Construction equipment

Abstract

One embodiment of the present invention provides a construction machine comprising: a lower driving body; an upper slewing body supported so as to be rotatable on the lower driving body; a working device supported by the upper slewing body, comprising a boom, an arm, and a bucket operated by respective hydraulic cylinders; a control valve for controlling the hydraulic cylinders; an electronic proportional pressure reducing valve for controlling the spool of the control valve; an operating lever for outputting an operating signal corresponding to the amount of operation by the operator; an information providing unit for providing information about the working device and the working area; and an electronic control unit for calculating and outputting a pilot pressure for the electronic proportional pressure reducing valve, wherein the electronic control unit controls the speed of the hydraulic cylinders by utilizing the operating signal of the operating lever and the information provided by the information providing unit.

Description

Technology Field

[0001] The present invention relates to construction machinery, and more specifically, to construction machinery that controls the speed of an arm or boom by taking into account the angle of the arm relative to the working area, the moment of inertia of the working device, and the engine output. Background Technology

[0002] Generally, an excavator is a construction machine that performs various tasks at construction sites, such as excavation work to dig the ground, loading work to transport soil, excavation work to create foundations, crushing work to demolish buildings, leveling work to prepare the ground, and leveling work to prepare the ground.

[0003] Referring to FIG. 1, a construction machine (1), such as an excavator, has a lower driving body (2), an upper rotating body (3) installed to rotate on the lower driving body (2), and a work device (4) installed to operate in the up and down direction on the upper rotating body (3).

[0004] Additionally, the working device (4) is formed with multiple joints and comprises a boom (4a) whose rear end is rotatably supported on an upper pivot body (3), an arm (4b) whose rear end is rotatably supported on the front end of the boom (4a), and a bucket (4c) rotatably installed on the front end of the arm (4b). Then, hydraulic fluid is supplied according to the user's lever operation, and the boom cylinder (5, working actuator), arm cylinder (6, working actuator), and bucket cylinder (7, working actuator) each operate the boom (4a), arm (4b), and bucket (4c).

[0005] Construction machinery (1) such as this has working devices (4) such as a boom (4a), arm (4b), and bucket (4c) operated by each manual operating lever, but since each of these working devices (4) is connected by joints and rotates, it requires a considerable amount of effort from the operator to operate each working device (4) to work in a specific area.

[0006] Meanwhile, since the boom cylinder (5) supports the self-weight of the boom (4a) and the arm (4b) and bucket (4c) located at the tip of the boom (4a), the boom cylinder (5) is subjected to a load pressure greater than that applied to the arm cylinder (6) or bucket cylinder (7), and there are cases where the movement of the boom (4a) cannot keep up with the movement of the arm (4b) during excavation work.

[0007] In detail, as referenced in FIG. 2, when working by moving the tip of the bucket (4c) along a work area including an inclined surface, if the boom (4a) does not rise in accordance with the movement amount of the arm (4b), there was a problem that the tip of the bucket (4c) did not move in the direction intended by the operator and could encroach upon or move out of the work area. In particular, such problems occurred frequently when the angle between the arm (4b) and the inclined surface was relatively small or the slope of the inclined surface was steep, requiring a relatively large movement amount of the boom (4a).

[0008] In addition, when the bucket (4c) is in a loaded state or when an attachment such as a tilt rotator is mounted on the tip of the arm (4b) and the moment of inertia for the boom (4a) increases, when the arm (4b) is extended to start grading, there may be cases where the rising of the boom (4a) cannot keep up with the speed at which the arm (4b) falls due to its own weight.

[0009] In addition, when the operator selects standard mode or economy mode for the purpose of improving fuel efficiency, the flow rate, which is the amount of hydraulic fluid supplied per unit time to the hydraulic cylinder, is low, and when maximum output is required instantaneously, there may be cases where the boom (4a) cannot rise or fall in accordance with the movement amount of the arm (4b). The problem to be solved

[0010] The present invention aims to solve the problems of the aforementioned prior art, and the objective of the present invention is to provide a construction machine capable of raising or lowering the boom in response to the movement amount of the arm by controlling the speed of the arm or boom based on the required boom driving speed, the moment of inertia of the working device, and the engine output. means of solving the problem

