WO2017061647A1 - Système de contrôle d'équipement de construction. - Google Patents

Système de contrôle d'équipement de construction. Download PDF

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Publication number
WO2017061647A1
WO2017061647A1 PCT/KR2015/010614 KR2015010614W WO2017061647A1 WO 2017061647 A1 WO2017061647 A1 WO 2017061647A1 KR 2015010614 W KR2015010614 W KR 2015010614W WO 2017061647 A1 WO2017061647 A1 WO 2017061647A1
Authority
WO
WIPO (PCT)
Prior art keywords
hrv
cylinder
hydraulic
spool
construction equipment
Prior art date
Application number
PCT/KR2015/010614
Other languages
English (en)
Korean (ko)
Inventor
권상민
정태랑
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
권상민
정태랑
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 볼보 컨스트럭션 이큅먼트 에이비, 권상민, 정태랑 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to PCT/KR2015/010614 priority Critical patent/WO2017061647A1/fr
Publication of WO2017061647A1 publication Critical patent/WO2017061647A1/fr

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Classifications

    • 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
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to a control system of construction equipment, and more particularly, by connecting an electronic hose rupture valve (HRV) controlled by an electronic control unit (ECU) to a hydraulic circuit for operating a cylinder.
  • HRV electronic hose rupture valve
  • ECU electronice control unit
  • construction equipment such as an excavator's work equipment, works by contracting (falling or reversing) and expanding (rising or advancing) the cylinders connected to it, such as mining and digging.
  • a working device is usually very heavy, and may drop suddenly when an abnormality in the hydraulic circuit for operating the cylinder or rupture of the connection hose occurs.
  • a hydraulic HRV 4 also referred to as an anti drop valve
  • FIG. 3 in order to prevent a natural fall of the work device in the event of such an emergency, a hydraulic HRV 4 (also referred to as an anti drop valve) has been conventionally used in connection with a hydraulic circuit.
  • the boom or the arm spool 2 of the main control valve is driven by the hydraulic pressure pump 1 by the pilot signal pressure Pi of the joystick 6 that operates the boom or the arm cylinder 3.
  • the cylinder 3 and the cylinder 3 and the hydraulic tank 9 are switched, and at the same time the spool of the HRV 4 is pushed by the pilot signal pressure Pi, and the HRV 4 is opened. Accordingly, the opening area of the port of the cylinder 3 into which the hydraulic oil discharged from the hydraulic pump 1 flows is determined, and thus pressure loss occurs when the joystick 6 is operated, thereby reducing fuel economy. Problems have arisen.
  • the present invention has been made to solve the problems of the prior art as described above, an object of the present invention by connecting the electronic HRV controlled by the ECU to the hydraulic circuit for operating the cylinder, it is more efficient than when applying the hydraulic HRV It is to provide a control system of the construction equipment.
  • the present invention the spool that is switched by the pilot signal pressure applied through the joystick operation, to enable the movement of the hydraulic oil from the hydraulic pump to the cylinder and the hydraulic tank from the cylinder;
  • An HRV installed on a movement path of the hydraulic oil moving between the spool and the cylinder, and controlling the movement of the hydraulic oil through opening and closing;
  • an ECU that is electrically connected to the HRV to control the opening and closing of the HRV.
  • a first flow path connected between the spool and the large chamber of the cylinder, the first flow path for providing a moving passage of the hydraulic oil, a second passage connected between the small chamber of the cylinder and the spool, to provide a moving passage of the hydraulic oil
  • a flow path a third flow path connected between the hydraulic pump and the spool to provide a moving passage of the hydraulic oil discharged from the hydraulic pump, and connected between the spool and the hydraulic tank to return to the hydraulic tank. It may further include a fourth flow path for providing a moving passage of the hydraulic oil.
  • the HRV may be installed in the first flow path.
  • the HRV may be directly connected to the large chamber of the cylinder.
  • the apparatus may further include a pressure sensor installed in the first flow path and configured to sense a pressure of the working oil passing through the first flow path.
  • the ECU receives the pressure value sensed from the pressure sensor, and if the pressure value exceeds the reference pressure, the HRV is controlled to open, if the pressure value is less than the reference pressure, the HRV to control to close. Can be.
