WO2014115905A1 - 건설기계의 주행속도 제어방법 - Google Patents
건설기계의 주행속도 제어방법 Download PDFInfo
- Publication number
- WO2014115905A1 WO2014115905A1 PCT/KR2013/000532 KR2013000532W WO2014115905A1 WO 2014115905 A1 WO2014115905 A1 WO 2014115905A1 KR 2013000532 W KR2013000532 W KR 2013000532W WO 2014115905 A1 WO2014115905 A1 WO 2014115905A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- flow rate
- driving
- traveling
- driving speed
- driver
- Prior art date
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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
- E02F9/20—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45012—Excavator
Definitions
- the present invention relates to a traveling speed control method for a construction machine, and more particularly, to a traveling speed control method for a construction machine to prevent a sudden change in the running speed when operating a work device while driving an excavator complex operation.
- FIG. 1 is a graph showing a discharge flow rate of a hydraulic pump when operating a work device while driving a construction machine according to the prior art.
- an excavator performs excavation work by operating a work device such as a left and right travel device and a boom, and when operating the travel device or a work device alone according to the working conditions, the hydraulic fluid flows from the hydraulic pump at the maximum flow rate. It is discharged and supplied to increase the working speed.
- a work device such as a left and right travel device and a boom
- the present invention is to solve the above problems, by setting the maximum maximum traveling speed of the traveling device to a low speed, the running speed of the construction machine that can prevent the sudden change in the running speed when operating the work device during driving It is an object to provide a control method.
- the lower traveling body A turning device for turning the upper swinging body with respect to the lower traveling body; Traveling device; Working equipment; Electronic proportional valve for controlling the discharge flow rate of the hydraulic pump;
- traveling speed control method of a construction machine comprising a controller:
- a fourth step of outputting a control signal to the electromagnetic proportional valve to discharge the merged flow rate from the hydraulic pump by merging the required hydraulic fluid flow rates calculated in the second and third steps. Provides a driving speed control method.
- Detecting means capable of detecting the operation of the traveling device, the working device, and the turning device
- One of the on / off type function switch, potentiometer, display device, and cluster installed in the cabin of the equipment is used.
- FIG. 1 is a graph showing the discharge flow rate of the hydraulic pump when operating a work device while driving a construction machine according to the prior art
- FIG. 2 is a configuration diagram of a hydraulic system used in the traveling speed control method for a construction machine according to an embodiment of the present invention
- FIG. 3 is a flow chart showing a traveling speed control method for a construction machine according to an embodiment of the present invention
- FIG. 4 is a graph showing the discharge flow rate of the hydraulic pump when operating the work device during driving in the method for controlling the traveling speed of a construction machine according to an embodiment of the present invention.
- FIG. 2 is a configuration diagram of a hydraulic system used in the traveling speed control method of a construction machine according to an embodiment of the present invention
- Figure 3 shows a traveling speed control method of a construction machine according to a preferred embodiment of the present invention
- 4 is a flow chart of a hydraulic pump discharge flow rate when operating a work device during traveling in the traveling speed control method for a construction machine according to an embodiment of the present invention.
- Lower traveling body An upper swing body rotatably mounted on the lower travel body by the swing device; A traveling device mounted on the lower traveling body; Work tools including booms, arms and buckets; Electronic proportional valve for controlling the discharge flow rate of the hydraulic pump connected to the engine; In the traveling speed control method of a construction machine comprising a controller,
- the controller 40 has a second step (S20, S20A) for calculating the required hydraulic fluid flow rate corresponding to the operation amount of the traveling device, work device and the turning device, respectively;
- a fourth step S40 of outputting is included.
- Detecting means capable of detecting the operation of the traveling device, the working device, and the turning device
- the hydraulic pedal 10 and the hydraulic joystick (20,30) it can be determined whether the operation by the secondary pressure value output to the controller 40.
- the presence or absence of the manipulation may be determined based on an electrical signal value output to the controller 40 by these manipulations.
- Any one of an on / off function switch, a potentiometer, a display device, and a cluster 60 installed in the cabin of the equipment may be used.
- the operation signal corresponding to the operation amount is output to the controller 40.
- an operation signal (secondary pressure value) corresponding to each operation amount is referred to. ) Is output to the controller 40.
- the controller 40 is to calculate the required hydraulic fluid flow rate corresponding to the operation amount of the hydraulic pedal (10).
