WO2015099207A1 - Traveling control device for construction machine and control method therefor - Google Patents

Traveling control device for construction machine and control method therefor Download PDF

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Publication number
WO2015099207A1
WO2015099207A1 PCT/KR2013/012026 KR2013012026W WO2015099207A1 WO 2015099207 A1 WO2015099207 A1 WO 2015099207A1 KR 2013012026 W KR2013012026 W KR 2013012026W WO 2015099207 A1 WO2015099207 A1 WO 2015099207A1
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WIPO (PCT)
Prior art keywords
driving
traveling
hydraulic
pressure
pump
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PCT/KR2013/012026
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French (fr)
Korean (ko)
Inventor
박형석
조성용
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볼보 컨스트럭션 이큅먼트 에이비
박형석
조성용
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Application filed by 볼보 컨스트럭션 이큅먼트 에이비, 박형석, 조성용 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to PCT/KR2013/012026 priority Critical patent/WO2015099207A1/en
Publication of WO2015099207A1 publication Critical patent/WO2015099207A1/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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • 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
    • 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
    • E02F9/2292—Systems with two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/44—Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation

Definitions

  • the present invention relates to a traveling control device for a construction machine and a control method thereof, and more particularly, to a traveling control device for a construction machine and a control method thereof that can prevent the running of the piece during the driving operation.
  • first and second hydraulic pumps (hereinafter referred to as first and second hydraulic pumps) and pilot pumps 3;
  • a variable displacement first driving motor 4 operated by the hydraulic oil of the first hydraulic pump 1;
  • a variable displacement second driving motor 5 operated by the operating oil of the second hydraulic pump 2;
  • a first travel control valve installed in a flow path between the first hydraulic pump 1 and the first travel motor 4 and controlling an amount and a flow direction of the working oil supplied to the first travel motor 4 during switching; (6);
  • a second driving control valve installed in a flow path between the second hydraulic pump 2 and the second driving motor 5 and controlling an amount and a flow direction of the working oil supplied to the second driving motor 5 during switching; (7);
  • a first driving control device 8 installed in a flow path between the pilot pump 3 and the first travel control valve 6 and applying a pilot pressure for switching the first travel control valve 6 during operation; ;
  • a second driving control device 9 installed in a flow path between the pilot pump 3 and the second driving control valve 7 and applying a pilot pressure for switching the second driving control valve 7 during operation; ;
  • a traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5;
  • On and off switch 13 for applying a control signal for switching the traveling speed selection valve 12 is provided.
  • the driving units 10 and 11 of the first and second driving motors 4 and 5 are connected to the first and second driving motors 4 and 5 through signal lines a and b.
  • High-speed driving pilot pressure of the pilot pump 3 through the signal lines (c, d) by switching the operating pressure of the first and second hydraulic pumps (1,2) for driving the driving speed selection valve 12 Will receive.
  • low speed driving first speed driving; the state in which the volume of the driving motor is maximized
  • the motor is converted to high speed driving (2 speed running; the state in which the volume of the running motor is minimized).
  • the driving speed selection of the first and second running motors 4 and 5 may be different.
  • an object of the present invention is to provide a traveling control apparatus for a construction machine and a method of controlling the same, which can improve the operability by preventing the driving during driving and simplify the hydraulic circuit forming the traveling motor. The purpose.
  • variable displacement first and second hydraulic pump and pilot pump
  • a first driving control valve installed in a flow path between the first hydraulic pump and the first driving motor and controlling an amount and a flow direction of the working oil supplied to the first driving motor during switching;
  • a second driving control valve installed in a flow path between the second hydraulic pump and the second driving motor and controlling an amount and a flow direction of the working oil supplied to the second driving motor during switching;
  • a first driving manipulation device installed in a flow path between the pilot pump and the first running control valve and applying a pilot pressure for switching the first running control valve during operation;
  • a second driving control device installed in a flow path between the pilot pump and the second driving control valve and applying a pilot pressure for switching the second driving control valve during operation;
  • a traveling speed selection valve installed in a flow path between the pilot pump and the driving units of the first and second running motors
  • the detected hydraulic oil pressure of the first and second hydraulic pumps is compared with a predetermined specific pressure, and the hydraulic oil pressure of the first and second hydraulic pumps is set to a predetermined pressure.
  • high speed driving of the first and second running motors is maintained, and when the hydraulic oil pressure of the first and second hydraulic pumps is higher than a specific pressure, the first and second running motors are operated at low speed by switching of the traveling speed selection valve.
  • a variable displacement first and second hydraulic pump and pilot pump comprising: a controller for inputting a control signal to switch the traveling speed selection valve:
  • the driving speed selector valve is switched so that both drive parts of the first and second running motor are switched to low speed driving. do.
  • the first and second pressure sensors installed upstream of the supply flow path of the first and second hydraulic pumps, and the first and second pressure sensors are hydraulic oil pressure of the first and second hydraulic pumps supplied to the first and second traveling motors. Detects and inputs a detection signal to the controller.
  • solenoid valve is switched to the on state in order to apply the hydraulic pressure of the pilot pump to the drive unit of the first and second running motor at the high speed driving.
  • the left and right traveling motors maintain high-speed driving or switch the left and right traveling motors to low-speed driving according to the operating pressure of the hydraulic pump during the 2-speed driving, There is an effect of improving the operability and simplifying the hydraulic circuit forming the traveling motor.
  • FIG. 1 is a hydraulic circuit diagram of a traveling control device for a construction machine according to the prior art
  • FIG. 2 is a hydraulic circuit diagram of a traveling control device for a construction machine according to a preferred embodiment of the present invention
  • FIG. 3 is a flowchart illustrating a control method of a traveling control apparatus for a construction machine according to an exemplary embodiment of the present invention.
  • FIG. 2 is a hydraulic circuit diagram of a traveling control device for a construction machine according to a preferred embodiment of the present invention
  • Figure 3 is a flow chart of a control method of the traveling control device for a construction machine according to a preferred embodiment of the present invention.
  • the traveling control apparatus for a construction machine includes a variable displacement first and second hydraulic pumps (hereinafter, referred to as first and second hydraulic pumps) and pilots.
  • a variable displacement first driving motor 4 operated by the hydraulic oil of the first hydraulic pump 1;
  • a variable displacement second driving motor 5 operated by the operating oil of the second hydraulic pump 2;
  • a first travel control valve installed in a flow path between the first hydraulic pump 1 and the first travel motor 4 and controlling an amount and a flow direction of the working oil supplied to the first travel motor 4 during switching; (6);
  • a second driving control valve installed in a flow path between the second hydraulic pump 2 and the second driving motor 5 and controlling an amount and a flow direction of the working oil supplied to the second driving motor 5 during switching; (7);
  • a first driving control device 8 installed in a flow path between the pilot pump 3 and the first travel control valve 6 and applying a pilot pressure for switching the first travel control valve 6 during operation; ;
  • a second driving control device 9 installed in a flow path between the pilot pump 3 and the second driving control valve 7 and applying a pilot pressure for switching the second driving control valve 7 during operation; ;
  • a traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5;
  • the first and second hydraulic pumps are compared by comparing the detected hydraulic oil pressure of the first and second hydraulic pumps 4 and 5 with a predetermined specific pressure.