[0011] One aspect of the present invention provides a construction machine comprising a lower driving body, an upper slewing body supported so as to be rotatable on the lower driving body, a boom, an arm, and a bucket operated by respective hydraulic cylinders, a working device supported by the upper slewing body, a control valve for controlling the hydraulic cylinders, an electronic proportional pressure reducing valve for controlling the spool of the control valve, an operating lever for outputting an operating signal corresponding to the amount of operation by the operator, an information providing unit for providing information about the working device and the working area, and an electronic control unit for calculating and outputting a pilot pressure for the electronic proportional pressure reducing valve, wherein the electronic control unit controls the speed of the hydraulic cylinders by utilizing the operating signal of the operating lever and the information provided by the information providing unit.

[0012] In one embodiment, the information providing unit may provide one or more of the boom driving required speed, the moment of inertia of the working device, and the maximum engine output to the electronic control unit.

[0013] In one embodiment, the electronic control unit can compare the boom driving required speed with a reference value.

[0014] In one embodiment, the electronic control unit may set a preset value as the arm speed increase rate if the boom driving required speed is less than or equal to a reference value, and set a value smaller than the preset value as the arm speed increase rate if the boom driving required speed exceeds the reference value.

[0015] In one embodiment, the electronic control unit can be set so that the arm speed increase rate decreases as the boom driving required speed increases.

[0016] In one embodiment, the electronic control unit can compare the moment of inertia of the working device with a reference value.

[0017] In one embodiment, the electronic control unit may set a preset value as the arm speed increase rate if the moment of inertia of the working device is less than or equal to a reference value, and set a value smaller than the preset value as the arm speed increase rate if the moment of inertia of the working device exceeds the reference value.

[0018] In one embodiment, the electronic control unit can compare the maximum engine output with a reference value.

[0019] In one embodiment, the electronic control unit may set a preset value as the arm speed increase rate if the maximum output of the engine is greater than or equal to a reference value, and set a value smaller than the preset value as the arm speed increase rate if the maximum output of the engine is less than the reference value.

[0020] In one embodiment, the information providing unit provides the boom drive required speed, the moment of inertia of the working device, and the engine maximum output to the electronic control unit, and the electronic control unit compares the boom drive required speed, the moment of inertia of the working device, and the engine maximum output with a reference value, and the electronic control unit sets a preset first setting value as the first arm speed increase rate if the boom drive required speed is less than or equal to the reference value, and sets a value obtained by multiplying the first setting value by a first decrease ratio as the first arm speed increase rate if the boom drive required speed exceeds the reference value, sets a preset second setting value as the second arm speed increase rate if the moment of inertia of the working device is less than or equal to the reference value, and sets a value obtained by multiplying the second setting value by a second decrease ratio as the second arm speed increase rate if the engine maximum output is greater than or equal to the reference value, and sets a preset third setting value as the third arm speed increase rate if the engine maximum output is less than the reference value to the third setting value The value multiplied by the third reduction ratio can be set as the third arm speed increase rate.

[0021] In one embodiment, the electronic control unit may set the smallest value among the first arm speed increase rate to the third arm speed increase rate as the arm speed increase rate.

[0022] In one embodiment, the electronic control unit may set the value obtained by multiplying any one of the first to third setting values ​​by the first to third reduction ratio as the arm speed increase rate.

[0023] In one embodiment, the information providing unit provides the boom drive required speed, the moment of inertia of the work device, and the engine maximum output to the electronic control unit, and the electronic control unit compares the boom drive required speed, the moment of inertia of the work device, and the engine maximum output with a reference value, and the electronic control unit sets a preset first setting value as the first boom speed increase rate if the boom drive required speed is less than or equal to the reference value, sets a value greater than the first setting value as the first boom speed increase rate if the boom drive required speed exceeds the reference value, sets a preset second setting value as the second boom speed increase rate if the moment of inertia of the work device is less than or equal to the reference value, sets a value greater than the second setting value as the second boom speed increase rate if the moment of inertia of the work device exceeds the reference value, sets a preset third setting value as the third boom speed increase rate if the engine maximum output is greater than or equal to the reference value, and sets a value greater than the third setting value as the third boom speed It can be set as a growth rate.

