Abstract:
The present invention discloses a traveling control device, including a crawler type right and left traveling body; a right and a left hydraulic motor for operating the right and left traveling body said right and left hydraulic motors each having a pump as a hydraulic source; an operator means for outputting an operation command to the right and the left hydraulic motor; and a pump pressure controller means for controlling pump pressure to be supplied to the right and the left hydraulic motor according to a control input of the operator means, wherein the pump pressure controller means controls the pump pressure based on different pump pressure properties for single traveling in which only one of hydraulic motors is operated, and for double traveling in which both of hydraulic motors are simultaneously operated. Therefore, by designing different properties of the pump pressure to be applied to the single traveling and the double traveling, the manipulation ability of the traveling control device is greatly improved.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a traveling control device to be applied to construction machinery equipped with a crawler type traveling body like a hydraulic excavator. 
     2. Description of the Related Art 
     The prior art will be described hereinafter with hydraulic excavator by way of example. 
     The conventional traveling control device (a hydraulic circuit) for controlling the operation of the crawler type traveling body in the hydraulic excavator is depicted in FIG.  6 . 
     As shown in FIG. 6, the traveling control device is constituted with a hydraulic motor for a left traveling body  11  and a hydraulic traveling motor for a right traveling body  12  (hereinafter, they are referred to as a left traveling motor, and a right traveling motor). Both traveling motors  11  and  12  are operated by hydraulic pumps  13  and  14  (hereinafter, they are referred to as a left hydraulic pump, and a right hydraulic pump), respectively. 
     In addition, motor circuits  15  and  16  connect two motors  11  and  12 , two (a right and a left) pumps  13  and  14 , and a tank T, and hydraulic pilot type control valves  17  and  18  are installed in each circuit. The control valves  17  and  18  are converted and controlled by a remote control pressure from remote control valves  19  and  20  that are operated by levers (or pedals)  19   a  and  20   a.  In this way, the rotational direction (forward, backward) and the rotational speed (traveling speed) of both traveling motors  11  and  12  are controlled. 
     In other words, when the remote control valves  19  and  20  are operated, the control valves  17  and  18  are operated by the stroke in accordance with the control input of the remote control valves, which consequently determining an opening of the valve. And, the flaw rate according to the valve opening is supplied to the traveling motors  11  and  12 , raising the pump pressure, and operating the traveling motors  11  and  12 . 
     Incidentally, in the conventional traveling control device, the relation between the control input of the remote control valves  19  and  20  (hereinafter, it is referred to as the control input) and the pump pressure from the reaction manifests exactly the same properties, without any difference in two different cases, such as: 
     (a) double traveling in which both traveling motors  11  and  12  rotate simultaneously; and 
     (b) single traveling in which only one of the traveling motors  11  and  12  rotates. 
     However, during the single traveling, since the load operated by one traveling motor is comparatively larger than that of the double traveling, the control input necessary for the operation gets relatively increased. That is, the double traveling can be traveled even at the slight operation, while the single traveling will not start the traveling unless it is operated deeply. 
     Therefore, during the single traveling, the control input after the operation is small, causing the micro-operational ability within the range of the control input after the operation to be deteriorated. 
     On the other hand, if the single traveling at a small control input is possible, this speeds up the operation of the double traveling too much (because of the increased sensitivity of the small control input). In result, the traveling may start suddenly, and the micro-operation at the small control input is deteriorated. 
     SUMMARY OF THE INVENTION 
     An object of the present invention is to provide a traveling control device for properly applying single traveling as well as double traveling in accordance with its own properties. 
     The traveling control device of the present invention comprises: a crawler type right and left traveling body; a right and a left hydraulic motors for operating the right and left traveling body, using each hydraulic pump as a hydraulic source; an operating means for outputting an operation command to the both hydraulic motor; and a pump pressure control means for controlling the pump pressure supplied to the double hydraulic motors in accordance with the control input of the operating means. The pump pressure control means controls the pump pressure based on different properties of the pump pressure during the single traveling where only one hydraulic motor is operated, and the double traveling where both hydraulic motors are simultaneously operated. 
     In the present invention, considering that different properties of pump pressures are applied to the single traveling and the double traveling by the pump pressure control means, the inventors decided to utilize this property of the pump pressure for both single traveling and double traveling by way of improving the operation in overall. 
     Also, the pump pressure control means of the present invention is devised to control the pump pressure based on the property of the pump pressure, that is, the variation slope of the pump pressure against the control input is greater for the single traveling than for the double traveling. 