  • the hydraulic oil pressure of (1, 2) is below a predetermined specific pressure, the high-speed running of the first and second traveling motors 4 and 5 is maintained, and the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is increased.
  • the controller 14 is
  • both driving units 10 and 11 of the first and second traveling motors 4 and 5 are low speed.
  • the traveling speed selection valve 12 may be switched to switch to traveling.
  • the first and second pressure sensors 15 and 16 and the first and second pressure sensors 15 and 16 installed upstream of the supply passages 1a and 2a of the first and second hydraulic pumps 1 and 2 are provided.
  • the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 supplied to the first and second traveling motors 4 and 5 may be detected to input a detection signal to the controller 14.
  • It may be a solenoid valve which is switched to an ON state in order to apply hydraulic pressure of the pilot pump 3 to the driving units 10 and 11 of the first and second driving motors 4 and 5 at high speed. .
  • the control method of the traveling control device for a construction machine the variable displacement first and second hydraulic pump (1, 2) and the pilot pump (3); Variable displacement first and second traveling motors 4 and 5 connected to the first and second hydraulic pumps 1 and 2, respectively;
  • a first travel control valve 6 installed in a flow path between the first hydraulic pump 1 and the first travel motor 4;
  • a second driving control valve 7 installed in a flow path between the second hydraulic pump 2 and the second driving motor 5;
  • a first driving control device (8) installed in a flow path between the pilot pump (3) and the first driving control valve (6);
  • a second driving control device (9) installed in a flow path between the pilot pump (3) and the second driving control valve (7);
  • First and second pressure sensors 15 and 16 installed upstream of the supply passages 1a and 2a of the first and second hydraulic pumps 1 and 2;
  • a traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5;
  • the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is converted into the first and second pressure sensors 15 and 16. (S100).
  • the hydraulic oil pressure values detected by the first and second pressure sensors 15 and 16 are input to the controller 14.
  • the hydraulic oil of the pilot pump 3 passes through the traveling speed selection valve 12. Since the first and second traveling motors 4 and 5 are applied to the driving units 10 and 11 of the traveling motors 4 and 5, the first and second traveling motors 4 and 5 are driven at a high speed (two speeds; the volume of the driving motor is minimized). Will be maintained.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Disclosed are a traveling control device for a construction machine, which can prevent biased traveling during a traveling manipulation and a control method therefor. The present invention provides a traveling control device for a construction machine, comprising: variable capacity-type first and second hydraulic pumps and a pilot pump; variable capacity-type first and second traveling motors; a first traveling control valve installed in a channel between the first hydraulic pump and the first traveling motor; a second traveling control valve installed in a channel between the second hydraulic pump and the second traveling motor; a first traveling manipulation device installed in a channel between the pilot pump and the first traveling control valve; a second traveling manipulation device installed in a channel between the pilot pump and the second traveling control valve; a traveling speed selection valve installed in a channel between the pilot pump and a driving unit of the first and second traveling motors; and a controller which, in the case of high-speed traveling as a result of switching by the traveling speed selection valve, compares the operating oil pressure in the first and second hydraulic pumps with a preset specific pressure and, when the detected operating oil pressure in the first and second hydraulic pumps is equal to or less than the preset specific pressure, maintains the high-speed traveling of the first and second traveling motors or, when the operating oil pressure in the first and second hydraulic pumps is equal to or above the specific pressure, converts the first and second traveling motors to low-speed traveling by means of switching by the traveling speed selection valve.

Description

건설기계용 주행 제어장치 및 그 제어방법Travel control device for construction machinery and its control method
본 발명은 건설기계용 주행 제어장치 및 그 제어방법에 관한 것으로, 보다 구체적으로 설명하면, 주행 조작시 편 주행을 방지할 수 있는 건설기계용 주행 제어장치 및 그 제어방법에 관한 것이다.The present invention relates to a traveling control device for a construction machine and a control method thereof, and more particularly, to a traveling control device for a construction machine and a control method thereof that can prevent the running of the piece during the driving operation.
도 1에 도시된 종래 기술에 의한 건설기계용 주행 제어장치는,The traveling control device for construction machinery according to the prior art shown in Figure 1,
가변용량형 제1,2유압펌프(이하, 제1,2유압펌프 라고 함)(1,2) 및 파일럿펌프(3);Variable displacement first and second hydraulic pumps (hereinafter referred to as first and second hydraulic pumps) and pilot pumps 3;
상기 제1유압펌프(1)의 작동유에 의해 동작하는 가변용량형 제1주행모터(4);A variable displacement first driving motor 4 operated by the hydraulic oil of the first hydraulic pump 1;
상기 제2유압펌프(2)의 작동유에 의해 동작하는 가변용량형 제2주행모터(5);A variable displacement second driving motor 5 operated by the operating oil of the second hydraulic pump 2;
상기 제1유압펌프(1)와 제1주행모터(4) 사이의 유로에 설치되고, 절환시 상기 제1주행모터(4)에 공급되는 작동유의 량 및 흐름방향을 제어하는 제1주행제어밸브(6);A first travel control valve installed in a flow path between the first hydraulic pump 1 and the first travel motor 4 and controlling an amount and a flow direction of the working oil supplied to the first travel motor 4 during switching; (6);
상기 제2유압펌프(2)와 제2주행모터(5) 사이의 유로에 설치되고, 절환시 상기 제2주행모터(5)에 공급되는 작동유의 량 및 흐름방향을 제어하는 제2주행제어밸브(7);A second driving control valve installed in a flow path between the second hydraulic pump 2 and the second driving motor 5 and controlling an amount and a flow direction of the working oil supplied to the second driving motor 5 during switching; (7);
상기 파일럿펌프(3)와 제1주행제어밸브(6) 사이의 유로에 설치되고, 조작시 상기 제1주행제어밸브(6)를 절환하기 위한 파일럿압력을 인가하는 제1주행조작장치(8);A first driving control device 8 installed in a flow path between the pilot pump 3 and the first travel control valve 6 and applying a pilot pressure for switching the first travel control valve 6 during operation; ;
상기 파일럿펌프(3)와 제2주행제어밸브(7) 사이의 유로에 설치되고, 조작시 상기 제2주행제어밸브(7)를 절환하기 위한 파일럿압력을 인가하는 제2주행조작장치(9);A second driving control device 9 installed in a flow path between the pilot pump 3 and the second driving control valve 7 and applying a pilot pressure for switching the second driving control valve 7 during operation; ;
상기 파일럿펌프(3)와 상기 제1,2주행모터(4,5)의 구동부(10,11) 사이의 유로에 설치되는 주행속도 선택밸브(12);A traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5;
상기 주행속도 선택밸브(12)를 절환하기 위해 제어신호를 인가하는 온,오프스위치(13)를 구비한다.On and off switch 13 for applying a control signal for switching the traveling speed selection valve 12 is provided.
