EP0553347B1 - Hydraulic driving device of construction machinery - Google Patents

Hydraulic driving device of construction machinery Download PDF

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Publication number
EP0553347B1
EP0553347B1 EP90903215A EP90903215A EP0553347B1 EP 0553347 B1 EP0553347 B1 EP 0553347B1 EP 90903215 A EP90903215 A EP 90903215A EP 90903215 A EP90903215 A EP 90903215A EP 0553347 B1 EP0553347 B1 EP 0553347B1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
hydraulic pressure
driving mechanism
pipeline system
period
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.)
Expired - Lifetime
Application number
EP90903215A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0553347A4 (en
EP0553347A1 (en
Inventor
Yukio Moriya
Takeshi Kobayashi
Takumi Onoda
Fujitoshi Takamura
Toshio Yokoyama
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0553347A4 publication Critical patent/EP0553347A4/en
Publication of EP0553347A1 publication Critical patent/EP0553347A1/en
Application granted granted Critical
Publication of EP0553347B1 publication Critical patent/EP0553347B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • 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
    • 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
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating

Definitions

  • the present invention relates to a method according to the preamble of Claim 1 and an equipment according to the preamble of Claim 5, for use in construction machinery such as a power shovel, shoveldozer and bulldozer.
  • construction machinery such as a power shovel, shoveldozer and bulldozer.
  • working equipment are buckets, tilting apparatus, slewing apparatus etc.
  • hydraulic pressure for actuating the hydraulic driving mechanism which is driven by hydraulic pressure in the hydraulically-operated equipment is supplied, at a constant supplying rate, to the pipeline system of the hydraulic driving mechanism, by means of hydraulic controller valves, hydraulic pumps and similar devices.
  • the hydraulic driving mechanism is driven by hydraulic pressure, the pressure being supplied at such a constant supplying rate that it rises and drops rectilinearly.
  • the above arrangement makes it possible to prevent such an undesirable situation that the working state of the hydraulic driving mechanism is abruptly changed. Therefore, the entire operation of the hydraulic driving mechanism is carried out so smoothly that a shock which may occur at the time of start-up and shut-down is prevented. Further, a delay in the operation can be positively avoided since the operation of the hydraulic driving mechanism is kept at a high speed in the dead zone period and in the operating zone period excluding the specified period. In the case the equipment has more than two operation modes having different operation speeds, such an unfavourable situation that there occurs a shock with one mode at the time of start-up and shut-down whilst an operational lag occurs with the other mode will no longer happen.
  • a construction machine with crawler belts which moves back and forth and slews freely such as a power shovel, for example, is provided with working equipment such as a bucket, tilting apparatus or slewing apparatus which is hydraulically-operated equipment.
  • working equipment has a hydraulic system as shown in Fig. 1.
  • an operation signal generated according to the operating conditions of a control lever 1 consisting of an electric lever is supplied to a controller 2.
  • the above operating conditions are, concretely, rapid operation (represented by the dashed line a in Fig. 2), normal operation (the dashed line b ), slow operation (the dashed line c ) and reverse operation (the dashed line z ). Those operations are carried out at control speeds in the range from the minimum value "0" to the maximum value "full stroke" and will be described later in detail.
  • the controller 2 is also provided with set mode signals from an automatic mode setting section 3 and a manual mode-change-over switch 4.
  • the set mode signals are each based on one of operation modes such as an digging mode, moderating mode etc., the operation mode being specified by the automatic mode setting section 3 or the manual mode-change-over switch 4.
  • the automatic mode setting section 3 is for automatically selecting one operation mode according to operational requirements for the construction machine and particularly the working equipment.
  • the manual mode-change-over switch 4 is operated by the operator to select one of the above operation modes in accordance with the working state of the machine.
  • the controller 2 controls the rate at which hydraulic pressure is supplied to the hydraulic pipeline system of a hydraulic driving system 5 provided in a bucket, tilting apparatus or slewing apparatus, by selecting one of preset control modulation patterns (in this embodiment, three patterns are preset). More specifically, the pumping rate of a hydraulic pump 7 actuated by a travel engine 6 for driving the construction machine to travel back and forth and slew and the spool drive of a hydraulic controller valve 8 for determining the flow path and flow rate of hydraulic oil pressurised by the hydraulic pump 7 are increased or decreased whereby the controller 2 controls the hydraulic pressure supplying rate according to selected one of the control modulation patterns.
  • preset control modulation patterns in this embodiment, three patterns are preset. More specifically, the pumping rate of a hydraulic pump 7 actuated by a travel engine 6 for driving the construction machine to travel back and forth and slew and the spool drive of a hydraulic controller valve 8 for determining the flow path and flow rate of hydraulic oil pressurised by the hydraulic pump 7 are increased or decreased whereby the controller
  • the controller 2 processes the set mode signal sent from the manual mode-change-over switch 4 in preference to the set mode signal from the automatic mode setting section 3.
  • each of the control modulation patterns A, B and Z achieves satisfactory operational effects after the rise of hydraulic pressure.
  • the hydraulic pressure supplying rate is set less than those of the other periods.
  • the controller 2 selects, in the following manner, one of the control modulation patterns A, B and Z in accordance with the operation mode specified by the automatic mode setting section 3 or the manual mode-change-over switch 4.
  • the control modulation pattern B is selected so that no great shock will occur and the operation will be carried out in a smooth and gentle manner in the course of heavy digging operation.
  • the control modulation pattern A is selected so that there will occur no operational lag.
  • travelling equipment when the high travelling-speed mode is set, the control modulation pattern B causing less shocks is selected to reduce the influence of inertia, and when the low travelling-speed mode is selected, the control modulation pattern A causing no operational lag is selected.
  • the control lever 1 is reversely operated such that the control speed drops from a "full stroke" value to "0"
  • the control modulation pattern Z is always selected regardless of the operation mode that has been set or specified.
  • the dashed line z represents the reverse operating condition in which the control speed decreases with a profile similar to that of the rapid operating condition when it is inverted.
  • the rapid operating condition represented by the dashed line a the normal operating condition represented by the dashed line b and the reverse operating condition represented by the dashed line z
  • a shock will inevitably occur at the time of the start-up and shut-down of the hydraulic driving mechanism 5.
  • the shock is considerably great especially in the rapid and reverse operating conditions since the control speed of the control lever 1 instantaneously reaches the "'full stroke" value or "0".
  • control modulation pattern A is selected on the basis of a selected operation mode when the control lever 1 is in the rapid operating condition indicated by the dashed line a, the hydraulic pressure supplying rate will be controlled in compliance with the control modulation pattern A. If the control modulation pattern A is selected when the control lever 1 is in the normal operating condition or slow operating condition indicated by the dashed lines b and c respectively, the hydraulic pressure supplying rate will continue to be controlled in compliance with the pattern of the respective operating conditions. This arrangement enables the operational lag of the hydraulic driving mechanism 5 and the occurrence of a shock to be prevented at least in the rapid operating condition.
  • control modulation pattern B is selected when the control lever 1 is in the rapid operating condition or normal operation condition indicated by the dashed lines a and b respectively, the supplying rate will be controlled in compliance with the control modulation pattern B. If the control modulation pattern B is selected when the control lever 1 is in the slow operating condition indicated by the dashed line c , the supplying rate will continue to be controlled in compliance with the pattern of the slow operating condition.
  • control modulation pattern Z is selected when the control lever 1 is in the reverse operating condition represented by the dashed line z , the hydraulic pressure supplying rate will be controlled in compliance with the control modulation pattern Z so that the operational lag and the occurrence of a shock can be prevented.
  • the rate at which hydraulic pressure is supplied to the hydraulic pipeline system is decreased in a specified period after the dead zone period in which hydraulic pressure starts to rise, according to the preset control modulation patterns A, B and Z, however the invention is not necessarily limited to this arrangement.
  • the supplying rate may be decreased in a specified period under the calculation directly from the respective patterns of the operating conditions of the control lever 1 whereby an operational lag and the occurrence of a shock are prevented.
  • the arrangement disclosed in the invention is capable of preventing a shock which may occur at the time of the start-up and shut-down of the hydraulic driving mechanism as well as an operational lag, and therefore it is most suitably applied not only to working equipment for construction machinery such as a bucket, tilting apparatus, slewing apparatus but also to travelling equipment for construction machinery.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
EP90903215A 1990-02-20 1990-02-20 Hydraulic driving device of construction machinery Expired - Lifetime EP0553347B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP1990/000195 WO1991013218A1 (en) 1990-02-20 1990-02-20 Hydraulic driving device of construction machinery

