CN105756119B - Construction machinery - Google Patents
Construction machinery Download PDFInfo
- Publication number
- CN105756119B CN105756119B CN201610007084.0A CN201610007084A CN105756119B CN 105756119 B CN105756119 B CN 105756119B CN 201610007084 A CN201610007084 A CN 201610007084A CN 105756119 B CN105756119 B CN 105756119B
- Authority
- CN
- China
- Prior art keywords
- driver
- control
- control model
- operating quantity
- command value
- 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.)
- Active
Links
Classifications
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
Abstract
The present invention provides a kind of construction machinery, can be easy to be finely adjusted the action of driver near the neutral position for the operating lever of function driver.Operating lever is from neutral position to two direction operations.Work package is driven by driver.Control device generates the command value of driver drive volume according to the operating quantity of operating lever, based on instruction value control driver.Control device has multiple control models of regulation command value and the relationship of operating quantity, and driver is controlled by 1 control model selected from multiple control models.It is different come the sensitivity defined by command value and the ratio of operating quantity when neutral position to be set as to benchmark between multiple control models.
Description
Technical field
This application claims the priority based on Japanese patent application filed in 6 days January in 2015 the 2015-000736th.
The entire content of this Japanese application is incorporated by reference in this manual.
The present invention relates to a kind of construction machineries driving work package according to the operating quantity of operating lever.
Background technology
In following patent documents 1, disclose a kind of according to the reversed of the operating quantity of operating lever driving hydraulic unit driver
Shovel, the hydraulic unit driver drive upside down swing arm.In the backhoe, the electromagnetic type operated proportional flow control valve of hydraulic unit driver
Aperture is controlled by electric current corresponding with the operating quantity of operating lever by ratio.
In the case where carrying out piling work with backhoe, swing arm operating lever is from side operating area is declined relative to neutrality
Position is more than fixing speed to carry out reset operation.Swing arm is maintained a neutral stance state with the driver other than driver.According to operation
The operating conditions of bar are determined as in the case of carrying out piling work, electromagnetic type operated proportional flow control valve are controlled, so that reversely
The rising shoveled from most down position resets work and drastically carries out.Thereby, it is possible to improve the efficiency of piling work.
Patent document 1：Japanese Unexamined Patent Publication 5-195559 bulletins
It is provided with dead band near operating lever neutral position in the operating lever of construction machinery.Model in dead band
Still it is zero for making the command value that driver works even if being operated to operating lever in enclosing.In linear movement bucket front-end
It digs in ground action etc., operates multiple drivers simultaneously on one side, carry out operating lever on one side turns back and (cut り and return) operation.
If being provided with dead band near the neutral position of operating lever, when turning back operation of operating lever is being carried out, very
Difficulty is finely adjusted the action of driver near neutral position.Therefore, it is difficult to which the front end of scraper bowl is made to move linearly.
Invention content
The purpose of the present invention is to provide a kind of construction machineries, can be in the neutrality of the operating lever for function driver
Near position, it is easy to be finely adjusted the action of driver.
A viewpoint according to the present invention, provides a kind of construction machinery, has：Operating lever；Work package；Driver drives
Move the work package；And control device generates the command value to the driver, base according to the operating quantity of the operating lever
The driver is controlled in described instruction value, the control device switches described instruction according to the operating conditions of the operating lever
The correspondence of value and the operating quantity.
Invention effect
According to the operating conditions of operating lever, the correspondence of switching command value and operating quantity, it is possible thereby to be easy to driving
Device is finely adjusted relative to the action of the operating quantity of operating lever.
Description of the drawings
Fig. 1 is the side view of the construction machinery of embodiment.
Fig. 2 is the block diagram of the Hydraulic system and control system of the construction machinery of embodiment.
Fig. 3 is the block diagram of control valve, control device and input unit.
Fig. 4 is the block diagram of the control valve of other configuration examples, control device and input unit.