- the controller 40 is to calculate the required hydraulic fluid flow rate corresponding to the operation amount of the hydraulic joystick (20, 30), respectively.
- the required oil flow rate of the traveling device calculated in the second step S20 may be set by the driver so that the maximum driving speed of the traveling device may be lowered by the driver's setting.
- the maximum driving speed can be reduced to 20%, 30%, 50%, etc.).
- the setting means for decelerating the maximum driving speed of the traveling device by the driver's setting on / off function switch, potentiometer, display installed in the cabin of the equipment for the driver of the driver's seat to operate. It can be set using any one of the device, the cluster (cluster).
- the driver presets the deceleration rate in the cluster 60 so that the driver can decelerate the maximum driving speed of the driving device alone
- the driver selects a preset ratio set in the cluster 60 to increase the driving speed. It can slow down.
- the controller 40 merges the hydraulic oil required flow rate (refers to the required flow rate of the work device and the reduced flow rate of the traveling device) calculated in the second and third steps (S20A) (S30), An electrical control signal is output to the electromagnetic proportional valve 50 to discharge the flow rate from the hydraulic pump. Therefore, the swash plate tilt angle is controlled by driving the regulator of the hydraulic pump by the secondary pressure generated corresponding to the electrical control signal input to the electromagnetic proportional valve 50, thereby controlling the discharge flow rate of the hydraulic pump.
- the maximum driving speed of the traveling device As shown in the graph curve of FIG. 4, as the single maximum driving speed of the traveling device is decelerated by the driver's setting, the maximum driving speed can be reduced even when the equipment is running alone. In addition, even if the operating device is operated by the operation device during the single driving of the machine, rapid reduction of the driving speed is prevented (see graph curve "f"), so that the occurrence of driving shock is reduced, thereby improving workability and reducing driver fatigue. It becomes possible.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims (3)
- 하부 주행체; 하부 주행체에 대해 상부 선회체를 선회시키는 선회장치; 주행장치; 작업장치; 유압펌프의 토출 유량을 제어하는 전자비례밸브; 제어기를 포함하는 건설기계의 주행속도 제어방법에 있어서:상기 주행장치, 작업장치 및 선회장치의 조작에 따라 각각의 조작량을 검출하는 제1단계;상기 주행장치, 작업장치 및 선회장치의 조작량에 대응되는 작동유 요구 유량을 연산하는 제2단계;상기 주행장치의 단독 최대 주행속도를 운전자의 설정에 의해 낮출 수 있도록 상기 제2단계에서 연산된 주행장치의 작동유 요구 유량을 운전자에 의한 설정 비율에 따라 감소시키는 제3단계;상기 제2,3단계에서 연산된 작동유 요구 유량을 병합하여, 병합된 유량을 상기 유압펌프에서 토출시키도록 상기 전자비례밸브에 제어신호를 출력하는 제4단계를 포함하는 것을 특징으로 하는 건설기계의 주행속도 제어방법.
- 제1항에 있어서, 상기 주행장치와, 작업장치와, 선회장치의 조작 유무를 검출할 수 있는 검출수단으로,전기식 조이스틱의 조작에 의해 출력되는 전기적 신호값 또는 유압식 조이스틱의 조작에 의해 출력되는 2차 압력값에 의해 조작 유무를 판단하는 것을 특징으로 하는 건설기계의 주행속도 제어방법.
