JP5198048B2 - Construction machinery - Google Patents

Description

  The present invention relates to a construction machine having improved traveling performance.

  FIG. 1 is a side view showing a conventional construction machine. An upper swing body 3 is mounted on the lower traveling body 1 of the construction machine via a swing mechanism 2. In addition to the boom 4, the arm 5, and the bucket 6, and the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 for hydraulically driving them, the upper swing body 3 is equipped with a cabin 10 and a power source. Is done. The boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic cylinders for hydraulically driving the boom 4, the arm 5, and the bucket 6, respectively.

  FIG. 2 is a diagram showing a hydraulic control circuit of a conventional construction machine. Main pumps 12L and 12R and a pilot pump 13 are connected to the engine 11. The engine 11 and the main pumps 12L and 12R are power sources mounted on the upper swing body 3.

  A tank 14 is connected to the suction sides of the main pumps 12L and 12R and the pilot pump 13. Further, a hydraulic pilot type control valve 16 is connected to the discharge side of the main pumps 12L and 12R via high pressure hydraulic lines 15L and 15R, and an operation device is connected to the discharge side of the pilot pump 13 via a pilot line 15P. 17 is connected.

  The main pumps 12L and 12R drive the traveling hydraulic motors 18L (for left) and 18R (for right), the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 for the lower traveling body 1. It is a pump that generates and outputs pressure oil. The pilot pump 13 is a pump that generates and outputs pilot pressure oil used in the hydraulic operation systems of the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. . Oil in the tank 14 is supplied to the main pumps 12L, 12R and the pilot pump 13.

  The high pressure hydraulic lines 15L and 15R are hydraulic lines for supplying the control valve 16 with the pressure oil generated and output by the main pumps 12L and 12R.

  The control valve 16 is a control device that controls a hydraulic system in the construction machine, and travel hydraulic motors 18L and 18R, a swing hydraulic motor 19, a boom cylinder 7, an arm cylinder 8, and a bucket via an internal spool valve. A cylinder 9 is connected. The control valve 16 drives and controls the internal spool valve to select the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9 and supply pressure oil. To do.

  The operating device 17 includes a plurality of levers 17A and pedals 17B for operating the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. A pilot pressure (primary pressure) is supplied to the operating device 17 through the pilot line 15P, and a secondary pressure of the pilot pressure is output according to the operation amount of the lever 17A and the pedal 17B.

The secondary pressure of the pilot pressure is transmitted to the control valve 16, and the control valve 16 drives and controls the internal spool valve in accordance with the secondary pressure, so that the traveling hydraulic motor 18L is driven from the high pressure hydraulic lines 15L and 15R. , 18R, turning hydraulic motor 19, boom cylinder 7, arm cylinder 8, or bucket cylinder 9 is selected, and pressure oil is supplied.
As a result, the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulically driven according to the operation amounts of the lever 17A and the pedal 17B.

  The traveling hydraulic motors 18L and 18R include swash plate angle switching means for switching the amount of absorption of the motor, and this swash plate angle switching means uses pilot pressure by switching a switch in the cab. It can be switched by hydraulic pressure. By switching the swash plate angle, the amount of absorption can be selected from a low speed traveling mode (large amount of absorption: 1st speed) and a high speed traveling mode (small amount of absorption: 2nd speed).

  The low-speed driving mode (first speed) is a driving mode with a low speed and a large driving torque, and the high-speed driving mode is a driving mode with a high speed and a low driving torque. The swash plate angle switching means has an automatic switching function for automatically switching the traveling mode to the low speed traveling mode (first speed) in order to increase the drive torque when the traveling load pressure increases during high speed traveling. is there.

  The main pumps 12L and 12R are configured to control the discharge flow rate by controlling the pump tilt angle. The pump tilt angle is adjusted by pistons 21L and 21R driven by spool valves 20L and 20R. The maximum discharge flow rates of the main pumps 12L and 12R are set so as to be obtained when the pump tilt angle is maximized, and both the main pumps 12L and 12R are Q0 (cc / rev). The maximum discharge flow rate Q0 is set to the same value for the main pumps 12L and 12R.

  The flow rate controllers 22L and 22R control the discharge flow rates of the main pumps 12L and 12R by controlling the spool valves 20L and 20R according to the hydraulic pressure on the front side of the throttles 16L and 16R of the control valve 16. When none of the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 is operated, the high pressure hydraulic lines 15L and 15R are provided inside the control valve 16. Since the pressure oil supplied from is not used, the pressure oil passes through this neutral return passage, and the pressure on the front side of the throttles 16L and 16R rises. At this time, the flow rate control units 22L and 22R control the pump tilt angle so as to reduce the discharge flow rate of the main pumps 12L and 12R via the spool valves 20L and 20R and the pistons 21L and 21R. Thereby, the pump discharge flow rate during no operation is minimized to save energy.