Fig. 5 A and Fig. 5 B are to indicate that operating quantity-command value as defined in 3 control models corresponds to the one of table in graphical form
Example and other figure.
Fig. 6 A and Fig. 6 B are an example and other flow chart of the processing executed by control model selector.
Fig. 7 is the flow chart of the another example of the processing executed by control model selector.
Fig. 8 is the block diagram of the control valve of the construction machinery of other embodiment, control device and input unit.
In figure：10- lower running bodies, 11- swing mechanisms, 12- upper rotations, 13- swing arms, 14- swing arm cylinders, 15- buckets
Bar, 16- dipper cylinders, 17- scraper bowls, 18- scraper bowl cylinders, 19,20,21- hydraulic motors, 23- drivers, 25- control valves, 30- control
Device, 31- input units, 35- engines, 36- hydraulic pumps, 301- control model selectors, 302- command value generating units, 303- controls
Valve driving portion processed, 305- operating quantity-command value correspond to table, 310- pedals, 311- operating levers, 312- operating quantity test sections, 314-
Mode selection switch, CM1- single shaft control models, CM2- adjust axis control model, CM3- main shaft control models, and CV- refers to
Enable value, the dead band DZ, DZ1-, OA- operating quantity, TZ- transition regions.
Specific implementation mode
Fig. 1 shows the side view of the construction machinery of embodiment.It can be turned round via swing mechanism 11 on lower running body 10
Ground is equipped with upper rotation 12.The work packages such as swing arm 13, dipper 15 and scraper bowl 17 are linked in upper rotation 12.Work
Make component to be hydraulically driven by drivers such as swing arm cylinder 14, dipper cylinder 16 and scraper bowl cylinders 18.By swing arm 13, dipper 15 with
And scraper bowl 17 constitutes excavation attachment.In addition, other than excavation attachment, broken attachment, lifting magnet can also be linked
With attachment etc..
Fig. 2 shows the block diagrams of the Hydraulic system and control system of the construction machinery of embodiment.Be connected on control valve 25 by
Multiple drivers 23 of hydraulic-driven.Multiple drivers 23 include swing arm cylinder 14, dipper cylinder 16, scraper bowl cylinder 18, hydraulic motor
19~21.Hydraulic motor 19,20 respectively drives 2 crawler belts of lower running body 10 (Fig. 1).Hydraulic motor 21 makes upper rotation
12 (Fig. 1) are turned round relative to lower running body 10.Control valve 25 includes direction switch valve, flow rate regulating valve, overflow valve etc..
Hydraulic pump 36 is driven by the power of engine 35, and working oil is supplied to control valve 25.Each driver 23
Operating quantity OA is input to control device 30 from input unit 31.For example, indicating the electric signal of operating quantity OA or first pilot input
To control device 30.Control device 30 generates the command value of the drive volume of instruction driver 23 according to the operating quantity OA inputted
CV controls control valve 25 according to command value CV.The command value CV for being imparted to control valve 25 can be electric signal, can also
For first pilot.Control valve 25 distributes working oil to each driver 23, to obtain being equivalent to the drive volume of command value CV.
Fig. 3 shows the block diagram of control valve 25, control device 30 and input unit 31.
Input unit 31 includes pedal 310, operating lever 311 and operating quantity test section 312.The operation of pedal 310 or
The operation of operating lever 311 carries out corresponding association by driver.For example, the two direction push operation bar forwards, backwards centered on neutral position
311 operation is corresponding with the operation carried out to 1 driver, the operation of two direction push operation bars 311 to the left and right and to others
The operation that driver carries out corresponds to.Operating quantity test section 312 is generated secondary according to the operating quantity of each operation by the hydraulic pressure of primary side
The first pilot of side.As operating quantity test section 312, the sensing for generating electric signal corresponding with the operating quantity of each operation can be used
Device.The first pilot or electric signal for indicating operating quantity OA are input to control device 30.
Control device 30 includes control model selector 301, command value generating unit 302 and control valve drive division 303.And
And operating quantity-command value is stored in the storage device of control device 30 and corresponds to table 305.
