JP6618445B2 - Hydraulic control device for work vehicle - Google Patents

Hydraulic control device for work vehicle Download PDF

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JP6618445B2
JP6618445B2 JP2016191356A JP2016191356A JP6618445B2 JP 6618445 B2 JP6618445 B2 JP 6618445B2 JP 2016191356 A JP2016191356 A JP 2016191356A JP 2016191356 A JP2016191356 A JP 2016191356A JP 6618445 B2 JP6618445 B2 JP 6618445B2
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pressure
pilot
valve
pilot pressure
hydraulic
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JP2018054031A (en
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義伸 小林
義伸 小林
恭佑 秋山
恭佑 秋山
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日立建機株式会社
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  The present invention relates to a work vehicle hydraulic control device used in, for example, a hydraulic excavator, a hydraulic crane, a wheel loader, and the like, and more particularly to a work vehicle hydraulic control device that electronically controls a directional control valve including a spool valve.
  In general, a work vehicle represented by a hydraulic excavator is provided with a direction control valve that controls supply and discharge of pressure oil to and from a hydraulic actuator. This directional control valve is constituted by a spool valve that switches a flow of pressure oil by moving a spool valve body that is slidably fitted to the valve body. A pair of pressure receiving chambers are provided at both axial ends of the spool valve body, and pilot pressure oil is supplied to each pressure receiving chamber to control the movement of the spool valve body.
  In particular, in recent years, technology for electronic control of work vehicles has progressed, and technology for controlling the movement of a directional control valve using an electromagnetic proportional pressure reducing valve from a conventional pilot pressure oil system has also become widespread in an operation system. Each pressure receiving chamber at both axial ends of the direction control valve is provided with an electromagnetic proportional pressure reducing valve, and an electric signal corresponding to the operator's lever operation is output to each electromagnetic proportional pressure reducing valve. Each electromagnetic proportional pressure reducing valve generates a pilot pressure corresponding to the electric signal in each pressure receiving chamber of the direction control valve, and controls the movement of the spool valve body by the pilot pressure.
JP-A-6-193767
  By the way, in the case of the prior art, since two electromagnetic proportional pressure reducing valves are provided for one directional control valve, the entire hydraulic control device is increased in size, and the device can be reduced in size and weight. There is a problem that it is difficult. Further, for example, when the pilot pump is operated simultaneously with the driving of the engine, there is a possibility that different pilot pressures are supplied to the pressure receiving chambers on both ends of the directional control valve, so that the directional control valve is switched from the neutral position. The hydraulic actuator may malfunction.
  The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to control the movement of the directional control valve in both directions by using an electromagnetic proportional pressure reducing valve with one output port, and to start it. An object of the present invention is to provide a hydraulic control device for a work vehicle that can prevent malfunction of the work vehicle at the time.
  In order to solve the above-described problems, the present invention provides a main hydraulic pump and a pilot pump that are driven by a power source of a work vehicle, and a hydraulic oil that is provided in the work vehicle and is supplied from the hydraulic pump. The hydraulic actuator is provided between the hydraulic pump and the hydraulic actuator, and the pilot pressure from the pilot pump is supplied to a pair of pressure receiving chambers to control the supply and discharge of the pressure oil to the hydraulic actuator. A directional control valve that performs switching operation of the directional control valve to control operation and stop of the hydraulic actuator, and an electric operation device that outputs an electric signal according to an operation from the outside, and the electric operation device from the electric operation device Pilot pressure control for variably controlling the pilot pressure supplied to each pressure receiving chamber of the directional control valve according to an electric signal It is applied to a hydraulic control device for a work vehicle having a location, a.
A feature of the configuration adopted by the present invention is that the pilot pressure control device includes a pilot pressure discharge pipe provided on the discharge side of the pilot pump and one pressure receiving chamber among the pressure receiving chambers of the directional control valve. A first pilot pressure supply line for supplying pressure oil from the pilot pump as a first pilot pressure to the one pressure receiving chamber, and the direction Among the pressure receiving chambers of the control valve, provided between the other pressure receiving chamber and the pilot pressure discharge conduit, and for supplying the pressure oil from the pilot pump as the second pilot pressure to the other pressure receiving chamber The second pilot pressure supply line and the first pilot pressure supply line are provided to receive one of the directional control valves from the pilot pump via the first pilot pressure supply line. An electromagnetic proportional pressure reducing valve for controlling the first pilot pressure supplied to the chamber to a pressure corresponding to the electrical signal; and a second pilot pressure supply pipe provided from the pilot pump to the second pilot pressure supply pipe. A pressure reducing valve for reducing the second pilot pressure supplied to the other pressure receiving chamber of the directional control valve through a passage to a predetermined pressure, and a second pilot pressure supply line connected in parallel with the pressure reducing valve. A check valve that allows pressure oil to flow from the other pressure receiving chamber toward the second pilot pressure supply line and blocks a reverse flow; and is provided in the pilot pressure discharge line, An electromagnetic switching valve that is switched to selectively connect the first and second pilot pressure supply lines to one of the pilot pressure discharge line and the tank; drive information of the power source; and the electric type operation A controller for controlling the electromagnetic switching valve and the solenoid proportional pressure reducing valve according to put these electrical signals, is configured to include a, the controller includes a determination means for determining activation of the power source, is the determination means When it is determined that the power source is activated, the electromagnetic proportional pressure reducing valve is controlled so that the directional control valve is in a neutral position, and the electromagnetic switching valve is connected to the first and second pilot pressure supply lines. in Rukoto be controlled so as to be connected is switched to the pilot圧吐extraction tube roadside from the tank.
  As described above, according to the present invention, for example, the directional control valve can be controlled by moving in both directions only by using an electromagnetic proportional pressure reducing valve with one output port, thereby reducing the size and weight of the entire hydraulic control device. Can be planned. Further, when the power source is activated, it is possible to suppress the occurrence of a pressure difference in the pilot pressure supplied to the pressure receiving chambers on both ends of the directional control valve. For this reason, malfunction of the direction control valve and the hydraulic actuator at the time of starting can be suppressed, and the reliability and safety of the apparatus can be improved.
