JP6707053B2

JP6707053B2 - Work machine

Info

Publication number: JP6707053B2
Application number: JP2017065767A
Authority: JP
Inventors: 輝樹五十嵐; 井村　進也; 進也井村; 真司西川
Original assignee: Hitachi Construction Machinery Co Ltd
Current assignee: Hitachi Construction Machinery Co Ltd
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2020-06-10
Anticipated expiration: 2037-03-29
Also published as: JP2018168573A

Description

本発明は、作業機械に関する。 The present invention relates to a work machine.

作業機械の代表例としての油圧ショベルは、自走可能な下部走行体と、下部走行体上に旋回可能に搭載された上部旋回体と、上部旋回体の前側に俯仰動可能に取り付けられたフロント作業装置とを備えており、上部旋回体にはエンジンや、エンジンを駆動源とする油圧ポンプ等が搭載されている。 A hydraulic excavator, which is a typical example of a work machine, includes a self-propelled undercarriage, an upper revolving structure rotatably mounted on the lower traveling structure, and a front mounted on the front side of the upper revolving structure so as to be able to lift and lower. The upper swing body is equipped with an engine, a hydraulic pump driven by the engine, and the like.

フロント作業装置（以下、作業装置と略記）は掘削作業等を行うものであり、上部旋回体に回動可能に取り付けられたブームと、ブームの先端部に回動可能に取り付けられたアームと、アームの先端部に回動可能に取り付けられたバケットと、上部旋回体とブームとの間に設けられたブームシリンダと、ブームとアームとの間に設けられたアームシリンダと、アームとバケットとの間に設けられたバケットシリンダ等によって構成されている。そして、上部旋回体に設けられた操作室に乗り込んだオペレータが各種の操作レバー（操作装置）を操作し、操作レバーに対応した各油圧シリンダ（アクチュエータ）に油圧ポンプから圧油を供給することにより、作業装置の各フロント部材（ブーム、アーム、バケット）を動作させるようになっている。 The front work device (hereinafter, abbreviated as work device) performs excavation work and the like, and includes a boom rotatably attached to an upper swing body, an arm rotatably attached to a tip end of the boom, A bucket rotatably attached to the tip of the arm, a boom cylinder provided between the upper swing body and the boom, an arm cylinder provided between the boom and the arm, and an arm and a bucket. It is composed of a bucket cylinder and the like provided in between. Then, an operator who gets into an operation room provided in the upper swing body operates various operation levers (operation devices) to supply pressure oil from a hydraulic pump to each hydraulic cylinder (actuator) corresponding to the operation lever. , Each front member (boom, arm, bucket) of the work device is operated.

一般的に、油圧シリンダに供給される圧油の最大吐出流量は操作レバーの入力に比例して増加するが、この圧油の最低吐出量から最大吐出流量に至るまでの流量増加率が各フロント部材の姿勢や負荷状態に拘わらず一定の場合、次のような問題が発生する。 Generally, the maximum discharge rate of pressure oil supplied to the hydraulic cylinder increases in proportion to the input of the operating lever, but the rate of increase in flow rate from the minimum discharge rate of this pressure oil to the maximum discharge rate is In the case where the posture is constant regardless of the posture of the member and the load state, the following problems occur.

一つ目の問題としては、各フロント部材を重力方向と反対向きに動作させる場合、フロント部材の自重が動作と反対方向に作用するため、フロント部材を重力方向に動作させる時に比べて油圧シリンダの加速度が遅くなる。そのため、油圧ポンプが吐出する流量の流量増加率が大きいと、圧油の油圧シリンダへの急な押し込みによるショックが発生する。 The first problem is that when each front member is moved in the direction opposite to the direction of gravity, the weight of the front member acts in the direction opposite to the operation, so that when the front member is moved in the direction of gravity, Acceleration slows down. Therefore, if the rate of increase in the flow rate discharged by the hydraulic pump is large, a shock will occur due to the sudden pressing of the pressure oil into the hydraulic cylinder.

一方、各フロント部材を重力方向に動作させる場合、フロント部材の自重が動作方向に作用するため、フロント部材を重力方向と反対向きに動作させる時に比べて油圧シリンダの加速度が速くなる。そのため、油圧ポンプ流量の流量増加率が小さいと、油圧シリンダ内の圧油が足りないことによる息継ぎが発生し、フロント部材の動作がハンチングしてしまうことがある。 On the other hand, when each front member is operated in the gravity direction, the own weight of the front member acts in the operation direction, so the acceleration of the hydraulic cylinder becomes faster than when the front member is operated in the direction opposite to the gravity direction. Therefore, when the rate of increase in the hydraulic pump flow rate is small, breathing may occur due to insufficient pressure oil in the hydraulic cylinder, and the operation of the front member may hunt.

二つ目の問題としては、各フロント部材を重力方向と反対向きに動作させる場合において、バケットに土砂等を積んでいる積載状態や、バケットの先端が車両中心から遠くにある状態の時は、バケットに土砂等が積まれていない空状態や、フロント部材の先端が旋回中心に近い状態の時に比べて、等価質量分だけ油圧シリンダの加速度が小さくなる。そのため、油圧ポンプ流量の流量増加率が大きいと、圧油の油圧シリンダへの急な押し込みによるショックが発生する。 The second problem is that when each front member is operated in the direction opposite to the direction of gravity, when the bucket is loaded with earth or sand, or when the tip of the bucket is far from the center of the vehicle, The acceleration of the hydraulic cylinder is reduced by the equivalent mass, as compared with an empty state in which the bucket is not loaded with earth and sand or a state in which the front end of the front member is close to the turning center. Therefore, if the rate of increase in the flow rate of the hydraulic pump is large, a shock will occur due to the sudden pushing of the pressure oil into the hydraulic cylinder.