[0024] In one embodiment, the electronic control unit may set the largest value among the first boom speed increase rate to the third boom speed increase rate as the boom speed increase rate.

[0025] In one embodiment, the operating lever is an electric joystick that can generate an electrical signal in proportion to the amount of operation by the driver and provide it to an electronic control unit. Effects of the invention

[0026] According to one aspect of the present invention, by adopting the smallest arm speed increase rate by considering the boom driving required speed, the moment of inertia of the working device, and the maximum output value of the engine, the reliability of arm speed control can be improved because the boom can be raised or lowered in response to the amount of movement of the arm in various situations.

[0027] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention. Brief explanation of the drawing

[0028] Figure 1 is a perspective view illustrating the basic configuration of a construction machine. FIG. 2 is a schematic diagram showing a state in which the arm of a work device according to the prior art encroaches upon the work area. FIG. 3 is a block diagram showing the functional configuration of a construction machine according to one embodiment of the present invention. FIGS. 4 to 6 are schematic diagrams illustrating examples of excavation work of construction machinery according to one embodiment of the present invention. FIGS. 7 and FIGS. 8 are schematic diagrams showing an arm driving speed graph according to an embodiment of the present invention. Specific details for implementing the invention

[0029] The present invention will be described below with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals.

[0030] Throughout the specification, when it is stated that a part is "connected" to another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components.

[0031] Terms including ordinal numbers such as ‘first’ or ‘second’ used herein may be used to describe various components or steps, but such components or steps should not be limited by ordinal numbers. Terms including ordinal numbers should be interpreted solely for the purpose of distinguishing one component or step from other components or steps.

[0032] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0033] Referring to FIGS. 3 to 6, a construction machine (100) having a boom shock mitigation function according to an embodiment of the present invention comprises a lower driving body (10), an upper slewing body (20) supported so as to be rotatable on the lower driving body (10), a boom (31), an arm (32), and a bucket (33) operated by respective hydraulic cylinders, a working device (30) supported by the upper slewing body (20), a control valve (200) that controls the arm cylinder (50), an electronic proportional pressure reducing valve (300) that controls the spool of the control valve (200), an operating lever (400) that outputs an operating signal corresponding to the amount of operation by the operator, an information providing unit (500) that collects and / or calculates position information, posture information, and position information of the working area of ​​the working device (30), and an electronic control unit (600) that calculates and outputs a pilot pressure for the electronic proportional pressure reducing valve (300).

[0034] The control valve (200) is a component that opens and closes the flow path by means of a spool that moves in the axial direction under pressure. That is, the control valve (200) serves to switch the supply direction of the hydraulic fluid supplied by the hydraulic pump, which is the hydraulic source, toward the boom cylinder (40) and the arm cylinder (50). The control valve (200) is connected to the hydraulic pump through a hydraulic pipe and induces the supply of hydraulic fluid from the hydraulic pump to the boom cylinder (40) and the arm cylinder (50).

[0035] The electronic proportional pressure reducing valve (300) is an electronically operated valve and may be composed of a solenoid part that generates electromagnetic force and a valve part that is used as a fluid path.

[0036] The electronic proportional pressure reducing valve (300) generates hydraulic pressure in response to an electrical signal applied by the electronic control unit (600), and the generated hydraulic pressure is transmitted from the electronic proportional pressure reducing valve (300) to the control valve (200). The hydraulic pressure from the electronic proportional pressure reducing valve (300) moves the spool inside the control valve (200) along the axis.

[0037] More specifically, as the spool moves in the axial direction, the flow rate, which is the amount of operating fluid supplied per unit time to the boom cylinder (40) and the arm cylinder (50), is adjusted. That is, when the electronic proportional pressure reducing valve (300) determines by the electronic control unit (600) that it is difficult for the boom (31) to rise or fall in accordance with the amount of movement of the arm (32), the signal pressure is varied so that the flow rate supplied to the spool of the control valve (200) increases according to the input of an electrical signal from the electronic control unit (600).

[0038] The operating lever (400) may be a hydraulic joystick or an electric joystick, and preferably, it may be an electric joystick that generates an electrical signal in proportion to the amount of operation by the driver and provides it to the electronic control unit (600).

