CN102979118B - Construction machinery - Google Patents

Abstract

The invention provides a piece of construction machinery, comprising an oil hydraulic circuit which drives a bucket rod by pressure oil flows out from an oil chamber on a cylinder bottom of a boom cylinder. The construction machinery comprises a control device (30) which is provided with a control executing determining portion (300), a confluence control portion (301), and an output capacity reduction portion (302). The control executing determining portion (300) determines whether control start conditions are satisfied. The confluence control portion (301) controls inflow of the pressure oil which flows out from the oil chamber on the cylinder bottom of the boom cylinder to a stick cylinder (8). The output capacity reduction portion (302) controls output capacity of a main pump (12L). When the control device determines movable arm operation amount on a descent direction is in a scheduled intermediate operating area and bucket rod operation amount on an opening direction is in a scheduled upper limit side operating area through the control executing determining portion, the pressure oil which flows out from the oil chamber on the cylinder bottom of the boom cylinder flows in an oil chamber on a side a rod of the stick cylinder through the confluence control portion. Output capacity of the main pump is limited by the output capacity reduction portion.

Description

Construction machinery

Technical field

The present invention relates to and a kind ofly possess the construction machinery effectively utilized at the hydraulic circuit of the pressure oil flowed out to the cylinder bottom side grease chamber of slave arm cylinder during decline direction operation swing arm.

Background technology

Conventionally, there is known the swing arm decline regenerative circuit (such as referenced patent document 1) of the Gan Ce grease chamber of swing arm cylinder will be supplied at the pressure oil flowed out to the cylinder bottom side grease chamber of slave arm cylinder during decline direction operation swing arm.

Patent document 1: Japanese Unexamined Patent Publication 10-89317 publication

But, because bar runs through in grease chamber, so the volume of the Gan Ce grease chamber of swing arm cylinder is less than the volume of the cylinder bottom side grease chamber of swing arm cylinder, therefore cannot the total amount of pressure oil that flows out from cylinder bottom side grease chamber of regeneration, make the residual pressure oil of regeneration to be back to fuel tank, thus fully sought effective recycling of energy hardly.In addition, even if when the pressure oil flowed out the cylinder bottom side grease chamber of slave arm cylinder is supplied in other hydraulic cylinders beyond swing arm, also sometimes require according to the duty of construction machinery the pressure that the pressure of the pressure oil flowed out than the cylinder bottom side grease chamber of slave arm cylinder is higher, and due to reasons such as the supply oil circuit of other hydraulic cylinders are complicated, effectively applying flexibly of the pressure oil that the cylinder bottom side grease chamber failing fully to seek slave arm cylinder flows out.

Summary of the invention

In view of the above problems, the object of the present invention is to provide and a kind ofly possess the construction machinery that the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder flows out can be used in the hydraulic circuit of the driving of other hydraulic unit drivers.

To achieve these goals, the construction machinery involved by embodiments of the invention, possesses the device comprising dipper and swing arm, it is characterized in that, comprising: dipper operational ton test section, detects dipper operational ton, swing arm operational ton test section, detects swing arm operational ton, and control device, be there is the control execution detection unit determining whether to be carried out predetermined work by described fixture, the interflow control part that the pressure oil flowed out the cylinder bottom side grease chamber of slave arm cylinder controls to the inflow of other hydraulic unit drivers, and the discharge-amount reduction portion of the discharge-amount of reduction main pump, when performed by described control detection unit be judged to be the swing arm operational ton of descent direction in predetermined intermediary operation region and the dipper operational ton of opening direction at the predetermined upper limit side operating area time, the pressure oil that described control device makes the cylinder bottom side grease chamber of slave arm cylinder flow out by described interflow control part flows into other hydraulic unit drivers, and the discharge-amount of described main pump is reduced by described discharge-amount reduction portion.

Invention effect:

According to above-mentioned component, the present invention can provide a kind of and possess the construction machinery that the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder flows out can be used in the hydraulic circuit of the driving of other hydraulic unit drivers.

Accompanying drawing explanation

Fig. 1 is the lateral view of the hydraulic actuated excavator represented involved by the 1st embodiment.

Fig. 2 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 1st embodiment.

Fig. 3 represents that the control performed in the hydraulic actuated excavator involved by the 1st embodiment performs the flow chart of the flow process of determination processing.

Fig. 4 is the flow chart of the flow process representing the interflow control treatment performed in the hydraulic actuated excavator involved by the 1st embodiment.

Fig. 5 represents that the control performed in the hydraulic actuated excavator involved by the 2nd embodiment performs the flow chart of the flow process of determination processing.

Fig. 6 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 3rd embodiment.

Fig. 7 represents that the control performed in the hydraulic actuated excavator involved by the 3rd embodiment performs the flow chart of the flow process of determination processing.

Fig. 8 represents that the control performed in the hydraulic actuated excavator involved by the 4th embodiment performs the flow chart of the flow process of determination processing.

Fig. 9 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 5th embodiment.

Figure 10 represents that the control performed in the hydraulic actuated excavator involved by the 5th embodiment performs the flow chart of the flow process of determination processing.

Figure 11 represents that the control performed in the hydraulic actuated excavator involved by the 6th embodiment performs the flow chart of the flow process of determination processing.

Figure 12 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 7th embodiment.

In figure: 1-lower running body, 2-slew gear, 3-upper rotation, 4-swing arm, 5-dipper, 6-scraper bowl, 7-swing arm cylinder, 8-dipper cylinder, 9-scraper bowl cylinder, 10-driver's cabin, 12L, 12R-main pump, 13L, 13R-adjuster, 14-proportion magnetic valve, 14a-reversal valve, 14b-control pump, 16A-dipper action bars, 16B-swing arm action bars, 16C-scraper bowl action bars, 17A-dipper opens guide's pressure sensor, 17B-swing arm decline guide pressure sensor, 17C-scraper bowl cuts out guide's pressure sensor, 17D-dipper bar pressure sensor, 17E-dipper cylinder bottom pressure sensor, 17F, 17G-spues pressure sensor, 17H-swing arm cylinder bottom pressure sensor, the main overflow valve of 18-, 19L, 19R-overflow valve, 20L, 20R-negative control restriction choke, 21-proportion magnetic valve, 30-controller, 40L, 40R-intermediate bypass oil circuit, 41L, 41R-bears pressure control oil circuit, 150-control valve (straight valve of walking), 151 ~ 160-flow control valve, 157A-interflow high-pressure oil passage, 300-controls to perform detection unit, 301-collaborates control part, 302-discharge-amount reduction portion.

Detailed description of the invention

Below, with reference to accompanying drawing, the preferred embodiments of the present invention are described.

[embodiment 1]

Fig. 1 is the lateral view of the hydraulic actuated excavator represented involved by the 1st embodiment of the present invention.In hydraulic actuated excavator, by slew gear 2, upper rotation 3 is equipped on crawler type lower running body 1 with freely rotating.

Upper rotation 3 carries the excavation fixture of the swing arm cylinder 7, dipper cylinder 8 and the scraper bowl cylinder 9 that comprise swing arm 4, dipper 5 and scraper bowl 6 and drive them respectively in central front portion.In addition, upper rotation 3 carries the driver's cabin 10 being used for operator and taking in front portion, carries the engine (not shown) as drive source at rear portion.In addition, below swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, walking hydraulic motor (not shown) and revolution hydraulic motor (not shown) etc. are referred to as " hydraulic unit driver ".

Fig. 2 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 1st embodiment.In addition, high-pressure oil passage, guide's oil circuit and driven by power/control system is represented with solid line, dotted line and dotted line respectively in Fig. 2.

In 1st embodiment, hydraulic circuit makes pressure oil be circulated to fuel tank from 2 main pumps 12L, 12R being driven by engine via each intermediate bypass oil circuit 40L, 40R.

Main pump 12L, 12R are the device for pressure oil being supplied in by high-pressure oil passage control valve 150, each flow control valve 151 ~ 160, such as, be ramp type variable capacity type hydraulic pump.In addition, the pump control mode of main pump 12L, 12R adopts negative control to control in the present embodiment, but also can adopt just other control modes such as control, Loadsensing control.

Adjuster 13L, 13R are the device of the discharge-amount for controlling main pump 12L, 12R, such as, discharge-amount by regulating the swash plate deflection angle of main pump 12L, 12R to control main pump 12L, 12R.

Proportion magnetic valve 14 is for the device of control action in the pressure of adjuster 13L, such as, for changing according to the control instruction electric current carrying out self-controller 30 the ratio electromagnetic relief pressure valve exporting pressure.In addition, when adopting just control, the output pressure of proportion magnetic valve 14 directly acts on main pump 12L.

