JP2677983B2 - Excavator flow controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flow control device for a hydraulic excavator, and more particularly to a rapid flow rate of pressure oil supplied to an operating machine when a joystick is rapidly operated to operate the operating machine. The present invention relates to a flow rate control device for an excavator designed to prevent a shock and a hunting phenomenon due to sudden acceleration while preventing a decrease in swing speed while preventing the increase in the speed.

[0002]

2. Description of the Related Art Generally, heavy equipment for construction, such as a hydraulic excavator, is provided with a plurality of actuators, the movements of which are adjusted by corresponding joysticks or operating levers. There is. However, when an actuator that holds a large load, such as a boom cylinder of an excavator, suddenly operates, a shock occurs due to its inertial force.
Such an impact not only makes the vehicle body unstable and makes the driver uneasy, but also causes the driver to feel tired because he cannot work in a comfortable state.

More specifically, in the conventional flow control device for an excavator, when the joystick is rapidly operated, the boom spool and the arm spool are rapidly switched to the maximum stroke, and the center bypass opening is instantaneously cut off. As a result, the negative control pressure drops sharply and the flow rate of the pump increases rapidly. As the boom cylinder and the arm cylinder are rapidly accelerated due to the rapid increase in the flow rate, a shocking motion is induced in the boom and the arm having large inertia, causing a hunting phenomenon in which the vehicle body sways back and forth. In addition, such a hunting phenomenon also occurs when the traveling spool is switched.

In order to solve the above problems in the conventional flow rate control device, the applicant of the present invention filed Korean Patent Application No. 94.
No. 25916 proposed a flow rate control device capable of improving the operability of an excavator.

In the flow control device according to this Korean patent application, a line for supplying pressure oil discharged from the auxiliary hydraulic pump driven by the engine together with the main hydraulic pump to the joystick and the inside of the main control valve are provided. A line for supplying pressure oil to the logic line is connected in parallel to the auxiliary pump line, and an electromagnetic proportional pressure reducing valve is connected to this auxiliary pump line, and the outlet port of the electromagnetic proportional pressure reducing valve is a shuttle. It is connected to the negative control line of the main control valve through the valve, and the logic line is provided with a negative control orifice and a pressure switch, respectively, and the electrical signal output from this pressure switch is input to the electronic controller. To be done Cage, the output of the electronic controller is a solenoid electrically connected to the electromagnetic proportional pressure reducing valve.

[0006]

However, in such a flow rate control device, the logic line is interrupted even when any one of the plurality of control spools is switched from the neutral position to the operating position. The pressure switch then applies a current signal to the electronic controller so that delay control is provided for each actuator.
However, the swing operation of the excavator has a drawback that the swing speed is excessively lowered because the delay delay control is performed although the delay control is unnecessary due to its operating characteristics.

Further, when the boom operation and the arm operation are simultaneously performed during the swing operation, that is, when the combined operation is performed, the delay control of the actuator is performed by the electronic controller. In this case, the maximum current is applied from the electronic controller to the electromagnetic proportional pressure reducing valve, and the discharge flow rate of the main hydraulic pump is gradually increased and then gradually increases. It had the drawback of giving stability.

Therefore, the present invention has been made in view of the above problems in the prior art, and an object thereof is to suddenly operate an actuator having a large weight or an actuator having a large load. The impact of the inertia and the hunting phenomenon of the vehicle body are prevented so that the driver can work in a comfortable state, and the boom and arm are combined with the swing operation or the swing operation when delay control is unnecessary due to the characteristics of the work. In this case, it is an object of the present invention to provide an excavator flow rate control device capable of preventing unnecessary delay control for the operation of the swing motor and improving the working speed.

