CN102536936B - The hydraulic circuit and its driving method of engineering machinery - Google Patents

The hydraulic circuit and its driving method of engineering machinery Download PDF

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Publication number
CN102536936B
CN102536936B CN201110439612.7A CN201110439612A CN102536936B CN 102536936 B CN102536936 B CN 102536936B CN 201110439612 A CN201110439612 A CN 201110439612A CN 102536936 B CN102536936 B CN 102536936B
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Prior art keywords
flow
control valve
driving
working oil
driving motors
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CN201110439612.7A
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CN102536936A (en
Inventor
金东玄
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Doosan Infracore Co Ltd
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Doosan Infracore Co Ltd
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Priority to KR10-2010-0134614 priority Critical
Priority to KR1020100134614A priority patent/KR101733810B1/en
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B13/0444Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors with rotary electric motor
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2221Control of flow rate; Load sensing arrangements
    • E02F9/2239Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2278Hydraulic circuits
    • E02F9/2292Systems with two or more pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401Valve members; Fluid interconnections therefor
    • F15B13/0402Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves
    • F15B13/0403Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves a secondary valve member sliding within the main spool, e.g. for regeneration flow
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38Control of exclusively fluid gearing
    • F16H61/40Control of exclusively fluid gearing hydrostatic
    • F16H61/44Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation
    • F16H61/456Control of the balance of torque or speed between pumps or motors

Abstract

The present invention provides the hydraulic circuit and its driving method of engineering machinery.The invention discloses a pair of of driving motors that driving is rotated including the use of the working oil discharged from hydraulic pump, and including:It is configured at a pair of of flow detection sensor of the front end of each driving motors;Control the flow control valve of the flow of the working oil supplied to driving motors;And with these with reference to and the flow of working oil that opposite pair of right and left driving motors supply be compared after flow control valve is selectively controlled according to comparison result left and right flow value is adjusted into the method driven to the hydraulic circuit and hydraulic circuit of the control unit of a succession of feedback process within scheduled relative error range so as to perform, thus, pair of right and left driving motors are substantially driven by identical flow rotary when for straight trip running signal, so as to engineering machinery straight trip traveling, thereby, it is possible to be automatically prevented from the inclination of engineering machinery traveling.

