CN104364535A - Hydraulic pressure drive device - Google Patents

Hydraulic pressure drive device Download PDF

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Publication number
CN104364535A
CN104364535A CN201480001593.1A CN201480001593A CN104364535A CN 104364535 A CN104364535 A CN 104364535A CN 201480001593 A CN201480001593 A CN 201480001593A CN 104364535 A CN104364535 A CN 104364535A
Authority
CN
China
Prior art keywords
pressure
valve
operating
output characteristics
drive device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201480001593.1A
Other languages
Chinese (zh)
Inventor
近藤哲弘
伊藤诚
藤山和人
坂下浩次
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Motors Ltd
Original Assignee
Kawasaki Jukogyo KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Jukogyo KK filed Critical Kawasaki Jukogyo KK
Publication of CN104364535A publication Critical patent/CN104364535A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A hydraulic pressure drive device (1) is provided with direction control valves (26), electromagnetic proportion control valves (42), operating valves (37), and a control device (50). The direction control valves (26), which are provided to each of three actuators (7, 9, 10), supply oil to the actuators (7, 9, 10) at a flow rate corresponding to pilot pressure. The electromagnetic proportion control valves (42), which are provided corresponding to each of the direction control valves (26), provide the direction control valves (26) with output pressure of a pressure corresponding to a received command signal as the pilot pressure. The operating valves (36), which are provided corresponding to each of the electromagnetic proportion control valves (42), output a command pressure corresponding to the manipulated variables of operating levers (37). The control device (50) calculates a command signal corresponding to the command pressure from the operating valves (36) on the basis of output characteristics that are switched according to an actuation condition, and outputs the command signal to the electromagnetic proportion control valves (42) that correspond to the operating valves (36).

Description

Fluid pressure drive device
Technical field
The present invention relates to and be connected with multiple final controlling element, the hydraulic pressure of discharging from oil hydraulic pump is supplied to described final controlling element respectively and drives the fluid pressure drive device of each described final controlling element.
Background technique
The building machinery of hydraulic excavator etc. possesses multiple oil pressure final controlling element, by driving oil pressure final controlling element, can make the various constituting component motion of suspension rod, arm, scraper bowl, whirligig and mobile devices etc. and perform various operations etc. with this.Building machinery possesses to drive these oil pressure final controlling element the drive device for hydraulic that such as patent documentation 1 is such.
Drive device for hydraulic described in patent documentation 1 has oil pressure pump, and by the oil pressure of discharging from oil pressure pump is supplied to final controlling element with this actuate actuators.Drive device for hydraulic has control valve (comprising flow control function and direction controlling function), and control valve lays respectively between oil pressure pump and final controlling element.This control valve is connected with operating valve.Operating valve is provided with operating stem, and operating valve exports the first pilot of the pressure corresponding with the operation amount of operating stem to control valve.The spool of control valve moves to the position corresponding with inputted first pilot, thus flow corresponding for the size of the load with this position and final controlling element is supplied to final controlling element.
Prior art document:
Patent documentation:
Patent documentation 1: Japanese Laid-Open Patent Publication 64-6501 publication.
Summary of the invention
The problem that invention will solve:
In the drive device for hydraulic described in patent documentation 1, the operation signal exported from the operating stem as operating unit inputs to controller, (or processed) driving current corresponding with the operation amount of operating stem exported from controller inputs to proportional control solenoid valve, using this, output pressure of proportional control solenoid valve is controlled control valve as guide's oil pressure.
But, when bad connection etc. or the work of the broken string of operation signal line of proportional control solenoid valve and the bad connection of their joint etc. or controller of being connected to from controller that the broken string of the operation signal line of controller and their joint occur to be connected to from operating stem are bad, cannot the problem of operations actuator although there is operation operating stem.
Therefore, though the object of this invention is to provide with when cannot electrical control comprise relevant to the pilot operated system electronic equipment of controller also can control the drive device for hydraulic that final controlling element is feature.
The means of dealing with problems:
Fluid pressure drive device of the present invention is connected with multiple final controlling element, the pressure liquid of discharging from oil hydraulic pump is supplied to described final controlling element respectively and drives the fluid pressure drive device of each described final controlling element, possess: correspondingly with each described final controlling element to arrange, make to press the pressure liquid of corresponding flow to be supplied to the control valve of described final controlling element with the load of the first pilot be subject to and described final controlling element; Be arranged at least one in described control valve, the output pressure corresponding with received command signal put on the pressure regulator valve of described control valve as described first pilot; Correspondingly with each described pressure regulator valve to arrange, export the operating valve of the instruction pressure corresponding with the operation amount of operating stem; Calculate described command signal based on the output characteristics of carrying out the described pressure regulator valve switched according to the operating conditions preset with the described instruction pressure exported from described operating valve, the described command signal calculated is exported to the control gear of the described pressure regulator valve corresponding with described operating valve; With the switching valve of the instruction pressure described first pilot putting on described control valve being changed to described operating valve from the output crush-cutting of described pressure regulator valve.
According to the present invention, by switching valve, the hydraulic pressure putting on control valve automatically can be switched to the instruction pressure of described operating valve as first pilot from the output pressure of described pressure regulator valve.By means of this, even if cannot electrical control comprise controller the electronic equipment relevant to pilot operated system and in the idle situation of pressure regulator valve, also by switching valve, the first pilot putting on control valve can be changed to the instruction pressure of operating valve from the output crush-cutting of pressure regulator valve, can actuate actuators with this.In addition, the first pilot inputing to control valve exports based on output characteristics, therefore by the content of regulation output characteristic, suitably can control the flow of the pressure oil flowing into each final controlling element with this according to operating conditions.
In the present invention as stated above, preferably described control gear be formed as in the operating stem meeting multiple described operating valve at least plural described operating stem by operate operating conditions time, switch with by the structure of the described output characteristics of the corresponding described pressure regulator valve of the operating valve that operates.
According to said structure, even if multiple operating stem is simultaneously operated and multiple final controlling element works simultaneously, also can by switch with by the output characteristics of the corresponding pressure regulator valve of the operating valve that operates, with this can suitably distribute with by the flow of the corresponding each final controlling element of each operating valve of operating.That is, between each final controlling element, preferentially assignment of traffic can be carried out to relatively needing the final controlling element of flow.Therefore, no matter adopt operation and multiple any mode simultaneously operated separately, operating stem can both be operated with identical operation sense (feeling), thus improve operability.
In the present invention as stated above, preferably described control gear is formed as when switching the output characteristics of described pressure regulator valve, with the structure making the described form exporting the described output pressure that pressure is greater than when not meeting described operating conditions when meeting described operating conditions switch the output characteristics of described pressure regulator valve.
According to said structure, for the final controlling element that the load being difficult to feed pressure oil is larger, output characteristics is switched with the form making the first pilot of corresponding spool increase, the minimizing of the flow in the final controlling element that offered load is large can be suppressed with this, the increase of the flow in the final controlling element that offered load is little can be suppressed by means of this.By means of this, the imbalance because driving the assignment of traffic caused simultaneously can be suppressed, suitably can carry out assignment of traffic, can with operated multiple final controlling element by the operation sense that situation about operating is identical separately.