종래 기술에 의한 주행 제어장치는, 상기 제1,2주행모터(4,5)의 구동부(10,11)가 신호라인(a,b)을 통해 상기 제1,2주행모터(4,5)를 구동시키는 제1,2유압펌프(1,2)의 작동압력과, 상기 주행속도 선택밸브(12)의 절환에 의해 신호라인(c,d)을 통해 파일럿펌프(3)의 고속주행 파일럿압력을 받게 된다. 이로 인해 상기 제1,2주행모터(4,5)의 작동압력이 미리 설정된 특정압을 초과하는 경우 저속주행(1속주행;주행모터의 체적을 최대로 하는 상태임)을 유지하고, 상기 제1,2주행모터(4,5)의 작동압력이 특정압이하일 경우 고속주행(2속주행;주행모터의 체적을 최소로 하는 상태임)으로 전환된다.In the conventional driving control apparatus, the driving units 10 and 11 of the first and second driving motors 4 and 5 are connected to the first and second driving motors 4 and 5 through signal lines a and b. High-speed driving pilot pressure of the pilot pump 3 through the signal lines (c, d) by switching the operating pressure of the first and second hydraulic pumps (1,2) for driving the driving speed selection valve 12 Will receive. As a result, when the operating pressure of the first and second traveling motors 4 and 5 exceeds a preset specific pressure, low speed driving (first speed driving; the state in which the volume of the driving motor is maximized) is maintained. When the operating pressure of the 1, 2 running motors 4 and 5 is below a certain pressure, the motor is converted to high speed driving (2 speed running; the state in which the volume of the running motor is minimized).
이때, 주행시 상기 제1,2주행모터(4,5)에 발생되는 작동압력이 동일하지않을 경우 상기 제1,2주행모터(4,5)의 주행속도 선택이 상이할 수 있다. 이로 인해 주행시 편 주행이 발생되어 조작성이 떨어지고, 상기 제1,2주행모터(4,5)의 구동부(10,11)를 이루는 유압회로의 구성이 복잡해지는 문제점을 갖는다.In this case, when the operating pressure generated in the first and second running motors 4 and 5 is not the same, the driving speed selection of the first and second running motors 4 and 5 may be different. As a result, there is a problem in that a piece travel occurs during driving, and the operability is inferior, and the configuration of the hydraulic circuit constituting the driving units 10 and 11 of the first and second traveling motors 4 and 5 becomes complicated.
따라서, 본 발명은 전술한 문제점을 해결하고자 하는 것으로, 주행중 편 주행을 방지하여 조작성을 향상시키고, 주행모터를 이루는 유압회로를 간단화할 수 있는 건설기계용 주행 제어장치 및 그 제어방법을 제공하는 것을 목적으로 한다.Accordingly, an object of the present invention is to provide a traveling control apparatus for a construction machine and a method of controlling the same, which can improve the operability by preventing the driving during driving and simplify the hydraulic circuit forming the traveling motor. The purpose.
상기 및 기타 본 발명의 목적을 달성하기 위하여 본 발명의 일실시예에 따르면, 가변용량형 제1,2유압펌프 및 파일럿펌프;According to an embodiment of the present invention to achieve the above and other objects of the present invention, a variable displacement first and second hydraulic pump and pilot pump;
상기 제1유압펌프의 작동유에 의해 동작하는 가변용량형 제1주행모터;A variable displacement first driving motor operated by the operating oil of the first hydraulic pump;
상기 제2유압펌프의 작동유에 의해 동작하는 가변용량형 제2주행모터;A variable displacement second driving motor operated by the operating oil of the second hydraulic pump;
상기 제1유압펌프와 제1주행모터 사이의 유로에 설치되고, 절환시 상기 제1주행모터에 공급되는 작동유의 량 및 흐름방향을 제어하는 제1주행제어밸브;A first driving control valve installed in a flow path between the first hydraulic pump and the first driving motor and controlling an amount and a flow direction of the working oil supplied to the first driving motor during switching;
상기 제2유압펌프와 제2주행모터 사이의 유로에 설치되고, 절환시 상기 제2주행모터에 공급되는 작동유의 량 및 흐름방향을 제어하는 제2주행제어밸브;A second driving control valve installed in a flow path between the second hydraulic pump and the second driving motor and controlling an amount and a flow direction of the working oil supplied to the second driving motor during switching;
상기 파일럿펌프와 제1주행제어밸브 사이의 유로에 설치되고, 조작시 상기 제1주행제어밸브를 절환하기 위한 파일럿압력을 인가하는 제1주행조작장치;A first driving manipulation device installed in a flow path between the pilot pump and the first running control valve and applying a pilot pressure for switching the first running control valve during operation;
상기 파일럿펌프와 제2주행제어밸브 사이의 유로에 설치되고, 조작시 상기 제2주행제어밸브를 절환하기 위한 파일럿압력을 인가하는 제2주행조작장치;A second driving control device installed in a flow path between the pilot pump and the second driving control valve and applying a pilot pressure for switching the second driving control valve during operation;
상기 파일럿펌프와 상기 제1,2주행모터의 구동부 사이의 유로에 설치되는 주행속도 선택밸브;A traveling speed selection valve installed in a flow path between the pilot pump and the driving units of the first and second running motors;
상기 주행속도 선택밸브의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프의 검출되는 작동유 압력과 미리 설정된 특정압을 비교하여, 상기 제1,2유압펌프의 작동유 압력이 미리 설정된 특정압이하일 경우 상기 제1,2주행모터의 고속주행을 유지하고, 상기 제1,2유압펌프의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브의 절환에 의해 상기 제1,2주행모터를 저속주행으로 전환하는 콘트롤러;를 포함하는 것을 특징으로 하는 건설기계용 주행 제어장치를 제공한다.When the high speed driving is performed by switching the traveling speed selection valve, the detected hydraulic oil pressure of the first and second hydraulic pumps is compared with a predetermined specific pressure, and the hydraulic oil pressure of the first and second hydraulic pumps is set to a predetermined pressure. In case of the following, high speed driving of the first and second running motors is maintained, and when the hydraulic oil pressure of the first and second hydraulic pumps is higher than a specific pressure, the first and second running motors are operated at low speed by switching of the traveling speed selection valve. It provides a control device for a construction machine comprising a; controller for switching to.
