JP2008169981A - Hydraulic circuit of construction machine with boom - Google Patents

Hydraulic circuit of construction machine with boom Download PDF

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JP2008169981A
JP2008169981A JP2007006282A JP2007006282A JP2008169981A JP 2008169981 A JP2008169981 A JP 2008169981A JP 2007006282 A JP2007006282 A JP 2007006282A JP 2007006282 A JP2007006282 A JP 2007006282A JP 2008169981 A JP2008169981 A JP 2008169981A
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boom
pressure
circuit
switching valve
hydraulic
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JP4871147B2 (en
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Takashi Kubo
隆 久保
Kiminori Sano
公則 佐野
Hiroshi Ishiyama
寛 石山
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Sumitomo SHI Construction Machinery Co Ltd
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Sumitomo SHI Construction Machinery Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a boom-fitted construction machine equipped with a safety measure circuit to be shut off by throttling a return oil in a boom-down line when a hydraulic hose is broken and an energy collecting circuit to make energy collection from the return oil in the boom-down line, whereby an opening in the safety measure circuit is widened to ensure energy collection as long as the frame holding pressure keeps a proper level in case the frame operating amount is small to make the opening in the safety measure circuit remain throttled. <P>SOLUTION: The arrangement of this hydraulic circuit includes a pressure sensor 50 to sense the frame holding pressure and a function releasing circuit 40 to work complying with the boom-down pilot pressure P and the boom holding pressure and lead out the operating pressure to the safety measure circuit 30 so as to open the throttle, and in case the boom holding pressure keeps a prescribed level or above when the boom-down operation takes place, the operating pressure from the function releasing means 40 is heightened so as to widen the throttle opening of the safety measure circuit 30. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明はブーム付き建設機械の油圧回路に関するものであり、特に、油圧ホース破損時にブーム下げラインの戻り油を絞って遮断する安全対策回路を備えた建設機械において、ブーム保持圧が適正である場合、ブーム下げ操作量が小さくとも安全対策回路の絞りを開口してエネルギ回生できるようにしたブーム付き建設機械の油圧回路に関するものである。   The present invention relates to a hydraulic circuit for a construction machine with a boom, and particularly, in a construction machine having a safety measure circuit that squeezes and shuts off return oil in a boom lowering line when a hydraulic hose is broken, when the boom holding pressure is appropriate. Further, the present invention relates to a hydraulic circuit for a construction machine with a boom that can regenerate energy by opening a throttle of a safety countermeasure circuit even when the amount of boom lowering operation is small.

従来、油圧ショベルや油圧クレーンなどのブーム付き建設機械において、油圧ホース破損時にブーム下げラインの戻り油を絞って遮断する安全対策回路として、液圧シリンダ(油圧シリンダ)が自由落下するときの排出側にディテント付き切換弁と絞りとを直列に配置し、上記切換弁として通常は作動位置で、上記絞りの前後差圧が所定値以上になったとき停止位置に切り換わるものを用いた油圧シリンダの落下防止回路が知られている(例えば、特許文献1参照)。   Conventionally, in a construction machine with a boom such as a hydraulic excavator or a hydraulic crane, the discharge side when the hydraulic cylinder (hydraulic cylinder) falls freely as a safety measure circuit to squeeze and shut off the return oil of the boom lowering line when the hydraulic hose breaks A switching valve with a detent and a throttle are arranged in series, and a hydraulic cylinder using a switching valve that is normally in the operating position and switches to the stop position when the differential pressure across the throttle exceeds a predetermined value. A fall prevention circuit is known (see, for example, Patent Document 1).

また、ブーム下げラインの戻り油をエネルギ回生する回生回路として、複数の油圧アクチュエータからの戻り油を回収し、その回収した戻り油によって回転駆動される回転機(ポンプモータ)を備えて構成される油圧回生回路と、各油圧アクチュエータにおけるメータアウト側からの戻り油を油圧再生回路へ導く案内油路と、この案内油路の開閉を切り換える切換手段(切換弁)と、各油圧アクチュエータの背圧を検出する圧力検出手段(圧力センサ)と、回転機からの回転力により電力を発生する発電機を設けた建設機械の油圧回路が知られている(例えば、特許文献2参照)。
特開昭57−15104号公報 特開2004−11168号公報
Further, the regenerative circuit that regenerates energy from the return oil of the boom lowering line includes a rotating machine (pump motor) that collects return oil from a plurality of hydraulic actuators and is driven to rotate by the recovered return oil. A hydraulic regenerative circuit, a guide oil passage for guiding return oil from the meter-out side of each hydraulic actuator to the hydraulic regeneration circuit, a switching means (switching valve) for switching between opening and closing of the guide oil passage, and a back pressure of each hydraulic actuator. There is known a hydraulic circuit of a construction machine provided with a pressure detecting means (pressure sensor) for detecting and a generator for generating electric power by the rotational force from the rotating machine (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 57-15104 JP 2004-11168 A

特許文献1記載の発明は、油圧ホース破損時における油圧シリンダの自由落下防止回路であり、エネルギ回生についての記載はない。   The invention described in Patent Document 1 is a free fall prevention circuit for a hydraulic cylinder when a hydraulic hose is broken, and there is no description about energy regeneration.

特許文献2記載の発明は、複数のアクチュエータからの戻り油を、背圧の高低により2組の油圧エネルギ回収手段にて効率的に回収し、エネルギ回生を行おうとするものであるが、油圧ホース破損時の安全対策回路についての記載はない。   In the invention described in Patent Document 2, return oil from a plurality of actuators is efficiently recovered by two sets of hydraulic energy recovery means depending on the back pressure level, and energy recovery is performed. There is no description of the safety circuit in case of damage.

いま仮に、請求項1記載の油圧シリンダの排出側油路に回生回路を設けたとしても、排出側に設けられた絞りによって流量が抑えられるため、油圧シリンダの操作量が小さいときは、ブームの位置エネルギは絞りの圧力損失として損失されてしまい、エネルギ回生ができない。   Even if a regenerative circuit is provided in the discharge side oil passage of the hydraulic cylinder according to claim 1, the flow rate can be suppressed by the throttle provided on the discharge side. Therefore, when the operation amount of the hydraulic cylinder is small, the boom The potential energy is lost as a pressure loss of the throttle, and energy regeneration cannot be performed.

