WO2016111578A1 - 건설 기계의 자동 변속 방법 및 이를 수행하기 위한 장치 - Google Patents

건설 기계의 자동 변속 방법 및 이를 수행하기 위한 장치 Download PDF

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Publication number
WO2016111578A1
WO2016111578A1 PCT/KR2016/000179 KR2016000179W WO2016111578A1 WO 2016111578 A1 WO2016111578 A1 WO 2016111578A1 KR 2016000179 W KR2016000179 W KR 2016000179W WO 2016111578 A1 WO2016111578 A1 WO 2016111578A1
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WO
WIPO (PCT)
Prior art keywords
transmission
speed
construction machine
traveling
automatic transmission
Prior art date
Application number
PCT/KR2016/000179
Other languages
English (en)
French (fr)
Korean (ko)
Inventor
김동현
송대길
Original Assignee
두산인프라코어 주식회사
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
Publication date
Application filed by 두산인프라코어 주식회사 filed Critical 두산인프라코어 주식회사
Priority to DE212016000040.3U priority Critical patent/DE212016000040U1/de
Priority to CN201680005128.4A priority patent/CN107208790B/zh
Publication of WO2016111578A1 publication Critical patent/WO2016111578A1/ko

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Classifications

    • 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
    • F16H61/04—Smoothing ratio shift
    • 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
    • F16H47/00—Combinations of mechanical gearing with fluid clutches or fluid gearing
    • F16H47/02—Combinations of mechanical gearing with fluid clutches or fluid gearing the fluid gearing being of the volumetric type
    • 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
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2079—Control of mechanical 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
    • E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • 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
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H59/46—Inputs being a function of speed dependent on a comparison between speeds
    • F16H2059/462—Detecting synchronisation, i.e. speed difference is approaching zero
    • 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