상기 및 기타 본 발명의 목적을 달성하기 위하여 본 발명의 일실시예에 따르면, 가변용량형 제1,2유압펌프 및 파일럿펌프; 상기 제1,2유압펌프에 각각 연결되는 가변용량형 제1,2주행모터; 상기 제1유압펌프와 제1주행모터 사이의 유로에 설치되는 제1주행제어밸브; 상기 제2유압펌프와 제2주행모터 사이의 유로에 설치되는 제2주행제어밸브; 상기 파일럿펌프와 제1주행제어밸브 사이의 유로에 설치되는 제1주행조작장치; 상기 파일럿펌프와 제2주행제어밸브 사이의 유로에 설치되는 제2주행조작장치; 상기 제1,2유압펌프의 공급유로 상류측에 설치되는 제1,2압력센서;상기 파일럿펌프와 상기 제1,2주행모터의 구동부 사이의 유로에 설치되는 주행속도 선택밸브; 상기 주행속도 선택밸브를 절환하기 위해 제어신호를 입력하는 콘트롤러;를 구비하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법에 있어서:According to an embodiment of the present invention to achieve the above and other objects of the present invention, a variable displacement first and second hydraulic pump and pilot pump; Variable capacitance type first and second driving motors connected to the first and second hydraulic pumps, respectively; A first driving control valve installed in a flow path between the first hydraulic pump and the first driving motor; A second driving control valve installed in a flow path between the second hydraulic pump and the second driving motor; A first driving control device installed in a flow path between the pilot pump and the first driving control valve; A second driving manipulation device installed in a flow path between the pilot pump and the second driving control valve; First and second pressure sensors installed upstream of a supply flow path of the first and second hydraulic pumps; a traveling speed selection valve installed in a flow path between the pilot pump and the driving unit of the first and second running motors; In the control method of the traveling control device for a construction machine, comprising: a controller for inputting a control signal to switch the traveling speed selection valve:
상기 주행속도 선택밸브의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프의 작동유 압력을 검출하는 단계;Detecting operating oil pressure of the first and second hydraulic pumps when the vehicle is traveling at a high speed by switching the traveling speed selection valve;
상기 제1,2유압펌프의 검출되는 작동유 압력과 미리 설정된 특정압의 크기를 비교하는 단계;Comparing the detected hydraulic oil pressure of the first and second hydraulic pumps with a predetermined specific pressure;
상기 제1,2유압펌프의 작동유 압력이 상기 특정압이하일 경우 상기 제1,2주행모터의 고속주행을 유지하고, 상기 제1,2유압펌프의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브의 절환에 의해 상기 제1,2주행모터를 저속주행으로 전환하는 단계;를 포함하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법을 제공한다.When the hydraulic oil pressure of the first and second hydraulic pumps is below the specific pressure, the high-speed running of the first and second traveling motors is maintained, and when the hydraulic oil pressure of the first and second hydraulic pumps is above a specific pressure, the traveling speed selection valve And converting the first and second traveling motors into low speed driving by the switching of the driving control device for a construction machine.
상기 콘트롤러는The controller
상기 제1,2유압펌프 중 어느 한 쪽의 작동유 압력이 미리 설정된 특정압보다 높을 경우, 상기 제1,2주행모터의 양쪽 구동부가 저속주행으로 전환되도록 상기 주행속도 선택밸브를 절환시키는 것을 특징으로 한다.When the hydraulic oil pressure of any one of the first, the second hydraulic pump is higher than a predetermined specific pressure, the driving speed selector valve is switched so that both drive parts of the first and second running motor are switched to low speed driving. do.
상기 제1,2유압펌프의 공급유로 상류측에 설치되는 제1,2압력센서, 상기 제1,2압력센서는 상기 제1,2주행모터에 공급되는 상기 제1,2유압펌프의 작동유 압력을 검출하여 검출신호를 상기 콘트롤러에 입력시킴;을 특징으로 한다.The first and second pressure sensors installed upstream of the supply flow path of the first and second hydraulic pumps, and the first and second pressure sensors are hydraulic oil pressure of the first and second hydraulic pumps supplied to the first and second traveling motors. Detects and inputs a detection signal to the controller.
상기 주행속도 선택밸브는The traveling speed selector valve
저속주행시 상기 제1,2주행모터의 구동부의 파일럿라인을 작동유탱크에 연결하는 초기상태와,An initial state of connecting the pilot line of the drive unit of the first and second driving motors to the hydraulic oil tank at low speed driving;
고속주행시 상기 파일럿펌프의 작동유를 상기 제1,2주행모터의 구동부에 파일럿압력으로 인가시키기 위해 온 상태로 절환되는 솔레노이드밸브인 것을 특징으로 한다.It is characterized in that the solenoid valve is switched to the on state in order to apply the hydraulic pressure of the pilot pump to the drive unit of the first and second running motor at the high speed driving.
주행과 작업장치를 동시에 작동하는 경우, 상기 제1,2유압펌프 중 어느 하나의 유압펌프의 유량만을 상기 제1,2주행모터로 공급함에 있어, 상기 유압펌프의 작동유 압력의 크기만을 미리 설정된 특정압의 크기와 비교하여 상기 주행속도 선택밸브를 절환하는 단계;를 포함하는 것을 특징으로 한다.In the case of operating the traveling device and the work device at the same time, in supplying only the flow rate of the hydraulic pump of any of the first and second hydraulic pumps to the first and second running motors, only a predetermined size of the hydraulic oil pressure of the hydraulic pump is set in advance. And switching the traveling speed selector valve in comparison with the magnitude of pressure.
전술한 구성을 갖는 본 발명에 따르면, 좌우 주행모터가 2속주행중 유압펌프의 작동압력에 따라 좌우 주행모터가 고속주행을 유지하거나 좌우 주행모터를 저속주행으로 전환시킴에 따라, 편 주행을 방지하여 조작성을 향상시키고, 주행모터를 이루는 유압회로를 간단화할 수 있는 효과가 있다.According to the present invention having the above-described configuration, as the left and right traveling motors maintain high-speed driving or switch the left and right traveling motors to low-speed driving according to the operating pressure of the hydraulic pump during the 2-speed driving, There is an effect of improving the operability and simplifying the hydraulic circuit forming the traveling motor.
도 1은 종래 기술에 의한 건설기계용 주행 제어장치의 유압회로도,1 is a hydraulic circuit diagram of a traveling control device for a construction machine according to the prior art,
도 2는 본 발명의 바람직한 실시예에 따른 건설기계용 주행 제어장치의 유압회로도,2 is a hydraulic circuit diagram of a traveling control device for a construction machine according to a preferred embodiment of the present invention;
도 3은 본 발명의 바람직한 실시예에 따른 건설기계용 주행 제어장치의 제어방법의 흐름도이다.3 is a flowchart illustrating a control method of a traveling control apparatus for a construction machine according to an exemplary embodiment of the present invention.