It is a circuit block diagram which shows the hydraulic control apparatus of the hydraulic shovel by embodiment of this invention. FIG. 2 is a circuit configuration diagram showing a state in which the engine in FIG. 1 is started and all directional control valves are held at neutral positions. It is a circuit block diagram which shows the state which switched one direction control valve from the neutral position to one switching position among each direction control valve in FIG. It is a circuit block diagram which shows the state which switched one directional control valve from each neutral position to the other switching position among each directional control valve in FIG. It is a flowchart which shows the valve control process by a controller. It is a characteristic diagram which shows the characteristic which a direction control valve switches by the pressure difference of the 1st, 2nd pilot pressure. It is a characteristic diagram which shows the relationship between the command signal from a controller, and a 1st pilot pressure. It is a characteristic diagram which shows the characteristic which a direction control valve switches with respect to the command signal from a controller. It is a characteristic diagram which shows the characteristic of the command signal output to an electromagnetic proportional pressure reducing valve and an electromagnetic switching valve from a controller at the time of starting of an engine.
  Hereinafter, as a work vehicle hydraulic control apparatus according to an embodiment of the present invention, a hydraulic control apparatus for a hydraulic excavator, which is a representative example of a work vehicle, will be described as an example and described in detail with reference to the accompanying drawings.
  In the figure, the engine 1 constitutes a power source of a hydraulic excavator. The engine 1 is mounted on, for example, an upper swing body (not shown) of a hydraulic excavator, and rotates the main hydraulic pump 2 together with the pilot pump 4. Here, the hydraulic pump 2 is composed of, for example, a variable displacement or fixed displacement radial piston hydraulic pump, and constitutes a main hydraulic source together with the tank 3.
  The hydraulic pump 2 is driven by the engine 1 together with a pilot pump 4 that is another hydraulic pump, and the pilot pump 4 constitutes a pilot hydraulic source together with the tank 3. The discharge line 5 is connected to the discharge side of the main hydraulic pump 2, and the distal end side of the discharge line 5 is connected in parallel to the pressure oil supply line 6 and the center bypass line 7. The pressure oil discharged from the hydraulic pump 2 is supplied from the discharge line 5 toward the supply line 6 and the center bypass line 7.
  A plurality of directional control valves 8 to 11 each consisting of a spool valve are arranged in the middle position of the center bypass pipe line 7 so as to be parallel to each other at intervals. The supply pipeline 6 constitutes a parallel circuit so as to bypass the directional control valves 8 to 10 individually and communicate with the center bypass pipeline 7. The pressure oil flowing through the center bypass pipe 7 is returned to the tank 3 when all the directional control valves 8 to 11 are in the neutral position (I). When the directional control valve 11 located on the most downstream side among the directional control valves 8 to 11 is completely switched from the neutral position (I) to either the switching position (II) or (III), the center bypass The return of the pressure oil to the tank 3 through the pipe line 7 is blocked by the direction control valve 11.
  The directional control valves 8 to 11 are constituted by, for example, hydraulic pilot type directional control valves composed of spool valves at 6 ports and 3 positions, and are arranged side by side in the middle position of the center bypass conduit 7. Among these, the directional control valve 8 located on the most upstream side is provided with pressure receiving chambers 8A and 8B as hydraulic pilot portions on both the left and right sides, and neutral position biasing springs 8C and 8D made of weak springs. Yes. Similarly, the other directional control valves 9 to 11 are provided with pressure receiving chambers 9A to 11A and 9B to 11B as hydraulic pilot portions and neutral position biasing springs 9C to 11C and 9D to 11D made of weak springs. Yes.
  Of the directional control valves 8 to 11, the directional control valve 8 constitutes, for example, a boom control valve, and controls the supply and stop of pressure oil to the boom cylinder 12 as a hydraulic actuator to raise and lower the boom (not shown). (Activate) or stop. Further, the direction control valve 9 constitutes, for example, an arm control valve, and controls the supply and stop of pressure oil to the arm cylinder 13 as a hydraulic actuator to rotate (actuate) an arm (not shown) upward and downward. ) Or stop.
  The direction control valve 10 constitutes, for example, a bucket control valve, and controls the supply and stop of pressure oil to the bucket cylinder 14 (that is, the work tool cylinder) as a hydraulic actuator, thereby working tools such as buckets (not shown). Rotate up (down) or down. Further, the directional control valve 11 constitutes, for example, a spare control valve, and controls the supply and stop of pressure oil to the spare cylinder 15 as a hydraulic actuator to activate or stop a spare device (not shown).
  In addition to the boom cylinder 12, arm cylinder 13, bucket cylinder 14, and spare cylinder 15, the hydraulic excavator generally includes a hydraulic motor for turning and traveling (both not shown) as a hydraulic actuator. Is provided. However, in the hydraulic circuit shown in FIG. 1, the cylinders 12 to 15 are shown as representative examples of working hydraulic actuators in order to simplify the description.
  The electric lever devices 16 to 19 switch the direction control valves 8 to 11 to control the operation and stop of the hydraulic actuators (for example, the boom cylinder 12, the arm cylinder 13, the bucket cylinder 14, and the spare cylinder 15). It is an electric operating device. The electric lever devices 16 to 19 include operation detectors (none of which are shown) that individually detect each lever operation, and output each detection signal to the controller 34 described later. For example, when the operator of the hydraulic excavator performs a lever operation, the electric lever devices 16 to 19 output an electric signal that increases or decreases in response to the lever operation from the outside to the controller 34.
  Here, the electric lever device 16 switches and operates the direction control valve 8 for the boom, thereby controlling the operation and stop of the boom cylinder 12. The electric lever device 17 switches the arm direction control valve 9 to control the operation and stop of the arm cylinder 13. The electric lever device 18 switches the bucket direction control valve 10 to control the operation and stop of the bucket cylinder 14. The electric lever device 19 switches and operates the spare direction control valve 11, thereby controlling the operation and stop of the spare cylinder 15.
  The pilot pressure control device 20 controls the pressure of pilot pressure oil (that is, pilot pressure) supplied from the pilot pump 4 via the pilot pressure discharge line 21. In other words, the pilot pressure control device 20 determines each of the direction control valves 8 to 11 according to whether the engine 1 is activated and the electric signals output from the electric lever devices 16 to 19 (that is, the lever operation amount detection signals). The pilot pressures Pa and Pb supplied to the pressure receiving chambers 8A to 11A and 8B to 11B are controlled.
