WO2012026633A1 - Device for controlling construction equipment - Google Patents

Device for controlling construction equipment Download PDF

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Publication number
WO2012026633A1
WO2012026633A1 PCT/KR2010/005606 KR2010005606W WO2012026633A1 WO 2012026633 A1 WO2012026633 A1 WO 2012026633A1 KR 2010005606 W KR2010005606 W KR 2010005606W WO 2012026633 A1 WO2012026633 A1 WO 2012026633A1
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WO
WIPO (PCT)
Prior art keywords
remote control
valve
control valve
pressure
signal
Prior art date
Application number
PCT/KR2010/005606
Other languages
French (fr)
Korean (ko)
Inventor
김동수
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 볼보 컨스트럭션 이큅먼트 에이비 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to KR20137004526A priority Critical patent/KR20130111532A/en
Priority to JP2013525795A priority patent/JP2013540957A/en
Priority to CN201080068670.7A priority patent/CN103052755B/en
Priority to PCT/KR2010/005606 priority patent/WO2012026633A1/en
Priority to US13/818,175 priority patent/US20130146163A1/en
Priority to EP10856458.4A priority patent/EP2610409A4/en
Publication of WO2012026633A1 publication Critical patent/WO2012026633A1/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/167—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load using pilot pressure to sense the demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3052—Shuttle valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/355—Pilot pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/575—Pilot pressure control
    • F15B2211/5756—Pilot pressure control for opening a valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/865—Prevention of failures
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/85978—With pump
    • Y10T137/85986—Pumped fluid control
    • Y10T137/86027—Electric

Definitions

  • the present invention relates to a control device for a construction machine, and more particularly, to a control device for a construction machine capable of controlling a spool of an MCV equipped with a hydraulic remote control valve and a bidirectional control spool to control hydraulic oil supplied to a hydraulic actuator. will be.
  • the conventional hydraulic MCV control circuit shown in FIG. 1 includes an engine 1,
  • a main hydraulic pump 2 (hereinafter referred to as a "hydraulic pump") and a pilot pump 3 connected to the engine 1,
  • a hydraulic actuator 4 (referred to as “hydraulic motor” as an example) connected to the hydraulic pump 2,
  • a spool (5) of a main control valve (MCV) installed in a flow path between the hydraulic pump (2) and the hydraulic actuator (4) and controlling the starting, stopping, and direction change of the hydraulic actuator (4) at the time of switching;
  • RCV remote control valve
  • the secondary signal is discharged from the pilot pump 3 and passes through the remote control valve 6 in proportion to the operation amount. Pressure is supplied to the spool 5. As a result, displacement of the spool 5 occurs in proportion to the secondary signal pressure, so that hydraulic oil from the hydraulic pump 2 passes through the spool 5 to be supplied to the hydraulic actuator 4.
  • the control of the spool 5 described above depends on the operation amount of the remote control valve 6.
  • the electrohydraulic MCV control circuit of the prior art shown in FIG. 2 includes an engine 1,
  • a spool 5 of the MCV which is installed in the flow path between the hydraulic pump 2 and the hydraulic actuator 4 and controls the start, stop and direction change of the hydraulic actuator 4 at the time of switching,
  • Electromagnetic proportional pressure reducing valves 7 and 8 for outputting a secondary signal pressure to the spool 5 in proportion to an electrical control signal from the outside;
  • a controller 9 for calculating an operation signal corresponding to the operation amount of the operation lever 8 and outputting an electric control signal to the electromagnetic proportional pressure reducing valves 7, 8.
  • an operation signal proportional to the operation amount is input to the controller 9.
  • the controller 9 calculates an output value corresponding to the operation amount and outputs it as a control signal to the electromagnetic proportional pressure reducing valves 7 and 8 so as to control the spool 5. That is, the spool 5 is controlled by the electromagnetic proportional pressure reducing valves 7, 8 so that the operating amount of the operating lever 8 can be controlled to control the hydraulic oil supplied to the hydraulic actuator 4 under optimum conditions. The operation of the lever 8 can be corrected.
  • the embodiment of the present invention can control the spool of the bidirectional driveable MCV so that the hydraulic actuator can be smoothly accelerated even when the driver operates the remote control valve (RCV) abruptly. It is associated with the control of a construction machine to prevent the malfunction of MCV in case of failure.
  • RCV remote control valve
  • the control apparatus of a construction machine comprising an engine, a hydraulic pump connected to the engine, and a hydraulic actuator capable of driving in both directions to receive hydraulic oil from the hydraulic pump to drive the work device.
  • a remote control valve for outputting a second signal pressure proportional to the user's operation amount
  • Manipulated variable detecting means for detecting an output side secondary signal pressure of a remote control valve
  • An electronic proportional pressure reducing valve that outputs a secondary signal pressure in proportion to an electrical control signal from the outside;
  • One input part is connected to the secondary signal pressure of the remote control valve, and the output side port of the electromagnetic proportional pressure reducing valve is connected to the other input part, and outputs the high pressure among the signal pressures passing through the remote control valve and the electromagnetic proportional pressure reducing valve.
  • 1,2 shuttle valve 1,2 shuttle valve
  • a bidirectional control spool installed in the flow path between the hydraulic pump and the hydraulic actuator and controlling the start, stop and direction change of the hydraulic actuator at the time of switching by the signal pressure output from the first and second shuttle valves;
  • a controller for calculating a control signal corresponding to the manipulated variable inputted from the manipulated variable detecting means and outputting the control signal to the electromagnetic proportional pressure reducing valve.
  • the operation amount detection means for detecting the operation amount of the above-described remote control valve
  • An input is connected to the secondary signal pressure at the output side of the remote control valve, and the third shuttle valve outputs the high pressure of the two-way signal pressure passing through the remote control valve, and the output signal of the third shuttle valve is connected to the controller. It includes an input pressure sensor.
  • the manipulated variable detecting means for detecting the manipulated variable of the above-described remote control valve
  • the controller can control the spool of the bidirectional driveable MCV while reducing the cost of parts, and can provide reliability because MCV malfunctions are blocked in the event of unexpected failure of the valve drive electrical circuit.
