WO2014123264A1 - 건설기계의 주행 제어방법 - Google Patents
건설기계의 주행 제어방법 Download PDFInfo
- Publication number
- WO2014123264A1 WO2014123264A1 PCT/KR2013/001046 KR2013001046W WO2014123264A1 WO 2014123264 A1 WO2014123264 A1 WO 2014123264A1 KR 2013001046 W KR2013001046 W KR 2013001046W WO 2014123264 A1 WO2014123264 A1 WO 2014123264A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- driving
- traveling
- equipment
- pedal
- setting means
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000010276 construction Methods 0.000 title claims abstract description 28
- 230000004913 activation Effects 0.000 claims abstract description 16
- 230000009849 deactivation Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 230000002779 inactivation Effects 0.000 abstract 1
- 239000010720 hydraulic oil Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
Definitions
- the present invention relates to a traveling control method of a construction machine, and more particularly to a traveling control method of a construction machine to be able to control the running of the equipment without using a separate travel straight pedal.
- a controller (2) which calculates and outputs an electrical control signal corresponding to the operation signal of the traveling manipulation device (1);
- Left and right travel switching valves for controlling the hydraulic oil flow direction supplied from the hydraulic pump (not shown) to the left and right travel motors (not shown);
- the second proportional control signal is generated corresponding to the electrical control signal output from the controller 2, and the left proportional propulsion solenoid valve 3 for outputting the secondary control signal to the left and right travel switching valves to advance the equipment (3).
- electromagnetic proportional valve (4) for the right traveling forward;
- Electro-proportional valve for left driving backward (5) generating a secondary control signal corresponding to the electrical control signal output from the controller (2), and outputting the secondary control signal to the left and right travel switching valves so as to reverse the equipment.
- a right proportional solenoid valve 6 for reversing driving.
- the driving straight pedal 7 which outputs an operation signal to the controller 2 so that the equipment can be driven straight by simultaneously operating the left driving forward electromagnetic proportional valve 4 and the right traveling forward electromagnetic proportional valve 4. Include.
- the traveling control apparatus of the related art controls the driving by operating the traveling straight pedal 7 by using one foot when traveling a long distance or performing a complex operation by operating the traveling and work devices simultaneously. Has the advantage of providing convenience.
- the number of parts due to the traveling manipulator 1 and the separate traveling straight pedal 7 used to travel straight to drive the tracked excavator increases the cost.
- the installation of the driving control device 1 and the driving straight pedal 7 has a problem that can effectively utilize the reduced space in front of the driver's seat.
- the present invention is to solve the above-mentioned problems, since the operation of any one of the left and right driving pedals to control the running of the equipment, a separate running straight pedal is unnecessary, reducing the number of parts, the narrow indoor space of the cab useful
- An object of the present invention is to provide a driving control method for construction machinery that can be utilized.
- the lower traveling body An upper pivot body rotatably mounted on the lower traveling body; A cab and a work device mounted on the upper pivot; Left and right traveling control devices which are operated forward and backward for driving and direction change of the equipment; A controller for calculating and outputting a control signal corresponding to an operation signal of the traveling operation apparatus; Left and right driving motors for driving the equipment according to the operation of the traveling operation device; Electronic proportional valves for forward driving left and right for outputting secondary control signals corresponding to control signals output from the controller to advance the equipment; Electronic proportional valves for left and right driving backwards that output secondary control signals corresponding to the control signals output from the controller to reverse the equipment;
- a setting means for setting the function to advance or reverse the equipment by the operation of the traveling control device
- the equipment When switching to the activation mode by the operation of the setting means, when operating the operation pedal of any one of the traveling operation device, the equipment is moved forward or backward, when operating the operation pedal of the other of the traveling operation device It is characterized in that the operation signal is not output.
- the equipment When switching to the activation mode by the operation of the setting means, when operating the operation pedal of any one of the traveling operation device, the equipment is moved forward or backward, when operating the operation pedal of the other of the traveling operation device.
- the equipment is characterized in that the driving direction is switched.
- the traveling operation device is characterized in that an electric joystick or a hydraulic joystick is used.
- a function switch a display device (I-ECU), or a cluster provided in the cab.