  On the other hand, when at least one of the traveling hydraulic motors 18L and 18R, the turning hydraulic motor 19, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 is operated, the corresponding high pressure hydraulic line 15L Since the pressure oil supplied from 15R is supplied to the hydraulic motor or cylinder to be operated via the control valve 16, the pressure oil does not flow in the neutral return passage through the throttles 16L, 16R corresponding thereto. The pressure drops. At this time, the flow rate control units 22L and 22R to be operated cancel the reduction of the discharge flow rates of the main pumps 12L and 12R via the spool valves 20L and 20R and the pistons 21L and 21R.

  The horsepower control units 23L and 23R are for restricting the horsepower (W = discharge pressure (P) × discharge flow rate (Q)) of the main pumps 12L and 12R to a certain value or less in order to prevent overload of the engine 11. It is a hydraulic horsepower control unit.

  The electromagnetic proportional pressure reducing valve 24 includes an electromagnetic valve driven by a controller 25, and is used to change the setting output of the horsepower control units 23L and 23R. The pressure reducing valve reduces the pilot pressure and outputs it according to an instruction from the controller. It is.

  The controller 25 is a main control unit that comprehensively controls the electrical system of the construction machine.

  A relief valve 26 is disposed between the high pressure hydraulic lines 15L and 15R. The relief valve 26 is a valve for controlling the hydraulic pressure so that the pressure in the high-pressure hydraulic lines 15L and 15R does not exceed a predetermined value (for example, 30 MPa), and is provided to protect the hydraulic equipment. The relief valve 26 includes an electromagnetic proportional pressure reducing valve 27. The electromagnetic proportional pressure reducing valve 27 is driven and controlled by a controller 25, and boosts the relief valve 26 using a pilot pressure.

  FIG. 3 is a characteristic diagram showing the relationship between the discharge pressure and the discharge flow rate of the main pumps 12L and 12R in the conventional construction machine. The relationship between the discharge pressure and the discharge flow rate of the main pumps 12L and 12R is set so that the discharge pressure is not more than the maximum discharge pressure Pmax and the discharge flow rate is not more than Q0, and the discharge pressure is changed from P1 to Pmax. In the meantime, the equal horsepower characteristic W0 is set so that the horsepower (discharge pressure × discharge flow rate) is not more than a predetermined value.

  A characteristic W0 shown in this characteristic diagram represents a constant horsepower characteristic of the rated settings of the main pumps 12L and 12R. In order to change this characteristic W0, the controller 25 drives the electromagnetic proportional pressure reducing valve 24, whereby the horsepower control units 23L and 23R are hydraulically driven, and the spool valves 20L and 20R and the pistons 21L and 21R are hydraulically driven. Is done. The reason for using such a constant horsepower characteristic is that a quick work is performed at a light load and a work at a moderate speed is performed at a heavy load. This constant horsepower characteristic W0 is set in accordance with the output of the engine 11.

  In addition, the construction machine is designed to run on a flat ground with the discharge flow rate at the maximum value Q0. This is to make the flow rate of the pressure oil supplied to the left and right traveling hydraulic motors 18L, 18R uniform.

  Here, on a flat ground, Pa is the discharge pressure of the main pumps 12L and 12R necessary for supplying pressure oil to the traveling hydraulic motors 18L and 18R in the low-speed traveling mode, and Pb ( If Pb> Pa), Pb is set lower than P1 at which the constant horsepower characteristic W0 starts.

  As described above, since the vehicle travels in the region of the maximum discharge flow rate, in the high-speed travel mode, the horsepower (Pb × Q0) obtained by multiplying the discharge pressure Pb by the maximum discharge flow rate Q0 is necessary, and the vehicle travels at low speed. In the mode, horsepower (Pa × Q0) obtained by multiplying the discharge pressure Pa by the maximum discharge flow rate Q0 is required. The horsepower (Pb × Q0) and (Pa × Q0) are set so as not to exceed the maximum output W0.

  In the construction machines as described above, in recent years, the expectation for energy saving is increasing, and it is desired to cope with the energy saving during traveling.

In recent years, there has also been proposed a construction machine that achieves high efficiency by hybridizing the prime movers of the main pumps 12L and 12R. Since such a hybrid construction machine includes an electric motor for assisting driving of the engine 11, the output of the engine 11 is reduced (for example, Patent Document 1).
Japanese Patent Laid-Open No. 2004-036303

  Incidentally, the traveling hydraulic motors 18L and 18R are provided one by one in order to separately drive the left and right permanent tracks of the lower traveling body 1.

  However, in a construction machine in which the output of the engine 11 is reduced by, for example, a hybrid to save energy, the constant horsepower characteristics of the main pumps 12L and 12R are lower than those of the engine 11 when traveling continuously on a flat ground. In accordance with output, the characteristic W1 is set to be lower than the characteristic W0 shown in FIG. This is because the characteristic W0 is set because there is an assist in general excavation or the like, but the assist cannot be expected during continuous running.

  When the constant horsepower characteristics are reduced in this way and the maximum horsepower (Pb × Q0) in the high-speed driving mode exceeds W1, the swash plates of the traveling hydraulic motors 18L and 18R are set for the high-speed driving mode. In this state, the discharge flow rate is limited by the characteristic W1.