Intermediate bypass oil circuit 40L is the high-pressure oil passage being communicated with flow control valve 151,153,155,157 and 158, between the flow control valve 159 and pressure oil tank of most downstream, possessing negative control restriction choke 20L.

Intermediate bypass oil circuit 40R is the high-pressure oil passage being communicated with control valve 150, flow control valve 152,154,156,159 and 160, between the flow control valve 160 and pressure oil tank of most downstream, possessing negative control restriction choke 20R.

The flowing of the pressure oil that main pump 12L, 12R spue is limited by negative control restriction choke 20L, 20R.Therefore, negative control restriction choke 20L, 20R produce the control pressure (hereinafter referred to as " negative pressure control ") for controlling adjuster 13L, 13R.

Negative pressure control oil circuit 41L, 41R are the guide's oil circuit for the negative pressure control produced in the upstream of negative control restriction choke 20L, 20R being passed to adjuster 13L, 13R.

Adjuster 13L, 13R are by regulating the swash plate deflection angle of main pump 12L, 12R to control the discharge-amount of main pump 12L, 12R according to negative pressure control.In addition, adjuster 13L, 13R is set as the discharge-amount of negative pressure control more large more minimizing main pump 12L, 12R of importing and the discharge-amount of the negative pressure control imported more little more increase main pump 12L, 12R.

Specifically, when the hydraulic unit driver in hydraulic actuated excavator does not carry out any operation (hereinafter referred to as " standby mode "), the pressure oil that main pump 12L, 12R spue arrives negative control restriction choke 20L, 20R by intermediate bypass oil circuit 40L, 40R.And the flowing of the pressure oil that main pump 12L, 12R spue makes the negative pressure control produced in the upstream of negative control restriction choke 20L, 20R increase.Its result, adjuster 13L, 13R make the discharge-amount of main pump 12L, 12R be reduced to allow minimum discharge-amount, suppress the pressure oil spued by the pressure loss (suction loss) when intermediate bypass oil circuit 40L, 40R.

On the other hand, when operating any one hydraulic unit driver in hydraulic actuated excavator, the pressure oil that main pump 12L, 12R spue flows into the hydraulic unit driver of operand by the flow control valve corresponding with the hydraulic unit driver of operand.And the flowing of the pressure oil that main pump 12L, 12R spue makes the amount of arrival negative control restriction choke 20L, 20R reduce or disappear, the negative pressure control that the upstream being reduced in negative control restriction choke 20L, 20R produces.Its result, adjuster 13L, 13R of accepting lowered negative pressure control make the discharge-amount of main pump 12L, 12R increase, and make sufficient pressure oil be circulated in the hydraulic unit driver of operand, make the driving of the hydraulic unit driver of operand have reliability.

According to structure described above, the hydraulic system of Fig. 2 can suppress the unnecessary energy ezpenditure (the suction loss that the pressure oil that main pump 12L, 12R spue produces in intermediate bypass oil circuit 40L, 40R) in main pump 12L, 12R in stand-by mode.

In addition, Fig. 2 hydraulic system drive hydraulic unit driver time can from main pump 12L, 12R reliably to driven object hydraulic unit driver supply needed for sufficient pressure oil.

In addition, adjuster 13L, 13R, except carrying out above-mentioned negative pressure control control, also regulate the swash plate deflection angle (being controlled by full power) of main pump 12L, 12R to control the discharge-amount of main pump 12L, 12R by the pressure that spues according to main pump 12L, 12R.Specifically, when main pump 12L, 12R spue press to more than predetermined value time, adjuster 13L, 13R regulate the swash plate deflection angle of main pump 12L, 12R to reduce discharge-amount, in order to avoid exceed the shaft horsepower of engine with spue pressure and the pump horsepower of the product representation of discharge-amount.

Control valve 150 is the straight valve of walking, the bobbin valve of action during for operating the left and right walking hydraulic motor (not shown) that drives lower running body 2 and other hydraulic unit drivers in addition at the same time.Specifically, control valve 150 only can circulate from main pump 12L respectively to flow control valve 151 and flow control valve 152 and switch the flowing of pressure oil to make for the purpose of the rectilinear propagation improving lower running body 2 pressure oil.

Flow control valve 151 is that the pressure oil in order to make main pump 12L spue circulates and switches the bobbin valve of the flowing of pressure oil in left side walking hydraulic motor (not shown), and flow control valve 152 is that the pressure oil in order to make main pump 12L or 12R spue circulates and switches the bobbin valve of the flowing of pressure oil in right side walking hydraulic motor (not shown).

Flow control valve 153 is that the pressure oil in order to make main pump 12L or 12R spue circulates and switches the bobbin valve of the flowing of pressure oil in revolution hydraulic motor (not shown).

Flow control valve 154 is that the pressure oil for being spued by main pump 12R is supplied to scraper bowl cylinder 9 and the pressure oil in scraper bowl cylinder 9 is expelled to the bobbin valve of fuel tank.

Flow control valve 155 is can in order to drive hydraulic motor or hydraulic cylinder and the bobbin valve of the preparation utilized.

Flow control valve 156,157 is that the pressure oil in order to main pump 12L, 12R be spued is supplied to swing arm cylinder 7 and the pressure oil in swing arm cylinder 7 is expelled to fuel tank and switches the bobbin valve of the flowing of pressure oil.In addition, flow control valve 156 is bobbin valves (hereinafter referred to as " the 1st swing arm flow control valve ") of the action all the time when operating swing arm action bars 16B.In addition, flow control valve 157 is bobbin valves (hereinafter referred to as " the 2nd swing arm flow control valve ") of action when only operating swing arm action bars 16B more than with predetermined action bars operational ton.

1st swing arm flow control valve 156 possesses and is arranged in decline side position (figure right side bobbin position) and the high-pressure oil passage 156A comprising flap valve between CT port and pc port.In addition, CT port is link the cylinder bottom side grease chamber of swing arm cylinder 7 and the port of fuel tank, and pc port is the port of the Gan Ce grease chamber linking main pump 12R and swing arm cylinder 7, and PT port is the port linking main pump 12R and fuel tank.In addition, high-pressure oil passage 156A is the regeneration high-pressure oil passage that pressure oil for making the cylinder bottom side grease chamber of slave arm cylinder 7 flow out flows into the Gan Ce grease chamber of swing arm cylinder 7.In addition, the aperture area of regeneration high-pressure oil passage 156A is set to the 1st swing arm flow control valve 156 proportional towards the displacement of decline side position direction (left direction of figure).

2nd swing arm flow control valve 157 possesses and is arranged in decline side position (figure left side bobbin position) and the high-pressure oil passage 157A comprising flap valve and restriction choke between PT port and the cylinder bottom side grease chamber of swing arm cylinder 7.In addition, high-pressure oil passage 157A is the interflow high-pressure oil passage that the pressure oil for making the cylinder bottom side grease chamber of slave arm cylinder 7 flow out collaborates to intermediate bypass oil circuit 40L.In addition, the aperture area of interflow high-pressure oil passage 157A is set to the 2nd swing arm flow control valve 157 proportional towards the displacement of decline side position direction (right direction of figure).

Flow control valve 158,159 is that the pressure oil in order to main pump 12L, 12R be spued is supplied to dipper cylinder 8 and the pressure oil in dipper cylinder 8 is expelled to fuel tank and switches the bobbin valve of the flowing of pressure oil.In addition, flow control valve 158 is the valve (hereinafter referred to as " the 1st dipper flow control valve ") of the action all the time when operating dipper action bars 16A.In addition, flow control valve 159 is valves (hereinafter referred to as " the 2nd dipper flow control valve ") of action when only operating dipper action bars 16A more than with predetermined action bars operational ton.

Flow control valve 160 is switch the pressure oil whether making main pump 12R spue to arrive to the bobbin valve of negative control restriction choke 20R.

Dipper action bars 16A is the operating means for operating dipper 5, and the pressure oil utilizing control pump (not shown) to spue makes the first pilot corresponding to action bars operational ton be directed in the 1st dipper flow control valve 158 and respective any one pilot port of left and right of the 2nd dipper flow control valve 159.

Swing arm action bars 16B is the operating means for operating swing arm 4, and the pressure oil utilizing control pump to spue makes the first pilot corresponding to action bars operational ton be directed in the 1st swing arm flow control valve 156 and respective any one pilot port of left and right of the 2nd swing arm flow control valve 157.

Scraper bowl action bars 16C is the operating means for operating scraper bowl 6, and the pressure oil utilizing control pump to spue makes the first pilot corresponding to action bars operational ton be directed in any one pilot port of left and right of flow control valve 154.