With reference to figure 5A, table 305 is corresponded to operating quantity-command value and is illustrated.Control device 30 has control driver
Multiple control models.It is prepared with operating quantity-command value by control model and corresponds to table 305.Operating quantity-command value corresponds to the rule of table 305
Determine the relationship of command value CV and operating quantity OA.Between multiple control models, defined by the ratio of command value CV and operating quantity OA
Sensitivity it is different.Operating quantity OA is for example defined by the work angle counted from neutral position.Between multiple control models,
Sensitivity can be in the whole region difference of operating quantity OA, can also be different in a certain range including neutral position.
Fig. 5 A show that operating quantity-command value as defined in 3 control models corresponds to an example of table 305 in graphical form.It is horizontal
Axis indicates that operating quantity OA, the longitudinal axis indicate command value CV.The origin of chart is corresponding with the neutral position of operating lever 311.Heavy line table
Show that single shaft control model CM1, fine line indicate that adjustment axis control model CM2, dotted line indicate main shaft control model CM3.
For example, operating lever 311 is operated centered on neutral position to positively and negatively the two directions.
In the dead band DZ including neutral position, single shaft is zero with the sensitivity of control model CM1.If operating quantity OA
The upper limit or lower limit more than dead band DZ, then with the increase and decrease of operating quantity OA, command value CV also increases and decreases.List is shown in Fig. 5 A
The relationship of the operating quantity OA and command value CV of axis control model CM1 are linear example.
Axis is adjusted with the sensitivity of control model CM2 in the transition region TZ including neutral position, higher than single shaft control
The sensitivity of pattern CM1.In adjustment axis in control model CM2, even if in the DZ of dead band, the increasing relative to operating quantity OA
Subtract, command value CV also curvilinear increases and decreases.The gradient of the curve becomes larger and steepening with operating quantity OA.If operating quantity OA was more than
The upper limit or lower limit for crossing area TZ then adjust the sensitivity of the sensitivity and single shaft control model CM1 of axis control model CM2
Unanimously.
Main shaft with the sensitivity of control model CM3 in transition region TZ, it is sensitive with control model CM2 less than adjustment axis
Degree, and higher than the uniaxial sensitivity for using control model CM1.If operating quantity OA is more than the upper limit or lower limit of transition region TZ, lead
Axis is consistent with the single shaft sensitivity of control model CM1 with the sensitivity of control model CM3.
Fig. 5 B are shown in graphical form by single shaft control model CM1, adjustment axis control model CM2 and main shaft control
Operating quantity-command value as defined in molding formula CM3 corresponds to other examples of table 305.
Correspondence by the uniaxial operating quantity OA and command value CV as defined in control model CM1 and relationship shown in Fig. 5 A
It is identical.In adjustment axis in control model CM2, as operating quantity OA increases from neutral position, command value CV is linearly increasing.Main shaft
There is the dead band DZ1 narrower than the dead band DZ of uniaxial control model CM1 with control model CM3.If more than insensitive
The upper limit or lower limit of area DZ1, the then increase relative to operating quantity OA, command value CV are linearly increasing.
In the example shown in Fig. 5 B, the range in the outside of DZ1 in dead band, main shaft is sensitive with control model CM3's
Sensitivity of the degree less than adjustment axis control model CM2, and higher than the uniaxial sensitivity for using control model CM1.In dead band
The inside of DZ1, sensitivity of the main shaft with the sensitivity of control model CM3 less than adjustment axis control model CM2, and used with single shaft
The sensitivity of control model CM1 is equal.
Fig. 3 is returned to continue to illustrate.It inputs and grasps to the control model selector 301 of control device 30 from input unit 31
Work amount OA.Operating quantity OA of the control model selector 301 based on each driver selects 1 from multiple control models by driver
A control model.It is carried out aftermentioned with reference to figure 6A, Fig. 6 B and Fig. 7 about the selection method of control model.
