CN106460888B - Excavator and its control method - Google Patents
Excavator and its control method Download PDFInfo
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- CN106460888B CN106460888B CN201580025526.8A CN201580025526A CN106460888B CN 106460888 B CN106460888 B CN 106460888B CN 201580025526 A CN201580025526 A CN 201580025526A CN 106460888 B CN106460888 B CN 106460888B
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- Prior art keywords
- swing arm
- discharge flow
- flow
- instruction value
- hydraulic pump
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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
-
- 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
-
- 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
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
-
- 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
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
Abstract
The present invention provides a kind of excavator (1), has: swing arm cylinder (7), and at least part for receiving the working oil of hydraulic pump (10R) discharge is used as pump for oil supply；Regenerative circuit (33), so that a part for the working oil that the bottom side grease chamber of slave arm cylinder (7) flows out is flowed into bar side grease chamber as reclaimed oil；And controller (54), it controls the discharge flow (Qp) for the working oil that hydraulic pump (10R) spues and adjusts swing arm cylinder and flow into flow (Qs).In the case where having carried out swing arm step-down operation, controller (54) determines discharge flow (Qp) according to the thrust (F) for acting on swing arm cylinder (7), the pressure of bar side grease chamber is set as defined goal pressure (Ptg) or more on one side, regenerant flow (Qg) is made to become maximum on one side.
Description
Technical field
The present invention relates to a kind of excavator for having regenerative circuit and its control methods, when carrying out swing arm step-down operation,
The working oil that the regenerative circuit flows out the contraction side grease chamber of slave arm cylinder is flowed into stretching, extension side grease chamber.
Background technique
It has been known that there is the control device of following construction machinery, the working oil to be spued by 1 hydraulic pump drives swing arm simultaneously
Cylinder and scraper bowl cylinder, so that the swing arm and scraper bowl as operating body are acted (referenced patent document 1 simultaneously.).
The control device includes regenerative circuit, in the case where having carried out swing arm step-down operation, the regenerative circuit make from
The working oil of the bottom side grease chamber outflow of swing arm cylinder is flowed into the bar side grease chamber of swing arm cylinder.Also, only carrying out swing arm decline behaviour
In the case where work, compared with the case where swing arm step-down operation and scraper bowl opening operation carry out simultaneously, make the discharge flow of hydraulic pump
It reduces, the discharge pressure of hydraulic pump is avoided excessively to rise.
Conventional art document
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2000-309949 bulletin
The summary of invention
The invention technical task to be solved
However, even if above-mentioned control device is also operated still according to swing arm in the case where only having carried out swing arm step-down operation
The operating quantity of bar determines the discharge flow of hydraulic pump, this can not change.Therefore, even if being shunk in swing arm cylinder to be made outer
Power (e.g., including power caused by the weight of the attachment of the weight of soil sand) it is of different sizes in the case where, if swing arm operating stick
Operating quantity it is identical, then the discharge flow of hydraulic pump is also identical.As a result, external force is smaller, regeneration efficiency (is being flowed into swing arm cylinder
Bar side grease chamber work oil mass in shared regeneration oil mass ratio) become lower.
In view of the foregoing, a kind of excavator of regeneration efficiency when can be improved swing arm step-down operation is preferably provided.
For solving the means of technical task
Excavator involved in the embodiment of the present invention has: swing arm cylinder, receives the working oil of hydraulic pump discharge at least
A part is as pump for oil supply；Regenerative circuit, so that a part of the working oil flowed out from the contraction side grease chamber of the swing arm cylinder
Stretching, extension side grease chamber is flowed into as reclaimed oil；And control device, control the discharge flow for the working oil that the hydraulic pump spues and
The pump is adjusted for the supply flow rate of oil supply, in the case where having carried out swing arm step-down operation, the control device is according to effect
Determine the discharge flow in the thrust of the swing arm cylinder, on one side by the pressure of the stretching, extension side grease chamber be set as authorized pressure with
On, so that the regenerant flow of the reclaimed oil is become maximum on one side.
Invention effect
According to the above method can provide it is a kind of can be improved swing arm step-down operation when regeneration efficiency excavator.
Detailed description of the invention
Fig. 1 is the side view for indicating the structural example of excavator involved in the embodiment of the present invention.
Fig. 2 is the figure for indicating to be equipped on the structural example of the hydraulic circuit of excavator of Fig. 1.
Fig. 3 is the figure for indicating the state of hydraulic circuit when individually having carried out swing arm step-down operation.
Fig. 4 is to indicate inflow and outflow in the figure of the relationship of the working oil of swing arm cylinder.
Fig. 5 is the corresponding pass indicated between swing arm step-down operation amount and regenerative circuit and the respective flow path area of oil return line
The figure of an example of system.
Fig. 6 is the relationship for indicating discharge flow and flowing into respectively with swing arm cylinder between flow, regenerant flow and swing arm rod pressure
Chart.
Fig. 7 is the flow chart for indicating the process of an example of discharge flow optimization processing.
Fig. 8 is the chart for indicating various parameters when individually carrying out swing arm step-down operation and changing with time.
Specific embodiment
Fig. 1 is the side view for indicating the structural example of Work machine involved in the embodiment of the present invention.In Fig. 1, as
The excavator (excavator) 1 of Work machine carries upper rotation 3 via swing mechanism in a manner of around X-axis revolution freely
In on crawler type lower running body 2.
Also, upper rotation 3 has excavation attachment in central front portion.Excavation attachment includes swing arm 4, dipper 5 and shovel
Bucket 6, and including the swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 as hydraulic unit driver.
Fig. 2 is the figure for indicating to be equipped on the structural example of the hydraulic circuit of excavator of Fig. 1.In addition, the dotted line of Fig. 2 indicates control
The dotted line of pressing pressure line, Fig. 2 indicates electrical signal line.