     According to this, the inventors tried to make the variation of the pump pressure be more steep during the single traveling, while be more gentle during the double traveling, trying to improve the micro-operation within the control input after the operation through the greatly increased control input after the operation of the one-side operation. Besides, the present invention can obtain excellent micro-operation even at the small control input during the double traveling. In short, through the present invention, it became possible to obtain excellent manipulation ability for both single traveling and double traveling. 
     Also, the present invention has a constitution in which said pump pressure control means controls the pump pressure based on a pump pressure property that the control input necessary for a traveling operation for the single traveling and the double traveling is almost equivalent to each other. 
     According to this, since the control input necessary for the traveling operation becomes almost same for the single traveling and for the double traveling, the manipulation facility thereof gets even better. 
     Further, the pump pressure control means of the present invention comprises a pressure control valve connected to the motor circuit that connects the hydraulic pump and the hydraulic motor, and a set pressure adjusting means for adjusting the set pressure of the pressure control valve according to the control input of the operating means. 
     The system aforementioned is particularly for adjusting a set pressure of the pressure control valve out of the control systems to change the properties of the pump pressure during the single traveling and the double traveling. 
     Also, the pressure control valve of the present invention is a cut valve, which is installed in a bypass line passing through a control valve that controls the operation of the double hydraulic motor. In addition, the pressure control valve throttles the flow rate of the bypass line, and the set pressure adjusting means controls the opening of the cut valve. 
     The system described above is so called a cut valve control system where the cut valve is used as the pressure control valve, and the opening of the cut valve is controlled eventually for controlling the pump pressure. 
     Another aspect of the present invention provides the traveling control device using the hydraulic pilot type control valve and cut valve, and a remote control valve as a means for operating the control valve. Also, the set pressure adjusting means of the present invention preferably includes a shuttle valve for withdrawing the remote control pressure from the remote control valve; a cut valve pilot line for connecting the shuttle valve; and a hydraulic pilot port of the cut valve; a hydraulic pilot type traveling switching valve for closing and opening the cut valve pilot line; and a switching valve control circuit for supplying the remote control pressure of the operated side to the traveling switching valve of the opposite side as a pilot pressure to a closing direction of the traveling switching valve. 
     The system described above is so called a cut valve hydraulic control system that controls the cut valve by the remote control pressure from the remote control valve. Particularly, the system is known for low mechanical trouble rate due to broken wires, and for excellent reliability. 
     Further, the present invention includes a regulator for regulating the discharge flow rate of the double hydraulic pump, and a negative control valve installed in the bypass line. The negative control valve varies the regulator&#39;s input according to the passing flow rate of the bypass line in order to change the pump discharge flow rate. 
     According to this, as the passing flow rate of the cut valve changes, the pressure inputted in the pump&#39;s regulator from the negative control valve also changes, which later changes the pump flow rate. The changed pump flow rate consequently expedites the change in the pump pressure. Thus the present invention is very effective especially when an operator wants to speed up the operation. 
     Further, the present invention uses either a hydraulic pilot type cut valve or an electronic pilot type cut valve. Here, the set pressure adjusting means outputs an electric control signal for controlling the opening of the cut valve according to the control input of the operating means. 
     Among other cut valve control systems, the aforementioned system controls the cut valve by the electric control signal (cut valve electric control system). This simplifies the constitution of the hydraulic circuit to a great extent. 
     Further, the set pressure adjusting means of the present invention includes a controller, and a proportional valve for the cut valve for supplying a secondary pressure according to the electric control signal from the controller to the hydraulic pilot type cut valve in the form of a pilot pressure. 
     Moreover, the present invention includes the regulator for regulating the discharge flow rate of the double hydraulic pump, and the controller outputs a signal to the regulator for changing the pump discharge flow rate. 
     According to this, as the passing flow rate of the cut valve changes, the pressure inputted in the regulator also changes, which consequently changes the pump flow rate. The changed pump flow rate again speeds up the change in the pump pressure. Therefore, it is very effective especially when an operator wishes to speed up the operation. 
     In many cases, a pump controlling proportional valve can be used for the regulator. 
     Also, in the present invention, the remote control valve is used as the operating means, and the remote control pressure withdrawn by the remote control valve is inputted in the controller as an operational signal. 
     Preferably, the pressure control valve of the present invention is a relief valve. The relief valve is installed in the motor circuit, and its set pressure is variable. That is, the set pressure adjusting means adjusts the set pressure of the relief valve. 