Description

The hydraulic circuit and its driving method of engineering machinery
Technical field
The present invention relates to the engineering machinery as excavator more particularly to have by the traveling horse of working oil rotation driving The hydraulic circuit of the engineering machinery reached.
Background technology
The engineering machinery as excavator realizes traveling by driving the driving motors by working oil rotation driving, leads to After the standby pair of right and left driving motors being made of left travel motor and right travel motor, travel direction to these The flow of the working oil of a pair of of driving motors supply determines.For example, in the stream of the working oil of a pair of of driving motors supply to the left and right Measure it is identical in the case of, excavator straight trip traveling.
Fig. 1 is an example of the hydraulic circuit of existing engineering machinery, be by with travel relevant part centered on skeleton map The hydraulic circuit diagram shown.
According to Fig. 1, hydraulic circuit 10 include hydraulic pump 20 and by the working oil discharged from hydraulic pump 20 respectively to it is a pair of left/ A pair of of left/right side travel control valve 30a, 30b of right travel motor 40a, 40b supply.For example, left travel control valve 30a The working oil that can be discharged with predetermined amount of flow and predetermined direction to left travel motor 40a supplies from hydraulic pump 20, right travel The working oil that control valve 30b can discharge right travel motor 40b supplies from hydraulic pump 20 with predetermined amount of flow and predetermined direction.
If straight trip running signal is transmitted to these left/right sides travel control valve 30a, 30b, left/right side travel control valve 30a, 30b supply the working oil of identical flow to corresponding left/right side driving motors 40a, 40b respectively, as a result, engineering machinery Straight trip traveling.I.e., left/right side driving motors 40a, 40b is by the working oil with identical flow supply and with identical rotation speed Degree driving, engineering machinery, which is stably kept straight on, as a result, travels without the inclined oblique traveling phenomenon in a certain side to the left and right.
Therefore, in order to which engineering machinery is made to be based on straight trip running signal straight trip, to the left/right travel motor 40a, 40b supply The flow control of working oil seem most important into identical.
But due to mismachining tolerance, the group of the traveling guiding valve as the important component for forming each travel control valve 30a, 30b Error or the mismachining tolerance of each flow path etc. are filled, even if can also be travelled in the case of for straight trip running signal to left/right a pair Difference is generated on the flow of the working oil of motor 40a, 40b supply, as a result, it is inclined tiltedly to a certain side to will appear engineering machinery To traveling phenomenon.
Such oblique traveling phenomenon, which not only controls the traveling of engineering machinery, becomes difficult, but also will also become in arrow path Or versant causes the main reason for major break down.
Invention content
The object of the present invention is to provide one kind for that can make to supply to left/right a pair of driving motors during straight trip running signal Working oil the hydraulic circuit that is controlled substantially the samely of flow.
Another object of the present invention is to provide a kind of work for the oblique traveling kept straight on and can prevent engineering machinery when driving The hydraulic circuit and its driving method of journey machinery.
In order to realize these purposes, one embodiment of the invention is characterized in, including:Hydraulic pump;To being discharged from hydraulic pump Working oil the left/right side travel control valve that is controlled of flowing;Control is sailed by a pair of of hydraulic line and left/right skidding respectively The left/right side driving motors that valve processed is connected and driven;Each pair of hydraulic line fluid flow communication configuration is made therebetween to adjust to right The left/right effluent control valve of the flow of the working oil of driving motors supply answered;Before being formed in each left/right side driving motors End, and the left/right effluent quantity detection sensor of the real-time traffic of the working oil of to the left/right travel motor supply is detected respectively; And after receiving the value detected in left/right effluent quantity detection sensor, according to the result selectivity being compared to the value At least one valve in ground control left/right effluent control valve so that left/right side driving motors can be in scheduled error range The control unit driven by substantially the same flow, so as to which the straight trip in engineering machinery can prevent oblique traveling when driving.
In addition, another embodiment of the present invention is the method for the hydraulic circuit for driving foregoing embodiment, one is provided Kind hydraulic circuit driving method, it is characterized in that, including:A) left/right side travel control valve according to straight trip running signal to the left/right side Driving motors supply the step of working oil;B) control unit is to the real-time flow data that is detected in left/right effluent quantity detection sensor The step of being compared;C) if comparison result exceeds scheduled error range, in control unit in left/right effluent control valve At least one valve is controlled such that comparison result within scheduled error range, so as to adjust through control object flow control The step of supply flow rate of the working oil of valve processed;And d) in the substantially impossible situation of the adjusting of the supply flow rate of working oil Under, the step of oblique traveling alerts is generated, so as to which oblique traveling can be prevented when driving in engineering machinery straight trip.