  • FIG. 3 is an electro-hydraulic MCV control circuit diagram of a construction machine control apparatus according to a first embodiment of the present invention
  • FIG. 4 is a graph for explaining the control of the electromagnetic proportional pressure reducing valve by the controller in the construction machine control apparatus according to the first embodiment of the present invention
  • FIG. 5 is an electro-hydraulic MCV control circuit diagram of a construction machine control apparatus according to a second embodiment of the present invention.
  • control apparatus of the construction machine according to the first embodiment of the present invention, the engine 11, the hydraulic pump 12 and the pilot pump 13 connected to the engine 11,
  • a construction machine provided with a hydraulic actuator (referred to as an example hydraulic motor, etc.) 14 which can be driven in both directions to receive hydraulic oil from the hydraulic pump 12 to drive a work device (such as a boom).
  • a hydraulic actuator referred to as an example hydraulic motor, etc.
  • Manipulated variable detecting means for detecting an output side secondary signal pressure of the remote control valve 16
  • An electromagnetic proportional pressure reducing valve 17 for outputting a secondary signal pressure in proportion to an electrical control signal from the outside;
  • One input part is connected to the secondary signal pressure of the remote control valve 16, and the output side port of the electromagnetic proportional pressure reducing valve (PPRV) 17 is connected to the other input part, respectively, the remote control valve 16 and the electromagnetic proportional pressure reducing valve First and second shuttle valves 18 and 19 for outputting a higher pressure among the signal pressures passing through 17,
  • PPRV electromagnetic proportional pressure reducing valve
  • a controller 20 for calculating an output value corresponding to the manipulated variable inputted from the manipulated variable detecting means and outputting it as a control signal to the electromagnetic proportional pressure reducing valve 17.
  • a third shuttle valve 21 and a third shuttle valve (21) for outputting the high pressure of the two-way signal pressure passing through the remote control valve 16 and the inputs are respectively connected to the output side secondary signal pressure of the remote control valve (16) ( It is connected to the output side of the 21 and comprises a pressure sensor 22 for inputting a detection signal to the controller (20).
  • the secondary signal pressure passing through the remote control valve is detected through the pressure sensor 22 provided on the output side of the third shuttle valve 21, and the detected signal pressure P is input to the controller 20. .
  • the left and right ports of the spool 15 are connected to the output sides of the first and second shuttle valves 18 and 19, respectively, and the input portions of the first and second shuttle valves 18 and 19 are respectively proportional to the electromagnetic proportional pressure reducing valve 17. It is connected to the output side and the output side of the remote control valve 16, respectively.
  • the secondary signal pressure (that is, the case having the same inclination value as the diagram "A) according to the operation of the remote control valve 16 is connected to the left port of the spool 15 via the first shuttle valve 18.
  • the secondary signal pressure of the electromagnetic proportional pressure reducing valve (referring to the case where the slope value is equal to the "C") is determined by the control signal output from the controller 20 to the electromagnetic proportional pressure reducing valve 17. It is supplied to the right port of the spool 15 via the shuttle valve 19.
  • the signal pressure value supplied to one port of the spool 15 through the first shuttle valve 18 according to the operation of the remote control valve 16 is an electromagnetic proportional pressure reducing valve according to the control signal input from the controller 20.
  • the signal pressure generated by (17) and supplied to the other port of the spool 15 via the second shuttle valve 19 is relatively larger.
  • the signal pressure acting on the spool 15 acts in the opposite direction to the output side secondary signal pressure caused by the operation of the remote control valve 16.
  • Inputs are respectively connected to the output side secondary signal pressure of the remote control valve 16, and outputs are connected to the input side port of the electromagnetic proportional pressure reducing valve 17, and the high pressure of the two-way signal pressure passing through the remote control valve 16 is applied.
  • a pressure sensor 22 connected to an output side of the fourth shuttle valve 23 and inputting a detection signal to the controller 20.
  • the hydraulic oil discharged from the pilot pump 13 passes through the remote control valve 16 and is converted into secondary signal pressure, so that the output of the fourth shuttle valve 23 is output.
  • the signal pressure P1 passing through the part is supplied to the input side port of the electromagnetic proportional pressure reducing valve 17. This makes the reliability of failure of the valve drive electric circuit relatively high.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Provided is a device for controlling construction equipment for controlling the spool of an MCV, which is bidirectionally controllable, to control working fluid which is supplied to a hydraulic actuator. According to the present invention, provided is a device for controlling construction equipment, comprising: a remote control valve for outputting a secondary signal pressure which is proportionate to the amount calibrated by a user; a calibrated amount detection means for detecting the secondary signal pressure of the remote control valve; an electro proportional pressure reducing valve for outputting the secondary signal pressure; first and second shuttle valves, each of the shuttle valves having an input portion on one side which connects to the secondary signal pressure of the remote control valve, and an input portion on the other side to which output-side ports of the electro proportional pressure reducing valve connect respectively; a bidirectional control spool for controlling the actuation of the hydraulic actuator when exchanging by means of the signal pressure output from the first and second shuttle valves; and a controller for outputting a control signal to the electro proportional pressure reducing valve so as to correspond to the operation amount which is input by the operation amount detection means.

Description

건설기계의 제어장치Control equipment of construction machinery
본 발명은 건설기계의 제어장치에 관한 것으로, 특히 유압 액츄에이터에 공급되는 작동유를 제어하기 위해 유압식 리모트 컨트롤밸브와 양방향 제어 스풀이 구비된 MCV의 스풀을 제어할 수 있도록 한 건설기계의 제어장치에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a construction machine, and more particularly, to a control device for a construction machine capable of controlling a spool of an MCV equipped with a hydraulic remote control valve and a bidirectional control spool to control hydraulic oil supplied to a hydraulic actuator. will be.