そこで、油圧ホース破損時にブーム下げラインの戻り油を絞って遮断する安全対策回路を備えるとともに、ブーム下げラインの戻り油をエネルギ回生する回生回路を備えたブーム付き建設機械において、ブーム操作量が小さくて安全対策回路の開口が絞られている場合に、ブーム保持圧が適正であれば、安全対策回路の開口を大きくしてエネルギ回生ができるようにするために解決すべき技術的課題が生じてくるのであり、本発明はこの課題を解決することを目的とする。   Therefore, in a construction machine with a boom equipped with a safety measure circuit that squeezes and shuts off the return oil of the boom lowering line when the hydraulic hose is broken, the boom operation amount is small in a construction machine with a boom equipped with a regenerative circuit that regenerates the energy of the boom lowering line return energy. If the boom opening pressure is appropriate and the boom holding pressure is appropriate, there is a technical problem to be solved in order to increase the safety circuit opening to enable energy regeneration. Therefore, an object of the present invention is to solve this problem.

本発明は上記目的を達成するために提案されたものであり、請求項1記載の発明は、油圧ホース破損時にブーム下げラインの戻り油を絞って遮断する安全対策回路を備えるとともに、ブーム下げラインの戻り油をエネルギ回生する回生回路を備えたブーム付き建設機械において、ブーム保持圧を検出するブーム保持圧検出手段と、ブーム下げパイロット圧とブーム保持圧とに対応して前記安全対策回路へ操作圧を導出して絞りを開口させる機能解除回路とを設け、ブーム下げ操作時にブーム保持圧が所定値以上である場合は、前記機能解除手段からの操作圧を高くして前記安全対策回路の絞りの開口を大にすることを特徴とするブーム付き建設機械の油圧回路を提供する。   The present invention has been proposed in order to achieve the above object, and the invention according to claim 1 is provided with a safety countermeasure circuit that squeezes and shuts off the return oil of the boom lowering line when the hydraulic hose is broken, and the boom lowering line. In a boom-equipped construction machine equipped with a regenerative circuit that regenerates the return oil of the boom, the boom holding pressure detecting means for detecting the boom holding pressure, and the operation to the safety countermeasure circuit corresponding to the boom lowering pilot pressure and the boom holding pressure And a function release circuit that opens the throttle by deriving the pressure, and when the boom holding pressure is equal to or higher than a predetermined value during the boom lowering operation, the operation pressure from the function release means is increased to reduce the throttle of the safety countermeasure circuit A hydraulic circuit for a construction machine with a boom, characterized in that the opening of the boom is enlarged.

この構成によれば、ブーム下げパイロット圧が発生すると、機能解除回路から操作圧が導出されて安全対策回路の絞りを開口させる。このとき、ブーム保持圧が所定値以上であれば、機能解除回路から高い操作圧を導出して、安全対策回路の絞りの開口を大にすることにより、ブーム下げラインの戻り油の流量が増加して回生回路でエネルギ回生が行われる。   According to this configuration, when the boom lowering pilot pressure is generated, the operation pressure is derived from the function release circuit to open the throttle of the safety countermeasure circuit. At this time, if the boom holding pressure is greater than or equal to the predetermined value, the flow of return oil in the boom lowering line is increased by deriving a high operating pressure from the function release circuit and increasing the throttle opening of the safety countermeasure circuit. Then, energy regeneration is performed in the regeneration circuit.

請求項2記載の発明は、前記機能解除回路はブーム下げパイロット圧の付加によりブーム下げラインの戻り油を導入する第1切換弁と、該第1切換弁から導入されたブーム保持圧に応じて前記ブーム下げパイロット圧またはブーム下げパイロット圧よりも高い圧油の何れかを通過させて前記安全対策回路へ操作圧を導出する第2切換弁とからなり、前記安全対策回路はポペットにて油路を絞って遮断する保持弁と、前記機能解除回路から導入される操作圧の増加に伴い前記保持弁の絞りを開口させる切換弁とを有したことを特徴とする請求項1記載のブーム付き建設機械の油圧回路を提供する。   According to a second aspect of the present invention, the function release circuit responds to a first switching valve that introduces return oil of the boom lowering line by adding a boom lowering pilot pressure, and a boom holding pressure introduced from the first switching valve. The boom lowering pilot pressure or a second switching valve for deriving the operating pressure to the safety countermeasure circuit by passing either the pressure oil higher than the boom lowering pilot pressure or the oil pressure passage by the poppet 2. A construction with a boom according to claim 1, further comprising: a holding valve that restricts and shuts off the valve, and a switching valve that opens the throttle of the holding valve as the operating pressure introduced from the function release circuit increases. Provide the hydraulic circuit of the machine.

この構成によれば、ブーム下げ操作時には、ブーム下げパイロット圧の付加によって機能解除回路の第1切換弁が切り換わり、ブーム下げラインの戻り油が機能解除回路に導入される。該第1切換弁から導入されたブーム下げラインのブーム保持圧が所定値未満の低圧であるときは、ブーム下げパイロット圧が機能解除回路の第2切換弁を通過して操作圧として安全対策回路へ導出され、ブーム保持圧が所定値以上のときは前記第2切換弁が切り換わり、ブーム下げパイロット圧よりも高い圧油が操作圧として安全対策回路へ導出される。   According to this configuration, during the boom lowering operation, the first switching valve of the function release circuit is switched by applying the boom lowering pilot pressure, and the return oil of the boom lowering line is introduced into the function release circuit. When the boom holding pressure of the boom lowering line introduced from the first switching valve is a low pressure that is less than a predetermined value, the boom lowering pilot pressure passes through the second switching valve of the function release circuit and is used as an operating pressure. When the boom holding pressure is equal to or higher than a predetermined value, the second switching valve is switched, and pressure oil higher than the boom lowering pilot pressure is led to the safety countermeasure circuit as the operating pressure.

安全対策回路の切換弁は、保持弁の絞りを開口させるものであり、機能解除回路の操作圧が所定値未満の低圧であるときは、保持弁を閉止してブーム下げラインの戻り油を遮断し、機能解除回路の操作圧が所定値以上の高圧となったときは保持弁を開口させてブーム下げラインの戻り油を通過させる。   The safety control circuit switching valve opens the throttle of the holding valve. When the operating pressure of the function release circuit is a low pressure lower than the specified value, the holding valve is closed to shut off the return oil from the boom lowering line. When the operating pressure of the function release circuit becomes higher than a predetermined value, the holding valve is opened and the return oil of the boom lowering line is allowed to pass.

