of the present invention may further include an operation example 110 of the actuator according to the operation of the electronic input device on the basis of the change of the pilot electric signal line, ≪ / RTI >

According to an aspect of the present invention, there is provided a method of controlling a construction machine, the method comprising: generating first and second pilot electrical signals for actuating actuators (41, 42) by an electronic input device , The working fluid is supplied to the actuators 41 and 42 under the control of the first and second control valve units 31 and 32 and the first and second electromagnetic proportional control valves 51 and 52 are supplied with the first pilot electric signal , The first pilot flow rate is provided to the spool pressure receiving portion of the first control valve unit 31 and the third and fourth electromagnetic proportional control valves 61 and 62 are provided to the second The second pilot flow rate is controlled based on the pilot electric signal, the second pilot flow rate is provided to the spool pressure-receiving portion of the second control valve unit 32, and the pilot cut- The pilot cut-off valve 70 is opened so that the pilot flow rate is immediately drained Second, third, and fourth electronic proportional control valves 51, 52, and 53, respectively, when an error occurs in the hydraulic circuit or the electronic input device 10 malfunctions at first, 61, 62), such that the EPPR cut-off valve (80) is blocked.

The method of controlling a construction machine according to an embodiment of the present invention is characterized in that when a short error occurs in the first and second control valve units 31 and 32 or the EPPR cutoff valve 80, The EPPR cutoff valve 80 may be blocked.

The method of controlling a construction machine according to an embodiment of the present invention may further comprise the steps of: when an open error occurs in the first and second control valve units (31, 32) or the EPPR cut- And switching to emergency operation.

In the control method of the construction machine according to the embodiment of the present invention, whether or not the pilot cut-off valve 70 is operated, whether the EPPR cut-off valve 80 is operated and whether the emergency operation is performed are displayed on the monitor Quot;

Further, in the emergency operation of the control method of the construction machine according to the embodiment of the present invention, the pilot electric signal line connected to the control valve unit in which the error is generated is disconnected, and the pilot electric signal line connected to the normal control valve unit is disconnected And to be connected to the control valve unit in which an error has occurred.

In the control method of the construction machine according to the embodiment of the present invention, an operation example (110) of the actuator according to the operation of the electronic input device is displayed on the monitor (100) based on the change of the pilot electric signal line ≪ / RTI >

The details of other embodiments are included in the detailed description and drawings.

The control device and the control method of the construction machine according to the present invention as described above can prevent the actuator from being operated even when the electronic input device is in the operating position regardless of the intention of the operator at the start of startup, Can be prevented.

In addition, the control device and the control method of the construction machine according to the embodiment of the present invention are characterized in that, when a problem occurs in a pilot electric signal line for transmitting a pilot electric signal, The machine can be moved to a safe place, which can prevent further accidents.

1 is a flowchart for explaining a control apparatus and a control method of a construction machine according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a situation where an emergency operation is performed in a control apparatus and a control method of a construction machine according to an embodiment of the present invention.
3 is a hydraulic circuit diagram for explaining a control device and a control method of a construction machine according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish them, will become apparent by reference to the embodiments described in detail below with reference to the accompanying drawings.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood that the embodiments described below are provided for illustrative purposes only, and that the present invention may be embodied with various modifications and alterations. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the subject matter of the present invention. The accompanying drawings are not necessarily drawn to scale to facilitate understanding of the invention, but may be exaggerated in size.

On the other hand, the terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

Like reference numerals refer to like elements throughout the specification.

Hereinafter, a control apparatus and a control method of a construction machine according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG. 1 is a flowchart for explaining a control apparatus and a control method of a construction machine according to an embodiment of the present invention. FIG. 2 is a diagram for explaining a situation where an emergency operation is performed in a control apparatus and a control method of a construction machine according to an embodiment of the present invention. 3 is a hydraulic circuit diagram for explaining a control device and a control method of a construction machine according to an embodiment of the present invention.

A control device and a control method for a construction machine according to an embodiment of the present invention includes an electronic input device 10, a control unit 20, first and second control valve units 31 and 32, first, second, third and fourth An electromagnetic proportional control valve 51, 52, 61, 62, a pilot cutoff valve 70 and an EPPR cutoff valve 80. [

The electronic input device 10 may generate first and second pilot electrical signals for actuating the actuators 41 and 42. The electronic input device 10 may be, for example, an electronic joystick and an electronic pedal. The electronic joystick can be provided on both sides of the construction machine, for example. One electronic joystick 10 can basically push, pull, and tilt to the left or right to generate four pilot electrical signals. That is, the construction machine is provided with two electronic joysticks 10 so that it can generate eight kinds of pilot electric signals.

The electronic joystick may further include a wheel switch or a button switch. Such a wheel switch or button switch can be used when operating an optional device or performing a specific function. And, as described above, when each switch is operated, an electric signal corresponding to the operation can be generated.