Hydraulic pump 10L, 10R are by the driven variable displacement pump of the driving sources such as engine, electric motor.In this reality
It applies in example, hydraulic pump 10L makes working oil be recycled to work by being connected to the mutual middle position bleed off circuit 30L of control valve 11L~15L
Oil tank 22.Also, parallel oil circuit 31L that hydraulic pump 10L can be extended and being parallel to middle position bleed off circuit 30L and respectively to
Control valve 11L~15L supplies working oil.Similarly, hydraulic pump 10R passes through the mutual middle position bypass of connection control valve 11R~15R
Oil circuit 30R makes working oil be recycled to service tank 22.Also, hydraulic pump 10R can be and being parallel to middle position bleed off circuit 30R
The parallel oil circuit 31R extended supplies working oil to control valve 12R~15R respectively.In addition, in the following contents, hydraulic pump 10L sometimes
And hydraulic pump 10R is referred to as " hydraulic pump 10 " and is referenced.The other constitutive requirements about pair of right and left constituted are also identical.
Control valve 11L is spool valve, and the spool valve is (not shown in the left side walking rod as operating device.) operated
In the case of switch operating oil flowing, so that the working oil that hydraulic pump 10L spues is supplied to the left side as hydraulic unit driver
Walking hydraulic motor 42L.
Control valve 11R is the spool valve as straight travel valve.In the present embodiment, straight travel valve 11R is 4 logical 2 spool valves,
With the 1st valve position and the 2nd valve position.Specifically, the 1st valve position has the stream of connection hydraulic pump 10L and parallel oil circuit 31L
Road and the flow path for being connected to hydraulic pump 10R and control valve 12R.Also, the 2nd valve position has connection hydraulic pump 10R and parallel oil circuit
The flow path of 31L and the flow path for being connected to hydraulic pump 10L and control valve 12R.
Control valve 12L is spool valve, the flowing of the spool Vavle switching working oil, so as to the working oil that hydraulic pump 10 spues
It is (not shown to be supplied to selective hydraulic unit driver.).
Control valve 12R is spool valve, and the spool valve is (not shown in the right side walking rod as operating device.) operated
In the case of switch operating oil flowing, so that the working oil that hydraulic pump 10 spues is supplied to the right side row as hydraulic unit driver
It walks to use hydraulic motor 42R.
Control valve 13L is spool valve, and the spool valve is (not shown in the revolution operating stick as operating device.) operated
In the case of switch operating oil flowing, so as to the working oil that hydraulic pump 10 spues be supplied to as hydraulic unit driver revolution use
Hydraulic motor 44.
Control valve 13R is spool valve, and the spool valve is (not shown in the scraper bowl operating stick as operating device.) operated
In the case of switch operating oil flowing, so that the working oil that hydraulic pump 10 spues is supplied to scraper bowl cylinder 9.
Control valve 14L, 14R are spool valve, and the spool valve is (not shown in the swing arm operating stick as operating device.) grasped
The flowing of switch operating oil in the case where work, so that the working oil that hydraulic pump 10 spues is supplied to swing arm cylinder 7.In addition, dynamic
In the case that arm operating stick is operated with amount more than defined bar operating quantity to swing arm ascent direction, control valve 14L is by work
Oily additional services is to swing arm cylinder 7.
Control valve 15L, 15R are spool valve, and the spool valve is (not shown in the dipper operating stick as operating device.) grasped
The flowing of switch operating oil in the case where work, so that the working oil that hydraulic pump 10 spues is supplied to dipper cylinder 8.In addition, control
Valve 15R is in the case where dipper operating stick is operated with amount more than defined bar operating quantity, by working oil additional services to bucket
Bar cylinder 8.
Middle position bleed off circuit 30L, 30R has respectively between control valve 15L, the 15R and service tank 22 for being located at most downstream
Standby negative control throttle valve 20L, 20R.In addition, hereinafter, negative control is referred to as " negative control ".Negative control throttle valve 20L, 20R are to hydraulic
The flowing for the working oil that pump 10L, 10R spue is limited, to generate negative pressure control in the upstream of negative control throttle valve 20L, 20R
Power.
The negative governor pressure that pressure sensor S1, S2 detection are generated in the upstream of negative control throttle valve 20L, 20R, and will test
Value be output to controller 54 as negative pressure control force electrical signal.
Pressure sensor S3, S4 detect the discharge pressure of hydraulic pump 10L, 10R, and the value that will test is as discharge pressure
Electric signal is output to controller 54.
Pressure sensor S5 detects the pressure of the working oil in the bar side grease chamber of swing arm cylinder 7, and the value conduct that will test
Semaphore electric pressure signal exports controller 54.Also, pressure sensor S6 is detected in the bottom side grease chamber of swing arm cylinder 7
The pressure of working oil, and the value that will test exports controller 54 as swing arm base pressure electric signal.
In addition, in left side walking rod, right side walking rod, dipper operating stick, revolution operating stick, swing arm operating stick, scraper bowl behaviour
Make that operation content test section is installed in the operating devices such as bar.Operation content test section is, for example, the elder generation generated to each operating device
The pressure sensor that pilot power is detected is (not shown.).The value that these pressure sensors will test is as pilot pressure electricity
Signal is output to controller 54.
Controller 54 is the function important document for controlling hydraulic circuit, for example, has the calculating of CPU, RAM, ROM, NVRAM etc.
Machine.In the present embodiment, controller 54 is according to the output of the operation contents test section such as pressure sensor to various operating devices
Operation content (such as the presence or absence of bar operation, bar operation direction, bar operating quantity etc..) carry out electro-detection.In addition, operation content detects
Portion can also be made of the sensor other than pressure sensor such as inclined inclination sensor of the various operating sticks of detection.
Moreover, controller 54 makes CPU execute the program for corresponding to various function important documents, which adjust pump
Device 40L, 40R etc. are acted according to the operation content of various operating devices.
Pump control mechanism 40L, 40R are the mechanisms controlled the discharge flow of hydraulic pump 10L, 10R.In the present embodiment
In, pump control mechanism 40L, 40R adjust the inclined plate deflection angle of hydraulic pump 10L, 10R according to the instruction that controller 54 generates, thus
Control the discharge flow of hydraulic pump 10L, 10R.