  Here, the pilot pressure control device 20 includes a pilot pressure discharge line 21, first and second pilot pressure supply lines 22A and 22B, electromagnetic proportional pressure reducing valves 27 to 30, a pressure reducing valve 31, a check valve 32, and an electromagnetic switching valve. 33 and a controller 34. The pilot pressure discharge line 21 is connected to the discharge side of the pilot pump 4 and distributes pilot pressure oil discharged from the pilot pump 4 to the first and second pilot pressure supply lines 22A and 22B.
  The first pilot pressure supply line 22A includes a common line 22C that is switched and connected to either the tank 3 or the pilot pressure discharge line 21 via an electromagnetic switching valve 33 described later, and the common line 22C. And a plurality of first pilot pipelines 23A to 26A through which the first pilot pressure Pa is guided. The second pilot pressure supply line 22B includes the common line 22C common to the first pilot pressure supply line 22A and a plurality of second pilot lines through which the second pilot pressure Pb is guided through the common line 22C. 23B-26B.
  Of the first and second pilot pressure supply pipes 22A and 22B, the first and second pilot pipes 23A and 23B receive the pilot pressure oil led from the pilot pump 4 through the common pipe 22C, for the boom. This is a conduit for supplying the first and second pilot pressures Pa and Pb to the pressure receiving chambers 8A and 8B of the spool valve (direction control valve 8). Similarly, the first and second pilot pipes 24A and 24B receive pilot pressure oil guided from the pilot pump 4 through the common pipe 22C, and receive pressure pressure chambers 9A and 9A of the arm spool valve (direction control valve 9). 9B is a pilot line that supplies the first and second pilot pressures Pa and Pb to 9B.
  The other first and second pilot pipes 25A and 25B are the same as the pressure receiving chambers 10A and 10B of the bucket spool valve (direction control valve 10) for the pilot pressure oil guided through the common pipe 22C. 1 and 2 are pipes supplied as second pilot pressures Pa and Pb. Further, the other first and second pilot pipes 26A and 26B are arranged so that the pilot pressure oil guided through the common pipe 22C is sent to the pressure receiving chambers 11A and 11B of the spare spool valve (direction control valve 11). This is a pipeline that supplies the first and second pilot pressures Pa and Pb.
  In the first pilot pressure supply line 22A, electromagnetic proportional pressure reducing valves 27 to 30 are provided between the common line 22C and the first pilot lines 23A to 26A, respectively. The electromagnetic proportional pressure reducing valve 27 is constituted by a three-port two-position electromagnetic proportional control valve having one output port 27A, a pump port 27P, and a tank port 27T. Similarly, as shown in FIG. 2, the electromagnetic proportional pressure reducing valves 28 to 30 are also constituted by a three-port two-position electromagnetic proportional control valve having one output port 28A to 30T, pump port 28P to 30P and tank port 28T to 30T. ing.
  In response to a command signal (electrical signal) from the controller 34, the electromagnetic proportional pressure reducing valves 27 to 30 are in the low pressure position (a) when the current value is minimum (including zero), and are increased when the current value is maximum. It changes so that it may become (b). As a result, the electromagnetic proportional pressure reducing valves 27 to 30 are electromagnetically proportionally controlled between the low pressure position (a) and the pressure increasing position (b) in accordance with a command signal (current value of the electric signal) from the controller 34. Switched.
  The electromagnetic proportional pressure reducing valves 27 to 30 are provided, for example, in the vicinity of the pressure receiving chambers 8 </ b> A to 11 </ b> A, respectively, in valve housings (not shown) constituting the valve bodies of the direction control valves 8 to 11. The plurality of directional control valves 8 to 11 are configured as a multiple valve device, for example. Among the valve housings (not shown) of such a multiple valve device, pressure receiving chambers 8A to 11A, 8B to 8H as hydraulic pilot portions are provided on the left and right sides of the spool valve bodies of the directional control valves 8 to 11, respectively. 11B is provided. In such a case, the electromagnetic proportional pressure reducing valves 27 to 30 are provided in the valve housings, for example, in the vicinity of the pressure receiving chambers 8A to 11A. Accordingly, the electromagnetic proportional pressure reducing valves 27 to 30 can be accommodated in the valve housings of the direction control valves 8 to 11 in the vicinity of the pressure receiving chambers 8A to 11A, for example.
  Among the electromagnetic proportional pressure reducing valves 27 to 30, the electromagnetic proportional pressure reducing valve 27 is a boom direction control valve 8 from the pilot pump 4 through the common line 22C and the first pilot line 23A of the first pilot pressure supply line 22A. The first pilot pressure Pa supplied to the pressure receiving chamber 8A is variably controlled to a pressure corresponding to the electric signal (command signal) from the electric lever device 16 (controller 34). That is, while the electromagnetic proportional pressure reducing valve 27 is in the low pressure position (a), the first pilot pressure Pa is reduced to a pressure equivalent to the tank pressure. However, when the electromagnetic proportional pressure reducing valve 27 starts to be switched from the low pressure position (a) to the pressure increasing position (b), the first pilot pressure Pa increases in proportion to the stroke amount at this time. When the electromagnetic proportional pressure reducing valve 27 is completely switched to the pressure increasing position (b), the stroke amount is maximized and the first pilot pressure Pa is increased to the maximum pressure.
  Similarly, the electromagnetic proportional pressure reducing valve 28 supplies the first pilot pressure Pa supplied from the common pipe 22C to the pressure receiving chamber 9A of the arm direction control valve 9 through the first pilot pipe 24A. The pressure is variably controlled in accordance with the electric signal (command signal) from. The electromagnetic proportional pressure reducing valve 28 also increases the first pilot pressure Pa in proportion to the stroke amount when switching from the low pressure position (a) to the pressure increasing position (b).
  Similarly, the electromagnetic proportional pressure reducing valve 29 supplies the first pilot pressure Pa supplied from the common lever 22C to the pressure receiving chamber 10A of the bucket direction control valve 10 via the first pilot line 25A from the electric lever device 18. The pressure is variably controlled according to the electric signal (command signal). The electromagnetic proportional pressure reducing valve 30 supplies the first pilot pressure Pa supplied from the electric lever device 19 to the pressure receiving chamber 11A of the auxiliary direction control valve 11 from the common line 22C via the first pilot line 26A. The pressure is variably controlled according to the electric signal (command signal).
  When the electromagnetic proportional pressure reducing valves 29 and 30 start to switch from the low pressure position (a) to the pressure increasing position (b), the first pilot pressure Pa increases in proportion to the stroke amount at this time. When the electromagnetic proportional pressure reducing valves 29 and 30 are completely switched to the pressure increasing position (b), the stroke amount is maximized and the first pilot pressure Pa is increased to the maximum pressure.