In addition, it is of the invention in, it is characterized in that, the control unit is in the flow supplied to left/right side driving motors Difference be more than the error range when, control the flow control valve so that the stream supplied in the driving motors of the left/right side Relatively large driving motors side supply flow rate is measured to reduce.
In addition, in the present invention, it is characterized in that, the supply flow rate regulating step is included to left/right side driving motors The middle relatively large driving motors effluent control valve of supplied flow is controlled so that the stream supplied to the driving motors The step of amount is reduced.
In addition, in the present invention, it is characterized in that, the step of d) step further comprises limiting work rpm.
Invention effect is as follows.
According to the present invention, provide one kind can be for that can make to supply to left/right a pair of driving motors during straight trip running signal The hydraulic circuit that the flow for the working oil given is controlled substantially the samely.
In addition, in accordance with the invention it is possible to provide a kind of work for the oblique traveling kept straight on and can prevent engineering machinery when driving The hydraulic circuit and its driving method of journey machinery.
Description of the drawings
Fig. 1 is the hydraulic circuit diagram of an example for the hydraulic circuit for illustrating existing engineering machinery.
Fig. 2 is the hydraulic circuit diagram for the hydraulic circuit for illustrating an embodiment according to the present invention.
Fig. 3 is the flow chart for the method for illustrating the hydraulic circuit for driving Fig. 2 according to another embodiment of the present invention.
Symbol description
100- hydraulic circuits, 120- pumps, 130- travel control valves, 140- driving motors, 142,144- hydraulic lines, 146- Flow detection sensor, 150- flow control valves, 160- control units.
Specific embodiment
Accompanying drawings below reference illustrates presently preferred embodiments of the present invention.
Fig. 2 is the hydraulic circuit diagram for the hydraulic circuit for illustrating an embodiment according to the present invention, the figure illustrate only as A part in the part of especially relevant traveling in engineering machinery as excavator.Be omitted in Fig. 2 with or not travel phase Work package (for example, swing arm, forearm, scraper bowl etc.) relevant circuit of pass.
According to fig. 2, the hydraulic circuit 100 of engineering machinery includes hydraulic pump 120 and respectively to a pair of of left/right side driving motors A pair of of left/right side travel control valve 130a, 130b of working oil that 140a, 140b supply are discharged from hydraulic pump 120.It is for example, left Side travel control valve 130a can discharge left travel motor 140a supplies from hydraulic pump 120 with predetermined amount of flow and predetermined direction Working oil, right travel control valve 130b can be supplied from liquid right travel motor 140b with predetermined amount of flow and predetermined direction The working oil that press pump 120 is discharged.
These travel control valves 130a, 130b are received by the mobility operation unit (example for the driver's cabin for being configured at engineering machinery Such as, travel board, traveling bar etc.) driving and the running signal that generates is supplied with regard to that can control to each driving motors 140a, 140b Working oil flow and direction, such as transmit keep straight on running signal when, these travel control valves 130a, 130b are respectively with phase With the working oil of flow the side of corresponding driving motors 140a, 140b can be supplied to along identical direction (straight trip direction) Formula driving traveling guiding valve.
If straight trip running signal is transmitted to these left/right sides travel control valve 130a, 130b, left/right skidding sails control Valve 130a, 130b supply the working oil of identical flow to corresponding left/right side driving motors 140a, 140b respectively, as a result, work Journey machinery straight trip traveling.I.e., the working oil that left/right side driving motors 140a, 140b is supplied by identical flow is with identical rotation Rotary speed drives, and engineering machinery, which is stably kept straight on, as a result, travels without the inclined oblique traveling in a certain side to the left and right now As.
In addition, these left/right sides driving motors 140a, 140b pass through a pair of of hydraulic line 142a, 144a and a pair respectively Hydraulic line 142b, 144b and left/right side travel control valve 130a, 130b are connected, these each pair hydraulic lines 142a, Further included on 144a and a pair of of hydraulic line 142b, 144b be configured to make these hydraulic lines 142a, 144a, 142b, 144b that One convection current of left/right side so as to adjust the flow to corresponding driving motors 140a, 140b working oil supplied is in fluid communication in this Control valve 150a, 150b.
For example, left side flow control valve 150a connects corresponding a pair of hydraulic line 142a, 144a with being in fluid communication with each other Flow path in valve is changeably opened after connecing, so as to adjust the stream to the corresponding left travel motor 140a working oils supplied Amount.For example, the work correspondingly, to corresponding left travel motor 140a supplied with the degree that left side flow control valve 150a is opened The flow for making oil is proportional to reduce.I.e., when flow path is opened in left side flow control valve 150a, driving motors 140a to the left A part is opened by it in the working oil of supply flow path detour is not passed through left travel motor 140a, so as to left driving Motor 140a passes through because detour is and the flow rotary driving of reduction.
Similarly, by corresponding a pair of of hydraulic line 142b, 144b, fluid connects right side flow control valve 150b each other Flow path in valve is changeably opened connect logically after, so as to adjust the working oil supplied to corresponding right travel motor 140b Flow.
