KR100256775B1 - A controlling apparatus and method of hydraulic type construction mechanics - Google Patents

Abstract

PURPOSE: Device and method for controlling a constructing machine are provided to improve efficiency, convenience, and safety of a work by an additional manipulation and to automatically operate work device by manipulating a switch without handling a manipulate lever. CONSTITUTION: A device for controlling a hydraulic construct machine comprises hydraulic pumps(2a,2b); actuators(6,7) operated by discharging oil of the hydraulic pump; control valves(4,5) controlling operation of the actuator by opening and closing convert valve; a manipulate unit(9) outputting a specific electric signal by receiving a manipulate command; an automatic operation select unit(11) actuating or stopping the actuator; a memorize unit memorizing amount a direction of manipulation of the manipulate unit; a decide unit discriminating an actuating direction by a specific control calculation in selecting the automatic actuation; a unit calculating an automatic actuation value according to the memorized manipulate direction and amount; and a controller(10) outputting the automatic actuation value into the control valve by converting as an output signal. Thereby, the controller optimizes an actuation pattern in automatically actuating.

Description

Control device and control method of hydraulic construction machine

1 is a schematic diagram showing the working mode of an excavator.

2 is a hydraulic circuit diagram schematically showing a hydraulic system of an excavator to which a control device according to an embodiment of the present invention is applied.

3 is a flowchart illustrating a control method according to an embodiment of the present invention.

4 is a graph showing a form in which the automatic operation direction of boolean and turning is changed according to the operation command signal state.

5 is the automatic operation of turning and swelling.

* Explanation of symbols for main parts of the drawings

1: Engine 2a, 2b: Hydraulic Pump

3: pilot pump 4, 5: control valve

6: turning motor 7: boom cylinder

8: electromagnetic proportional valve 9: operation lever

10: controller 11: automatic operation selection means

The present invention relates to a control device and a control method of a hydraulic construction machine, and in particular, a control device for automating the operation of the turning motor and each working device in a hydraulic construction machine such as an excavator (Excavator) having a repeating work pattern in a similar form. And a control method.

One of the most representative operations of an excavator is to excavate soil or sand in one place (A), put it in a bucket, and then turn and move the bucket contents to another place (B), as shown in FIG. Or loading onto a dump truck. In order to perform such a task, the driver appropriately combines a turning motor, a work device such as a boolean, an arm, a bucket, and the like so as to provide an optimum work lead (movement of the bucket end) according to the excavation and dumping position. The work efficiency will be improved. Particularly, when the excavation is completed and moved to the dumping position, the turning motion and the buoyancy rising motion are simultaneously performed. The turning efficiency and the buoyancy movement are different depending on the working conditions. It requires constant work caution.

As a conventional method for reducing the driver's discomfort and improving work efficiency, the turning angle is set in advance, and the boolean control lever and the turning control lever are operated at maximum, so that the swelling and turning are made in accordance with the preset turning setting angle. By appropriately adjusting the amount of confluence, the desired movement of the turning and working equipment can be obtained by varying the relative movement speed.

In another method, the rotational position sensor or the boolean joint position sensor is used to detect the actual position of each joint movement by the sensor, and then adjust each joint operating flow rate to reach the target value set in the controller. Methods have been proposed.

Among the conventional methods described above, the first method does not adjust the amount of manipulation, but the driver has to continuously operate with the control lever and reset the turning position every time the excavation position is changed. In the second method, it was difficult and expensive to attach the position sensor to each joint of the equipment, and there was a problem in terms of work stability and reliability due to concern about deterioration of the position sensor under poor working environment.

Therefore, the object of the present invention is to achieve automatic operation of the turning and work device by simple switch operation without continuous operation of the operation lever and to enable additional operation of the driver when necessary, thereby improving work efficiency, work convenience, work stability and reliability. It is to provide a control device and a control method of a hydraulic construction machine that can be greatly improved.

Still another object of the present invention is to enable an operation of a work device having a work pattern that is repeated in a similar form through a specific operation means, and to find an optimized operation trajectory capable of producing optimum work efficiency during operation. The present invention provides a control device and a control method for a hydraulic construction machine.

According to an aspect of the present invention for achieving the above object of the present invention, a control device for a construction machine having a work pattern repeated in a similar form, comprising: a hydraulic pump; An actuator operated by the discharge oil of the hydraulic pump; A control valve for controlling the operation of the actuator by opening and closing each flow path between the hydraulic pump and the actuator; Operation means for receiving an operation command from the driver and outputting it as a predetermined electric signal; Automatic operation selection means for selecting automatic operation execution and stop of the actuator; And means for continuously storing the operation direction and the operation amount of the operation means, means for determining the automatic operation direction by a predetermined control operation when the execution of the automatic operation is selected in the automatic operation selection means, and the storage means. A control apparatus for a construction machine is provided that includes a controller having means for calculating an automatic operation value in accordance with a stored operation direction and an operation amount, and a means for converting the calculated automatic operation value into an output signal and outputting the output signal to the control valve.