  On the other hand, in the second pilot pressure supply line 22B, a single pressure reducing valve 31 is provided between the common line 22C and the second pilot lines 23B to 26B. The pressure reducing valve 31 is supplied from the pilot pump 4 to the pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 through the second pilot pressure supply line 22B (common line 22C, second pilot lines 23B to 26B). The pilot pressure oil is reduced to a predetermined pressure (that is, the second pilot pressure Pb that is the set pressure of the pressure reducing valve 31).
  In this case, the pressure reducing valve 31 is provided as a single valve that supplies the common second pilot pressure Pb to the plurality of directional control valves 8 to 11. As a result, the pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 have the pressure of the pressure oil reduced in common via the pressure reducing valve 31 from the second pilot pipes 23B to 26B (that is, the second pilot pressure Pb). ) Is supplied.
  A check valve 32 is connected to the second pilot pressure supply line 22B in parallel with the pressure reducing valve 31. The check valve 32 allows the pressure oil to flow from the other pressure receiving chambers 8B to 11B and the second pilot pipes 23B to 26B toward the common pipe 22C and flows in the opposite direction (that is, the common pipe 22C). (Pressure oil circulates toward the second pilot pipelines 23B to 26B). For this reason, after the engine 1 is started, the pressure in the second pilot pipelines 23B to 26B is maintained at a predetermined pressure (that is, the second pilot pressure Pb) by the pressure reducing valve 31 and the check valve 32. Become.
  The electromagnetic switching valve 33 is provided between the pilot pressure discharge line 21 of the pilot pump 4 and the common line 22C of the first and second pilot pressure supply lines 22A and 22B. This electromagnetic switching valve 33 receives a command signal (electric signal) from the controller 34 so as to selectively connect the common line 22C to either the pilot pressure discharge line 21 of the pilot pump 4 or the tank 3. It is switched accordingly. The electromagnetic switching valve 33 is composed of, for example, a three-port two-position electromagnetic switching valve, and is in the initial position (c) in a non-excited state (when there is no electrical signal), and the common line 22C is connected to the pilot pressure discharge line. The common line 22 </ b> C is connected to the tank 3. On the other hand, when a command (electrical) signal is input from the controller 34 to enter an excited state, the electromagnetic switching valve 33 is switched from the initial position (c) to the operating position (d), and pressure oil from the pilot pressure discharge pipe 21 is supplied. It circulates toward the common pipeline 22C.
  The controller 34 is a control means that constitutes a part of the pilot pressure control device 20, and the engine 1 and the electric lever devices 16 to 19 are connected to the input side thereof. To the output side of the controller 34, the engine 1, the electromagnetic proportional pressure reducing valves 27 to 30, the electromagnetic switching valve 33 and the like are connected. In accordance with drive information from the engine 1 serving as a power source and electrical signals from the electric lever devices 16 to 19, the controller 34 sends a corresponding command signal (electric signal) to the electromagnetic proportional pressure reducing valves 27 to 30 and electromagnetic switching. Output to the valve 33, and switching control of the electromagnetic proportional pressure reducing valves 27 to 30 and the electromagnetic switching valve 33 is performed.
  Here, the controller 34 has a memory 34A composed of, for example, a ROM, a RAM, and / or a nonvolatile memory. The memory 34A stores, for example, a program for executing the control process shown in FIG. 5 and a control map corresponding to the characteristic lines 35 to 39 shown in FIGS. The controller 34 includes determination means as shown in step 2 in FIG. 5, and this determination means determines whether or not the engine 1 is activated based on drive information from the engine 1.
  The characteristic line 35 shown in FIG. 6 shows the relationship between the pressure difference (Pa−Pb) between the pilot pressures Pa and Pb supplied to the pressure receiving chambers 8A and 8B of the direction control valve 8 and the stroke position of the direction control valve 8, for example. Represents. When the pilot pressure Pa in the pressure receiving chamber 8A is equal to the pilot pressure Pb in the pressure receiving chamber 8B, the direction control valve 8 has a zero pressure difference (Pa-Pb). Thus, the neutral position (I) shown in FIG. 2 is maintained.
  When the pilot pressure Pa in the pressure receiving chamber 8A becomes larger than the pilot pressure Pb in the pressure receiving chamber 8B, the directional control valve 8 strokes in the positive direction as shown by the characteristic line portion 35A (first quadrant in FIG. 6). Switching from (I) to switching position (II). Conversely, when the pilot pressure Pa in the pressure receiving chamber 8A becomes smaller than the pilot pressure Pb in the pressure receiving chamber 8B, the direction control valve 8 strokes in the negative direction as shown by the characteristic line portion 35B (third quadrant in FIG. 6). Thus, the position is switched from the neutral position (I) to the switching position (III).
  The other directional control valves 9 to 11 are also switched as shown by the characteristic line 35 in the same manner as the directional control valve 8, and the stroke positions of the directional control valves 9 to 11 are supplied to the pressure receiving chambers 9A to 11A and 9B to 11B. Is determined by the pressure difference (Pa-Pb) between the pilot pressures Pa and Pb. A characteristic line 35 shown in FIG. 6 represents such a characteristic.
  A characteristic line 36 shown in FIG. 7 represents a change characteristic of the first pilot pressure Pa with respect to a command signal from the controller 34. For example, the first pilot pressure Pa (that is, the pressure in the pressure receiving chamber 8A) generated at the output port of the electromagnetic proportional pressure reducing valve 27 changes in proportion to the command signal (current) from the controller 34, and the command signal is changed to the current value Ic. , The first pilot pressure Pa becomes the same pressure as the second pilot pressure Pb (fixed value). When the command signal is made larger than the current value Ic, the first pilot pressure Pa is increased to a pressure larger than the second pilot pressure Pb (fixed value). Conversely, when the command signal is made smaller than the current value Ic, the first pilot pressure Pa is reduced to a pressure smaller than the second pilot pressure Pb (fixed value).
  A characteristic line 37 shown in FIG. 8 represents the relationship between the command signal (current) from the controller 34 and the stroke position of the directional control valve 8. The characteristic line 37 is obtained by combining the characteristic line 35 shown in FIG. 6 and the characteristic line 36 shown in FIG. As shown in FIG. 8, the characteristic line 37 indicates how the direction control valve 8 moves and the stroke (switching position) in response to a command signal (current) output from the controller 34 to, for example, the electromagnetic proportional pressure reducing valve 27. Indicates whether it will change.