Such as in the state that the hydraulic unit driver in excavator 1 is not operated, the working oil of hydraulic pump 10L, 10R discharge
Negative control throttle valve 20L, 20R are reached by middle position bleed off circuit 30L, 30R, so that in the upstream of negative control throttle valve 20L, 20R
The negative governor pressure generated increases.In this case, pump control mechanism 40L, 40R are generated according to controller 54 according to negative pressure control force signal
Instruction reduce hydraulic pump 10L, 10R discharge flow.As a result, the working oil that hydraulic pump 10L, 10R spue is passing through middle position
The pressure loss (suction loss) when bleed off circuit 30L, 30R is inhibited.
On the other hand, in the case where arbitrary hydraulic unit driver is operated, the working oil that hydraulic pump 10L, 10R spue is passed through
The hydraulic unit driver is flowed by corresponding to the control valve of the hydraulic unit driver.Therefore, negative control throttle valve 20L, 20R are reached
Amount is reduced or is disappeared, and is reduced in the negative governor pressure that the upstream of negative control throttle valve 20L, 20R generate.In this case, pump control mechanism
40L, 40R increase the discharge flow of hydraulic pump 10L, 10R, and recycle enough working oils in each hydraulic unit driver, will
The driving of each driver is set as reliably driving.
Also, in the case where the discharge pressure of hydraulic pump 10L, 10R are more than according to specified value depending on discharge flow, pump
Adjuster 40L, 40R reduce the discharge of hydraulic pump 10L, 10R according to the instruction that controller 54 is generated according to discharge pressure signal
Flow.This is the shaft horsepower that the absorbed horsepower of hydraulic pump 10L, 10R in order to prevent is more than the engine as driving source.
In addition, pump control mechanism 40L, 40R also can use the negative governor pressure, hydraulic of the upstream of negative control throttle valve 20L, 20R
The discharge pressure of 10L and the discharge pressure of hydraulic pump 10R are pumped, controls the discharge flow of hydraulic pump 10L, 10R in a hydrodynamic manner.
Then, it is illustrated with reference to state of the Fig. 3 to hydraulic circuit when individually having carried out swing arm step-down operation.In addition,
Fig. 3 is the figure for indicating the state of hydraulic circuit when individually having carried out swing arm step-down operation, and corresponds to Fig. 2.Also, in this reality
It applies in example, swing arm step-down operation refers to the operation when acting excavation attachment in the sky for declining swing arm 4.And
And the heavy line of Fig. 3 indicates the flowing towards the working oil of swing arm cylinder 7, the thick dotted line of Fig. 3 indicates the work towards service tank 22
Make the flowing of oil.Also, it in the present embodiment, is operated with full bar and carries out swing arm step-down operation." full bar operation " refers to provide
Operating quantity more than amount carry out bar operation, it is specified that operating quantity be, for example, 80% or more operating quantity.In addition, operating quantity
100% corresponds to operating quantity when tilting operating stick to the maximum extent, and operating quantity 0% is corresponding to when remaining neutral operating stick
The operating quantity of (when not operated to operating stick).
Specifically, pilot port of the control valve 14R on the right side of figure is by elder generation if swing arm operating stick is operated downward
Pilot power and it is mobile to figure left side.
If control valve 14R is moved to the left, middle position bleed off circuit 30R is blocked, therefore the working oil that hydraulic pump 10R spues
It is flowed after through parallel oil circuit 31R towards control valve 14R.Moreover, the working oil of parallel oil circuit 31R is passing through control valve
The bar side grease chamber of swing arm cylinder 7 is flowed into after 14R.Also, another part of the working oil of the bottom side grease chamber outflow of slave arm cylinder 7
After the regenerative circuit 33 by being formed in control valve 14R, collaborated with the working oil from parallel oil circuit 31R, and
It is flowed into the bar side grease chamber of swing arm cylinder 7.Also, the remainder of the working oil of the bottom side grease chamber outflow of slave arm cylinder 7 passes through shape
Service tank 22 is discharged in the oil return line 34 in control valve 14R.
Then, with reference to Fig. 4 to thrust F, the hydraulic pump 10R for individually having carried out acting on swing arm cylinder 7 when swing arm step-down operation
Discharge flow Qp, the regenerant flow Qg of regenerative circuit 33 and the relationship of regurgitant volume Qc of oil return line 34 be illustrated.In addition, figure
4 be to indicate inflow and outflow in the figure of the relationship of the working oil of swing arm cylinder 7.
If the compression area of the bar side of the piston slided in swing arm cylinder 7 is set as Ar, the compression area of bottom side is set as
Ab, is set as swing arm rod pressure Pr for the pressure of bar side grease chamber, and the pressure of bottom side grease chamber is set as swing arm base pressure Pb, then is acted on
It can be indicated by following formula (1) in the thrust F of swing arm cylinder 7.
[mathematical expression 1]
F=Ab × Pb-Ar × Pr ... (1)
Also, formula (1) can be rewritten by following formula (2).
[mathematical expression 2]
If also, the differential pressure of the front and back for the throttle valve that regenerative circuit 33 is constituted is set as Δ P (=Pb-Pr), by working oil
Density be set as ρ, the flow path area (throttle valve section) of regenerative circuit 33 is set as Ag, the efflux coefficient of working oil is set as C,
Then the regenerant flow Qg of regenerative circuit 33 can be indicated by following formula (3).
[mathematical expression 3]
Here, if using Section 1 stream coefficient Cg indicated by formula (4), formula (3) can be rewritten by following formula (5).
[mathematical expression 4]
[mathematical expression 5]
Qg2=Cg2×(Pb-Pr) …(5)
Similarly, if the pressure in the downstream of oil return line 34 is set as Pt, the front and back of the throttle valve of oil return line 34 will be constituted
Differential pressure is set as Δ P (=Pb-Pt), and the density of working oil is set as ρ, and the flow path area (throttle valve section) of oil return line 34 is set as
The efflux coefficient of working oil is set as C by Ac, then the regurgitant volume Qc of oil return line 34 can be indicated by following formula (6).