[0009]

In order to achieve the above object, a flow control device for an excavator according to the present invention comprises a main hydraulic pump for supplying pressure oil, an auxiliary hydraulic pump for supplying pilot oil, and a main hydraulic pressure. Boom cylinders, arm cylinders, swing motors and travel motors that are operated by the pressure oil supplied from the pump, and the boom flow rate provided on the main control valve to control the flow of pressure oil supplied to these cylinders and motors. Operates on control spool, arm flow control spool, swing flow control spool and travel flow control spool, and manually operated boom joystick, arm joystick and swing joystick to adjust the position of each flow control spool, and the main hydraulic pump. Connected to each other Discharge flow rate control means for controlling the discharge flow rate of the hydraulic pump, negative control pressure supply means for supplying a negative control pressure varying according to the position of each flow rate control spool to the discharge flow rate control means, and parallel to the negative control pressure supply means Flow control of an excavator, which is connected to the discharge flow rate control means, and further comprises an electromagnetic proportional pressure reducing valve for supplying a control pressure proportional to the magnitude of the external current from the auxiliary hydraulic pump to the discharge flow rate control means. The device is a boom operation detection unit that generates a boom operation detection signal according to the operation of the boom joystick, an arm operation detection unit that generates an arm operation detection signal according to the operation of the arm joystick, and a swing detection signal according to the operation of the swing joystick. Swing detection means generated , And electronic control means for receiving detection signals from these detection means, and the electronic control means preliminarily controls the electromagnetic proportional pressure reducing valve when no boom operation detection signal, arm operation detection signal, or swing detection signal is generated. The set reference current is output so that the reference control pressure is supplied to the discharge flow rate control means, and when either the boom operation detection signal or the arm operation detection signal is generated, the reference is made from the maximum current value. The delay control current that gradually decreases to the current value is output to the electromagnetic proportional pressure reducing valve so that the delay control pressure is supplied to the discharge flow rate control means, and when the swing detection signal is generated, the effective current is supplied to the electromagnetic proportional pressure reducing valve. It is characterized in that the control pressure is not supplied to the discharge flow rate control means by not outputting the output.

[0010]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

As shown in FIG. 1, the pressure oil pumped to the first and second supply lines L1 and L2 by the main hydraulic pumps 101 and 102 connected in series to the engine 100 is the left side of the main control valve 104. It is supplied to the left side traveling motor 113, the swing motor 112 or the bucket cylinder 111 via the traveling motor flow rate control spool 107, the swing motor flow rate control spool 106 and the bucket cylinder flow rate control spool 105, respectively, and the right side traveling motor flow rate of the main control valve 104. It is supplied to the right side traveling motor 114, the boom cylinder 115 or the arm cylinder 116 via the control spool 108, the boom cylinder flow rate control spool 109 and the arm cylinder flow rate control spool 110, respectively. Each flow control spool 105, 106, 1
The positions of 07, 108, 109 and 110 are controlled by the corresponding joysticks or operating levers. In FIG. 1, for convenience, only the boom joystick 117, the arm joystick 218, and the swing joystick 220 are shown. The pilot lines for supplying pressure oil to both ends of the bucket cylinder flow rate control spool 105, the left side traveling motor flow rate control spool 107 and the right side traveling motor flow rate control spool 108 are not specifically shown for the sake of clarity.

The discharge flow rates of the main hydraulic pumps 101 and 102 change according to the tilt angles of the tilt plates 118 and 119.
This tilt angle is adjusted by the servo pistons 120 and 121.
A large diameter chamber and a small diameter chamber are formed at 121, respectively.
The small diameter chambers are connected to the supply lines L1 and L2 through lines L3 and L4, and the large diameter chambers are connected to the supply lines L1 and L2 through discharge flow rate control spools 124 and 125 and lines L5 and L6. There is.

The piston heads of the servo pistons 120 and 121 and the discharge flow rate control spools 124 and 125.
Are connected to each other through feedback links 128 and 129, and when the servo pistons 120 and 121 move, the movement amount remains the same.
It is transmitted to 4,125. Discharge flow rate control spool 12
The hydraulic chambers provided at one end of 4, 125 are connected to the negative control hydraulic chambers of the negative control pistons 130, 131, and the springs 132, 1 are provided at the other ends of the discharge flow control spools 124, 125.
33 is provided to control the discharge flow rate control spools 124, 125.
Is elastically biased.

Therefore, the discharge flow rate control spools 124, 1
Reference numeral 25 denotes feedback links 128 and 129 connected to the servo pistons 120 and 121, negative control pistons 130 and 131, and a spring 13.
By moving left and right by 2, 133, the pressure oil in the supply lines L1 and L2 is injected into the large diameter chambers of the servo pistons 120 and 121, or the pressure oil in the large diameter chambers is discharged to the oil tank 134.