  Depending on the degree of decrease in the output of the engine 11, the characteristic W2 may be set to be lower than the characteristic W1, and if the maximum horsepower (Pa × Q0) in the low-speed driving mode exceeds W2, In a state where the swash plates of the hydraulic motors 18L and 18R are set for the low-speed traveling mode, the discharge flow rate may be limited by the characteristic W2.

  The horsepower control units 23L and 23R mechanically drive and control the spool valves 20L and 20R using the restoring force of the spring, and the horsepower control units 23L and 23R have the constant horsepower characteristics shown in FIG. This is realized by the spring constant of the spring. For this reason, the constant horsepower characteristics of the horsepower control units 23L and 23R may differ due to an error in the spring constant or the like.

  There is only one turning hydraulic motor 19, boom cylinder 7, arm cylinder 8, and bucket cylinder 9, and the constant horsepower characteristics of the horsepower control units 23L and 23R of the two main pumps 12L and 12R are different. It is hard to affect the operation.

  However, since hydraulic oil is separately supplied from the two main pumps 12L and 12R to each of the traveling hydraulic motors 18L and 18R, the horsepower control unit 23L that controls the pump tilt angle of the main pumps 12L and 12R. And the constant horsepower characteristics W1 or W2 set by 23R are different, the discharge flow rates of the main pumps 12L and 12R are different, and the amount of pressure oil supplied to the left and right traveling hydraulic motors 18L and 18R is different. There was a difference in the driving speed of the left and right permanent tracks, which could cause the construction machine not to go straight or to meander.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a construction machine that saves energy during traveling and that has good traveling performance of the lower traveling body.

A construction machine according to one aspect of the present invention includes a main hydraulic pump and a pilot pump that are driven by a prime mover of a construction machine, a pair of traveling hydraulic motors that respectively drive the left and right permanent tracks of a lower traveling body, and hydraulically operating elements. A hydraulic actuator for driving, a control valve for controlling pressure oil from the main hydraulic pump to the traveling hydraulic motor and the hydraulic actuator, a pump discharge flow rate control means for controlling a discharge flow rate of the main hydraulic pump, The operating means for operating the traveling hydraulic motor and the hydraulic actuator, the operation detecting means for detecting the operation of the traveling hydraulic motor or the hydraulic actuator via the operating means, and the operation detecting means When the operation of the traveling hydraulic motor is detected, the maximum discharge of the main hydraulic pump Look including a main control means for reducing the amount to a predetermined degree, the traveling hydraulic motor is configured to switch the absorption in the low-speed traveling and high-speed travel, the main control unit, during low-speed traveling Let the pump discharge flow rate control means set the maximum discharge flow rate of the main hydraulic pump to a normal value, and limit the maximum discharge flow rate of the main hydraulic pump to a flow rate lower than the normal value when driving at high speed. Let

A construction machine according to another aspect of the present invention includes a main hydraulic pump and a pilot pump that are driven by a prime mover of the construction machine, a pair of traveling hydraulic motors that respectively drive the left and right permanent tracks of the lower traveling body,
  A hydraulic actuator for hydraulically driving a working element, a control valve for controlling pressure oil from the main hydraulic pump to the traveling hydraulic motor and the hydraulic actuator, and a pump discharge flow rate for controlling a discharge flow rate of the main hydraulic pump A control means; an operating means for operating the travel hydraulic motor and the hydraulic actuator; an operation detecting means for detecting an operation of the travel hydraulic motor or the hydraulic actuator via the operation means; Main operation means for reducing the maximum discharge flow rate of the main hydraulic pump to a predetermined degree when the operation of the traveling hydraulic motor is detected by the detecting means, the traveling hydraulic motor is for high-speed traveling and low-speed traveling The main control means is configured to switch the absorption amount at low speeds. The pump discharge flow rate control means restricts the maximum discharge flow rate of the main hydraulic pump to a first flow rate lower than a normal value, and the high speed travel causes the pump discharge flow rate control means to set the maximum discharge flow rate of the main hydraulic pump to the first flow rate. The second flow rate is limited to the same or different flow rate.

In addition, the traveling hydraulic motor for high-speed traveling or low-speed traveling may be used to compensate for a decrease in the rotational speed of the traveling hydraulic motor caused by reducing the maximum discharge flow rate of the main hydraulic pump below the normal value. The amount of absorption may be set low.

And a variable relief valve for variably limiting a hydraulic oil upper limit value of pressure oil supplied to the traveling hydraulic motor, wherein the main control means detects the variable relief when an operation of the traveling hydraulic motor is detected. The upper limit value of the hydraulic pressure of the valve may be raised from the normal value.

The pump discharge flow rate control means may include an electromagnetic proportional pressure reducing valve controlled by the main control means.

According to the present invention, an energy saving effect during traveling can be obtained, and a specific effect that a construction machine with good traveling performance of the lower traveling body can be provided can be obtained.

  Embodiments to which the construction machine of the present invention is applied will be described below. In the description of the construction machine of the present embodiment, the same or equivalent components as those of the conventional construction machine are denoted by the same reference numerals, and the description thereof is omitted.

“Embodiment 1”
The construction machine of the first embodiment has a motor that is hybridized and includes an electric motor 100 that assists in driving the engine 11. The electric motor 100 is mechanically connected to the engine 11 via a speed reducer 101. In principle, when the load on the pump 12 is large, the electric motor 100 assists driving of the engine 11 by performing a power running operation. When the load is small, power is generated by performing regenerative operation. Operation control of the electric motor 100 is performed by the controller 25 via an inverter. A battery is connected to the electric motor 100 via an inverter. Electric power necessary for powering operation is supplied from the battery, and electric power generated by power generation is charged in the battery. This charge / discharge control is performed by the controller 25. In the construction machine of the first embodiment, the output of the engine 11 is reduced by providing the electric motor 100 in this way.

  FIG. 4 is a diagram illustrating a hydraulic circuit of the construction machine according to the first embodiment. As shown in this hydraulic circuit, in the construction machine of the first embodiment, electromagnetic proportional pressure reducing valves 102L and 102R are added.

  The electromagnetic proportional pressure reducing valves 102 </ b> L and 102 </ b> R are arranged to control the flow rate control units 22 </ b> L and 22 </ b> R, and the electromagnetic valve is driven and controlled by the controller 25. The electromagnetic proportional pressure reducing valves 102L and 102R are connected on the output side to the flow rate control units 22L and 22R via the shuttle valves 103L and 103R. The shuttle valves 103L and 103R are also supplied with the hydraulic pressure before the throttles 16L and 16R of the control valve 16, and the hydraulic pressure supplied from the electromagnetic proportional pressure reducing valves 102L and 102R and the throttle valves 16L and 16R before the control valve 16 are supplied. The higher hydraulic pressure is transmitted to the flow rate control units 22L and 22R.

  Further, the construction machine of the first embodiment includes a pressure sensor 104 for detecting the secondary pressure of the pilot pressure output from the operating device 17. The pressure sensor 104 outputs an electrical detection signal representing the operation amount in accordance with the operation of the operating device 17. This detection signal is input to the controller 25.

  FIG. 5 is a characteristic diagram showing the relationship between the discharge pressure and the discharge flow rate of the main pumps 12L and 12R in the construction machine of the first embodiment. The constant horsepower characteristic is set to the characteristic W1 in accordance with the reduction of the engine output during running. The characteristics W0 and W1 shown here are the same as those shown in FIG.

  The electromagnetic proportional pressure reducing valves 102L and 102R are control pressure reducing valves arranged to limit the discharge flow rate of the main pumps 12L and 12R to Q1 lower than Q0. Here, the discharge flow rate Q1 is equal to the horsepower (discharge flow rate Q1 × discharge pressure) even when the lower traveling body 1 travels in the high-speed travel mode (that is, when the discharge pressures of the main pumps 12L and 12R become Pb ′). Pb ′) is set so as not to exceed W1.

  In detail, in FIG. 5, Pb is a pump discharge pressure at the time of flat high speed traveling at a discharge flow rate Q0, and Pb = PL0 + Pmb. Note that PL0 is the total pressure loss, and Pmb is an effective pressure necessary for the motor when traveling on a flat ground at high speed.

  Similarly, Pb ′ is a pump discharge pressure during high-speed travel on a flat ground with a discharge amount Q1, and Pb ′ = PL1 + Pmb ′.

  PL1 is the total pressure loss at that time, and Pmb ′ is an effective pressure necessary for the motor.

  On the other hand, PL0 and Pmb are generally at a half level when traveling on a flat ground at high speed.

  Therefore, as an example, even when Q1 is set to a level 10% lower than Q0 and the motor absorption amount is reduced 10% to compensate for the motor rotation speed, PL1≈0.8PL0 (where the pressure loss is approximately the square of the flow rate) Pmb′≈1.1Pmb, and if PL0≈Pmb, then Pmb ′ = PL1 + Pmb ′ = 0.8PL0 + 1.1Pmb = 1.9PL0, and Pmb ′ <Pb = 2PL0.

  The electromagnetic proportional pressure reducing valves 102 </ b> L and 102 </ b> R are driven and controlled by the controller 25 when an operation for selecting the high-speed traveling mode is input by the high-speed selection switch.

  FIG. 6 is a diagram illustrating a processing procedure when drive control of the electromagnetic proportional control valves 102 </ b> L and 102 </ b> R of the construction machine according to the first embodiment is performed by the controller 25.

  The controller 25 determines whether or not an operation for traveling has been performed (step S1). This determination process is a process performed based on a detection signal input from the pressure sensor 104, and is repeatedly executed until a traveling operation is detected.

  When it is determined that the traveling operation is input to the controller device 17, the controller 25 determines whether or not the high-speed traveling mode is selected (step S2). This determination process is a process performed based on the detection signal input from the high-speed selection switch. If the high-speed running mode is not selected, the process returns to step S1.

  When the controller 25 determines that the high-speed traveling mode is selected, the electromagnetic proportional pressure reducing valves 102L and 102R are excited to operate the electromagnetic proportional pressure reducing valves 102L and 102R (step S3). As a result, a predetermined operating pressure for setting the discharge flow rate to Q1 is generated. In this case, since the traveling operation is input, the pressure oil output from the main pumps 12L and 12R is supplied to the traveling hydraulic motors 18L and 18R and detected on the front side of the throttles 16L and 16R of the control valve 16. The hydraulic pressure is almost zero. Therefore, the shuttle valves 103L and 103R are switched to the electromagnetic proportional pressure reducing valves 102L and 102R, and the pilot pressure reduced to a predetermined pressure by the electromagnetic proportional pressure reducing valves is transmitted to the flow rate control units 22L and 22R. As a result, the spool valves 20L, 20R and the pistons 21L, 21R are driven, and the discharge flow rates of the main pumps 12L, 12R are reduced from Q0 to Q1.

  As shown in FIG. 5, the horsepower of the main pumps 12L and 12R does not exceed W1 even when the discharge pressure of the main pumps 12L and 12R becomes Pb ′ and the discharge flow rate becomes Q1 in order to perform the high-speed running mode. Absent. Thus, according to the construction machine of the first embodiment, in the high-speed traveling mode, the discharge flow rate is limited by Q1, so the flow rate of the pressure oil supplied to the traveling hydraulic motors 18L and 18R via the control valve 16 Are substantially the same, and the straight running performance when traveling in the high-speed traveling mode can be improved.

  When the process of step S3 is completed, the controller 25 determines whether or not the traveling operation at a high speed has ended (step S4). This corresponds to the case where the low-speed traveling mode is selected by the high-speed selection switch, or the case where the traveling operation is not input to the operation device 17.

  When the controller 25 determines that the traveling operation at a high speed has ended, the controller 25 demagnetizes the electromagnetic proportional pressure reducing valves 102L and 102R, and puts the electromagnetic proportional pressure reducing valves 102L and 102R into an inoperative state (step S5). Thereby, the input side of the electromagnetic proportional pressure reducing valves 102L and 102R is switched to the drain pressure.

  The above processing is repeatedly executed while the construction machine is in operation.

  Thus, according to the construction machine of the first embodiment, the maximum discharge flow rate of the main pumps 12L and 12R when traveling in the high-speed traveling mode is achieved even when the engine 11 is reduced in output by hybridizing the prime mover. Since it restrict | limits, the flow volume of the pressure oil supplied to the hydraulic motors 18L and 18R for driving | running | working becomes equal on either side, and it can provide the construction machine with favorable linearity at the time of drive | working in a high-speed driving mode.

  Here, the pressure loss between the main pumps 12L and 12R and the traveling hydraulic motors 18L and 18R will be described. This pressure loss is caused by the high pressure hydraulic lines 15L, 15R, valves, joints, and the like, and is in a relationship proportional to the square of the flow rate. By reducing the discharge flow rate of the main pumps 12L and 12R from Q0 to Q1 as in the construction machine of the first embodiment, the pressure loss is also reduced from PL0 to PL1.

  As a result, the pressure loss is reduced from approximately Q0 × PL0 to Q1 × PL1 while maintaining the same traveling characteristics during the same flat ground high-speed traveling. This corresponds to the shaded area in FIG. 5, and an energy saving effect corresponding to this decrease can be obtained.

  In the construction machine of the first embodiment, the maximum flow rate in the high-speed traveling mode is achieved by limiting the discharge flow rate of the main pumps 12L and 12R to Q1 when the traveling hydraulic motors 18L and 18R are switched to the high-speed traveling mode. Decreases by the ratio of Q1 to Q0 (Q1 / Q0).

  In order to prevent such a decrease in the maximum speed, the amount of absorption for the high-speed traveling mode of the traveling hydraulic motors 18L and 18R may be set smaller.

  Even in this case, as described above, the effective pressure necessary for the motor during high-speed traveling on a flat ground is increased by that amount. However, the pressure is reduced by the reduced amount due to the reduction of the pressure loss due to the decrease in the flow rate.

  The driving force at high speed is reduced by reducing the amount of absorption, but when the driving force is insufficient on a slope or the like, the traveling mode of the traveling hydraulic motors 18L, 18R is changed to the low speed traveling mode (1 Speed). Since the motor absorption amount is not changed in the low-speed traveling mode, a sufficient driving force can be obtained.

“Embodiment 2”
FIG. 7 is a characteristic diagram showing the relationship between the discharge pressure and the discharge flow rate of the main pumps 12L and 12R in the construction machine of the second embodiment. The constant horsepower characteristic at the time of traveling is set to the characteristic W2 in accordance with the reduction of the engine output. Since the output of the construction machine engine 11 of the second embodiment is lower than that of the construction machine engine 11 of the first embodiment, the characteristic W2 is set lower than the characteristic W1 shown in FIG. The characteristics W0 and W2 shown here are the same as those shown in FIG.

  The construction machine of the second embodiment is different from the construction machine of the first embodiment in that the construction machine is configured to limit the discharge flow rate of the main pumps 12L and 12R in both the high-speed running mode and the low-speed running mode. Since other configurations are the same as those of the construction machine of the first embodiment, the same or equivalent components are denoted by the same reference numerals, and description thereof is omitted. Hereinafter, the difference will be mainly described.