[mathematical expression 6]
Here, if using Section 2 stream coefficient Cc indicated by formula (7), formula (6) can be rewritten by following formula (8).
[mathematical expression 7]
[mathematical expression 8]
Qc2=Cc2×(Pb-Pt) …(8)
In addition, the flow path area Ag of regenerative circuit 33 and the flow path area Ac of oil return line 34 be according to swing arm operating stick downward
The bar operating quantity of side is (hereinafter, be set as " swing arm step-down operation amount ".) and the value that uniquely determines.Fig. 5 indicates swing arm step-down operation amount
An example of corresponding relationship between flow path area Ag and flow path area Ac respectively.Specifically, swing arm step-down operation amount is bigger,
Flow path area Ag and flow path area Ac are bigger.For example, the case where swing arm step-down operation amount is 100% (maximum rod operating quantity)
Under, flow path area Ag becomes maximum value Agmax, and flow path area Ac becomes maximum value Acmax.
Therefore, in the present embodiment, between Section 1 stream coefficient Cg and Section 2 stream coefficient Cc and swing arm step-down operation amount
Corresponding relationship is exported in advance according to formula (4) and formula (7), and the ROM etc. of controller 54 is pre-stored in the form of corresponding to table
In.To which if swing arm step-down operation amount is determined, controller 54 can be respectively by Section 1 stream coefficient Cg and Section 2 stream coefficient
Cc is determined as uniquely.
If also, the flow of the working oil in the bar side grease chamber for being flowed into swing arm cylinder 7 is set as swing arm cylinder and flows into flow Qs,
The flow for the working oil that the bottom side grease chamber of slave arm cylinder 7 flows out is set as delivery flow Qe, then delivery flow Qe can be by following formula
(9) it indicates.
[mathematical expression 9]
Moreover, if swing arm cylinder flows into the sum of the discharge flow Qp that flow Qs is regenerant flow Qg and hydraulic pump 10R, and discharge
Flow Qe is the sum of regenerant flow Qg and regurgitant volume Qc, then formula (9) can be rewritten by following formula (10).
[mathematical expression 10]
Then, discharge flow Qp difference when swing arm operating stick being made to have carried out the operation of full bar downward is illustrated with reference to Fig. 6
The relationship between flow Qs, regenerant flow Qg and swing arm rod pressure Pr is flowed into swing arm cylinder.Fig. 6 is to indicate to make swing arm operating stick court
Discharge flow Qp when lower section has carried out the operation of full bar flows into flow Qs, regenerant flow Qg and swing arm rod pressure with swing arm cylinder respectively
The chart of relationship between Pr.Specifically, Fig. 6 (A) is to indicate that discharge flow Qp and swing arm cylinder flow into the relationship of flow Qs
Chart.Also, Fig. 6 (B) is the chart for indicating the relationship of discharge flow Qp and regenerant flow Qg, and Fig. 6 (C) is to indicate discharge flow
The chart of the relationship of Qp and swing arm rod pressure Pr.In addition, the horizontal axis phase in Fig. 6 (A)~Fig. 6 (C), corresponding to discharge flow Qp
Together.Also, in Fig. 6 (A)~Fig. 6 (C), variation indicated by the solid line indicates the biggish feelings of external force that swing arm cylinder 7 to be made is shunk
Variation under condition.Also, be represented by dashed line variation indicate external force be it is moderate in the case where variation, with single dotted broken line table
The variation shown indicates the variation in the lesser situation of external force.In addition, the external force that swing arm cylinder 7 to be made is shunk is according to the soil in scraper bowl 6
Posture of the amount of sand, the posture of excavator 1 (be in sloping floor, or on flat ground) and excavation attachment etc. and change.
Specifically, as shown in Fig. 6 (A), in the case where making swing arm operating stick carry out the operation of full bar downward, that is,
In the case that the flow path area Ac of oil return line 34 is set as maximum value Acmax, swing arm cylinder flows into flow Qs's and discharge flow Qp
Size is unrelated, and the external force the big then bigger.
On the other hand, if external force is constant, swing arm cylinder flow into flow Qs it is nearly constant, and with the size of discharge flow Qp without
It closes.That is, swing arm cylinder, which flows into flow Qs, to be increased, and swing arm decrease speed will not increase even if increasing discharge flow Qp.This
It is to be reduced because regenerant flow Qg is unrelated with the size of external force as shown in Fig. 6 (B) as discharge flow Qp increases.
Therefore, if reducing discharge flow Qp, regenerant flow Qg is just capable of increasing without reducing swing arm cylinder inflow flow Qs.
It is however, swing arm rod pressure Pr has following tendency as shown in Fig. 6 (C), i.e., unrelated with the size of external force, with spitting
Outflow Qp is reduced and is reduced.Therefore, if reducing discharge flow Qp excessively, will lead to swing arm rod pressure Pr is excessively reduced,
It is likely to result in generating air pocket.
Also, as shown in Fig. 6 (C), if discharge flow Qp is constant, external force is bigger, and swing arm rod pressure Pr is lower.That is, if
External force is larger, even if then in the biggish situation of discharge flow Qp, it is also possible to swing arm rod pressure Pr be caused to be reduced to generation gas
The level in cave.
Therefore, the reduction of discharge flow Qp can be realized the increase of regenerant flow Qg, be effective in terms of realizing energy conservation.
However, do not generate air pocket and when becoming regenerant flow Qg to maximize required discharge flow Qp according to the size of external force without
Together, therefore discharge flow Qp cannot unlimitedly be reduced.
Therefore, controller 54 determines discharge flow Qp in such a way that swing arm rod pressure Pr becomes defined goal pressure Ptg,
In the range of not generating air pocket, keep regenerant flow Qg as larger as possible.In addition, defined goal pressure Ptg is that impossible produce
The horizontal pressure in angry cave, for example, 4 [MPa].