本発明は、安全対策回路へ操作圧を導出して絞りを開口させる機能解除回路を設け、ブーム下げ操作時にブーム保持圧が所定値以上であれば、機能解除手段からの操作圧を高くして前記安全対策回路の絞りを開口するように構成したので、ブーム下げラインの戻り油の流量が増加する。したがって、ブーム下げ操作量が小さい場合でも絞りでの圧力損失が低減し、回生回路で効率的にエネルギ回生を行うことができる。   The present invention provides a function release circuit that opens the throttle by deriving the operation pressure to the safety measure circuit, and if the boom holding pressure is greater than or equal to a predetermined value during the boom lowering operation, the operation pressure from the function release means is increased. Since the throttle of the safety countermeasure circuit is configured to open, the flow rate of return oil in the boom lowering line increases. Accordingly, even when the boom lowering operation amount is small, the pressure loss at the throttle is reduced, and the energy regeneration can be performed efficiently by the regeneration circuit.

以下、本発明に係るブーム付き建設機械の油圧回路について、好適な実施例をあげて説明する。ブーム操作量が小さくて安全対策回路の開口が絞られている場合に、ブーム保持圧が適正であれば、安全対策回路の開口を大きくしてエネルギ回生ができるようにするという目的を達成するために、本発明はブーム保持圧を検出するブーム保持圧検出手段と、ブーム下げパイロット圧とブーム保持圧とに対応して前記安全対策回路へ操作圧を導出して絞りを開口させる機能解除回路とを設け、ブーム下げ操作時にブーム保持圧が所定値以上である場合は、前記機能解除手段からの操作圧を高くして前記安全対策回路の絞りの開口を大にしたことにより実現した。   Hereinafter, the hydraulic circuit of the construction machine with a boom according to the present invention will be described with reference to preferred embodiments. In order to achieve the purpose of enlarging the safety measure circuit opening to enable energy regeneration if the boom operation amount is small and the safety measure circuit opening is restricted and the boom holding pressure is appropriate Further, the present invention provides a boom holding pressure detecting means for detecting a boom holding pressure, and a function release circuit for deriving an operating pressure to the safety countermeasure circuit and opening the throttle corresponding to the boom lowering pilot pressure and the boom holding pressure. When the boom holding pressure is greater than or equal to a predetermined value during the boom lowering operation, the operating pressure from the function release means is increased to increase the aperture of the throttle of the safety countermeasure circuit.

図1はブーム付き建設機械の一例として油圧ショベル10を示し、下部走行体11の上に旋回機構12を介して上部旋回体13が旋回自在に載置されている。上部旋回体13にはその前方一側部にキャブ14が設けられ、且つ、前方中央部にブーム15が俯仰可能に取り付けられている。更に、ブーム15の先端にアーム16が上下回動自在に取り付けられ、該アーム16の先端にバケット17が取り付けられている。   FIG. 1 shows a hydraulic excavator 10 as an example of a construction machine with a boom, and an upper swing body 13 is mounted on a lower traveling body 11 via a swing mechanism 12 so as to be rotatable. The upper swing body 13 is provided with a cab 14 on one front side thereof, and a boom 15 is attached to the front center portion so as to be able to be raised and lowered. Further, an arm 16 is attached to the tip of the boom 15 so as to be rotatable up and down, and a bucket 17 is attached to the tip of the arm 16.

また、上部旋回体13とブーム15の中間部はブームシリンダ18にて接続され、後述する油圧回路から圧油が供給されてブームシリンダ18が伸長するとブーム15が上昇し、ブームシリンダ18が収縮するとブーム15が下降する。   Further, an intermediate portion between the upper swing body 13 and the boom 15 is connected by a boom cylinder 18, and when the boom cylinder 18 is extended when pressure oil is supplied from a hydraulic circuit to be described later, the boom 15 is raised and the boom cylinder 18 is contracted. The boom 15 is lowered.

図2はブームシリンダ18を駆動する油圧回路を示し、油圧ポンプ19から吐出される圧油は、コントロール弁20によって流量および方向が制御され、油路L1または油路L2を通ってブームシリンダ18のロッド側18aまたはボトム側18bに供給される。ボトム側の油路L2には、安全対策回路30と機能解除回路40とブーム保持圧検出手段である圧力センサ50とパイロット操作形の逆止弁51が設けられ、さらに、該逆止弁51と前記コントロール弁20の二次側ポートの間から、回生用の油路L3を分岐して回生回路60が設けられている。   FIG. 2 shows a hydraulic circuit that drives the boom cylinder 18. The pressure oil discharged from the hydraulic pump 19 is controlled in flow rate and direction by the control valve 20, and passes through the oil passage L <b> 1 or the oil passage L <b> 2. It is supplied to the rod side 18a or the bottom side 18b. The oil passage L2 on the bottom side is provided with a safety countermeasure circuit 30, a function release circuit 40, a pressure sensor 50 as a boom holding pressure detecting means, and a pilot operated check valve 51. Further, the check valve 51 A regeneration circuit 60 is provided by branching a regeneration oil passage L3 from between the secondary ports of the control valve 20.

前記安全対策回路30は、ポペット31にて油路L2を絞って遮断する保持弁32と、該保持弁32の絞りを開口させる切換弁33とからなり、該切換弁33はノーマル状態で(ニ)位置にある。後述するように、機能解除回路40からの操作圧が油路L4を通って安全対策回路30へ導入されると、該切換弁33が(ニ)位置から(ホ)位置へ切り換わり、さらに、前記機能解除回路40からの操作圧の増加によって(ヘ)位置に切り換わり、保持弁32の絞りが開口される。   The safety countermeasure circuit 30 includes a holding valve 32 that restricts and shuts off the oil passage L2 by a poppet 31, and a switching valve 33 that opens a throttle of the holding valve 32. ) Position. As will be described later, when the operation pressure from the function release circuit 40 is introduced into the safety countermeasure circuit 30 through the oil passage L4, the switching valve 33 is switched from the (d) position to the (e) position, When the operating pressure from the function release circuit 40 increases, the position is changed to the (f) position, and the throttle of the holding valve 32 is opened.