〈도면의 주요 부분에 대한 참조 부호의 설명〉<Explanation of reference numerals for the main parts of the drawings>
1; 가변용량형 제1유압펌프One; Variable displacement first hydraulic pump
2; 가변용량형 제2유압펌프2; Variable displacement type 2nd hydraulic pump
3; 파일럿펌프3; Pilot pump
4; 제1주행모터4; 1st driving motor
5; 제2주행모터5; 2nd driving motor
6; 제1주행제어밸브6; First run control valve
7; 제2주행제어밸브7; 2nd run control valve
8; 제1주행조작장치8; First Driving Manipulation Device
9; 제2주행조작장치9; 2nd driving control device
10,11; 구동부10,11; Driving part
12; 주행속도 선택밸브12; Travel speed selector valve
14; 콘트롤러14; Controller
이하, 첨부도면을 참조하여 본 발명의 바람직한 실시예에 따른 건설기계용 주행 제어장치를 상세히 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in detail a driving control device for a construction machine according to an embodiment of the present invention.
도 2는 본 발명의 바람직한 실시예에 따른 건설기계용 주행 제어장치의 유압회로도이고, 도 3은 본 발명의 바람직한 실시예에 따른 건설기계용 주행 제어장치의 제어방법의 흐름도이다.2 is a hydraulic circuit diagram of a traveling control device for a construction machine according to a preferred embodiment of the present invention, Figure 3 is a flow chart of a control method of the traveling control device for a construction machine according to a preferred embodiment of the present invention.
도 2를 참조하면, 본 발명의 일실시예에 따른 건설기계용 주행 제어장치는, 가변용량형 제1,2유압펌프(이하, 제1,2유압펌프 라고 함)(1,2) 및 파일럿펌프(3);Referring to FIG. 2, the traveling control apparatus for a construction machine according to an embodiment of the present invention includes a variable displacement first and second hydraulic pumps (hereinafter, referred to as first and second hydraulic pumps) and pilots. Pump 3;
상기 제1유압펌프(1)의 작동유에 의해 동작하는 가변용량형 제1주행모터(4);A variable displacement first driving motor 4 operated by the hydraulic oil of the first hydraulic pump 1;
상기 제2유압펌프(2)의 작동유에 의해 동작하는 가변용량형 제2주행모터(5);A variable displacement second driving motor 5 operated by the operating oil of the second hydraulic pump 2;
상기 제1유압펌프(1)와 제1주행모터(4) 사이의 유로에 설치되고, 절환시 상기 제1주행모터(4)에 공급되는 작동유의 량 및 흐름방향을 제어하는 제1주행제어밸브(6);A first travel control valve installed in a flow path between the first hydraulic pump 1 and the first travel motor 4 and controlling an amount and a flow direction of the working oil supplied to the first travel motor 4 during switching; (6);
상기 제2유압펌프(2)와 제2주행모터(5) 사이의 유로에 설치되고, 절환시 상기 제2주행모터(5)에 공급되는 작동유의 량 및 흐름방향을 제어하는 제2주행제어밸브(7);A second driving control valve installed in a flow path between the second hydraulic pump 2 and the second driving motor 5 and controlling an amount and a flow direction of the working oil supplied to the second driving motor 5 during switching; (7);
상기 파일럿펌프(3)와 제1주행제어밸브(6) 사이의 유로에 설치되고, 조작시 상기 제1주행제어밸브(6)를 절환하기 위한 파일럿압력을 인가하는 제1주행조작장치(8);A first driving control device 8 installed in a flow path between the pilot pump 3 and the first travel control valve 6 and applying a pilot pressure for switching the first travel control valve 6 during operation; ;
상기 파일럿펌프(3)와 제2주행제어밸브(7) 사이의 유로에 설치되고, 조작시 상기 제2주행제어밸브(7)를 절환하기 위한 파일럿압력을 인가하는 제2주행조작장치(9);A second driving control device 9 installed in a flow path between the pilot pump 3 and the second driving control valve 7 and applying a pilot pressure for switching the second driving control valve 7 during operation; ;
상기 파일럿펌프(3)와 상기 제1,2주행모터(4,5)의 구동부(10,11) 사이의 유로에 설치되는 주행속도 선택밸브(12);A traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5;
상기 주행속도 선택밸브(12)의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프(4,5)의 검출되는 작동유 압력과 미리 설정된 특정압을 비교하여, 상기 제1,2유압펌프(1,2)의 작동유 압력이 미리 설정된 특정압이하일 경우 상기 제1,2주행모터(4,5)의 고속주행을 유지하고, 상기 제1,2유압펌프(1,2)의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브(12)의 절환에 의해 상기 제1,2주행모터(4,5)를 저속주행으로 전환하는 콘트롤러(14);를 포함한다.When traveling at high speed by switching of the traveling speed selector valve 12, the first and second hydraulic pumps are compared by comparing the detected hydraulic oil pressure of the first and second hydraulic pumps 4 and 5 with a predetermined specific pressure. When the hydraulic oil pressure of (1, 2) is below a predetermined specific pressure, the high-speed running of the first and second traveling motors 4 and 5 is maintained, and the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is increased. And a controller 14 for converting the first and second traveling motors 4 and 5 to low speed driving by switching the traveling speed selector valve 12 when the pressure is higher than a specific pressure.
상기 콘트롤러(14)는The controller 14 is
상기 제1,2유압펌프(1,2) 중 어느 한 쪽의 작동유 압력이 미리 설정된 특정압보다 높을 경우, 상기 제1,2주행모터(4,5)의 양쪽 구동부(10,11)가 저속주행으로 전환되도록 상기 주행속도 선택밸브(12)를 절환시킬 수 있다.When the hydraulic oil pressure of any one of the first and second hydraulic pumps 1 and 2 is higher than a predetermined specific pressure, both driving units 10 and 11 of the first and second traveling motors 4 and 5 are low speed. The traveling speed selection valve 12 may be switched to switch to traveling.
상기 제1,2유압펌프(1,2)의 공급유로(1a,2a) 상류측에 설치되는 제1,2압력센서(15,16), 상기 제1,2압력센서(15,16)는 상기 제1,2주행모터(4,5)에 공급되는 상기 제1,2유압펌프(1,2)의 작동유 압력을 검출하여 검출신호를 상기 콘트롤러(14)에 입력시킬 수 있다.The first and second pressure sensors 15 and 16 and the first and second pressure sensors 15 and 16 installed upstream of the supply passages 1a and 2a of the first and second hydraulic pumps 1 and 2 are provided. The hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 supplied to the first and second traveling motors 4 and 5 may be detected to input a detection signal to the controller 14.