In the example of Fig. 6 (C), discharge flow Qp of external force when smaller is set as QpL by controller 54, so as to by semaphore
Pressure Pr is set as goal pressure Ptg.Also, controller 54 by external force be it is moderate when discharge flow Qp be set as QpM (>
QpL), the discharge flow Qp by external force when larger is set as QpH (> QpM).
Moreover, regenerant flow Qg when external force is smaller becomes if discharge flow Qp when external force is smaller is confirmed as QpL
QgL, swing arm cylinder, which flows into flow Qs, becomes QsL (=QgL+QpL).If also, external force be it is moderate when discharge flow Qp quilt
It is determined as QpM, then regenerant flow Qg when external force is moderate becomes QgM (> QgL), and swing arm cylinder, which flows into flow Qs, to be become
QsM (=QgM+QpM > QsL).If also, external force it is larger when discharge flow Qp be confirmed as QpH, when external force is larger again
Raw flow Qg becomes QgH (> QgM), and swing arm cylinder, which flows into flow Qs, becomes QsH (=QgH+QpH > QsM).
And it knows in the case where swing arm operating stick is operated by full bar downward, and unrelated with the size of external force and spue
The case where when identical discharge flow QpR, is compared, and external force is smaller, then the increment of regenerant flow Qg is bigger.Specifically, recovery stream
The increment for measuring Qg becomes DH when external force is larger, becomes DM (> DH) when external force is moderate, becomes DL when external force is smaller
(> DM).And know that external force is bigger, then swing arm rod pressure Pr is smaller when spuing identical discharge flow QpR.Another party
Face, it is known that even if in the case where discharge flow Qp is reduced to QpL, QpM or QpH from QpR, if external force is identical, in swing arm
Cylinder flows on flow Qs and does not almost find to change.
Then, illustrate with reference to Fig. 7 optimization processing that controller 54 carries out the discharge flow Qp of hydraulic pump 10R (hereinafter,
It is set as " discharge flow optimization processing ".).In addition, Fig. 7 is the flow chart for indicating the process of an example of discharge flow optimization processing,
Controller 54 repeats the discharge flow optimization processing with the defined control period.Also, in the present embodiment, " spue stream
Measure the optimization of Qp " refer to that realization makes regenerant flow Qg become maximum discharge flow in the range of not generating air pocket.
Firstly, controller 54 determines whether carrying out swing arm step-down operation (step ST1).In the present embodiment, it controls
Device 54 is determined whether according to the output of the operation contents test section such as pressure sensor by the operation content of swing arm operating stick
Carry out swing arm step-down operation.Also, in the present embodiment, controller 54 is detecting swing arm operating stick individually downward by full bar
In the case where operation, it is judged to carrying out swing arm step-down operation.Also, in the present embodiment, controller 54 is being judged as not
In the case that excavation attachment presses excavation object, that is, it is judged as the case where acting excavation attachment in the sky
Under, it is judged to carrying out swing arm step-down operation.In addition, controller 54 is believed according to the swing arm rod pressure that pressure sensor S5 is exported
Number and pressure sensor S6 output at least one of swing arm base pressure signal to determine whether by excavation attachment to digging
Pick object is pressed.
In the case where being judged to not carrying out swing arm step-down operation (step ST1's is no), controller 54 terminates this
Discharge flow optimization processing.
In the case where being judged to carrying out swing arm step-down operation (step ST1's be), pump is adjusted in the export of controller 54
The instruction for saving device 40R is the 1st instruction value (step ST2).In the present embodiment, controller 54 is exported according to negative pressure control force signal
1st instruction value.1st instruction value is the discharge flow instruction value uniquely determined according to negative pressure control force signal, swing arm step-down operation
It measures more big then bigger.Specifically, swing arm step-down operation amount is bigger, the amount of movement of control valve 14R becomes bigger, middle position bypass oil
The flow path area of road 30R becomes smaller.Moreover, negative governor pressure is lower if the flow path area of middle position bleed off circuit 30R becomes smaller,
Discharge flow instruction value becomes larger.Moreover, the discharge flow Qp of hydraulic pump 10R becomes larger if discharge flow instruction value becomes larger.Separately
Outside, controller 54 can also export the 1st instruction value according to swing arm step-down operation amount.
Later, controller 54 exports the 1st instruction value to pump control mechanism 40R, and controls inclined plate deflection angle, so that hydraulic pump
The discharge flow Qp of 10R becomes the flow (step ST3) corresponding to the 1st instruction value.
Later, controller 54 determines whether swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr are less than rule
Definite value (step ST4).This is because can not accurately infer the thrust F for acting on swing arm cylinder 7 if amplitude of fluctuation is larger.Separately
Outside, in the present embodiment, controller 54 exports the preceding value and current value of the semaphore pressure signal of pressure sensor S5 output
Amplitude of fluctuation of the difference as swing arm base pressure Pb.Amplitude of fluctuation about swing arm rod pressure Pr is also identical.
It is specified value or more in the amplitude of fluctuation of at least one being determined as in swing arm base pressure Pb and swing arm rod pressure Pr
In the case where (step ST4's is no), controller 54 repeat step ST4 judgement.
Later, it is being determined as the feelings of swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr less than specified value
Under condition (step ST4's be), the export of controller 54 is the 2nd instruction value (step ST5) to the instruction of pump control mechanism 40R.2nd instruction
Value is the discharge flow instruction value changed according to the thrust F for acting on swing arm cylinder 7, and the thrust F the big then bigger.
Specifically, semaphore pressure signal, the pressure sensor S6 that controller 54 is exported according to pressure sensor S5 are defeated
Swing arm base pressure signal and above-mentioned formula (1) out carrys out derivative ac-tion in the thrust F of swing arm cylinder 7.
Also, controller 54 reads the defined goal pressure Ptg in relation to swing arm rod pressure Pr from ROM etc., and according to pushing away
Power F and above-mentioned formula (2) and export swing arm rod pressure Pr is set as goal pressure Ptg in the case where swing arm base pressure Pb.