일반적으로, 굴삭기와 같은 건설기계의 작업장치(붐 등을 말한다)의 조작성을 향상시키거나, 작업장치와 주행장치를 동시에 조작하는 복합 조작시 작업장치를 우선적으로 제어하거나, 또는 연비를 개선시킬 수 있도록, 사용자에 의한 조작신호를 컨트롤러에서 입력받고 유압 액츄에이터의 바람직한 구동을 달성할 수 있는 MCV의 스풀을 제어하는 기술이 요구되고 있다.In general, it is possible to improve the operability of a work machine (such as a boom) of a construction machine such as an excavator, to preferentially control the work device or to improve fuel efficiency in a complex operation of simultaneously operating the work device and the traveling device. There is a need for a technique of controlling a spool of an MCV capable of receiving an operation signal by a user from a controller and achieving a desired drive of the hydraulic actuator.
도 1에 도시된 종래 기술의 유압식 MCV 제어회로는, 엔진(1)과,The conventional hydraulic MCV control circuit shown in FIG. 1 includes an engine 1,
엔진(1)에 연결되는 메인 유압펌프(2)(이하 "유압펌프" 라 한다) 및 파일럿 펌프(3)와,A main hydraulic pump 2 (hereinafter referred to as a "hydraulic pump") and a pilot pump 3 connected to the engine 1,
유압펌프(2)에 연결되는 유압 액츄에이터(4)(일 예로서 "유압모터"를 말한다)와,A hydraulic actuator 4 (referred to as "hydraulic motor" as an example) connected to the hydraulic pump 2,
유압펌프(2)와 유압 액츄에이터(4)사이의 유로에 설치되고, 절환시 유압 액츄에이터(4)의 기동, 정지 및 방향전환을 제어하는 MCV(main control valve)의 스풀(spool)(5)과,A spool (5) of a main control valve (MCV) installed in a flow path between the hydraulic pump (2) and the hydraulic actuator (4) and controlling the starting, stopping, and direction change of the hydraulic actuator (4) at the time of switching; ,
사용자의 조작량에 비례하는 2차 신호압력을 스풀(5)에 출력하는 리모트 컨트롤밸브(RCV;remote control valve)(6)를 포함한다.And a remote control valve (RCV) 6 which outputs a secondary signal pressure proportional to a user's operation amount to the spool 5.
전술한 유압 액츄에이터(4)를 구동시기키 위해 사용자에 의해 리모트 컨트롤밸브(6)를 조작함에 따라, 조작량에 비례하도록 파일럿 펌프(3)로부터 토출되어 리모트 컨트롤밸브(6)를 통과하는 2차 신호압력이 스풀(5)에 공급된다. 이로 인해 2차 신호압력에 비례하여 스풀(5)의 변위가 발생 되므로 유압펌프(2)로부터의 작동유를 스풀(5)을 통과시켜 유압 액츄에이터(4)에 공급하게 된다.As the remote control valve 6 is operated by the user to drive the above-mentioned hydraulic actuator 4, the secondary signal is discharged from the pilot pump 3 and passes through the remote control valve 6 in proportion to the operation amount. Pressure is supplied to the spool 5. As a result, displacement of the spool 5 occurs in proportion to the secondary signal pressure, so that hydraulic oil from the hydraulic pump 2 passes through the spool 5 to be supplied to the hydraulic actuator 4.
이때, 전술한 스풀(5)의 제어는 리모트 컨트롤밸브(6)의 조작량에 의존하게 된다. 이로 인해 사용자가 리모트 컨트롤밸브(6)를 급격하게 조작하는 경우에도 유압 액츄에이터(4)가 부드럽게 가속될 수 있도록, 스풀(5)의 급작스런 개방을 제한할 수 있는 장치가 요구된다. 즉 리모트 컨트롤밸브(6)의 출력측과 스풀(5)사이의 파일럿 신호라인에 오리피스(orifice)를 설치할 경우, 오리피스에 의한 기능이 작동유의 온도 등에 의해 제한적으로 발휘될 수 있는 단점을 갖는다.At this time, the control of the spool 5 described above depends on the operation amount of the remote control valve 6. This requires a device that can limit the sudden opening of the spool 5 so that the hydraulic actuator 4 can be accelerated smoothly even when the user manipulates the remote control valve 6 sharply. That is, when an orifice is provided on the pilot signal line between the output side of the remote control valve 6 and the spool 5, the function by the orifice can be limitedly exerted by the temperature of the hydraulic oil.
도 2에 도시된 종래 기술의 전자 유압식 MCV 제어회로는, 엔진(1)과,The electrohydraulic MCV control circuit of the prior art shown in FIG. 2 includes an engine 1,
엔진(1)에 연결되는 유압펌프(2) 및 파일럿 펌프(3)와,A hydraulic pump 2 and a pilot pump 3 connected to the engine 1,
유압펌프(2)에 연결되는 유압 액츄에이터(4)와,A hydraulic actuator 4 connected to the hydraulic pump 2,
유압펌프(2)와 유압 액츄에이터(4)사이의 유로에 설치되고, 절환시 유압 액츄에이터(4)의 기동, 정지 및 방향전환을 제어하는 MCV의 스풀(5)과,A spool 5 of the MCV, which is installed in the flow path between the hydraulic pump 2 and the hydraulic actuator 4 and controls the start, stop and direction change of the hydraulic actuator 4 at the time of switching,
외부로부터의 전기적 제어신호에 비례하는 2차 신호압력을 스풀(5)에 출력하는 전자비례 감압밸브(7,8)와,Electromagnetic proportional pressure reducing valves 7 and 8 for outputting a secondary signal pressure to the spool 5 in proportion to an electrical control signal from the outside;
사용자의 조작량에 비례하도록 조작신호를 출력하는 조작레버(8)와,An operation lever 8 for outputting an operation signal in proportion to a user operation amount;
조작레버(8)의 조작량에 대응되게 조작신호를 연산하여 전자비례 감압밸브(7,8)에 전기적 제어신호를 출력하는 컨트롤러(9)를 포함한다.And a controller 9 for calculating an operation signal corresponding to the operation amount of the operation lever 8 and outputting an electric control signal to the electromagnetic proportional pressure reducing valves 7, 8.