  When the command signal (current) output to the electromagnetic proportional pressure reducing valve 27 is smaller than the current value Ic, the direction control valve 8 moves toward the switching position (III) side in the negative direction in FIG. While the command signal (current) is held at the current value Ic, the directional control valve 8 becomes the neutral position (I) and the stroke becomes zero. When the command signal (current) is larger than the current value Ic, the direction control valve 8 moves toward the switching position (II) side in the positive direction in FIG. The other directional control valves 9 to 11 are also switched as shown by the characteristic line 37 in the same manner as the directional control valve 8, and the stroke positions of the directional control valves 9 to 11 are changed from the controller 34 to the electromagnetic proportional pressure reducing valves 28 to 30. It is determined by each output command signal (current).
  A characteristic line 38 shown in FIG. 9 represents the characteristic of the command signal output from the controller 34 to the electromagnetic switching valve 33 when the engine 1 is started. Similarly, the characteristic line 39 represents the characteristic of the command signal output from the controller 34 to the electromagnetic proportional pressure reducing valves 27 to 30 when the engine 1 is started. In this case, in the electromagnetic proportional pressure reducing valves 27 to 30, the first pilot pressure Pa generated in the output ports 27A to 30A when the command signal becomes the current value Ic becomes the same pressure as the second pilot pressure Pb (FIG. 7). reference). When the engine 1 is started, the electromagnetic switching valve 33 as shown by the characteristic line 38 is slightly delayed by a time difference Δt (see FIG. 9) after reaching the current value Ic in the characteristic line 39 (electromagnetic proportional pressure reducing valves 27 to 30). A command signal (current) is output to. Note that the time difference Δt in this case is desirably set in the range of, for example, 0.1 to 0.2 sec so as not to give a sense of incongruity due to a delay in the activation timing of the electromagnetic switching valve 33.
  The hydraulic control device for a hydraulic excavator according to the present embodiment has the above-described configuration. Next, the operation thereof will be described with reference to FIG.
  When the processing operation shown in FIG. 5 starts, the controller 34 reads the drive information of the engine 1 in step 1. In the next step 2, it is determined whether or not the engine 1 as a power source is being driven (activated). Until the engine 1 is driven, “NO” is determined in the step 2, and the processes after the step 1 are repeated. When it is determined as “YES” in Step 2, the main hydraulic pump 2 and the pilot pump 4 are rotationally driven by starting the engine 1. For this reason, pressure oil is discharged from the hydraulic pump 2 to the discharge line 5, and this pressure oil is supplied toward the supply line 6 and the center bypass line 7. Pilot pressure oil is discharged from the pilot pump 4 to the pilot pressure discharge line 21.
  In this state, in the next step 3, command signals are output to the electromagnetic proportional pressure reducing valves 27 to 30 as indicated by the characteristic line 39 in FIG. At this time, by controlling the command signal to the current value Ic, as shown in FIG. 2, all the electromagnetic proportional pressure reducing valves can be maintained so that all the directional control valves 8 to 11 can be held at the initial neutral position (I). 27 to 30 are controlled to switch between the low pressure position (a) and the pressure increase position (b) to be in a standby state.
  In the next step 4, a command signal is output to the electromagnetic switching valve 33 as indicated by a characteristic line 38 in FIG. 9. For this reason, the electromagnetic switching valve 33 is switched from the initial position (c) to the operating position (d), and causes the pilot pressure oil from the pilot pressure discharge pipe 21 to flow toward the common pipe 22C. As a result, the second pilot pressure supply line 22B has a second pilot pressure Pb (reduced pressure) via a single pressure reducing valve 31 provided between the common line 22C and the second pilot lines 23B to 26B. The set pressure of the valve 31).
  On the other hand, the first pilot pressure Pa is generated in the first pilot pressure supply line 22A via the electromagnetic proportional pressure reducing valves 27 to 30 provided between the common line 22C and the first pilot lines 23A to 26A. At this time, the first pilot pressure Pa is previously controlled by the current value Ic of the command signal so as to be equal to the second pilot pressure Pb (fixed value) that is the set pressure of the pressure reducing valve 31.
  For this reason, as for all the direction control valves 8-11, the 1st pilot pressure Pa supplied to one pressure receiving chamber 8A-11A and the 2nd pilot pressure Pb supplied to the other pressure receiving chamber 8B-11B are equal. The pressure is maintained at the neutral position (I). That is, all the directional control valves 8 to 11 are placed in the neutral position (I) by the biasing springs 8C to 11C and 8D to 11D in advance, and the electromagnetic switching valve 33 is in the operating position (d ), The first pilot pressure Pa and the second pilot pressure Pb are supplied to the one pressure receiving chambers 8A to 11A and the other pressure receiving chambers 8B to 11B at substantially equal pressures. It remains in the state held at the position (I).
  In this way, the command signal (characteristic line 38) for the electromagnetic switching valve 33 is changed only by the time difference Δt (see FIG. 9) after the command signal (characteristic line 39) for the electromagnetic proportional pressure reducing valves 27-30 reaches the current value Ic. By slightly delaying the output, a difference in pressure occurs between the first and second pilot pressures Pa and Pb supplied to the pressure receiving chambers 8A to 11A and 8B to 11B of the direction control valves 8 to 11 when the engine 1 is started. Can be suppressed. Therefore, the directional control valves 8 to 11 can be stably held at the neutral position (I) when the engine 1 is started, and the hydraulic actuators (cylinders 12 to 15) are erroneously operated before the electric lever devices 16 to 19 are operated. It can be prevented from operating.
  Next, in the standby state in which the hydraulic pump 2 and the pilot pump 4 are driven by the engine 1 as described above, it is determined in step 5 whether the operator of the hydraulic excavator has tilted any of the electric lever devices 16 to 19. Read. In the next step 6, when any of the electric lever devices 16 to 19 is tilted, a command signal is sent from the controller 34 to the corresponding electromagnetic proportional pressure reducing valve 27, 28, 29 or 30 according to the lever operation amount. And the corresponding electromagnetic proportional pressure reducing valve is controlled to switch between the low pressure position (a) and the pressure increasing position (b).