  • the electronic device may further include an electronic button installed in the cab, electrically connected to the HRV, and opening the HRV by a driver's operation.
  • the electronic HRV by providing an electronic button that is electrically connected to the electronic HRV in the cab, it is possible to lower the work device to prevent the natural fall by the electronic HRV to the ground in case of emergency. That is, according to the present invention, if an emergency such as a hydraulic hose breakage is handled by the ECU controlling the electronic HRV, the electronic HRV can be returned to the normal mode through the electronic button.
  • FIG. 1 is a block diagram showing a control system of construction equipment according to an embodiment of the present invention.
  • FIG. 2 is a HRV control algorithm of a construction equipment control system according to an embodiment of the present invention.
  • Figure 3 is a block diagram showing a control system of construction equipment according to the prior art.
  • the control system 100 of construction equipment operates a work device mounted on construction equipment, such as an excavator, for example, by operating a hydraulic circuit, and It is a control system that can prevent the natural fall of work equipment in case of emergency or abnormal situation such as rupture of connecting hose.
  • the control system 100 of construction equipment according to an embodiment of the present invention is formed by including a spool (110), a hose rupture valve (HRV) 120 and an electronic control unit (ECU) 130 do.
  • the spool 110 is switched by the pilot signal pressure applied through the operation of the joystick 111 to enable the supply of hydraulic oil from the hydraulic pump 112 to the cylinder 113, and the hydraulic tank 114 from the cylinder 113. To allow the return of the working oil. Through this, the piston 113c of the cylinder 113 is raised or lowered, whereby, for example, when the cylinder 113 is a boom cylinder, the boom is operated in the up-down form.
  • the hydraulic pump 112, the spool 110, the cylinder 113 and the hydraulic tank 114 are connected to each other through a plurality of flow paths for providing a moving passage of the hydraulic oil.
  • the control system 100 of construction equipment may include a first flow passage 11, a second flow passage 12, a third flow passage 13, and a fourth flow passage 14.
  • the first flow path 11 is connected between the spool 110 and the large chamber 113a of the cylinder 113 to provide a movement passage of the hydraulic oil moving therebetween.
  • the second flow path 12 is connected between the small chamber 113b of the cylinder 113 and the spool 110, and provides a moving passage of the hydraulic oil moving therebetween.
  • the third flow path 13 is connected between the hydraulic pump 112 and the spool 110 to provide a moving passage of the hydraulic oil discharged from the hydraulic pump 112 and supplied to the cylinder 113.
  • the fourth flow passage 14 is connected between the spool 110 and the hydraulic tank 114, and provides a moving passage of the working oil returning from the cylinder 113 to the hydraulic tank 114.
  • the third flow passage 13 and the second flow passage 12 are connected to each other, and the first flow passage 11 and the fourth flow passage 14 are connected to each other.
  • the hydraulic oil discharged from the hydraulic pump 112 passes through the third flow path 13, the spool 110, and the second flow path 12, and the cylinder 113. Is supplied to the small chamber 113b.
  • the piston 113c of the cylinder 113 will descend.
  • HRV 120 is a hydraulic circuit for operating the cylinder 113, that is, in accordance with the application of the pilot signal pressure of the joystick 111, the hydraulic oil discharged from the hydraulic pump 112 to the cylinder 113 via the spool 110.
  • an emergency occurs such as an abnormality in a circuit that supplies or discharges the hydraulic oil discharged from the cylinder 113 to the hydraulic tank 114 via the spool 110 or a rupture occurs in the connection hose providing the flow paths. It is a valve for preventing the natural fall of the work device driven by the operation of the cylinder 113.
  • the HRV 120 is installed on the movement path of the hydraulic oil moving between the spool 110 and the cylinder 113.
  • HRV 120 is installed in the first flow path 11, and controls the movement of the working oil through opening and closing.
  • the HRV 120 may be installed in the first flow path 11 in a form directly connected to the cylinder 113.
  • the number of parts connecting them may be reduced, thereby lowering the production cost and facilitating maintenance in the event of a problem.
  • the electronic HRV 120 is connected to the hydraulic circuit as described above. That is, the HRV 120 is controlled by the ECU 130 electrically connected thereto, and is switched to the normal mode in the open state and the emergency mode in the closed state.