Then, these actuator flow control spools 1
Negative control orifices 135 and 136 are installed on the extension lines of the supply lines L1 and L2 that are provided through 05, 106, 107, 108, 109 and 110.
The negative control pressure 136 is transmitted to the negative control pistons 130 and 131 by being connected to the negative control pistons 130 and 131 through the negative control lines L7 and L8.

Therefore, the joysticks 117, 21
When any one of 8 and 220, for example, the boom joystick 117 is operated, the pressure oil supplied from the auxiliary hydraulic pump 139 through the line L14 flows into one hydraulic chamber of the boom flow rate control spool 109, whereby the boom is controlled. When the flow rate control spool 109 moves to the left side or the right side, the pressure oil in the supply line L2 flows into the boom cylinder 115 to operate the boom cylinder 115.

When the pilot pressure generated by the operation of the boom joystick 117 acts on the hydraulic chamber of the boom flow rate control spool 109 to switch the position of the boom flow rate control spool 109 during the operation, the boom flow rate control is performed. The opening area (P-C) of the spool 109 is controlled as shown in the graph of FIG.

However, the boom joystick 1
When 17 is in the neutral position, the boom flow rate control spool 109 is also in the neutral position.
Discharge flow rate of all of the opening (P-
R) through negative control orifice 136
Flow into the negative control orifice 136, and a pressure loss occurs when the flow rate passes through the negative control orifice 136.
As shown in FIG. 3, a negative control pressure Pz that is proportional to the bypass flow rate q is generated. The negative control pressure Pz thus generated is transmitted to the hydraulic chamber of the negative control piston 131 through the line L8. Here, the negative control pressure Pz
Is expressed by the following equation, where C is a proportional constant, a is a negative control orifice area, and q is a bypass flow rate.

[0019]

(Equation 1) Therefore, when the boom flow rate control spool 109 is in the neutral position as described above, the discharge flow rate of the main pump 102 becomes the bypass flow rate and passes through the negative control orifice 136, so that the negative control pressure Pz rises according to the above equation. To do. When the negative control pressure Pz rises in this way, the thrust of the negative control piston 131 increases, and this force overcomes the biasing force of the spring 133 of the discharge flow rate control spool 125 and presses the discharge flow rate control spool 125 to the left side in the drawing. .

When the discharge flow rate control spool 125 moves to the left in this way, the pressure oil in the line L6 connected to the supply line L2 flows into the large diameter chamber of the servo piston 121 through the discharge flow rate control spool 125. When the pressure of the supply line L2 is applied to the large diameter chamber of the servo piston 121, the servo piston 121 moves to the small diameter chamber side, that is, to the left side in FIG.

Then, in this way, the servo piston 121
Is moved to the left side, the discharge flow control spool 125 connected to the piston head of the servo piston 121 through the feedback link 129 is further moved to the left side, and the line L6 is moved to the servo piston 12
Shut off from the large diameter chamber of 1. As a result, the pump pressure oil does not flow into the servo piston 121, and the movement of the servo piston stops. By such an operation, the flow rate of the main hydraulic pump 102 is adjusted to the minimum when the boom flow rate control spool 109 is in the neutral position.

Further, when the boom joystick 117 is operated, the movement amount of the boom flow rate control spool 109, that is, the stroke S is increased in proportion to the operation amount, whereby the center bypass opening area (P-R) is increased. 2, the opening area (P-C) connecting to the boom cylinder 115 increases.

When the center bypass opening area (PR) decreases, the pump pressure rises, and pressure oil starts to be supplied to the boom cylinder 115 through the opening area (PC). At the same time, the bypass flow rate and the negative control pressure are increased. Is reduced.