  For example, as shown in FIG. 3, when the electric lever device 16 is tilted in the arrow B direction, the controller 34 sends a command signal based on the electric signal from the electric lever device 16 to the electromagnetic proportional pressure reducing valve 27. Output. The command signal at this time becomes smaller than the current value Ic by the tilting operation of the electric lever device 16 in the direction indicated by the arrow B. Therefore, as shown by the characteristic line 36 shown in FIG. The generated first pilot pressure Pa is lower than the second pilot pressure Pb (set pressure of the pressure reducing valve 31) in the second pilot pipeline 23B.
  For this reason, the direction control valve 8 is neutral as shown in FIG. 3 because the first pilot pressure Pa supplied to one pressure receiving chamber 8A is lower than the second pilot pressure Pb supplied to the other pressure receiving chamber 8B. Switching from position (I) to switching position (III). Thereby, the pressure oil discharged from the hydraulic pump 2 is supplied to the bottom side of the boom cylinder 12 via the direction control valve 8, and the boom cylinder 12 is driven in the rod extending direction.
  On the other hand, as shown in FIG. 4, when the electric lever device 16 is tilted in the direction of arrow A, the command signal output from the controller 34 to the electromagnetic proportional pressure reducing valve 27 is indicated by the arrow of the electric lever device 16. By the tilting operation in the A direction, the current value Ic becomes larger. Thus, as indicated by the characteristic line 36 shown in FIG. 7, the first pilot pressure Pa generated in the first pilot line 23A is the second pilot pressure Pb (set pressure of the pressure reducing valve 31) in the second pilot line 23B. Higher pressure.
  For this reason, the direction control valve 8 is neutral as shown in FIG. 4 because the first pilot pressure Pa supplied to one pressure receiving chamber 8A is higher than the second pilot pressure Pb supplied to the other pressure receiving chamber 8B. The position (I) is switched to the switching position (II). Thereby, the pressure oil discharged from the hydraulic pump 2 is supplied to the rod side of the boom cylinder 12 via the direction control valve 8, and the pressure oil is discharged to the tank 3 from the bottom side. As a result, the boom cylinder 12 is driven in the rod reduction direction.
  Thus, by tilting the electric lever device 16 in the direction indicated by the arrow A or B, the controller 34 can output a command signal based on the electric signal from the electric lever device 16 to the electromagnetic proportional pressure reducing valve 27. . The command signal at this time can be made larger or smaller than the current value Ic by the tilting operation (in the directions indicated by arrows A and B) of the electric lever device 16. Therefore, as indicated by the characteristic line 36 shown in FIG. 7, the first pilot pressure Pa generated in the first pilot line 23A is changed to the second pilot pressure Pb (set pressure of the pressure reducing valve 31) in the second pilot line 23B. Can be higher or lower.
  That is, as indicated by the characteristic line 35 shown in FIG. 6, the directional control valve 8 switches from the zero neutral position (I) to the characteristic line portion 35A side in accordance with the pressure difference (Pa−Pb) between the pressure receiving chambers 8A and 8B. The position is switched to the position (II) or the switching position (III) on the characteristic line portion 35B side. As a result, the direction control valve 8 can be switched from the neutral position (I) to any one of the switching positions (II) and (III) according to the tilting operation of the electric lever device 16, and the boom cylinder 12 is expanded and contracted. The boom can be lifted up and down.
  When the electric lever device 17 is tilted in the directions indicated by arrows A and B, the direction control valve 9 is switched from the neutral position (I) to the switching position (I) according to the tilting operation of the electric lever device 17 as described above. Switchable to either II) or (III). As a result, the arm cylinder 13 can be expanded and contracted, and the arm can be turned up and down (up and down).
  When the electric lever device 18 or 19 is tilted, the directional control valves 10 and 11 are moved from the neutral position (I) to the switching position (II) according to the tilting operation of the electric lever devices 18 and 19 as described above. ) Or (III). Thereby, the bucket cylinder 14 (work tool cylinder) or the spare cylinder 15 can be expanded and contracted, and the operation of the bucket (work tool) or the spare device can be controlled.
  Next, in step 7 in FIG. 5, it is determined whether or not the operator of the excavator has stopped the engine 1. While it is determined as “NO” in step 7, the engine 1 is in operation, and thus the processing after step 5 is repeated as described above. On the other hand, when it is determined as “YES” in Step 7, the control process by the controller 34 is terminated when the engine 1 is stopped.
  When the operation of the engine 1 is stopped and the hydraulic excavator (work vehicle) is stopped, the outputs of the main hydraulic pump 2 and the pilot pump 4 are lost due to the rotation stop of the engine 1. Further, as shown in FIG. 1, the electromagnetic proportional pressure reducing valves 27 to 30 are automatically returned to the low pressure position (a), the electromagnetic switching valve 33 is automatically returned to the initial position (c), and the common pipe line 22 </ b> C is connected to the tank 3. Connected.
  For this reason, the pressure receiving chambers 8A to 11A of the direction control valves 8 to 11 are connected to the tank 3 via the first pilot pressure supply line 22A and the electromagnetic proportional pressure reducing valves 27 to 30. The pressure receiving chambers 8B to 11B are also connected to the tank 3 via the second pilot pressure supply line 22B, the pressure reducing valve 31, the check valve 32, and the like. As a result, the direction control valves 8 to 11 have no pressure difference between the one pressure receiving chambers 8A to 11A and the other pressure receiving chambers 8B to 11B, and are weak springs (biasing springs 8C to 11C, 8D to 11D). It is held in the neutral position (I).
  Thus, according to the present embodiment, the pilot pressure for controlling the pilot pressure supplied to the pressure receiving chambers 8A to 11A and the pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 in accordance with the electric signals from the electric lever devices 16 to 19 is achieved. A control device 20 is provided. The pilot pressure control device 20 is provided between the pilot pressure discharge pipe 21 and one of the pressure receiving chambers 8A to 11A of the direction control valves 8 to 11 and the pilot pressure discharge pipe 21. The first pilot pressure supply line 22A for supplying the pressure oil from the pilot pump 4 to the 11A as the first pilot pressure Pa, the other pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 and the pilot pressure discharge A second pilot pressure supply line 22B provided between the pipe 21 and the pressure receiving chamber 8B to 11B for supplying the pressure oil from the pilot pump 4 as the second pilot pressure Pb. Yes.