  • the HRV 120 does not move according to the pilot signal pressure of the joystick 111 but operates according to an electrical signal applied from the ECU 130.
  • the electronic HRV 120 is applied to the hydraulic circuit, a complicated flow path added to connect the hydraulic HRV to the hydraulic circuit can be omitted, thereby reducing the total length of the flow path forming the hydraulic circuit, thereby reducing the pressure loss of the flow path. By minimizing this, it is possible to eventually improve the efficiency of the hydraulic system 100.
  • the ECU 130 is electrically connected to the HRV 120 to control the switching of the HRV 120 to the normal mode and the emergency mode. At this time, the ECU 130 controls the opening and closing of the HRV 120 based on the pressure change of the large chamber 113a of the cylinder 113.
  • the control system 100 of construction equipment includes a pressure sensor 140.
  • the pressure sensor 140 is installed in the first flow path 11. The pressure sensor 140 senses the pressure of the hydraulic oil passing through the first flow path 11 in real time, and transmits the sensed pressure value to the ECU 130.
  • the large chamber 113a of the cylinder 113 is formed. The pressure change can be measured.
  • the ECU 130 controls the HRV 120 to be in the normal mode when the work device is performing general work by the operation of the cylinder through the hydraulic circuit. In this case, in order to reduce pressure loss, the ECU 130 preferably controls the HRV 120 such that the opening area of the HRV 120 is maximized regardless of the joystick 111 operation.
  • the ECU 130 controls to switch the HRV 120 from the normal mode to the emergency mode when an emergency occurs. That is, the ECU 130 closes the HRV 120 when an emergency occurs such as an abnormality in the hydraulic circuit or a rupture in the connection hose, thereby blocking the movement of the hydraulic oil, and thereby, the cylinder 113 Prevents natural fall of the work device driven by the operation. In this case, the ECU 130 determines whether an emergency situation occurs by comparing the pressure value of the large chamber 113a of the cylinder 113 which is sensed and transmitted from the pressure sensor 140 in real time with the set reference pressure. It will be described in more detail below.
  • control system 100 of construction equipment may further include an electronic button 150.
  • the electronic button 150 may be installed in the cab of the construction equipment, for example, in one of the console boxes provided at the left and right sides of the driver's seat.
  • the electronic button 150 is a control device for lowering the work device, which is stopped in the air and prevented from being dropped by the HRV 120 which is controlled to switch to the emergency mode by the ECU 130, to the HRV 120. Is electrically connected to the In order to lower the work device to the ground, the driver operates the electronic button 150 to flow a predetermined current to the HRV 120.
  • HRV 120 is opened to flow only a small amount of flow in accordance with the electrical signal by the electronic button 150, and, accordingly, the work device is released to the ground slowly to be released. That is, in an embodiment of the present invention, the electronic button 150 controls to artificially return the HRV 120, which is automatically controlled to switch to the emergency mode by the ECU 130 in an emergency situation, to the normal mode when the emergency situation is released. It serves as a device.
  • the ECU 130 firstly transmits the cylinder 113 delivered from the pressure sensor 140. It is determined whether the pressure value of the large chamber 113a is 4 bar or less. When it is determined that the sensed pressure value exceeds 4 bar, the ECU 130 outputs a current value to the HRV 120 to control the HRV 120 to open. In this case, in order to reduce the pressure loss, the ECU 130 preferably controls the opening area of the HRV 120 to the maximum. For this purpose, the ECU 130 outputs the maximum current value to the HRV 120.
  • the ECU 130 determines an emergency situation and displays the situation on the monitor so that the driver can recognize the emergency situation.
  • a current value is output to the HRV 120 to control the HRV 120 to be closed.
  • the HRV 120 is closed, that is, when the HRV 120 is switched from the normal mode to the emergency mode, the movement of the work device that has been free-falling due to the pressure reduction of the large chamber 113a of the cylinder 113 is stopped. do.
  • the ECU 130 determines whether the electronic button 150 has been operated by the driver. If the manipulation of the electronic button 150 is not detected, the control of the HRV 120 ends. As a result, the work device is held in the air.