一方、前記機能解除回路40は、ブーム下げパイロット圧Pの付加があったときにブーム下げラインの戻り油を導入する第1切換弁41と、該第1切換弁41から導入されたブーム保持圧に応じて、前記ブーム下げパイロット圧Pまたはブーム下げパイロット圧Pよりも高い油圧源22からの圧油の何れかを油路L4へ通過させて前記安全対策回路30へ操作圧を導出する第2切換弁42とから構成されている。   On the other hand, the function release circuit 40 includes a first switching valve 41 for introducing return oil of the boom lowering line when the boom lowering pilot pressure P is applied, and a boom holding pressure introduced from the first switching valve 41. Accordingly, the boom lowering pilot pressure P or the pressure oil from the hydraulic pressure source 22 higher than the boom lowering pilot pressure P is passed through the oil passage L4 to derive the operating pressure to the safety countermeasure circuit 30. And a switching valve 42.

また、前記回生回路60は、エネルギ回生用の油圧モータ61と、該油圧モータ61の回転によって駆動される発電機62と、回生回路60への油路L3を開閉する開閉弁63と、該開閉弁63のパイロット制御部へ油圧源22の圧油を供給または遮断する電磁弁64とから構成されている。   The regenerative circuit 60 includes an energy regenerative hydraulic motor 61, a generator 62 driven by the rotation of the hydraulic motor 61, an on-off valve 63 that opens and closes an oil passage L3 to the regenerative circuit 60, and the open / close The solenoid valve 64 supplies or shuts off the pressure oil from the hydraulic source 22 to the pilot control unit of the valve 63.

次に、上記油圧回路の作動を説明する。図2に示すように、前記コントロール弁20が中立位置(イ)では、油路L1およびL2は閉止され、油圧ポンプ19の吐出油がタンク21へ戻る。したがって、ブームシリンダ18は伸縮が固定された状態となる。   Next, the operation of the hydraulic circuit will be described. As shown in FIG. 2, when the control valve 20 is in the neutral position (A), the oil passages L <b> 1 and L <b> 2 are closed, and the oil discharged from the hydraulic pump 19 returns to the tank 21. Therefore, the boom cylinder 18 is in a state in which expansion and contraction is fixed.

前記コントロール弁20が中立位置(イ)では、ブーム下げパイロット圧Pが発生しないため、機能解除回路40の第1切換弁41は(ト)位置にあり、第2切換弁42は(リ)位置にあって、機能解除回路40から油路L4に操作圧は導出されない。したがって、安全対策回路30の切換弁33が(ニ)位置にあって、保持弁32はバネ34の付勢により閉止状態となっている。また、回生回路60の電磁弁64がオフで、開閉弁63は(ル)位置にあるため、油圧モータ61が回転せず発電機62による発電は行われない。   Since the boom lowering pilot pressure P is not generated when the control valve 20 is in the neutral position (A), the first switching valve 41 of the function release circuit 40 is in the (G) position and the second switching valve 42 is in the (R) position. Therefore, the operating pressure is not derived from the function release circuit 40 to the oil passage L4. Therefore, the switching valve 33 of the safety countermeasure circuit 30 is in the (d) position, and the holding valve 32 is closed by the bias of the spring 34. In addition, since the electromagnetic valve 64 of the regenerative circuit 60 is off and the on-off valve 63 is in the (le) position, the hydraulic motor 61 does not rotate and power generation by the generator 62 is not performed.

ブーム上げ操作時は、図3に示すように、ブーム上げパイロット圧により前記コントロール弁20が(ロ)位置に切り換わり、油圧ポンプ19の吐出油が油路L2へ導出され、逆止弁51および安全対策回路30の保持弁32を押し開いてブームシリンダ18のボトム側18bへ供給される。ブームシリンダ18のロッド側18aの圧油は、油路L1を通ってコントロール弁20の(ロ)位置からタンク21に戻る。かくして、ブームシリンダ18が伸長してブーム15が上昇する。   At the time of boom raising operation, as shown in FIG. 3, the control valve 20 is switched to the (B) position by the boom raising pilot pressure, the oil discharged from the hydraulic pump 19 is led to the oil passage L2, and the check valve 51 and The holding valve 32 of the safety countermeasure circuit 30 is pushed open and supplied to the bottom side 18 b of the boom cylinder 18. The pressure oil on the rod side 18a of the boom cylinder 18 returns to the tank 21 from the (B) position of the control valve 20 through the oil passage L1. Thus, the boom cylinder 18 extends and the boom 15 rises.

これに対して、ブーム下げ操作時は、図4に示すように、ブーム下げパイロット圧Pにより前記コントロール弁20が(ハ)位置に切り換わり、油圧ポンプ19の吐出油が油路L1を通ってブームシリンダ18のロッド側18aへ供給される。ブームシリンダ18のボトム側18bの圧油は、安全対策回路30の保持弁32により絞られて油路L2へ導出され、ブーム下げパイロット圧Pの作用で開かれた逆止弁51を通って、コントロール弁20の(ハ)位置からタンク21に戻る。かくして、ブームシリンダ18が収縮してブーム15が下降する。   On the other hand, during the boom lowering operation, as shown in FIG. 4, the control valve 20 is switched to the position (c) by the boom lowering pilot pressure P, and the discharged oil of the hydraulic pump 19 passes through the oil passage L1. It is supplied to the rod side 18a of the boom cylinder 18. The pressure oil on the bottom side 18b of the boom cylinder 18 is squeezed by the holding valve 32 of the safety countermeasure circuit 30 and led to the oil passage L2, and passes through the check valve 51 opened by the action of the boom lowering pilot pressure P. The control valve 20 returns to the tank 21 from the (c) position. Thus, the boom cylinder 18 contracts and the boom 15 descends.

ここで、ブーム下げ操作時における、安全対策回路30および機能解除回路40の作動をさらに説明する。   Here, the operation of the safety countermeasure circuit 30 and the function release circuit 40 during the boom lowering operation will be further described.

[A1]ブーム下げパイロット圧Pが所定値未満の場合
ブーム下げ操作量が小さくて、ブーム下げパイロット圧Pが所定値未満である場合でも、図4に示すように、ブーム下げパイロット圧Pによって機能解除回路40の第1切換弁41が(チ)位置に切り換わり、ブーム下げラインの戻り油が油路L2およびL5から機能解除回路40に導入される。
[A1] When the boom lowering pilot pressure P is less than the predetermined value Even if the boom lowering operation amount is small and the boom lowering pilot pressure P is less than the predetermined value, as shown in FIG. The first switching valve 41 of the release circuit 40 is switched to the (h) position, and the return oil of the boom lowering line is introduced into the function release circuit 40 from the oil passages L2 and L5.

