JP6574066B2 - 作業機械の油圧制御システム - Google Patents
作業機械の油圧制御システム Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/355—Pilot pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/36—Pilot pressure sensing
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
- F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/67—Methods for controlling pilot pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Description
12 運転室
15 作業用操作部材
16 メインポンプ
17,17A パイロットポンプ
18 制御弁
19 操作装置
20 パイロット弁
21 アキュムレータ
26 ポンプ用逆止弁
27 アンロード弁
29 圧力センサ
30,30A,30B コントローラ
31,31A ポンプ出力制御部
32,32A 異常判定部
33 モニタ
34 通信装置
35 携帯端末
36 ポンプ容量切換装置
38 回収管路
39 回生弁
40 回生用逆止弁
41 パイロット圧センサ
42 回生制御部
Claims (8)
- 油圧ポンプと、
前記油圧ポンプの吐出側に接続された油圧機器と、
前記油圧ポンプを高出力と低出力に選択的に切換えるポンプ出力切換装置と、
前記油圧ポンプと前記油圧機器の間の油路に接続され、前記油圧ポンプの高出力時に前記油圧ポンプから吐出された圧油の一部を蓄え、前記油圧ポンプの低出力時に前記油圧機器へ圧油を供給するアキュムレータと、
前記油圧ポンプから前記油圧機器及び前記アキュムレータへの圧油の流れを許容し、前記アキュムレータから前記油圧ポンプへの圧油の流れを阻止するポンプ用逆止弁と、
前記油圧ポンプ及び前記アキュムレータのうちのいずれか一方から前記油圧機器に供給される圧油の圧力を検出する圧力センサと、
前記油圧ポンプの高出力時に前記圧力センサの圧力検出値が予め設定された上限値以上となる場合、前記油圧ポンプを低出力に切換えるために前記ポンプ出力切換装置へ低出力指令を出力し、前記油圧ポンプの低出力時に前記圧力センサの圧力検出値が予め設定された下限値以下となる場合、前記油圧ポンプを高出力に切換えるために前記ポンプ出力切換装置へ高出力指令を出力するポンプ出力制御部を有するコントローラと、を備えた作業機械の油圧制御システムであって、
前記コントローラは、前記ポンプ出力制御部から前記ポンプ出力切換装置へ出力する指令が変化していない状態の指令継続時間を演算し、この指令継続時間が予め設定された所定値以上である場合に前記ポンプ出力切換装置の異常と判定し、その判定結果を出力する異常判定部を更に有することを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
前記コントローラの前記異常判定部は、前記ポンプ出力切換装置の異常と判定した場合に、前記圧力センサの圧力検出値に応じて異常の状態を識別し、その識別結果を出力することを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
前記ポンプ出力切換装置は、前記油圧ポンプと前記ポンプ用逆止弁の間の油路に接続され、遮断位置と連通位置に選択的に切換わるアンロード弁であって、
前記ポンプ出力制御部から前記高出力指令が出力されたときには、前記アンロード弁を遮断位置に切換えて前記油圧ポンプから吐出された圧油を前記油圧機器及び前記アキュムレータに供給し、前記ポンプ出力制御部から前記低出力指令が出力されたときには、前記アンロード弁を連通位置に切換えて前記油圧ポンプから吐出された圧油を前記アンロード弁を介して逃がすことを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
前記油圧ポンプは、可変容量型であり、
前記ポンプ出力切換装置は、前記油圧ポンプを高出力となる大容量と低出力となる小容量とに選択的に切換えるポンプ容量切換装置であることを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
前記コントローラの前記異常判定部は、作業機械の運転室内のモニタに異常発生情報を送信して表示させることを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
前記コントローラの前記異常判定部は、通信装置を介し携帯端末に異常発生情報を送信して表示させることを特徴とする作業機械の油圧制御システム。 - 請求項1に記載の作業機械の油圧制御システムにおいて、
メインポンプと、
前記メインポンプから吐出された圧油によって駆動する油圧アクチュエータと、