[0039] The information providing unit (500) may include one or more of a position measuring unit (510), an attitude measuring unit (520), a moment of inertia measuring unit (530), a coordinate calculation unit (540), and an output calculation unit (550).

[0040] The position measuring unit (510) may be equipped with a receiver capable of receiving signals transmitted by a GPS satellite, and measures the position information of the construction machine from the received signal.

[0041] The attitude measurement unit (520) measures and / or calculates the position, attitude, tilt of the main body of the construction machine (100), tilt of the work surface angle, arm angular velocity, boom angular velocity, etc., of at least one of the boom (31), arm (32), and bucket (33) using a plurality of inertial measurement units (IMU), angle sensors, weight sensors, etc. Additionally, it calculates the required driving speed value of the boom (31) through the arm (32) angle value, the work surface angle value, and the arm angular velocity value.

[0042] The moment of inertia measuring unit (530) measures and / or calculates the load, moment of inertia, etc. of the boom (31), arm (32), bucket (33), and attachment using a plurality of inertia measuring devices (IMU), weight sensors, etc. The load and moment of inertia of an attachment, such as a tilt rotator, may be directly entered by the operator through a display that provides a touchscreen function.

[0043] The coordinate calculation unit (540) calculates at least one coordinate (x, y, z) of the upper swivel body (20), boom (31), arm (32), bucket (33), and tilt rotator using position information measured from the position measuring unit (510) and the attitude measuring unit (520).

[0044] The output calculation unit (550) provides the maximum output value corresponding to each engine mode to the electronic control unit (600) when the driver sets one of the engine modes, such as Power Mode, Standard Mode, or Economy Mode, by operating the Engine Mode Switch provided in the driver's cab. However, it is obvious that additional engine modes may be included.

[0045] When an operation signal from the operation lever (400) is input, the electronic control unit (600) receives information from the information providing unit (500) and determines whether the boom (31) can be raised or lowered in response to the amount of movement of the arm (32). Then, the electronic control unit (600) outputs a current signal to the electronic proportional pressure reducing valve (300) for controlling the control valve (200).

[0046] According to one embodiment of the present invention, the arm control method of the electronic control unit (600) considering the boom driving required speed is specifically described as follows.

[0047] First, when the operator operates the boom (31) or arm (32) through the operating lever (400), the information providing unit (500) collects and / or calculates the position information, posture information, and position information of the work surface of the work device (30) and provides this to the electronic control unit (600).

[0048] In detail, the attitude measuring unit (520) calculates the current arm (32) angle value and the tilt value of the work area according to the positions of the boom (31), arm (32), and bucket (33) using position information and attitude information, calculates the required driving speed of the boom (31) through the arm (32) angle value, the tilt value of the work area (Work Surface Angle), and the arm angular velocity value, and provides this to the electronic control unit (600).

[0049] Next, the electronic control unit (600) compares the calculated boom (31) driving required speed with a reference value.

[0050] The electronic control unit (600) classifies the arm (32) into a high-speed section where it is driven quickly according to a preset arm speed increase rate when the required driving speed of the boom (31) is less than or equal to a reference value, and classifies the arm (32) into a low-speed section where it is driven slowly according to an arm speed increase rate smaller than the preset arm speed increase rate when the required driving speed of the boom (31) exceeds the reference value.

[0051] For example, referring to FIG. 4, when working by moving the blade of the bucket (33) along a work area including an inclined surface, as referenced in FIG. 4 (a), if the arm (32) rotates so that the angle (θa) relative to the work area is relatively close to horizontal, the boom (31) must be raised significantly so that the arm (32) does not encroach on the work plane. At this time, the required driving speed of the boom (31) is greater than the reference value.

[0052] In this case, it is difficult to control the rise of the boom (31) by following the movement of the arm (32). Accordingly, the electronic control unit (600) classifies the arm (32) into a low-speed section that drives slowly following an arm speed increase rate smaller than a preset arm speed increase rate.

[0053] On the other hand, as in FIG. 4(b), when the arm (32) rotates in the same working area as in FIG. 4(a) with the angle (θb) relative to the working area being relatively close to vertical, the arm (32) does not encroach upon the working plane even when the boom (31) is raised less. At this time, the required driving speed of the boom (31) is smaller than the reference value.