  Further, the pilot pressure control device 20 is provided in the first pilot pressure supply line 22A, and is supplied from the pilot pump 21 to the one pressure receiving chambers 8A to 11A via the first pilot pressure supply line 22A. Electromagnetic proportional pressure reducing valves 27 to 30 that variably control the pressure Pa to a pressure corresponding to the electric signal, and a pilot pump 21 provided in the second pilot pressure supply line 22B through the second pilot pressure supply line 22B. A pressure reducing valve 31 for reducing the second pilot pressure Pb supplied to the other pressure receiving chambers 8B to 11B to a predetermined pressure, and a second pilot pressure supply line 22b connected in parallel to the pressure reducing valve 31. A check valve 32 for allowing pressure oil to flow from the pressure receiving chambers 8B to 11B toward the second pilot pressure supply line 22B and blocking the reverse flow; The first and second pilot pressure supply lines 22A and 22B provided between the pressure discharge line 21 and the first and second pilot pressure supply lines 22A and 22B are connected between the pilot pressure discharge line 21 and the tank 3. An electromagnetic switching valve 33 that is switched so as to be selectively connected to any one of them, an electromagnetic proportional pressure reducing valve 27 to 30 and an electromagnetic switching valve 33 in accordance with drive information of the engine 1 and electric signals from the electric lever devices 16 to 19. And a controller 34 to be controlled.
  That is, according to the present embodiment, the electromagnetic proportional pressure reducing valves 27 to 30 provided in the first pilot pressure supply line 22A of the pilot pressure control device 20 are connected to one output port 27A to 30A and pump ports 27P to 30P. And an electromagnetic proportional control valve having tank ports 27T to 30T. Thereby, the electromagnetic proportional pressure reducing valves 27 to 30 use the first pilot pressure Pa supplied from the pilot pressure discharge line 21 to the one pressure receiving chambers 8A to 11A via the first pilot pressure supply line 22A as an electric lever device. The pressure can be variably controlled according to the electrical signals from 16-19.
  Further, the pressure reducing valve 31 and the check valve 32 provided in the second pilot pressure supply line 22B of the pilot pressure control device 20 commonly supply the second pilot pressure Pb common to the plurality of directional control valves 8-11. The pressure of the pressure oil reduced in common through the pressure reducing valve 31 from the second pilot pressure supply line 22B to the other pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 is provided as a single valve. Is supplied as the second pilot pressure Pb.
  Thus, even when the control valve device (multiple valve device) for operating and stopping the plurality of hydraulic actuators (cylinders 12 to 15) is configured by the plurality of direction control valves 8 to 11, the plurality of direction control valves 8 to 11 are configured. With respect to (spool valve), the pressure reducing valve 31 and the check valve 32 can be configured as a single common valve, and the number of the pressure reducing valves 31 and the check valves 32 can be reduced. Then, the other pressure receiving chambers 8B to 11B of the direction control valves 8 to 11 are supplied with the pressure of the pressure oil that is commonly reduced through the pressure reducing valve 31 from the second pilot pressure supply line 22B, as the second pilot pressure Pb ( As a fixed value).
  Therefore, according to the present embodiment, the output ports 27A to 30A only use one electromagnetic proportional pressure reducing valve 27 to 30, and the direction control valves 8 to 11 are changed from the neutral position (I) to the switching position (II), ( III) It can be moved and controlled in both directions. As a result, the configuration of the hydraulic control device can be simplified, and the overall size and weight of the device can be reduced.
  Further, when the engine 1 is started, the occurrence of a pressure difference between the first and second pilot pressures Pa and Pb supplied to the pressure receiving chambers 8A to 11A and 8B to 11B on both ends of the direction control valves 8 to 11 is suppressed. be able to. Therefore, the directional control valves 8 to 11 can be stably held at the neutral position (I) when the engine 1 is started, and the hydraulic actuators (cylinders 12 to 15) are erroneously operated before the electric lever devices 16 to 19 are operated. It can be prevented from operating. Thereby, the reliability and safety | security of a hydraulic control apparatus can be improved.
  In particular, the controller 34 of the pilot pressure control device 20 includes determination means (see step 2 in FIG. 5) for determining the start of the engine 1 that is a power source, and when this determination means determines that the engine 1 is started. A command signal (electric signal) for setting the directional control valves 8 to 11 to the neutral position (I) is output to the electromagnetic proportional pressure reducing valves 27 to 30, and the first and second pilot pressures to the electromagnetic switching valve 33. A command signal (electrical signal) for switching and connecting the supply lines 22A and 22B from the tank 3 to the pilot pressure discharge line 21 side is output.
  In this case, when the engine 1 is started, the command signal (characteristic line 38) output from the controller 34 to the electromagnetic switching valve 33 and the command signal (characteristic line 39) output to the electromagnetic proportional pressure reducing valves 27 to 30 are the current value Ic. Is output after being slightly delayed by a time difference Δt, so that the pressure difference is generated between the first and second pilot pressures Pa and Pb supplied to the pressure receiving chambers 8A to 11A and 8B to 11B of the direction control valves 8 to 11. It becomes difficult to occur. For this reason, the direction control valves 8 to 11 can be stably held at the neutral position (I) when the engine 1 is started, and malfunction of the hydraulic actuators (cylinders 12 to 15) can be suppressed.
  In the above-described embodiment, the case where the electromagnetic switching valve 33 is configured by an electromagnetic switching valve of 3 ports and 2 positions has been described as an example. However, the present invention is not limited to this, and the electromagnetic switching valve 33 may be configured using, for example, an electromagnetic proportional control valve substantially similar to the electromagnetic proportional pressure reducing valves 27 to 30. The electromagnetic switching valve 33 composed of such an electromagnetic proportional control valve is gradually switched from the initial position (c) to the operating position (d) as the current value of the command signal gradually increases. Pressure oil from the pipeline 21 can be supplied to the common pipeline 22C (first and second pilot pressure supply pipelines 22A and 22B) so as to gradually increase the pressure.
  For this reason, the pressure from the pilot pressure discharge pipe 21 is gradually applied to the pressure receiving chambers 8A to 11A of the direction control valves 8 to 11 via the electromagnetic proportional pressure reducing valves 27 to 30, and the pressure receiving chambers 8B to 11B are applied to the other pressure receiving chambers 8B to 11B. The pressure from the pilot pressure discharge line 21 is gradually applied through the pressure reducing valve 31. As a result, a pressure difference is hardly generated between the pressure receiving chambers 8A to 11A and 8B to 11B of the direction control valves 8 to 11, and the direction control valves 8 to 11 are stabilized at the neutral position (I) when the engine 1 is started. Can be held.