In the present invention as stated above, preferably described control gear be formed as in order to make the flow in each final controlling element of inflow and described instruction press corresponding and switch the output characteristics of described pressure regulator valve time, export the described form exporting pressure that pressure is less than when not meeting described operating conditions to make when meeting described operating conditions described and switch the structure of the output characteristics of described pressure regulator valve.
According to said structure, for the final controlling element that the load of easy feed pressure oil is little, switch output characteristics with the form reducing the first pilot of corresponding spool, the flow of the little final controlling element of offered load can be limited with this, by means of this, the flow of the large final controlling element of offered load can be increased.By means of this, the imbalance because driving the assignment of traffic caused simultaneously can be suppressed, suitably can carry out assignment of traffic, multiple final controlling element can be operated with the operation sense identical with situation about operating separately.
In the present invention as stated above, preferably described pressure regulator valve is the proportional control solenoid valve of normal close type; The work when the output pressure coming from described pressure regulator valve is greater than the switching pressure preset of described switching valve.
According to said structure, when at pressure regulator valve situation occurred, pressure regulator valve cannot work, the output pressure of pressure regulator valve reaches and switches below pressure.By means of this, the hydraulic pressure putting on control valve as first pilot is switched the instruction pressure that valve automatically switches to operating valve.Like this, when at pressure regulator valve situation occurred, pressure regulator valve cannot work, the first pilot putting on control valve automatically switches to the instruction pressure of operating valve, can realize failure safe.
Invention effect:
According to the present invention, though when cannot electrical control comprise the electric control device of pilot operated system of controller, also can realize the control of final controlling element.
Above-mentioned purpose of the present invention, other objects, feature and advantage are with reference on the basis of accompanying drawing, are understood by the detailed description of following preferred example.
Accompanying drawing explanation
Fig. 1 is the side view of the hydraulic excavator that the drive device for hydraulic possessing example of the present invention is shown;
Fig. 2 is the circuit diagram of the oil hydraulic circuit of the drive device for hydraulic that the first example is shown;
Fig. 3 amplifies the circuit diagram that a part for the oil hydraulic circuit of the drive device for hydraulic of Fig. 2 is shown;
Fig. 4 is the flow chart of the rate-determining steps of the drive device for hydraulic that Fig. 2 is shown;
Fig. 5 (a) in Fig. 5 is the chart that the relation between instruction pressure and the operation amount of operating stem exported from operating valve is shown, Fig. 5 (b) in Fig. 5 is the chart that the relation between output pressure and the operation amount of operating stem exported from proportional control solenoid valve is shown, the Fig. 5 (c) in Fig. 5 is the chart of the relation illustrated between the aperture of position control valve and the operation amount of operating stem;
Fig. 6 is the circuit diagram of the oil hydraulic circuit of the drive device for hydraulic that the second example is shown.
Embodiment
Below, with reference to aforementioned figures, drive device for hydraulic 1 according to the first example of the present invention and the second example, 1A be described and possess the structure of hydraulic excavator 2 of this drive device for hydraulic 1,1A.In addition, the concept in the direction in example is convenient to illustrate and use, and about the structure of drive device for hydraulic 1,1A and hydraulic excavator 2, do not enlighten and the configuration of these structures and direction etc. are defined in the party upwards.Again, the structure of drive device for hydraulic 1,1A and the hydraulic excavator 2 below illustrated is an example of the present invention, the invention is not restricted to example, can increase, deletes, changes in the scope of purport not departing from invention.
< first example >
[hydraulic excavator]
As shown in Figure 1, the hydraulic excavator 2 as building machinery can by being installed on the annex of tip end portion, the various operations of such as scraper bowl 3 execution excavation and carrying etc.Hydraulic excavator 2 has the mobile devices 4 of crawler belt etc., and mobile devices 4 are rotatably mounted with solid of rotation 5.Solid of rotation 5 is formed as by the structure of rotating motor 10 described later rotary actuation, and to be formed with the driver's seat 5a taken for driver.
Again, on solid of rotation 5, joltily can be provided with the suspension rod 6 from solid of rotation 5 to tiltedly front extension in the vertical direction.Being provided with suspension rod oil cylinder 7 at suspension rod 6 with solid of rotation 5 is added, by making suspension rod oil cylinder 7 stretch, with this, relative solid of rotation 5 of suspension rod 6 being shaken.In the tip end portion of the suspension rod 6 shaken like this, the arm 8 extended to oblique inferoanterior from here can joltily be set up in the longitudinal direction.Being provided with arm oil cylinder 9 at suspension rod 6 with arm 8 is added, by making arm oil cylinder 9 stretch, with this, relative suspension rod 6 of arm 8 being shaken.In addition, in the tip end portion of arm 8, scraper bowl 3 can be joltily provided with in the longitudinal direction.In addition, although be not described in detail, scraper bowl 3 being also provided with scraper bowl oil cylinder, by making scraper bowl oil cylinder stretch, with this, scraper bowl 3 being shaken in the longitudinal direction.
The hydraulic excavator 2 formed like this possesses the final controlling element supply oil pressure to suspension rod oil cylinder 7, arm oil cylinder 9 and rotating motor 10 etc. and drives their hydraulic pressure control device 1, and plays action effect as described later.Below, the structure of drive device for hydraulic 1 is described with reference to Fig. 2 and Fig. 3.
[drive device for hydraulic]
Drive device for hydraulic 1 is made up of the oil pressure actuated loop of so-called negative control formula, and possesses oil pressure pump 11.Oil pressure pump 11 is formed as being connected with motor E, and by being discharged the structure of oil pressure with this by this motor E rotary actuation.Again, for oil pressure pump 11, adopt the variable displacement hydraulic pump with swash plate 11a, and discharge oil pressure with the flow corresponding with the angle of swash plate 11a.The discharge port 11b of the oil pressure pump 11 of such formation is connected with primary path 12.
Be provided with three valve cells 21,22,23 described later in primary path 12 intermediary, the further downstream side of valve cell 21,22,23 is connected with tank 25 by restriction 24.Again, in primary path 12, pressure release path 13 is connected with the front and back of restriction 24 with the form walking around restriction 24, is provided with Decompression valves 14 in pressure release path 13.Again, in primary path 12, the upstream side of restriction 24 and the downstream side of three valve cells 21,22,23 are connected with negative control path 15.Negative control path 15 is connected with the servopiston mechanism 16 being arranged at oil hydraulic pump 11, presses Pn by being directed in servopiston mechanism 16 after this negative control path 15 because of restriction 24 higher than the pressure of pressure tank as negative control.
Servopiston mechanism 16 has servopiston 16a, and servopiston 16a moves to the position of pressing Pn corresponding with the negative control flowed into by negative control path 15.Servopiston 16a is connected with the swash plate 11a of oil pressure pump 11, and swash plate 11a verts to the angle corresponding with the position of servopiston 16a.Specifically, when negative control pressure Pn rises, swash plate 11a verts with the form reducing its angle and reduces the discharge flow rate of oil pressure pump 11, and when negative control pressure Pn declines, swash plate 11a verts with the form increasing its angle and increases the discharge flow rate of oil pressure pump 11.