Also, 54 reference pair of controller answers table to obtain Section 1 stream coefficient corresponding to current swing arm step-down operation amount
Cg and Section 2 stream coefficient Cc, the corresponding table is previously stored with Section 1 stream coefficient Cg and Section 2 stream coefficient Cc and swing arm declines
Corresponding relationship between operating quantity.In addition, corresponding table is pre-stored in ROM etc..
Moreover, controller 54 exports the recovery stream of regenerative circuit 33 according to acquired Section 1 stream coefficient Cg and formula (5)
Measure Qg.Also, controller 54 exports the regurgitant volume Qc of oil return line 34 according to acquired Section 2 stream coefficient Cc and formula (8).
Moreover, controller 54 exports spitting corresponding to the 2nd instruction value according to regenerant flow Qg, regurgitant volume Qc and formula (10)
Outflow.
In addition, in order to export the 2nd instruction value, controller 54 will not necessarily export swing arm rod pressure Pr being set as mesh every time
Swing arm base pressure Pb, regenerant flow Qg, regurgitant volume Qc in the case where mark pressure Ptg etc..Such as controller 54 can refer to
Corresponding table, the correspondence table are previously stored with pilot pressure signal, swing arm base pressure signal and swing arm in relation to swing arm operating stick
Corresponding relationship between the combination of rod pressure signal and the 2nd instruction value.In this case, the reference of controller 54 is pre-stored within ROM
The corresponding table in directly exports and current swing arm step-down operation amount, swing arm rod pressure Pr and swing arm base pressure Pb
Corresponding 2nd instruction value of combination.
Later, controller 54 exports the 2nd instruction value to pump control mechanism 40R, and is controlled, so that hydraulic pump 10R's spits
Outflow Qp becomes the discharge flow (step ST6) corresponding to the 2nd instruction value.
Controller 54 optimizes the discharge flow Qp of hydraulic pump 10R in the range of not generating air pocket as a result, so that
Regenerant flow Qg becomes maximum.
Then, the various parameters in the case where executing discharge flow optimization processing to controller 54 with reference to Fig. 8 are at any time
Variation is illustrated.In addition, Fig. 8 is the figure for indicating various parameters when individually carrying out swing arm step-down operation and changing with time
Table.Specifically, Fig. 8 (A) indicates that swing arm rod pressure Pr and swing arm base pressure Pb is changed over time.Also, Fig. 8 (B) is indicated
Discharge flow instruction value changes over time, and Fig. 8 (C) indicates that swing arm decrease speed changes over time.In addition, in Fig. 8 (A)~Fig. 8
(C) in, the horizontal axis as time shaft is identical.
Specifically, until until moment t1 individually carries out swing arm step-down operation, as shown in Fig. 8 (A), swing arm bottom pressure
Power Pb and swing arm rod pressure Pr is with the lesser state change of amplitude of fluctuation.Moreover, if individually carrying out swing arm decline behaviour in moment t1
Make, then the amplitude of fluctuation of swing arm base pressure Pb and swing arm rod pressure Pr become larger.For example, swing arm base pressure Pb because working oil from
Bottom side grease chamber is flowed out and is temporarily reduced, and swing arm rod pressure Pr temporarily increases because working oil is flowed into bar side grease chamber.Later, swing arm
Base pressure Pb and swing arm rod pressure Pr tend to stable respectively, and in moment t2, respective amplitude of fluctuation is less than specified value.
About discharge flow instruction value, if individually carrying out swing arm step-down operation in moment t1, controller 54 is exported and is born
The corresponding 1st instruction value d1 of governor pressure, and the 1st instruction value d1 is set as discharge flow instruction value.Therefore, such as Fig. 8 (B) institute
Show, in moment t1, discharge flow instruction value increases to the 1st instruction value d1.Later, controller 54 use the 1st instruction value d1 as
Discharge flow instruction value, until being determined as that swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr are less than regulation
Value.Therefore, discharge flow instruction value is changed by the 1st instruction value d1.Later, in moment t2, if it is determined that being swing arm base pressure Pb
And the respective amplitude of fluctuation of swing arm rod pressure Pr is less than specified value, then controller 54 exports and acts on F pairs of thrust of swing arm cylinder 7
The 2nd instruction value d2 answered.It is hydraulic so as to by after stipulated time T1 at this point, controller 54 determines discharge flow instruction value
The practical discharge flow Qp for pumping 10R becomes the discharge flow for corresponding to the 2nd instruction value.This is rapid in order to avoid discharge flow Qp
Become.Specifically, 54 couples of controller the 1st instruction value d1 as current discharge flow instruction value with as pass through stipulated time T1
Linear interpolation is carried out between 2nd instruction value d2 of discharge flow instruction value later and exports intermediate command value.Moreover, control pump
Adjuster 40R, so that practical discharge flow Qp is consistent with the discharge flow of intermediate command value is corresponded to.Therefore, such as Fig. 8 (B) institute
Show, discharge flow instruction value relatively slowly declines from the 1st instruction value d1 ratio on moment t2, after by stipulated time T1
Moment t3 reaches the 2nd instruction value d2.
As shown in Fig. 8 (C), swing arm decrease speed gradually increase after swing arm step-down operation in moment t1, when
T2 is carved, the speed Vt corresponding to swing arm step-down operation amount is reached.Moreover, discharge flow instruction value starts to reduce in moment t2,
After practical discharge flow Qp starts reduction, the speed Vt is also maintained.In addition, discharge flow instruction value becomes in moment t3
2nd instruction value d2 also maintains the speed after practical discharge flow Qp becomes the discharge flow corresponding to the 2nd instruction value d2
Spend Vt.This is because regenerant flow Qg increase is equivalent to the amount of discharge flow Qp reduction.
Through the above structure, in the case where having carried out swing arm step-down operation, controller 54 is according to acting on swing arm cylinder 7
Thrust F and determine discharge flow Qp, on one side by swing arm rod pressure Pr be set as defined in goal pressure Ptg or more, make to regenerate on one side
Flow Qg becomes maximum.Therefore, the generation of air pocket can be prevented on one side, improve regeneration efficiency when swing arm step-down operation on one side.