The actuators 41 and 42 may be provided in plurality. The actuators 41 and 42 include, for example, a left traveling motor and a right traveling motor for traveling, a swing motor for turning the upper body, a boom cylinder for operating the boom structure, an arm cylinder for operating the arm structure, A bucket cylinder or the like for actuating the pump. Further, the actuator may be provided with a quick changer for mounting the bucket or attachment, a doser cylinder for operating the doser, an outrigger cylinder for actuating the out trigger, etc. so that the actuator can perform additional functions. In addition, a closure, a breaker, or the like may be mounted as an additional device.

In the embodiment of the present invention, two actuators 41 and 42 are shown in Fig. 3, but as described above, more actuators 41 and 42 can be connected.

The controller 20 may control the first and second pilot electric signals to be provided to the corresponding electron proportional control valves. Further, the control unit 20 functions to receive and process various electric signals.

The first and second control valve units 31 and 32 may be provided in the main control valve MCV.

Although only two of the first and second control valve units 31 and 32 are shown in the embodiment of the present invention, they may be provided in a number corresponding to the number of actuators provided in the construction machine.

The first and second control valve units 31 and 32 are disposed such that the hydraulic fluid supplied from the high pressure pump is in standby and the hydraulic fluid is supplied to the plurality of actuators 41 and 42 Lt; / RTI >

On the other hand, the control valve unit is provided with a spool and the water pressure portion is formed on both sides of the spool, so that one control valve unit can be provided with two electron proportional control valves.

Specifically, the first and second electromagnetic proportional control valves 51 and 52 are controlled such that a first pilot flow rate is formed by the first pilot electrical signal and is provided to the spool pressure receiving portion of the first control valve unit 31 Lt; / RTI >

Similarly, the third and fourth electromagnetic proportional control valves 61 and 62 are controlled such that a second pilot flow amount is formed by the second pilot electrical signal and is provided to the spool pressure receiving portion of the second control valve unit 32 .

The first electromagnetic proportional control valve 51 may provide a pilot flow rate to either spool hydraulic portion of the first control valve unit 31 and the second electromagnetic proportional control valve 52 may provide a pilot flow rate to either the first control valve unit 31, It is possible to provide the pilot flow rate to the other spool pressure receiving portion of the spool valve 31.

Similarly, the third electromagnetic proportional control valve 61 may provide a pilot flow rate to either of the spool pressure receiving portions of the second control valve unit 32, It is possible to provide the pilot flow rate to the other spool pressure receiving portion of the second control valve unit 32. [

That is, when the first pilot electric signal is generated, the first pilot electric signal moves the spool of the first control valve unit 31, and the displacement at which the spool is moved may be proportional to the first pilot electric signal. Thereafter, the actuator provided by the first control valve unit 31 can be actuated.

Similarly, when a second pilot electrical signal is generated, the second pilot electrical signal moves the spool of the second control valve unit 32, and the displacement at which the spool is moved may be proportional to the second pilot electrical signal. Thereafter, the actuator, which the second control valve unit 32 is responsible for, may be actuated.

The construction machine is equipped with a pilot cut-off lever. The pilot cut-off lever can have two positions in a safe position and an unsafe position. And the construction machine can be discharged pilot operated hydraulic oil from the pump.

When the pilot cut-off lever is in the safety position, the pilot hydraulic oil can be provided to various control valves used. That is, when the operator performs an operation to operate the electronic input device or to operate a specific actuator, the actuator can be normally operated.

On the other hand, when the pilot cutoff lever is in the unsafe position, the pilot hydraulic fluid discharged from the pump can be immediately discharged to the drain tank, whereby various control valves in which the pilot hydraulic fluid is used can lose their function.

As described above, the pilot cut-off valve 70 is controlled so that all of the pilot hydraulic fluid is immediately drained when the pilot cut-off lever is not in the safety position.

More specifically, the pilot cutoff valve 70 may be controlled such that the first and second pilot flow rates are immediately drained if the pilot cutoff lever is not in the safe position. As a result, even if a pilot electric signal is generated so that a specific actuator is operated, the spool of the corresponding control valve is not moved, so that no hydraulic oil is provided to the actuator. As a result, the actuator can not be operated so that the accident can be prevented.

The EPPR cut-off valve 80 is configured such that when the error occurs in the hydraulic circuit or the electronic input apparatus 10 malfunctions at first, the first and second pilot flow rates are set to the first, second, third and fourth electronic proportions Can be controlled so as not to be provided to the control valves 51, 52, 61, 62.

A construction machine may cause an error in the hydraulic circuit due to an unknown reason or unidentified advection. In this case, even if the pilot cut-off valve 70 described above is normally operated, the EPPR cut-off valve 80 can be operated to block the pilot flow rate from being supplied to the electron proportional control valve.