一方、各フロント部材を重力方向に動作させる場合において、バケットに土砂等を積んでいる積載状態や、バケットの先端が車両中心から遠くにある状態の時は、バケットに土砂等が積まれていない空状態や、フロント部材の先端が旋回中心に近い状態の時に比べて、等価質量分だけ油圧シリンダの加速度が大きくなる。そのため、油圧ポンプ流量の流量増加率が小さいと、油圧シリンダ内の圧油が足りないことによる息継ぎが発生し、フロント部材の動作がハンチングしてしまうことがある。 On the other hand, when the front members are operated in the gravity direction, the bucket is not loaded with soil or the like when the bucket is loaded with the soil or the like or when the tip of the bucket is far from the center of the vehicle. The acceleration of the hydraulic cylinder increases by the equivalent mass as compared with the empty state or the state in which the front end of the front member is near the center of rotation. Therefore, when the rate of increase in the hydraulic pump flow rate is small, breathing may occur due to insufficient pressure oil in the hydraulic cylinder, and the operation of the front member may hunt.

このような問題を解決する従来技術として、特許文献１に記載された油圧ショベルの制御装置では、作業機械の作業種別を判別し、その作業種別に応じて適切な作動形態で油圧ポンプ吸収馬力や、圧油の最大供給流量、圧油の流量変化度、アクチュエータの応答時定数を制御している。こうして、エンジン出力、作業用アクチュエータの最大作動速度、作業用操作レバーの操作量の変化に対する作業用アクチュエータの作動速度の変化、作業用操作レバーの操作に対する作業用アクチュエータの作動の応答性を作業種別に応じて適切に制御している。 As a conventional technique for solving such a problem, the control device for a hydraulic excavator described in Patent Document 1 determines the work type of a work machine, and according to the work type, an appropriate hydraulic pump absorption horsepower or The maximum supply flow rate of pressure oil, the change rate of pressure oil flow rate, and the response time constant of the actuator are controlled. Thus, the responsiveness of the engine output, the maximum operation speed of the work actuator, the change in the operation speed of the work actuator with respect to the change in the operation amount of the work operation lever, and the responsiveness of the operation of the work actuator with respect to the operation of the work operation lever According to the appropriate control.

また、特許文献２に記載された油圧ショベルの制御装置では、油圧ポンプの吐出量が最低吐出量から立ち上がる操作領域でシリンダの負荷圧もしくはこれに相当する圧力が高いほど、操作量に対応するポンプ吐出量を小さく設定するように吐出量制御を行っている。こうして、アクチュエータ負荷圧を考慮しながら、オペレータの感覚に見合った適度なアクチュエータ応答性を実現している。 Further, in the hydraulic shovel control device described in Patent Document 2, the pump corresponding to the operation amount increases as the load pressure of the cylinder or the pressure corresponding thereto increases in the operation region where the discharge amount of the hydraulic pump rises from the minimum discharge amount. The discharge amount is controlled so that the discharge amount is set small. Thus, while considering the actuator load pressure, an appropriate actuator responsiveness that matches the operator's sense is realized.

特許第３５３５３００号公報Japanese Patent No. 3535300 特開平８−２１９１０４号公報JP-A-8-219104

しかし、特許文献１に開示された従来技術では、ある作業種別を判別した場合、その作業を行っている間は、常に一定の圧油の流量変化率で油圧ポンプが吐出する流量を制御しているため、フロント部材の動作方向に応じた適切な圧油の流量変化率を定めることができない。そのため、圧油の急な押し込みによるショックが発生したり、圧油が足りないことによる息継ぎが発生するおそれがある。 However, in the conventional technique disclosed in Patent Document 1, when a certain work type is determined, the flow rate discharged by the hydraulic pump is controlled at a constant rate of change in the flow rate of the pressure oil while the work is being performed. Therefore, it is impossible to determine an appropriate flow rate change rate of the pressure oil according to the operation direction of the front member. Therefore, there is a possibility that a shock may occur due to sudden pressing of the pressure oil, or breathing may occur due to insufficient pressure oil.

また、特許文献２に開示された従来技術では、アクチュエータのシリンダの負荷圧と操作量のみでポンプ吐出流量の制御を行っているため、フロント部材の動作方向に応じた適切な圧油の流量変化率を定めることはできない。また、シリンダの負荷圧を用いたフィードバック制御であるため、シリンダの負荷圧が変動した場合に制御が不安定となり、圧油の流量変化率の増減が不安定となるおそれがある。 Further, in the conventional technique disclosed in Patent Document 2, since the pump discharge flow rate is controlled only by the load pressure and the operation amount of the cylinder of the actuator, an appropriate flow rate change of the pressure oil according to the operation direction of the front member is performed. You cannot set the rate. Further, since the feedback control uses the load pressure of the cylinder, the control becomes unstable when the load pressure of the cylinder fluctuates, and the increase/decrease in the rate of change in the flow rate of the pressure oil may become unstable.

本発明は、上記課題を解決するためになされたものであり、その目的は、圧油の急な押し込みによるショックの発生や、圧油が足りないことによる息継ぎの発生を防止することができる作業機械を提供することにある。 The present invention has been made to solve the above problems, and an object thereof is work capable of preventing the occurrence of shock due to sudden pressing of pressure oil and the occurrence of breathing due to lack of pressure oil. To provide machines.