Dipper opens the example that guide's pressure sensor 17A is dipper operational ton test section, is the pressure sensor of action bars operational ton (action bars work angle) as pressure of the opening direction detecting dipper action bars 16A, to the value that controller 30 output detections goes out.

Swing arm decline guide pressure sensor 17B is an example of swing arm operational ton test section, is the pressure sensor of action bars operational ton (action bars work angle) as pressure of the descent direction detecting swing arm action bars 16B, to the value that controller 30 output detections goes out.

The example that guide's pressure sensor 17C is scraper bowl operational ton test section opened by scraper bowl, is the pressure sensor of action bars operational ton (action bars work angle) as pressure of the opening direction detecting scraper bowl action bars 16C, to the value that controller 30 output detections goes out.

Left and right walking action bars (or pedal) and revolution action bars (all not shown) are respectively the pivotal operating means of walking for operating lower running body 2 and upper rotation 3.The pressure oil that these operating means utilize control pump to spue identically with dipper action bars 16A etc. makes to be directed in the corresponding first pilot of action bars operational ton (or amount of pedal operation) any one pilot port of left and right respectively with left and right walking hydraulic motor and flow control valve corresponding to revolution hydraulic motor.In addition, the content of operation (for action bars direction of operating and action bars operational ton) of operator to these each operating means to be detected with pressure pattern by corresponding pressure sensor and detected value is output in controller 30 identically with pressure sensor 17A ~ 17C.

Main overflow valve 18 is spuing to press to be discharged by pressure oil when predetermined overflow is pressed above and voltage-controlled make the safety valve being less than predetermined overflow pressure in fuel tank by spuing as main pump 12L or 12R.

Overflow valve 19L, 19R be when the negative pressure control of the upstream of negative control restriction choke 20L, 20R become predetermined overflow pressure above time pressure oil is discharged negative pressure control is controlled in fuel tank the safety valve being less than predetermined overflow pressure.

Proportion magnetic valve 21 is for the device of control action in the first pilot of the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157, such as, for changing according to the control instruction electric current carrying out self-controller 30 the ratio electromagnetic relief pressure valve exporting pressure.

Controller 30 is the control device for hydraulic control loop, such as, by possessing CPU(CentralProcessing Unit), RAM(Random Access Memory), ROM(Read OnlyMemory) etc. computer form.

In addition, controller 30 from the non-volatile memory medium such as ROM read respectively with control to perform detection unit 300, collaborate program corresponding to control part 301 and discharge-amount reduction portion 302, and while launching in the volatile storage medium such as RAM, CPU is performed and each self-corresponding process.

Specifically, controller 30 receives the detected value that pressure sensor 17A ~ 17C etc. exports, and performs respectively based on the process controlling to perform detection unit 300, collaborate control part 301 and discharge-amount reduction portion 302 according to these detected values.

Afterwards, controller 30 comparative example electromagnetic valve 14 and 21 suitably exports and controls to perform detection unit 300, collaborates control instruction electric current corresponding to the respective result of control part 301 and discharge-amount reduction portion 302.

Control to perform detection unit 300 be for judge based on excavating the casting work of fixture, level returns work etc. as aloft to making while decline direction operation swing arm 4 dipper 5 to the function important document whether performed during work (hereinafter referred to as " the casting work etc. ") of opening direction movement based on the control (aftermentioned) collaborating control part 301 and discharge-amount reduction portion 302.Control to perform detection unit 300 and such as judge whether control beginning condition sets up (controlling condition subsequent whether to be false) according to the action bars operational ton of the action bars operational ton of the opening direction of dipper action bars 16A and the descent direction of swing arm action bars 16B.

Specifically, when the action bars operational ton of the opening direction of dipper action bars 16A at predetermined upper limit side operating area and the action bars operational ton of the descent direction of swing arm action bars 16B in predetermined intermediary operation region or the upper limit side operating area time, control to perform detection unit 300 and be judged to be that controlling beginning condition sets up (being in the state of casting work etc.).

" controlling beginning condition " is carry out the condition based on the control (aftermentioned) collaborating control part 301 and discharge-amount reduction portion 302 for starting, and " control condition subsequent " is the condition for terminating based on the control (aftermentioned) collaborating control part 301 and discharge-amount reduction portion 302.In addition, when controlling beginning condition and setting up, the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7 is higher than the pressure of other hydraulic unit drivers of interflow target.

" upper limit side operating area " refers to, the scope of action bars operational ton when being operated to by action bars near maximum action bars work angle to operate to desired direction of operating operand.Such as, the action bars operational ton of dipper action bars 16A when upper limit side operating area comprises to carry out limit operation to opening direction operation dipper 5 to dipper action bars 16A.

" intermediary operation region " refers to, the scope of action bars operational ton when operating action bars to slowly operate to desired direction of operating operand.Such as, intermediary operation region comprises the action bars operational ton in order to fall swing arm action bars 16B when direction slowly operates swing arm 4 and operates swing arm action bars 16B downwards.

More specifically, intermediary operation region be included in by sand casting when the operation of predetermined location, level return operation etc. in order to aloft to the action bars operational ton of swing arm action bars 16B when operating swing arm action bars 16B while opening direction operation dipper 5 to decline direction operation swing arm 4.

In addition, upper limit side operating area can be set to that its lower limit is equal with the upper limit in intermediary operation region, also can be set to the spaced apart certain intervals of the upper limit in its lower limit and intermediary operation region.

Interflow control part 301 be the function important document of the pressure oil that flows out of cylinder bottom side grease chamber for controlling slave arm cylinder 7 to the inflow of other hydraulic unit drivers, and such as control the 2nd swing arm flow control valve 157 is towards the displacement of decline side position direction (right direction of Fig. 2).Below, this control based on interflow control part 301 is called " interflow controls ".

Specifically, collaborate control part 301 such as with the action bars operational ton of the descent direction of swing arm action bars 16B mutually independently control action in the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 first pilot and control the displacement of the 2nd swing arm flow control valve 157 towards decline side position direction (right direction of Fig. 2).In addition, the 2nd swing arm flow control valve 157 is set to and being in proportion of the first pilot of the pilot port of the decline side (left side) acting on the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction (right direction of Fig. 2).

More specifically, such as, when being performed detection unit 300 by control and being judged to be that control beginning condition is false (controlling condition subsequent to set up), collaborate control part 301 and the control instruction electric current of comparative example electromagnetic valve 21 is set to maximum.And, interflow control part 301 blocks being communicated with between the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 and guide's force feed road, decline side of swing arm action bars 16B, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in excretion (fuel tank) port.Thus, interflow control part 301 forbids the displacement of the 2nd swing arm flow control valve 157 towards decline side position direction (right direction of Fig. 2), and forbids that the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder 7 flows out collaborates to intermediate bypass oil circuit 40L.In addition, in the present embodiment, at swing arm action bars 16B to during decline direction operation, the pressure oil flowed out in the cylinder bottom side grease chamber of the Gan Ce grease chamber of swing arm cylinder 7 regeneration slave arm cylinder 7 with high-pressure oil passage 156A by the regeneration of the 1st swing arm flow control valve 156.

On the other hand, such as, when being performed detection unit 300 by control and being judged to be that controlling beginning condition sets up, interflow control part 301 comparative example electromagnetic valve 21 exports the control instruction electric current of pre-sizing.Further, collaborate control part 301 pressure oil on guide's force feed road, decline side of swing arm action bars 16B is adjusted to the pressure corresponding to control instruction electric current and imports the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157.In addition, swing arm decline guide pressing element has the increase of the action bars operational ton of the descent direction along with swing arm action bars 16B and the tendency increased.Thus, collaborating control part 301 makes the 2nd swing arm flow control valve 157 towards (right direction of Fig. 2) displacement of decline side position direction and the interflow of pressure oil to intermediate bypass oil circuit 40L starting to carry out the cylinder bottom side grease chamber outflow of slave arm cylinder 7.In addition, in the present embodiment, the pressure oil that the cylinder bottom side grease chamber also regenerating slave arm cylinder 7 in the Gan Ce grease chamber of swing arm cylinder 7 flows out.In addition, the swing arm acting on the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 first pilot that declines preferably is controlled to the steady state value (being typically higher value) becoming and preset.In addition, in the present embodiment, the swing arm of pilot port about the decline side (left side) acting on the 2nd swing arm flow control valve 157 declines first pilot, consider the unlatching fault of proportion magnetic valve 21 and the pressure oil on guide's force feed road, decline side of swing arm action bars 16B be used as source pressure, but the pressure oil that also control pump (not shown) can be spued is used as source pressure.In addition, now, proportion magnetic valve 21 can usage ratio electromagnetic valve and and disproportional electromagnetic relief pressure valve.