[0054] In this case, it is not difficult to control the rise of the boom (31) by following the movement of the arm (32). Accordingly, the electronic control unit (600) classifies the arm (32) into a high-speed section that can be driven quickly according to a preset arm speed increase rate.

[0055] Also, referring to FIG. 5, when the posture of the work device (30) is the same, in the case (b) where the slope of the work area is steep, it is difficult to control the rise of the boom (31) by following the movement of the arm (32) compared to the case (a) where the slope of the work area is relatively gentle.

[0056] That is, in FIG. 5(a), the required driving speed of the boom (31) is calculated to be smaller than the reference value, and in FIG. 5(b), the required driving speed of the boom (31) can be calculated to be larger than the reference value.

[0057] Referring to FIG. 7(a), a graph of the arm (32) speed according to the operation time of the operating lever (400) according to one embodiment of the present invention is shown. Specifically, in the high-speed section where the required driving speed of the boom (31) is less than or equal to a reference value, the electronic control unit (600) sets a preset first setting value as the arm speed increase rate.

[0058] In this case, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of hydraulic fluid supplied per unit time to the arm cylinder (50), is adjusted to increase, and the operating speed of the arm cylinder (50) increases rapidly.

[0059] That is, if the electronic control unit (600) determines that the required driving speed of the boom (31) is below a reference value and that the boom (31) can move up or down in accordance with the movement amount of the arm (32), the speed of the arm (32) is made to increase rapidly according to a preset first setting value.

[0060] On the other hand, in the low-speed section where the required driving speed of the boom (31) exceeds the reference value, the boom (31) cannot keep up with the speed of the arm (32), so the rate of increase of the arm speed is controlled to be smaller than the first setting value.

[0061] In this case, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of hydraulic fluid supplied per unit time to the arm cylinder (50), is adjusted to decrease, and the operating speed of the arm cylinder (50) increases slowly.

[0062] That is, if the electronic control unit (600) determines that the required driving speed of the boom (31) exceeds a reference value and the boom (31) cannot move up or down in accordance with the movement amount of the arm (32), the speed increase rate of the arm (32) is lowered below the first setting value so that the boom (31) can follow the speed of the arm (32).

[0063] In the above description, an embodiment in which the arm (32) speed increase rate changes discontinuously based on a specific reference value of the boom (31) driving speed requirement has been described, but the arm (32) speed increase rate can change continuously depending on the boom (31) driving speed requirement.

[0064] In detail, as referenced in FIG. 7(b), when the required driving speed of the boom (31) is less than the first reference value, the speed of the arm (32) can be rapidly increased according to a value corresponding to 100% of the preset arm speed increase rate. Additionally, as the required driving speed of the boom (31) increases, the speed increase rate of the arm (32) can be gradually reduced from the initial 100%. Furthermore, when the required driving speed of the boom (31) is greater than the second reference value, the speed of the arm (32) can be slowly increased according to a value corresponding to 50% of the preset arm speed increase rate.

[0065] However, it is not limited to this, and as the required speed of the boom (31) increases, the speed increase rate of the arm (32) may also be set to gradually decrease.

[0066] Hereinafter, a method for controlling the arm (32) of an electronic control unit (600) considering the moment of inertia of a work device (30) according to one embodiment of the present invention is described in detail as follows.

[0067] When the bucket (33) is in a loaded state or when an attachment such as a tilt rotator is mounted on the tip of the arm (32), the moment of inertia for the boom (31) increases. Specifically, referring to FIG. 6, a tilt rotator (70) is mounted on the tip of the work device (30) of FIG. 6(b), so the load on the tip increases, and thus the moment of inertia for the boom (31) increases compared to the work device (30) of FIG. 6(a).

[0068] Accordingly, in the work device (30) of FIG. 6(b), when the arm (32) is extended to start grading, there may be cases where the rising of the boom (31) cannot keep up with the speed at which the arm (32) falls due to its own weight.

[0069] Therefore, it is preferable for the electronic control unit (600) to control the rate of increase of the arm (32) speed by additionally considering the moment of inertia of the work device (30).

[0070] First, when the operator operates the boom (31) or arm (32) through the operating lever (400), the information providing unit (500) collects and / or calculates the position information, attitude information, moment of inertia information, and position information of the work area of ​​the work device (30) and provides this to the electronic control unit (600). The electronic control unit (600) compares the moment of inertia of the boom (31), arm (32), and bucket (33) provided by the information providing unit (500) with a reference value.

[0071] Referring to FIG. 8 (a), a graph of the speed of the arm (32) according to the operation time of the operating lever (400) according to one embodiment of the present invention is illustrated. The electronic control unit (600) classifies the arm (32) into a high-speed section in which it is driven rapidly according to a preset arm speed increase rate when the moment of inertia of the working device (30) is less than or equal to a reference value, and classifies the arm (32) into a low-speed section in which it is driven slowly according to an arm speed increase rate smaller than the preset arm speed increase rate when the moment of inertia of the working device (30) exceeds the reference value.

[0072] In detail, when the electronic control unit (600) classifies the high-speed section, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of operating fluid supplied per unit time to the arm cylinder (50), is adjusted to increase, and the operating speed of the arm cylinder (50) increases rapidly.

[0073] That is, if the electronic control unit (600) determines that the moment of inertia of the boom (31) is small so that the boom (31) can move up or down in accordance with the amount of movement of the arm (32), the speed of the arm (32) can be rapidly increased according to a preset second setting value.

[0074] On the other hand, when the electronic control unit (600) classifies it as a low-speed section, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of operating fluid supplied per unit time to the arm cylinder (50), is adjusted to decrease, and the operating speed of the arm cylinder (50) increases slowly.

[0075] That is, if the electronic control unit (600) determines that the moment of inertia for the boom (31) is large and the boom (31) cannot rise or fall in accordance with the movement amount of the arm (32), the speed increase rate of the arm (32) is lowered below the second setting value so that the boom (31) can follow the speed of the arm (32).

[0076] Hereinafter, a method for controlling the arm (32) of an electronic control unit (600) considering the output of a work device (30) according to one embodiment of the present invention will be specifically described as follows.

[0077] When the operator selects standard mode or economy mode for the purpose of improving fuel efficiency, the flow rate, which is the amount of hydraulic fluid supplied per unit time to the hydraulic cylinder, is low, and when maximum output is required instantaneously, the boom (31) may not be able to rise or fall in accordance with the movement amount of the arm (32).

[0078] Therefore, it is desirable for the electronic control unit (600) to additionally consider the input rotational speed of the work device (30) and control the rate of increase of the arm (32) speed.

[0079] First, when the driver sets the mode by operating the engine mode switch provided in the driver's cabin and operates the boom (31) or arm (32) through the operating lever (400), the information providing unit (500) collects and / or calculates the position information, posture information, maximum output value of the engine of the selected mode, and position information of the work area of ​​the work device (30), and provides this to the electronic control unit (600). The electronic control unit (600) compares the maximum output value of the engine of the selected mode with a preset reference value.

[0080] Referring to FIG. 8 (b), a graph of the speed of the arm (32) according to the operation time of the operating lever (400) according to one embodiment of the present invention is illustrated. The electronic control unit (600) classifies the arm (32) into a high-speed section in which it is driven rapidly according to a preset arm driving speed increase rate when the maximum output value of the engine is greater than or equal to a reference value, and classifies the arm (32) into a low-speed section in which it is driven slowly according to an arm speed increase rate smaller than the preset arm driving speed increase rate when the maximum output value of the engine is less than the reference value.

[0081] The electronic control unit (600) controls the increase rate of the arm (32) speed differently for each of the low-speed and high-speed sections classified above.

[0082] In detail, when the electronic control unit (600) classifies the high-speed section, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of operating fluid supplied per unit time to the arm cylinder (50), is adjusted to increase, and the operating speed of the arm cylinder (50) increases rapidly.

[0083] That is, if the electronic control unit (600) determines that the maximum output value of the engine is large enough for the boom (31) to move up or down in accordance with the movement amount of the arm (32), the speed of the arm (32) is made to increase rapidly according to a preset third setting value.