(A1−1)このとき、戻り油路L2およびL5の油圧が所定値未満の低圧である場合は、第1切換弁41の(チ)位置を通過して第2切換弁42のパイロット制御部へ作用するパイロット圧も低いので、第2切換弁42は(リ)位置を保持する。したがって、ブーム下げパイロット圧Pが、第2切換弁42の(リ)位置および油路L4を介して、操作圧として安全対策回路30へ導出され、安全対策回路30の切換弁33のパイロット制御部へ作用して、該切換弁33を(ホ)位置に切り換える。   (A1-1) At this time, when the hydraulic pressures of the return oil passages L2 and L5 are low pressures less than a predetermined value, the pilot control unit of the second switching valve 42 passes through the (H) position of the first switching valve 41. Since the pilot pressure acting on the second valve 42 is also low, the second switching valve 42 maintains the (re) position. Therefore, the boom lowering pilot pressure P is led out to the safety countermeasure circuit 30 as the operating pressure via the (re) position of the second switching valve 42 and the oil passage L4, and the pilot control unit of the switching valve 33 of the safety countermeasure circuit 30 And the switching valve 33 is switched to the (e) position.

しかし、この場合も前記保持弁32は絞りが閉じられた状態を維持し、ブームシリンダ18のボトム側18bの圧油は、保持弁32のポペット31の小径部に設けられている環状溝35及び切換弁33の(ホ)位置を介して油路L2に導出されるが、切換弁33の(ホ)位置に設けられている絞りでの圧力損失のため、油路L2に流れるブーム下げラインの戻り油により回生回路60でエネルギ回生を行うことはできない。   However, in this case as well, the holding valve 32 maintains the closed state, and the pressure oil on the bottom side 18b of the boom cylinder 18 has an annular groove 35 provided in the small diameter portion of the poppet 31 of the holding valve 32 and It is led out to the oil passage L2 through the (e) position of the switching valve 33, but because of the pressure loss at the throttle provided at the (e) position of the switching valve 33, the boom lowering line flowing in the oil passage L2 Energy regeneration cannot be performed by the regenerative circuit 60 with the return oil.

(A1−2)一方、戻り油路L2およびL5の油圧が所定値以上の高圧になった場合は、図5に示すように、第1切換弁41の(チ)位置を通過して第2切換弁42のパイロット制御部へ作用するパイロット圧が高くなり、第2切換弁42は(ヌ)位置に切り換わる。したがって、ブーム下げパイロット圧Pよりも高圧である油圧源22の圧油が、第2切換弁42の(ヌ)位置および油路L4を介して、操作圧として安全対策回路30へ導出され、安全対策回路30の切換弁33のパイロット制御部へ作用して、該切換弁33を(ヘ)位置に切り換える。かくして、保持弁32のバネ34側の圧力が下がり、戻り油路L2の油圧によってポペット31が図中左方向へ移動し、保持弁32の絞りが開口された状態となる。   (A1-2) On the other hand, when the hydraulic pressure in the return oil passages L2 and L5 becomes a high pressure equal to or higher than a predetermined value, the second switching valve 41 passes through the (h) position of the first switching valve 41 as shown in FIG. The pilot pressure acting on the pilot control unit of the switching valve 42 is increased, and the second switching valve 42 is switched to the (n) position. Therefore, the pressure oil of the hydraulic pressure source 22 that is higher than the boom lowering pilot pressure P is led to the safety countermeasure circuit 30 as the operating pressure via the (nu) position of the second switching valve 42 and the oil passage L4. It acts on the pilot control section of the switching valve 33 of the countermeasure circuit 30 to switch the switching valve 33 to the (f) position. Thus, the pressure on the spring 34 side of the holding valve 32 decreases, the poppet 31 moves to the left in the figure by the hydraulic pressure of the return oil passage L2, and the throttle of the holding valve 32 is opened.

このように、ブーム下げ操作量が小さくて、ブーム下げパイロット圧Pが所定値未満である場合でも、戻り油路L2およびL5の油圧が所定値以上の高圧である場合、すなわち、ブーム保持圧が所定値以上ある場合は、安全対策回路30の機能が解除されて、絞りでの圧力損失が低減する。   Thus, even when the boom lowering operation amount is small and the boom lowering pilot pressure P is less than the predetermined value, the hydraulic pressure in the return oil passages L2 and L5 is a high pressure that is equal to or higher than the predetermined value, that is, the boom holding pressure is When the value is equal to or greater than the predetermined value, the function of the safety countermeasure circuit 30 is canceled and the pressure loss at the throttle is reduced.

したがって、ブーム下げラインの戻り油の流量が増加し、図5に示すように、回生回路60の電磁弁64をオンして開閉弁63を(ヲ)位置に切り換えれば、油路L2の戻り油が油路L3から回生回路60へ導入され、油圧モータ61が回転して発電機62による発電が行われ、ブーム下げ操作量が小さい場合でもブーム下げラインの戻り油をエネルギ回生することができる。   Accordingly, the flow rate of the return oil in the boom lowering line increases, and as shown in FIG. 5, if the solenoid valve 64 of the regenerative circuit 60 is turned on and the on-off valve 63 is switched to the (ヲ) position, the return of the oil path L2 Oil is introduced from the oil passage L3 to the regenerative circuit 60, the hydraulic motor 61 rotates to generate power by the generator 62, and even when the boom lowering operation amount is small, the return oil of the boom lowering line can be regenerated. .

[A2]ブーム下げパイロット圧Pが所定値以上の場合
これに対して、ブーム下げ操作量が大きくて、ブーム下げパイロット圧Pが所定値以上である場合は、図6に示すように、ブーム下げパイロット圧Pによって機能解除回路40の第1切換弁41が(チ)位置に切り換わり、ブーム下げラインの戻り油が油路L2およびL5から機能解除回路40に導入される。
[A2] When the boom lowering pilot pressure P is equal to or greater than a predetermined value On the other hand, when the boom lowering operation amount is large and the boom lowering pilot pressure P is equal to or higher than the predetermined value, as shown in FIG. The first switching valve 41 of the function release circuit 40 is switched to the (h) position by the pilot pressure P, and the return oil of the boom lowering line is introduced into the function release circuit 40 from the oil passages L2 and L5.