상기 주행속도 선택밸브(12)는The traveling speed selector valve 12
저속주행시 상기 제1,2주행모터(4,5)의 구동부(10,11)의 파일럿라인을 작동유탱크(T)에 연결하는 초기상태와,An initial state of connecting the pilot lines of the driving units 10 and 11 of the first and second driving motors 4 and 5 to the hydraulic oil tank T at low speed driving;
고속주행시 상기 파일럿펌프(3)의 작동유를 상기 제1,2주행모터(4,5)의 구동부(10,11)에 파일럿압력으로 인가시키기 위해 온(ON) 상태로 절환되는 솔레노이드밸브일 수 있다.It may be a solenoid valve which is switched to an ON state in order to apply hydraulic pressure of the pilot pump 3 to the driving units 10 and 11 of the first and second driving motors 4 and 5 at high speed. .
도 2를 참조하면, 본 발명의 일실시예에 따른 건설기계용 주행 제어장치의 제어방법은, 가변용량형 제1,2유압펌프(1,2) 및 파일럿펌프(3); 상기 제1,2유압펌프(1,2)에 각각 연결되는 가변용량형 제1,2주행모터(4,5); 상기 제1유압펌프(1)와 제1주행모터(4) 사이의 유로에 설치되는 제1주행제어밸브(6); 상기 제2유압펌프(2)와 제2주행모터(5) 사이의 유로에 설치되는 제2주행제어밸브(7); 상기 파일럿펌프(3)와 제1주행제어밸브(6) 사이의 유로에 설치되는 제1주행조작장치(8); 상기 파일럿펌프(3)와 제2주행제어밸브(7) 사이의 유로에 설치되는 제2주행조작장치(9); 상기 제1,2유압펌프(1,2)의 공급유로(1a,2a) 상류측에 설치되는 제1,2압력센서(15,16); 상기 파일럿펌프(3)와 상기 제1,2주행모터(4,5)의 구동부(10,11) 사이의 유로에 설치되는 주행속도 선택밸브(12); 상기 주행속도 선택밸브(12)를 절환하기 위해 제어신호를 입력하는 콘트롤러(14);를 구비하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법에 있어서:2, the control method of the traveling control device for a construction machine according to an embodiment of the present invention, the variable displacement first and second hydraulic pump (1, 2) and the pilot pump (3); Variable displacement first and second traveling motors 4 and 5 connected to the first and second hydraulic pumps 1 and 2, respectively; A first travel control valve 6 installed in a flow path between the first hydraulic pump 1 and the first travel motor 4; A second driving control valve 7 installed in a flow path between the second hydraulic pump 2 and the second driving motor 5; A first driving control device (8) installed in a flow path between the pilot pump (3) and the first driving control valve (6); A second driving control device (9) installed in a flow path between the pilot pump (3) and the second driving control valve (7); First and second pressure sensors 15 and 16 installed upstream of the supply passages 1a and 2a of the first and second hydraulic pumps 1 and 2; A traveling speed selection valve 12 installed in a flow path between the pilot pump 3 and the driving units 10 and 11 of the first and second running motors 4 and 5; In the control method of the traveling control device for a construction machine, comprising: a controller (14) for inputting a control signal to switch the traveling speed selection valve (12):
상기 상기 주행속도 선택밸브(12)의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프(1,2)의 작동유 압력을 검출하는 단계(S100);Detecting operating oil pressure of the first and second hydraulic pumps (1 and 2) when the vehicle is traveling at a high speed by switching of the traveling speed selection valve (12);
상기 제1,2유압펌프(1,2)의 검출되는 작동유 압력과 미리 설정된 특정압의 크기를 비교하는 단계(S200);Comparing the detected hydraulic oil pressure of the first and second hydraulic pumps (1 and 2) with a predetermined specific pressure (S200);
상기 제1,2유압펌프(1,2)의 작동유 압력이 상기 특정압이하일 경우 상기 제1,2주행모터(4,5)의 고속주행을 유지하고(S300), 상기 제1,2유압펌프(1,2)의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브(12)의 절환에 의해 상기 제1,2주행모터(4,5)를 저속주행으로 전환하는 단계(S400);를 포함한다.When the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is less than or equal to the specific pressure, high speed driving of the first and second traveling motors 4 and 5 is maintained (S300), and the first and second hydraulic pumps are operated. (1, 2) converting the first and second running motors (4,5) to low speed driving by switching of the traveling speed selector valve (12) when the hydraulic pressure of (1, 2) is greater than a specific pressure; do.
주행과 작업장치를 동시에 작동하는 경우, 상기 제1,2유압펌프(1,2) 중 어느 하나의 유압펌프의 유량만을 상기 제1,2주행모터(4,5)로 공급함에 있어, 상기 유압펌프의 작동유 압력의 크기만을 미리 설정된 특정압의 크기와 비교하여 상기 주행속도 선택밸브(12)를 절환하는 단계;를 포함할수 있다.In the case of simultaneously operating the traveling device and the work device, in supplying only the flow rate of the hydraulic pump of any of the first and second hydraulic pumps 1 and 2 to the first and second traveling motors 4 and 5, And switching the traveling speed selection valve 12 by comparing only the magnitude of the hydraulic oil pressure of the pump with a predetermined magnitude of the predetermined pressure.
전술한 구성에 따르면, 상기 주행속도 선택밸브(12)의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프(1,2)의 작동유 압력을 상기 제1,2압력센서(15,16)에 의해 검출한다(S100). 상기 제1,2압력센서(15,16)에 의해 검출된 작동유 압력값은 상기 콘트롤러(14)에 입력된다.According to the above-described configuration, when the high speed is driven by the switching of the traveling speed selector valve 12, the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is converted into the first and second pressure sensors 15 and 16. (S100). The hydraulic oil pressure values detected by the first and second pressure sensors 15 and 16 are input to the controller 14.
S200에서와 같이, 상기 제1,2유압펌프(1,2)의 검출된 작동유 압력과 미리 설정된 특정압의 크기를 비교한 후, 상기 제1,2유압펌프(1,2)의 작동유 압력값이 특정압보다 큰 경우 S400으로 진행하고, 상기 제1,2유압펌프(1,2)의 작동유 압력값이 특정값보다 작은 경우 S300으로 진행한다.As in S200, after comparing the detected hydraulic oil pressure of the first and second hydraulic pumps (1,2) and the size of a predetermined specific pressure, the hydraulic oil pressure value of the first and second hydraulic pumps (1,2) When the pressure is greater than the specific pressure, the process proceeds to S400, and when the hydraulic oil pressure value of the first and second hydraulic pumps 1 and 2 is smaller than the specific value, the process proceeds to S300.