In addition, the swing arm that interflow control part 301 can act on the pilot port of the decline side of the 2nd swing arm flow control valve 157 according to the pressure change of the cylinder bottom side grease chamber of swing arm cylinder 7 declines first pilot, and changes the displacement of the 2nd swing arm flow control valve 157 towards decline side position direction.

In addition, interflow control part 301 also can change according to the action bars operational ton of the descent direction of swing arm action bars 16B the swing arm acting on the pilot port of the decline side of the 2nd swing arm flow control valve 157 and to decline first pilot, and changes the displacement of the 2nd swing arm flow control valve 157 towards decline side position direction.Now, the swing arm that interflow control part 301 can change the pilot port of the decline side acting on the 2nd swing arm flow control valve 157 declines first pilot, so that different from the swing arm of pilot port of the decline side acting on the 1st swing arm flow control valve 156 first pilot that declines.

In addition, collaborate control part 301 and can change the displacement of the 2nd swing arm flow control valve 157 towards decline side position direction according to the action bars operational ton of the descent direction of the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7 and swing arm action bars 16B.

In addition, collaborate swing arm that control part 301 can act on the pilot port of the decline side of the 2nd swing arm flow control valve 157 according to the setting content changing of the construction machinery of the current times such as the pattern of construction machinery (such as H pattern, SP pattern etc.), targeting engine rotating speed to decline first pilot.

In addition, collaborating control part 301 can make the swing arm effect of first pilot to the pilot port of the decline side of the 2nd swing arm flow control valve 157 that decline become effective by the input being arranged at the input units (not shown) such as contact panel in driver's cabin 10 according to operator.On the contrary, the swing arm effect of first pilot to the pilot port of the decline side of the 2nd swing arm flow control valve 157 that decline also can be made to become invalid.

In addition, the swing arm acting on the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 controlled the making of first pilot that decline periodically changes, and also can be controlled to non-stage and linearly or non-linearly change.

In addition, when passing through to control again to be judged to be that control beginning condition is false (controlling condition subsequent establishment) after execution detection unit 300 is judged to be to control the establishment of beginning condition, interflow control part 301 blocks being communicated with between the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 and guide's force feed road, decline side of swing arm action bars 16B, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in excretion (fuel tank) port, state before making the first pilot of the pilot port of the decline side (left side) acting on the 2nd swing arm flow control valve 157 return to change.

Discharge-amount reduction portion 302 is the function important document of the discharge-amount for reducing main pump, such as, reduce the discharge-amount of the main pump 12L supplying pressure oil to the 1st dipper flow control valve 158.Below, this control based on discharge-amount reduction portion 302 is called " reducing to control ".

Specifically, such as, when being performed detection unit 300 by control and being judged to be that control beginning condition is false (controlling condition subsequent to set up), the control instruction electric current of comparative example electromagnetic valve 14 is set to minimum by discharge-amount reduction portion 302.Further, reversal valve (shuttle valve) being communicated with between 14a with control pump 14b is blocked in discharge-amount reduction portion 302, and reversal valve 14a is communicated in excretion (fuel tank) port.Thus, discharge-amount reduction portion 302 makes reversal valve 14a action, to make suction function in adjuster 13L.

On the other hand, such as, when being performed detection unit 300 by control and being judged to be that controlling beginning condition sets up, discharge-amount reduction portion 302 comparative example electromagnetic valve 14 exports the control instruction electric current of pre-sizing.Further, reversal valve 14a is communicated in control pump 14b by discharge-amount reduction portion 302, is the pressure (> negative pressure) corresponding with control instruction electric current by the pressure increase acting on adjuster 13L, reduces the discharge-amount of main pump 12L.

Reduction amplitude based on the discharge-amount of the main pump 12L in discharge-amount reduction portion 302 is such as redefined for by interflow control part 301 and flows out with the cylinder bottom side grease chamber of slave arm cylinder 7 and the flow of the pressure oil flowed into dipper cylinder 8 is equal.

Now, controller 30 is when performing detection unit 300 and being judged to be that controlling beginning condition sets up by control, the pressure oil that the cylinder bottom side grease chamber starting to carry out slave arm cylinder 7 by interflow control part 301 flows out, to the interflow of intermediate bypass oil circuit 40L, makes the discharge-amount of main pump 12L reduce the amount corresponding to the flow of collaborated pressure oil by discharge-amount reduction portion 302.

Thus; controller 30 can be guaranteed when carrying out casting work etc. to control based on the interflow of interflow control part 301 and control the responsiveness of the dipper 5 when all not performing based on the reduction in discharge-amount reduction portion 302; and by reducing the discharge-amount of main pump 12L, the reduction of engine load and the raising of fuel efficiency can be realized.

In addition, based on the reduction amplitude of the discharge-amount of the main pump 12L in discharge-amount reduction portion 302, the flow of the cylinder bottom side grease chamber outflow of slave arm cylinder 7 pressure oil to dipper cylinder 8 inflow also can be set smaller than by interflow control part 301.

Thus, controller 30 can realize when carrying out casting work etc. controlling than the interflow based on interflow control part 301 and control the fast action of the action of the dipper 5 when all not performing based on the reduction in discharge-amount reduction portion 302, and by reducing the discharge-amount of main pump 12L, the reduction of engine load and the raising of fuel efficiency can be realized.

At this, judge to be described carrying out the example based on whether performing the process (hereinafter referred to as " controlling execution determination processing ") controlling based on the interflow of interflow control part 301 and controls based on the reduction in discharge-amount reduction portion 302 when excavating the casting work etc. of fixture to controlling to perform detection unit 300 with reference to figure 3.In addition, Fig. 3 represents that the control performed in the hydraulic actuated excavator involved by the 1st embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.In addition, the initial value (initialization process setting value during start-up connector 30) controlling determination flag F is set to " 0 ".

First, control to perform action bars operational ton that detection unit 300 judges the opening direction of dipper action bars 16A whether at upper limit side operating area and the action bars operational ton of the descent direction of swing arm action bars 16B whether at intermediary operation region or upper limit side operating area.

Specifically, control to perform detection unit 300 and judge that whether the output of swing arm decline guide pressure sensor 17B and swing arm decline first pilot at more than predetermined threshold β (step ST1).Now, swing arm decline guide is pressed in more than predetermined threshold β and refers to, the action bars operational ton of the direction of improvement of swing arm action bars 16B is at intermediary operation region or upper limit side operating area.

When being judged to be that swing arm decline guide is pressed in more than threshold value beta (step ST1 is), controlling to perform detection unit 300 and judging that dipper opens the output of guide's pressure sensor 17A and whether dipper opens first pilot at more than predetermined threshold α (step ST2).Now, dipper is opened guide and is pressed in more than predetermined threshold α and refers to, the action bars operational ton of the opening direction of dipper action bars 16A is at upper limit side operating area.

When being judged to be that dipper opens (step ST2 is) when guide is pressed in more than threshold alpha, controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST3) to control determination flag F.

On the other hand, when be judged to be swing arm decline first pilot be less than threshold value beta time (step ST1's is no), control to perform detection unit 300 and be judged to be that controlling beginning condition is false (controlling condition subsequent to set up) and sets " 0 " (step ST4) to control determination flag F.This is because the action bars operational ton that can judge the descent direction of swing arm action bars 16B is not in either party of intermediary operation region and upper limit side operating area.

In addition, even if when being judged to be that swing arm decline guide is pressed in more than threshold value beta, when being judged to be that dipper opens (step ST2's is no) when first pilot is less than threshold alpha, controlling to perform detection unit 300 and being also judged to be that controlling beginning condition is false (controlling condition subsequent to set up) and sets " 0 " (step ST4) to control determination flag F.This is because, can judge that the action bars operational ton of the opening direction of dipper action bars 16A is not at upper limit side operating area.

In addition, controlling to perform detection unit 300 can decline the judgement of first pilot whether more than threshold value beta carrying out carrying out after dipper opens the judgement of first pilot whether more than threshold alpha swing arm, also can carry out these simultaneously and judge.Other embodiments about following explanation are also identical.

Then, the cylinder bottom side grease chamber starting to carry out pressure oil slave arm cylinder 7 with reference to the involutory flow control part 301 of figure 4 to the inflow of dipper cylinder 8 and the example that discharge-amount reduction portion 302 reduces the process (hereinafter referred to as " interflow control treatment ") of the discharge-amount of main pump 12L be described.In addition, Fig. 4 is the flow chart of the flow process representing interflow control treatment, and this interflow control treatment continues to perform during hydraulic actuated excavator action.