(A2−1)このとき、戻り油路L2およびL5の油圧が所定値未満の低圧である場合は、第1切換弁41の(チ)位置を通過して第2切換弁42のパイロット制御部へ作用するパイロット圧も低いので、第2切換弁42は(リ)位置を保持する。この場合は、第2切換弁42の(リ)位置および油路L4を介して、ブーム下げパイロット圧Pが操作圧として安全対策回路30へ導出されるが、ブーム下げパイロット圧Pが所定値以上の高圧であるため、安全対策回路30の切換弁33のパイロット制御部へ高圧が作用して、該切換弁33を(ヘ)位置に切り換える。かくして、保持弁32の絞りが開口された状態となる。   (A2-1) At this time, when the oil pressure in the return oil passages L2 and L5 is a low pressure less than a predetermined value, the pilot control unit of the second switching valve 42 passes through the position (H) of the first switching valve 41. Since the pilot pressure acting on the second valve 42 is also low, the second switching valve 42 maintains the (re) position. In this case, the boom lowering pilot pressure P is led out to the safety countermeasure circuit 30 as the operating pressure via the (re) position of the second switching valve 42 and the oil passage L4, but the boom lowering pilot pressure P is not less than a predetermined value. Therefore, the high pressure acts on the pilot control unit of the switching valve 33 of the safety circuit 30 to switch the switching valve 33 to the (f) position. Thus, the throttle of the holding valve 32 is opened.

(A2−2)一方、戻り油路L2およびL5の油圧が所定値以上の高圧になった場合は、第1切換弁41の(チ)位置を通過して第2切換弁42のパイロット制御部へ作用するパイロット圧が高くなり、第2切換弁42は(ヌ)位置に切り換わる。したがって、図5に示した構成と同様に、高圧である油圧源22の圧油が、第2切換弁42の(ヌ)位置および油路L4を介して、操作圧として安全対策回路30へ導出され、安全対策回路30の切換弁33のパイロット制御部へ作用して、該切換弁33を(ヘ)位置に切り換える。かくして、保持弁32の絞りが開口された状態となる。   (A2-2) On the other hand, when the hydraulic pressure in the return oil passages L2 and L5 becomes a high pressure equal to or higher than a predetermined value, the pilot control unit of the second switching valve 42 passes through the (H) position of the first switching valve 41. The pilot pressure acting on the second valve 42 is increased, and the second switching valve 42 is switched to the (n) position. Accordingly, similarly to the configuration shown in FIG. 5, the pressure oil of the high pressure hydraulic source 22 is led out to the safety countermeasure circuit 30 as the operating pressure via the (nu) position of the second switching valve 42 and the oil passage L4. Then, it acts on the pilot control section of the switching valve 33 of the safety countermeasure circuit 30 to switch the switching valve 33 to the (f) position. Thus, the throttle of the holding valve 32 is opened.

このように、ブーム下げ操作量が大きくて、ブーム下げパイロット圧Pが所定値以上ある場合は、戻り油路L2およびL5の油圧の大きさにかかわらず、ブーム保持圧が急低下しない限り、安全対策回路30の機能が解除されて、絞りでの圧力損失が低減する。   Thus, when the boom lowering operation amount is large and the boom lowering pilot pressure P is greater than or equal to a predetermined value, the safety is required as long as the boom holding pressure does not drop rapidly regardless of the hydraulic pressure in the return oil passages L2 and L5. The function of the countermeasure circuit 30 is released, and the pressure loss at the throttle is reduced.

したがって、ブーム下げラインの戻り油の流量が増加し、図5または図6に示すように、回生回路60の電磁弁64をオンして開閉弁63を(ヲ)位置に切り換えれば、油路L2の戻り油が油路L3から回生回路60へ導入され、油圧モータ61が回転して発電機62による発電が行われ、ブーム下げラインの戻り油をエネルギ回生することができる。   Therefore, if the flow rate of the return oil in the boom lowering line increases, and the electromagnetic valve 64 of the regenerative circuit 60 is turned on and the on-off valve 63 is switched to the (開 閉) position as shown in FIG. The return oil of L2 is introduced from the oil passage L3 to the regeneration circuit 60, and the hydraulic motor 61 rotates to generate power by the generator 62, so that the return oil of the boom lowering line can be regenerated.

次に、油圧ホースが破損して圧油が漏れた場合の油圧回路の作動を説明する。   Next, the operation of the hydraulic circuit when the hydraulic hose is damaged and pressure oil leaks will be described.

[B1]中立時またはブーム上げ操作時の場合
図2に示すように、前記コントロール弁20が中立位置(イ)の場合、ブーム下げパイロット圧Pが発生しないので、安全対策回路30の切換弁33のパイロット制御部にパイロット圧が作用せず、前記切換弁33は(ニ)位置を保持し、また、図3に示すように、前記コントロール弁20が(ロ)位置に切り換わってブーム上げ操作時の場合は、油圧ホースの破損によりL2に圧力が発生しないため、保持弁32を開くことができない。
[B1] During Neutral or Boom Raising Operation As shown in FIG. 2, when the control valve 20 is in the neutral position (A), the boom lowering pilot pressure P is not generated. The pilot pressure does not act on the pilot control section, the switching valve 33 maintains the (d) position, and the control valve 20 is switched to the (b) position as shown in FIG. In the case of time, since the pressure is not generated in L2 due to breakage of the hydraulic hose, the holding valve 32 cannot be opened.

したがって、ブーム保持側ホースが破損して油路L2から圧油が漏れたとしても、前記保持弁32が閉じているため、ブームシリンダ18のボトム側18bの圧油が流出することはなく、ブーム15の降下を防止できる。   Therefore, even if the boom holding side hose is damaged and pressure oil leaks from the oil passage L2, the holding valve 32 is closed, so that the pressure oil on the bottom side 18b of the boom cylinder 18 does not flow out, and the boom 15 drops can be prevented.

[B2]ブーム下げ操作時の場合
図4に示すように、前記コントロール弁20が(ハ)位置に切り換わってブーム下げ操作時の場合は、ブーム下げパイロット圧Pによって機能解除回路40の第1切換弁41が(チ)位置に切り換わり、ブーム下げラインの戻り油が油路L2およびL5から機能解除回路40に導入される。
[B2] Case of Boom Lowering Operation As shown in FIG. 4, when the control valve 20 is switched to the position (C) and the boom lowering operation is performed, the first function release circuit 40 is operated by the boom lowering pilot pressure P. The switching valve 41 is switched to the (h) position, and the return oil of the boom lowering line is introduced into the function release circuit 40 from the oil passages L2 and L5.