S300에서와 같이, 상기 제1,2유압펌프(1,2)의 작동유 압력이 상기 특정압이하일 경우, 상기 파일럿펌프(3)의 작동유가 상기 주행속도 선택밸브(12)를 통해 제1,2주행모터(4,5)의 구동부(10,11)에 인가되므로, 상기 제1,2주행모터(4,5)는 고속주행(2속 주행; 주행모터의 체적을 최소로 하는 상태임)을 유지하게 된다.As in S300, when the hydraulic oil pressure of the first and second hydraulic pumps 1 and 2 is less than or equal to the specific pressure, the hydraulic oil of the pilot pump 3 passes through the traveling speed selection valve 12. Since the first and second traveling motors 4 and 5 are applied to the driving units 10 and 11 of the traveling motors 4 and 5, the first and second traveling motors 4 and 5 are driven at a high speed (two speeds; the volume of the driving motor is minimized). Will be maintained.
S400에서와 같이, 상기 제1,2유압펌프(1,2)의 작동유 압력이 특정압이상일 경우, 상기 콘트롤러(14)로부터 상기 주행속도 선택밸브(12)에 인가되는 전기신호가 차단됨에 따라, 상기 주행속도 선택밸브(12)가 초기위치로 복귀되므로(도 2에 도시된 상태임) 상기 파일럿펌프(3)로부터 제1,2주행모터(4,5)의 구동부(10,11)에 인가되는 제어신호가 차단된다. 이로 인해 상기 제1,2주행모터(4,5)는 저속주행(1속 주행; 주행모터의 체적을 최대로 하는 상태임)으로 전환하게 된다.As in S400, when the hydraulic oil pressure of the first, second hydraulic pumps (1, 2) is more than a specific pressure, as the electric signal applied to the traveling speed selection valve 12 from the controller 14 is cut off, Since the traveling speed selector valve 12 is returned to the initial position (as shown in FIG. 2), it is applied to the driving units 10 and 11 of the first and second running motors 4 and 5 from the pilot pump 3. Control signal is blocked. As a result, the first and second traveling motors 4 and 5 are converted to low speed driving (1 speed running; a state in which the volume of the driving motor is maximized).
여기에서, 상술한 본 발명에서는 바람직한 실시예를 참조하여 설명하였지만, 해당 기술분야에서 숙련된 당업자는 하기의 특허청구범위에 기재된 본 발명의 사상 및 영역으로부터 벗어나지 않는 범위 내에서 본 발명을 다양하게 수정 및 변경할 수 있음을 이해할 수 있을 것이다.Herein, while the present invention has been described with reference to the preferred embodiments, those skilled in the art will variously modify the present invention without departing from the spirit and scope of the invention as set forth in the claims below. And can be changed.
전술한 구성을 갖는 본 발명에 따르면, 주행중 편 주행을 방지하여 조작성을 향상시키고, 주행모터를 이루는 유압회로를 간단화할 수 있다.According to the present invention having the above-described configuration, it is possible to prevent the one-sided running while driving to improve operability and simplify the hydraulic circuit forming the traveling motor.

Claims (6)

  1. 가변용량형 제1,2유압펌프 및 파일럿펌프;Variable displacement first and second hydraulic pumps and pilot pumps;
    상기 제1유압펌프의 작동유에 의해 동작하는 가변용량형 제1주행모터;A variable displacement first driving motor operated by the operating oil of the first hydraulic pump;
    상기 제2유압펌프의 작동유에 의해 동작하는 가변용량형 제2주행모터;A variable displacement second driving motor operated by the operating oil of the second hydraulic pump;
    상기 제1유압펌프와 제1주행모터 사이의 유로에 설치되고, 절환시 상기 제1주행모터에 공급되는 작동유의 량 및 흐름방향을 제어하는 제1주행제어밸브;A first driving control valve installed in a flow path between the first hydraulic pump and the first driving motor and controlling an amount and a flow direction of the working oil supplied to the first driving motor during switching;
    상기 제2유압펌프와 제2주행모터 사이의 유로에 설치되고, 절환시 상기 제2주행모터에 공급되는 작동유의 량 및 흐름방향을 제어하는 제2주행제어밸브;A second driving control valve installed in a flow path between the second hydraulic pump and the second driving motor and controlling an amount and a flow direction of the working oil supplied to the second driving motor during switching;
    상기 파일럿펌프와 제1주행제어밸브 사이의 유로에 설치되고, 조작시 상기 제1주행제어밸브를 절환하기 위한 파일럿압력을 인가하는 제1주행조작장치;A first driving manipulation device installed in a flow path between the pilot pump and the first running control valve and applying a pilot pressure for switching the first running control valve during operation;
    상기 파일럿펌프와 제2주행제어밸브 사이의 유로에 설치되고, 조작시 상기 제2주행제어밸브를 절환하기 위한 파일럿압력을 인가하는 제2주행조작장치;A second driving control device installed in a flow path between the pilot pump and the second driving control valve and applying a pilot pressure for switching the second driving control valve during operation;
    상기 파일럿펌프와 상기 제1,2주행모터의 구동부 사이의 유로에 설치되는 주행속도 선택밸브;A traveling speed selection valve installed in a flow path between the pilot pump and the driving units of the first and second running motors;
    상기 주행속도 선택밸브의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프의 검출되는 작동유 압력과 미리 설정된 특정압을 비교하여, 상기 제1,2유압펌프의 작동유 압력이 미리 설정된 특정압이하일 경우 상기 제1,2주행모터의 고속주행을 유지하고, 상기 제1,2유압펌프의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브의 절환에 의해 상기 제1,2주행모터를 저속주행으로 전환하는 콘트롤러;를 포함하는 것을 특징으로 하는 건설기계용 주행 제어장치.When the high speed driving is performed by switching the traveling speed selection valve, the detected hydraulic oil pressure of the first and second hydraulic pumps is compared with a predetermined specific pressure, and the hydraulic oil pressure of the first and second hydraulic pumps is set to a predetermined pressure. In case of the following, high speed driving of the first and second running motors is maintained, and when the hydraulic oil pressure of the first and second hydraulic pumps is higher than a specific pressure, the first and second running motors are operated at low speed by switching of the traveling speed selection valve. A controller for converting to; driving control device for a construction machine comprising a.
  2. 제1항에 있어서, 상기 콘트롤러는The method of claim 1, wherein the controller
    상기 제1,2유압펌프 중 어느 한 쪽의 작동유 압력이 미리 설정된 특정압보다 높을 경우, 상기 제1,2주행모터의 양쪽 구동부가 저속주행으로 전환되도록 상기 주행속도 선택밸브를 절환시키는 것을 특징으로 하는 건설기계용 주행 제어장치.When the hydraulic oil pressure of any one of the first, the second hydraulic pump is higher than a predetermined specific pressure, the driving speed selector valve is switched so that both drive parts of the first and second running motor are switched to low speed driving. Travel control device for construction machinery.