First, interflow control part 301 reads in and controls to perform the control determination flag F(step ST11 set in determination processing), and judge that controlling determination flag F is " 1 " or " 0 " (step ST12).

When being judged to be to control determination flag F for (step ST12 is) time " 1 ", interflow control part 301 performs interflow and controls the cylinder bottom side grease chamber of pressure oil slave arm cylinder 7 is flowed into dipper cylinder 8, and discharge-amount reduction portion 302 performs the discharge-amount (step ST13) reducing to control to reduce main pump 12L.

Specifically, interflow control part 301 makes the control instruction electric current of comparative example electromagnetic valve 21 be reduced to predetermined size from maximum value, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in guide's force feed road, decline side of swing arm action bars 16B.This is in order to the pressure oil on the guide's force feed road, decline side by swing arm action bars 16B is adjusted to the pressure corresponding to control instruction electric current and imports the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157.In addition, when the 2nd swing arm flow control valve 157 is at desired decline side position, the 2nd swing arm flow control valve 157 is still maintained desired decline side position by interflow control part 301.

In addition, discharge-amount control part 302 makes the control instruction electric current of comparative example electromagnetic valve 14 be increased to predetermined size from minimum value, and reversal valve 14a is communicated in control pump 14b.This is that pressure oil in order to be spued by control pump 14b is adjusted to the pressure (> negative pressure) corresponding to control instruction electric current and imports adjuster 13L.

On the other hand, when being judged to be that controlling determination flag F is not " 1 " (but " 0 ") (step ST12's is no), interflow control part 301 is removed interflow and is controlled, the cylinder bottom side grease chamber stopping pressure oil slave arm cylinder 7 flows into dipper cylinder 8, discharge-amount reduction portion 302 removes and reduces to control, and stops the discharge-amount (step ST14) reducing main pump 12L.

Specifically, the size of the control instruction electric current of comparative example electromagnetic valve 21 is set to maximum by interflow control part 301, block being communicated with between the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 and guide's force feed road, decline side of swing arm action bars 16B, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in excretion (fuel tank) port.In addition, when the 2nd swing arm flow control valve 157 is in centre position, the 2nd swing arm flow control valve 157 is still maintained centre position by interflow control part 301.

In addition, the size of the control instruction electric current of comparative example electromagnetic valve 14 is set to minimum by discharge-amount control part 302, blocks being communicated with between reversal valve 14a with control pump 14b.This is that pressure oil in order to not make control pump 14b spue acts on adjuster 13L.

According to above structure, as long as when being judged to be that controlling beginning condition sets up, the pressure oil that hydraulic actuated excavator involved by 1st embodiment just can make the cylinder bottom side grease chamber of slave arm cylinder 7 flow out collaborates to intermediate bypass oil circuit 40L, and can reduce the discharge-amount of main pump 12L.Its result, the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder 7 flows out together is supplied in the 1st dipper flow control valve 158 in the downstream being positioned at the 2nd swing arm flow control valve 157 by the pressure oil that the hydraulic actuated excavator involved by the 1st embodiment can spue with main pump 12L, and when casting work etc. by dipper 5 regeneration.This is because the period such as casting work, the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7 becomes the pressure of the Gan Ce grease chamber higher than dipper cylinder 8.In addition, hydraulic actuated excavator involved by 1st embodiment can change the amount of the pressure oil flowing through interflow high-pressure oil passage 157A, therefore, it is possible to extremely desired speed is accelerated in the action of dipper 5 in periods such as casting work mutually independently with the action bars operational ton of the descent direction of swing arm action bars 16B.In addition, hydraulic actuated excavator involved by 1st embodiment makes the discharge-amount of main pump 12L reduce the amount corresponding with the flow below the flow of the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder 7 flows into dipper cylinder 8, therefore, it is possible to do not make the action passivation of dipper 5 and reduce engine load.In addition, the hydraulic actuated excavator involved by the 1st embodiment can set arbitrarily the reduction amplitude of the discharge-amount of main pump 12L, therefore, it is possible to accelerate the action of the dipper 5 of the periods such as casting work to desired speed independently mutually with the adjustment of interflow flow.

In addition, hydraulic actuated excavator involved by 1st embodiment is due to interflow high-pressure oil passage 157A built-in in the 2nd swing arm flow control valve 157, therefore, it is possible to avoid the maximization of hydraulic circuit and complicated, while adopting small-sized and cheap structure, realize above-mentioned effect.

[embodiment 2]

Then, perform determination processing with reference to figure 5 to the control performed in the hydraulic actuated excavator involved by the 2nd embodiment of the present invention to be described.In addition, Fig. 5 represents that the control performed in the hydraulic actuated excavator involved by the 2nd embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.

In addition, the control of Fig. 5 performs determination processing in control beginning condition with to control that the different this point of condition subsequent performs determination processing from the control of Fig. 3 different.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.

Outline, once the judgement carrying out controlling that beginning condition sets up, as long as then swing arm decline guide is pressed in more than threshold value beta, opens guide and is pressed in more than predeterminated level as long as the control of Fig. 5 performs determination processing dipper and is just maintained " 1 " by control determination flag F.Namely, once carry out the judgement controlling the establishment of beginning condition, as long as then the action bars operational ton of the descent direction of swing arm action bars 16B is at intermediary operation region or upper limit side operating area, control determination flag F is independently maintained " 1 " by the control execution determination processing of Fig. 5 and the action bars operational ton of dipper action bars 16A.

Below, the control execution determination processing of reference flow sheet to Fig. 5 is described in detail.

First, control to perform detection unit 300 and judge that swing arm declines first pilot whether more than threshold value beta (step ST21).

When being judged to be that swing arm decline guide is pressed in more than threshold value beta (step ST21 is), controlling to perform detection unit 300 and judging that control determination flag F is whether as " 0 " (step ST22).

When being judged to be to control determination flag F for (step ST22 is) time " 0 ", controlling to perform detection unit 300 and judging that dipper opens first pilot whether more than threshold alpha (step ST23).

When being judged to be that dipper opens (step ST23 is) when guide is pressed in more than threshold alpha, controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST24) to control determination flag F.

When being judged to be that dipper opens (step ST23's is no) when first pilot is less than threshold alpha, controlling to perform detection unit 300 and being judged to be that controlling beginning condition is false and sets " 0 " (being still maintained " 0 ") (step ST25) to control determination flag F.

In addition, when being judged to be that controlling determination flag F is not " 0 " (but " 1 ") (step ST22's is no), controlling to perform detection unit 300 and judging that dipper opens first pilot whether as threshold alpha more than 1 (step ST26).In addition, threshold alpha 1 for being less than the value of threshold alpha, such as, is the size of 2/3rds of threshold alpha.

When being judged to be dipper to open first pilot being threshold alpha more than 1 (step ST26 is), control to perform detection unit 300 and maintain state (step ST27) to controlling determination flag F setting " 1 ", process is returned.

When being judged to be that dipper opens (step ST26's is no) when first pilot is less than threshold alpha 1, controlling to perform detection unit 300 and being judged to be that controlling beginning condition is false, and sets " 0 " (step ST28) to control determination flag F.

On the other hand, when be judged to be swing arm decline first pilot be less than threshold value beta time (step ST21's is no), control to perform detection unit 300 and be judged to be that controlling condition subsequent sets up and set " 0 " (step ST28) to control determination flag F.

According to above structure, once carry out the judgement controlling the establishment of beginning condition, as long as then swing arm decline guide is pressed in more than threshold value beta, and dipper is opened guide and is pressed in threshold alpha more than 1, and control determination flag F is maintained " 1 " by the hydraulic actuated excavator involved by the 2nd embodiment.That is, whether the hydraulic actuated excavator involved by the 2nd embodiment can prevent from performing based on the interflow control of interflow control part 301 and frequently switch because dipper opens the variation of first pilot based on the result of determination that the reduction in discharge-amount reduction portion 302 controls.Its result, hydraulic actuated excavator involved by 2nd embodiment can prevent: the guide due to the pilot port acting on the decline side (left side) of the 2nd swing arm flow control valve 157 presses frequent variations and causes the amount frequent variations of the pressure oil flowing through interflow high-pressure oil passage 157A or act on the control pressure frequent variations of adjuster 13L and cause the discharge-amount frequent variations of main pump 12L, causes the action of excavating fixture with vibratility thus.