전술한 유압 액츄에이터(4)를 구동시기키 위해 사용자에 의해 조작레버(8)를 조작함에 따라 조작량에 비례하는 조작신호가 컨트롤러(9)에 입력된다. 컨트롤러(9)는 조작량에 대응되게 출력값을 연산하여 스풀(5)을 제어할 수 있도록 전자비례 감압밸브(7,8)에 제어신호로 출력한다. 즉 유압 액츄에이터(4)에 공급되는 작동유를 최적의 조건으로 제어할 수 있도록 조작레버(8)의 조작량을 전자비례 감압밸브(7,8)를 통하여 스풀(5)을 제어하게 되므로 사용자에 의한 조작레버(8)의 조작을 보정할 수 있다.As the operation lever 8 is operated by the user to drive the aforementioned hydraulic actuator 4, an operation signal proportional to the operation amount is input to the controller 9. The controller 9 calculates an output value corresponding to the operation amount and outputs it as a control signal to the electromagnetic proportional pressure reducing valves 7 and 8 so as to control the spool 5. That is, the spool 5 is controlled by the electromagnetic proportional pressure reducing valves 7, 8 so that the operating amount of the operating lever 8 can be controlled to control the hydraulic oil supplied to the hydraulic actuator 4 under optimum conditions. The operation of the lever 8 can be corrected.
이때, 전술한 조작레버(8)로써 고가의 전자식 조이스틱을 사용하게 되므로 부품의 원가비용 상승을 초래한다. 또한 양방향 제어 가능한 MCV의 스풀(5)을 제어할 수 있도록 한 쌍의 전자비례 감압밸브(7,8)를 사용하게 되므로 부품수 증가로 원가비용 상승을 초래하는 문제점을 갖는다.At this time, since the expensive electronic joystick is used as the operation lever 8 described above, the cost of parts is increased. In addition, since a pair of electromagnetic proportional pressure reducing valves 7 and 8 are used to control the spool 5 of the bidirectional controllable MCV, there is a problem in that cost increases due to an increase in the number of parts.
본 발명의 실시예는, 운전자가 리모트 컨트롤밸브(RCV)를 급격하게 조작하는 경우에도 유압 액츄에이터가 완만한 가속이 될 수 있도록 양방향 구동가능한 MCV의 스풀을 제어할 수 있고, 밸브 구동 전기회로의 예기치 못한 고장 발생시 MCV의 오동작이 차단될 수 있도록 한 건설기계의 제어장치와 관련된다.The embodiment of the present invention can control the spool of the bidirectional driveable MCV so that the hydraulic actuator can be smoothly accelerated even when the driver operates the remote control valve (RCV) abruptly. It is associated with the control of a construction machine to prevent the malfunction of MCV in case of failure.
본 발명의 바람직한 제1실시예에 의하면, 엔진과, 엔진에 연결되는 유압펌프와, 유압펌프로부터 작동유를 공급받아 작업장치를 구동시키도록 양방향 구동 가능한 유압 액츄에이터를 구비하는 건설기계의 제어장치에 있어서,According to a first preferred embodiment of the present invention, in the control apparatus of a construction machine, comprising an engine, a hydraulic pump connected to the engine, and a hydraulic actuator capable of driving in both directions to receive hydraulic oil from the hydraulic pump to drive the work device. ,
사용자의 조작량에 비례하도록 2차 신호압력을 출력하는 리모트 컨트롤밸브와,A remote control valve for outputting a second signal pressure proportional to the user's operation amount;
리모트 컨트롤밸브의 출력측 2차 신호압력을 검출하는 조작량 검출수단과,Manipulated variable detecting means for detecting an output side secondary signal pressure of a remote control valve;
외부로부터의 전기적 제어신호에 비례하도록 2차 신호압력을 출력하는 전자비례 감압밸브와,An electronic proportional pressure reducing valve that outputs a secondary signal pressure in proportion to an electrical control signal from the outside;
리모트 컨트롤밸브의 2차 신호압력에 일측 입력부가 각각 연결되고 전자비례 감압밸브의 출력측 포트가 타측 입력부에 각각 연결되며, 리모트 컨트롤밸브와 전자비례 감압밸브를 통과하는 신호압력중 높은 압력을 출력하는 제1,2셔틀밸브와,One input part is connected to the secondary signal pressure of the remote control valve, and the output side port of the electromagnetic proportional pressure reducing valve is connected to the other input part, and outputs the high pressure among the signal pressures passing through the remote control valve and the electromagnetic proportional pressure reducing valve. 1,2 shuttle valve,
유압펌프와 유압 액츄에이터사이의 유로에 설치되고, 제1,2셔틀밸브로부터 출력되는 신호압력에 의해 절환시 유압 액츄에이터의 기동, 정지 및 방향전환을 제어하는 양방향 제어 스풀과,A bidirectional control spool installed in the flow path between the hydraulic pump and the hydraulic actuator and controlling the start, stop and direction change of the hydraulic actuator at the time of switching by the signal pressure output from the first and second shuttle valves;
조작량 검출수단으로부터 입력되는 조작량에 대응되는 제어신호를 연산하여 전자비례 감압밸브에 제어신호를 출력하는 컨트롤러를 포함한다.And a controller for calculating a control signal corresponding to the manipulated variable inputted from the manipulated variable detecting means and outputting the control signal to the electromagnetic proportional pressure reducing valve.
더욱 바람직한 실시예에 의하면, 전술한 리모트 컨트롤밸브의 조작량을 검출하는 조작량 검출수단은,According to a further preferred embodiment, the operation amount detection means for detecting the operation amount of the above-described remote control valve,
리모트 컨트롤밸브의 출력측 2차 신호압력에 입력부가 각각 연결되고 리모트 컨트롤밸브를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제3셔틀밸브와, 제3셔틀밸브의 출력측에 연결되고 검출신호를 컨트롤러에 입력하는 압력센서를 포함한다.An input is connected to the secondary signal pressure at the output side of the remote control valve, and the third shuttle valve outputs the high pressure of the two-way signal pressure passing through the remote control valve, and the output signal of the third shuttle valve is connected to the controller. It includes an input pressure sensor.