上記目的を達成するために、代表的な本発明は、エンジンと、前記エンジンを駆動源とする可変容量型の油圧ポンプと、前記油圧ポンプが吐出する圧油により駆動するアクチュエータと、前記アクチュエータの伸縮動作により駆動するフロント部材と、前記油圧ポンプの流量を制御するコントローラと、前記フロント部材を操作する操作装置と、前記操作装置の操作量を検出する操作量検出器と、前記フロント部材の相対位置を検出する位置検出器と、前記アクチュエータのボトム側とロッド側の負荷圧力を検出するシリンダ圧力検出器と、を有する作業機械において、前記コントローラは、前記位置検出器の出力値と前記操作量検出器の出力値に基づいて、前記フロント部材の動作開始時における前記フロント部材の動作の方向ベクトルの重力方向成分の大きさを演算する重力方向成分演算部と、前記操作量検出器の出力値に基づいて前記油圧ポンプから吐出される圧油の最終的な油圧ポンプ流量最大値を演算する油圧ポンプ流量最大値演算部と、前記重力方向成分演算部の出力値に基づいて前記油圧ポンプから吐出される圧油の油圧ポンプ流量増加率を演算する油圧ポンプ流量増加率演算部と、前記シリンダ圧力検出器の出力値と前記位置検出器の出力値とに基づいて前記フロント部材の等価質量を演算する等価質量演算部と、前記重力方向成分演算部の出力値と前記等価質量演算部の出力値とに基づいて、前記油圧ポンプ流量増加率演算部にて演算された前記油圧ポンプ流量増加率を補正する補正係数を演算する補正係数演算部と、前記補正係数演算部から出力された補正係数と、前記油圧ポンプ流量増加率演算部から出力された前記油圧ポンプ流量増加率とを乗算して補正後油圧ポンプ流量増加率を演算する補正後油圧ポンプ流量増加率演算部と、を含み、前記コントローラは、前記補正後油圧ポンプ流量増加率に従って前記油圧ポンプ流量最大値まで前記油圧ポンプの流量を増加させるよう制御し、前記油圧ポンプ流量増加率演算部は、前記方向ベクトルの重力方向成分が大きいほど前記油圧ポンプ流量増加率が大きくなるよう演算し、前記方向ベクトルの重力方向成分が小さいほど前記油圧ポンプ流量増加率が小さくなるよう演算し、前記フロント部材が重力方向に動作する場合には、前記フロント部材の等価質量が大きい時の方が小さい時に比べて前記油圧ポンプ流量増加率が高くなるよう前記油圧ポンプ流量増加率を演算し、前記フロント部材が重力方向と反対方向に動作する場合には、前記フロント部材の等価質量が小さい時の方が大きい時に比べて前記油圧ポンプ流量増加率が高くなるよう前記油圧ポンプ流量増加率を演算することを特徴とする。
In order to achieve the above object, a representative present invention is to provide an engine, a variable displacement hydraulic pump having the engine as a drive source, an actuator driven by pressure oil discharged from the hydraulic pump, and an actuator of the actuator. A front member driven by a stretching operation, a controller that controls the flow rate of the hydraulic pump, an operating device that operates the front member, an operation amount detector that detects an operation amount of the operating device, and a relative position of the front member. In a working machine having a position detector for detecting a position and a cylinder pressure detector for detecting a load pressure on a bottom side and a rod side of the actuator , the controller includes an output value of the position detector and the manipulated variable. Based on the output value of the detector, the gravity direction component calculation unit that calculates the magnitude of the gravity direction component of the direction vector of the operation of the front member at the time of starting the operation of the front member, and the output value of the operation amount detector Based on the output value of the hydraulic pump maximum value calculation unit for calculating the final hydraulic pump flow maximum value of the pressure oil discharged from the hydraulic pump based on Hydraulic pump flow rate increase rate calculating unit for calculating the hydraulic pump flow rate increase rate of the pressure oil, and the equivalent mass of the front member is calculated based on the output value of the cylinder pressure detector and the output value of the position detector. Based on the output value of the equivalent mass calculation unit, the gravity direction component calculation unit and the output value of the equivalent mass calculation unit, the hydraulic pump flow rate increase rate calculated by the hydraulic pump flow rate increase rate calculation unit. A correction coefficient calculation unit for calculating a correction coefficient to be corrected, a correction coefficient output from the correction coefficient calculation unit, and the hydraulic pump flow rate increase rate output from the hydraulic pump flow rate increase rate are multiplied to make correction. A post-correction hydraulic pump flow rate increase rate calculating unit for calculating a post-hydraulic pump flow rate increase rate , wherein the controller increases the flow rate of the hydraulic pump up to the hydraulic pump flow rate maximum value in accordance with the post-correction hydraulic pump flow rate increase rate. The hydraulic pump flow rate increase rate calculation unit performs calculation so that the hydraulic pump flow rate increase rate increases as the gravity direction component of the direction vector increases, and the hydraulic pressure increases as the gravity vector direction component of the direction vector decreases. When the pump flow rate increase rate is calculated to be small, and when the front member operates in the direction of gravity, the hydraulic pump flow rate increase rate is higher when the equivalent mass of the front member is larger than when it is small. The hydraulic pump flow If the front member operates in the direction opposite to the direction of gravity by calculating the volume increase rate, the hydraulic pump flow rate increase rate is higher when the equivalent mass of the front member is smaller than when it is large. It is characterized in that the increase rate of the hydraulic pump flow rate is calculated .