According to a preferred feature of the present invention, the automatic operation selecting means comprises a toggle switch in which the ON / OFF state is repeatedly switched by the driver's operation.

According to another preferred feature of the present invention, the controller, when there is an additional operation by the driver's operation of the operation means during the automatic operation, the controller determines the final output value by adding the operation value of the additional operation to the automatic operation value. It is configured to reflect the output value to the next automatic operation to optimize the operation pattern.

According to another aspect of the present invention for achieving the object of the present invention, the actuator by opening and closing the hydraulic pump, the actuator operated by the discharge oil of the hydraulic pump, and each flow path between the hydraulic pump and the actuator A control valve for controlling the operation of the controller, an operation means for receiving an operation command from the driver and outputting it as a predetermined electric signal, an automatic operation selection means for selecting the automatic operation execution and stop of the actuator, the operation means and A control method of a construction machine having a controller for applying a predetermined output signal for operating the control valve by performing a predetermined control operation according to an input signal of the automatic operation selecting means, wherein the operation amount of the operating means and the A first step of receiving a state of an automatic operation selection means, the automatic input from the first trick A second step of determining whether a state of the selection means is a state in which automatic operation is selected; a third step of determining an automatic operation direction of the actuator when it is determined that the automatic operation is selected in the second step; and the automatic operation of the actuator A fourth step of calculating an operation amount, a fifth step of determining whether there is an additional operation by the operation means, and an operation amount of the actuator by the additional operation when it is determined that there is an additional operation by the operation means in the fifth step And a sixth step of summing the automatic operation amount obtained in the fourth step, and a seventh step of outputting the actuator drive signal according to the sum of the operation amounts obtained in the sixth step. Is provided.

Hereinafter, preferred embodiments of the present invention will be described based on the accompanying drawings.

2 is a schematic view showing an hydraulic system of an excavator to which a control device according to an embodiment of the present invention is applied.

As shown in FIG. 2, the engine 1 as a prime mover for supplying power to the hydraulic system, the hydraulic pumps 2a and 2b respectively driven by the engine 1 and outputting an operating pressure, and a control signal A pilot pump 3 for outputting pilot pressure is provided. The swing motor 6 and the pour cylinder 7 as hydraulic actuators operated by the discharge oil of the hydraulic pumps 2a and 2b are provided, and the hydraulic pumps 2a and 2b, the swing motor 6 and the pour cylinder 7 are provided. It is installed in the flow path between the opening and closing of the flow path by adjusting the supply, blocking, flow rate and direction of the oil supplied from the hydraulic pumps 2a and 2b to the swing motor 6 and the pour cylinder 7 Control valves 4 and 5 are provided to control the starting, stopping, speed and direction of the swing motor 6 and the boom cylinder 7. The control valves 4 and 5 perform the opening and closing switching operation of the flow path as described above by moving the springs under the action of the pilot pressure. On the other hand, the operating lever (9: operating means) for receiving a command for the operation of the swing motor (6) and the boom cylinder (7) from the driver and converts it into a predetermined electrical signal and outputs it from the operating lever (9) A controller 10 is provided to receive the above-described electrical signal output and apply a corresponding output signal to the electromagnetic proportional valve 8 through a predetermined control operation. In the electromagnetic proportional valve 8, when an output signal is applied from the controller 10, the pilot oil from the pilot pump 3 described above acts as a pilot pressure on the corresponding spring ends of the corresponding control valves 4 and 5. By applying so as to move the spring of the control valve (4, 5).

On the other hand, the control device of the present embodiment is provided with automatic operation selecting means 11 for instructing execution and stop of automatic operation during the combined operation of the above-described swing motor 6 and the boom cylinder 7. The automatic operation selecting means 11 preferably comprises a toggle switch which, when pressed once, is kept in the ON state, and when pressed again, is turned OFF.

On the other hand, the above-described controller 10 includes storage means for continuously storing the operation direction and the operation amount of the operation lever 9, and predetermined control when the execution of the automatic operation is selected in the above-mentioned automatic operation selection means 11. Means for determining the automatic operation direction by calculation, means for calculating the automatic operation value according to the operation direction and the operation amount of the operation lever 9 stored in the above-described storage means, and converting the calculated automatic operation value into an output signal, Output means for operating the control valves 4 and 5 by outputting to the electromagnetic proportional valve 8 is provided.