When the negative control pressure decreases, the thrust of the negative control piston 131 decreases and the discharge flow rate control spool 125 moves to the right side. Further, the large diameter chamber of the servo piston 121 causes the oil tank 134 to pass through the discharge flow rate control spool 125. Since the pressure in the large diameter chamber decreases, the pressure in the supply line L2 is transmitted to the small diameter chamber of the servo piston 121 as it is. As a result, the servo piston 121
Moves to the right to increase the tilt angle of the tilt plate 119 and increase the flow rate of the pump. Next, the servo piston 12
1 is transmitted to the discharge flow rate control spool 125 through the feedback link 129, and the discharge flow rate control spool 125 shuts off the large-diameter chamber of the servo piston 121 from the oil tank 134 to stop the movement of the servo piston 121. Adjustment is complete. The characteristic that the flow rate Q of the main hydraulic pump 102 increases when the negative control pressure Pz decreases can be seen from the graph of FIG.

As the stroke S of the boom flow rate control spool 109 increases, the center bypass opening area (P-R) decreases, and the opening area (PC) of the control spool 109 itself.
Therefore, not only the bypass flow rate q decreases, but also the negative control pressure Pz gradually decreases. Therefore, the discharge flow rate Q of the main hydraulic pump 102 and the cylinder supply flow rate Qc increase, and the operating speed of the boom cylinder 115 increases. Such control characteristics are shown in FIG.

Further, referring to FIG. 1, a line L14 and a line L17 are connected in parallel to an auxiliary pump line L13 for supplying the pressure oil discharged from the auxiliary hydraulic pump 139. Line L14 is boom joystick 1
17 and the arm joystick 218, while the line L17 is connected to the logic lines L15 and L16 and the swing joystick 220, respectively. An electromagnetic proportional pressure reducing valve 209 is connected to the auxiliary pump line L13 through a connecting line L18, and an outlet port of the electromagnetic proportional pressure reducing valve 209 is connected to negative control lines L7 and L8 through shuttle valves 210 and 211, respectively. There is. Further, the orifices 21 are provided in the logic lines L15 and L16.
2, 213 are formed respectively. The shuttle valves 210 and 211 are the negative control pressure supplied through the lines L7 and L8 and the electromagnetic proportional pressure reducing valve 20.
The larger pressure of the control pressures supplied from the auxiliary hydraulic pump 139 is supplied to the negative control pistons 130 and 131 through 9.

The traveling motor 1 is connected to the logic line L16.
A travel detection switch 215 that generates a travel detection signal at the time of actuation of 13, 114 is installed, and the travel detection signal output from this travel detection switch 215 is an electronic controller 216.
Is input to The output terminal of the electronic controller 216 is electrically connected to the solenoid 217 of the electromagnetic proportional pressure reducing valve 209.

The boom joystick 117 communicates with both ends of the boom flow rate control spool 109 through the boom pilot lines 222 and 224. The shuttle valve 22 is installed in these boom pilot lines 222 and 224.
Boom operation detection switch 226 is installed via 5,
The boom operation detection switch 226 sends a boom operation detection signal to the electronic controller 216 as pressure is applied to the boom pilot lines 222 and 224.

The arm joystick 218 communicates with both ends of the arm flow rate control spool 110 through arm pilot lines 228 and 230. The shuttle valve 23 is installed in these arm pilot lines 228 and 230.
The arm operation detection switch 234 is installed via 2,
The arm operation detection switch 234 sends an arm operation detection signal to the electronic controller 216 as pressure is applied to the arm pilot lines 228 and 230.

The swing joystick 220 communicates with both ends of the swing flow rate control spool 106 through swing pilot lines 236 and 238. A swing detection switch 242 is installed on these swing pilot lines 236 and 238 via a shuttle valve 240. The swing detection switch 242 sends a swing detection signal to the electronic controller 216 as pressure acts on the swing pilot lines 236 and 238. Is sent.

Then, the electronic controller 216 includes a traveling detection switch 215, a boom operation detection switch 226, an arm operation detection switch 234 and a swing detection switch 24.
The current value applied to the solenoid 217 of the electromagnetic proportional pressure reducing valve 209 is appropriately controlled in accordance with the detection signal input from 2. The method of controlling the current by the electronic controller 216 is as follows.
As shown in Table 1 below.