このブーム下げ操作状態でブーム保持側ホースが破損した場合は、油路L2から圧油が漏れて油圧が急激に低下し、第1切換弁41の(チ)位置を通過して第2切換弁42のパイロット制御部へ作用するパイロット圧も低下するので、第2切換弁42は(リ)位置に切り換わる。したがって、ブーム下げパイロット圧Pが、第2切換弁42の(リ)位置および油路L4を介して、操作圧として安全対策回路30へ導出され、安全対策回路30の切換弁33のパイロット制御部へ直接作用する。   When the boom holding side hose is damaged in this boom lowering operation state, the hydraulic oil leaks from the oil passage L2 and the hydraulic pressure is drastically lowered, and passes through the (h) position of the first switching valve 41 to pass through the second switching valve. Since the pilot pressure acting on the pilot control unit 42 also decreases, the second switching valve 42 switches to the (re) position. Therefore, the boom lowering pilot pressure P is led out to the safety countermeasure circuit 30 as the operating pressure via the (re) position of the second switching valve 42 and the oil passage L4, and the pilot control unit of the switching valve 33 of the safety countermeasure circuit 30 Act directly on.

図7は、切換弁33のパイロット制御部に作用するブーム下げパイロット圧Pの大きさと、該切換弁33の開口面積Sの変化の関係を示すグラフであり、ブーム下げパイロット圧Pが所定範囲(P0〜P1)未満の場合と、所定範囲(P0〜P1)を超えている場合とでは、前記安全対策回路30の作動が異なってくる。   FIG. 7 is a graph showing the relationship between the magnitude of the boom lowering pilot pressure P acting on the pilot control unit of the switching valve 33 and the change in the opening area S of the switching valve 33. The boom lowering pilot pressure P is within a predetermined range ( The operation of the safety countermeasure circuit 30 differs between the case of less than P0 to P1) and the case of exceeding the predetermined range (P0 to P1).

(B2−1)ブーム下げパイロット圧Pが所定範囲(P0〜P1)未満の低圧の場合は、図4に示すように、低圧のブーム下げパイロット圧Pが、安全対策回路30の切換弁33のパイロット制御部へ直接作用し、該切換弁33が(ホ)位置に切り換わって保持弁32が閉じられる。この状態でブーム保持側ホースが破損した場合は、ブームシリンダ18のボトム側18bの圧油は、保持弁32のポペット31に設けられた環状溝35及び切換弁33の(ホ)位置を介して油路L2へ流れて外部へ噴出するが、切換弁33の(ホ)位置の絞りによって流量が絞られるため、ブーム15は徐々に降下して、急激な落下を防止できる。   (B2-1) When the boom lowering pilot pressure P is a low pressure less than the predetermined range (P0 to P1), the low boom lowering pilot pressure P is applied to the switching valve 33 of the safety countermeasure circuit 30 as shown in FIG. Directly acting on the pilot control unit, the switching valve 33 is switched to the (e) position and the holding valve 32 is closed. When the boom holding side hose is damaged in this state, the pressure oil on the bottom side 18b of the boom cylinder 18 is passed through the annular groove 35 provided in the poppet 31 of the holding valve 32 and the (e) position of the switching valve 33. Although it flows into the oil passage L2 and is ejected to the outside, since the flow rate is reduced by the restriction of the (e) position of the switching valve 33, the boom 15 is gradually lowered to prevent a sudden drop.

(B2−2)ブーム下げパイロット圧Pが所定範囲(P0〜P1)を超えている高圧の場合は、図8に示すように、高圧のブーム下げパイロット圧Pが、安全対策回路30の切換弁33のパイロット制御部へ直接作用し、該切換弁33が(ヘ)位置に切り換わって保持弁32が開口される。この状態でブーム保持側ホースが破損した場合は、ブームシリンダ18のボトム側18bの圧油が油路L2へ流れて外部へ大量に噴出するため、ブーム15は急激に降下する。   (B2-2) When the boom lowering pilot pressure P is higher than the predetermined range (P0 to P1), the high boom lowering pilot pressure P is changed to the switching valve of the safety countermeasure circuit 30 as shown in FIG. Directly acting on the pilot control unit 33, the switching valve 33 is switched to the (f) position, and the holding valve 32 is opened. When the boom holding side hose is damaged in this state, the pressure oil on the bottom side 18b of the boom cylinder 18 flows into the oil passage L2 and is ejected in large quantities to the outside, so that the boom 15 is rapidly lowered.

したがって、この場合は、前記圧力センサ50で戻り油路L2の圧力を検出し、検出した油圧が所定値以下または急激に低下した場合は、前記安全対策回路30の切換弁33を強制的に(ホ)位置または(ニ)位置へ切り換えて、前記保持弁32を閉じるように制御することにより安全性を増すことができる。   Therefore, in this case, when the pressure of the return oil passage L2 is detected by the pressure sensor 50 and the detected oil pressure is lower than a predetermined value or rapidly decreases, the switching valve 33 of the safety countermeasure circuit 30 is forcibly ( The safety can be increased by switching to the position e) or (d) and controlling the holding valve 32 to be closed.

(B2−3)ブーム下げパイロット圧Pが所定範囲(P0〜P1)の領域にある場合は、安全対策回路30の切換弁33が(ホ)位置と(ヘ)位置の間での移行段階であり、この状態でブーム保持側ホースが破損した場合は、上記(B2−1)と(B2−2)の中間的作動が行われる。   (B2-3) When the boom lowering pilot pressure P is in the range of the predetermined range (P0 to P1), the switching valve 33 of the safety countermeasure circuit 30 is in the transitional stage between the (e) position and the (f) position. Yes, if the boom holding hose is damaged in this state, the intermediate operation of (B2-1) and (B2-2) is performed.

なお、本発明は、本発明の精神を逸脱しない限り種々の改変を為すことができ、そして、本発明が該改変されたものに及ぶことは当然であり、例えば、機能解除回路40に替えて安全対策回路30の切換弁33を直接電磁比例弁で制御することも可能である。   It should be noted that the present invention can be variously modified without departing from the spirit of the present invention, and the present invention naturally extends to the modified one. It is also possible to directly control the switching valve 33 of the safety countermeasure circuit 30 with an electromagnetic proportional valve.