전술한 리모트 컨트롤밸브의 조작량을 검출하는 조작량 검출수단은,The manipulated variable detecting means for detecting the manipulated variable of the above-described remote control valve,
리모트 컨트롤밸브의 출력측 2차 신호압력에 입력부가 각각 연결되고 전자비례 감압밸브의 입력측 포트에 출력부가 연결되며, 리모트 컨트롤밸브를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제4셔틀밸브와, 제4셔틀밸브의 출력측에 연결되고 검출신호를 컨트롤러에 입력하는 압력센서를 포함한다.A fourth shuttle valve for outputting the high pressure of the two-way signal pressure passing through the remote control valve, the input being respectively connected to the output side secondary signal pressure of the remote control valve and the input port to the input side port of the electromagnetic proportional pressure reducing valve; 4 includes a pressure sensor connected to the output of the shuttle valve and inputting a detection signal to the controller.
전술한 바와 같이 구성되는 본 발명의 실시예들에 의하면 아래와 같은 이점을 갖는다.According to the embodiments of the present invention configured as described above has the following advantages.
부품의 원가비용을 줄이면서 컨트롤러를 통하여 양방향 구동가능한 MCV의 스풀을 제어할 수 있으며, 밸브 구동 전기회로의 예기치 못한 고장 발생시 MCV의 오동작이 차단되므로 신뢰성을 제공할 수 있다.The controller can control the spool of the bidirectional driveable MCV while reducing the cost of parts, and can provide reliability because MCV malfunctions are blocked in the event of unexpected failure of the valve drive electrical circuit.
도 1은 종래 기술의 유압식 MCV 제어 회로도,1 is a hydraulic MCV control circuit diagram of the prior art,
도 2는 종래 기술의 전자 유압식 MCV 제어 회로도,2 is an electrohydraulic MCV control circuit diagram of the prior art,
도 3은 본 발명의 제1실시예에 의한 건설기계 제어장치의 전자 유압식 MCV 제어 회로도,3 is an electro-hydraulic MCV control circuit diagram of a construction machine control apparatus according to a first embodiment of the present invention,
도 4는 본 발명의 제1실시예에 의한 건설기계 제어장치에 있어서, 컨트롤러에 의한 전자비례 감압밸브의 제어를 설명하기 위한 그래프,4 is a graph for explaining the control of the electromagnetic proportional pressure reducing valve by the controller in the construction machine control apparatus according to the first embodiment of the present invention;
도 5는 본 발명의 제2실시예에 의한 건설기계 제어장치의 전자 유압식 MCV 제어 회로도이다.5 is an electro-hydraulic MCV control circuit diagram of a construction machine control apparatus according to a second embodiment of the present invention.
(도면의 주요 부분에 대한 부호의 설명)(Explanation of symbols for the main parts of the drawing)
11; 엔진11; engine
12; 유압펌프12; Hydraulic pump
13; 파일럿 펌프13; Pilot pump
14; 유압 액츄에이터14; Hydraulic actuator
15; 스풀15; spool
16; 리모트 컨트롤밸브(RCV)16; Remote Control Valve (RCV)
17; 전자비례 감압밸브(PPRV)17; Electronic proportional pressure reducing valve (PPRV)
18; 제1셔틀밸브18; 1st shuttle valve
19; 제2셔틀밸브19; 2nd shuttle valve
20; 컨트롤러20; controller
21; 제3셔틀밸브21; 3rd shuttle valve
22; 압력센서22; Pressure sensor
23; 제4셔틀밸브23; 4th Shuttle Valve
이하, 본 발명의 바람직한 실시예를 첨부된 도면을 참조하여 설명하되, 이는 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자가 발명을 용이하게 실시할 수 있을 정도로 상세하게 설명하기 위한 것이지, 이로 인해 본 발명의 기술적인 사상 및 범주가 한정되는 것을 의미하지는 않는 것이다.Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to describe in detail enough to enable those skilled in the art to easily practice the invention, and therefore It does not mean that the technical spirit and scope of the present invention is limited.
도 3 및 도 4에 도시된 본 발명의 제1실시예에 의한 건설기계의 제어장치는,엔진(11)과, 엔진(11)에 연결되는 유압펌프(12) 및 파일럿 펌프(13)와, 유압펌프(12)로부터 작동유를 공급받아 작업장치(일 예로서 붐 등을 말한다) 등을 구동시키도록 양방향으로 구동 가능한 유압 액츄에이터(일 예로서 유압모터 등을 말한다)(14)를 구비하는 건설기계의 제어장치에 있어서,3 and 4, the control apparatus of the construction machine according to the first embodiment of the present invention, the engine 11, the hydraulic pump 12 and the pilot pump 13 connected to the engine 11, A construction machine provided with a hydraulic actuator (referred to as an example hydraulic motor, etc.) 14 which can be driven in both directions to receive hydraulic oil from the hydraulic pump 12 to drive a work device (such as a boom). In the control device of,
사용자(operator)의 조작량에 비례하도록 2차 신호압력을 출력하는 리모트 컨트롤밸브(RCV)(16)와,A remote control valve (RCV) 16 for outputting a secondary signal pressure to be proportional to an operator's operation amount;
리모트 컨트롤밸브(16)의 출력측 2차 신호압력을 검출하는 조작량 검출수단과,Manipulated variable detecting means for detecting an output side secondary signal pressure of the remote control valve 16;
외부로부터의 전기적 제어신호에 비례하도록 2차 신호압력을 출력하는 전자비례 감압밸브(17)와,An electromagnetic proportional pressure reducing valve 17 for outputting a secondary signal pressure in proportion to an electrical control signal from the outside;
리모트 컨트롤밸브(16)의 2차 신호압력에 일측 입력부가 각각 연결되고 전자비례 감압밸브(PPRV)(17)의 출력측 포트가 타측 입력부에 각각 연결되며, 리모트 컨트롤밸브(16)와 전자비례 감압밸브(17)를 통과하는 신호압력중 높은 압력을 출력하는 제1,2셔틀밸브(shuttle valve)(18,19)와,One input part is connected to the secondary signal pressure of the remote control valve 16, and the output side port of the electromagnetic proportional pressure reducing valve (PPRV) 17 is connected to the other input part, respectively, the remote control valve 16 and the electromagnetic proportional pressure reducing valve First and second shuttle valves 18 and 19 for outputting a higher pressure among the signal pressures passing through 17,
유압펌프(12)와 유압 액츄에이터(14)사이의 유로에 설치되고, 제1,2셔틀밸브(18,19)로부터 출력되는 신호압력에 의해 절환시 유압 액츄에이터(14)의 기동, 정지 및 방향전환을 제어하는 양방향 제어 스풀(spool)(15)과,Installed in the flow path between the hydraulic pump 12 and the hydraulic actuator 14, starting, stopping and direction change of the hydraulic actuator 14 at the time of switching by the signal pressure output from the first and second shuttle valves 18 and 19 A bidirectional control spool 15 for controlling the
조작량 검출수단으로부터 입력되는 조작량에 대응되는 출력값을 연산하여 전자비례 감압밸브(17)에 제어신호로 출력하는 컨트롤러(20)를 포함한다.And a controller 20 for calculating an output value corresponding to the manipulated variable inputted from the manipulated variable detecting means and outputting it as a control signal to the electromagnetic proportional pressure reducing valve 17.