本発明によれば、圧油の急な押し込みによるショックの発生や、圧油が足りないことによる息継ぎの発生を防止できる。なお、上記した以外の課題、構成および効果は、以下の実施形態の説明により明らかにされる。 According to the present invention, it is possible to prevent the occurrence of shock due to the sudden pressing of pressure oil and the occurrence of breathing due to lack of pressure oil. The problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

本発明が対象とする油圧ショベルの側面図。The side view of the hydraulic excavator which this invention makes object. 本発明の第１の実施形態に係る油圧ショベルのシステム構成図。The system block diagram of the hydraulic excavator which concerns on the 1st Embodiment of this invention. 図２の油圧システムに備えられる油圧流量制御装置のブロック構成図。FIG. 3 is a block configuration diagram of a hydraulic flow rate control device included in the hydraulic system of FIG. 2. フロント部材の動作方向の重力方向成分の算出方法を示す説明図。Explanatory drawing which shows the calculation method of the gravity direction component of the operation direction of a front member. フロント部材の動作方向の重力方向成分と油圧ポンプ流量増加率の関係を示す説明図。Explanatory drawing which shows the gravity direction component of the operation direction of a front member, and the relationship of a hydraulic pump flow rate increase rate. レバー操作量に対する油圧ポンプ流量とシリンダ圧力の関係を示す説明図。Explanatory drawing which shows the hydraulic pump flow rate with respect to lever operation amount, and the relationship of cylinder pressure. 本発明の第２の実施形態に係る油圧流量制御装置のブロック構成図。The block block diagram of the hydraulic flow control apparatus which concerns on the 2nd Embodiment of this invention. 油圧ポンプ流量最大値と油圧ポンプ流量増加率の関係を示す説明図。Explanatory drawing which shows the relationship between a hydraulic pump flow rate maximum value and a hydraulic pump flow rate increase rate. 第２の実施形態における制御前後のポンプ流量を場合に分けて示す説明図。Explanatory drawing which divides|segments and shows the pump flow volume before and behind control in 2nd Embodiment. 本発明の第３の実施形態に係る油圧ショベルのシステム構成図。The system block diagram of the hydraulic excavator which concerns on the 3rd Embodiment of this invention. 図１０の油圧システムに備えられる油圧流量制御装置のブロック構成図Block diagram of a hydraulic flow rate control device provided in the hydraulic system of FIG. 等価質量と油圧ポンプ流量増加率計数の関係を示す説明図。Explanatory drawing which shows the relationship of an equivalent mass and a hydraulic pump flow rate increase rate count. 第３の実施形態における制御前後のポンプ流量を場合に分けて示す説明図。Explanatory drawing which shows the pump flow volume before and after control in 3rd Embodiment divided into cases. 本発明の第４の実施形態に係る油圧流量制御装置のブロック構成図。The block block diagram of the hydraulic flow control apparatus which concerns on the 4th Embodiment of this invention.

以下、本発明の実施の形態に係る作業機械として、作業装置を備えた油圧ショベルに適用した場合を例に挙げ、図面に基づいて詳細に説明する。 Hereinafter, a working machine according to an embodiment of the present invention will be described in detail with reference to the drawings, taking a case where the working machine is applied to a hydraulic excavator including a working device as an example.

図１に示すように、作業機械の代表例である油圧ショベル１は、クローラ式の自走可能な下部走行体２と、下部走行体２上に旋回可能に搭載された上部旋回体３と、上部旋回体３の前側に俯仰動可能に取り付けられた作業装置４とを備えている。 As shown in FIG. 1, a hydraulic excavator 1 that is a typical example of a work machine includes a crawler-type self-propelled lower traveling body 2, an upper revolving body 3 rotatably mounted on the lower traveling body 2, The work device 4 is attached to the front side of the upper revolving structure 3 so as to be able to move upward and downward.

作業装置４は、上部旋回体３に回動可能に取り付けられたブーム（フロント部材）５と、ブーム５を駆動するためのブームシリンダ（アクチュエータ）６と、ブーム５の先端部近傍に回転自在に軸支されたアーム（フロント部材）７と、アーム７を駆動するためのアームシリンダ（アクチュエータ）８と、アーム７の先端に回転可能に軸支されたバケット（フロント部材）９と、バケット９を駆動するためのバケットシリンダ（アクチュエータ）１０等によって構成されており、ブーム５とアーム７およびバケット９（以下、適宜、フロント部材５，７，９と言う）は、対応する油圧シリンダ６，８，１０が伸長または縮小することによって動作する。 The work device 4 includes a boom (front member) 5 that is rotatably attached to the upper swing body 3, a boom cylinder (actuator) 6 that drives the boom 5, and a boom 5 that is rotatable near the tip of the boom 5. A pivotally supported arm (front member) 7, an arm cylinder (actuator) 8 for driving the arm 7, a bucket (front member) 9 rotatably supported at the tip of the arm 7, and a bucket 9 are provided. It is configured by a bucket cylinder (actuator) 10 and the like for driving, and the boom 5, the arm 7 and the bucket 9 (hereinafter, appropriately referred to as front members 5, 7, 9) are corresponding hydraulic cylinders 6, 8,. 10 works by expanding or contracting.

上部旋回体３とブーム５が接続されている関節にはブーム５の回転角を検出するブーム回転角センサ（位置検出器）１１が設けられており、ブーム５とアーム７が接続されている関節にはアーム７の回転角を検出するアーム回転角センサ（位置検出器）１２が設けられており、アーム７とバケット９が接続されている関節にはバケット９の回転角を検出するバケット回転角センサ（位置検出器）１３が設けられている。一方、上部旋回体３には傾斜角度センサ（位置検出器）１４が設けられており、この傾斜角度センサ１４は水平な地面と上部旋回体３（車体）とのピッチ方向の傾斜角度を検出する。 A joint for connecting the upper swing body 3 and the boom 5 is provided with a boom rotation angle sensor (position detector) 11 for detecting a rotation angle of the boom 5, and a joint for connecting the boom 5 and the arm 7 to each other. Is provided with an arm rotation angle sensor (position detector) 12 that detects the rotation angle of the arm 7, and a bucket rotation angle that detects the rotation angle of the bucket 9 at the joint to which the arm 7 and the bucket 9 are connected. A sensor (position detector) 13 is provided. On the other hand, the upper swing body 3 is provided with a tilt angle sensor (position detector) 14, and the tilt angle sensor 14 detects a tilt angle in the pitch direction between the horizontal ground and the upper swing body 3 (vehicle body). ..