Also, discharge flow Qp is reduced to required minimum limit, therefore can be realized energy-saving.
Also, just carry out swing arm step-down operation after, controller 54 according to negative governor pressure or swing arm step-down operation amount and
Determine the 1st instruction value d1.Then control pump control mechanism 40R so that the practical discharge flow Qp of hydraulic pump 10R with correspond to the 1st
The discharge flow of instruction value d1 is consistent.Also, after the pressure of the working oil in swing arm cylinder 7 is stablized, according to acting on swing arm
The thrust F of cylinder 7, the flow path area Ag of regenerative circuit 33 and oil return line 34 flow path area Ac and determine the 2nd instruction value d2.Then
Pump control mechanism 40R is controlled, so that the practical discharge flow Qp of hydraulic pump 10R and the discharge flow one for corresponding to the 2nd instruction value d2
It causes.Specifically, controller 54 is true in the case that the amplitude of fluctuation of the pressure of the working oil in swing arm cylinder 7 is less than specified value
Fixed 2nd instruction value.Therefore, controller 54 can on one side set swing arm rod pressure Pr on the basis of accurately exporting thrust F
For defined goal pressure Ptg or more, export on one side corresponding with regenerant flow Qg can be made to become maximum discharge flow Qp
2nd instruction value d2.
In addition, acting on the thrust F of swing arm cylinder 7 according to swing arm base pressure Pb and compression area Ab and swing arm rod pressure Pr
And compression area Ar and export.Therefore, controller 54 can accurately export thrust F in simple structure.
Also, the flow path area Ag of regenerative circuit 33 and the flow path area Ac of oil return line 34 according to swing arm step-down operation amount and
Export.Therefore, controller 54 can prevent the generation of air pocket, and can improve regeneration efficiency when swing arm step-down operation on one side,
The swing arm decrease speed for corresponding to swing arm step-down operation amount is realized on one side.
Also, controller 54 exports intermediate command value to interpolation is carried out between the 1st instruction value d1 and the 2nd instruction value d2.
Then pump control mechanism 40R is controlled, so as to by becoming the practical discharge flow Qp of hydraulic pump 10R pair
The discharge flow of 2 instruction value d2 of Ying Yu, and make practical discharge flow Qp and correspond to the discharge flow of the intermediate command value
Unanimously.Therefore, controller 54 can prevent the cataclysm of discharge flow Qp, the cataclysm of regenerant flow Qg and swing arm cylinder from flowing into flow Qs
The cataclysm of (swing arm decrease speed), and the generation of air pocket can be prevented on one side, revival when swing arm step-down operation is improved on one side
Rate.
More than, it is had been described in detail about the embodiment of the present invention, but the present invention is not limited to specific embodiments, are remembering
Various modifications and change can be carried out by being loaded in the range of the spirit of the invention in scope of the claims.
For example, in the above-described embodiments, controller 54 is detecting what swing arm operating stick was individually operated by full bar downward
In the case of be judged to carrying out swing arm step-down operation.However, the present invention is not limited to the structures.For example, controller 54
It can be judged to carrying out swing arm step-down operation in the case where detecting that swing arm operating stick is individually operated by half bar downward.
In addition, " operation of half bar " refers to operate the bar operation that small operating quantity carries out than full bar.
Also, in the above-described embodiments, regenerative circuit 33 is formed in the inside of control valve 14R, but can also be formed in control
The outside of valve 14R processed.
This application claims excellent in Japanese patent application 2014-103710 of Japanese publication based on May 19th, 2014
First weigh, and by the full content of these Japanese patent applications by reference to and be applied in the application.
Symbol description
1- excavator, 2- lower running body, 3- upper rotation, 4- swing arm, 5- dipper, 6- scraper bowl, 7- swing arm cylinder, 8- bucket
Bar cylinder, 9- scraper bowl cylinder, 10L, 10R- hydraulic pump, 11L, 11R, 12L, 12R, 13L, 13R, 14L, 14R, 15L, 15R- control valve,
20L, 20R-, which are born, controls throttle valve, 22- service tank, position bleed off circuit in 30L, 30R-, the parallel oil circuit of 31L, 31R-, 33- regeneration
Oil circuit, 34- oil return line, 40L, 40R- pump control mechanism, 42L, 42R- walking hydraulic motor, 44- revolution hydraulic motor, 54-
Controller, S1~S6- pressure sensor.
Claims (12)
1. a kind of excavator, has:
Swing arm cylinder, at least part for receiving the working oil of hydraulic pump discharge are used as pump for oil supply；
Regenerative circuit, so that a part of the working oil flowed out from the contraction side grease chamber of the swing arm cylinder is flowed into as reclaimed oil
Stretch side grease chamber；And
Control device controls the discharge flow for the working oil that the hydraulic pump spues and adjusts the pump for the supply stream of oil supply
Amount,
In the case where having carried out swing arm step-down operation, the control device is so that the stretching, extension side grease chamber of the swing arm cylinder
Pressure become specified value mode determine the discharge flow, and by the discharge flow with the reclaimed oil altogether to described
Stretch the supply of side grease chamber.
2. excavator according to claim 1, wherein
The control device determines the 1st instruction value of the discharge flow according to swing arm step-down operation amount, and spits described in control
Outflow, so that the practical discharge flow of the hydraulic pump is consistent with the discharge flow of the 1st instruction value is corresponded to.
3. excavator according to claim 2, wherein
Later, the control device is according to the flow path area for acting on the thrust of the swing arm cylinder, the regenerative circuit and by institute
The flow path area for the oil return line that swing arm cylinder is connected to service tank is stated to determine the 2nd instruction value of the discharge flow, and
The discharge flow is controlled, so that the practical discharge flow of the hydraulic pump and the discharge flow one for corresponding to the 2nd instruction value
It causes.
4. excavator according to claim 3, wherein
In the case that the amplitude of fluctuation of the pressure of working oil in the swing arm cylinder is less than specified value, the control device is determined
2nd instruction value.