Definitions

  • the present invention relates to a method for automatically shifting a construction machine and an apparatus for performing the same, and more particularly, to a method for automatically shifting a transmission of a wheel excavator, and an apparatus for performing such a method.
  • an excavator may include a lower travel body, a swing structure pivotally connected to the lower travel body, a boom connected to the upper swing body, an arm connected to the boom and an attachment selectively connected to the arm. Attachments may include buckets, breakers, crushers, and the like.
  • Excavators may include wheel excavators that are driven by wheels. The wheel excavator can be driven by the hydraulic pressure generated from the main pump being transmitted to the wheel via the travel motor and the transmission.
  • the transmission may comprise a manual transmission type.
  • the manual transmission can be shifted from low to high or vice versa by manually manipulating the shift switch according to the traveling speed of the wheel excavator.
  • This manual shift can only be carried out with the wheel excavator stopped. That is, when the forward and backward gears are in a neutral state and the wheel excavator is in a stopped state, the shift can be made by the operator operating the shift switch. For this reason, since the wheel excavator must be frequently stopped in order to shift, the wheel excavator can have low fuel economy. In addition, frequent stops of wheeled excavators have become a complaint of workers.
  • the semi-automatic transmission can be operated by the shift switch.
  • the semi-automatic transmission does not require the stopping of the wheel excavator, but it may be inconvenient for the driver to operate the shift switch directly according to the traveling speed of the wheel excavator.
  • the present invention provides an automatic shifting method of a construction machine that can be shifted automatically according to the traveling speed.
  • the invention also provides an automatic transmission for carrying out the method described above.
  • the automatic transmission method of the construction machine it is possible to detect the running speed of the construction machine.
  • the input shaft speed and the output shaft speed of the transmission of the construction machine may be synchronized according to the detected traveling speed.
  • the transmission can be shifted.
  • sensing the traveling speed of the construction machine may include sensing the output shaft speed of the transmission.
  • synchronizing the input shaft speed and the output shaft speed may include correcting the driving power of the travel motor such that the output speed of the travel motor of the construction machine is equal to the sensed travel speed. have.
  • synchronizing the input shaft speed and the output shaft speed may further include shutting off the hydraulic supply to the traveling motor and switching the transmission to a neutral mode.
  • the shifting of the transmission may include selectively connecting a synchronizer of the transmission to shifting gears of the transmission.
  • the automatic shift method may further include determining whether the sensed driving speed is within a shift speed range.
  • the construction machine may comprise a wheel excavator.
  • An automatic transmission of a construction machine may include a sensor, a controller, and a transmission.
  • the sensor can detect the traveling speed of the construction machine.
  • the controller may synchronize the input shaft speed and the output shaft speed of the transmission of the construction machine according to the traveling speed detected by the sensor and output a shift signal.
  • the transmission may perform a shift operation by the shift signal of the controller.
  • the senor may include a transmission sensor configured to detect a rotational speed of the transmission.
  • the controller may include a transmission control unit that controls driving of the transmission.
  • the transmission control unit may correct the driving power of the traveling motor such that the output speed of the traveling motor of the construction machine is the same as the traveling speed detected by the sensor.
  • the transmission control unit may block the hydraulic supply to the traveling motor and switch the transmission to the neutral mode.
  • the controller may determine whether the detected driving speed is within a speed range.
  • the transmission may include a synchronizer selectively engaged with the shift gears according to a shift signal of the controller.
  • the construction machine may comprise a wheel excavator.
  • the transmission can be automatically shifted from the low end to the high end or vice versa according to the traveling speed of the construction machine. Therefore, the shift operation is automatically performed without stopping the construction machine, thereby improving fuel economy and convenience of the operator.
  • FIG. 1 is a cross-sectional view showing an automatic transmission of a construction machine according to an embodiment of the present invention.
  • FIG. 2 is a flowchart sequentially illustrating a method for automatically shifting using the apparatus shown in FIG. 1.
  • first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
  • FIG. 1 is a cross-sectional view showing an automatic transmission of a construction machine according to an embodiment of the present invention.
  • a construction machine to which an automatic transmission according to the present embodiment is applied may include a wheel excavator driven by a wheel.
  • the wheel excavator may include a hydraulic pump 110, a traveling motor 120, a transmission 130, an axle 160, and a wheel 170.
  • the hydraulic pump 110 may discharge hydraulic oil.
  • the traveling motor 120 may be driven by the hydraulic oil to generate driving power.
  • the traveling motor 120 may be a variable displacement type whose volume is controlled by the displacement control valve.
  • the transmission 130 may shift the driving power in accordance with the traveling speed of the wheel excavator. The shifted driving power may be transmitted to the wheel 170 through the axle 160.
  • the automatic transmission can also be applied to other construction machines driven by wheels.
  • the automatic transmission device may include a sensor 140, a controller 150, and a transmission 130.
  • the transmission 130 may include a first gear 132, a second gear 134, and a synchronizer 136.
  • the first gear 132 may be engaged with the outer circumferential surface of the input shaft 137.
  • the first gear 132 may be connected to the outer circumferential surface of the output shaft 138 so that idling is possible.
  • the second gear 134 may include a small diameter gear and a large diameter gear meshed with each other.
  • the small diameter gear may be fixed to the outer circumferential surface of the input shaft 137.