Command value generating unit 302 presses driver, is based on operating quantity OA and selected control model, generates command value
CV.Specifically, corresponding to table 305 using operating quantity-command value of selected control model, generate corresponding to operating quantity OA's
Command value CV.
The electric signal for indicating the command value CV generated by driver 23 or first pilot are imparted to by control valve drive division 303
Control valve 25.Apply the electric signal for being equivalent to command value CV or first pilot, work to control valve 25 corresponding with driver as a result,
Make oil to instruct flow to be flowed to command direction.It is driven by the working oil driver 23.
Fig. 4 shows the block diagram of the control valve 25 of other structures example, control device 30 and input unit 31.It is shown in Fig. 4
Example in, the first pilot for indicating operating quantity OA is exported from operating quantity test section 312.Indicate that the first pilot of operating quantity OA is input to
While control model selector 301, it is imparted to control valve 25.In control valve 25 in addition to indicate operating quantity OA first pilot with
Outside, the electric signal for indicating command value CV is also assigned from control valve drive division 303.
Control valve 25 is based on operating quantity OA and command value CV, and working oil is supplied to each driver 23.As an example, according to table
Show that the first pilot of operating quantity OA, direction switching valve are acted, according to the electric signal for indicating command value CV, flow rate regulating valve carries out
Action.In this case, solenoid valve is used as flow rate regulating valve.In this way, in addition to using first pilot corresponding with operating quantity OA
Electric signal corresponding with command value CV can also be utilized other than the structure controlled control valve 25, adjusts the stream of working oil
Amount.
Fig. 6 A show the 1st process chart executed by control model selector 301.The processing is for example to provide week
Phase starts.First, in step sl, the operating quantity OA based on each driver, judge multiple axis whether and meanwhile act.Only 1
The operating quantity OA of a driver shows a certain value, in the case that the operating quantity OA of other drivers is actually zero, is determined as only
There is 1 driver (single shaft) action.In the case where the operating quantity OA of multiple drivers is not zero, it is determined as multiple drivers
(multiple axis) acts simultaneously.
In the case of only 1 driver action, in step s3, uniaxial control mould is applicable in the driver in operation
Formula CM1.In the case where multiple drivers act, in step s 2, adjustment axis control model is applicable in All Drives
CM2.As described above, operating conditions switching control pattern of the control device 30 according to operating lever 311 (Fig. 3).
Then, the effect of control model selection processing shown in Fig. 6 A is illustrated.In being handled shown in Fig. 6 A, only grasp
When making 1 driver, the single shaft with dead band is applicable in control model CM1 (Fig. 5 A, Fig. 5 B) to the driver.Therefore,
When fine operating operating lever 311 (Fig. 3) near neutral position, driver overreaction is inhibited.
When multiple drivers act, adjustment axis is applicable in control model CM2 (Fig. 5 A, Fig. 5 B) to All Drives.Example
Such as, the swing arm and dipper of earth scraper are operated simultaneously on one side, made on one side in the digging foundation work that bucket front-end moves linearly, sometimes to
While one direction drives a driver, another driver is carried out near neutral position to turn back operation.It will be to a side
It is known as main shaft driver to the driver of driving, is known as the driver for carrying out turning back operation near neutral position to adjust axis
Use driver.
If the control for exchanging bearing driver is applicable in the single shaft control model CM1 with dead band, it is difficult to
Neutral position nearby carries out turning back operation, and the action to exchange bearing driver is finely adjusted.It is right in example shown in Fig. 6 A
The driving of adjustment axis driver is applicable in the adjustment axis control model CM2 without dead band.Therefore, it is possible in neutral position
Set nearby exchange bearing with driver carries out finely turn back operation.Also, adjustment is also suitable to the driving of main shaft driver
Axis control model CM2.Therefore, near neutral position, also main shaft can be carried out with driver fine to turn back operation.