[embodiment 3]

Then, with reference to figure 6 and Fig. 7, the hydraulic actuated excavator involved by the 3rd embodiment of the present invention is described.In addition, Fig. 6 is the synoptic diagram of the structure example of the hydraulic circuit representing the hydraulic actuated excavator be equipped on involved by the 3rd embodiment.Fig. 6 and Fig. 2 is identical, represents high-pressure oil passage, guide's oil circuit and driven by power/control system respectively with solid line, dotted line and dotted line.In addition, Fig. 7 represents that the control performed in the hydraulic actuated excavator involved by the 3rd embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.

Fig. 6 possess on dipper bar pressure sensor 17D and this aspect of dipper cylinder bottom pressure sensor 17E different from the hydraulic circuit involved by the 1st embodiment of Fig. 2, but identical on other aspects.

In addition, the control of Fig. 7 performs determination processing having and judges that whether dipper bar pressure presses at dipper cylinder bottom that this aspect of above step ST33 performs determination processing from the control involved by the 1st embodiment of Fig. 3 is different, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.

Dipper bar pressure sensor 17D is the pressure sensor of the pressure detected in the Gan Ce grease chamber of dipper cylinder 8, to the value that controller 30 output detections goes out.

Dipper cylinder bottom pressure sensor 17E is the pressure sensor of the pressure detected in the cylinder bottom side grease chamber of dipper cylinder 8, to the value that controller 30 output detections goes out.

When being judged to be that swing arm decline guide is pressed in more than threshold value beta (step ST31 is), and be judged to be that dipper opens (step ST32 is) when guide is pressed in more than threshold alpha, control to perform detection unit 300 and judge dipper bar pressure whether more than dipper cylinder bottom pressure (step ST33).

Specifically, control to perform detection unit 300 and judge dipper bar pressure whether more than dipper cylinder bottom pressure according to the output of dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E.

When being judged to be that dipper bar is pressed in (step ST33 is) when dipper cylinder bottom is pressed above, controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST34) to controlling determination flag F.

On the other hand, when being judged to be that dipper bar pressure is less than dipper cylinder bottom pressure (step ST33's is no), controlling to perform detection unit 300 and being judged to be that controlling beginning condition is false (controlling condition subsequent to set up) and sets " 0 " (step ST35) to control determination flag F.This is because when to opening direction operation dipper 5, due to the Gan Ce grease chamber of the pressure oil inflow dipper cylinder 8 that main pump 12L, 12R spue, therefore dipper bar pressure becomes and is greater than dipper cylinder bottom pressure.

Like this, control perform detection unit 300 be judged to be the action bars operational ton of the descent direction of swing arm action bars 16B in intermediary operation region or upper limit side operating area and the action bars operational ton of the opening direction of dipper action bars 16A at upper limit side operating area, and confirming that dipper bar is pressed in dipper cylinder bottom and presses on above basis, be judged to be that controlling beginning condition sets up.

In addition, the hydraulic actuated excavator involved by the 3rd embodiment can replace dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E or on these basis, possess swing arm cylinder bottom pressure sensor and semaphore pressure sensor (all not shown).Now, control to perform detection unit 300 can be judged to be dipper bar be pressed in dipper cylinder bottom press on above basis according to the output of swing arm cylinder bottom pressure sensor and semaphore pressure sensor be judged to be swing arm cylinder bottom be pressed in semaphore pressure above time, be judged to be in casting.In addition, control to perform detection unit 300 can be judged to be swing arm cylinder bottom be pressed in semaphore pressure above replace being judged to be dipper bar be pressed in dipper cylinder bottom pressure above time, be judged to control the establishment of beginning condition.This is because when to decline direction operation swing arm 4, the pressure oil that the cylinder bottom side grease chamber due to slave arm cylinder 7 flows out is controlled by outlet throttling, and therefore swing arm cylinder bottom pressure becomes and is greater than semaphore pressure.

In addition, the hydraulic actuated excavator involved by the 3rd embodiment can replace dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E or on these basis, possess scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor (all not shown).Now, control to perform detection unit 300 can be judged to be dipper bar be pressed in dipper cylinder bottom press on above basis according to the output of scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor be judged to be scraper bowl bar be pressed in scraper bowl cylinder bottom pressure above time, be judged to be that controlling beginning condition sets up.In addition, control to perform detection unit 300 can also be judged to be scraper bowl bar be pressed in scraper bowl cylinder bottom pressure above replace being judged to be dipper bar be pressed in dipper cylinder bottom pressure above time, be judged to be that controlling beginning condition sets up.This is because when to opening direction operation scraper bowl 6, due to the Gan Ce grease chamber of the pressure oil inflow scraper bowl cylinder 9 that main pump 12L, 12R spue, therefore scraper bowl bar pressure becomes and is greater than scraper bowl cylinder bottom pressure.

According to above structure, the control that performs in the hydraulic actuated excavator involved by the 3rd embodiment performs the reliability that detection unit 300 can improve the result of determination that the interflow whether performed based on interflow control part 301 controls and controls based on the reduction in discharge-amount reduction portion 302 further.Its result, control to perform detection unit 300 can prevent from setting up (controlling condition subsequent to be false) because controlling beginning condition although mistake judge to cause the action not carrying out the dippers 5 such as casting work accidentally to be accelerated or the discharge-amount reduction of main pump 12L.

[embodiment 4]

Then, with reference to figure 8, the hydraulic actuated excavator involved by the 4th embodiment of the present invention is described.In addition, Fig. 8 represents that the control performed in the hydraulic actuated excavator involved by the 4th embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.In addition, the hydraulic actuated excavator involved by the 4th embodiment is equipped with the hydraulic circuit shown in Fig. 6.

The control of Fig. 8 performs determination processing having and judges that whether dipper bar pressure presses at dipper cylinder bottom that above step ST44 this point performs determination processing from the control involved by the 2nd embodiment of Fig. 5 is different, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.

When being judged to be to control determination flag F for (step ST42 is) time " 0 ", controlling to perform detection unit 300 and judging that whether dipper opens first pilot at more than α (step ST43).

When being judged to be that dipper opens (step ST43 is) when guide is pressed in more than α, controlling to perform detection unit 300 and judging dipper bar pressure further whether more than dipper cylinder bottom pressure (step ST44).

When being judged to be that dipper bar is pressed in (step ST44 is) when dipper cylinder bottom is pressed above, controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST45) to controlling determination flag F.

On the other hand, when being judged to be that dipper bar pressure is less than dipper cylinder bottom pressure (step ST44's is no), controlling to perform detection unit 300 and being judged to be that controlling beginning condition is false and sets " 0 " (step ST46) to control determination flag F.This is because when to opening direction operation dipper 5, due to the Gan Ce grease chamber of the pressure oil inflow dipper cylinder 8 that main pump 12L, 12R spue, therefore dipper bar pressure becomes and is greater than dipper cylinder bottom pressure.

In addition, hydraulic actuated excavator involved by 4th embodiment is identical with the situation of the 3rd embodiment, dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E(can be replaced with reference to figure 6) or on these basis, possess scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor (all not shown) or swing arm cylinder bottom pressure sensor and semaphore pressure sensor (all not shown).

According to above structure, once carry out the interim judgement controlling the establishment of beginning condition, as long as then swing arm decline guide is pressed in more than threshold value beta, and dipper is opened guide and is pressed in threshold alpha more than 1, whether the control be equipped on the hydraulic actuated excavator involved by the 4th embodiment performs detection unit 300 dipper bar pressure and is all maintained " 1 " by control determination flag F more than dipper cylinder bottom pressure.That is, control to perform result of determination that detection unit 300 interflow that can prevent from whether performing based on interflow control part 301 controls and control based on the reduction in discharge-amount reduction portion 302 because of dipper open first pilot, dipper bar pressure, dipper cylinder bottom pressure variation and frequently switch.Its result, hydraulic actuated excavator involved by 4th embodiment can prevent: the guide due to the pilot port acting on the decline side (left side) of the 2nd swing arm flow control valve 157 presses frequent variations and causes the amount frequent variations of the pressure oil flowing through interflow high-pressure oil passage 157A or act on the control pressure frequent variations of adjuster 13L and cause the discharge-amount frequent variations of main pump 12L, causes the action of excavating fixture with vibratility thus.

In addition, the reliability that detection unit 300 can improve the result of determination that the interflow whether performed based on interflow control part 301 controls and controls based on the reduction in discharge-amount reduction portion 302 is further controlled to perform.Its result, can prevent the mistake set up because controlling beginning condition from judging to cause the action not carrying out the dippers 5 such as casting work accidentally to be accelerated, or the discharge-amount of main pump 12L reduces although control to perform detection unit 300.In addition, can prevent the mistake set up because controlling condition subsequent from judging to cause carrying out casting work etc. but do not carrying out the regeneration of the swing arm cylinder bottom pressure based on interflow although control to perform detection unit 300, or not carry out the engine load reduction that reduces based on the discharge-amount of main pump 12L.