Again, primary path 12 is connected with supply passage 17, and the oil pressure of being discharged by this supply passage 17 is supplied to each final controlling element 7,9,10.Supply passage 17 in the downstream side of oil hydraulic pump 11 and the upstream side of three valve cells 21,22,23 from primary path 12 bifurcated.Supply passage 17 is also three at its downstream side bifurcated, and individual channel portion 17a, 17b, 17c of bifurcated are connected respectively with three valve cells 21,22,23.Again, three valve cells 21,22,23 are connected with tank path 18, and are connected with tank 25 by this tank path 18.
The suspension rod valve cell 21 being positioned at side, most upstream in these three valve cells 21,22,23 controls the flow direction and the flow that flow through the oil pressure of suspension rod oil cylinder 7, and the arm valve cell 23 being positioned at most downstream side controls the flow direction and the flow that flow through the oil pressure of arm oil cylinder 9.In addition, control at the rotation valve cell 22 between two valve cells 21,23 flow direction and the flow that flow through the oil pressure of the rotating motor 10 that solid of rotation 5 is rotated.These three valve cells 21,22,23, except the final controlling element difference driven, have identical structure and function.Below, describe the suspension rod structure of valve cell 21 in detail, about the structure of rotation with valve cell 22 and arm valve cell 23, mainly difference is described, and same-sign is marked with for identical structure and omits the description.Again, about the function of rotation with valve cell 22 and arm valve cell 23, mainly difference is described, identical function is omitted the description.
[suspension rod valve cell]
Suspension rod valve cell 21 has the control flow direction of oil pressure and the position control valve (control valve) 26 of flow thereof.Position control valve 26 is connected with supply passage 17, tank path 18, first discharge path 31 and the second discharge path 32.First discharge path 31 is connected with the end cap side 7a of suspension rod with oil cylinder 7, and the second discharge path 32 is connected with the piston rod side 7b of suspension rod with oil cylinder 7.Again, position control valve 26 has spool 27, according to flow direction and the flow of the positioning control oil pressure of spool 27.
More specifically, spool 27 is formed as can from neutral position M to the structure of the direction movement of the first deviation post S1 and the second deviation post S2, on the M of neutral position, primary path 12 is connected, and supply passage 17, tank path 18, first discharge path 31 and the second discharge path 32 are cut off respectively.By means of this, the discharge to the oil pressure of suspension rod oil cylinder 7 is stopped, and the motion of suspension rod 6 is stopped.On the other hand, primary path 12 is communicated with, increase with this negative control pressure Pn, the discharge flow rate of oil pressure pump 11 reduces.
When spool 27 moves from neutral position M to the direction of the first deviation post S1, supply passage 17 is connected with the first discharge path 31, and the second discharge path 32 is connected with tank path 18.By means of this, oil pressure is supplied to the end cap side 7a of suspension rod oil cylinder 7 and suspension rod oil cylinder 7 extends, and suspension rod 6 shakes upward.On the other hand, primary path 12, by spool 27 throttling, is then cut off.By means of this, negative control pressure Pn reduces, and the discharge flow rate of oil hydraulic pump 11 increases.
Again, when spool 27 moves from neutral position M to the direction of the second deviation post S2, supply passage 17 is connected with the second discharge path 32, and the first discharge path 31 is connected with tank path 18.By means of this, oil pressure is supplied to the piston rod side of suspension rod oil cylinder 7 and suspension rod oil cylinder 7 shrinks, and suspension rod 6 shakes downwards.On the other hand, primary path 12, by spool 27 throttling, is then cut off.By means of this, negative control pressure Pn reduces, and the discharge flow rate of oil pressure pump 11 increases.
The spool 27 switching linking objective is like this subject to two first pilot p of resistance mutually 1, p 2, spool 27 moves to and first pilot p 1, p 2corresponding position.That is, position control valve 26 makes and first pilot p 1, p 2corresponding direction and the oil pressure of flow are supplied in suspension rod oil cylinder 7.These two first pilot p 1, p 2imported by the first first guiding path 34 and the second first guiding path 35.
First first guiding path 34 is provided with the first switching valve 41, and this first switching valve 41 is connected respectively with operating valve 36 and the first proportional control solenoid valve (pressure regulator valve) 42.First switching valve 41 is formed as accepting the output pressure coming from the first proportional control solenoid valve 42 as first pilot, and make the first first guiding path 34 be connected with operating valve 36 when this first pilot is below authorized pressure, when first pilot exceedes authorized pressure, the linking objective of the first first guiding path 34 is switched to the structure of the output pressure coming from the first proportional control solenoid valve 42 from operating valve 36.
Again, in the second first guiding path 35, be provided with the second switching valve 44, second switching valve 44 too to be connected respectively with operating valve 36 and the second proportional control solenoid valve (pressure regulator valve) 45.Second switching valve 44 is formed as accepting the output pressure coming from the second proportional control solenoid valve 45 as first pilot, when this first pilot is below authorized pressure, second first guiding path 35 is connected with operating valve 36, when first pilot exceedes authorized pressure, the linking objective of the second first guiding path 35 is switched to the structure of the output pressure coming from the second proportional control solenoid valve 45 from operating valve 36.
By the first switching valve 41(or the second switching valve 44), can will put on the hydraulic pressure of position control valve 26 as first pilot from the first proportional control solenoid valve 42(or the second proportional control solenoid valve 45) output crush-cutting be changed to the instruction pressure of operating valve 36.By means of this, even if in the first proportional control solenoid valve 42(or the second proportional control solenoid valve 45) situation occurred and in idle situation, also can pass through the first switching valve (or second switching valve 44) and will the first pilot of position control valve 26 be put on from the first proportional control solenoid valve 42(or the second proportional control solenoid valve 45) output crush-cutting be changed to the instruction pressure of operating valve 36, with this actuate actuators as usual.
Even if that is, when cannot electrical control comprise relevant to the pilot operated system electronic equipment of control gear 50 described later, also can realize the control as usual of final controlling element, therefore can realize the failure safe of fluid pressure drive device.
As the direct proportaion control valve that the first proportional control solenoid valve 42 of pressure regulator valve and the second proportional control solenoid valve 45 are so-called normal close types.Each proportional control solenoid valve 42,45 is connected with pioneer pump 47, and pioneer pump 47 is connected (not shown) with motor E, and is formed as the structure of being discharged oil pressure by motor E rotary actuation.The oil pressure coming from pioneer pump 47 is adjusted to the output corresponding with the electric current flowing through this proportional control solenoid valve 42,45 and presses and export to respectively in each solenoid valve path 43,46 by each proportional control solenoid valve 42,45.
Export pressure and export solenoid valve path 43,46 to, such as first exports pressure exports the first solenoid valve path 43 to from the first proportional control solenoid valve 42, when this output pressure is pressed more than the switching of the first switching valve 41, by the first switching valve 41, the linking objective of the first first guiding path 34 is switched to the first solenoid valve path 43.By means of this, first exports pressure as the first first pilot p 1input in position control valve 26.On the other hand, when the output coming from the first proportional control solenoid valve 42 is forced down in described switching pressure, the linking objective of the first first guiding path 34 is passed through the first switching valve 41 from the first proportional control solenoid valve 42 switching valve operating valve 36.