     Also, in the present invention, the pump pressure control means preferably includes the regulator for regulating the discharge flow rate of the double hydraulic pump, and the controller for sending the command signal concerning the discharge flow rate of the double hydraulic pump out to the regulator in accordance with the control input of the operating means. 
     The constitution described above is particularly based on the pump control system for controlling the pump flow rate out of other control systems for changing the properties of the pump pressure during the single traveling and the double traveling. When this system is applied, the hydraulic circuit itself does not require any reconstruction, which means that the hydraulic circuit is applicable even to the conventional equipment. 
     Moreover, the regulator can be a proportional valve for pump control. 
     Also, in the present invention, the remote control valve is used for the operating means, and the remote control pressure withdrawn by the remote control valve is inputted in the controller in the form of the operational signal. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a schematic diagram of a hydraulic circuit according to a first embodiment of the present invention; 
     FIG. 2 is a schematic diagram of a hydraulic circuit and a control system thereof according to a second embodiment of the present invention; 
     FIG. 3 is a flow chart explaining operational function of a controller shown in the second embodiment; 
     FIG. 4 is a schematic diagram of a hydraulic circuit and a control system thereof according to a third embodiment of the present invention; 
     FIG. 5 is a flow chart explaining operational function of a controller shown in the third embodiment; and 
     FIG. 6 is a schematic diagram of a hydraulic circuit in a traveling control device in the related art. 
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Preferred embodiments of the present invention will now be described with reference to the accompanying FIG. 1 to FIG.  5 . 
     First of all, the first and the second embodiments of the present invention introduce a cut valve control system. Meanwhile, the third embodiment of the present invention is based on a pump control system. 
     First Embodiment (FIG.  1 ) 
     In the first embodiment, among cut valve control systems, a hydraulic pilot type cut valve which is controlled by remote control pressure is employed. 
     In FIG. 1, the numeral  21  is a left traveling motor and  22  is a right traveling motor. Hydraulic pilot type left and right traveling control valves  27  and  28  which control the rotational direction and rotational speed of two motors  21  and  22  are installed in motor circuits  25  and  26  which connect both traveling motors  21  and  22  and left and right traveling pumps  23  and  24  having variable flow rate. The control valves  27  and  28  are manipulated by remote control valves  29  and  30  as an operating means. And the numerals  29   a  and  30   a  are the levers of remote control valves  29  and  30 . 
     Bypass lines  31  and  32  for passing through the both control valves  27  and  28  are installed between two pumps  23  and  24 , and a tank T. Also, there are hydraulic pilot type cut valves  33  and  34  for performing variable throttle action in the low portion of the control valves  27  and  28  of the bypass lines  31  and  32 . 
     Negative control valves  35  and  36  are installed in even lower portion of the cut valves  33  and  34 . The negative control pressure, Pn, generated by the negative control valves  35  and  36  are supplied to regulators  37  and  38  of the pumps  23  and  24 . That is, the discharge flow rate varies depending on the different thrust of the pumps  23  and  24  by the negative control pressure, Pn. 
     As shown in FIG. 1, when the pilot pressure is not yet supplied, the cut valves  33  and  34  are at “a” opening position. In addition, the opening is tightened by operating a stroke on a closing position “b” according to the pilot pressure&#39;s magnitude during the pilot pressure supply. 
     As a means for controlling the cut valves  33  and  34 , while shuttle valves  39  and  40  for withdrawing the remote control pressure according to the control input of the remote control valves  29  and  30  is installed in the output side of the both remote control valves  29  and  30 , hydraulic pilot type traveling switching valves  43  and  44  for opening and closing cut valve pilot lines  41  and  42  for connecting the output port of the shuttle valves  39  and  40  and the pilot port of the cut valves  33  and  34  are installed in the cut valve pilot lines  41  and  42 . 
     Hereinafter, the remote control valves  29  and  30 , the cut valves  33  and  34 , and the traveling switching valves  43  and  44  will be distinguished into the right- or the left-, similar to the left traveling motor  21  and the right traveling motor  22 . 
     First of all, a switching valve control circuit  45  connects the input side and the pilot port of the traveling switching valves  43  and  44 , respectively. And, the remote control pressure withdrawn by the shuttle valves  39  and  40 , under the direction of the switching valve control circuit  45 , is induced to the opposite side traveling switching valves  43  and  44  in the form of a pilot pressure (e.g., During the left traveling, the left remote control pressure from the left remote control valve  29  is induced to the right traveling switching valve  44  in the form of the pilot pressure). 
     The following explains the general function of the device. 