In addition, left/right side a pair of flow detection sensor 146a, 146b, the left/right side one are formed on hydraulic line The front end of left/right side driving motors 140a, 140b are formed in flow detection sensor 146a, 146b and is detected to driving motors The real-time traffic of the working oil of 140a, 140b supply.
These left/right effluent quantity detection sensors 146a, 146b may be selectively formed at left/right side driving motors It, can be real-time in the front end of 140a, 140b such as hydraulic line 142a, 142b or hydraulic line 144a, 144b on arbitrary pipeline Detect the actual flow to corresponding driving motors 140a, 140b working oil supplied.As reference, these are illustrated in Fig. 2 Left/right effluent quantity detection sensor 146a, 146b are formed in the pattern on hydraulic line 144a, 144b, but as previously described, no Speech and explain can also be formed on hydraulic line 142a, 142b of opposite side.
Finally, control unit 160 is further included, which receives in left/right effluent quantity detection sensor 146a, 146b The value detected is selectively controlled in left/right effluent control valve 150a, 150b at least according to the result for comparing the value One valve 150a, 150b, so as to enable left/right side driving motors 140a, 140b in scheduled error range with substantial The working oil driving of identical flow.
At this point, it is desirable that permissible scheduled error range is within substantially 3%.I.e., pass through left/right comparing The flow of the working oil of to the left/right travel motor 140a, 140b supply of effluent quantity detection sensor 146a, 146b detection When, if the relative error (percentage unit) between relatively large flow and relatively small flow is equal to or less than 3% It can be estimated as engineering machinery and not occur oblique traveling phenomenon in straight trip traveling.
For example, the relative error between the flow value of both sides can be expressed as below.
Relative error=(big flow value-small flow rate values)/big flow value × 100.
Although control unit 160 is briefly illustrated in fig. 2 with box, in detail, may include in structure:It receives The receiving part of flow value that left/right effluent quantity detection sensor 146a, 146b are detected;The flow value received is mutually compared And calculate relative error (percentage), and judge the relative error whether the operational part in scheduled range;And according to upper Comparison result output is stated selectively to make in a manner of the flow path of some is opened in left/right effluent control valve 150a, 150b The control sending part of the signal controlled.
On the other hand, it is supplied when being opened due to arbitrary flow control valve 150a, 150b to corresponding driving motors 140a, 140b The flow for the working oil given is reduced with the opening degree of flow path in corresponding discharge control valve, is examined it is therefore desirable to control The flow control valve of the relatively large side of flow value of survey and open its flow path.For example, it is obtained in left side flow detection sensor 146a To flow value be more than when the obtained flow values of right side flow detection sensor 146b and its relative error are more than 3%, control Left side flow control valve 150a that portion 160 controls detected flow value larger and the work for supplying driving motors 150a to the left The flow for making oil is reduced, so as to be adjusted to relative error below 3%.
In addition, control unit 160 is configured with oblique traveling warning lamp (not shown) in driver's cabin and connects with warning lamp together It connects, and is configured to make when being judged as substantially impossible by the flow-rate adjustment of the working oil of flow control valve 150a, 150b Oblique traveling warning lamp bright light, so as to notify driver's engineering machinery of engineering machinery just in oblique traveling.
At this point, the so-called flow-rate adjustment by flow control valve substantially can not possibly refer to control by flow control valve Make the situation of the flow of the working oil supplied to driving motors in certain benchmark (for example, time or number), e.g. to The flow of the working oil of pair of right and left driving motors supply is also adjusted by the Real-time Feedback of regular hour or certain number Less than the situation of the range within relative error 3%.
In addition, control both sides flow control valve 150a, 150b are opened with equal while making oblique traveling warning lamp bright The flow to each driving motors 140a, 140b working oil supplied is reduced, so as to limit each driving motors 140a, 140b Within work rpm to certain limit.
In this way, hydraulic circuit 100 according to the present invention, including:Discharge the pump 120 of working oil;The work that will be discharged from pump 120 Make oil to the left/right travel motor 140a, 140b supply left/right side travel control valve 130a, 130b;It is configured at connection traveling The left/right of flow for controlling the working oil supplied to each driving motors between motor and each pair of hydraulic line of travel control valve Effluent control valve 150a, 150b;It is configured on each pair of hydraulic line and detects the working oil supplied to each driving motors in real time Flow left/right effluent quantity detection sensor 146a, 146b;And it receives and compares from these flow detection sensors After the signal of 146a, 146b feedback, some in flow control valve 150a, 150b is selectively controlled according to comparison result, It is adjusted to the control unit 160 of comparison result within a predetermined range after control.
In the following, Fig. 3 is roughly to illustrate another embodiment according to the invention to drive foregoing hydraulic circuit 100 Method flow chart.