Again, the second output pressure is exported to the second solenoid valve path 46 from the second proportional control solenoid valve 45, when this output pressure is pressed more than the switching of the second switching valve 44, by the second switching valve 44, the linking objective of the second first guiding path 35 is switched to the second solenoid valve path 46.By means of this, second exports pressure as the second first pilot p 2input to position control valve 26.On the other hand, when the output coming from the second proportional control solenoid valve 45 is forced down in described switching pressure, the linking objective of the second first guiding path 35 is switched to operating valve 36 by the second switching valve 44 from the second proportional control solenoid valve 45.
Operating valve 36 has operating stem 37, and is exported to the direction corresponding with the direction of operating of operating stem 37 by the oil pressure corresponding with the operation amount of operating stem 37.Further specifically, operating valve 36 is connected with pioneer pump 47, and has the first operating valve path 48 and the second operating valve path 49.First operating valve path 48 is connected with the first switching valve 41, and the second operating valve path 49 is connected with the second switching valve 44.Operating valve 36 is when operating stem 37 operates to first direction (such as front), export the first instruction pressure corresponding with the operation amount of operating stem 37 to first operating valve path 48, again, when operating stem 37 operates to second direction (such as rear), export the second instruction pressure corresponding with the operation amount of operating stem 37 to second operating valve path 49.
Again, the first operating valve path 48 is provided with the first pressure transducer PS1 of the first instruction pressure that detection exports from here.Again, the second operating valve path 49 is provided with the second pressure transducer PS2 of the second instruction pressure that detection exports from here.These two pressure transducers PS1, PS2 are electrically connected with control gear 50 together with aforementioned two proportional control solenoid valve 42,45.
Control gear 50 obtains the first instruction pressure and the second instruction pressure respectively from two pressure transducer PS1 and PS2, detects the serviceability (operation amount and direction of operating) of operating stem 37 based on the first instruction pressure obtained and the second instruction pressure.Again, control gear 50 makes electric current (command signal) flow through two proportional control solenoid valve 42,45, and the command signal of output is operation amount based on the output characteristics preset and operating stem 37 and determines.By the output characteristics of the proportional control solenoid valve 42,45 of multiple decision command signal, (such as the first output characteristics described later ~ the 3rd output characteristics) in control gear 50 is stored in for each proportional control solenoid valve 42,45.Control gear 50 judges whether the working state of drive device for hydraulic 1 meets the operating conditions of regulation, determines to use which output characteristics based on this result of determination; The determining method of output characteristics is specifically aftermentioned, (namely operating conditions such as comprises the working state of other valve cell 22,23, the serviceability of other operating stem 37), the rotating speed of motor E, oil temperature, the rotating speed of motor E, oil temperature are detected by not shown sensor.
In the suspension rod valve cell 21 formed like this, when operating stem 37 is exported the first instruction pressure to first direction operation from operating valve 36, the first pressure transducer PS1 detects the first instruction pressure, and the first instruction Hair Fixer of detection delivers to control gear 50.So control gear 50 judges which operating conditions is the working state of drive device for hydraulic 1 meet, and based on the output characteristics that calculate of this result of determination Selection utilization in command signal.Afterwards, control gear 50 calculates based on the output characteristics selected and presses corresponding command signal with the first instruction.The command signal calculated flows into the first proportional control solenoid valve 42 by control gear 50, and first of the pressure that and instruction signal is corresponding exports pressure and exports the first solenoid valve path 43 to by the first proportional control solenoid valve 42.This path 43 pressure higher than the first switching valve preset switching pressure time, by the first switching valve 41, the linking objective of the first first guiding path 34 is switched to the first solenoid valve path 43 from the first operating valve path 48, and first exports pressure as the first first pilot p 1input to position control valve 26.By means of this, by spool 27 by the first first pilot p 1direction to the first deviation post S1 promotes.By means of this, be directed into the end cap side 7a of suspension rod oil cylinder 7, thus promote suspension rod 6 upward.
On the other hand, when operating stem 37 is exported the second instruction pressure to second direction operation from operating valve 36, the second pressure transducer PS2 detects the second instruction pressure, and the second instruction Hair Fixer of detection delivers to control gear 50.So control gear 50 judges which operating conditions is the working state of drive device for hydraulic 1 meet, and based on the output characteristics that calculate of this result of determination Selection utilization in command signal.Afterwards, control gear 50 calculates based on the output characteristics selected and presses corresponding command signal with the second instruction.The command signal calculated flows into the second proportional control solenoid valve 45 by control gear 50, and second of the pressure that and instruction signal is corresponding exports pressure and exports the second solenoid valve path 46 to by the second proportional control solenoid valve 45.This path 46 pressure higher than the second switching valve preset switching pressure time, by the second switching valve 41, the linking objective of the second first guiding path 35 is switched to the second solenoid valve path 46 from the second operating valve path 49, and second exports pressure as the second first pilot p 2input to position control valve 26.By means of this, by spool 27 by the second first pilot p 2direction to the second deviation post S2 promotes.By means of this, be directed into the end cap side 7b of suspension rod oil cylinder 7, thus suspension rod 6 declines downwards.
In the control gear 50 controlled like this, detected the working state of drive device for hydraulic 1 by various sensor, determine whether to meet any one operating conditions based on this testing result, and the output characteristics of choice for use.Such as, control gear 50 is judged to meet the oil temperature detected by oil temperature sensor when being the such operating conditions of more than the first set point of temperature preset, control gear 50 is selected to make oil pressure be not easy to flow into such output characteristics (that is, reduce to flow through the electric current of each proportional control solenoid valve 42,45 relative to instruction pressure and reduce the such output characteristics exporting pressure) of suspension rod oil cylinder 7.By means of this, the flow of the oil pressure flowing into suspension rod oil cylinder 7 can be limited, thus the glut to suspension rod oil cylinder 7 of generation when can suppress suspension rod 6 work beginning under the hot environment that viscosity is lower, slow down the impact produced because of glut.
On the contrary, when to be judged to not meet the oil temperature detected by oil temperature sensor be the such operating conditions of more than another second set point of temperature (< first set point of temperature) to control gear 50, control gear 50 is selected to make oil pressure easily flow into such output characteristics (that is, increasing enter the electric current of proportional control solenoid valve 42,45 relative to instruction baric flow and increase the such output characteristics exporting pressure) of suspension rod oil cylinder 7.By means of this, can increase the flow of the oil flowing into suspension rod oil cylinder 7, the supply to suspension rod oil cylinder 7 suppressing suspension rod 6 under the low temperature environment that viscosity is high to work to occur when starting is very few, eliminates because supplying very few that the work of suspension rod 6 that is that occur is slow.
Similarly, also can using the rotating speed of motor E as operating conditions, when rotating speed is larger, control gear 50 selectional restriction is made to flow into the flow of the oil pressure of suspension rod oil cylinder 7 and slow down such output characteristics of impact when work starts, when rotating speed is less, slow such output characteristics when making control gear 50 selection make oil pressure easily flow into suspension rod oil cylinder 7 from suspension rod valve cell 21 and can eliminate suspension rod 6 works.Again, also can using the load of suspension rod 6 as operating conditions, limited flow or permissible flow according to this load.