     A. During the Double Traveling Operation 
     During the double traveling in which the both remote control valves  29  and  30  are simultaneously operated with an equal amount, the equivalent remote control pressure is withdrawn for both shuttle valves  39  and  40 . Since the traveling switching valves  43  and  44  are closed by this remote control pressure, no pilot pressure is supplied to the cut valves  33  and  34 . 
     Therefore, both cut valves  33  and  34  are set at the opening position, “a”, and no active throttle action are carried out here. In result, the pump pressure (generated by the motor circuits  25  and  26 ) applied to two traveling motors  21  and  22  is not influenced by the tightening of the cut valves  33  and  34  at all. 
     In other words, compared with the single traveling which will be described later, the motors  21  and  22  are gently operated complying with the properties of the pump pressure that change depending on the control input. 
     B. During the Single Traveling Operation 
     As shown in FIG. 1, in case of the right traveling which the right remote control valve  30  is only operated, the right traveling switching valve  44  opens because, the left remote control valve  29  is not being operated. 
     Accordingly, the remote control pressure from the right remote control valve  30  is supplied to the right cut valve  34  in the form of the pilot pressure, and the cut valve  34  at the closing position “b” is operated, thereby throttling the opening. 
     In this state where the right control valve  28  is tightened, and the right cut valve  34  starts another tightening, the pump pressure for the single traveling increases in its earlier stage, compared with the case of double traveling. 
     In addition, in the same state, compared with that of the double traveling, the cut valve passing flow rate is low, and the negative control pressure, Pn, generated in the negative control valves  35  and  36  is low, which consequently increases the pump discharge flow rate. 
     Due to the increase in the tightening process and the pump flow rate, the right traveling motor  22  is operated even in an area with a low control input. 
     In short, the properties of the pump pressure are different for the single traveling and for the double traveling. That is, during the single traveling, the traveling motor  21  or  22  is operated on the basis of the pump pressure property that the change in the pump pressure to the control input is relatively more rapid when compared with the double traveling. In this way, compared to the case where no control is present, the control input necessary for the single traveling operation is decreased, while the control input after the operation is increased. In consequence, the micro-operation within the range of the control input after the operation gets much better. 
     It is also possible to set the properties of the pump pressure for the single traveling and the double traveling so that the control input necessary for the traveling operation for the single traveling and the double traveling can be equivalent to each other. According to this, the differences between the single traveling operation and the double traveling operation are resolved to a great extent, and better quality of manipulation facility is obtained. 
     Second Embodiment (FIGS.  2  and  3 ) 
     In the second embodiment, a cut valve electronic control system for controlling cut valves  33  and  34  through electromagnetic type proportional valves  47  and  48  under the direction of an electric control signal from a controller  46  is particularly introduced. 
     Hereinafter, only the differences between the cut valve electronic control system and the hydraulic control system will be explained. First of all, the remote control pressure from the remote control valves  29  and  30  is withdrawn by pressure meters  49  and  50  via the shuttle valves  39  and  40 , and is later inputted in the controller  46  in the form of an operational signal. 
     The controller  46 , based on the operational signal, decides whether it is the single traveling or the double traveling (if the single traveling only is concerned, it decides whether it is the left traveling or the right traveling). And, during the single traveling, a control signal is outputted for tightening the opening of the cut valve  33  or  34  at one side of the proportional valves  47  and  48  for cut valve. 
     Pump controlling proportional valves  51  and  52  as the regulator are installed in two pumps  23  and  24 . During the single traveling, a signal for increasing the pump flow rate is outputted to the pump controlling proportional valves  51  and  52  from the controller  46 , as an alternative operation of the negative control valves  35  and  36  explained in the First Embodiment. 
     The detailed function of the controller  46  is now explained with reference to a flow chart shown in FIG.  3 . 
     At the time of initiation of the control, the traveling type is determined based on the operational signal, and it is decided the presence of ‘the right traveling’ (S 1 ). Here, regardless of the result decision as NO or YES, the presence of the left traveling is also decided in the steps of S 2  and S 3 . 
     If the decision is NO in the step S 2 , it is regarded as ‘No traveling’ since there is no traveling operation is made. 
     On the other hand, if the decision made in the step S 2  is YES, it is regarded as the ‘Left traveling’ (S 5 ). Also, as shown in the step S 6 , the command signal with a large variation slope is selected for the proportional valves  47  and  51  for the left cut valve that control the left pump on the remote control pressure, and the command signal based on the properties is outputted to the same proportional valves  47  and  51  (S 57 ). 