[0032]

[Table 1] As can be seen from Table 1 above, the swing detection switch 24
2. When the boom operation detection switch 226, the arm operation detection switch 234, and the traveling detection switch 215 are all off and no detection signal is generated, the electronic controller 216 causes the solenoid 217 of the electromagnetic proportional pressure reducing valve 209 to operate. By supplying a reference current of 120 to 180 mA, the electromagnetic proportional pressure reducing valve 209 causes a part of the hydraulic pressure of the auxiliary hydraulic pump 139, that is, the reference hydraulic pressure, to act on the negative control pistons 130 and 131. The discharge flow rates of 101 and 102 are controlled by the larger one of the negative control pressure and the reference hydraulic pressure.

On the other hand, when one of the boom operation detection switch 226, the arm operation detection switch 234 and the traveling detection switch 215 is turned on when the swing detection switch 242 is off, that is, the driver operates the swing motor 112. Boom cylinder 11 without
5, arm cylinder 116 or traveling motor 113, 1
If it is desired to activate 14 rapidly, the electronic controller 2
16 is an electromagnetic proportional pressure reducing valve 209 as shown in FIG.
After applying a maximum control current, for example, a current of 670 to 730 mA, to the reference current, the so-called delay control is performed to gradually decrease to the reference current. Therefore, as shown in FIG. 7, even if the negative control pressure sharply decreases according to the displacement of the spool, the electromagnetic proportional pressure reducing valve 20
The delay control pressure of 9 is selected by the shuttle valves 210 and 211, and the negative control piston 130,
It acts on 131, by this, the main hydraulic pump 10
Since the discharge flow rates of 1 and 102 gradually increase over a certain period of time in accordance with the falling speed of the delay control pressure, it is possible to prevent the hunting phenomenon and impact of the vehicle body.

However, when the swing motor alone is operated, or when it is operated together with the boom cylinder 115, the arm cylinder 116 or the traveling motors 113, 114, the swing detection switch 242 is turned on. In this case, the electronic controller 216 does not output a current of 20 mA or more, that is, an effective current, to the electromagnetic proportional pressure reducing valve 209 regardless of the ON or OFF state of the remaining detection switches 226, 234, 215. Therefore, since the delay control is not performed on the swing motor 112, the swing speed can be prevented from temporarily decreasing.

[0035]

As described in detail above, according to the flow control device for an excavator according to the present invention, delay control is performed when an actuator having a large weight or an actuator having a large load is suddenly operated. This not only prevents the hunting phenomenon of the vehicle body and allows the driver to work in a comfortable state, but also delay control is not performed during swing operation where delay control is unnecessary due to the characteristics of the work. It is possible to prevent the swing speed from decreasing.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram showing an overall configuration of a flow rate control device according to the present invention.

FIG. 2 is a graph showing the relationship between the stroke and the opening area of the actuator flow control spool in the flow control device of FIG.

FIG. 3 is a graph showing a relationship between a negative control pressure and a flow rate flowing through a bypass passage without passing through a flow rate control valve.

FIG. 4 is a graph showing a relationship between a discharge flow rate of a main hydraulic pump and a negative control pressure.

FIG. 5 is a graph showing the relationship among the flow rate supplied from the main hydraulic pump, the bypass flow rate, and the flow rate supplied to the cylinder.

FIG. 6 is a graph showing output current characteristics of the electronic controller when the swing detection switch is in the off state and the boom operation detection switch, the arm operation detection switch, or the traveling detection switch is in the on state.

FIG. 7 is a graph showing changes in the delay control pressure in comparison with the spool stroke and the negative control pressure when the current as shown in FIG. 6 is output.

[Explanation of symbols]

 100 Engine 101, 102 Main hydraulic pump 105 Bucket cylinder flow rate control spool 106 Swing motor flow rate control spool 107 Left side traveling motor flow rate control spool 108 Right side traveling motor flow rate control spool 109 Boom cylinder flow rate control spool 110 Arm cylinder flow rate control spool 111 Bucket cylinder 112 Swing motor 113 Left side traveling motor 114 Right side traveling motor 115 Boom cylinder 116 Arm cylinder 117 Boom joystick 118, 119 Inclined plate 120, 121 Servo piston 124, 125 Discharge flow rate control spool 128, 129 Feedback link 130, 131 Negative control piston 132, 133 Spring 135,136 Negative control orifice 139 Auxiliary hydraulic pump 209 Electromagnetic proportional pressure reducing valve 210, 211 Shuttle valve 212, 213 Orifice 215 Travel detection switch 216 Electronic controller 218 Arm joystick 220 Swing joystick 222, 224 Boom pilot line 226 Boom operation detection switch 228, 230 Arm pilot Line 232 Shuttle valve 234 Arm operation detection switch 236, 238 Swing pilot line 240 Shuttle valve 242 Swing detection switch