In the suspension rod valve cell 21 making suspension rod 6 work like this, spool 27 is made to move to the corresponding position of and instruction signal.Therefore, by changing the content of output characteristics, the flow flowing into suspension rod oil cylinder 7 can be suppressed along with operation conditions change with this.By means of this, the actuating speed of the suspension rod oil cylinder 7 of the operation amount relative to operating stem 37 can be suppressed along with operation conditions change.
In the past, in order to change the actuating speed of the suspension rod oil cylinder 7 of the operation amount relative to operating stem 37, need the aperture of regulating spool 27, or need replacing to be arranged at spring 27a, 27b of spool 27 to resist each first pilot p respectively 1, p 2.In contrast, the content of output characteristics can be changed by control gear 50, change the actuating speed of the suspension rod oil cylinder 7 of the operation amount relative to operating stem 37 with this, therefore easily regulate the actuating speed of the suspension rod oil cylinder 7 relative to the operation amount of operating stem 37.
Again, at suspension rod with in valve cell 21, adopt each proportional control solenoid valve 42,45 of normal close type, therefore when they (work also comprising controller are bad) such as the problems of electrical system occur and cannot work, export pressure and do not export solenoid valve path 43,46 to.So even if after the operation of operating stem 37, the linking objective of first guiding path 34,35 is also still connected with path 48,49 with each operating valve and does not switch to solenoid valve path 43,46.Therefore, electrical control cannot comprise the electronic equipment relevant to pilot operated system of control gear 50, and in the idle situation of each proportional control solenoid valve 42,45, the instruction pressure exported from operating valve 36 puts on position control valve 26.Therefore, even if each proportional control solenoid valve 42,45 does not work, suspension rod oil cylinder 7 also can be made to work, thus failure safe can be realized in suspension rod valve cell 21.
[rotation valve cell]
In rotation with in valve cell 22, the first discharge path 31 and the second discharge path 32 are connected with rotating motor 10.Rotating motor 10 is so-called hydraulic motors, has two port ones 0a, 10b.Rotating motor 10 carries out positive rotation and reverse rotation according to port one 0a, 10b of being supplied to oil pressure, and the first discharge path 31 is connected with the first port 10a, and the second discharge path 32 is connected with the second port one 0b.
In the rotation valve cell 22 formed like this, when spool 27 is positioned at neutral position M, stop the discharge to the oil pressure of rotating motor 10 and the rotation of the body 5 that stops the rotation.When spool 27 is positioned at the first deviation post S1, rotating motor 10 carries out dextrorotation then solid of rotation 5 is rotated, and when spool 27 is positioned at the second deviation post S2, rotating motor 10 carries out reverse rotation and solid of rotation 5 is rotated.
Again, in rotation with in valve cell 22, the 3rd pressure transducer PS3 detecting the first instruction pressure is arranged at the first operating valve path 48, and the 4th pressure transducer PS4 detecting the second instruction pressure is arranged at the second operating valve path 49.3rd pressure transducer PS3 and the 4th pressure transducer PS4 and control gear 50 are electrically connected, and control gear 50 obtains the first instruction pressure and the second instruction pressure from the 3rd pressure transducer PS3 and the 4th pressure transducer PS4.
In the rotation valve cell 22 formed like this, first select with control gear 50 the corresponding output characteristics of the operating conditions that meets.In addition, operating conditions and output characteristics set independently for each valve cell 21,22,23 and each proportional control solenoid valve 42,45.And, calculate based on selected output characteristics and to press with the first instruction sent from the 3rd pressure transducer PS3 and the 4th pressure transducer PS4 or corresponding command signal is pressed in the second instruction.Such as, when operating stem 37 operates to first direction, control gear 50 makes to press corresponding command signal to flow through the first proportional control solenoid valve 42 with exporting based on selected output characteristics.By means of this, spool 27 moves to the first deviation post S1, and the oil pressure of the flow that and instruction signal is corresponding is supplied to the first port 10a of rotating motor 10.On the other hand, when operating stem 37 operates to second direction, control gear 50 makes to press corresponding command signal to flow through the second proportional control solenoid valve 45 with exporting based on selected output characteristics.By means of this, spool 27 moves to the second deviation post S2, and the oil pressure of the flow that and instruction signal is corresponding is supplied to the second port one 0b.
Like this, in rotation with in valve cell 22, calculate command signal based on the output characteristics selected by the working state of drive device for hydraulic 1, therefore identically with suspension rod valve cell 21 can reduce rotating motor 10 and to work impact when starting and slow.Again, in rotation with in valve cell 22, when the work of rotating motor 10 starts with the formal character output characteristics of the aperture of throttling position control valve 26, can prevent the oil of more high pressure from flowing in rotating motor 10 with this, thus can energy-saving be realized.
[arm valve cell]
At arm with in valve cell 23, the first discharge path 31 and the second discharge path 32 and arm the end cap side 9a of oil cylinder 9 and piston rod side 9b are connected respectively.Arm oil cylinder 9 extends when its end cap side 9a is supplied to oil pressure, shrinks when its piston rod side 9b is supplied to oil pressure.
The arm valve cell 23 be connected with oil cylinder 9 with arm like this, when its spool 27 is positioned at neutral position M, stops discharge to the oil pressure of arm oil cylinder 9 and stop arm 8 is moved.Again, arm valve cell 23 is when spool 27 is positioned at the first deviation post S1, end cap side 9a to arm oil cylinder 9 supplies oil pressure and rearward shakes (pulling side) arm 8, when spool 27 is positioned at the second deviation post S2, supply oil pressure and forwards (promotion side) swing arm 8 to the arm piston rod side 9b of oil cylinder 9.
Again, at arm with in valve cell 23, the 5th pressure transducer PS5 detecting the first instruction pressure is arranged at the first operating valve path 48, and the 6th pressure transducer PS6 detecting the second instruction pressure is arranged at the second operating valve path 49.5th pressure transducer PS5 and the 6th pressure transducer PS6 and control gear 50 are electrically connected, and control gear 50 obtains the first instruction pressure and the second instruction pressure from the 5th pressure transducer PS5 and the 6th pressure transducer PS6.
In the arm valve cell 23 formed like this, first select with control gear 50 the corresponding output characteristics of the operating conditions that meets.Then, control gear 50 calculates command signal based on the first instruction pressure sent by the 5th pressure transducer PS5 and the 6th pressure transducer PS6 according to selected output characteristics or the second instruction pressure.Such as, when being operated to first direction by operating stem 37, control gear 50 makes to press corresponding command signal to flow through the first proportional control solenoid valve 42 with exporting based on selected output characteristics.By means of this, spool 27 moves to the first deviation post S1 direction, and the oil pressure of and instruction signal and the corresponding flow of load pressure is supplied to the end cap side 9a of arm oil cylinder 9.On the other hand, when being operated to second direction by operating stem 37, control gear 50 makes to press corresponding command signal to flow through the second proportional control solenoid valve 45 with exporting based on selected output characteristics.By means of this, spool 27 moves to the second deviation post S2 direction, and the oil pressure of and instruction signal and the corresponding flow of load pressure is supplied to the piston rod side 9b of arm oil cylinder 9.