Publications (3)

Publication Number Publication Date
EP0553347A4 EP0553347A4 (en) 1993-03-02
EP0553347A1 EP0553347A1 (en) 1993-08-04
EP0553347B1 true EP0553347B1 (en) 1997-04-16

Family

ID=13986369

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90903215A Expired - Lifetime EP0553347B1 (en) 1990-02-20 1990-02-20 Hydraulic driving device of construction machinery

Country Status (3)

Country Link
EP (1) EP0553347B1 (ja)
DE (1) DE69030507T2 (ja)
WO (1) WO1991013218A1 (ja)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5578805A (en) * 1978-12-11 1980-06-13 Japan Steel Works Ltd:The Turning device by utilizing variable pump
JPS58213927A (ja) * 1982-06-07 1983-12-13 Daikin Ind Ltd パワ−シヨベル等の建設機械
JPS62160331A (ja) * 1986-01-08 1987-07-16 Hitachi Constr Mach Co Ltd エンジン・油圧ポンプの制御装置
JPH0686905B2 (ja) * 1987-07-08 1994-11-02 株式会社神戸製鋼所 油圧作業機械の旋回制御方法
JP2509311B2 (ja) * 1988-10-25 1996-06-19 株式会社小松製作所 建設機械の作業機制御方法

Also Published As

Publication number Publication date
DE69030507T2 (de) 1997-09-25
DE69030507D1 (de) 1997-05-22
EP0553347A4 (en) 1993-03-02
EP0553347A1 (en) 1993-08-04
WO1991013218A1 (en) 1991-09-05

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