On the other hand, the construction machine is provided with various sensors so as to know whether an error has occurred at a specific position. For the sensor, for example, there may be a pressure sensor. The pressure sensor detects the pressure, and the pressure value is transmitted to the control unit 20 and processed. The control unit 20 can determine that an error has occurred when the pressure is low or excessively high even though the pressure is maintained at a specific position.

On the other hand, when the pilot electrical signal is inputted to the control unit 20 at the beginning of the construction, it can be judged that the electronic input device 10 is malfunctioning.

That is, in the control device and the control method of the construction machine according to the embodiment of the present invention, when an error occurs in the hydraulic circuit of the EPPR cut-off valve 80 or when the electronic input device 10 malfunctions at the beginning, Can be more reliably prevented.

The control device and the control method of the construction machine according to the embodiment of the present invention are characterized in that a short error is generated in the first and second control valve units 31 and 32 or the EPPR cut- If so, the EPPR cut-off valve 80 may be blocked.

This allows the construction machine to lose the function of all the electronic proportional control valves and the spool of the control valve is not moved even if the pilot electrical signal is generated. As a result, it is possible to prevent the actuator from operating abnormally.

The control device and the control method for a construction machine according to an embodiment of the present invention are characterized in that an open error is generated in the first and second control valve units 31 and 32 or the EPPR cut- If so, it can be switched to the emergency operation.

On the other hand, before switching to the emergency operation, the monitor 100 may indicate whether to perform the emergency operation. As a result, the emergency operation can be performed when the operator selects the emergency operation, and the emergency operation can be terminated without performing the emergency operation.

It can be understood that an open error has caused a problem in connection of a particular pilot electrical signal line. For example, although the boom actuator normally operates, there may be a case where the control of the swing motor or the left and right traveling motors is impossible.

There may be a variety of configurations, such as where the attitude of the construction machine is unstable, such as where the boom is elevated, where the arm is in the dump position, or where the construction machine is sloping.

In other words, if the attitude of the construction machine is unstable, emergency operation can be carried out to prevent further accidents. It is possible to stabilize the posture of the construction machine through the emergency operation and to move the construction machine to a safe place.

In addition, the control device and the control method of the construction machine according to the embodiment of the present invention may be configured to control the operation of the pilot cutoff valve 70, the operation of the EPPR cutoff valve 80, And may further include a monitor 100 to be displayed.

Thus, it is possible to display on the monitor 100 more specifically whether the state of the construction machine is in an abnormal state or in an abnormal state.

As described above, if the pilot cut-off valve 70 or the EPPR cut-off valve 80 is blocked, it is indicated to the monitor 100 that the monitor 100 is blocked so that the operator can know.

The pilot electric signal line connected to the control valve unit in which the error is generated is disconnected, and the pilot electric signal line connected to the normal control valve unit is disconnected from the pilot electric signal line connected to the normal control valve unit. And to be connected to the control valve unit in which an error has occurred.

On the one hand, the pilot electrical signal line may be physically separated from any particular connector and plugged back into the other connector. In this case, the physical length of the pilot electrical signal line can be provided in a length sufficient to be plugged into another adjacent connector.

On the other hand, the control unit 20 can logically change the output address of the pilot electric signal. The information provided by the manufacturer of the construction machine can be used in advance to determine which pilot electric signal can be changed to control which actuator. For example, the pilot electric signal for driving can be set to be connected to the swing motor for the upper body swing, and vice versa.

When a problem arises in the first pilot electric signal line for controlling the left and right traveling motors, for example, in the emergency operation, the first pilot electric signal line is disconnected from the connector or logically disconnected in the controller 20, A second pilot electric signal line for controlling the swing motor may be temporarily connected to the first pilot electric signal line.

Thus, when operating the electronic joystick, when the operation for removing the swing motor is performed when the construction machine is normal, the left and right traveling motors can be controlled and the construction machine can be driven.

That is, it is possible to control the posture of the construction machine in a stable posture by performing the emergency operation, and to move to the safe terrain from the dangerous terrain. This can prevent the occurrence of additional accidents.

The control device and the control method of a construction machine according to an embodiment of the present invention may further include an operation example 110 of the actuator according to an operation of the electronic input device based on the change of the pilot electric signal line, 100). ≪ / RTI >

Thus, it is possible to refer to which electronic input device 10 is operated to perform desired control. That is, since the operation example (110) of the actuator is displayed on the monitor (100), accurate control becomes possible, and the convenience of the operator can be increased.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. will be.

It is to be understood, therefore, that the embodiments described above are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the following claims and any claims which come within the meaning and range of equivalency of the claims and their equivalents All changes or modifications should be construed as being included within the scope of the present invention.

The control device and the control method of the construction machine according to the embodiment of the present invention can be used to control the construction machine.