また、上部旋回体３には操作室１５が設けられており、この操作室１５内にはブーム５とアーム７およびバケット９を駆動するための操作レバー（操作装置）１６（図２，３参照）が設けられている。さらに、上部旋回体３には、ブームシリンダ６、アームシリンダ８、バケットシリンダ１０等の油圧シリンダ（アクチュエータ）を駆動するための油圧システムが搭載されている。以下、本発明の第１の実施形態を図２〜図５に基づいて説明する。 An operation chamber 15 is provided in the upper swing body 3, and an operation lever (operating device) 16 for driving the boom 5, the arm 7, and the bucket 9 (see FIGS. 2 and 3) is provided in the operation chamber 15. ) Is provided. Further, the upper swing body 3 is equipped with a hydraulic system for driving a hydraulic cylinder (actuator) such as a boom cylinder 6, an arm cylinder 8 and a bucket cylinder 10. Hereinafter, the first embodiment of the present invention will be described with reference to FIGS.

図２に示すように、第１の実施形態に係る油圧システムは、エンジン２１と、エンジン２１によって回転駆動される可変容量型の２つの油圧ポンプ４１ａ，４１ｂと、各油圧シリンダを駆動制御するためのコントロールバルブ４３と、油圧ポンプ４１ａ，４１ｂから油圧シリンダへ供給される圧油の流量を指令するコントローラ８０とを含んで構成されている。コントロールバルブ４３は操作レバー１６を操作することで各フロント部材を駆動制御し、操作圧センサ（操作量検出器）１７は操作レバー１６の操作量を検出してこれをコントローラ８０に出力する。 As shown in FIG. 2, the hydraulic system according to the first embodiment drives and controls the engine 21, two variable displacement hydraulic pumps 41a and 41b that are rotationally driven by the engine 21, and each hydraulic cylinder. The control valve 43 and the controller 80 for instructing the flow rate of the pressure oil supplied from the hydraulic pumps 41a and 41b to the hydraulic cylinders. The control valve 43 drives and controls each front member by operating the operation lever 16, and the operation pressure sensor (operation amount detector) 17 detects the operation amount of the operation lever 16 and outputs it to the controller 80.

コントローラ８０は、図示しないが、各種演算を行うＣＰＵ、ＣＰＵによる演算を実行するためのプログラムを格納するＲＯＭやＨＤＤ等の記憶装置、ＣＰＵがプログラムを実行する際の作業領域となるＲＡＭ、および他の機器とデータを送受信する際のインタフェースである通信インタフェース（通信Ｉ／Ｆ）を含むハードウェアと、記憶装置に記憶され、ＣＰＵにより実行されるソフトウェアとから構成される。コントローラ８０の各機能は、ＣＰＵが、記憶装置に格納された各種プログラムをＲＡＭにロードして実行することにより、実現される。 Although not shown, the controller 80 includes a CPU that performs various calculations, a storage device such as a ROM or an HDD that stores programs for executing calculations by the CPU, a RAM that is a work area when the CPU executes the programs, and others. Hardware including a communication interface (communication I/F) which is an interface for transmitting and receiving data to and from the device, and software stored in the storage device and executed by the CPU. Each function of the controller 80 is realized by the CPU loading various programs stored in the storage device into the RAM and executing the programs.

コントローラ８０には操作圧センサ１７の検出信号の他に、各フロント部材の回転角センサ１１，１２，１３の検出信号と車体の傾斜角度センサ１４の検出信号が出力され、コントローラ８０は、これら各種信号に基づいて油圧ポンプ４１ａ，４１ｂの容積指令値を演算する。コントローラ８０から油圧ポンプ４１ａ，４１ｂへの容積指令は、電気・油圧信号変換デバイス７０ａ，７０ｂを介してレギュレータ４２ａ，４２ｂへ送出され、レギュレータ４２ａ，４２ｂが油圧ポンプ４１ａ，４１ｂの容積を制御する。電気・油圧信号変換デバイス７０ａ，７０ｂは、コントローラ８０からの電気信号を油圧パイロッド信号へ変換するものであり、例えば電磁比例バルブに相当する。 In addition to the detection signal of the operation pressure sensor 17, the detection signals of the rotation angle sensors 11, 12, 13 of each front member and the detection signal of the vehicle body tilt angle sensor 14 are output to the controller 80. The volume command values of the hydraulic pumps 41a and 41b are calculated based on the signal. The volume command from the controller 80 to the hydraulic pumps 41a, 41b is sent to the regulators 42a, 42b via the electric/hydraulic signal conversion devices 70a, 70b, and the regulators 42a, 42b control the volumes of the hydraulic pumps 41a, 41b. The electric/hydraulic signal conversion devices 70a and 70b convert electric signals from the controller 80 into hydraulic pilot signals, and correspond to, for example, electromagnetic proportional valves.