Fig. 6 B show the 2nd process chart executed by control model selector 301.Only 1 driver action
When step S3 processing it is identical as the processing of step S3 shown in Fig. 6 A.In step sl, it is determined as multiple driver actions
In the case of, in step s 5,1 main shaft driver is determined from operated multiple drivers.Main shaft driver with
Outer driver becomes adjustment axis driver.As an example, the maximum drivers of operating quantity OA are set as main shaft driver,
Other drivers are set as adjustment axis driver.
In step s 6, uniaxial control model CM1 is applicable in the control of the driver of main shaft, it is in the step s 7, right
The control for adjusting axis driver is applicable in adjustment axis control model CM2.In other words, in the case of carrying out composite move, by spirit
The relatively low control model of sensitivity controls main shaft driver, is used by the relatively high control model control adjustment axis of sensitivity
Driver.
Then, the effect of control model selection processing shown in Fig. 6 B is illustrated.In method shown in Fig. 6 B, also exist
In step S7, the control for exchanging bearing driver is applicable in adjustment axis control model CM2.Therefore, with method shown in Fig. 6 A
In the same manner, bearing can be exchanged near neutral position to be carried out fine turning back operation with driver.
When operation axis driver and adjustment axis driver, if the operating quantity OA of adjustment axis driver becomes zero,
Then it is determined as only 1 driver action in step sl.Shown in Fig. 6 A in the case of method, it is suitable for main shaft and drives
The control model of device switches to single shaft control model CM1 from adjustment axis with control model CM2.When switching control pattern, if main
The operating quantity OA of axis driver is in transition region TZ (Fig. 5 A, Fig. 5 B), then operating quantity OA constant command value CV substantially
Variation.Therefore, driver experiences uncoordinated feeling sometimes.
In this regard, in method shown in Fig. 6 B, in the case of multiple driver actions, in step s 6, main shaft is driven
The control of device is applicable in uniaxial control model CM1, rather than adjusts axis control model CM2.The shape acted from multiple drivers
When state is transitioned into the state of only 1 driver action, the control model of the control suitable for main shaft driver is still uniaxial
With control model CM1.Therefore, driver will not experience uncoordinated feeling.
Fig. 7 shows the 3rd process chart executed by control model selector 301.In example shown in Fig. 7, hold
Row step S8, to replace the processing of the step S6 shown in Fig. 6 B.It is suitable to the control of main shaft driver in step S6 (Fig. 6 B)
Control model CM1 is used with uniaxial, but in step S8 (Fig. 7), main shaft control model is applicable in the control of main shaft driver
CM3 (Fig. 5 A, Fig. 5 B).
Then, the effect of control model shown in Fig. 7 selection processing is illustrated.Method shown in Fig. 7 is also in step
The control that bearing driver is exchanged in S7 is applicable in adjustment axis control model CM2.Therefore, it is handled with shown in Fig. 6 A and Fig. 6 B
In the same manner, bearing can be exchanged near neutral position to be carried out fine turning back operation with driver.
When main shaft driver and adjustment axis are acted with driver, if the operating quantity OA of main shaft driver becomes smaller,
Sometimes main shaft driver and adjustment axis driver are substituted for one another.In example shown in Fig. 6 B, for from main shaft driver
The driver of adjustment axis driver is switched to, control model is switched to adjustment axis with control model CM1 from single shaft and controls mould
Formula CM2.On the contrary, the driver for switching to main shaft driver with driver from adjustment axis, control model are used from adjustment axis
Control model CM2 is switched to single shaft control model CM1.When switching control pattern, if the operating quantity of the driver of switching object
OA is in transition region TZ (Fig. 5 A, Fig. 5 B), even if can significantly change if then operating quantity OA does not change command value CV.Therefore, sometimes
Driver experiences uncoordinated feeling.