The control device and control method of the present invention can be applied to various other hydraulic systems in addition to the hydraulic system described by FIG. For example, the above-described pilot pump 3 and electromagnetic proportional valve 8 are not used, and solenoid control valves are used as control valves 4 and 5, and electrical signals from the controller 10 are solenoid control valves. It may be configured to act directly as the operating signal of.

Hereinafter, the basic operation of the hydraulic system configured as described above will be described.

When the driver instructs the desired work through the operation lever 9, the controller 10 detects an operation angle of the operation lever 9 through an operation amount detection unit within the operation lever, and electronically proportional to the operation angle detection value. The valve 8 calculates the output ratio determined for each port to output the current value. Although the above-described manipulated variable detector generally uses a potentiometer type sensor that outputs a voltage proportional to the manipulated angle, other sensors may be used. The solenoid proportional valve 8 generates the pilot pressure for control in proportion to the input current value and applies it to act on the ends of the corresponding springs of the control valves 4 and 5 so that the corresponding springs are moved by a predetermined stroke. Hydraulic oil is supplied from the hydraulic pumps 2a and 2b to the swing motor 6 and / or the pour cylinder 7 to perform a desired operation of the driver.

When such an operation is made, the controller 10 continuously checks and memorizes the direction and the operation amount of the turning operation and the boolean operation in the operation lever 9. When the driver excavates to the bucket at an arbitrary position, and then turns on the above-mentioned automatic operation selection switch 11 for selecting the automatic turning boom, the turning motor ( 6) and the boom cylinder 7 is automatically operated to move the bucket to the desired position, after which the driver can operate the bucket through the bucket operating lever to dump. That is, in this case, the driver does not have to artificially perform the turning and the boolean operation when the bucket moves. Then, when the automatic operation selection means 11 is turned on again, the swing motor 6 and the pour cylinder 7 operate in opposite directions to return the bucket position to the original position (excavation position). In addition, the automatic operation speed may be increased or decreased by operating the turning and / or boolean operation lever 9 during the automatic operation, in which case the automatic operation pattern is reset and reflected at the next automatic operation.

Hereinafter, a control method according to an embodiment of the present invention will be described in detail with reference to the flowchart of FIG. 3.

In step 1, the operation value detection value of the operation lever 9 is input through the operation amount detection means built in the operation lever 9, and the state of the automatic operation selection means 11 is input.

In step 2, it is determined whether the state of the automatic operation selection means 11 is ON or OFF, and if it is ON, the flow goes to step 3, and if it is OFF, to step 8.

In step 3, that is, when it is determined in step 2 that the state of the automatic operation selecting means 11 is ON, the operation direction of the swing motor and / or the working device (in this embodiment, the swing motor and the boom cylinder) is determined. When the bucket moves from any position to the excavation position, if the operating direction of the buoy operating lever is the downward direction of the buoy and the operating direction of the pivoting lever is left turning, the buoy operating direction and the turning direction are reversed, and the buoyant up direction and priority direction Automatic operation is set. On the other hand, if the operation direction of the buoy operating lever is the rising direction of the buoy and the operation direction of the turning operation lever is the priority, the buoy operating direction and the turning direction at the time of automatic operation are set as the buoy down direction and the left turning direction. When the state of the automatic operation selection means 11 is OFF, the boolean and swing automatic operation are stopped. 4 shows a form in which the automatic operation direction of the boolean and the turning for the operation command signal state is changed in this way.

In step 4, the operating speed in the set operating direction is calculated. The relative speed ratio of automatic operation between boolean and turning is calculated on the basis of the operating speed when operating the control lever, and the size is set to maximum. For example, if the left turn operation is 50% of the maximum size and the boom descending is 50% of the total, the required automatic operation speed is 100% of the priority time and 100% of the boom rise. In this case, the operation cost during the driver operation and the automatic operation should be kept the same at a constant ratio, but may be set differently according to the characteristics of the equipment or the driver or the operation pattern.

In step 5, it is determined whether there is additional operation of the turning or boolean control lever.

In step 6, when it is determined that there is an additional operation of the operation lever in step 5, the operation speed is increased or decreased by adding the operation amount of the operation lever additionally operated to the operation speed calculated in step 4. FIG. 5 shows an example, and the priority and boolean auto-operation required values calculated by the controller 10 are A diagrams. When the driver is changed to B diagrams by adding a turning operation, the automatic operation is performed along the B diagrams. Is performed. In addition, the automatic operation diagram is automatically optimized to the C diagram, and the next automatic operation is to operate along the C diagram. When it is determined in step 5 that there is no additional operation of the operation lever, the flow proceeds directly to step 7.