Claims (8)

(57) [Claims] 1. A main hydraulic pump for supplying pressure oil, an auxiliary hydraulic pump for supplying pilot oil, a boom cylinder, an arm cylinder, a swing motor and a traveling motor which are operated by the pressure oil supplied from the main hydraulic pump. , A boom flow rate control spool, an arm flow rate control spool, a swing flow rate control spool, and a traveling flow rate control spool, which are provided in the main control valve to control the flow of pressure oil supplied to these cylinders and motors, respectively A boom joystick, an arm joystick and a swing joystick that are manually operated to adjust the position of each control spool, and a discharge flow rate control means that is operatively connected to the main hydraulic pump to control the discharge flow rate of the main hydraulic pump, Each flow rate A negative control pressure supply means for supplying a negative control pressure varying according to the position of the control spool to the discharge flow rate control means, and a negative control pressure supply means connected in parallel to the negative control pressure supply means for the discharge flow rate control means A flow control device for an excavator, comprising: an electromagnetic proportional pressure reducing valve that allows a control pressure proportional to a magnitude to be supplied from the auxiliary hydraulic pump to the discharge flow rate control means, and a boom operation is performed according to an operation of the boom joystick. Boom operation detection means for generating a detection signal, arm operation detection means for generating an arm operation detection signal according to the operation of the arm joystick, swing detection means for generating a swing detection signal according to the operation of the swing joystick, and detection of these. From means An electronic control means for receiving a detection signal, wherein the electronic control means is a preset reference value for the electromagnetic proportional pressure reducing valve when none of the boom operation detection signal, arm operation detection signal or swing detection signal is generated. An electric current is output so that a reference control pressure is supplied to the discharge flow rate control means, and when any one of the boom operation detection signal or the arm operation detection signal is generated, the reference current is changed from the maximum current value. A delay control current that gradually decreases to a value is output to the electromagnetic proportional pressure reducing valve so that the delay control pressure is supplied to the discharge flow rate control means, and when the swing detection signal is generated, to the electromagnetic proportional pressure reducing valve. The flow of the excavator is characterized in that the control pressure is not supplied to the discharge flow rate control means by not outputting an effective current. The control device. 2. The boom joystick is connected to the boom flow rate control spool through first and second boom pilot lines, and the boom operation detecting means is provided in the first and second boom pilot lines. The flow rate control device for an excavator according to claim 1, characterized in that. 3. The arm joystick is connected to the arm flow rate control spool through first and second arm pilot lines, and the arm operation detecting means is provided in the first and second arm pilot lines. The flow rate control device for an excavator according to claim 1, characterized in that. 4. The flow control device for an excavator according to claim 3, wherein the arm operation detection means is connected to the first and second arm pilot lines via a shuttle valve. 5. The swing joystick comprises a first
2. The excavation according to claim 1, wherein the swing flow rate control spool is connected to the first and second swing pilot lines through the first and second swing pilot lines, and the swing operation detecting means is provided in the first and second swing pilot lines. Machine flow control device. 6. The flow control device for an excavator according to claim 5, wherein the swing detection means is connected to the first and second swing pilot lines via a shuttle valve. 7. A shuttle valve for causing a larger one of the negative control pressure from the negative control pressure supply means and the control pressure from the electromagnetic proportional pressure reducing valve to be supplied to the discharge flow rate control means. The flow control device for an excavator according to claim 1, further comprising: 8. A travel detection means for outputting a travel detection signal to the electronic control means in accordance with the operation of the travel motor, wherein the electronic control means generates the travel detection signal but does not generate the swing detection signal. The delay control current gradually decreasing from the maximum current value to the reference current value is output to the electromagnetic proportional pressure reducing valve so that the delay control pressure is supplied to the discharge flow rate control means. The flow control device for an excavator according to 1.