図３に示すように、コントローラ８０は、油圧ポンプ流量最大値演算部８１、動作方向重力方向成分演算部（重力方向成分演算部）８２、油圧ポンプ流量増加率演算部８３、油圧ポンプ流量増加率制御部８４を備えており、油圧ポンプ流量最大値演算部８１に操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、油圧ポンプ流量最大値演算部８１は、フロント部材毎に設定されたテーブルを参照して操作レバー１６の操作量に比例した油圧ポンプ流量最大値を演算する。 As shown in FIG. 3, the controller 80 includes a maximum hydraulic pump flow rate calculation unit 81, a motion direction gravity direction component calculation unit (gravity direction component calculation unit) 82, a hydraulic pump flow rate increase rate calculation unit 83, and a hydraulic pump flow rate increase rate. When the operation amount of the operation lever 16 detected by the operation pressure sensor 17 is input to the hydraulic pump maximum flow rate calculation unit 81, the hydraulic pump maximum flow amount calculation unit 81 is provided with a control unit 84, and the hydraulic pump maximum flow amount calculation unit 81 determines the front member for each front member. The maximum value of the hydraulic pump flow rate that is proportional to the operation amount of the operation lever 16 is calculated by referring to the table set in (1).

一方、動作方向重力方向成分演算部８２に、各フロント部材５，７，９の回転角センサ１１，１２，１３によって検出されたフロント部材回転角度と、車体の傾斜角度センサ１４によって検出された車体の傾斜角度と、操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、動作方向重力方向成分演算部８２は、オペレータが稼働しようとしているフロント部材５，７，９の動作の方向ベクトル（単位方向ベクトル）の重力方向成分の大きさを演算する。 On the other hand, in the motion direction gravity direction component calculation unit 82, the front member rotation angle detected by the rotation angle sensors 11, 12, 13 of the front members 5, 7, 9 and the vehicle body detected by the vehicle body inclination angle sensor 14 are detected. And the operation amount of the operation lever 16 detected by the operation pressure sensor 17 are input, the operation direction gravity direction component operation unit 82 causes the operation of the front members 5, 7, 9 which the operator is about to operate. The magnitude of the gravity direction component of the direction vector (unit direction vector) of is calculated.

ここで、図４に示すように、ブーム稼働中心とアーム稼働中心を結んだ線分をＬ１、アーム稼働中心とバケット稼働中心を結んだ線分をＬ２、バケット稼働中心とバケット先端を結んだ線分をＬ３とし、作業装置４が向いている方向の水平面に対する車体接地面のピッチ方向の傾斜角度をθ、車体接地面Ｅと線分Ｌ１との角度であるブーム角度をα、線分Ｌ１と線分Ｌ２の角度であるアーム角度をβ、線分Ｌ２と線分Ｌ３の角度であるバケット角度をγとすると、各フロント部材５，７，９の動作の方向ベクトルの重力方向成分は以下のような式で表せられる。なお、重力方向成分は、方向ベクトルの大きさを１とした場合（単位方向ベクトルを考えた場合）、その重力方向成分は０から±１までの値となる。 Here, as shown in FIG. 4, a line segment connecting the boom operation center and the arm operation center is L1, a line segment connecting the arm operation center and the bucket operation center is L2, and a line connecting the bucket operation center and the bucket tip. Let L3 be a portion, θ be the inclination angle of the ground contact surface of the vehicle body with respect to the horizontal plane in the direction in which the work device 4 is facing, α be the boom angle that is the angle between the body ground surface E and the line segment L1, and be the line segment L1. When the arm angle that is the angle of the line segment L2 is β and the bucket angle that is the angle of the line segment L2 and the line segment L3 is γ, the gravity direction component of the direction vector of the operation of each front member 5, 7, 9 is as follows. It can be expressed as It should be noted that the gravity direction component has a value from 0 to ±1 when the magnitude of the direction vector is 1 (when a unit direction vector is considered).

（１）ブーム５について
・ブーム上げ −ｃｏｓ（α＋θ）
・ブーム下げｃｏｓ（α＋θ）
（２）アーム７について
《α＋β＋θ≧９０°の場合》
・アーム引き −ｃｏｓ（α＋β＋θ）
・アーム押しｃｏｓ（α＋β＋θ）
《α＋β十θ＜９０°の場合》
・アーム引きｃｏｓ（α＋β＋θ）
・アーム押し −ｃｏｓ（α＋β＋θ）
（３）バケット９について
《α＋β＋γ＋θ≧２７０°の場合》
・バケット引きｃｏｓ（α＋β＋θ＋γ）
・バケット押し −ｃｏｓ（α＋β＋θ＋γ）
《α＋β＋γ＋θ＜２７０°の場合》
・バケット引き −ｃｏｓ（α＋β＋θ＋γ）
・バケット押しｃｏｓ（α＋β＋θ＋γ） (1) About boom 5 ・Boom up -cos(α+θ)
・Lower boom cos(α+θ)
(2) Regarding arm 7 <<when α+β+θ≧90°>>
・Arm pull-cos (α+β+θ)
・Arm push cos (α+β+θ)
<In the case of α + β + θ <90°>
・Arm pull cos (α+β+θ)
・Arm push-cos (α+β+θ)
(3) Regarding bucket 9 <<in the case of α+β+γ+θ≧270°>>
・Bucket pull cos(α+β+θ+γ)
・Pushing bucket -cos(α+β+θ+γ)
<<When α+β+γ+θ<270°>>
・Bucket pull-cos (α+β+θ+γ)
・Bucket push cos (α+β+θ+γ)

油圧ポンプ流量増加率演算部８３に動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分が入力されると、油圧ポンプ流量増加率演算部８３は、図５に示すようなテーブルを参照して油圧ポンプ流量増加率を演算する。図５は重力方向成分の大きさと油圧ポンプ流量増加率との関係を示す特性図であり、同図に示すように、動作開始時のフロント部材の動作方向の重力方向成分が大きいほど大きい油圧ポンプ流量増加率を出力し、動作開始時のフロント部材の動作方向の重力方向成分が小さいほど小さい油圧ポンプ流量増加率を出力するようになっている。 When the gravity direction component in the movement direction of the front member calculated by the movement direction gravity direction component calculation unit 82 is input to the hydraulic pump flow rate increase rate calculation unit 83, the hydraulic pump flow rate increase rate calculation unit 83 shows in FIG. The hydraulic pump flow rate increase rate is calculated with reference to such a table. FIG. 5 is a characteristic diagram showing the relationship between the magnitude of the gravity direction component and the hydraulic pump flow rate increase rate. As shown in FIG. 5, the greater the gravity direction component of the operation direction of the front member at the start of operation, the greater the hydraulic pump. The flow rate increase rate is output, and the smaller the gravity direction component of the operation direction of the front member at the start of operation is, the smaller the hydraulic pump flow rate increase rate is output.