In step 7, the output voltage corresponding to the pour and the turning speed is calculated and output to the solenoid proportional valve 8, and the solenoid proportional valve 8 applies pilot pressure to the spring ends of the corresponding control valves 4 and 5. As it turns, the swing motor 6 and the boom cylinder 7 will have the desired operation, ie, move the bucket from the excavation position to the dumping position. When the automatic return to the excavation position from the dumping position is automatically turned on by pressing the automatic operation selection means 11 again, the left turning and the buoy lowering operation are automatically performed according to the calculated operation position. If the automatic operation selection means 11 is turned off again, the automatic operation is stopped and the entire work is completed in one cycle.

On the other hand, if it is determined in step 2 that the automatic operation selection means 11 is OFF, the process proceeds to step 8 as described above. In step 8, after the manual operation amount is calculated, the process proceeds to step 7.

In the above-described embodiment of the present invention, the description is limited only to excavation, movement and dumping operations by buoyancy and swing operations, but the present invention is a hydraulic machine having a plurality of work devices operated by a plurality of operating means, in particular, similar Any operation of a work device having a work pattern that is repeated in the form may be applied.

As described above, according to the present invention, the driver can automate the work device and the turning operation with a simple switch operation without the operation through the complicated operating means, and the excavation position or the dumping position is changed in the case of the buoy-turning compound operation. Convenience can be greatly improved since the setting value does not need to be changed every time. In addition, any additional operation of the driver can be performed at any time during the automatic operation, and this can be reflected in the next automatic operation, thereby improving work stability and reliability, thereby improving work efficiency significantly.

Claims (6)

In a control apparatus of a construction machine having a repeating work pattern in a similar form, the hydraulic pumps (2a, 2b), actuators (6, 7) operated by the discharge oil of the hydraulic pumps (2a, 2b), the hydraulic pump ( Each flow path between 2a and 2b and the actuators 6 and 7 is controlled by the control valves 4 and 5 for controlling the operation of the actuators 6 and 7 by opening / closing switching valves. Operation means (9) for outputting a predetermined electrical signal, automatic operation selection means (11) for selecting the automatic operation execution and stop of the actuators (6, 7), and the operation direction and the operation amount of the operation means (9) Means for determining the automatic operation direction by a predetermined control operation when the automatic operation selection means 11 is selected to perform the automatic operation, and according to the operation direction and the operation amount stored in the storage means. Means for calculating automatic operating values, The automatic operation value is converted into an output signal, the control valve hydraulic control system for a construction machine characterized by configured by comprising a controller (10) and means for output to the (4,5). 2. The control apparatus of a hydraulic construction machine according to claim 1, wherein the automatic operation selecting means (11) is a toggle switch which is repeatedly switched on / off by a driver's operation. 2. The controller (10) according to claim 1, wherein the controller (10) adds the operation value by the additional operation to the automatic operation value when there is an additional operation by the driver's operation means (9) during the automatic operation. A control device for a hydraulic construction machine, characterized in that for determining an output value and optimizing the operation pattern by reflecting the output value in the next automatic operation. The hydraulic construction machine according to claim 1, further comprising an electromagnetic proportional valve receiving the output signal from the controller 10 to generate a hydraulic signal for the spool movement of the control valves 4 and 5. Control device. Opening and closing each flow path between the hydraulic pumps 2a and 2b, the actuators 6 and 7 operated by the discharge oil of the hydraulic pumps 2a and 2b, and the hydraulic pumps 2a and 2b and the actuators 6 and 7 Control valves 4 and 5 for controlling the operation of the actuators 6 and 7 by switching, operation means 9 for receiving an operation command from a driver and outputting it as a predetermined electrical signal, and the actuator ( The control valve is performed by performing a predetermined control operation according to the automatic operation selection means 11 for selecting the automatic operation execution and the stop of 6 and 7 and the input signals of the operation means 9 and the automatic operation selection means 11. In the control method of a construction machine provided with a controller (10) for applying a predetermined output signal for operating (4, 5), the operation amount of the operating means (9) and the state of the automatic operation selecting means (11). In the first step of receiving the state, the state of the automatic operation selection means 11 received in the first step is A second step of determining whether the automatic operation is selected; a third step of determining an automatic operation direction of the actuators 6 and 7 when it is determined that the automatic operation is selected in the second step; A fourth step of calculating the automatic operation amount of 7), a fifth step of determining whether there is an additional operation by the operation means 9, and in the fifth step, it is determined that there is an additional operation by the operation means 9 The actuator 6, in accordance with the sum of the operation amounts obtained in the sixth step and the sixth step of adding up the operation amount of the actuators 6 and 7 by the additional operation and the automatic operation amount obtained in the fourth step. And a seventh step of outputting a driving signal of 7). The method according to claim 5, wherein when it is determined that the automatic operation is not selected in the second step, the operation amounts of the actuators 6 and 7 are calculated according to the operation amount of the operation means 9, and the seventh step The control method of a hydraulic construction machine further comprising the eighth step to proceed to.