- the left and right driving motor The left and right driving motor
- the track motor for driving the track-type track mounted on the lower traveling body.
- FIG. 1 is a block diagram of a traveling device of a construction machine according to the prior art
- FIG. 2 is a block diagram of a traveling device used in a traveling control method for a construction machine according to an embodiment of the present invention
- FIG. 3 is a flow chart of a driving control method for a construction machine according to an embodiment of the present invention.
- FIG. 2 is a block diagram of a control device used in the traveling control method of a construction machine according to a preferred embodiment of the present invention
- Figure 3 is a flow chart of a driving control method of a construction machine according to a preferred embodiment of the present invention.
- Lower traveling body An upper pivot body rotatably mounted on the lower traveling body; A cab and a work device mounted on the upper pivot; Left and right traveling control device (1) to be moved forward and backward for driving and direction change of the equipment; A controller 2 for calculating and outputting a control signal corresponding to the operation signal of the traveling manipulator 1; Left and right travel motors (not shown) for driving the equipment by the hydraulic oil supplied from the hydraulic pump (not shown) according to the operation of the travel operation device 1; Electronic proportional valves 3 and 4 for driving forward and leftward driving which output secondary control signals generated corresponding to the control signals output from the controller 2 to advance the equipment; Electronic proportional valves for left and right driving backwards (5, 6) for outputting secondary control signals generated corresponding to the control signals output from the controller (2) to reverse the equipment; In a traveling control method of a construction machine applied to a construction machine comprising a setting means (8) for setting a function of advancing or retracting equipment by operation of the traveling manipulator 1,
- a second step (S70-S110) (S120-S160) for driving the equipment or changing the driving direction by controlling the right driving motor.
- the equipment When switching to the activation mode by the operation of the setting means 8, when the operation pedal (1a or 1b) of any one of the traveling operation device 1 is operated, the equipment is moved forward or backward, and the traveling operation device ( When operating the other operation pedal (1a or 1b) of 1) the equipment may be to change the driving direction.
- the driving control device 1 may be an electric joystick or a hydraulic joystick.
- It may be provided in a function switch, a display device (I-ECU), or a cluster provided in the cab.
- the left and right driving motor The left and right driving motor
- It may be a track motor for driving the track-type track mounted on the lower traveling body.
- the controller 2 determines whether the activation mode, but if it is determined that the activation mode proceeds to S20, deactivation If it is determined that the mode is to proceed to S70, S120.
- the controller 2 operates the left traveling operation pedal 1a. It is judged whether or not the steering wheel 1b has been operated. In other words, when it is determined that one of the operation pedals 1a or 1b of the traveling operation device 1 has been operated, the process proceeds to S30, and the left and right operation pedals 1a and 1b of the traveling operation device 1 are operated simultaneously. If it is determined, the process proceeds to S10.
- the controller corresponding to the operation amount of the left or right operation pedals (1a, 1b)
- the control signal is output from (2). That is, as the control signal from the controller 2 is input to the left driving forward electromagnetic proportional valve 3 and the right traveling forward electromagnetic proportional valve 4, respectively, the left traveling forward electromagnetic proportional valve 3 and The secondary control signal generated by the electromagnetic proportional valve 4 for right traveling forward switches the left travel switching valve (not shown) and the right travel switching valve (not shown) to the forward state, respectively.
- the hydraulic oil from the hydraulic pump is supplied to the left and right travel motors via the left and right travel switching valves, thereby driving the equipment forward.
- the controller corresponds to the operation amount of the left or right operation pedal 1a or 1b.
- the control signal is output from (2). That is, as the control signal from the controller 2 is input to the left driving backward electromagnetic proportional valve 5 and the right traveling backward electromagnetic proportional valve 6, respectively, the left traveling backward electromagnetic proportional valve 5 and The secondary control signal generated by the electromagnetic proportional valve 6 for the right traveling reverse switches the left travel switching valve (not shown) and the right travel switching valve (not shown) to the reverse state, respectively.
- the hydraulic oil from the hydraulic pump is supplied to the left and right travel motors via the left and right travel switching valves, so that the machine can travel backward.
- the operation pedals 1a and 1b of the traveling manipulator 1 can be operated simultaneously or the driving direction can be changed.