이때, 전술한 리모트 컨트롤밸브(16)의 조작량을 검출하는 조작량 검출수단은,At this time, the operation amount detection means for detecting the operation amount of the above-described remote control valve 16,
리모트 컨트롤밸브(16)의 출력측 2차 신호압력에 입력부가 각각 연결되고 리모트 컨트롤밸브(16)를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제3셔틀밸브(21)와, 제3셔틀밸브(21)의 출력측에 연결되고 검출신호를 컨트롤러(20)에 입력하는 압력센서(22)를 포함한다.A third shuttle valve 21 and a third shuttle valve (21) for outputting the high pressure of the two-way signal pressure passing through the remote control valve 16 and the inputs are respectively connected to the output side secondary signal pressure of the remote control valve (16) ( It is connected to the output side of the 21 and comprises a pressure sensor 22 for inputting a detection signal to the controller (20).
이하에서, 본 발명의 제1실시예에 의한 건설기계의 제어장치의 작동을 설명한다.Hereinafter, the operation of the control device of the construction machine according to the first embodiment of the present invention.
도 3 및 도 4에서와 같이, 사용자에 의해 유압 액츄에이터(14)를 구동시키기 위해 좌측 리모트 컨트롤밸브(16)를 조작할 경우, 파일럿 펌프(3)의 작동유 일부는 해당 리모트 컨트롤밸브를 경유하여 제1셔틀밸브(18)에 공급되며, 파일럿 펌프(3)의 작동유 일부는 전자비례 감압밸브(17)의 입구측 포트에 공급된다.3 and 4, when the user operates the left remote control valve 16 to drive the hydraulic actuator 14, a part of the hydraulic oil of the pilot pump 3 is removed via the corresponding remote control valve. 1 is supplied to the shuttle valve 18, a part of the hydraulic oil of the pilot pump 3 is supplied to the inlet port of the electromagnetic proportional pressure reducing valve 17.
한편, 해당 리모트 컨트롤밸브를 통과한 2차 신호압력이 제3셔틀밸브(21)의 출력측에 설치된 압력센서(22)를 통하여 검출되고, 검출된 신호압력(P)이 컨트롤러(20)에 입력된다.On the other hand, the secondary signal pressure passing through the remote control valve is detected through the pressure sensor 22 provided on the output side of the third shuttle valve 21, and the detected signal pressure P is input to the controller 20. .
사용자가 리모트 컨트롤밸브(16)를 도 4에 도시된 선도 "A"와 같이 조작하는 경우(리모트 컨트롤밸브(16)가 급격하게 조작되어 유압 액츄에이터(14)의 급속하게 가속되는 경우를 말한다)에도, 실제 건설기계에서 선도 "B"에서와 같은 작업장치 가속 제어 특성이 요구되는 상황일 경우(유압 액츄에이터(14)의 가속비가 일정치 이하인 경우)에는 선도 "B"의 제어 특성이 양방향 제어 스풀(15)에 구동력으로 작용할 수 있도록, 전자비례 감압밸브(17)에 선도 "C"의 2차 압력을 출력한다.Even when the user operates the remote control valve 16 as shown by the diagram "A" shown in FIG. 4 (it refers to the case where the remote control valve 16 is rapidly operated and the hydraulic actuator 14 is rapidly accelerated). In a situation where a work device acceleration control characteristic such as the "B" in the actual construction machine is required (when the acceleration ratio of the hydraulic actuator 14 is below a certain value), the control characteristic of the "B" in the bidirectional control spool ( In order to act as a driving force to 15), the secondary pressure of the line "C" is output to the electromagnetic proportional pressure reducing valve 17.
이때, 스풀(15)의 좌우측 포트는 제1,2셔틀밸브(18,19)의 출력측과 각각 연결되고, 제1,2셔틀밸브(18,19)의 입력부는 전자비례 감압밸브(17)의 출력측과 리모트 컨트롤밸브(16)의 출력측과 각각 연결된다. 이로 인해 리모트 컨트롤밸브(16)를 조작함에 따른 2차 신호압력(선도 "A"와 같은 기울기 값을 갖는 경우를 말한다)이 제1셔틀밸브(18)를 경유하여 스풀(15)의 좌측 포트에 공급되는 경우, 컨트롤러(20)로부터 전자비례 감압밸브(17)에 출력되는 제어신호에 의해 전자비례 감압밸브의 2차 신호압력(선도 "C"와 같은 기울기 값을 갖는 경우를 말한다)이 제2셔틀밸브(19)를 경유하여 스풀(15)의 우측 포트에 공급된다.At this time, the left and right ports of the spool 15 are connected to the output sides of the first and second shuttle valves 18 and 19, respectively, and the input portions of the first and second shuttle valves 18 and 19 are respectively proportional to the electromagnetic proportional pressure reducing valve 17. It is connected to the output side and the output side of the remote control valve 16, respectively. As a result, the secondary signal pressure (that is, the case having the same inclination value as the diagram "A") according to the operation of the remote control valve 16 is connected to the left port of the spool 15 via the first shuttle valve 18. When supplied, the secondary signal pressure of the electromagnetic proportional pressure reducing valve (referring to the case where the slope value is equal to the "C") is determined by the control signal output from the controller 20 to the electromagnetic proportional pressure reducing valve 17. It is supplied to the right port of the spool 15 via the shuttle valve 19.