[0084] On the other hand, when the electronic control unit (600) classifies it as a low-speed section, the electronic proportional pressure reducing valve (300) generates hydraulic pressure corresponding to the pilot pressure received from the electronic control unit (600), and when the generated hydraulic pressure is supplied to the spool of the control valve (200), the spool moves along the axis. Accordingly, the flow rate, which is the amount of operating fluid supplied per unit time to the arm cylinder (50), is adjusted to decrease, and the operating speed of the arm cylinder (50) increases slowly.

[0085] That is, if the electronic control unit (600) determines that the maximum output value of the engine is small and the boom (31) cannot move up or down in accordance with the movement amount of the arm (32), the speed increase rate of the arm (32) is lowered below the third setting value so that the boom (31) can follow the speed of the arm (32).

[0086] Hereinafter, a method for controlling the arm (32) of an electronic control unit (600) considering the required driving speed of the boom (31), the moment of inertia of the work device (30), and the output of the work device (30) according to one embodiment of the present invention is described in detail as follows.

[0087] First, when the driver sets the mode by operating the engine mode switch provided in the driver's cabin and operates the boom (31) or arm (32) through the operating lever (400), the information providing unit (500) collects and / or calculates the position information, attitude information, moment of inertia, maximum output value of the engine of the selected mode, and position information of the work area of ​​the work device (30), and provides this to the electronic control unit (600).

[0088] The electronic control unit (600) compares the boom (31) driving required speed for the provided work area, the moment of inertia of the work device (30), and the maximum output value of the engine with reference values, respectively, and classifies them into high-speed and low-speed sections.

[0089] Next, the electronic control unit (600) compares and determines the arm speed increase rate based on the boom (31) driving required speed, the moment of inertia of the work device (30), and the maximum output value of the engine.

[0090] In detail, the electronic control unit (600) sets a preset first setting value as the first arm speed increase rate when the required driving speed of the boom (31) is less than or equal to a reference value, and sets the value obtained by multiplying the first setting value by the first reduction rate as the first arm speed increase rate when the required driving speed of the boom (31) exceeds the reference value.

[0091] In addition, the electronic control unit (600) sets a preset second setting value as the second arm speed increase rate if the moment of inertia of the work device (30) is less than or equal to a reference value, and sets a value obtained by multiplying the second setting value by a second reduction rate as the second arm speed increase rate if the moment of inertia of the work device (30) is greater than the reference value.

[0092] In addition, the electronic control unit (600) sets a preset third setting value as the third arm speed increase rate if the output of the engine is greater than or equal to a reference value, and sets a value obtained by multiplying the third setting value by a third reduction rate as the third arm speed increase rate if the output of the engine is less than the reference value.

[0093] The electronic control unit (600) sets the smallest value among the first arm speed increase rate to the third arm speed increase rate as the arm speed increase rate and outputs a corresponding pilot pressure to adjust the flow rate, which is the amount of operating fluid supplied per unit time to the arm cylinder (50), and adjusts the operating speed of the arm cylinder (50).

[0094] In this way, by adopting the smallest arm speed increase rate by considering the required driving speed of the boom (31), the moment of inertia of the work device (30), and the maximum output value of the engine, the reliability of the arm (32) speed control can be improved because the boom (31) can rise or fall in response to the amount of movement of the arm (32) in various situations.

[0095] However, it is not limited to this, and the electronic control unit (600) may set the arm speed increase rate by multiplying any one of the first to third setting values ​​by the first to third reduction ratio. In this case, since the first to third reduction ratios are all taken into account in the arm speed increase rate, the reliability of the arm (32) speed control can be further improved.

[0096] Hereinafter, a method for controlling the boom (31) of an electronic control unit (600) considering the required driving speed of the boom (31), the moment of inertia of the work device (30), and the output of the work device (30) according to another embodiment of the present invention is described in detail as follows.

[0097] First, when the driver sets the mode by operating the engine mode switch provided in the driver's cabin and operates the boom (31) or arm (32) through the operating lever (400), the information providing unit (500) collects and / or calculates the position information, attitude information, moment of inertia, maximum engine output value of the selected mode, and position information of the work area of ​​the work device (30), and provides this to the electronic control unit (600).

[0098] The electronic control unit (600) compares the required driving speed of the provided boom (31), the moment of inertia of the work device (30), and the maximum output value of the engine with reference values, respectively, and classifies them into high-speed and low-speed sections.