10: Electronic input device
20:
31, 32: first and second control valve units
41, 42: First and second actuators
51, 52: first and second electron proportional control valves
61, 62: third and fourth electron proportional control valves
70: Pilot cut-off valve
80: EPPR cut-off valve
100: Monitor

Claims (12)

An electronic input device (10) for generating first and second pilot electrical signals for actuating a plurality of actuators (41, 42);
A control unit (20) which is controlled so that the first and second pilot electric signals are provided to the corresponding electron proportional control valve;
First and second control valve units (31, 32) controlled so that hydraulic oil is supplied to the plurality of actuators (41, 42), respectively;
A first and second electromagnetic proportional control valve (51, 52) controlled to be provided with a first pilot flow rate by the first pilot electrical signal and to be provided to a spool pressure portion of the first control valve unit (31);
A third and fourth electromagnetic proportional control valve (61, 62) controlled to be controlled by the second pilot electrical signal and to be provided to the spool pressure portion of the second control valve unit (32);
The pilot cutoff valve 70 is controlled so that the first and second pilot flow rates are immediately drained when the pilot cutoff lever is not in the safety position; And
The first and second pilot flow rates of the first, second, third and fourth electromagnetic proportional control valves 51, 52, 61, and 61 are set such that, when an error occurs in the hydraulic circuit or the electronic input device 10 malfunctions at first, Controlled by the EPPR cut-off valve (80) so as not to be provided to the control valve (62);
And the control device of the construction machine.
The method according to claim 1,
In the first and second control valve units (31, 32) or the EPPR cut-off valve (80)
If a short error occurs, the EPPR cut-off valve 80 is blocked;
And the control device of the construction machine.
3. The method of claim 2,
In the first and second control valve units (31, 32) or the EPPR cut-off valve (80)
Switching to the emergency operation if an open error occurs;
And the control device of the construction machine.
The method of claim 3,
A monitor (100) displaying whether the pilot cutoff valve (70) is operated, whether the EPPR cutoff valve (80) is operated and whether the emergency operation is performed;
And a control unit for controlling the construction machine.
5. The method of claim 4,
In the emergency operation,
The pilot electric signal line connected to the control valve unit in which the error has occurred is disconnected,
The pilot electrical signal line connected to the normal control valve unit is changed to be connected to the control valve unit in which the error has occurred
And the control device of the construction machine.
6. The method of claim 5,
An example of the operation of the actuator according to the operation of the electronic input device 110 is displayed on the monitor 100 based on the change of the pilot electric signal line
And the control device of the construction machine.
The first and second pilot electrical signals for actuating the actuators 41 and 42 respectively are generated by the electronic input device 10,
The operating fluid is supplied to the actuators 41 and 42 under the control of the first and second control valve units 31 and 32,
The first and second electromagnetic proportional control valves 51 and 52 are controlled such that the first pilot flow rate is controlled on the basis of the first pilot electric signal and the first pilot flow rate is supplied to the spool pressure receiving portion of the first control valve unit 31 ≪ / RTI &
The second pilot flow rate is controlled based on the second pilot electric signal, and the second pilot flow rate is controlled by the third and fourth electromagnetic proportional control valves 61 and 62 in the spool pressure receiving portion of the second control valve unit 32 Provided,
The pilot cutoff valve 70 is controlled such that the first and second pilot flow rates are immediately drained when the pilot cutoff lever is not in the safety position,
The first and second pilot flow rates of the first, second, third and fourth electromagnetic proportional control valves 51, 52, 61, and 61 are set such that, when an error occurs in the hydraulic circuit or the electronic input device 10 malfunctions at first, The EPPR cutoff valve 80 is shut off controlled so as not to be provided to the < RTI ID = 0.0 >
And a control device for controlling the construction machine.
8. The method of claim 7,
In the first and second control valve units (31, 32) or the EPPR cut-off valve (80)
If a short error occurs, the EPPR cut-off valve 80 is blocked;
And a control device for controlling the construction machine.
9. The method of claim 8,
In the first and second control valve units (31, 32) or the EPPR cut-off valve (80)
Switching to the emergency operation if an open error occurs;
And a control device for controlling the construction machine.
10. The method of claim 9,
Further comprising: displaying on the monitor whether or not the pilot cut-off valve (70) is operating, whether the EPPR cut-off valve (80) is operating and whether the emergency operation is performed.
11. The method of claim 10,
In the emergency operation,
The pilot electric signal line connected to the control valve unit in which the error has occurred is disconnected,
The pilot electrical signal line connected to the normal control valve unit is changed to be connected to the control valve unit in which the error has occurred
And a control device for controlling the construction machine.
12. The method of claim 11,
An example of the operation of the actuator according to the operation of the electronic input device 110 is displayed on the monitor 100 based on the change of the pilot electric signal line
And a control device for controlling the construction machine.

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