5. excavator according to claim 3 or 4, wherein
The control device exports intermediate command value to interpolation is carried out between the 1st instruction value and the 2nd instruction value, and
The discharge flow is controlled, corresponds to institute so that after by the stipulated time, the practical discharge flow of the hydraulic pump becomes
The discharge flow of the 2nd instruction value is stated, and makes the practical discharge flow of the hydraulic pump and corresponds to the discharge of the intermediate command value
Flow is consistent.
6. excavator according to claim 3 or 4, wherein
The control device according to the pressure of the pressure and compression area of the contraction side grease chamber and the stretching, extension side grease chamber and by
Pressure surface product carrys out derivative ac-tion in the thrust of the swing arm cylinder.
7. excavator according to claim 3 or 4, wherein
The control device exports the stream of the regenerative circuit corresponding to current swing arm step-down operation amount referring to corresponding table
The flow path area of road surface product and the oil return line, the corresponding table are previously stored with the flow path area of the regenerative circuit and described
The flow path area of the oil return line corresponding relationship with swing arm step-down operation amount respectively.
8. a kind of control method of excavator, the excavator have: swing arm cylinder receives the working oil of hydraulic pump discharge at least
A part is as pump for oil supply；Regenerative circuit, so that a part of the working oil flowed out from the contraction side grease chamber of the swing arm cylinder
Stretching, extension side grease chamber is flowed into as reclaimed oil；And control device, control the discharge flow for the working oil that the hydraulic pump spues and
The pump is adjusted for the supply flow rate of oil supply, wherein
In the case where having carried out swing arm step-down operation, the control device is so that the stretching, extension side grease chamber of the swing arm cylinder
Pressure become specified value mode determine the discharge flow, and by the discharge flow with the reclaimed oil altogether to described
Stretch the supply of side grease chamber.
9. control method according to claim 8, wherein
The control device determines the 1st instruction value of the discharge flow according to swing arm step-down operation amount, and spits described in control
Outflow, so that the practical discharge flow of the hydraulic pump is consistent with the discharge flow of the 1st instruction value is corresponded to.
10. control method according to claim 9, wherein
Then the control device is according to the flow path area for acting on the thrust of the swing arm cylinder, the regenerative circuit and will be described
The flow path area for the oil return line that swing arm cylinder is connected to service tank determines the 2nd instruction value of the discharge flow, and controls
The discharge flow is made, so that the practical discharge flow of the hydraulic pump is consistent with the discharge flow of the 2nd instruction value is corresponded to.
11. control method according to claim 10, wherein
In the case that the amplitude of fluctuation of the pressure of working oil in the swing arm cylinder is less than specified value, the control device is determined
2nd instruction value.
12. control method described in 0 or 11 according to claim 1, wherein
The control device exports intermediate command value to interpolation is carried out between the 1st instruction value and the 2nd instruction value, and
The discharge flow is controlled, corresponds to institute so that after by the stipulated time, the practical discharge flow of the hydraulic pump becomes
The discharge flow of the 2nd instruction value is stated, and makes the practical discharge flow of the hydraulic pump and corresponds to the discharge of the intermediate command value
Flow is consistent.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014103710 | 2014-05-19 | ||
| JP2014-103710 | 2014-05-19 | ||
| PCT/JP2015/064091 WO2015178316A1 (en) | 2014-05-19 | 2015-05-15 | Shovel and control method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106460888A CN106460888A (en) | 2017-02-22 |
| CN106460888B true CN106460888B (en) | 2019-05-10 |
Family
ID=54553987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580025526.8A Expired - Fee Related CN106460888B (en) | 2014-05-19 | 2015-05-15 | Excavator and its control method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6629189B2 (en) |
| CN (1) | CN106460888B (en) |
| WO (1) | WO2015178316A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7171475B2 (en) * | 2019-03-11 | 2022-11-15 | 日立建機株式会社 | working machine |
| JP2022001769A (en) * | 2020-06-19 | 2022-01-06 | 川崎重工業株式会社 | Hydraulic drive system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006070970A (en) * | 2004-09-01 | 2006-03-16 | Shin Caterpillar Mitsubishi Ltd | Hydraulic control circuit for construction machine |
| JP3901058B2 (en) * | 2002-08-21 | 2007-04-04 | コベルコ建機株式会社 | Hydraulic cylinder controller for construction machinery |
| JP2010286074A (en) * | 2009-06-12 | 2010-12-24 | Kobe Steel Ltd | Hydraulic control device of working machine and working machine having the same |
| CN103261709A (en) * | 2010-12-15 | 2013-08-21 | 卡特彼勒公司 | Hydraulic control system having energy recovery |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4354300B2 (en) * | 2004-02-27 | 2009-10-28 | 三菱重工業株式会社 | Fluid pressure actuator, operating method thereof, and aircraft steering system |
| JP2010078035A (en) * | 2008-09-25 | 2010-04-08 | Caterpillar Japan Ltd | Hydraulic cylinder control circuit of utility machine |
-
2015
- 2015-05-15 JP JP2016521079A patent/JP6629189B2/en active Active
- 2015-05-15 WO PCT/JP2015/064091 patent/WO2015178316A1/en active Application Filing
- 2015-05-15 CN CN201580025526.8A patent/CN106460888B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3901058B2 (en) * | 2002-08-21 | 2007-04-04 | コベルコ建機株式会社 | Hydraulic cylinder controller for construction machinery |
| JP2006070970A (en) * | 2004-09-01 | 2006-03-16 | Shin Caterpillar Mitsubishi Ltd | Hydraulic control circuit for construction machine |
| JP2010286074A (en) * | 2009-06-12 | 2010-12-24 | Kobe Steel Ltd | Hydraulic control device of working machine and working machine having the same |
| CN103261709A (en) * | 2010-12-15 | 2013-08-21 | 卡特彼勒公司 | Hydraulic control system having energy recovery |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015178316A1 (en) | 2015-11-26 |
| JPWO2015178316A1 (en) | 2017-04-20 |
| JP6629189B2 (en) | 2020-01-15 |
| CN106460888A (en) | 2017-02-22 |
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