Like this, at arm with in valve cell 23, calculate command signal based on the output characteristics of carrying out selecting according to the working state of drive device for hydraulic 1, the impact when action that therefore can reduce arm oil cylinder 9 starts identically with suspension rod valve cell 21 and slow.
[function of drive device for hydraulic]
In drive device for hydraulic 1, as mentioned above when the operating stem 37 of each valve cell 21,22,23 is by operation, the output pressure corresponding with its direction of operating exports from operating valve 36.When being detected the output pressure exported by any one in pressure transducer PS1 ~ PS6, control gear 50 flows through the proportional control solenoid valve 42,45 corresponding with operated operating valve 36 or operating stem 37 to make command signal, and the output characteristics of proportional control solenoid valve 42,45 corresponding to selecting according to the operating conditions of drive device for hydraulic 1, calculate command signal based on selected output characteristics.When operating stem 37 is operated individually respectively, control gear 50 is except when action as described above starts, substantially select the first output characteristics as benchmark, and make the command signal corresponding with the operation amount of operating stem 37 flow through proportional control solenoid valve 42,45 based on this first output characteristics.By means of this, export the corresponding output pressure of and instruction signal from proportional control solenoid valve 42,45, each final controlling element 7,9,10 can be made to move with the actuating speed corresponding with the operation amount of corresponding operating stem 37 and the load pressure of each final controlling element.
On the other hand, when being operated by plural operating stem 37 simultaneously, following function is played.When being detected that instruction is pressed by the two or more in multiple pressure transducer PS1 ~ PS6, control gear 50 is selected to make proportional control solenoid valve 42,45 export the output characteristics of pressure.Here, control gear 50 is judged to be that meeting plural operating stem 37 is simultaneously operated such operating conditions, therefore selects output characteristics based on this result of determination, calculates the command signal exporting each proportional control solenoid valve 42,45 to.
About selected output characteristics more specifically, in the valve cell 21,22,23 that operating stem 37 is simultaneously operated, for larger one of its load of final controlling element 7,9,10 driven, the second output characteristics that the command signal selecting to export proportional control solenoid valve 42,45 to is large compared with the first output characteristics.When selecting this second output characteristics, the aperture of position control valve 26 is large compared with the situation of the first output characteristics, and the flow flowing into the oil final controlling element 7,9,10 from this position control valve 26 increases, and the flow flowing into other final controlling element 7,19 reduces.
Again, also can be formed as following structure: in the valve cell 21,22,23 that operating stem 37 is simultaneously operated contrary to the abovely, for less one of its load of final controlling element 7,9,10 driven, the second output characteristics that the command signal selecting to export proportional control solenoid valve 42,45 to is large compared with the first output characteristics.
Therefore, when plural operating stem 37 is simultaneously operated and when being operated separately, the corresponding relation between the operating rate of final controlling element 7,9,10 and the operation amount of operating stem 37 is had any different.
As mentioned above, change output characteristics by the serviceability according to operating stem 37, the flow of the pressure oil flowed in each final controlling element 7,9,10 can be controlled with this according to the output characteristics of each proportional control solenoid valve.Again, by the content of regulation output characteristic, the assignment of traffic of the pressure oil flowed in each final controlling element 7,9,10 can be regulated with this.Be formed as no matter adopting independent for operating stem 37 and multiple any mode operated simultaneously in this example, suitably can both select the structure of the output characteristics of each proportional control solenoid valve corresponding with operated operating stem 37.
Below, so that the operating stem 37 of suspension rod valve cell 21 is specifically described with reference to the flow chart of Fig. 4 and the chart of Fig. 5 (a) ~ Fig. 5 (c) for the situation promoting the formal operations of suspension rod 6.In addition, the longitudinal axis of Fig. 5 (a) ~ Fig. 5 (c) represents the opening area of the first output pressure of the first instruction pressure of the operating valve 36 of suspension rod valve cell 21, the first proportional control solenoid valve of suspension rod valve cell 21 and the position control valve 26 of suspension rod valve cell 21, and transverse axis represents the operation amount of the operating stem 37 of suspension rod valve cell 21.
When the operating stem 37 of suspension rod valve cell 21 is exported the first instruction pressure to first direction operation from operating valve 36, control gear 50 detects that suspension rod 6 carries out enhancing action and performs suspension rod lifting process, and is transferred to step ST1.In step ST1, control gear 50 judges whether the operating stem 37 of rotation valve cell 22 is operated.That is, control gear 50 judges whether as authorized pressure (such as 0.05MPa) below the output pressure that to be detected respectively by the 3rd pressure transducer PS3 and the 4th pressure transducer PS4.When being judged to be that the output pressure detected by the 3rd pressure transducer PS3 and the 4th pressure transducer PS4 is below authorized pressure, be transferred to step ST2.In step ST2, whether to first direction operation, i.e. the 5th pressure transducer PS5 and the 6th pressure transducer PS6 whether as authorized pressure (such as 0.05MPa) below to judge the operating stem 37 of arm valve cell 23.When the output pressure being judged to be detected respectively by the 5th pressure transducer PS5 and the 6th pressure transducer PS6 is below authorized pressure, be transferred to step ST3.
Control gear 50, by being transferred to step ST3, performs the control when being judged to be that the operating stem 37 of suspension rod valve cell 21 is separately operation with this.In step ST3, first the first output characteristics selected by control gear 50.The characteristic of this output pressure has the characteristic identical with the output pressure of operating valve (instruction pressure).Calculate based on this first output characteristics and press corresponding command signal with the first instruction detected by the first pressure transducer PS1.When being calculated, be transferred to step ST4.
In step ST4, the command signal calculated by control gear 50 is made to flow through the first proportional control solenoid valve 42 of suspension rod valve cell 21.So, relative to the output pressure (instruction pressure) of the operating valve 36 that the operation amount of operating stem 37 relative as shown in Fig. 5 (a) merely increases, export the operation amount of relative operating stem 37 from the first proportional control solenoid valve 42 as shown in the solid line of Fig. 5 (b) first exports pressure.By exporting the first such output pressure, change as shown in the solid line of Fig. 5 (c) with the operation amount of the relative operating stem 37 of the aperture of the position control valve 26 of this suspension rod valve cell 21.By means of this, the oil pressure of the flow corresponding with the operation amount of operating stem 37 and load pressure (pressure of the end cap side 7a of suspension rod oil cylinder) is directed into the end cap side 7a of suspension rod oil cylinder 7, and suspension rod is with the actuating speed work corresponding with this flow.
On the other hand, when being judged to be that in step ST2 the 5th pressure transducer PS5 and the 6th pressure transducer PS6 exceedes authorized pressure, step ST5 is transferred to.Control gear 50 performs the control when being judged to be that the operating stem 37 of suspension rod valve cell 21 and arm valve cell 23 is simultaneously operated in step ST5.In step ST5, first, the second output characteristics of the first proportional control solenoid valve 42 about suspension rod valve cell 21 selected by control gear 50.This second output characteristics have its export be pressed in lower than the switching pressure of switching valve scope in press identical characteristic with the instruction of operating valve.Control gear 50 is calculated based on this second output characteristics and presses corresponding command signal with the first instruction detected by the first output transducer PS1.After calculating, be transferred to step ST4.