[0099] Next, the electronic control unit (600) compares and determines the boom speed increase rate based on the boom (31) driving required speed, the moment of inertia of the work device (30), and the maximum output value of the engine.

[0100] In detail, the electronic control unit (600) sets a preset first setting value as the first boom speed increase rate when the boom (31) driving speed requirement is less than or equal to a reference value, and sets a value greater than the first setting value as the first boom speed increase rate when the boom (31) driving speed requirement exceeds the reference value.

[0101] In addition, the electronic control unit (600) sets a preset second setting value as the second boom speed increase rate if the moment of inertia of the work device (30) is less than or equal to a reference value, and sets a value greater than the second setting value as the second boom speed increase rate if the moment of inertia of the work device (30) exceeds the reference value.

[0102] In addition, the electronic control unit (600) sets a preset third setting value as the third boom speed increase rate if the output of the engine is greater than or equal to the reference value, and sets a value greater than the third setting value as the third boom speed increase rate if the output of the engine is less than the reference value.

[0103] Next, the electronic control unit (600) compares and determines the first boom speed increase rate to the third boom speed increase rate based on the boom (31) driving required speed, the moment of inertia of the work device (30), and the maximum output value of the engine, calculates and outputs the pilot pressure based on the largest boom speed increase rate, adjusts the flow rate which is the supply amount of hydraulic fluid per unit time for the boom cylinder (40), and adjusts the operating speed of the boom cylinder (40).

[0104] In this way, by adopting the largest boom speed increase rate by considering the required driving speed of the boom (31), the moment of inertia of the work device (30), and the maximum output value of the engine, the boom (31) can rise or fall in response to the movement amount of the arm (32) in various situations, so the reliability of the boom (31) speed control can be improved.

[0105] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0106] The scope of the present invention is defined by the claims set forth below, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0107] 100 : Construction machinery 200 : Control valve 300 : Electronic proportional pressure reducing valve 400 : Control lever 500 : Information provider 600 : Electronic control unit

Claims

Claim 1 A lower traveling body; an upper slewing body supported so as to be rotatable on the lower traveling body; a working device supported by the upper slewing body, comprising a boom, an arm, and a bucket operated by respective hydraulic cylinders; a control valve controlling the hydraulic cylinders; an electronic proportional pressure reducing valve controlling the spool of the control valve; an operating lever outputting an operating signal corresponding to the amount of operation by the operator; and an information providing unit providing information about the working device and the working area; and includes an electronic control unit that calculates and outputs a pilot pressure for the electronic proportional pressure reducing valve, wherein the electronic control unit controls the speed of the hydraulic cylinder by utilizing the operation signal of the operating lever and information provided by the information providing unit, wherein the information providing unit provides the boom driving required speed, the moment of inertia of the working device, and the engine maximum output to the electronic control unit, wherein the electronic control unit compares the boom driving required speed, the moment of inertia of the working device, and the engine maximum output with reference values, wherein if the boom driving required speed is less than or equal to the reference value, the electronic control unit sets a preset first setting value as the first boom speed increase rate, and if the boom driving required speed exceeds the reference value, sets a value greater than the first setting value as the first boom speed increase rate, wherein if the moment of inertia of the working device is less than or equal to the reference value, sets a preset second setting value as the second boom speed increase rate, and if the moment of inertia of the working device exceeds the reference value, sets a value greater than the second setting value as the second boom speed increase rate, and wherein the engine maximum output is A construction machine that, if the maximum output of the engine is greater than or equal to the reference value, sets a preset third setting value as the third boom speed increase rate, and if the maximum output of the engine is less than the reference value, sets a value greater than the third setting value as the third boom speed increase rate. Claim 2 A construction machine according to claim 1, wherein the electronic control unit sets the largest value among the first boom speed increase rate to the third boom speed increase rate as the boom speed increase rate. Claim 3 In paragraph 1, the above-mentioned operating lever is an electric joystick that generates an electrical signal in proportion to the amount of operation by the operator and provides it to an electronic control unit, a construction machine. Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 delete Claim 11 delete Claim 12 delete Claim 13 delete Claim 14 delete Claim 15 delete

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