  The electromagnetic proportional pressure reducing valves 102L and 102R limit the discharge flow rate of the main pumps 12L and 12R to Q2 when the high speed travel mode is selected, and limit the discharge flow rate to Q1 when the low speed travel mode is selected. This is a pressure reducing valve. The discharge flow rate Q0 shown in FIG. 7 is the same as the value in the first embodiment.

  Here, the discharge flow rate Q2 is equal to the horsepower (discharge flow rate Q2 × discharge pressure) even when the lower traveling body 1 travels in the high-speed travel mode (that is, when the discharge pressures of the main pumps 12L and 12R become Pb ′). Pb ′) is set so as not to exceed W2.

  Further, the discharge flow rate Q1 is equal to the horsepower (discharge flow rate Q1 × discharge pressure Pa) even when the lower traveling body 1 travels in the low-speed travel mode (that is, when the discharge pressure of the main pumps 12L and 12R becomes Pa ′). ') Is set not to exceed W2.

  The discharge flow rate of the electromagnetic proportional pressure reducing valves 102L and 102R is controlled by the controller 25 when an operation for selecting the high speed traveling mode or the low speed traveling mode is input.

  FIG. 8 is a diagram illustrating a processing procedure when drive control of the electromagnetic proportional control valves 102 </ b> L and 102 </ b> R of the construction machine according to the second embodiment is performed by the controller 25.

  The controller 25 determines whether or not an operation for traveling has been performed (step S11). This determination process is a process performed based on a detection signal input from the pressure sensor 104, and is repeatedly executed until a traveling operation is detected.

  When it is determined that the traveling operation has been input to the controller device 17, the controller 25 determines whether or not the high-speed traveling mode is selected (step S12). This determination process is a process performed based on the detection signal input from the high-speed selection switch.

  When it is determined that the high-speed traveling mode is selected, the controller 25 excites the electromagnetic proportional pressure reducing valves 102L and 102R to operate the electromagnetic proportional pressure reducing valves 102L and 102R (step S13). As a result, a predetermined operating pressure for setting the discharge flow rate to Q2 is generated on the input side. In this case, since the traveling operation is input, the pressure oil output from the main pumps 12L and 12R is supplied to the traveling hydraulic motors 18L and 18R and detected on the front side of the throttles 16L and 16R of the control valve 16. The hydraulic pressure is almost zero. Therefore, the shuttle valves 103L and 103R are switched to the electromagnetic proportional pressure reducing valves 102L and 102R, and the pilot pressure reduced to a predetermined pressure by the electromagnetic proportional pressure reducing valves is transmitted to the flow rate control units 22L and 22R. As a result, the spool valves 20L, 20R and the pistons 21L, 21R are driven, and the maximum discharge flow rate of the main pumps 12L, 12R is reduced from Q0 to Q2.

  As shown in FIG. 7, the horsepower of the main pumps 12L and 12R does not exceed W2 even if the discharge pressure of the main pumps 12L and 12R becomes Pb ′ and the discharge flow rate becomes Q2 in order to perform the high-speed running mode. Absent. As described above, according to the construction machine of the second embodiment, in the high-speed traveling mode, the discharge flow rate is limited by Q2, so that the flow rate of the pressure oil supplied to the traveling hydraulic motors 18L and 18R becomes substantially the same. It is possible to improve the straightness when traveling in the traveling mode.

  After finishing the process of step S13, the controller 25 determines whether or not the traveling operation at a high speed is finished (step S14). This corresponds to the case where the low-speed traveling mode is selected by the high-speed selection switch, or the case where the traveling operation is not input to the operation device 17.

  When the controller 25 determines that the traveling operation at a high speed has ended, the controller 25 demagnetizes the electromagnetic proportional pressure reducing valves 102L, 102R, and puts the electromagnetic proportional pressure reducing valves 102L, 102R into an inoperative state (step S15). Thereby, the input side of the electromagnetic proportional pressure reducing valves 102L and 102R is switched to the drain pressure.

  If the controller 25 determines in step S12 that the high speed driving mode is not selected, the controller 25 determines whether or not the low speed driving mode is selected (step S16). This determination process is a process performed based on the detection signal input from the high-speed selection switch.

  When the controller 25 determines that the low-speed traveling mode is selected, the electromagnetic proportional pressure reducing valves 102L and 102R are excited to operate the electromagnetic proportional pressure reducing valves 102L and 102R (step S17). As a result, a predetermined operating pressure for setting the discharge flow rate to Q1 is generated on the input side. In this case, since the traveling operation is input, the pressure oil output from the main pumps 12L and 12R is supplied to the traveling hydraulic motors 18L and 18R and detected on the front side of the throttles 16L and 16R of the control valve 16. The hydraulic pressure is almost zero. Therefore, the shuttle valves 103L and 103R are switched to the electromagnetic proportional pressure reducing valves 102L and 102R, and the pilot pressure transmitted from the electromagnetic proportional pressure reducing valves 102L and 102R is transmitted to the flow rate control units 22L and 22R. As a result, the spool valves 20L, 20R and the pistons 21L, 21R are driven, and the maximum discharge flow rate of the main pumps 12L, 12R is reduced from Q0 to Q1.