In step ST4, control gear 50 makes the command signal calculated flow into the first proportional control solenoid valve 42 of suspension rod valve cell 21.So, relative to the output pressure (instruction pressure) of the operating valve 36 that the operation amount of operating stem 37 relative as shown in Fig. 5 (a) merely increases, export the operation amount of relative operating stem 37 from the first proportional control solenoid valve 42 as shown in the single dotted broken line of Fig. 5 (b) first exports pressure.By exporting the first such output pressure, change as shown in the single dotted broken line of Fig. 5 (c) with the operation amount of the relative operating stem 37 of the aperture of the position control valve 26 of this suspension rod valve cell 21.That is, for the aperture of suspension rod with the position control valve 26 of valve cell 21, the opening of the position control valve 26 of suspension rod valve cell 21 is opened larger compared with the situation (solid line of Fig. 5 (c)) operated separately.
The load of suspension rod oil cylinder 7 is greater than arm oil cylinder 9, and therefore when two operating stem 37 are simultaneously operated, oil pressure is difficult to flow in suspension rod oil cylinder 7.By increasing the opening of the suspension rod position control valve 26 of valve cell 21, the minimizing of the flow of the oil pressure flowed in suspension rod oil cylinder 7 can be suppressed with this.And, by the correction of instruction execution signal in control gear 50, even if be simultaneously operated with these two operating stem 37, suspension rod oil cylinder 7 and arm oil cylinder 9 also can be made to drive with the actuating speed of the operation amount of faithful to corresponding operating stem 37.
In addition, based on the proportional control solenoid valve 42,45 of the command signal inflow arm valve cell 23 that the first output characteristics calculates, from the output pressure of proportional control solenoid valve 42,45 output example as shown in the solid line of Fig. 5 (b) of arm valve cell 23.But, be not limited to the situation selecting the first output characteristics like this, control gear 50 also can be made to select the 3rd output characteristics described later to reduce the flow of the oil flowing into arm valve cell 23 and calculate command signal based on the 3rd output characteristics.
Again, be judged to be in the 3rd pressure transducer PS3 and the 4th pressure transducer PS4 in step ST1 any one when exceeding authorized pressure, be transferred to step ST6.Control gear 50, by being transferred to step ST6, performs the control when being judged to be that the operating stem 37 of suspension rod valve cell 21 and rotation valve cell 22 is simultaneously operated with this.In step ST6, first, the 3rd output characteristics of the first proportional control solenoid valve 42 about suspension rod valve cell 21 selected by control gear 50.3rd output characteristics also have its export be pressed in lower than the switching pressure of switching valve scope in press identical characteristic with the instruction of operating valve.Calculate based on the 3rd output characteristics and press corresponding command signal with the first instruction detected by the first pressure transducer PS1.Step ST4 is transferred to after calculating.
In step ST4, control gear 50 makes the command signal calculated flow through the first proportional control solenoid valve 42 of suspension rod valve cell 21.So, relative to the output pressure of the operating valve 36 that the operation amount of operating stem 37 relative as shown in Fig. 5 (a) merely increases, export the output pressure as shown in the double dot dash line of Fig. 5 (b) of the operation amount of relative operating stem 37 from the first proportional control solenoid valve 42.By exporting such output pressure, change as shown in the double dot dash line of Fig. 5 (c) with the operation amount of the relative operating stem 37 of the aperture of the position control valve 26 of this suspension rod valve cell 21.That is, for the aperture of suspension rod with the position control valve 26 of valve cell 21, the opening of the position control valve 26 of suspension rod valve cell 21 is by throttling compared with the situation (solid line of Fig. 5 (c)) operated separately.
The load of suspension rod oil cylinder 7 is less than rotating motor 10, therefore when two operating stem 37 are simultaneously operated, oil pressure preferentially flows in suspension rod oil cylinder 7, but by the opening of throttling suspension rod with the position control valve 26 of valve cell 21, the increase of the flow of the oil pressure flowed in suspension rod oil cylinder 7 can be suppressed with this.And, by the correction of instruction execution signal in control gear 50, even if be simultaneously operated with these two operating stem 37, suspension rod oil cylinder 7 and rotation oil cylinder 10 also can be made to drive with the actuating speed of the operation amount of faithful to corresponding operating stem 37.
In addition, based on the proportional control solenoid valve 42,45 of the command signal inflow rotation valve cell 22 that the first output characteristics calculates, from the output pressure of proportional control solenoid valve 42,45 output example as shown in the solid line of Fig. 5 (b) of rotation valve cell 22.But, be not limited to the situation selecting the first output characteristics like this, control gear 50 also can be made to select the second output characteristics to increase the flow of the oil flowing into rotation valve cell 22 and calculate command signal based on this second output characteristics.
In the drive device for hydraulic 1 worked like this, according to the output characteristics of the working state switching command signal of drive device for hydraulic 1, therefore the oil of the flow of the operation amount of extremely faithful to operating stem 37 can be supplied in each final controlling element 7,9,10.By means of this, the Decompression valves work of rotating motor 10, thus the energy ezpenditure as form releases such as heat can be reduced, the energy-saving of drive device for hydraulic 1 can be sought.
Again, in drive device for hydraulic 1, as mentioned above, by the content of regulation output characteristic, the actuating speed of the final controlling element 7,9,10 relative to the operation amount of operating stem 37 can be changed with this.Therefore, as long as minimally carry out adopting oil pressure leading type to control the such adjustment of the situation of (control using the instruction pressure of operating valve uses as the pilot signal of control valve) (namely, the setting of optimal aperture area), the exploitation man-hour of drive device for hydraulic 1 can be shortened.
< second example >
The drive device for hydraulic 1A of the second example and drive device for hydraulic 1 similar of the first example.Below, for the structure of the drive device for hydraulic 1A of the second example, the difference of the drive device for hydraulic 1 of main explanation and the first example, is marked with same-sign for identical structure and the description thereof will be omitted.
Drive device for hydraulic 1A is made up of the oil pressure actuated loop of positive control mode, and primary path 12A is not directly connected with tank 25 by restriction 24.Again, in drive device for hydraulic 1A, pioneer pump 47 is connected with servopiston mechanism 16 by positive control path 15A, is provided with solenoid valve 19 in positive control path 15A.
Solenoid valve 19 is solenoid electric valves of normal close type, reduces pressure the oil pressure of discharging from pioneer pump 47 for pressing p as positive control after the pressure corresponding with the electric current flowing into solenoid valve 19 pexport.The positive control pressure p exported like this pbe directed into servopiston mechanism 16, servopiston 16a moves to and presses p with this positive control pcorresponding position.By means of this, swash plate 11a verts to positive control and presses p pcorresponding angle.
The solenoid valve 19 formed like this is connected with control gear 50, and control gear 50 determines to flow through the electric current of solenoid valve 19 based on the output pressure obtained from each pressure transducer PS1 ~ PS6.Such as, control gear 50 makes to press corresponding electric current with the output obtained, namely correspondingly make larger electric current flow through solenoid valve 19 when exporting and pressing large, correspondingly makes less electric current flow through solenoid valve 19 when exporting pressure and being less.That is, control gear 50 makes the electric current corresponding with the operation amount of operating stem 37 flow through solenoid valve 19, and the oil of the flow corresponding with this operation amount is exported from oil pressure pump 11.