- the control is controlled from the controller 2 so as to correspond to the operation amount of the left operation pedal 1a.
- the signal is output. That is, as the control signal from the controller 2 is input to the left propulsion solenoid valve 3, the secondary control signal generated by the left propulsion solenoid valve 3 advances the left drive switching valve. Switch to the state.
- the hydraulic oil from the hydraulic pump is supplied to the left driving motor via the left travel switching valve, thereby enabling the equipment to travel forward.
- the hydraulic oil from the hydraulic pump is supplied to the right traveling motor via the right traveling switching valve, so that the equipment can be advanced to the right traveling.
- the controller 2 corresponds to the amount of operation of the right driving pedal 1b.
- the control signal is output from the That is, as the control signal from the controller 2 is input to the right proportional driving electromagnetic proportional valve 5, the secondary control signal generated by the right proportional traveling electromagnetic proportional valve 5 reverses the right traveling switching valve. Switch to the state.
- the hydraulic oil from the hydraulic pump is supplied to the right traveling motor via the right traveling switching valve, so that the equipment can be reversed to the right traveling.
- the operation pedals 1a and 1b of the traveling operation apparatus 1 can be operated simultaneously to travel forward and backward or to change the driving direction.
- the configuration of driving the left and right driving motors forward and backward or changing the driving direction in accordance with the operation of the operation pedal (1a, 1b) is a technical content used in the art, so their detailed description is omitted.
- the equipment when switching to the activation mode by the operation of the setting means 8, when operating the operation pedal (1a or 1b) of any one of the traveling operation device 1, the equipment is moved forward or backward, the driving operation When operating the other operation pedal 1a or 1b of the device 1, the equipment can switch the driving direction. Therefore, it is possible to provide convenience to the driver by changing the driving direction by manipulating one of the operation pedals 1a and 1b during driving.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims (7)
- 하부 주행체; 상기 하부 주행체 상에 선회가능하게 탑재되는 상부 선회체; 상기 상부 선회체에 장착되는 운전실 및 작업장치; 장비의 주행 및 방향 전환을 위해 전후진 조작되는 좌우측 주행 조작장치; 주행 조작장치의 조작신호에 대응되는 제어신호를 연산하여 출력하는 제어기; 주행 조작장치의 조작에 따라 장비를 주행시키는 좌측 및 우측 주행모터; 장비를 전진시키도록 제어기로부터 출력되는 제어신호에 대응되는 2차 제어신호를 출력하는 좌측 및 우측 주행 전진용 전자비례밸브; 장비를 후진시키도록 제어기로부터 출력되는 제어신호에 대응되는 2차 제어신호를 출력하는 좌측 및 우측 주행 후진용 전자비례밸브; 주행 조작장치의 조작으로 장비를 전진 또는 후진시키는 기능을 설정하는 설정수단을 포함하는 건설기계에 적용되는 건설기계의 주행 제어방법에 있어서:상기 설정수단의 조작에 의해 활성화 모드로 전환시킨 후 상기 주행 조작장치중 어느 하나의 조작페달을 조작할 경우, 상기 조작페달의 조작량에 대응되게 상기 좌측 및 우측 주행모터를 제어하여 장비를 전진 또는 후진시키는 제1단계;상기 설정수단의 조작에 의해 비활성화 모드로 전환시킨 후 상기 주행 조작장치의 조작페달을 동시 조작할 경우, 상기 조작페달 조작량에 대응되게 상기 좌측 및 우측 주행모터를 제어하여 장비를 주행시키거나 또는 주행 방향을 전환시키는 제2단계를 포함하는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 설정수단의 조작에 의해 활성화 모드로 전환된 경우, 상기 주행 조작장치중 어느 하나의 조작페달을 조작할 경우 장비는 전진 또는 후진 하게 되고, 상기 주행 조작장치의 좌우측 조작페달을 동시에 조작할 경우 비활성화 모드로 전환되는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 설정수단의 조작에 의해 활성화 모드로 전환된 경우, 상기 주행 조작장치중 어느 하나의 조작페달을 조작할 경우 장비는 전진 또는 후진 하게 되고, 상기 주행 조작장치중 다른 하나의 조작페달을 조작할 경우 조작신호를 출력하지않게 되는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 설정수단의 조작에 의해 활성화 모드로 전환된 경우, 상기 주행 조작장치중 어느 하나의 조작페달을 조작할 경우 장비는 전진 또는 후진 하게 되고, 상기 주행 조작장치중 다른 하나의 조작페달을 조작할 경우 장비는 주행 방향을 전환하게 되는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 주행 조작장치는 전기식 조이스틱 또는 유압식 조이스틱이 사용되는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 설정수단은운전실 내에 구비되는 기능스위치, 디스플레이 장치(I-ECU) 또는 클러스터에 구비되는 것을 특징으로 하는 건설기계의 주행 제어방법.