図３に戻り、油圧ポンプ流量増加率制御部８４に油圧ポンプ流量最大値演算部８１で算出された油圧ポンプ流量最大値と油圧ポンプ流量増加率演算部８３で決定された油圧ポンプ流量増加率が入力されると、油圧ポンプ流量増加率制御部８４は、決定された油圧ポンプ流量増加率に従って操作レバー１６のレバー操作開始時から油圧ポンプ流量最大値まで油圧ポンプ流量を増加させるように、電気・油圧信号変換デバイス７０ａ，７０ｂに制御信号を出力する。これにより、電気・油圧信号変換デバイス７０ａ，７０ｂを介してレギュレータ４２ａ，４２ｂが制御され、油圧ポンプ４１ａ，４１ｂから油圧シリンダ６，８，１０へ供給される圧油の流量が制御される。 Returning to FIG. 3, the hydraulic pump flow rate increase rate control unit 84 displays the hydraulic pump flow rate maximum value calculated by the hydraulic pump flow rate maximum value calculation unit 81 and the hydraulic pump flow rate increase rate determined by the hydraulic pump flow rate increase rate calculation unit 83. When input, the hydraulic pump flow rate increase control unit 84 uses an electric/electric flow controller to increase the hydraulic pump flow rate from the start of lever operation of the operation lever 16 to the hydraulic pump flow rate maximum value according to the determined hydraulic pump flow rate increase rate. A control signal is output to the hydraulic signal conversion devices 70a and 70b. As a result, the regulators 42a, 42b are controlled via the electric/hydraulic signal conversion devices 70a, 70b, and the flow rate of the pressure oil supplied from the hydraulic pumps 41a, 41b to the hydraulic cylinders 6, 8, 10 is controlled.

前述したように、フロント部材５，７，９を重力方向と反対向きに動作させる場合、フロント部材５，７，９の自重が動作と反対方向に作用し、重力方向に動作させる時に比べてシリンダの加速度が遅くなるため、図６（ａ）の破線で示す比較例のように、油圧ポンプが吐出する流量の流量増加率が大きい場合、油圧シリンダ内への急激な圧油の供給によりシリンダ圧が急上昇してショックが発生する。一方、フロント部材５，７，９を重力方向に動作させる場合、フロント部材５，７，９の自重が動作方向に作用し、重力方向と反対向きに動作させる時に比べて油圧シリンダの加速度が速くなるため、図６（ｂ）の破線で示す比較例のように、油圧ポンプ流量の流量増加率が小さい場合、油圧シリンダ内の圧油が足りないことによる息継ぎが発生し、フロント部材の動作がハンチングしてしまうことがある。 As described above, when the front members 5, 7, 9 are operated in the direction opposite to the direction of gravity, the weight of the front members 5, 7, 9 acts in the direction opposite to the operation, and the cylinders are operated in the direction of gravity as compared with the case where they are operated in the direction of gravity. Since the acceleration of the cylinder becomes slow, when the flow rate increase rate of the flow rate discharged by the hydraulic pump is large, as in the comparative example shown by the broken line in FIG. 6A, the cylinder pressure is rapidly supplied to the hydraulic cylinder. Suddenly rises and a shock occurs. On the other hand, when the front members 5, 7, 9 are operated in the direction of gravity, the own weight of the front members 5, 7, 9 acts in the direction of operation, and the acceleration of the hydraulic cylinder is faster than when operating in the direction opposite to the direction of gravity. Therefore, when the flow rate increase rate of the hydraulic pump flow rate is small as in the comparative example shown by the broken line in FIG. 6B, breathing occurs due to insufficient pressure oil in the hydraulic cylinder, and the operation of the front member is reduced. You may end up hunting.

これに対して第１の実施形態では、動作開始時のフロント部材５，７，９の動作方向と姿勢を判別し、この動作状態に応じて油圧ポンプの流量増加率をフィードフォワード制御するようにしている。具体的には、フロント部材５，７，９を重力方向と反対向きに動作させる場合、図６の実線で示す実施例のように、油圧ポンプ４１ａ，４１ｂが吐出する流量の流量増加率を小さくすることにより、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。一方、フロント部材５，７，９を重力方向に動作させる場合、図６（ｂ）の実線で示す実施例のように、油圧ポンプ流量の流量増加率を大きくすることにより、シリンダ内の圧油不足による息継ぎの発生を防止することができる。 On the other hand, in the first embodiment, the operation direction and posture of the front members 5, 7, 9 at the start of the operation are determined, and the flow rate increase rate of the hydraulic pump is feedforward-controlled according to this operation state. ing. Specifically, when the front members 5, 7, 9 are operated in the direction opposite to the direction of gravity, the flow rate increase rate of the flow rates discharged by the hydraulic pumps 41a, 41b is reduced as in the embodiment shown by the solid line in FIG. By doing so, it is possible to prevent a sudden increase in cylinder pressure and prevent a shock from occurring. On the other hand, when the front members 5, 7, 9 are operated in the direction of gravity, the pressure increase rate of the hydraulic pump flow rate is increased as in the embodiment shown by the solid line in FIG. It is possible to prevent the occurrence of breathing due to a shortage.