  As shown in FIG. 7, the horsepower of the main pumps 12L and 12R exceeds W2 even when the discharge pressure of the main pumps 12L and 12R becomes Pa ′ and the discharge flow rate becomes Q1 in order to perform the low-speed running mode. Absent. Thus, according to the construction machine of the second embodiment, in the low-speed traveling mode, the discharge flow rate is limited by Q1, so the flow rate of the pressure oil supplied to the traveling hydraulic motors 18L and 18R is substantially the same, The straightness when traveling in the low-speed traveling mode can be improved.

  When the process of step S17 is completed, the controller 25 determines whether or not the low-speed traveling operation has been completed (step S18). This corresponds to the case where the high-speed traveling mode is selected by the high-speed selection switch or the case where the traveling operation is not input to the operation device 17.

  When the controller 25 determines that the traveling operation in the low-speed traveling mode has been completed, the procedure proceeds to step S15, the electromagnetic proportional pressure reducing valves 102L and 102R are demagnetized, and the electromagnetic proportional pressure reducing valves 102L and 102R are turned off. A non-operation state is set (step S15). Thus, the input side of the electromagnetic proportional pressure reducing valves 102L and 102R is switched to the tank 14.

  The above processing is repeatedly executed while the construction machine is in operation.

  As described above, according to the construction machine of the second embodiment, even when the engine 11 has a lower output than in the case of the first embodiment due to the hybrid of the prime mover, the vehicle travels in the high speed travel mode and the low speed travel mode. Since the discharge flow rate of the main pumps 12L and 12R is limited, the flow rate of the pressure oil supplied to the traveling hydraulic motors 18L and 18R can be kept uniform. For this reason, it is possible to provide a construction machine with good straightness when traveling in the high-speed traveling mode and the low-speed traveling mode.

  Here, the pressure loss between the main pumps 12L and 12R and the traveling hydraulic motors 18L and 18R will be described. This pressure loss is caused by the high pressure hydraulic lines 15L, 15R, valves, joints, and the like, and is in a relationship proportional to the square of the flow rate. By reducing the discharge flow rate of the main pumps 12L and 12R from Q0 to Q1 or Q2 as in the construction machine of the second embodiment, the pressure loss is also reduced from PL0 to PL1 or PL2.

  By reducing the pressure loss, an energy saving effect can be obtained.

  In the construction machine according to the second embodiment, the discharge flow rate of the main pumps 12L and 12R when the traveling hydraulic motors 18L and 18R are switched to the high-speed traveling mode is limited to Q2, and the switching flow is switched to the low-speed traveling mode. By limiting the discharge flow rate of the main pumps 12L and 12R to Q1, the maximum speed in the high-speed driving mode is reduced by the ratio of Q2 and Q0 (Q2 / Q0), and the maximum speed in the low-speed driving mode is Q1 and Q0. It decreases by the ratio (Q1 / Q0).

  Here, the maximum speed of the construction machine can be improved by setting the amount of absorption of the traveling hydraulic motors 18L and 18R lower by the same amount as in the first embodiment. The situation when traveling on a flat ground is the same as in the first embodiment. When the amount of absorption is reduced, the driving torque is reduced. For this reason, when the discharge flow rate is limited in both the high-speed driving mode and the low-speed driving mode as in the second embodiment, the amount of absorption for the high-speed driving mode and the low-speed driving mode of the driving hydraulic motors 18L and 18R is reduced. However, when either one is reduced, it is preferable to reduce only the amount of absorption of the traveling hydraulic motors 18L and 18R for the high-speed traveling mode. This is effective when the drive torque in the low-speed running mode is not reduced.

  Further, in addition to reducing the amount of absorption of the traveling hydraulic motors 18L and 18R for the high-speed traveling mode or the low-speed traveling mode, the relief valve 26 is driven by using a variable relief valve capable of variably controlling the upper limit pressure. When the force is insufficient, the electromagnetic proportional pressure reducing valve 27 is operated to increase the upper limit value, thereby increasing the hydraulic pressure in the high pressure hydraulic lines 15L, 15R and increasing the driving force of the traveling hydraulic motors 18L, 18R. You may make it make it.

  In the above description, the construction machine in which the prime mover is hybridized has been described. However, in addition to the electric motor 100 for assisting the engine 11, a construction machine in which the turning mechanism 2 is motorized may be used. In this case, an electric motor may be used instead of the turning hydraulic motor 19, and power running operation is performed at the time of acceleration for performing the turning drive, and regenerative operation is performed at the time of deceleration, whereby electric power obtained by power generation is supplied to the battery. You may comprise so that it may charge.

  Further, in the above description, the form applied to the construction machine in which the prime mover is hybridized has been described. However, the construction machine of the present embodiment is not limited to the hybrid type, and all work elements are hydraulically driven. It may be.

  Although the construction machine of the exemplary embodiment of the present invention has been described above, the present invention is not limited to the specifically disclosed embodiment, and does not depart from the scope of the claims. Various modifications and changes are possible.