前記メインポンプから前記油圧アクチュエータへの圧油の流れを制御する制御弁とを備え、
前記油圧機器は、前記油圧ポンプ及び前記アキュムレータのうちのいずれか一方から供給された圧油の圧力を元圧として、操作部材の操作量に対応するパイロット圧を生成し、このパイロット圧によって前記制御弁を操作するパイロット弁であることを特徴とする作業機械の油圧制御システム。 - 請求項7に記載の作業機械の油圧制御システムにおいて、
前記油圧アクチュエータからの戻り油を前記アキュムレータへ供給するための回収管路と、
前記回収管路に設けられて遮断位置と連通位置に選択的に切換わる回生弁と、
前記回生弁から前記アキュムレータへの圧油の流れを許容し、前記アキュムレータから前記回生弁への圧油の流れを阻止する回生用逆止弁と、
前記パイロット弁から前記制御弁へ出力されたパイロット圧を検出するパイロット圧センサとを備え、
前記コントローラは、前記圧力センサで検出された圧力と前記パイロット圧センサで検出されたパイロット圧に応じて前記回生弁を遮断位置と連通位置に選択的に切換える回生制御部を更に有し、
前記コントローラの前記異常判定部は、前記回生弁が遮断位置である場合に、前記ポンプ出力制御部から前記ポンプ出力切換装置へ出力する指令が変化していない状態の指令継続時間を演算し、この指令継続時間が予め設定された所定値以上である場合に前記ポンプ出力切換装置の異常と判定し、その判定結果を出力することを特徴とする作業機械の油圧制御システム。
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PCT/JP2017/012474 WO2018179070A1 (ja) | 2017-03-27 | 2017-03-27 | 作業機械の油圧制御システム |
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WO2023036463A1 (en) * | 2021-09-07 | 2023-03-16 | Caterpillar Sarl | Pilot pressure control device |
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JP6982561B2 (ja) * | 2018-11-29 | 2021-12-17 | 日立建機株式会社 | 建設機械 |
JP7046024B2 (ja) * | 2019-02-26 | 2022-04-01 | 日立建機株式会社 | 作業機械 |
JP7152968B2 (ja) * | 2019-02-28 | 2022-10-13 | 川崎重工業株式会社 | 油圧ショベル駆動システム |
JP7026657B2 (ja) * | 2019-03-26 | 2022-02-28 | 日立建機株式会社 | 建設機械の油圧回路 |
CN114364494B (zh) * | 2019-09-13 | 2023-09-19 | 株式会社富士 | 工件搬运机器人 |
JP7253478B2 (ja) * | 2019-09-25 | 2023-04-06 | 日立建機株式会社 | 作業機械 |
JP7193446B2 (ja) * | 2019-12-27 | 2022-12-20 | 日立建機株式会社 | 作業機械 |
IT202000018778A1 (it) * | 2020-07-31 | 2022-01-31 | Cnh Ind Italia Spa | Metodo e sistema di attuazione di un braccio di un veicolo da lavoro |
CN113898017A (zh) * | 2021-10-11 | 2022-01-07 | 中联重科股份有限公司 | 多路阀及挖掘机 |
WO2024005106A1 (ja) * | 2022-06-30 | 2024-01-04 | 日立建機株式会社 | 作業車両 |
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CN108966665B (zh) | 2020-07-03 |
US10794044B2 (en) | 2020-10-06 |
EP3604826B1 (en) | 2023-06-21 |
KR102078224B1 (ko) | 2020-02-17 |
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EP3604826A1 (en) | 2020-02-05 |
KR20180130491A (ko) | 2018-12-07 |
CN108966665A (zh) | 2018-12-07 |
US20200173145A1 (en) | 2020-06-04 |
JPWO2018179070A1 (ja) | 2019-04-04 |
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