- 제1항에 있어서, 상기 주행장치의 단독 최대 주행속도를 운전자의 설정에 의해 감속시킬 수 있는 설정수단으로,장비의 캐빈 내에 설치되는 온,오프형 기능스위치, 포텐쇼 미터, 디스플레이 장치, 클러스터 중 어느 하나가 사용되는 것을 특징으로 하는 건설기계의 주행속도 제어방법.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020157019831A KR20150105961A (ko) | 2013-01-23 | 2013-01-23 | 건설기계의 주행속도 제어방법 |
PCT/KR2013/000532 WO2014115905A1 (ko) | 2013-01-23 | 2013-01-23 | 건설기계의 주행속도 제어방법 |
US14/762,315 US20150354174A1 (en) | 2013-01-23 | 2013-01-23 | Method for controlling driving speed of construction machinery |
EP13873027.0A EP2949820A1 (en) | 2013-01-23 | 2013-01-23 | Method for controlling driving speed of construction machinery |
CN201380071263.5A CN104937179A (zh) | 2013-01-23 | 2013-01-23 | 用于控制工程机械的行驶速度的方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2013/000532 WO2014115905A1 (ko) | 2013-01-23 | 2013-01-23 | 건설기계의 주행속도 제어방법 |
Publications (1)
Publication Number | Publication Date |
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WO2014115905A1 true WO2014115905A1 (ko) | 2014-07-31 |
Family
ID=51227690
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/KR2013/000532 WO2014115905A1 (ko) | 2013-01-23 | 2013-01-23 | 건설기계의 주행속도 제어방법 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20150354174A1 (ko) |
EP (1) | EP2949820A1 (ko) |
KR (1) | KR20150105961A (ko) |
CN (1) | CN104937179A (ko) |
WO (1) | WO2014115905A1 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017010840A1 (ko) * | 2015-07-15 | 2017-01-19 | 두산인프라코어 주식회사 | 건설기계 및 건설기계의 제어 방법 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9739036B2 (en) * | 2012-12-13 | 2017-08-22 | Hyundai Construction Equipment Co., Ltd. | Automatic control system and method for joystick control-based construction equipment |
DE112013006501T5 (de) * | 2013-01-24 | 2016-03-31 | Volvo Construction Equipment Ab | Vorrichtung und Verfahren zum Steuern einer Flussrate bei Baumaschinen |
EP2954121B1 (en) * | 2013-02-06 | 2018-12-19 | Volvo Construction Equipment AB | Swing control system for construction machines |
GB2549150B (en) * | 2016-04-08 | 2019-10-09 | Caterpillar Inc | Control system and method for a machine |
CN107747331B (zh) * | 2017-05-03 | 2021-01-12 | 柳州柳工挖掘机有限公司 | 履带式挖掘机自动手动行走液压电气*** |
CN111465738B (zh) * | 2017-12-14 | 2022-05-27 | 沃尔沃建筑设备公司 | 液压机械 |
Citations (5)
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KR19990059489A (ko) * | 1997-12-30 | 1999-07-26 | 토니헬샴 | 중장비용 주행장치 |
KR100611714B1 (ko) * | 2005-02-17 | 2006-08-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 중장비의 전후진 급변경시 충격을 완화하는 제어장치 및 제어방법 |
KR100621985B1 (ko) * | 2005-08-02 | 2006-09-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 주행시스템 |
KR20090103082A (ko) * | 2008-03-27 | 2009-10-01 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 중장비의 주행시스템 |
US7757486B2 (en) * | 2004-09-27 | 2010-07-20 | Hitachi Construction Machinery Co., Ltd. | Engine control device for work vehicle |
-
2013
- 2013-01-23 EP EP13873027.0A patent/EP2949820A1/en not_active Withdrawn
- 2013-01-23 US US14/762,315 patent/US20150354174A1/en not_active Abandoned
- 2013-01-23 WO PCT/KR2013/000532 patent/WO2014115905A1/ko active Application Filing
- 2013-01-23 KR KR1020157019831A patent/KR20150105961A/ko not_active Application Discontinuation
- 2013-01-23 CN CN201380071263.5A patent/CN104937179A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR19990059489A (ko) * | 1997-12-30 | 1999-07-26 | 토니헬샴 | 중장비용 주행장치 |
US7757486B2 (en) * | 2004-09-27 | 2010-07-20 | Hitachi Construction Machinery Co., Ltd. | Engine control device for work vehicle |
KR100611714B1 (ko) * | 2005-02-17 | 2006-08-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 중장비의 전후진 급변경시 충격을 완화하는 제어장치 및 제어방법 |
KR100621985B1 (ko) * | 2005-08-02 | 2006-09-11 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 주행시스템 |
KR20090103082A (ko) * | 2008-03-27 | 2009-10-01 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | 중장비의 주행시스템 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017010840A1 (ko) * | 2015-07-15 | 2017-01-19 | 두산인프라코어 주식회사 | 건설기계 및 건설기계의 제어 방법 |
US10907321B2 (en) | 2015-07-15 | 2021-02-02 | Doosan Infracore Co., Ltd. | Construction machinery and method of controlling construction machinery |
Also Published As
Publication number | Publication date |
---|---|
KR20150105961A (ko) | 2015-09-18 |
EP2949820A1 (en) | 2015-12-02 |
CN104937179A (zh) | 2015-09-23 |
US20150354174A1 (en) | 2015-12-10 |
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