이때, 리모트 컨트롤밸브(16)의 조작에 따라 제1셔틀밸브(18)를 통해 스풀(15)의 일측 포트에 공급되는 신호압력값은, 컨트롤러(20)로부터 제어신호 입력에 따라 전자비례 감압밸브(17)에 의해 생성되어 제2셔틀밸브(19)를 경유하여 스풀(15)의 타측 포트에 공급되는 신호압력값보다 상대적으로 크다.At this time, the signal pressure value supplied to one port of the spool 15 through the first shuttle valve 18 according to the operation of the remote control valve 16 is an electromagnetic proportional pressure reducing valve according to the control signal input from the controller 20. The signal pressure generated by (17) and supplied to the other port of the spool 15 via the second shuttle valve 19 is relatively larger.
따라서, 선도 "C"의 2차 압력은 리모트 컨트롤밸브(16)의 조작이 없는 방향으로만 연통되어 스풀(15)의 해당 포트에 연결된다.Thus, the secondary pressure of the line "C" is only communicated in the unoperated direction of the remote control valve 16 and connected to the corresponding port of the spool 15.
이와 같이 사용자에 의해 리모트 컨트롤밸브(16)를 조작시, 스풀(15)에 작용하는 신호압력이 리모트 컨트롤밸브(16)의 조작에 따른 출력측 2차 신호압력과 반대 방향으로 작용하므로, 스풀(15)의 개구율을 일정 이하로 제한할 수 있다.In this way, when the user operates the remote control valve 16, the signal pressure acting on the spool 15 acts in the opposite direction to the output side secondary signal pressure caused by the operation of the remote control valve 16. Can be limited to a certain value or less.
전술한 바와 같이 본 발명의 제1실시예에 의한 건설기계의 제어장치에 의하면, 한 개의 조작레버 검출수단 및 전자비례 감압밸브를 사용하면서 양방향 구동가능한 스풀을 제어하게 되므로 원가비용을 줄일 수 있다.As described above, according to the control apparatus of the construction machine according to the first embodiment of the present invention, since the spool which can be driven in both directions is controlled while using one operation lever detection means and an electronic proportional pressure reducing valve, the cost can be reduced.
도 5에 도시된 본 발명의 제2실시예에 의한 건설기계의 제어장치에서, 리모트 컨트롤밸브(16)의 조작량을 검출하는 조작량 검출수단은,In the control apparatus of the construction machine according to the second embodiment of the present invention shown in Figure 5, the manipulated variable detecting means for detecting the manipulated variable of the remote control valve 16,
리모트 컨트롤밸브(16)의 출력측 2차 신호압력에 입력부가 각각 연결되고 전자비례 감압밸브(17)의 입력측 포트에 출력부가 연결되며, 리모트 컨트롤밸브(16)를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제4셔틀밸브(23)와, 제4셔틀밸브(23)의 출력측에 연결되고 검출신호를 컨트롤러(20)에 입력하는 압력센서(22)를 포함한다.Inputs are respectively connected to the output side secondary signal pressure of the remote control valve 16, and outputs are connected to the input side port of the electromagnetic proportional pressure reducing valve 17, and the high pressure of the two-way signal pressure passing through the remote control valve 16 is applied. And a pressure sensor 22 connected to an output side of the fourth shuttle valve 23 and inputting a detection signal to the controller 20.
이때, 전술한 유압펌프(12)와, 유압 액츄에이터(14)와, 스풀(15)과, 리모트 컨트롤밸브(16)와, 전자비례 감압밸브(17) 및 컨트롤러(20)를 포함하는 구성은, 본 발명의 제1실시예에 의한 건설기계의 제어장치의 구성과 실질적으로 동일하므로 이들의 구성 및 작동의 상세한 설명은 생략하고, 중복되는 부품의 도면부호는 동일하게 표기하였다.At this time, the configuration including the hydraulic pump 12, the hydraulic actuator 14, the spool 15, the remote control valve 16, the electromagnetic proportional pressure reducing valve 17 and the controller 20, Since the configuration of the control device of the construction machine according to the first embodiment of the present invention is substantially the same, detailed descriptions of the configuration and operation thereof are omitted, and the reference numerals of the overlapping parts are the same.
사용자에 의해 리모트 컨트롤밸브(16)를 조작할 경우에 파일럿 펌프(13)로부터 토출되는 작동유가 리모트 컨트롤밸브(16)를 통과하여 2차 신호압력으로 변환되므로, 제4셔틀밸브(23)의 출력부를 통과한 신호압력(P1)이 전자비례 감압밸브(17)의 입력측 포트로 공급된다. 이로 인해 밸브 구동 전기회로의 고장에 대한 신뢰성이 상대적으로 높게 된다.When operating the remote control valve 16 by the user, the hydraulic oil discharged from the pilot pump 13 passes through the remote control valve 16 and is converted into secondary signal pressure, so that the output of the fourth shuttle valve 23 is output. The signal pressure P1 passing through the part is supplied to the input side port of the electromagnetic proportional pressure reducing valve 17. This makes the reliability of failure of the valve drive electric circuit relatively high.
전술한 바와 같이 본 발명의 제1실시예 또는 제2실시예에 의한 건설기계의 제어장치에 의하면, 밸브 및 전기회로를 포함하는 밸브 제어회로의 예기치 못한 고장 발생으로 인해 밸브에 원치 않는 출력이 발생되는 경우에도, MCV의 스풀 양단에 동일한 신호압이 전달되어 스풀은 중립위치를 유지하게 된다. 이로 인해 작업장치의 오동작을 차단할 수 있어 안전성을 확보할 수 있다.As described above, according to the control apparatus of the construction machine according to the first or second embodiment of the present invention, an unexpected output of the valve control circuit including the valve and the electric circuit occurs, causing an unwanted output to the valve. Even if it is, the same signal pressure is transmitted across the spool of the MCV so that the spool maintains its neutral position. This can prevent the malfunction of the work device to ensure safety.