In method shown in Fig. 7, for switching to adjustment axis driver or phase anti-switching from main shaft with driver
Driver, control model switch between main shaft control model CM3 and adjustment axis control model CM2 (Fig. 5 A, Fig. 5 B).It is main
The sensitivity difference of axis control model CM3 and adjustment axis control model CM2, than adjustment axis control model CM2 and single shaft
Difference with the sensitivity of control model CM1 is small.Therefore, when switching control pattern, uncoordinated sense that driver is experienced
Feel and mitigates.
Fig. 8 shows the block diagram of the control valve 25 of the construction machinery of other embodiment, control device 30 and input unit 31.
Hereinafter, being illustrated to the difference of embodiment as shown in figure 3, common structure is omitted the description.
In the embodiment shown in fig. 8, input unit 31 has mode selection switch 314.Mode selection switch 314 is by behaviour
The operation for making bar 311 is set, such as is configured near the handle of operating lever 311.Driver can hold operating lever 311
The on/off of mode selection switch is carried out under state.
The control model of control driver is selected by mode selection switch 314.For example, in 314 quilt of mode selection switch
When disconnection, uniaxial control model CM1 is applicable in corresponding driver control.It is right when mode selection switch 314 is switched on
Corresponding driver control is applicable in adjustment axis control model CM2.
Driver can select control model by operation mode selecting switch 314 by each operation object driver.
For example, in the case of carrying out turning back operation near neutral position, by connecting mode selection switch 314, can carry out subtle
Turn back operation.
The present invention is described according to the above embodiments, however, the present invention is not limited thereto.Obviously, people in the art
Known to member such as can impose various changes, improvement, combination.
Claims (4)
1. a kind of excavator, has：
Running body；
Revolving body can be pivotally mounted on the running body；
Work package is mounted on the revolving body；And
The operating lever of the work package；
The sensitivity of the work package before and after the neutral position of the operating lever changes.
2. excavator according to claim 1, wherein
The work package includes swing arm, dipper and end attachment,
The swing arm, the dipper and the end attachment at least two when being operated or mode selection switch is operated
When, above-mentioned sensitivity changes.
3. excavator according to claim 2, wherein
The insensitive band of the workpiece before and after the neutral position of the operating lever narrows or disappears.
4. excavator according to claim 2, wherein
By operated the attachment in the swing arm, the dipper and the end attachment with relatively high sensitivity control
System, other attachmentes are controlled with relatively low sensitivity.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-000736 | 2015-01-06 | ||
| JP2015000736A JP6695620B2 (en) | 2015-01-06 | 2015-01-06 | Construction machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105756119A CN105756119A (en) | 2016-07-13 |
| CN105756119B true CN105756119B (en) | 2018-09-11 |
Family
ID=56342337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610007084.0A Active CN105756119B (en) | 2015-01-06 | 2016-01-06 | Construction machinery |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6695620B2 (en) |
| CN (1) | CN105756119B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6576757B2 (en) * | 2015-09-17 | 2019-09-18 | 住友重機械工業株式会社 | Excavator |
| IT201900005234A1 (en) * | 2019-04-05 | 2020-10-05 | Cnh Ind Italia Spa | Control method for carrying out a combined movement of an arm and an implement in an operating machine, corresponding control system and operating machine comprising such control system |
| IT201900005238A1 (en) * | 2019-04-05 | 2020-10-05 | Cnh Ind Italia Spa | Control method for carrying out a movement of at least one between an arm and a tool connected to the arm in an operating machine driven by an engine, corresponding control system and operating machine comprising this control system |