Landscapes

  • 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

La présente invention concerne un système de commande d'équipement de construction et, plus spécifiquement, un système de commande d'équipement de construction dans lequel un HRV électronique commandé par une Unité de Commande Électronique est connecté à un circuit hydraulique permettant le fonctionnement d'un cylindre, ce qui présente ainsi d'excellentes caractéristiques d'efficacité comparé au cas où un HRV hydraulique est appliqué. À cet effet, la présente invention concerne un système de commande d'équipement de construction comprenant les éléments suivants: une bobine commutée par une pression de signal pilote appliquée par l'actionnement d'une manette qui permet à une huile hydraulique de se déplacer d'une pompe hydraulique à un cylindre et depuis le cylindre à un réservoir hydraulique; un HRV installé sur le trajet d'écoulement de l'huile hydraulique qui se déplace entre la bobine et le cylindre, et étant ouvert/fermé afin de contrôler l'écoulement de l'huile hydraulique; et une Unité de Commande Électronique connectée électriquement avec le HRV afin de contrôler l'ouverture/la fermeture de celui-ci.
PCT/KR2015/010614 2015-10-07 2015-10-07 Système de contrôle d'équipement de construction. WO2017061647A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2015/010614 WO2017061647A1 (fr) 2015-10-07 2015-10-07 Système de contrôle d'équipement de construction.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2015/010614 WO2017061647A1 (fr) 2015-10-07 2015-10-07 Système de contrôle d'équipement de construction.

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WO2017061647A1 true WO2017061647A1 (fr) 2017-04-13

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PCT/KR2015/010614 WO2017061647A1 (fr) 2015-10-07 2015-10-07 Système de contrôle d'équipement de construction.

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110593347A (zh) * 2019-06-28 2019-12-20 三一重机有限公司 半自动控制挖掘机和挖掘机操控方法
CN114607682A (zh) * 2022-04-06 2022-06-10 中国工程物理研究院流体物理研究所 一种液压系统、装置及实验装置的移动方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200180964Y1 (ko) * 1998-04-17 2000-05-15 김형벽 굴삭기의 흙다지기 작업 제어장치
US7506505B2 (en) * 2005-06-24 2009-03-24 Kayaba Industry Co., Ltd. Hydraulic driving device for operating machine
JP2014029180A (ja) * 2012-07-31 2014-02-13 Hitachi Constr Mach Co Ltd 作業機械の油圧制御装置
KR20140076982A (ko) * 2012-12-13 2014-06-23 현대중공업 주식회사 전기 조이스틱 컨트롤 기반의 건설장비 자동 제어 시스템 및 방법
KR20150044759A (ko) * 2013-10-17 2015-04-27 볼보 컨스트럭션 이큅먼트 에이비 건설기계의 유압펌프 토출 유량 제어장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200180964Y1 (ko) * 1998-04-17 2000-05-15 김형벽 굴삭기의 흙다지기 작업 제어장치
US7506505B2 (en) * 2005-06-24 2009-03-24 Kayaba Industry Co., Ltd. Hydraulic driving device for operating machine
JP2014029180A (ja) * 2012-07-31 2014-02-13 Hitachi Constr Mach Co Ltd 作業機械の油圧制御装置
KR20140076982A (ko) * 2012-12-13 2014-06-23 현대중공업 주식회사 전기 조이스틱 컨트롤 기반의 건설장비 자동 제어 시스템 및 방법
KR20150044759A (ko) * 2013-10-17 2015-04-27 볼보 컨스트럭션 이큅먼트 에이비 건설기계의 유압펌프 토출 유량 제어장치

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110593347A (zh) * 2019-06-28 2019-12-20 三一重机有限公司 半自动控制挖掘机和挖掘机操控方法
CN114607682A (zh) * 2022-04-06 2022-06-10 中国工程物理研究院流体物理研究所 一种液压系统、装置及实验装置的移动方法

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