- 제1항에 있어서, 상기 좌측 및 우측 주행모터는상기 하부 주행체에 장착되는 궤도형 트랙을 구동시키는 트랙모터인 것을 특징으로 하는 건설기계의 주행 제어방법.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2013/001046 WO2014123264A1 (ko) | 2013-02-08 | 2013-02-08 | 건설기계의 주행 제어방법 |
CN201380072514.1A CN105026654A (zh) | 2013-02-08 | 2013-02-08 | 工程机械行驶控制方法 |
EP13874281.2A EP2955281A4 (en) | 2013-02-08 | 2013-02-08 | Construction equipment driving control method |
US14/765,895 US20150370254A1 (en) | 2013-02-08 | 2013-02-08 | Construction Equipment Driving Control Method |
KR1020157020772A KR20150114489A (ko) | 2013-02-08 | 2013-02-08 | 건설기계의 주행 제어방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2013/001046 WO2014123264A1 (ko) | 2013-02-08 | 2013-02-08 | 건설기계의 주행 제어방법 |
Publications (1)
Publication Number | Publication Date |
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WO2014123264A1 true WO2014123264A1 (ko) | 2014-08-14 |
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PCT/KR2013/001046 WO2014123264A1 (ko) | 2013-02-08 | 2013-02-08 | 건설기계의 주행 제어방법 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20150370254A1 (ko) |
EP (1) | EP2955281A4 (ko) |
KR (1) | KR20150114489A (ko) |
CN (1) | CN105026654A (ko) |
WO (1) | WO2014123264A1 (ko) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112013006501T5 (de) * | 2013-01-24 | 2016-03-31 | Volvo Construction Equipment Ab | Vorrichtung und Verfahren zum Steuern einer Flussrate bei Baumaschinen |
US10061343B2 (en) | 2016-08-29 | 2018-08-28 | Caterpillar Sarl | Motion coupling of multiple electronic control inputs |
US11692333B2 (en) | 2016-10-20 | 2023-07-04 | Volvo Construction Equipment Ab | Construction machine traveling control system |
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DE102010047628B4 (de) * | 2010-09-28 | 2020-06-18 | Linde Material Handling Gmbh | Antriebsstrang einer mobilen Arbeitsmaschine |
EP2631373A1 (en) * | 2010-10-22 | 2013-08-28 | Hitachi Construction Machinery Co., Ltd. | Electric construction machine |
KR101742322B1 (ko) * | 2010-12-24 | 2017-06-01 | 두산인프라코어 주식회사 | 전자유압펌프용 비상 제어부를 포함하는 건설기계의 유압 시스템 |
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- 2013-02-08 US US14/765,895 patent/US20150370254A1/en not_active Abandoned
- 2013-02-08 EP EP13874281.2A patent/EP2955281A4/en not_active Withdrawn
- 2013-02-08 WO PCT/KR2013/001046 patent/WO2014123264A1/ko active Application Filing
- 2013-02-08 KR KR1020157020772A patent/KR20150114489A/ko not_active Application Discontinuation
- 2013-02-08 CN CN201380072514.1A patent/CN105026654A/zh active Pending
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Also Published As
Publication number | Publication date |
---|---|
US20150370254A1 (en) | 2015-12-24 |
EP2955281A4 (en) | 2017-01-25 |
CN105026654A (zh) | 2015-11-04 |
KR20150114489A (ko) | 2015-10-12 |
EP2955281A1 (en) | 2015-12-16 |
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