| IT201900005212A1 (en) * | 2019-04-05 | 2020-10-05 | Cnh Ind Italia Spa | Control method for carrying out an inversion of the movement of at least one of an arm and an implement in an operating machine, corresponding control system and operating machine comprising this control system |
| CN110409541A (en) * | 2019-06-19 | 2019-11-05 | 三一重机有限公司 | A kind of excavator control method and system |
| IT202000025864A1 (en) * | 2020-10-30 | 2022-04-30 | Cnh Ind Italia Spa | CONTROL PROCEDURES FOR ACTIVATING THE MOVEMENT OF AN ARM OR TOOL IN A OPERATING MACHINERY, CORRESPONDING CONTROL SYSTEMS AND OPERATING MACHINES INCLUDING SUCH CONTROL SYSTEMS |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05195559A (en) * | 1992-01-20 | 1993-08-03 | Kubota Corp | Hydraulic controller for backhoe |
| JPH05195549A (en) * | 1992-01-20 | 1993-08-03 | Kubota Corp | Hydraulic actuator controller in earth-moving machine |
| JP2008127957A (en) * | 2006-11-24 | 2008-06-05 | Shin Caterpillar Mitsubishi Ltd | Controller for working machine |
| JP5156237B2 (en) * | 2007-01-24 | 2013-03-06 | 株式会社小松製作所 | Hydraulic drive device and hydraulic drive vehicle |
| KR20110071907A (en) * | 2009-12-22 | 2011-06-29 | 두산인프라코어 주식회사 | Apparatus and method for controling eletronic oil pressure using variable behavior characteristic |
| JP5667830B2 (en) * | 2010-10-14 | 2015-02-12 | 日立建機株式会社 | Construction machine having a rotating body |
| JP5476286B2 (en) * | 2010-12-17 | 2014-04-23 | 日立建機株式会社 | Operation equipment for work machines |
| JP5356423B2 (en) * | 2011-01-21 | 2013-12-04 | 日立建機株式会社 | Construction machine having a rotating body |
| JP5562288B2 (en) * | 2011-05-25 | 2014-07-30 | 日立建機株式会社 | Electric drive for construction machinery |
| JP5638471B2 (en) * | 2011-06-13 | 2014-12-10 | 日立建機株式会社 | Control device for hybrid construction machine |
| JP5113946B1 (en) * | 2012-03-27 | 2013-01-09 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
-
2015
- 2015-01-06 JP JP2015000736A patent/JP6695620B2/en active Active
-
2016
- 2016-01-06 CN CN201610007084.0A patent/CN105756119B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP6695620B2 (en) | 2020-05-20 |
| CN105756119A (en) | 2016-07-13 |
| JP2016125282A (en) | 2016-07-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105756119B (en) | Construction machinery | |
| JP5026055B2 (en) | Multiple actuator pressure based flow control system | |
| EP2461044A1 (en) | Hydraulic drive for construction machine | |
| US7797934B2 (en) | Anti-stall system utilizing implement pilot relief | |
| EP2320093B1 (en) | Engine lug-down suppressing device for hydraulic work machinery | |
| KR101644198B1 (en) | Hydraulic circuit apparatus for hydraulic shovel | |
| EP2530208A1 (en) | Hydraulic work machine | |
| EP3305994B1 (en) | Control system for construction machinery and control method for construction machinery | |
| KR102159596B1 (en) | Construction machinery | |
| JP6676827B2 (en) | Work machine | |
| KR102042479B1 (en) | Construction machinery | |
| EP2354331A2 (en) | Hydraulic drive device for hydraulic excavator | |
| JPWO2014061507A1 (en) | Hydraulic drive unit for construction machinery | |
| EP3409846A1 (en) | Shovel | |
| KR102564414B1 (en) | Travel contorl system for construction machinery and travel control method for construction machinery | |
| CN104364535A (en) | Hydraulic pressure drive device | |
| US20190218751A1 (en) | System for controlling construction machinery and method for controlling construction machinery | |
| WO2021039285A1 (en) | Hydraulic system for construction machine | |
| US20190112787A1 (en) | Temperature responsive hydraulic derate | |
| EP3492662B1 (en) | System and method for controlling a construction machine | |
| CN110159609B (en) | Master control valve and hydraulic system | |
| JP2012215193A (en) | Pump control device for construction machine | |
| JP2010236607A (en) | Hydraulic control circuit in construction machine | |
| KR101694544B1 (en) | Apparatus for selectively controlling the optionactuator in excavator | |
| WO2023127552A1 (en) | Hydraulic system of work machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |