JP6118705B2 - Swivel control device for construction machinery - Google Patents

Description

  The present invention relates to a turning control device for a construction machine.

  A construction machine such as a crawler crane includes a traveling body and a swivel body that is provided on the traveling body through a swivel wheel so as to be capable of swiveling. The hydraulic circuit constituting the swing control device of the crane includes a hydraulic motor (hereinafter referred to as a swing motor) as a drive source of the swing body, a hydraulic pump for supplying pressure oil to the swing motor, a swing motor and a hydraulic pump, A directional control valve for controlling the flow of pressure oil supplied from the hydraulic pump to the swing motor in accordance with the operation of the swing lever is provided.

  Conventionally, a neutral free system is generally employed as a turning control system (see Patent Document 1). The neutral free system is a system in which both sides of the swing motor are communicated with each other by a direction control valve when the swing lever is returned from the operation position to the neutral position, and the swing motor is rotated by inertia. In the neutral free system, pressure oil can be sent to the exit side of the turning motor by lever operation in the direction opposite to the turning direction to exert a braking force, and the turning body can be decelerated and stopped.

JP 2006-321586 A

  In the turning control device that employs the neutral free system, when the turning lever is operated in the direction opposite to the turning direction to decelerate and stop the turning body, excessive pressure oil is discharged, resulting in a large loss of horsepower. .

Determined swing control device according to claim 1, the pivot body is pivoted driven by a hydraulic motor, as a hydraulic source for supplying hydraulic fluid to the hydraulic motor, a variable displacement hydraulic pump which is horsepower control by a regulator , A turning operation member that outputs a turning command according to the operation, a reverse lever operation determination means that determines whether or not a reverse lever operation is performed by the turning operation member, and a reverse lever operation determination means that performs the reverse lever operation. The pump flow rate limiting means for reducing the discharge flow rate of the hydraulic pump below the flow rate set by the characteristic for performing the horsepower control, and the turning speed for outputting the turning speed limit command according to the operation. Bei a restricted operation member, in accordance with the turning speed limiting command output from the rotation speed limit control member, the volume limiting means for limiting the maximum displacement of the hydraulic pump, the , The hydraulic pump is a variable displacement pump discharge flow rate is changed in accordance with the tilting angle of the swash plate or bent axis, the regulator, a tilting actuator for adjusting the tilting angle of the hydraulic pump, the hydraulic pump The servo valve that controls the operation of the tilt actuator by controlling the pressure oil pressure introduced into the tilt actuator, and the servo valve so that the higher the discharge pressure of the hydraulic pump, the smaller the discharge flow rate of the hydraulic pump. It is configured to include a power control actuator for driving the pump flow restriction means and the volume limiting means includes a flow restriction actuator for driving the servo valve to limit the maximum delivery rate of the hydraulic pump is introduced into the flow restricting actuator that a pressure control valve for controlling the pressure of the hydraulic fluid, is configured to include a pressure control valve, a control current corresponding to the operation amount of the rotation speed limiting member This is an electromagnetic proportional pressure reducing valve that limits the amount of hydraulic pump discharge flow rate to increase as the amount of operation of the turning speed limiting member increases, and it is determined that the reverse lever is being operated by the reverse lever operation determining means. In this case, the flow restriction actuator serving as the volume restriction means controls the discharge flow rate of the hydraulic pump to the restriction amount corresponding to the turning speed restriction command, but the flow restriction actuator serving as the pump flow restriction means is the hydraulic pump. The maximum displacement volume of the hydraulic pump is limited so that the discharge flow rate of the hydraulic pump is lower than the flow rate set by the characteristic for performing the horsepower control .

  According to the present invention, when the turning operation member is operated in the direction opposite to the turning direction of the turning body, the horsepower loss can be reduced by reducing the discharge flow rate of the hydraulic pump.

The side view which shows the external appearance of the crane carrying the turning control apparatus which concerns on this Embodiment. The hydraulic circuit diagram which shows the structure of the turning control apparatus which concerns on this Embodiment. The figure which shows the characteristic for performing horsepower control with a regulator. The figure explaining that the maximum discharge flow rate of a main pump is restrict | limited by the turning speed dial. The flowchart which shows the setting process of the electric current value output to an electromagnetic proportional pressure reducing valve according to the reverse lever operation determination process by a controller. The figure explaining that the discharge flow rate of a main pump falls when reverse lever operation is performed.

Hereinafter, an embodiment of a turning control device for a construction machine according to the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing an external appearance of a crane 10 equipped with a turning control device according to an embodiment of the present invention. Below, as shown in the drawing, the vertical and longitudinal directions of the crane 10 are defined based on the posture of FIG. The crane 10 includes a traveling body 101, a revolving body 103 that is turnable on the traveling body 101 via a turning wheel, and a boom 104 that is pivotally supported by the revolving body 103. The traveling body 101 has a track frame (not shown) and side frames 101a provided on both sides of the track frame (not shown), and an endless track crawler belt 101b is attached to the side frame 101a. A driver's cab 107 is provided at the front portion of the swing body 103, and a counterweight 109 is attached to the rear portion of the swing body 103.

  The revolving structure 103 is equipped with a hoisting drum 105 that is a winch drum for hoisting and a hoisting drum 106 that is a winch drum for hoisting a boom. A hoisting rope 105a is wound around the hoisting drum 105, and the hoisting rope 105a is wound or fed out by the rotation of the hoisting drum 105, and the hook 108 is moved up and down. A hoisting rope 106 a is wound around the hoisting drum 106, and the hoisting rope 106 a is wound or fed out by driving of the hoisting drum 106, and the boom 104 is raised and lowered.

  FIG. 2 is a hydraulic circuit diagram showing a configuration of the turning control device according to the embodiment of the present invention. The hydraulic circuit constituting the turning control device includes a main pump 1, a turning hydraulic motor (hereinafter referred to as a turning motor 2), a center bypass type directional control valve 3, and a turning operation lever (hereinafter referred to as turning). Lever 7), pilot valves 8a and 8b, pilot pump 9, regulator 110, flow restriction actuator 116, forward rotation pilot pressure sensor 170a, reverse rotation pilot pressure sensor 170b, and electromagnetic proportional pressure reducing valve. 180.

  The main pump 1 and the pilot pump 9 as hydraulic pressure sources are driven by a prime mover E to discharge pressure oil. The pressure oil discharged from the main pump 1 is supplied to the turning motor 2 via the direction control valve 3. The pressure oil discharged from the pilot pump 9 is supplied to pilot valves 8 a and 8 b operated by the turning lever 7.

  The swing motor 2 is rotationally driven by the pressure oil discharged from the main pump 1, and the swing body 103 is rotated by the rotation of the swing motor 2. The direction control valve 3 controls the flow of pressure oil supplied from the main pump 1 to the turning motor 2. The turning lever 7 is operated by an operator, and the pilot valves 8a and 8b output a pilot pressure as a turning command corresponding to the operation direction and the operation amount of the turning lever 7.

  When the operator operates the swing lever 7 to the forward rotation side, the pilot pressure output from the pilot valve 8a acts on the pilot port 3a of the direction control valve 3, and the direction control valve 3 is switched to the forward rotation position (A) side. . As a result, the pressure oil from the main pump 1 is supplied to the turning motor 2 via the pipe L1, the turning motor 2 rotates forward, and the turning body 103 turns in the forward direction (for example, turns left).

  When the operator operates the turning lever 7 to the reverse rotation side, the pilot pressure output from the pilot valve 8b acts on the pilot port 3b of the direction control valve 3, and the direction control valve 3 is switched to the reverse rotation position (B) side. As a result, the pressure oil from the main pump 1 is supplied to the turning motor 2 via the pipe line L2, the turning motor 2 reverses, and the turning body 103 turns in the opposite direction (for example, turns right).

  When the swivel body 103 is swiveling in the forward direction or the reverse direction, when the swivel lever 7 is operated to return to the neutral position, the direction control valve 3 is switched to the neutral position (N), and the swivel motor 2 is switched from the main pump 1. The flow of the pressure oil to is cut off, both side pipes L1, L2 of the turning motor 2 are communicated, and the turning body 103 turns due to inertial force. At this time, since the pressure oil flowing through the return side pipe of the swing motor 2 is throttled by the direction control valve 3, the brake pressure acts on the swing motor 2, and the swing body 103 is slowly decelerated and stopped. When the swivel lever 7 exceeds the neutral position (N) and is operated on the side opposite to the swivel direction, the discharge pressure of the main pump 1 (hereinafter also simply referred to as pump pressure P) acts on the return side pipe line. For this reason, when the turning lever 7 is operated in the direction opposite to the turning direction, a larger brake pressure is applied to the turning motor 2 and the turning body 103 is shorter in time than when the turning lever 7 is operated to return to the neutral position. Stop at.

  The main pump 1 is a swash plate type variable displacement hydraulic pump whose displacement is changed according to the tilt angle of the swash plate 1a. The discharge flow rate of the main pump 1 (hereinafter also simply referred to as the pump flow rate Q) is determined according to the displacement volume and the rotation speed of the main pump 1. The regulator 110 tilts the swash plate 1a of the main pump 1 by driving the tilt actuator 111 so that the load determined by the discharge pressure P and the discharge flow rate Q of the main pump 1 does not exceed the output horsepower of the prime mover E. This is a pump control device that performs so-called horsepower control for adjusting the angle.

  The regulator 110 includes a horsepower control actuator 115, a servo valve 114, a tilt actuator 111, and a feedback lever 112.

  The tilting actuator 111 includes a piston 111a, a large diameter pressure receiving chamber 111b, and a small diameter pressure receiving chamber 111c. The piston 111a is provided with a large-diameter portion at one end and a small-diameter portion having a diameter smaller than the diameter of the large-diameter portion at the other end. The large diameter portion of the piston 111a is disposed in the large diameter pressure receiving chamber 111b, and the small diameter portion of the piston 111a is disposed in the small diameter pressure receiving chamber 111c. Pressure of pressure oil discharged from the main pump 1 is introduced into the large-diameter pressure receiving chamber 111b via the servo valve 114. The pressure of the pressure oil discharged from the main pump 1 is always introduced into the small diameter pressure receiving chamber 111c.

  The piston 111a is connected to the swash plate 1a of the main pump 1, operates the swash plate 1a of the main pump 1, and adjusts its tilt angle. A pump pressure always acts on the small-diameter pressure receiving chamber 111c. When pump pressure acts on the large diameter pressure receiving chamber 111b, the piston 111a moves from the large diameter pressure receiving chamber 111b side toward the small diameter pressure receiving chamber 111c side due to the difference in pressure receiving area between the large diameter portion and the small diameter portion of the piston 111a. 2 moves to the right. Thereby, the tilt angle of the swash plate 1a becomes small, that is, the displacement volume becomes small. When the large-diameter pressure receiving chamber 111b reaches the tank pressure, the piston 111a moves from the small-diameter pressure receiving chamber 111c side toward the large-diameter pressure receiving chamber 111b side, that is, leftward in FIG. This increases the tilt angle of the swash plate 1a, that is, increases the displacement volume.

  The servo valve 114 is operated by the horsepower control actuator 115 and controls the operation of the tilt actuator 111 by controlling the pressure of the pressure oil introduced from the main pump 1 to the tilt actuator 111. The servo valve 114 includes a spool 114a, a feedback sleeve 114c, and a spring 114b. The spool 114 a has a pump port into which pressure oil discharged from the main pump 1 is introduced, a tank port communicating with the tank 190, and an actuator port communicating with the large-diameter pressure receiving chamber 111 b of the tilt actuator 111. The spool 114a has a first position (G) for communicating the pump port and the actuator port, a second position (H) for communicating the tank port and the actuator port, and both the pump port and the tank port communicate with the actuator port. Switch to neutral position. The spring 114b biases the spool 114a in a direction to displace the spool 114a to the second position (H).

  The horsepower control actuator 115 includes a servo piston 115a that presses the spool 114a in the direction to displace the spool 114a to the first position (G), a spring 115c that presses the spool 114a in the direction to displace the second position (H), and the main pump 1 And a pressure chamber 115b into which the pressure of the pressure oil discharged from is introduced. The servo piston 115a is disposed in the pressure chamber 115b. The horsepower control actuator 115 operates in accordance with the pressure in the pressure chamber 115b, that is, the pump pressure P. The horsepower control actuator 115 drives the servo valve 114 so that the pump flow rate Q decreases as the pump pressure P increases (see FIG. 3).

  When the piston 111a moves, the feedback lever 112 is a mechanism for physically feeding back the amount of movement to the servo valve 114 and returning it to the neutral position. The feedback lever 112 connects the feedback sleeve 114c of the servo valve 114 and the piston 111a. It is connected.

  The flow restricting actuator 116 is provided to drive the servo valve 114 to restrict the maximum discharge flow rate of the main pump 1 that rotates at a predetermined rotational speed.

  The flow restriction actuator 116 includes a restriction spring 116c that presses the spool 114a in the direction to displace the spool 114a to the first position (G), and a restriction release piston 116a that presses the spool 114a in the direction to displace the spool 114a to the second position (H). And a pressure chamber 116b. The restriction releasing piston 116a is disposed in the pressure chamber 116b. The pressure chamber 116b is connected to the pilot pump 9, and an electromagnetic proportional pressure reducing valve 180 is provided between the pilot pump 9 and the pressure chamber 116b. The flow restriction actuator 116 operates according to the pressure acting on the pressure chamber 116 b, that is, the secondary pressure p 2 output from the electromagnetic proportional pressure reducing valve 180.

  FIG. 3 is a diagram illustrating a characteristic C (hereinafter also referred to as a horsepower control characteristic C) for performing the horsepower control by the regulator 110. FIG. 3 shows the relationship between the discharge pressure and the discharge flow rate when the main pump 1 is rotating at a constant input rotation speed. As shown in FIG. 3, the horsepower control characteristic C indicates that the tilt angle is the maximum value when the pump pressure P is less than the horsepower control start pressure Ph0, and the pump pressure P increases when the pump pressure P becomes equal to or greater than the horsepower control start pressure Ph0. Accordingly, the tilt angle is reduced in accordance with the above, and the discharge flow rate Q of the main pump 1 is reduced. The horsepower control start pressure Ph0 is set by a spring 115c (see FIG. 2).

  The operation of the regulator 110 will be described. In the following, the operation of increasing the tilt angle and the operation of decreasing the tilt angle when the tilt angle of the swash plate 1a is at a predetermined value between the minimum value and the maximum value will be described. In the following description, it is assumed that the maximum speed is not limited by a turning speed dial 120 described later. When the maximum speed is not limited, the maximum secondary pressure p2 is output from the electromagnetic proportional pressure reducing valve 180, and the pressing force of the limit release piston 116a and the spring force of the limit spring 116c are offset. .

-About the operation in which the tilt angle increases from the predetermined value-
For example, when the pump pressure P is greater than or equal to Ph0 and less than Ph0, that is, less than the pressure set by the spring 115c, the spool 114a of the servo valve 114 shown in FIG. 2 is pushed leftward by the spring 114b. The spool 114a is switched to the second position (H). As a result, the large diameter pressure receiving chamber 111b communicates with the tank 190 via the passage inside the spool 114a, the large diameter pressure receiving chamber 111b becomes the tank pressure, and the pressure oil in the large diameter pressure receiving chamber 111b is discharged to the tank 190. The

  Since the pump pressure P is acting on the small diameter pressure receiving chamber 111c, the piston 111a moves in the left direction in the figure. When the piston 111a moves in the left direction in the figure, the feedback sleeve 114c also moves in the left direction in the figure. When the servo valve 114 is in the neutral position due to the movement of the feedback sleeve 114c, the tank port and the actuator port are closed. As a result, the movement of the piston 111a stops, and the tilt angle of the swash plate 1a becomes a predetermined angle. In the present embodiment, when the pump pressure P is less than Ph0, the tilt angle of the swash plate 1a becomes the maximum angle.

-About the operation to decrease the tilt angle from the predetermined value-
For example, when the pump pressure P becomes less than Ph0 from a state where it is less than Ph0, that is, when the pump pressure P becomes more than the pressure set by the spring 115c, the force for driving the spool 114a of the servo valve 114 from the servo piston 115a is applied to the spool 114a. Works. Therefore, the spool 114a of the servo valve 114 is pushed rightward in the figure by the servo piston 115a, and the spool 114a is switched to the first position (G). When the spool 114a moves, the amount of deflection of the spring 114b changes and the spring reaction force increases. The spool 114a stops at a position where the spring reaction force of the spring 114b and the driving force of the servo piston 115a are balanced. As a result, the large-diameter pressure receiving chamber 111b communicates with the main pump 1 via the passage inside the spool 114a, and the large-diameter pressure receiving chamber 111b becomes the pump pressure P.

  When the pump pressure P acts on each of the large-diameter pressure receiving chamber 111b and the small-diameter pressure receiving chamber 111c, the piston 111a moves to the right in the figure due to the difference between the pressure receiving area of the large diameter portion and the small diameter receiving area of the piston 111a. When the piston 111a moves in the right direction in the figure, the feedback sleeve 114c also moves in the right direction in the figure. When the servo valve 114 is in the neutral position by the movement of the feedback sleeve 114c, the pump port and the actuator port are closed. As a result, the movement of the piston 111a stops and the tilt angle of the swash plate 1a becomes a predetermined angle smaller than the maximum angle. The higher the pump pressure P, the larger the movement amount of the servo piston 115a and the spool 114a of the servo valve 114, and the larger the movement amount of the piston 111a. That is, the higher the pump pressure P, the smaller the tilt angle of the swash plate 1a of the main pump 1, and the smaller the discharge flow rate Q of the main pump 1.

  The turning control device includes a controller 100, a turning speed dial 120, and a turning direction detector 171, and the controller 100 includes a turning speed dial 120, a turning direction detector 171, a forward rotation side pilot pressure sensor 170a, and a reverse rotation side. A pilot pressure sensor 170b and an electromagnetic proportional pressure reducing valve 180 are connected. The controller 100 is configured to include an arithmetic processing unit having a CPU and a storage device such as ROM and RAM, and other peripheral circuits.

  The electromagnetic proportional pressure reducing valve 180 is provided in an oil passage connected from the pilot pump 9 to the pressure chamber 116 b of the flow restriction actuator 116. The degree of pressure reduction of the electromagnetic proportional pressure reducing valve 180 is controlled by the control current I from the controller 100. A pressure corresponding to the degree of pressure reduction of the electromagnetic proportional pressure reducing valve 180 is introduced into the pressure chamber 116b.

  The valve characteristic of the electromagnetic proportional pressure reducing valve 180 is set so that the degree of pressure reduction decreases as the control current I input to the solenoid increases, that is, the secondary pressure p2 increases.

  The turning speed dial 120 is turned by an operator and outputs a turning speed restriction command corresponding to the operation amount. When the turning speed limit command is input to the controller 100, the controller 100 outputs a control current I corresponding to the turning speed limit command to the electromagnetic proportional pressure reducing valve 180. The controller 100 decreases the output control current I as the operation amount of the turning speed dial 120 is larger, that is, as the maximum turning speed is lower.

  FIG. 4 is a diagram for explaining that the maximum discharge flow rate of the main pump 1 is restricted by the turning speed dial 120. FIG. 4 shows characteristics when the main pump 1 is rotating at a constant input rotational speed. When the operation amount of the turning speed dial 120 is 0, that is, when the maximum turning speed is not limited, the controller 100 outputs a control current I = Imax.

  When the control current I = Imax is input to the electromagnetic proportional pressure reducing valve 180, the secondary pressure p2 = p2max output from the electromagnetic proportional pressure reducing valve 180 is introduced into the pressure chamber 116b, and the pressing force of the restriction releasing piston 116a, The spring force of the limiting spring 116c is canceled out. Thereby, as shown in FIG. 3, the tilt angle of the swash plate 1 a, that is, the displacement volume of the main pump 1 is determined according to the pump pressure P by the horsepower control of the regulator 110.

  When the operation amount of the turning speed dial 120 is the first operation amount larger than 0, the controller 100 outputs the control current I = I1 (I1 <Imax). When the control current I = I1 is input to the electromagnetic proportional pressure reducing valve 180, the secondary pressure p21 output from the electromagnetic proportional pressure reducing valve 180 is introduced into the pressure chamber 116b (p21 <p2max). When the secondary pressure p2 is decreased from p2max to p21, the force corresponding to the subtraction of the pressing force of the restriction release piston 116a from the spring force of the restriction spring 116c moves the spool 114a in FIG. Acts as follows. As a result, the maximum displacement volume of the main pump 1 is limited, and as shown in FIG. 4A, the maximum discharge flow rate of the main pump 1 rotating at a predetermined rotational speed is limited to Q1 (Q1 <Qmax). The discharge flow rate Q of the main pump 1 is limited to Q1 when the pump pressure P is 0 or more and less than Ph1, and the flow rate according to the horsepower control characteristic C of the regulator 110 is set when the pump pressure P is Ph1 or more. The horsepower control start pressure Ph1 is higher than Ph0 (Ph0 <Ph1) because the spring reaction force of the spring 115c increases as the spool 114a is moved rightward in FIG. .

  When the operation amount of the turning speed dial 120 is the second operation amount larger than the first operation amount, the controller 100 outputs the control current I = I2 (I2 <I1). When the control current I = I2 is input to the electromagnetic proportional pressure reducing valve 180, the secondary pressure p22 output from the electromagnetic proportional pressure reducing valve 180 is introduced into the pressure chamber 116b (p22 <p21). When the secondary pressure p2 is decreased from p21 to p22, the force corresponding to the subtraction of the pressing force of the restriction release piston 116a from the spring force of the restriction spring 116c moves the spool 114a in FIG. Acts as follows. As a result, the maximum displacement volume of the main pump 1 is limited, and as shown in FIG. 4B, the maximum discharge flow rate of the main pump 1 rotating at a predetermined rotational speed is limited to Q2 (Q2 <Q1). The maximum value of the discharge flow rate Q of the main pump 1 is limited to Q2 when the pump pressure P is 0 or more and less than Ph2, and the flow rate according to the horsepower control characteristic C of the regulator 110 is set when the pump pressure P is Ph2 or more. The horsepower control start pressure Ph2 is higher than Ph1 (Ph1 <Ph2) because the spring reaction force of the spring 115c further increases as the spool 114a is moved rightward in FIG. ).

  When the operation amount of the turning speed dial 120 is the maximum operation amount larger than the second operation amount, the controller 100 outputs a control current I = Imin = 0 (Imin <I2). When the control current I = Imin is input to the electromagnetic proportional pressure reducing valve 180, the electromagnetic proportional pressure reducing valve 180 is fully closed by the biasing force of the spring, and the pressure of the pressure oil introduced from the pilot pump 9 into the pressure chamber 116b is cut off. The pressure chamber 116b becomes a tank pressure. When the pressure in the pressure chamber 116b is reduced from p22 to the tank pressure, the force corresponding to the subtraction of the pressing force of the restriction release piston 116a from the spring force of the restriction spring 116c moves the spool 114a in FIG. It works to let you. Thereby, as shown in FIG. 4C, the displacement volume of the main pump 1 is limited to the minimum value, that is, the tilt angle of the swash plate 1a is limited to the minimum value. As a result, the discharge flow rate Q of the main pump 1 is limited to the minimum value Qmin from the pump pressure P of 0 to the maximum pressure Pmax defined by the relief valve (Qmin <Q2).

  The turning direction detector 171 shown in FIG. 2 detects the turning direction of the turning body 103 and is, for example, a potentiometer. The forward rotation side pilot pressure sensor 170a detects the pilot pressure Pp when the swing lever 7 is operated to the forward rotation side as a left turn command output. The reverse side pilot pressure sensor 170b detects the pilot pressure Pp when the turning lever 7 is operated to the reverse side as a right turn command output.

  When the turning direction according to the turning command output from the pilot valves 8a and 8b by the operation of the turning lever 7 and the turning direction of the turning body 103 detected by the turning direction detector 171 are not the same direction, the controller 100 It is determined that the reverse lever is being operated. When the turning direction according to the turning command output from the pilot valves 8a and 8b by the operation of the turning lever 7 and the turning direction of the turning body 103 detected by the turning direction detector 171 are the same direction, the controller 100 It is determined that the reverse lever is not operated. The controller 100 determines that the reverse lever operation is performed when the turning lever 7 is neutrally operated when the turning direction detector 171 detects that the turning body 103 is turning. To do.

  When it is determined that the reverse lever operation is performed, the controller 100 controls the control current I with respect to the electromagnetic proportional pressure reducing valve 180 regardless of the turning speed limit command of the turning speed dial 120 output according to the operation amount. = Imin is output, and the tilt angle of the swash plate 1a of the main pump 1 is minimized. When it is determined that the reverse lever operation is not performed, the controller 100 outputs a control current I = Id corresponding to the operation amount of the turning speed dial 120 to the electromagnetic proportional pressure reducing valve 180.

  FIG. 5 is a flowchart showing a process for setting the current value output to the electromagnetic proportional pressure reducing valve in accordance with the reverse lever operation determination process by the controller 100. The process shown in this flowchart is started, for example, by turning on an ignition switch (not shown), and after performing an initial setting (not shown), the processes after step S111 are repeatedly executed every predetermined control cycle.

  In step S111, the controller 100 detects the turning direction information detected by the turning direction detector 171, the operation direction information detected by the forward rotation pilot pressure sensor 170a and the reverse rotation side pilot pressure sensor 170b, and the turning speed dial 120. Is acquired, and the process proceeds to step S121.

  In step S121, the controller 100 determines whether or not the turning direction acquired in step S111 is the right direction. If an affirmative determination is made in step S121, the process proceeds to step S131, and if a negative determination is made, the process proceeds to step S151.

  In step S131, the controller 100 determines whether or not the operation direction acquired in step S111 is the right direction. If an affirmative determination is made in step S131, the process proceeds to step S141, and if a negative determination is made, the process proceeds to step S146.

  If affirmative determination is made in both step S121 and step S131, the controller 100 determines that the reverse lever operation is not performed, and in step S141, the controller 100 outputs the control current I output to the solenoid of the electromagnetic proportional pressure reducing valve 180 in step S111. Is set to the current value Id corresponding to the operation amount of the turning speed dial 120 acquired in step S1, the control current I = Id is output to the electromagnetic proportional pressure reducing valve 180, and the process is terminated.

  If an affirmative determination is made in step S121 and a negative determination is made in step S131, the controller 100 determines that the reverse lever operation is being performed, and in step S146, the controller 100 outputs the control current I output to the solenoid of the electromagnetic proportional pressure reducing valve 180. Then, the minimum value Imin is set, the control current I = Imin is output, and the process is terminated. Note that if the turning lever 7 is not operated, the controller 100 makes a negative determination in step S131, and outputs the control current I = Imin in step S146, similarly to the case where the reverse lever operation is performed, and performs the processing. finish.

  In step S151, the controller 100 determines whether or not the operation direction acquired in step S111 is the left direction. If an affirmative determination is made in step S151, the process proceeds to step S161, and if a negative determination is made, the process proceeds to step S166.

  If a negative determination is made in step S121 and an affirmative determination is made in step S151, the controller 100 determines that the reverse lever operation is not performed, and in step S161, the controller 100 outputs the control current I output to the solenoid of the electromagnetic proportional pressure reducing valve 180. Then, the current value Id corresponding to the operation amount of the turning speed dial 120 acquired in step S111 is set, the control current I = Id is output to the electromagnetic proportional pressure reducing valve 180, and the process is terminated.

  If a negative determination is made in both step S121 and step S151, the controller 100 determines that the reverse lever operation is performed, and in step S166, the controller 100 outputs the control current I output to the solenoid of the electromagnetic proportional pressure reducing valve 180 to the minimum value. Set to Imin, the control current I = Imin is output, and the process ends. Note that if the turning lever 7 is not operated, the controller 100 makes a negative determination in step S151, and outputs the control current I = Imin in step S166 as in the case where the reverse lever operation is performed. finish.

The main operation of the turning control device according to the present embodiment will be described. In the following description, it is assumed that the rotational speed of the prime mover E, that is, the rotational speed of the main pump 1 is maintained at a constant rotational speed.
When the turning speed dial 120 is not operated and the reverse lever is not operated, the flow rate corresponding to the pump pressure P is supplied from the main pump 1 by the horsepower control by the regulator 110 as shown in FIG. Q is discharged. Therefore, the direction control valve 3 is operated according to the operation amount of the turning lever 7, and turning is performed by the pressure oil controlled by the direction control valve 3.

  When the turning speed dial 120 is operated and the reverse lever is not operated, as shown in FIGS. 4 (a) and 4 (b), the maximum discharge flow rate of the main pump 1 is the turning speed dial. The discharge flow rate Q corresponding to the pump pressure P is set by the characteristic C for performing horsepower control above a predetermined pressure while being limited according to the operation amount of 120. When the turning speed dial 120 is operated to the maximum, the discharge flow rate Q is limited to the minimum value Qmin in the working pressure range of the main pump 1 as shown in FIG.

  When the reverse lever is operated by the turning lever 7 during turning, the tilt angle of the swash plate 1a of the main pump 1, that is, the displacement volume is limited to the minimum value regardless of the magnitude of the pump pressure P. For example, when the operation amount of the turning speed dial 120 is 0 and the turning operation is performed at Pr1 where the pump pressure P is lower than the horsepower control start pressure Ph0 as shown in FIG. 6, the main pump 1 The discharge flow rate Q is set to the maximum value Qmax by the characteristic C. At this time, when the operator performs a reverse lever operation to decelerate and stop the swing body 103, the pump pressure P increases from Pr1 to Pr2, and the main pump 1 is pushed regardless of the operation amount of the swing speed dial 120. The volume becomes the minimum value, and the discharge flow rate Q of the main pump 1 is reduced from the maximum value Qmax set by the horsepower control characteristic C to the minimum value Qmin. FIG. 6 shows an example in which the pump pressure Pr2 increased by the reverse lever operation is smaller than the horsepower control start pressure Ph0. However, the pump pressure P becomes larger than the horsepower control start pressure Ph0 by the reverse lever operation. Even in this case, the discharge flow rate Q of the main pump 1 is reduced from the predetermined flow rate set by the horsepower control characteristic C to the minimum value Qmin.

  Thus, in the turning control device according to the present embodiment, when the turning lever 7 is operated in the direction opposite to the turning direction of the turning body 103, that is, when the reverse lever is operated, the discharge flow rate of the main pump 1. Is less than the flow rate set by the characteristic C for performing the horsepower control.

According to this Embodiment described above, there can exist the following effects.
(1) When the turning lever 7 is operated in the direction opposite to the turning direction of the turning body 103, the discharge flow rate Q of the main pump 1 is reduced as compared with the flow rate set by the characteristic C for performing horsepower control. By doing so, the loss horsepower can be reduced. As a result, fuel efficiency is improved, an increase in hydraulic oil temperature is suppressed, and vibration is further suppressed. Since the increase in the hydraulic oil temperature can be suppressed, the hydraulic oil cooling device can be downsized. Furthermore, the effect of extending the life of the hydraulic equipment can be obtained by suppressing the influence of heat and vibration on the hydraulic equipment such as the main pump 1, the swing motor 2, and the valve.

(2) During normal turning operation without reverse lever operation, the maximum displacement volume of the main pump 1 is limited according to the turning speed limit command output from the turning speed dial 120, and when reverse lever operation is performed. The maximum displacement volume of the main pump 1 is limited so that the discharge flow rate of the main pump 1 is reduced below the flow rate set by the horsepower control characteristic C regardless of the turning speed limit command. As a means for limiting the pump flow rate Q, an electromagnetic proportional pressure reducing valve 180 and a flow rate limiting actuator 116 controlled according to the operation amount of the turning speed dial 120 were used. That is, when the reverse lever operation is performed, it is not necessary to provide a dedicated configuration for limiting the maximum displacement volume of the main pump 1, and the configuration of the hydraulic circuit can be prevented from becoming complicated.

  The following modifications are also within the scope of the present invention, and one or a plurality of modifications can be combined with the above-described embodiment.

(1) In the above-described embodiment, the example in which the tilt angle of the main pump 1, that is, the displacement volume is limited to the minimum value when the reverse lever operation is performed has been described, but the present invention is not limited to this. If the maximum displacement volume can be limited when the reverse lever operation is performed, the discharge flow rate is reduced as compared with the time before the maximum displacement volume is limited, and the horsepower loss can be reduced accordingly. For example, in FIG. 6, when the turning operation is performed with the pump pressure P = Pr1, when the reverse lever operation is performed and the pump pressure P is increased to Pr2, the pump flow rate Q is changed from Qmax to Q2 (see FIG. 4B). ) May be reduced.

(2) In the embodiment described above, the controller 100 reverses if the turning lever 7 is neutrally operated when the turning direction detector 171 detects that the turning body 103 is turning. Although the example which determines with the lever operation being made was demonstrated, this invention is not limited to this. When it is detected by the turning direction detector 171 that the turning body 103 is turning, the controller 100 determines that the reverse lever is not operated when the turning lever 7 is neutrally operated. Also good.

(3) In the above-described embodiment, the example in which the swash plate type variable displacement pump is adopted as the main pump 1 has been described, but the present invention is not limited to this. An oblique axis variable displacement pump can also be employed.

(4) In the above-described embodiment, the crawler crane including the traveling body 101 and the revolving body 103 that is turnable with respect to the track frame (not shown) of the traveling body 101 has been described as an example. The invention is not limited to this. The present invention can be applied to a turning control device for various construction machines including a frame and a turning body provided so as to be turnable with respect to the frame. The present invention can be applied to other construction machines such as a truck crane and a hydraulic excavator. The present invention is not limited to a mobile construction machine, and the present invention can be applied to a turning control device for a stationary construction machine having a turning body that can be turned with respect to a fixed frame, such as a fixed crane. it can.

  As long as the characteristics of the present invention are not impaired, the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. .

1 main pump, 1a swash plate, 2 slewing motor, 3 direction control valve, 3a, 3b pilot port, 7 slewing lever, 8a, 8b pilot valve, 9 pilot pump, 10 crane, 100 controller, 101 traveling body, 101a side frame 101b Endless track crawler, 103 slewing body, 104 boom, 105 hoisting drum, 105a hoisting rope, 106 hoisting drum, 106a hoisting rope, 107 cab, 108 hook, 109 counterweight, 110 regulator, 111 tilting actuator, 111a Piston, 111b Large diameter pressure receiving chamber, 111c Small diameter pressure receiving chamber, 112 Feedback lever, 114 Servo valve, 114a Spool, 114b Spring, 114c Feedback sleeve, 115 Horsepower control actuator, 115 Servo Piston, 115b Pressure Chamber, 115c Spring, 116 Flow Restriction Actuator, 116a Restriction Release Piston, 116b Pressure Chamber, 116c Restriction Spring, 120 Swivel Speed Dial, 170a Forward Pilot Pressure Sensor, 170b Reverse Pilot Pressure Sensor, 171 Swivel direction detector, 180 electromagnetic proportional pressure reducing valve, 190 tank

Claims (2)

A revolving body driven pivot by a hydraulic motor,
As a hydraulic source that supplies pressure oil to the hydraulic motor, a variable displacement hydraulic pump that is horsepower controlled by a regulator;
A turning operation member for outputting a turning command according to the operation;
Reverse lever operation determination means for determining whether or not a reverse lever operation by the turning operation member is performed;
Pump flow rate limiting means for reducing the discharge flow rate of the hydraulic pump below the flow rate set by the characteristic for performing the horsepower control when it is determined by the reverse lever operation determination means that the reverse lever operation is being performed. and,
A turning speed limiting operation member that outputs a turning speed limit command according to the operation;
Volume limiting means for limiting a maximum displacement volume of the hydraulic pump according to the swing speed limit command output from the swing speed limit operating member,
The hydraulic pump is a variable displacement pump in which the discharge flow rate is changed according to the tilt angle of the swash plate or the oblique axis,
The regulator controls a tilt actuator that adjusts the tilt angle of the hydraulic pump, and a servo that controls the operation of the tilt actuator by controlling the pressure of pressure oil introduced from the hydraulic pump to the tilt actuator. And a horsepower control actuator that drives the servo valve so that the discharge flow rate of the hydraulic pump decreases as the discharge pressure of the hydraulic pump increases.
The pump flow restriction means and the volume restriction means control a flow restriction actuator that drives the servo valve to restrict the maximum discharge flow of the hydraulic pump, and pressure of pressure oil introduced into the flow restriction actuator. A pressure control valve, and
The pressure control valve outputs a control current corresponding to the operation amount of the turning speed limiting operation member, and the amount of restriction on the discharge flow rate of the hydraulic pump increases as the operation amount of the turning speed restriction operation member increases. An electromagnetic proportional pressure reducing valve for limiting, and when the reverse lever operation determining means determines that the reverse lever operation is being performed, the flow rate limiting actuator as the volume limiting means controls the discharge flow rate of the hydraulic pump to the turning speed. Despite being controlled to a limit amount according to a limit command, the flow rate limiting actuator as the pump flow rate limiting means sets the discharge flow rate of the hydraulic pump according to the characteristic for performing the horsepower control A swing control device for a construction machine that limits the maximum displacement of the hydraulic pump so that the hydraulic pump is further reduced . The turning control device for a construction machine according to claim 1,
Direction detecting means for detecting a turning direction of the revolving structure,
The reverse lever operation determination means includes
Wherein the turning direction in response to the turning command output from the rotation operation member, determine the turning direction of the detected said pivot member in said direction detecting means, but the reverse lever is being operated when not the same direction,
The swivel and turning direction in response to the turning command output from the operating member, the construction determines the turning direction of the detected said pivot member in said direction detection means, and but reverse lever operation is not performed when the same direction Machine turning control device.

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