[embodiment 5]

Then, with reference to figure 9 and Figure 10, the hydraulic actuated excavator involved by the 5th embodiment of the present invention is described.In addition, Fig. 9 is the synoptic diagram of the structure example of the hydraulic circuit represented on the hydraulic actuated excavator that is equipped on involved by the 5th embodiment.Fig. 9 and Fig. 2 and Fig. 6 is identical, represents high-pressure oil passage, guide's oil circuit and driven by power/control system respectively with solid line, dotted line and dotted line.In addition, Figure 10 represents that the control performed in the hydraulic actuated excavator involved by the 5th embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.

Fig. 9 possess on this aspect of pressure sensor 17F, 17G that spues different from the hydraulic circuit involved by the 1st embodiment of Fig. 2, but identical on other aspects.

In addition, the control of Figure 10 performs determination processing, and to judge whether the pressure both sides that spue of main pump 12L, 12R perform determination processing from the control involved by the 1st embodiment of Fig. 3 in the step ST53 this point of more than predetermined threshold ζ different having, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.

The pressure sensor 17F that spues is the pressure sensor of the pressure that spues detecting main pump 12L, to the value that controller 30 output detections goes out.

The pressure sensor 17G that spues is the pressure sensor of the pressure that spues detecting main pump 12R, to the value that controller 30 output detections goes out.

When being judged to be that swing arm decline guide is pressed in more than threshold value beta (step ST51 is) and is judged to be that dipper opens (step ST52 is) when guide is pressed in more than threshold alpha, controlling to perform detection unit 300 and judging that whether the pressure both sides that spue of main pump 12L, 12R are at more than threshold value ζ (step ST53).

Specifically, control to perform detection unit 300 and judge that whether the pressure both sides that spue of main pump 12L, 12R are at more than threshold value ζ according to the output of spue pressure sensor 17F, 17G.

When being judged to be the pressure both sides that spue of main pump 12L, 12R at more than threshold value ζ (step ST53 is), controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST54) to control determination flag F.

On the other hand, when at least one party of the pressure that spues being judged to be main pump 12L, 12R is less than threshold value ζ (step ST53's is no), controls to perform detection unit 300 and be judged to be that controlling beginning condition is false (controlling condition subsequent to set up) and sets " 0 " (step ST55) to control determination flag F.This is because when carrying out casting work etc., in order to the Gan Ce grease chamber making pressure oil flow into dipper cylinder 8, the pressure that spues of main pump 12L, 12R becomes more than threshold value ζ.

Like this, control perform detection unit 300 be judged to be the action bars operational ton of the descent direction of swing arm action bars 16B in intermediary operation region or upper limit side operating area and the action bars operational ton of the opening direction of dipper action bars 16A at upper limit side operating area, and confirming that main pump 12L, 12R's spues pressure both sides on the basis of more than threshold value ζ, be judged to be that controlling beginning condition sets up.

According to above structure, the control that performs in the hydraulic actuated excavator involved by the 5th embodiment performs the reliability that detection unit 300 can improve the result of determination that the interflow whether performed based on interflow control part 301 controls and controls based on the reduction in discharge-amount reduction portion 302 further.Its result, control to perform detection unit 300 can prevent from setting up (controlling condition subsequent to be false) because controlling beginning condition although mistake judge to cause the action not carrying out the dippers 5 such as casting work accidentally to be accelerated, or reduce the discharge-amount of main pump 12L.In addition, control to perform detection unit 300 can prevent because of control condition subsequent set up (control beginning condition be false) although mistake judge to cause carrying out casting work etc. but do not carrying out the regeneration of the swing arm cylinder bottom pressure based on interflow, or do not carry out the engine load reduction that reduces based on the discharge-amount of main pump 12L.

[embodiment 6]

Then, with reference to Figure 11, the hydraulic actuated excavator involved by the 6th embodiment of the present invention is described.In addition, Figure 11 represents that the control performed in the hydraulic actuated excavator involved by the 6th embodiment performs the flow chart of the flow process of determination processing, and this control performs determination processing and continues to perform during hydraulic actuated excavator action.In addition, the hydraulic actuated excavator involved by the 6th embodiment is equipped with the hydraulic circuit shown in Fig. 9.

The control of Figure 11 performs determination processing, and to judge whether the pressure both sides that spue of main pump 12L, 12R perform determination processing from the control involved by the 2nd embodiment of Fig. 5 on this aspect of the step ST64 of more than threshold value ζ different having, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.

When being judged to be to control determination flag F for (step ST62 is) time " 0 ", controlling to perform detection unit 300 and judging that whether dipper opens first pilot at more than α (step ST63).

When being judged to be that dipper opens (step ST63 is) when guide is pressed in more than α, controlling to perform detection unit 300 and judging that whether the pressure both sides that spue of main pump 12L, 12R are at more than threshold value ζ (step ST64) further.

When being judged to be the pressure both sides that spue of main pump 12L, 12R at more than threshold value ζ (step ST64 is), controlling to perform detection unit 300 and being judged to be that controlling beginning condition sets up and set " 1 " (step ST65) to control determination flag F.

On the other hand, when being judged to be that the pressure both sides that spue of main pump 12L, 12R are less than threshold value ζ (step ST64's is no), controlling to perform detection unit 300 and being judged to be that controlling beginning condition is false and sets " 0 " (being still maintained " 0 ") (step ST66) to control determination flag F.This is because the Gan Ce grease chamber when carrying out casting work etc. in order to make pressure oil flow into dipper cylinder 8, the pressure that spues of main pump 12L, 12R becomes more than threshold value ζ.

According to above structure, once carry out the interim judgement controlling the establishment of beginning condition, as long as then swing arm decline guide is pressed in more than threshold value beta, and dipper is opened guide and is pressed in threshold alpha more than 1, whether the pressure both sides that spue that the control being equipped on the hydraulic actuated excavator involved by the 6th embodiment performs detection unit 300 main pump 12L, 12R are all maintained control determination flag F " 1 " at more than threshold value ζ.That is, controlling to perform result of determination that detection unit 300 interflow that can prevent from whether performing based on interflow control part 301 controls and controls based on the reduction in discharge-amount reduction portion 302 because of dipper opens the variation of pressing and frequently switching of spuing of first pilot, main pump 12L, 12R.Its result, hydraulic actuated excavator involved by 6th embodiment can prevent: the guide due to the pilot port acting on the decline side (left side) of the 2nd swing arm flow control valve 157 presses frequent variations and causes the amount frequent variations of the pressure oil flowing through interflow high-pressure oil passage 157A or act on the control pressure frequent variations of adjuster 13L and cause the discharge-amount frequent variations of main pump 12L, causes the action of excavating fixture with vibratility thus.

In addition, the reliability that detection unit 300 can improve the result of determination that the interflow whether performed based on interflow control part 301 controls and controls based on the reduction in discharge-amount reduction portion 302 is further controlled to perform.Its result, can prevent the mistake set up because controlling beginning condition from judging to cause the action not carrying out the dippers 5 such as casting work to be accelerated, or the discharge-amount of main pump 12L reduces although control to perform detection unit 300.In addition, control to perform detection unit 300 can prevent from being false because controlling beginning condition (controlling condition subsequent to set up) although mistake judge to cause carrying out casting work etc. but do not carrying out the regeneration of the swing arm cylinder bottom pressure based on interflow, or do not carry out the engine load reduction that reduces based on the discharge-amount of main pump 12L.

[embodiment 7]

Then, with reference to Figure 12, the hydraulic actuated excavator involved by the 7th embodiment of the present invention is described.In addition, Figure 12 is the synoptic diagram of the structure example of the hydraulic circuit represented on the hydraulic actuated excavator that is equipped on involved by the 7th embodiment.Figure 12 and Fig. 2, Fig. 6 and Fig. 9 represent high-pressure oil passage, guide's oil circuit and driven by power/control system with solid line, dotted line and dotted line equally respectively.

Figure 12 possess on dipper bar pressure sensor 17D and this aspect of swing arm cylinder bottom pressure sensor 17H different from the hydraulic circuit involved by the 1st embodiment of Fig. 2, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is described in detail.In addition, use with in order to the reference symbol that reference symbol that hydraulic actuated excavator involved by the 1st embodiment uses is identical is described.In addition, the hydraulic actuated excavator involved by the 7th embodiment continues to perform the control shown in Fig. 3 and performs determination processing during hydraulic actuated excavator action.

Dipper bar pressure sensor 17D is the pressure sensor of the pressure of the Gan Ce grease chamber detecting dipper cylinder 8, to the value that controller 30 output detections goes out.