전술한 구성을 갖는 본 발명에 따르면, 운전자가 리모트 컨트롤밸브를 급격하게 조작하는 경우에도 유압 액츄에이터가 완만하게 가속될 수 있도록 양방향 구동가능한 MCV의 스풀을 제어할 수 있다. 밸브 구동 전기회로의 예기치 못한 고장 발생시 MCV의 오동작이 차단될 수 있다.According to the present invention having the above-described configuration, it is possible to control the spool of the bidirectional driveable MCV so that the hydraulic actuator can be gently accelerated even when the driver sharply operates the remote control valve. Malfunctions of the MCV can be blocked in the event of unexpected failure of the valve drive electrical circuit.

Claims (3)

  1. 엔진과, 엔진에 연결되는 유압펌프와, 유압펌프로부터 작동유를 공급받아 작업장치를 구동시키도록 양방향 구동 가능한 유압 액츄에이터를 구비하는 건설기계의 제어장치에 있어서:In a control apparatus for a construction machine, comprising: an engine, a hydraulic pump connected to the engine, and a hydraulic actuator capable of bidirectional driving to receive hydraulic oil from the hydraulic pump to drive a work device:
    사용자의 조작량에 비례하도록 2차 신호압력을 출력하는 리모트 컨트롤밸브;A remote control valve for outputting a second signal pressure in proportion to a user's operation amount;
    상기 리모트 컨트롤밸브의 출력측 2차 신호압력을 검출하는 조작량 검출수단;Manipulated variable detecting means for detecting an output side secondary signal pressure of the remote control valve;
    외부로부터의 전기적 제어신호에 비례하도록 2차 신호압력을 출력하는 전자비례 감압밸브;An electromagnetic proportional pressure reducing valve that outputs a secondary signal pressure to be proportional to an electrical control signal from the outside;
    상기 리모트 컨트롤밸브의 2차 신호압력에 일측 입력부가 각각 연결되고 상기 전자비례 감압밸브의 출력측 포트가 타측 입력부에 각각 연결되며, 상기 리모트 컨트롤밸브와 전자비례 감압밸브를 통과하는 신호압력중 높은 압력을 출력하는 제1,2셔틀밸브;One input part is connected to the secondary signal pressure of the remote control valve, and the output side port of the electromagnetic proportional pressure reducing valve is connected to the other input part, respectively, and the high pressure among the signal pressures passing through the remote control valve and the electromagnetic proportional pressure reducing valve is applied. Outputting first and second shuttle valves;
    상기 유압펌프와 유압 액츄에이터사이의 유로에 설치되고, 제1,2셔틀밸브로부터 출력되는 신호압력에 의해 절환시 유압 액츄에이터의 기동, 정지 및 방향전환을 제어하는 양방향 제어 스풀; 및A bidirectional control spool installed in the flow path between the hydraulic pump and the hydraulic actuator, the bidirectional control spool controlling the start, stop and direction change of the hydraulic actuator at the time of switching by the signal pressure output from the first and second shuttle valves; And
    상기 조작량 검출수단으로부터 입력되는 조작량에 대응되는 제어신호를 연산하여 상기 전자비례 감압밸브에 제어신호를 출력하는 컨트롤러를 포함하는 것을 특징으로 하는 건설기계의 제어장치.And a controller for calculating a control signal corresponding to the manipulated variable input from the manipulated variable detecting means and outputting a control signal to the electromagnetic proportional pressure reducing valve.
  2. 제1항에 있어서, 상기 리모트 컨트롤밸브의 조작량을 검출하는 조작량 검출수단은,The manipulated variable detecting means for detecting a manipulated variable of the remote control valve,
    상기 리모트 컨트롤밸브의 출력측 2차 신호압력에 입력부가 각각 연결되고 상기 리모트 컨트롤밸브를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제3셔틀밸브와,A third shuttle valve having an input connected to a secondary signal pressure at an output side of the remote control valve and outputting a high pressure among bidirectional signal pressures passing through the remote control valve;
    상기 제3셔틀밸브의 출력측에 연결되고 검출신호를 상기 컨트롤러에 입력하는 압력센서를 포함하는 것을 특징으로 하는 건설기계의 제어장치.And a pressure sensor connected to an output side of the third shuttle valve and inputting a detection signal to the controller.
  3. 제1항에 있어서, 상기 리모트 컨트롤밸브의 조작량을 검출하는 조작량 검출수단은,The manipulated variable detecting means for detecting a manipulated variable of the remote control valve,
    상기 리모트 컨트롤밸브의 출력측 2차 신호압력에 입력부가 각각 연결되고 상기 전자비례 감압밸브의 입력측 포트에 출력부가 연결되며, 상기 리모트 컨트롤밸브를 통과하는 양방향 신호압력중 높은 압력을 출력하는 제4셔틀밸브와,An input unit is connected to an output side secondary signal pressure of the remote control valve, and an output unit is connected to an input port of the electromagnetic proportional pressure reducing valve, and a fourth shuttle valve outputs a high pressure of bidirectional signal pressure passing through the remote control valve. Wow,
    상기 제4셔틀밸브의 출력측에 연결되고 검출신호를 상기 컨트롤러에 입력하는 압력센서를 포함하는 것을 특징으로 하는 건설기계의 제어장치.And a pressure sensor connected to an output side of the fourth shuttle valve and inputting a detection signal to the controller.
PCT/KR2010/005606 2010-08-24 2010-08-24 Device for controlling construction equipment WO2012026633A1 (en)

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KR20137004526A KR20130111532A (en) 2010-08-24 2010-08-24 Device for controlling construction equipment
JP2013525795A JP2013540957A (en) 2010-08-24 2010-08-24 Construction machine control equipment
CN201080068670.7A CN103052755B (en) 2010-08-24 2010-08-24 For controlling the device of construction equipment
PCT/KR2010/005606 WO2012026633A1 (en) 2010-08-24 2010-08-24 Device for controlling construction equipment
US13/818,175 US20130146163A1 (en) 2010-08-24 2010-08-24 Device for controlling construction equipment
EP10856458.4A EP2610409A4 (en) 2010-08-24 2010-08-24 Device for controlling construction equipment

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CN103052755B (en) 2015-12-16
US20130146163A1 (en) 2013-06-13

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