Again, control gear 50 also regulates according to the number detecting the pressure transducer PS1 ~ PS6 exporting pressure the electric current flowing through solenoid valve 19, makes the larger electric current corresponding with this number flow through solenoid valve 19 when being detected by multiple pressure transducer PS1 ~ PS6 and export pressure simultaneously.That is, control gear 50 makes the electric current corresponding with the number of the operating stem 37 be simultaneously operated flow through solenoid valve 19, and the oil of the flow corresponding with this operation amount is exported from oil pressure pump 11.But the maximum value flowing through the electric current of solenoid valve 19 is preset, above-mentioned control performs in the scope being no more than maximum value.
The drive device for hydraulic 1A of such formation except application positive control mode oil pressure actuated loop and except the action effect that produces, play the action effect identical with the drive device for hydraulic 1 of the first example.
Other examples of < >
In drive device for hydraulic 1,1A, control gear 50 switches the output characteristics being mainly used in calculating the command signal of the first proportional control solenoid valve 42 flowing through suspension rod valve cell 21, but control gear 50 also can be made to switch the output characteristics of the command signal of the proportional control solenoid valve 42,45 for calculating rotation the valve cell 22 or arm valve cell 23 flowing through and work simultaneously.Now, also can with the working state of drive device for hydraulic 1 independently, the output characteristics for calculating the command signal flowing through the first proportional control solenoid valve 42 is not switched from the first output characteristics.
The final controlling element being undertaken driving by drive device for hydraulic 1,1A is not limited to said structure, can be also scraper bowl oil cylinder, turns to oil cylinder or travel drive motor.Again, oil pressure pump 11 there is no need must be the pump of variable capacity type, and can be the pump of fixed capacity type, also can be the pump of inclined shaft type.Again, rotary actuation oil pressure pump 11 is not limited to be motor, also can be motor.In addition, proportional control solenoid valve 42,45 preferably normal close type, but also can be the proportional control solenoid valve of open type.Again, the pressure liquid used as work pressure is not limited to oil, also can be water and other liquid etc.
Based on above-mentioned explanation, those skilled in the art can understand more improvement of the present invention and other examples etc.Therefore, the explanation of above-mentioned explanation only exemplarily property, is intended to provide instruction to implement most preferred form of the present invention to those skilled in the art.Without departing from the spirit of the invention within the scope, the particular content of its structure and/or function can be changed in fact.
Symbol description:
1,1A drive device for hydraulic;
2 hydraulic excavators;
7 suspension rod oil cylinders;
9 arm oil cylinders;
10 rotating motors;
11 oil pressure pumps;
26 position control valves (control valve);
27 spools;
36 operating valves;
37 operating stem;
41 first switching valves;
42 first proportional control solenoid valve (pressure regulator valve);
44 second switching valves;
45 second proportional control solenoid valve (pressure regulator valve);
50 control gear.

Claims (5)

1. a fluid pressure drive device, is be connected with multiple final controlling element, the pressure liquid of discharging from oil hydraulic pump is supplied to described final controlling element respectively and drives the fluid pressure drive device of each described final controlling element, possessing:
Correspondingly with each described final controlling element to arrange, make to press the pressure liquid of corresponding flow to be supplied to the control valve of described final controlling element with the load of the first pilot be subject to and described final controlling element;
Be arranged at least one in described control valve, the output pressure corresponding with received command signal put on the pressure regulator valve of described control valve as described first pilot;
Correspondingly with each described pressure regulator valve to arrange, export the operating valve of the instruction pressure corresponding with the operation amount of operating stem;
Calculate described command signal based on the output characteristics of carrying out the described pressure regulator valve switched according to the operating conditions preset with the described instruction pressure exported from described operating valve, the described command signal calculated is exported to the control gear of the described pressure regulator valve corresponding with described operating valve; With
The described first pilot putting on described control valve is changed to the switching valve of the instruction pressure of described operating valve from the output crush-cutting of described pressure regulator valve.
2. fluid pressure drive device according to claim 1, it is characterized in that, described control gear be formed as in the operating stem meeting multiple described operating valve at least plural described operating stem by operate operating conditions time, switch with by the structure of the described output characteristics of the corresponding described pressure regulator valve of the operating valve that operates.
3. fluid pressure drive device according to claim 1 and 2, it is characterized in that, described control gear is formed as when switching the output characteristics of described pressure regulator valve, with the structure making the described form exporting the described output pressure that pressure is greater than when not meeting described operating conditions when meeting described operating conditions switch the output characteristics of described pressure regulator valve.
4. fluid pressure drive device according to claim 1 and 2, it is characterized in that, described control gear is formed as when switching the output characteristics of described pressure regulator valve, with the structure making the described form exporting the described output pressure that pressure is less than when not meeting described operating conditions when meeting described operating conditions switch the output characteristics of described pressure regulator valve.
5. the fluid pressure drive device according to claim 3 or 4, is characterized in that,
Described pressure regulator valve is the proportional control solenoid valve of normal close type;
The work when the output pressure coming from described pressure regulator valve is less than the switching pressure preset of described switching valve.
CN201480001593.1A 2013-01-25 2014-01-20 Hydraulic pressure drive device Pending CN104364535A (en)

Applications Claiming Priority (3)

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CN107429715A (en) * 2015-03-13 2017-12-01 川崎重工业株式会社 Oil hydraulic system
CN109790700A (en) * 2017-09-13 2019-05-21 日立建机株式会社 Work machine
CN110520635A (en) * 2017-04-28 2019-11-29 川崎重工业株式会社 Fluid power system
CN111356844A (en) * 2017-11-22 2020-06-30 川崎重工业株式会社 Oil pressure driving system
CN112189098A (en) * 2018-06-11 2021-01-05 日立建机株式会社 Working machine
CN112443522A (en) * 2019-09-03 2021-03-05 川崎重工业株式会社 Hydraulic system for construction machine
TWI747174B (en) * 2020-02-25 2021-11-21 國立虎尾科技大學 Position controlling system

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CN115362296A (en) * 2021-01-27 2022-11-18 株式会社久保田 Working machine
WO2022163303A1 (en) * 2021-01-27 2022-08-04 株式会社クボタ Work machine

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Publication number Priority date Publication date Assignee Title
CN107429715A (en) * 2015-03-13 2017-12-01 川崎重工业株式会社 Oil hydraulic system
CN110520635A (en) * 2017-04-28 2019-11-29 川崎重工业株式会社 Fluid power system
CN110520635B (en) * 2017-04-28 2020-11-06 川崎重工业株式会社 Hydraulic drive system
CN109790700A (en) * 2017-09-13 2019-05-21 日立建机株式会社 Work machine
CN111356844A (en) * 2017-11-22 2020-06-30 川崎重工业株式会社 Oil pressure driving system
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CN112189098B (en) * 2018-06-11 2022-05-31 日立建机株式会社 Working machine
CN112443522A (en) * 2019-09-03 2021-03-05 川崎重工业株式会社 Hydraulic system for construction machine
TWI747174B (en) * 2020-02-25 2021-11-21 國立虎尾科技大學 Position controlling system

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WO2014115527A1 (en) 2014-07-31

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