According to fig. 3, according to the method for the present invention from straight trip running signal from the mobility operation unit of engineering machinery (for example, Travel board, traveling bar etc.) it is transmitted to left/right side travel control valve 130a, 130b and starts (step S110).Receive straight trip row Left/right side travel control valve 130a, the 130b for sailing signal pass through corresponding left side hydraulic line 142a, 144a and right side hydraulic tube Line 142b, 144b supply working oil (step S120) to corresponding left/right side driving motors 140a, 140b.At this point, the work of supply It is identical into left and right flow to make oil control.
Then, by the left/right effluent quantity detection sensor for the front end for being configured at left/right side driving motors 140a, 140b 146a, 146b detect the actual flow (step S130) to each driving motors 140a, 140b working oil supplied, the left side detected Right a pair of flow value is transmitted to control unit 160 and is compared (step S140).
Control unit 160 compare these flow values and judge relative error (fraction values) whether in scheduled range for example Within substantially 3% (step S150), judge flowing for engineering machinery just if being judged as relative error within the scope of making a reservation for The state (step S180) for traveling of often keeping straight on later, passes back through the reality of left/right effluent quantity detection sensor 146a, 146b Border flow detection step (step S130).
In contrast, if relative error exceeds scheduled range for example if more than 3%, control unit 160 controls left/right stream The flow control valve of side with larger value in magnitude, controlling into makes the flow path between corresponding hydraulic line open-minded.If Flow path between flow control valve, that is, hydraulic line is open-minded, then corresponds to the flow of the working oil supplied to corresponding driving motors Degree is opened to be adjusted (step S160) with reducing.
For example, if the value that the left side flow detection sensor 146a in left travel motor 140a front ends is detected is more than on the right side The value of the right side flow detection sensor 146b detections of side driving motors 140b front ends, and its relative error is more than 3%, then controls Portion 160 controls left side flow control valve 130a and is adjusted to what is supplied to the left travel motor 140a for detecting larger flow value The flow of working oil becomes smaller.
As described above, be repeatedly carried out from the working oil that is supplied to driving motors actual flow detection (step S130), Compare detected flow value (step S140), judge relative error (step S150) and corresponding discharge control valve control (stream Road is open-minded) (step S160) form a series of feedback process, left/right a pair of driving motors are with substantially the same as a result, Flow such as relative error is the flow rotary driving in less than 3% range, and engineering machinery can keep straight on traveling as a result,.I.e., It can prevent the oblique traveling of engineering machinery.
On the other hand, although performing a series of feedback as described above, also having to carry out passing through flow control The situation of the substantive control of valve.If for example, the knot of flow value is compared in certain Times of Feedback within the regular hour Fruit, relative error cannot be adjusted in scheduled range, then this means that only with flow detection sensor, flow control is utilized Automatically controlling for the combination of valve and control unit is cannot to adjust normal straight traveling state.
Therefore, although judging whether relative error performs the feedback process of regular hour or number as described above It adjusts less than (step S170) in scheduled range, program still returns to detection if relative error is adjusted into scheduled range The step of flow (step S130).
In contrast, if although performing the program of regular hour or number, relative error can not pass through flow control In the control and regulation of valve to scheduled range, then be judged to cannot carrying out it is according to the present invention automatically control, hereafter, program enters The step of sending out the step of oblique traveling warning instructs (step S190) and limitation work rpm (step S200).
It is such as illustrated in front, the step of oblique traveling warning instructs (step S190) is sent out, it can be by making to be formed in The step of driving indoor oblique traveling warning lamp (not shown) bright light and performing, limit work rpm (step S200) passes through control Portion 160 processed is controlled in a manner of opening both sides flow control valve 150a, 150b and is made to each driving motors 140a, 140b The flow of the working oil of supply is reduced so that the work rpm of each driving motors 140a, 140b be restricted within certain limit and It performs.
As described above, the hydraulic circuit of engineering machinery according to the present invention is characterized in, including:It is formed in and is connected to each row Sail on the hydraulic line of motor and control a pair of of flow control valve of supplied flow;It detects and is supplied to each driving motors in real time Working oil actual flow a pair of of flow detection sensor;And it is selected using the testing result of these flow detection sensors Arbitrary flow control valve is controlled to selecting property so as to adjust the control unit of the supply flow rate of working oil, left/right side driving motors lead to It crosses a series of feedback process for the combination that these flow detection sensors, flow control valve and control unit is utilized and receives Substantially the same flow supply of the relative error in scheduled range, so as to be driven with substantially the same rotary speed.
In addition, characterized by the method for driving this hydraulic circuit.
By using this hydraulic circuit and method, whens can eliminate the mismachining tolerance because each constitutive requirements, assembly error etc. It is possible that the supply of the working oil generated is unbalanced, thereby, it is possible to engineering machinery is made stably to keep straight on according to straight trip running signal Traveling.I.e., the oblique traveling of engineering machinery can be automatically prevented from using foregoing a series of feedback process.