  3. 제1항에 있어서, 상기 제1,2유압펌프의 공급유로 상류측에 설치되는 제1,2압력센서, 상기 제1,2압력센서는 상기 제1,2주행모터에 공급되는 상기 제1,2유압펌프의 작동유 압력을 검출하여 검출신호를 상기 콘트롤러에 입력시킴;을 특징으로 하는 건설기계용 주행 제어장치.According to claim 1, wherein the first and second pressure sensors, the first and second pressure sensors which are provided upstream of the supply flow path of the first and second hydraulic pumps, the first and second running motors, And detecting the hydraulic oil pressure of the hydraulic pump and inputting a detection signal to the controller. 2.
  4. 제1항에 있어서, 상기 주행속도 선택밸브는The method of claim 1, wherein the traveling speed selection valve
    저속주행시 상기 제1,2주행모터의 구동부의 파일럿라인을 작동유탱크에 연결하는 초기상태와,An initial state of connecting the pilot line of the drive unit of the first and second driving motors to the hydraulic oil tank at low speed driving;
    고속주행시 상기 파일럿펌프의 작동유를 상기 제1,2주행모터의 구동부에 파일럿압력으로 인가시키기 위해 온 상태로 절환되는 솔레노이드밸브인 것을 특징으로 하는 건설기계용 주행 제어장치.The driving control device for a construction machine, characterized in that the solenoid valve is switched on to apply the hydraulic fluid of the pilot pump to the drive unit of the first and second running motors at the high speed driving to the pilot pressure.
  5. 가변용량형 제1,2유압펌프 및 파일럿펌프; 상기 제1,2유압펌프에 각각 연결되는 가변용량형 제1,2주행모터; 상기 제1유압펌프와 제1주행모터 사이의 유로에 설치되는 제1주행제어밸브; 상기 제2유압펌프와 제2주행모터 사이의 유로에 설치되는 제2주행제어밸브; 상기 파일럿펌프와 제1주행제어밸브 사이의 유로에 설치되는 제1주행조작장치; 상기 파일럿펌프와 제2주행제어밸브 사이의 유로에 설치되는 제2주행조작장치; 상기 제1,2유압펌프의 공급유로 상류측에 설치되는 제1,2압력센서;상기 파일럿펌프와 상기 제1,2주행모터의 구동부 사이의 유로에 설치되는 주행속도 선택밸브; 상기 주행속도 선택밸브를 절환하기 위해 제어신호를 입력하는 콘트롤러;를 구비하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법에 있어서:Variable displacement first and second hydraulic pumps and pilot pumps; Variable capacitance type first and second driving motors connected to the first and second hydraulic pumps, respectively; A first driving control valve installed in a flow path between the first hydraulic pump and the first driving motor; A second driving control valve installed in a flow path between the second hydraulic pump and the second driving motor; A first driving control device installed in a flow path between the pilot pump and the first driving control valve; A second driving manipulation device installed in a flow path between the pilot pump and the second driving control valve; First and second pressure sensors installed upstream of a supply flow path of the first and second hydraulic pumps; a traveling speed selection valve installed in a flow path between the pilot pump and the driving unit of the first and second running motors; In the control method of the traveling control device for a construction machine, comprising: a controller for inputting a control signal to switch the traveling speed selection valve:
    상기 주행속도 선택밸브의 절환에 의해 고속주행중인 경우, 상기 제1,2유압펌프의 작동유 압력을 검출하는 단계;Detecting operating oil pressure of the first and second hydraulic pumps when the vehicle is traveling at a high speed by switching the traveling speed selection valve;
    상기 제1,2유압펌프의 검출되는 작동유 압력과 미리 설정된 특정압의 크기를 비교하는 단계;Comparing the detected hydraulic oil pressure of the first and second hydraulic pumps with a predetermined specific pressure;
    상기 제1,2유압펌프의 작동유 압력이 상기 특정압이하일 경우 상기 제1,2주행모터의 고속주행을 유지하고, 상기 제1,2유압펌프의 작동유 압력이 특정압이상일 경우 상기 주행속도 선택밸브의 절환에 의해 상기 제1,2주행모터를 저속주행으로 전환하는 단계;를 포함하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법.When the hydraulic oil pressure of the first and second hydraulic pumps is below the specific pressure, the high-speed running of the first and second traveling motors is maintained. And converting the first and second traveling motors to low speed driving by switching of the driving control apparatus for a construction machine.
  6. 제5항에 있어서, 주행과 작업장치를 동시에 작동하는 경우, 상기 제1,2유압펌프 중 어느 하나의 유압펌프의 유량만을 상기 제1,2주행모터로 공급함에 있어, 상기 유압펌프의 작동유 압력의 크기만을 미리 설정된 특정압의 크기와 비교하여 상기 주행속도 선택밸브를 절환하는 단계;를 포함하는 것을 특징으로 하는 건설기계용 주행 제어장치의 제어방법.The hydraulic oil pressure of the hydraulic pump according to claim 5, wherein when the driving and the work device are operated at the same time, only the flow rate of the hydraulic pump of any of the first and second hydraulic pumps is supplied to the first and second running motors. And switching the traveling speed selection valve by comparing only the size of the predetermined pressure with a predetermined size of a predetermined pressure.
PCT/KR2013/012026 2013-12-23 2013-12-23 Traveling control device for construction machine and control method therefor WO2015099207A1 (en)

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EP2660479B1 (en) * 2010-12-27 2017-02-22 Volvo Construction Equipment AB Hydraulic pump for construction machinery

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JPH0932045A (en) * 1995-05-17 1997-02-04 Komatsu Ltd Hydraulic circuit of hydraulically driving work vehicle
KR0175729B1 (en) * 1996-02-05 1999-04-01 김정국 Speed regulating device of crawler excavator driving motor
KR20080105709A (en) * 2007-06-01 2008-12-04 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 Prevention device overspeed travel motor of crawler excavator
KR20120072731A (en) * 2010-12-24 2012-07-04 두산인프라코어 주식회사 Hydraulic system of construction machinery comprising emergency controller for electro-hydraulic pump
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JPH0932045A (en) * 1995-05-17 1997-02-04 Komatsu Ltd Hydraulic circuit of hydraulically driving work vehicle
KR0175729B1 (en) * 1996-02-05 1999-04-01 김정국 Speed regulating device of crawler excavator driving motor
KR20080105709A (en) * 2007-06-01 2008-12-04 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 Prevention device overspeed travel motor of crawler excavator
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EP2660479B1 (en) * 2010-12-27 2017-02-22 Volvo Construction Equipment AB Hydraulic pump for construction machinery

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