  Moreover, in the said embodiment, the case where the electromagnetic proportional pressure reducing valves 27-30 are provided in the valve housing which comprises the valve main body of the direction control valves 8-11 in the vicinity of the pressure receiving chambers 8A-11A, for example is taken as an example. I gave it as an explanation. However, the present invention is not limited to this. For example, the electromagnetic proportional pressure reducing valves 27 to 30 may be provided at other positions separated from the pressure receiving chambers 8A to 11A.
  On the other hand, in the said embodiment, the case where the electric lever apparatus 16-19 was used as an electric operation apparatus was mentioned as an example, and was demonstrated. However, the present invention is not limited to this, and the electric operation device may be configured using, for example, an electric operation pedal that is operated by a hydraulic shovel operator.
  Further, in the above embodiment, a hydraulic excavator has been described as a representative example of a work vehicle (construction machine). However, the present invention is not limited to this, and various construction vehicles such as a hydraulic crane, a dump truck, a wheel loader or a bulldozer equipped with a hydraulic pump, a pilot pump, a hydraulic actuator, a directional control valve, etc. It can also be applied to.
  The arrangement (order) of the plurality of directional control valves 8 to 11 shown in FIG. 1 to FIG. 4 is not limited to the order shown, and can be changed as required for layout design or the like. Further, the boom cylinder 12, the arm cylinder 13, the bucket cylinder 14 and the spare cylinder 15 are merely examples of a plurality of hydraulic actuators, and the arrangement, usage, and the like of each hydraulic actuator can be changed.
1 Engine (Power source)
2 Hydraulic pump 3 Tank 4 Pilot pump 5 Discharge line 6 Supply line 7 Center bypass line 8-11 Directional control valve 8A-11A One pressure receiving chamber 8B-11B The other pressure receiving chamber 12 Boom cylinder (hydraulic actuator)
13 Arm cylinder (hydraulic actuator)
14 Bucket cylinder (hydraulic actuator)
15 Spare cylinder (hydraulic actuator)
16-19 Electric lever device (electric operation device)
20 pilot pressure control device 21 pilot pressure discharge line 22A first pilot pressure supply line 22B second pilot pressure supply line 22C common line 23A to 26A first pilot line 23B to 26B second pilot line 27 to 30 Electromagnetic proportional pressure reducing valve 27A-30A Output port 27P-30P Pump port 27T-30T Tank port 31 Pressure reducing valve 32 Check valve 33 Electromagnetic switching valve 34 Controller

Claims (3)

  1. A main hydraulic pump and a pilot pump driven by a power source of the work vehicle;
    A hydraulic actuator provided in the work vehicle and driven by pressure oil supplied from the hydraulic pump;
    A directional control valve that is provided between the hydraulic pump and the hydraulic actuator, and that controls supply and discharge of pressure oil to the hydraulic actuator by supplying pilot pressure from the pilot pump to a pair of pressure receiving chambers; ,
    An electric operation device that outputs an electric signal in accordance with an operation from the outside in order to control the operation and stop of the hydraulic actuator by switching the direction control valve;
    A pilot pressure control device that variably controls a pilot pressure supplied to each pressure receiving chamber of the directional control valve in accordance with the electrical signal from the electric operation device;
    Oite the working hydraulic control system for a vehicle having a,
    The pilot pressure control device
    A pilot pressure discharge line provided on the discharge side of the pilot pump;
    One of the pressure receiving chambers of the directional control valve is provided between one pressure receiving chamber and the pilot pressure discharge pipe, and pressure oil from the pilot pump is supplied as a first pilot pressure to the one pressure receiving chamber. A first pilot pressure supply line for
    Among the pressure receiving chambers of the directional control valve, provided between the other pressure receiving chamber and the pilot pressure discharge pipe, pressure oil from the pilot pump is supplied to the other pressure receiving chamber as a second pilot pressure. A second pilot pressure supply line for
    The first pilot pressure that is provided in the first pilot pressure supply line and is supplied from the pilot pump to the one pressure receiving chamber of the directional control valve via the first pilot pressure supply line is used as the electric signal. An electromagnetic proportional pressure reducing valve that controls the pressure according to
    The second pilot pressure provided in the second pilot pressure supply line and supplied from the pilot pump to the other pressure receiving chamber of the directional control valve via the second pilot pressure supply line is set to a predetermined pressure. A pressure reducing valve for reducing pressure;
    A flow that is provided in parallel with the pressure reducing valve and connected to the second pilot pressure supply line and allows the pressure oil to flow from the other pressure receiving chamber toward the second pilot pressure supply line. A check valve to shut off,
    An electromagnetic switching valve provided in the pilot pressure discharge line and switched to selectively connect the first and second pilot pressure supply lines to one of the pilot pressure discharge line and the tank;
    A controller that controls the electromagnetic proportional pressure reducing valve and the electromagnetic switching valve according to drive information of the power source and an electric signal from the electric operation device;
    Is configured to include a,
    The controller includes a determination unit that determines activation of the power source, and controls the electromagnetic proportional pressure reducing valve so that the direction control valve is set to a neutral position when the determination unit determines that the power source is activated. and the electromagnetic switching valve, said first, second pilot pressure supply conduit to the pilot圧吐extraction tube roadside in switching the control to a work vehicle hydraulic control apparatus characterized by Rukoto to connect from the tank .
  2.   The hydraulic control apparatus for a work vehicle according to claim 1, wherein the electromagnetic proportional pressure reducing valve has a tank port, a pump port, and one output port.
  3. Each of the hydraulic actuator, the directional control valve, and the electromagnetic proportional pressure reducing valve is provided in plurality.
    The pressure reducing valve and the check valve are each provided as a single valve common to the plurality of directional control valves,
    Among the pressure receiving chambers of the directional control valves, the other pressure receiving chamber receives the pressure of the pressure oil commonly reduced from the second pilot pressure supply line through the pressure reducing valve. The hydraulic control device for a work vehicle according to claim 1, wherein the hydraulic control device is supplied as
JP2016191356A 2016-09-29 2016-09-29 Hydraulic control device for work vehicle Active JP6618445B2 (en)

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CN110397109A (en) * 2019-07-29 2019-11-01 上海三一重机股份有限公司 Method of controlling security, device, system and the excavator of complete automatically controlled excavator

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