Claims (4)

1. a kind of engineering machinery hydraulic circuit, which is characterized in that including:
Hydraulic pump (120);
The left travel control valve (130a) that the flowing of working oil to being discharged from the hydraulic pump (120) is controlled;
The right travel control valve (130b) that the flowing of working oil to being discharged from above-mentioned hydraulic pump (120) is controlled;
It is connect by a pair of of hydraulic line (142a, 144a) with the left travel control valve (130a) and the left driving of driving Motor (140a);
It is connect by a pair of of hydraulic line (142b, 144b) with the right travel control valve (130b) and the right travel of driving Motor (140b);
The configuration of one pair of which hydraulic line (142a, 144a) fluid flow communication is made therebetween to adjust and be supplied to corresponding driving motors The left side flow control valve (150a) of the flow for the working oil given;
The configuration of another pair hydraulic line (142b, 144b) fluid flow communication is made therebetween to adjust and be supplied to corresponding driving motors The right side flow control valve (150b) of the flow for the working oil given;
The front end of the left travel motor (140a) is formed in, and detects the working oil supplied to the left travel motor Real-time traffic left side flow detection sensor (146a);
The front end of the right travel motor (140b) is formed in, and detects the working oil supplied to the right travel motor The right side flow detection sensor (146b) of real-time traffic;And
Receive the flow value in left side detected in the left/right effluent quantity detection sensor (146a, 146b) and the stream on right side After magnitude, result selectively controls according to obtained by being compared the flow value of the flow value to the left side and the right side At least one of the left/right effluent control valve (150a, 150b) flow control valve so that the left travel motor (140a) and the right travel motor (140b) can be driven in scheduled error range by substantially the same flow It is dynamic, and when the difference of the flow supplied to left/right side driving motors (140a, 140b) is more than the error range, control Make the flow control valve so that the relatively large row of flow supplied in left/right side driving motors (140a, 140b) The control unit (160) of motor-side supply flow rate reduction is sailed,
So as to which oblique traveling can be prevented when driving in engineering machinery straight trip.
2. a kind of hydraulic circuit driving method is the method for the hydraulic circuit for driving engineering machinery described in claim 1, It is characterized in that, including:
A) left/right side travel control valve (130a, 130b) according to straight trip running signal to left/right side driving motors (140a, 140b) supplies the step of working oil;
B) control unit (160) is to the real-time traffic that is detected in the left/right effluent quantity detection sensor (146a, 146b) The step of value is compared;
C) if comparison result relative error exceeds scheduled error range, in the control unit (160) to the left/right effluent At least one valve is controlled such that the relative error within scheduled error range in control valve (150a, 150b), The step of so as to adjust the supply flow rate by the working oil of the control object flow control valve;And
D) it is substantially impossible in the adjusting of the supply flow rate of the working oil, generate the step of oblique traveling warning Suddenly,
So as to which oblique traveling can be prevented when driving in engineering machinery straight trip.
3. hydraulic circuit driving method according to claim 2, which is characterized in that
The supply flow rate regulating step includes the relatively large traveling of flow to being supplied in the driving motors of the left/right side Motor-side flow control valve is controlled so that the step of flow supplied to the driving motors is reduced.
4. hydraulic circuit driving method according to claim 2, which is characterized in that
The step of d) the step further comprises limiting work rpm.
CN201110439612.7A 2010-12-24 2011-12-23 The hydraulic circuit and its driving method of engineering machinery Active CN102536936B (en)

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KR10-2010-0134614 2010-12-24
KR1020100134614A KR101733810B1 (en) 2010-12-24 2010-12-24 Hydraulic circuit for construction machinery and driving method for the same

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CN102536936A CN102536936A (en) 2012-07-04
CN102536936B true CN102536936B (en) 2018-07-10

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