     On the other hand, if the decision made in the step S 3  is NO, it is regarded as the ‘Right traveling’ (S 8 ). And, the similar properties manifested in the step S 6  are selected in the step S 9  as well. Then, the command signal complying with the properties is outputted to the same proportional valves  48  and  52  (S 10 ). 
     However, if the decision made in the step S 3  is YES, it is regarded as the ‘Double traveling’ (S 11 ). And, as for the variation rate of the command signal on the remote control pressure, more gentle traveling properties than those of ‘single traveling’ are selected (S 12  and S 13 ). Later, an appropriate command signal is outputted according to the properties of the proportional valves  47  and  48  for the cut valve, and the pump controlling proportional valves  51  and  52  (S 10  and S 7 ). 
     Under the same control, similar to the First Embodiment, the traveling motor  21  or  22  is operated based on the properties of the pump pressure during the single traveling where the pump pressure changes more rapidly according to the control input, compared with the double traveling. 
     Incidentally, in both embodiments 1 and 2, the cut valves  33  and  34  may be closed during the single traveling, and open during the double traveling. In doing so, however, the continuity of the operation may be lost due to the rapid changes in the properties from the single traveling to the double traveling. Thus, for both single traveling and double traveling, it is highly recommended to adjust the opening the cut valves  33  and  34  by way of preventing the sudden changes in the properties. 
     Third Embodiment (FIGS.  4  and  5 ) 
     Unlike to the other embodiments illustrated before, a pump control system is introduced this time. 
     That is, the cut valves  33  and  34  employed in the first and the second embodiments are not used. Instead, the remote control pressure withdrawn by the shuttle valves  39  and  40 , and the pressure meters  49  and  50  is sent out to the controller  53  in the form of an operational signal. Based on this operational signal, the system is constituted in such way that, in case of the single traveling, a command signal is outputted to increase the pump flow rate from the controller  53  for the pump controlling proportional valves  52  and  52 , while in case of the double traveling, the command signal is outputted to decrease the pump flow rate. 
     More detailed operation is now explained with reference to a flow chart illustrated in FIG.  5 . 
     At the time of initiation of the control, similar to the Second Embodiment (FIG.  3 ), it is decided (going through the steps of S 101  through S  103 ) the presence of ‘No traveling’, ‘Right traveling’, ‘Left traveling’, or ‘Double traveling’ based on the operational signal (S 104 , S 105 , S 108 , and S 111 ). When either ‘Left traveling’ or ‘Right traveling’ is decided, as shown in the steps of S 106  or S 109 , a command signal is selected to be changed to a large slope to the remote control pressure for the pump controlling proportional valve  51  or  52 , and the selected command signal is then outputted to the same proportional valve  51  or  52  (S 107  and S 110 ). 
     On the other hand, if the ‘Double traveling’ is decided, the variation rate of a command signal against the remote control pressure is selected in such way that a gentler traveling properties than the ‘Single traveling’ is manifested (S 112  and S 113 ). And, a command signal complying with the properties of the proportional valves  51  and  52  for the both pump is outputted (S 110  and S 107 ). 
     Under this control system, the pump flow rate is relatively high for the single traveling, compared with the double traveling. Also, similar to First Embodiment, the traveling motor  21  or  22  is operated based on the pump pressure property that the change in the pump pressure according to the control input for the single traveling is more rapid, compared with that of the double traveling. 
     Other Embodiments 
     (1) Each embodiment described above concerns control systems that are actually very realistic for use. For example, the pump pressure control system has been explained primarily based on the pump pressure property that the variation slope of the control input for the single traveling is comparatively high, while it is low for the double traveling. However, the present invention introduces the device for controlling the pump pressure based on other properties of the pump pressure. 
     (2) In the First and Second Embodiments, for example, the cut valves  33  and  34  have been used as the pressure control valve, and the opening of the cut valves  33  and  34 , respectively, was regulated by way of controlling the pump pressure. However, the present invention also showed that it is possible to install the set pressure variable relief valve in the motor circuits  25  and  25  instead of the cut valves  33  and  34  in order to control the pump pressure by controlling the set pressure of the relief valve. 
     (3) In each Embodiment described in the above introduced only the cases of the remote control valve system using the remote control valves  29  and  30  as the operating means. In contrast, the present invention introduced the electronic control system in which the lever (or pedal) control input is converted to an electric signal using a potentiometer, and is later inputted in the controller. Then, the controller valve is controlled by the control signal from the controller. 
     (4) The present invention is not limited in the hydraulic excavator, but can be applied to other traveling machinery (e.g., a crawler type crane) that operates both single traveling and the double traveling.