Swing arm cylinder bottom pressure sensor 17H is the pressure sensor of the pressure of the cylinder bottom side grease chamber detecting swing arm cylinder 7, to the value that controller 30 output detections goes out.

Discharge-amount reduction portion 302, when being judged to be that control beginning condition is set up by control execution detection unit 300, presses the swing arm cylinder bottom of PA and swing arm cylinder bottom pressure sensor 17H detection to press P according to the dipper bar that dipper bar pressure sensor 17D detects _b, determine the reduction amplitude of the discharge-amount of main pump 12L.

Specifically, discharge-amount reduction portion 302 is according to following formula (1), and the cylinder bottom side grease chamber calculating slave arm cylinder 7 flows out and the interflow flow Q of the pressure oil flowed into the Gan Ce grease chamber of dipper cylinder 8.In addition, C is discharge coefficient, A _rEfor the oil circuit area of interflow high-pressure oil passage 157A.In addition, swing arm cylinder bottom pressure P _bbe greater than dipper bar pressure P _a, at swing arm cylinder bottom pressure P _bfor dipper bar pressure P _atime following, interflow flow Q is set to zero.

[formula 1]

$Q=C\×A_{\mathrm{RE}}\×\sqrt{P_B-P_A}...\left(1\right)$

Further, the flow equal with the interflow flow Q calculated is defined as the reduction amplitude of the discharge-amount of main pump 12L by discharge-amount reduction portion 302.This is to make the flow of the pressure oil flowed into dipper cylinder 8 identical with the flow do not carried out when controlling based on the interflow of collaborating control part 301.Thus, even if discharge-amount reduction portion 302 reduces the discharge-amount of main pump 12L, the action of the dipper 5 identical with the action not carrying out the dipper 5 collaborated when controlling can also be guaranteed.

In addition, the flow less than the interflow flow Q calculated also can be defined as (such as collaborating the flow accounting for predetermined ratio in flow Q) the reduction amplitude of the discharge-amount of main pump 12L by discharge-amount reduction portion 302.This is the flow in order to make the flow of pressure oil flowed into dipper cylinder 8 be not less than not carry out when controlling based on the interflow of interflow control part 301.Thus, even if discharge-amount reduction portion 302 reduces the discharge-amount of main pump 12L, the action of the dipper 5 faster than the action not carrying out the dipper 5 collaborated when controlling also can be guaranteed.

Afterwards, discharge-amount reduction portion 302 comparative example electromagnetic valve 14 exports the control instruction electric current of the size corresponding with determined reduction amplitude, be the pressure (> negative pressure) corresponding with control instruction electric current by the pressure increase acting on adjuster 13L, the discharge-amount of main pump 12L only reduced the reduction amplitude that this is determined.

According to above structure, the discharge-amount reduction portion 302 be equipped on the hydraulic actuated excavator involved by the 7th embodiment presses P according to dipper bar _ap is pressed with swing arm cylinder bottom _b(>P _a) between pressure differential, determine the reduction amplitude of the discharge-amount of main pump 12L.Further, according to the swing arm cylinder bottom pressure P reduced along with carrying out (along with swing arm 4 declines) such as casting work _b, or according to the dipper bar pressure P increased along with carrying out (along with dipper 5 is opened) such as casting work _a, the reduction amplitude of the discharge-amount of main pump 12L can be changed.Its result, when can prevent from performing the interflow control based on interflow control part 301, the action of dipper 5 becomes unstable or passivation.

In addition, the pressure that spues of main pump 12L also can detect in the discharge-amount reduction portion 302 be equipped on the hydraulic actuated excavator involved by the 7th embodiment by the pressure sensor 17F that spues, replace the pressure of the Gan Ce grease chamber being detected dipper cylinder 8 by dipper bar pressure sensor 17D with this.Now, discharge-amount reduction portion 302 deducts the predetermined pressure loss (pressure loss produced when the Gan Ce grease chamber to dipper cylinder 8 supplies pressure oil) from the pressure that spues of main pump 12L, calculates the pressure of the Gan Ce grease chamber of dipper cylinder 8.Its result, even if discharge-amount reduction portion 302 is when utilizing dipper bar pressure sensor 17D, also can according to the dipper bar pressure P pressing and calculate that spues based on main pump 12L _ap is pressed with swing arm cylinder bottom _b(>P _a) between pressure differential, determine the reduction amplitude of the discharge-amount of main pump 12L.

Above, the preferred embodiments of the present invention have been described in detail, but the invention is not restricted to the embodiments described, without departing from the scope of the present invention can to various distortion and displacement in addition in the above embodiments.

Such as, in the above-described embodiments, proportion magnetic valve 14,21 makes it export piezoelectricity according to the control instruction electric current carrying out self-controller 30 to change, but also can open first pilot and the swing arm first pilot that declines according to dipper and make it export hydraulic fluid pressure to sexually revise.

In addition, in the above-described embodiments, control to perform detection unit 300 control in order to the interflow being confirmed whether to perform based on interflow control part 301 and control based on the reduction in discharge-amount reduction portion 302 and perform respectively dipper bar pressure whether above in dipper cylinder bottom pressure, whether scraper bowl bar pressure above in scraper bowl cylinder bottom pressure, swing arm cylinder bottom pressure whether more than semaphore is pressed or spuing of main pump 12L, 12R press both sides whether in the judgement of predetermined more than threshold value ζ.But control execution detection unit 300 at random can combine these and judge whether perform based on the interflow control collaborating control part 301 and the confirmation controlled based on the reduction in discharge-amount reduction portion 302.And, control to perform detection unit 300 and can also judge to excavate the posture of fixture whether as predetermined posture according to the output of dipper angular transducer, swing arm angular transducer, scraper bowl angular transducer etc., and this result of determination is used for be confirmed whether to perform controlling based on the interflow control of interflow control part 301 and the reduction based on discharge-amount reduction portion 302.

In addition, in the above-described embodiments, discharge-amount reduction portion 302 only reduces the discharge-amount of the main pump 12L supplying pressure oil to the 1st dipper flow control valve 158, but also can comprise the discharge-amount of main pump 12R reduction main pump 12L, 12R both sides supplying pressure oil to the 2nd dipper flow control valve 159.In addition, discharge-amount reduction portion 302 also only can reduce the discharge-amount of the main pump 12R supplying pressure oil to the 2nd dipper flow control valve 159.In addition, same with when only reducing the discharge-amount of main pump 12L, reduction amplitude when total when reducing the discharge-amount of main pump 12L, 12R both sides reduces amplitude and only reduces the discharge-amount of main pump 12R is confirmed as below interflow flow.

In addition, in the above-described embodiments, interflow high-pressure oil passage 157A is configured at the decline side position of the 2nd swing arm flow control valve 157, and be built in the 2nd swing arm flow control valve 157, but also can with the 2nd swing arm flow control valve 157 separate configurations, use different electromagnetic proportional valves etc. to switch connection, block.

In addition, in the above-described embodiments, the pressure oil that interflow control part 301 makes the cylinder bottom side grease chamber of slave arm cylinder 7 flow out flows into dipper cylinder 8, but the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder 7 also can be made to flow out flows into other hydraulic unit drivers such as scraper bowl cylinder 9 grade.

Claims (2)

1. a construction machinery, possesses the fixture comprising dipper and swing arm; Dipper operational ton test section, detects dipper operational ton; Swing arm operational ton test section, detects swing arm operational ton; It is characterized in that,

Comprise: control device, described control device have determine whether that the control carrying out predetermined work by described fixture performs detection unit, the discharge-amount reduction portion of the discharge-amount of interflow control part that the pressure oil that flows out the cylinder bottom side grease chamber of slave arm cylinder controls to the inflow of other hydraulic unit drivers and reduction main pump

When performed by described control detection unit be judged to be the swing arm operational ton of descent direction in predetermined intermediary operation region and the dipper operational ton of opening direction at the predetermined upper limit side operating area time, the pressure oil that described control device makes the cylinder bottom side grease chamber of slave arm cylinder flow out by described interflow control part flows into other hydraulic unit drivers, and reduces the discharge-amount of described main pump by described discharge-amount reduction portion.

2. construction machinery as claimed in claim 1, is characterized in that,

The pressure oil that described interflow control part makes the cylinder bottom side grease chamber of slave arm cylinder flow out flows into dipper cylinder,

Described discharge-amount reduction portion, according to the pressure differential between the pressure of the cylinder bottom side grease chamber of described swing arm cylinder and the pressure of the Gan Ce grease chamber of described dipper cylinder, determines the reduction amplitude of the discharge-amount of described main pump.