本発明が適用された油圧ショベルの側面図。1 is a side view of a hydraulic excavator to which the present invention is applied. 本発明に係る油圧回路で中立状態を示す説明図。Explanatory drawing which shows a neutral state in the hydraulic circuit which concerns on this invention. 本発明に係る油圧回路でブーム上げ操作状態を示す説明図。Explanatory drawing which shows a boom raising operation state with the hydraulic circuit which concerns on this invention. 本発明に係る油圧回路でブーム下げ操作状態時にブーム下げパイロット圧が所定値未満かつブーム保持圧が所定値未満での状態を示す説明図。Explanatory drawing which shows the state in which boom lowering pilot pressure is less than predetermined value and boom holding pressure is less than predetermined value at the time of boom lowering operation state in the hydraulic circuit according to the present invention. 本発明に係る油圧回路でブーム下げ操作時にブーム保持圧が所定値以上での状態を示す説明図。Explanatory drawing which shows the state in which boom holding pressure is more than predetermined value at the time of boom lowering operation in the hydraulic circuit which concerns on this invention. 本発明に係る油圧回路でブーム下げ操作時にブーム下げパイロット圧が所定値以上かつブーム保持圧が所定値未満での状態を示す説明図。Explanatory drawing which shows the state in which the boom lowering pilot pressure is more than predetermined value and boom holding pressure is less than predetermined value at the time of boom lowering operation in the hydraulic circuit according to the present invention. 本発明に係る油圧回路でブーム下げパイロット圧と安全対策回路の切換弁の開口面積との関係を示すグラフ。The graph which shows the relationship between the boom lowering pilot pressure in the hydraulic circuit which concerns on this invention, and the opening area of the switching valve of a safety countermeasure circuit. 本発明に係る油圧回路でブーム下げ操作時にブーム下げパイロット圧が所定値以上かつブーム保持圧が所定値以上での状態を示す説明図。Explanatory drawing which shows the state in which the boom lowering pilot pressure is more than predetermined value and boom holding pressure is more than predetermined value at the time of boom lowering operation in the hydraulic circuit according to the present invention.

符号の説明Explanation of symbols

10 油圧ショベル
15 ブーム
18 ブームシリンダ
18a ロッド側
18b ボトム側
19 油圧ポンプ
20 コントロール弁
21 タンク
22 油圧源
30 安全対策回路
32 保持弁
33 切換弁
40 機能解除回路
41 第1切換弁
42 第2切換弁
50 圧力センサ(ブーム保持圧検出手段)
51 逆止弁
60 回生回路
L1〜L5 油路
DESCRIPTION OF SYMBOLS 10 Hydraulic excavator 15 Boom 18 Boom cylinder 18a Rod side 18b Bottom side 19 Hydraulic pump 20 Control valve 21 Tank 22 Hydraulic source 30 Safety countermeasure circuit 32 Holding valve 33 Switching valve 40 Function release circuit 41 1st switching valve 42 2nd switching valve 50 Pressure sensor (Boom holding pressure detection means)
51 Check valve 60 Regenerative circuit L1-L5 Oil passage

Claims (2)

油圧ホース破損時にブーム下げラインの戻り油を絞って遮断する安全対策回路を備えるとともに、ブーム下げラインの戻り油をエネルギ回生する回生回路を備えたブーム付き建設機械において、
ブーム保持圧を検出するブーム保持圧検出手段と、ブーム下げパイロット圧とブーム保持圧とに対応して前記安全対策回路へ操作圧を導出して絞りを開口させる機能解除回路とを設け、
ブーム下げ操作時にブーム保持圧が所定値以上である場合は、前記機能解除手段からの操作圧を高くして前記安全対策回路の絞りの開口を大にすることを特徴とするブーム付き建設機械の油圧回路。
In a construction machine with a boom having a safety circuit that squeezes and shuts off the return oil of the boom lowering line when the hydraulic hose is broken, and a regenerative circuit that regenerates energy of the return oil of the boom lowering line,
A boom holding pressure detecting means for detecting the boom holding pressure, and a function release circuit for deriving the operation pressure to the safety countermeasure circuit and opening the throttle corresponding to the boom lowering pilot pressure and the boom holding pressure;
When the boom holding pressure is greater than or equal to a predetermined value during the boom lowering operation, the operating pressure from the function release means is increased to increase the aperture of the throttle of the safety countermeasure circuit. Hydraulic circuit.
前記機能解除回路はブーム下げパイロット圧の付加によりブーム下げラインの戻り油を導入する第1切換弁と、該第1切換弁から導入されたブーム保持圧に応じて前記ブーム下げパイロット圧またはブーム下げパイロット圧よりも高い圧油の何れかを通過させて前記安全対策回路へ操作圧を導出する第2切換弁とからなり、
前記安全対策回路はポペットにて油路を絞って遮断する保持弁と、前記機能解除回路から導入される操作圧の増加に伴い前記保持弁の絞りを開口させる切換弁とを有したことを特徴とする請求項1記載のブーム付き建設機械の油圧回路。
The function release circuit includes a first switching valve that introduces return oil of the boom lowering line by adding a boom lowering pilot pressure, and the boom lowering pilot pressure or the boom lowering according to the boom holding pressure introduced from the first switching valve. A second switching valve that passes any pressure oil higher than the pilot pressure and derives the operating pressure to the safety countermeasure circuit;
The safety countermeasure circuit has a holding valve that throttles and shuts off an oil passage with a poppet, and a switching valve that opens the throttle of the holding valve as the operating pressure introduced from the function release circuit increases. A hydraulic circuit for a construction machine with a boom according to claim 1.
JP2007006282A 2007-01-15 2007-01-15 Hydraulic circuit of construction equipment with boom Active JP4871147B2 (en)

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JP2006125566A (en) * 2004-10-29 2006-05-18 Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd Hydraulic cylinder dynamo-electric means of construction machine

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140105488A (en) * 2011-12-28 2014-09-01 히다찌 겐끼 가부시키가이샤 Power regeneration device for work machine and work machine
KR101991983B1 (en) 2011-12-28 2019-06-21 히다찌 겐끼 가부시키가이샤 Power regeneration device for work machine and work machine
CN105317072A (en) * 2014-11-20 2016-02-10 包宗明 Operating system convenient to control for excavator
WO2018235779A1 (en) * 2017-06-21 2018-12-27 住友重機械工業株式会社 Excavator
JP2019007175A (en) * 2017-06-21 2019-01-17 住友重機械工業株式会社 Shovel
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JP2019167753A (en) * 2018-03-23 2019-10-03 住友建機株式会社 Shovel and shovel control system
JP7158874B2 (en) 2018-03-23 2022-10-24 住友建機株式会社 Excavator and excavator control system

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