  • the large diameter gear may be connected to the outer circumferential surface of the output shaft 138 so that idling is possible through the bearing.
  • the synchronizer 136 may be splined to the outer circumferential surface of the output shaft 138. That is, the synchronizer 136 may be moved along the axial direction on the outer circumferential surface of the output shaft 138.
  • the synchronizer 136 may be disposed between the first gear 132 and the second gear 134 and may be selectively connected to the first gear 132 and the second gear 134 according to the traveling speed.
  • the synchronizer 136 when the synchronizer 136 is engaged with the second gear 134, the rotational force of the input shaft 137 is transmitted to the output shaft 138 via the second gear 134 and the synchronizer 136, the wheel The excavator can travel at two speeds, faster than one speed.
  • the sensor 140 may detect the traveling speed of the wheel excavator.
  • the sensor 140 may include a transmission sensor. Since the transmission sensor 140 needs to detect the actual traveling speed of the wheel excavator, the transmission sensor 140 may be attached to the output shaft 138 to detect the rotation speed of the output shaft 138.
  • the controller 150 may synchronize the rotation speeds of the input shaft 137 and the output shaft 138 according to the traveling speed of the wheel excavator detected by the sensor 140.
  • the rotational speed of the input shaft 137 and the rotational speed of the output shaft 138 may be synchronized by correcting the driving power of the travel motor 120.
  • the controller 150 may include a transmission control unit (TCU) for controlling the operation of the transmission 130.
  • TCU transmission control unit
  • the controller 150 may adjust the swash plate angle of the travel motor 120 using the current value to make the rotation speed of the travel motor 120 the same as the actual travel speed of the wheel excavator.
  • the automatic transmission may further include other sensors that provide the controller 150 with information about the traveling speed of the wheel excavator.
  • the pressure sensor can sense the pressure of the travel motor.
  • the temperature sensor can detect the temperature of the traveling motor and the transmission.
  • the gradient sensor can detect the tilt of the wheel excavator.
  • the controller 150 may output the automatic shift signal based on various information regarding the traveling speed of the wheel excavator provided from the pressure sensor, the temperature sensor, the gradient sensor, as well as the transmission sensor 140.
  • the control unit 150 may set a speed range. For example, when the traveling speed of the wheel excavator reaches 8 km / h at low speed, the automatic shift may be started, and at 10 km / h or less, the automatic shift from 1 speed to 2 speed may end. That is, the speed range from 1 speed to 2 speed may range from 8 km / h to 10 km / h. On the other hand, when the traveling speed of the wheel excavator reaches 12 km / h at high speed, the automatic shift is started, the automatic shift from 2 speed to 1 speed can be finished at 10 km / h or less. That is, the speed range from 2 speed to 1 speed may range from 12 km / h to 10 km / h. However, the above-described speed range can be changed according to the specification of the wheel excavator.
  • the controller 150 may block the hydraulic oil supplied from the hydraulic pump 110 to the traveling motor 120. Therefore, the volume of the traveling motor can be instantaneously 0cc.
  • the driving motor 120 and the transmission 130 may be switched to a no-load state by the hydraulic oil cutoff.
  • the synchronizer 136 engaged with the first gear 132 or the second gear 134 may be moved to the neutral mode position.
  • the controller 150 may control the swash plate angle of the travel motor 120 to correct the travel power generated from the travel motor 120 to be equal to the actual travel speed. Therefore, the shift speed range may be set in the controller 150.
  • the controller 150 may transmit a shift signal to the synchronizer 136.
  • the synchronizer 136 may be selectively engaged with the first gear 132 or the second gear 134 according to the shift signal.
  • FIG. 2 is a flowchart sequentially illustrating a method for automatically shifting using the apparatus shown in FIG. 1.
  • the wheel excavator may be driven at one speed by engaging the synchronizer 136 and the first gear 132.
  • the transmission sensor 140 may detect the speed of the output shaft 138 of the transmission 130.
  • the speed of the output shaft 138 may be the actual travel speed of the wheel excavator.
  • the transmission sensor 140 may transmit the detected speed of the output shaft 138 to the controller 150.
  • the controller 150 may determine whether the speed of the transmitted output shaft 138 is within the speed range.
  • the shift speed range may be set in the controller 150.
  • the speed range from 1 speed to 2 speeds may be 8 km / h to 10 km / h.
  • the speed range from 2 speed to 1 speed can range from 12 km / h to 10 km / h.
  • step ST230 when the speed of the output shaft 138 reaches the speed change range from 1 to 2 speeds, the controller 150 may block the hydraulic oil supplied from the hydraulic pump 110 to the travel motor 120.
  • the driving motor 120 and the transmission 130 may be switched to a no-load state by the hydraulic oil cutoff.
  • step ST240 the synchronizer 136 may be separated from the first gear 132 so that the transmission 130 may be switched to the neutral mode. Therefore, the driving power may no longer be transmitted to the wheel 170.
  • the controller 150 may correct driving power of the traveling motor 120 in a no-load state to synchronize the speed of the input shaft 137 with the speed of the output shaft 138.
  • the controller 150 may transmit a shift signal to the synchronizer 136.
  • step ST260 the synchronizer 136 may be engaged with the second gear 134 by the transmitted shift signal. Therefore, the wheel excavator can travel by shifting from 1 speed to 2 speeds.
  • the traveling speed of the wheel excavator can be mechanically controlled by depressing the accelerator pedal.
  • the transmission may be automatically shifted from the low end to the high end or vice versa according to the traveling speed of the construction machine. Therefore, the shift operation is automatically performed without stopping the construction machine, thereby improving fuel economy and convenience of the operator.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Fluid Gearings (AREA)
PCT/KR2016/000179 2015-01-09 2016-01-08 건설 기계의 자동 변속 방법 및 이를 수행하기 위한 장치 WO2016111578A1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE212016000040.3U DE212016000040U1 (de) 2015-01-09 2016-01-08 Einrichtung eines automatischen Getriebes für eine Baumaschine
CN201680005128.4A CN107208790B (zh) 2015-01-09 2016-01-08 工程机械的自动变速方法及用于执行其的装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020150003167A KR102371482B1 (ko) 2015-01-09 2015-01-09 건설 기계의 자동 변속 방법 및 이를 수행하기 위한 장치
KR10-2015-0003167 2015-01-09

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WO2016111578A1 true WO2016111578A1 (ko) 2016-07-14

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KR (1) KR102371482B1 (zh)
CN (1) CN107208790B (zh)
DE (1) DE212016000040U1 (zh)
WO (1) WO2016111578A1 (zh)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN107355518A (zh) * 2017-07-26 2017-11-17 福建省晋江市科华汽配有限公司 液压驱动轮式挖掘机的变速器

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KR102484104B1 (ko) * 2018-01-31 2023-01-04 현대두산인프라코어(주) 건설기계의 주행 제어 장치 및 주행 제어 방법
KR102635248B1 (ko) * 2018-10-08 2024-02-08 에이치디현대인프라코어 주식회사 건설기계의 변속 제어방법
KR102629292B1 (ko) 2019-02-15 2024-01-24 에이치디현대인프라코어 주식회사 자동 변속 장치가 구비된 건설 기계
KR20200103268A (ko) 2019-02-25 2020-09-02 두산인프라코어 주식회사 건설 기계의 자동 변속 장치 및 자동 변속 방법
KR20210059120A (ko) * 2019-11-14 2021-05-25 두산인프라코어 주식회사 건설기계 및 건설기계 제어방법
KR20210058434A (ko) 2019-11-14 2021-05-24 두산인프라코어 주식회사 자동 변속 장치가 구비된 건설 기계 및 변속 제어 방법
CN111791876B (zh) * 2020-07-30 2022-04-19 重庆青山工业有限责任公司 基于序列式混动变速器同步器挂挡控制方法

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KR20120014369A (ko) * 2010-08-09 2012-02-17 (주)엠에스정밀 건설장비 산업차량의 구동장치용 유성기어장치
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JPH10121522A (ja) * 1996-10-23 1998-05-12 Komatsu Ltd 建設機械車両の作業機および変速機シフトの制御装置
JP2001254817A (ja) * 2000-03-08 2001-09-21 Komatsu Ltd 自動変速機の変速制御装置及びその制御方法
KR20080018990A (ko) * 2005-06-03 2008-02-29 티씨엠 가부시키가이샤 휠로더의 자동변속장치 및 휠로더
KR20120014369A (ko) * 2010-08-09 2012-02-17 (주)엠에스정밀 건설장비 산업차량의 구동장치용 유성기어장치
KR101461452B1 (ko) * 2014-10-10 2014-11-13 (주)엠에스정밀 산업차량 및 건설장비용 자동변속기 전후진 구동장치

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107355518A (zh) * 2017-07-26 2017-11-17 福建省晋江市科华汽配有限公司 液压驱动轮式挖掘机的变速器

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CN107208790A (zh) 2017-09-26
CN107208790B (zh) 2019-11-22
KR20160086043A (ko) 2016-07-19
KR102371482B1 (ko) 2022-03-07
DE212016000040U1 (de) 2017-08-25

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