It is a side view which shows the conventional construction machine. It is a figure which shows the hydraulic control circuit of the conventional construction machine. It is a characteristic view which shows the relationship between the discharge pressure and discharge flow rate of the main pump in the conventional construction machine. 1 is a diagram illustrating a hydraulic circuit of a construction machine according to a first embodiment. It is a characteristic view which shows the relationship between the discharge pressure of the main pump in the construction machine of Embodiment 1, and a discharge flow rate. It is a figure which shows the process sequence in case the drive control of the electromagnetic proportional control valve of the construction machine of Embodiment 1 is performed by the controller. It is a characteristic view which shows the relationship between the discharge pressure and discharge flow rate of the main pump in the construction machine of Embodiment 2. It is a figure which shows the process sequence in case the drive control of the electromagnetic proportional control valve of the construction machine of Embodiment 2 is performed by the controller.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Lower traveling body 1A, 1B Traveling mechanism 2 Turning mechanism 3 Upper turning body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 11 Engine 12L, 12R Main pump 13 Pilot pump 14 Tank 15A Variable relief valve 15L , 15R High-pressure hydraulic line 15P Pilot line 16 Control valve 16L, 16R Aperture 17 Operating device 17A Lever 17B Pedal 18L, 18R Traveling hydraulic motor 19 Turning hydraulic motor 20L, 20R Spool valve 21L, 21R Piston 22L, 22R Flow control unit 23L , 23R Horsepower control unit 24 Electromagnetic proportional pressure reducing valve 25 Controller 26 Variable relief valve 27 Electromagnetic proportional pressure reducing valve 100 Electric motor 101 Reducer 102L, 102 R Electromagnetic proportional pressure reducing valve 103L, 103R Shuttle valve 104 Pressure sensor

Claims (5)

A main hydraulic pump and a pilot pump driven by the prime mover of the construction machine;
A pair of traveling hydraulic motors that respectively drive the left and right permanent tracks of the lower traveling body;
A hydraulic actuator for hydraulically driving the working element;
A control valve for controlling pressure oil from the main hydraulic pump to the traveling hydraulic motor and the hydraulic actuator;
Pump discharge flow rate control means for controlling the discharge flow rate of the main hydraulic pump;
Operating means for operating the traveling hydraulic motor and the hydraulic actuator;
Operation detecting means for detecting an operation of the traveling hydraulic motor or the hydraulic actuator via the operating means;
When the operation of the traveling hydraulic motor by said operation detecting means is detected, seen including a main control means for reducing the maximum discharge flow rate of the main hydraulic pump to a predetermined degree,
The traveling hydraulic motor is configured to switch the amount of absorption between high-speed traveling and low-speed traveling,
The main control means causes the pump discharge flow rate control means to set the maximum discharge flow rate of the main hydraulic pump to a normal value during low speed running, and sets the maximum discharge flow rate of the main hydraulic pump to the pump discharge flow rate control means during high speed running. Limiting to a flow rate lower than the normal value,
Construction machinery. A main hydraulic pump and a pilot pump driven by the prime mover of the construction machine;
A pair of traveling hydraulic motors that respectively drive the left and right permanent tracks of the lower traveling body;
A hydraulic actuator for hydraulically driving the working element;
A control valve for controlling pressure oil from the main hydraulic pump to the traveling hydraulic motor and the hydraulic actuator;
Pump discharge flow rate control means for controlling the discharge flow rate of the main hydraulic pump;
Operating means for operating the traveling hydraulic motor and the hydraulic actuator;
Operation detecting means for detecting an operation of the traveling hydraulic motor or the hydraulic actuator via the operating means;
When the operation of the traveling hydraulic motor by said operation detecting means is detected, seen including a main control means for reducing the maximum discharge flow rate of the main hydraulic pump to a predetermined degree,
The traveling hydraulic motor is configured to switch the amount of absorption between high-speed traveling and low-speed traveling,
The main control means restricts the maximum discharge flow rate of the main hydraulic pump to a first flow rate lower than a normal value in the pump discharge flow rate control unit during low speed running, and causes the main hydraulic pressure to be supplied to the pump discharge flow rate control unit during high speed running. Limiting the maximum discharge flow rate of the pump to a second flow rate that is the same as or different from the first flow rate,
Construction machinery. Absorption amount for high-speed traveling or low-speed traveling of the traveling hydraulic motor so as to compensate for a decrease in the rotational speed of the traveling hydraulic motor due to a decrease in the maximum discharge flow rate of the main hydraulic pump from the normal value. The construction machine according to claim 1 or 2 , wherein is set low. A variable relief valve that variably limits a hydraulic upper limit value of the pressure oil supplied to the traveling hydraulic motor;
The construction machine according to any one of claims 1 to 3 , wherein when the operation of the traveling hydraulic motor is detected, the main control unit increases the hydraulic upper limit value of the variable relief valve from a normal value. . The construction machine according to any one of claims 1 to 4, wherein the pump discharge flow rate control means includes an electromagnetic proportional pressure reducing valve controlled by the main control means.

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