以上説明したように、本発明の第１の実施形態では、各フロント部材の動作開始時における動作方向と姿勢を判別し、フロント部材の動作方向の重力方向成分が大きい場合、フロント部材の自重が動作方向と同じ方向に働く分シリンダ速度の加速度は大きくなるが、油圧ポンプ流量の増加率を大きくしているため、シリンダ内の圧油不足による息継ぎの発生を防止することができる。また、フロント部材の動作方向の重力方向成分が小さい場合、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、油圧ポンプ流量の増加率を小さくしているため、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 As described above, in the first embodiment of the present invention, the movement direction and posture of each front member at the time of starting the movement are determined, and when the gravity direction component of the movement direction of the front member is large, the weight of the front member is reduced. Although the acceleration of the cylinder speed increases by the amount of work in the same direction as the operation direction, since the increase rate of the hydraulic pump flow rate is increased, it is possible to prevent the occurrence of breathing due to lack of pressure oil in the cylinder. When the gravity component of the operation direction of the front member is small, the acceleration of the cylinder speed is reduced because the weight of the front member works in the opposite direction to the operation direction, but the increase rate of the hydraulic pump flow rate is reduced, It is possible to prevent a shock from occurring by suppressing a sharp increase in pressure.

次に、本発明の第２の実施形態を図７〜図９に基づいて説明すると、第２の実施形態が第１の実施形態と相違する点は、フロント部材の動作開始時における動作方向と姿勢にレバー操作量を加えた判断に基づいて油圧ポンプ流量の増加率を決定することにあり、それ以外の構成は基本的に同様である。 Next, a second embodiment of the present invention will be described based on FIG. 7 to FIG. 9. The difference between the second embodiment and the first embodiment is that the operation direction of the front member at the start of operation is different from that of the first embodiment. It is to determine the increase rate of the hydraulic pump flow rate based on the determination that the lever operation amount is added to the posture, and other configurations are basically the same.

すなわち、図７に示すように、第２の実施形態においても、コントローラ８０に備えられる油圧ポンプ流量最大値演算部８１は、操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、フロント部材毎に設定されたテーブルを参照して操作レバー１６の操作量に比例した油圧ポンプ流量最大値を演算する。一方、動作方向重力方向成分演算部８２は、各フロント部材５，７，９の回転角センサ１１，１２，１３によって検出されたフロント部材回転角度と、車体の傾斜角度センサ１４によって検出された車体の傾斜角度と、操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、オペレータが稼働しようとしているフロント部材の動作方向の重力方向成分の大きさを演算する。 That is, as shown in FIG. 7, also in the second embodiment, the operation amount of the operation lever 16 detected by the operation pressure sensor 17 is input to the hydraulic pump flow rate maximum value calculation unit 81 provided in the controller 80. Then, the maximum value of the hydraulic pump flow rate proportional to the operation amount of the operation lever 16 is calculated with reference to the table set for each front member. On the other hand, the operation direction gravity direction component calculation unit 82 includes a front member rotation angle detected by the rotation angle sensors 11, 12, 13 of the front members 5, 7, 9 and a vehicle body detected by the vehicle body inclination angle sensor 14. When the angle of inclination and the operation amount of the operation lever 16 detected by the operation pressure sensor 17 are input, the magnitude of the gravity direction component of the operation direction of the front member on which the operator is about to operate is calculated.

ここまでは第１の実施形態と同様であるが、第２の実施形態の場合は、油圧ポンプ流量最大値演算部８１で算出された油圧ポンプ流量最大値と動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分とが油圧ポンプ流量増加率演算部８３に入力される。油圧ポンプ流量増加率演算部８３は、油圧ポンプ流量最大値と動かそうとしているフロント部材の動作方向の重力方向成分とが入力されると、図８に示すような二次元のテーブルを参照して、油圧ポンプ流量増加率を演算する。 The process up to this point is the same as that of the first embodiment, but in the case of the second embodiment, the hydraulic pump flow rate maximum value calculated by the hydraulic pump flow rate maximum value calculation unit 81 and the operation direction gravity direction component calculation unit 82 are used. The calculated gravitational direction component of the operation direction of the front member is input to the hydraulic pump flow rate increase rate calculation unit 83. When the maximum hydraulic pump flow rate and the gravity direction component of the operating direction of the front member to be moved are input, the hydraulic pump flow rate increase calculation unit 83 refers to a two-dimensional table as shown in FIG. , Calculate the hydraulic pump flow rate increase rate.

図８は油圧ポンプ流量最大値（レバー操作量）と油圧ポンプ流量増加率との関係を示す特性図であり、大きさを異にする５種類の重力方向成分について表されている。同図に示すように、動作開始時のフロント部材の動作方向の重力方向成分が大きいほど大きい油圧ポンプ流量増加率を出力し、動作開始時のフロント部材の動作方向の重力方向成分が小さいほど小さい油圧ポンプ流量増加率を出力し、油圧ポンプ流量最大値が大きいほど大きい油圧ポンプ流量増加率を出力し、油圧ポンプ流量最大値が小さいほど小さい油圧ポンプ流量増加率を出力するようになっている。 FIG. 8 is a characteristic diagram showing the relationship between the maximum hydraulic pump flow rate (lever operation amount) and the hydraulic pump flow rate increase rate, and is represented for five types of gravity direction components having different sizes. As shown in the figure, the larger the gravity direction component of the operation direction of the front member at the start of operation is, the larger the hydraulic pump flow rate increase rate is output, and the smaller the gravity direction component of the operation direction of the front member at the start of operation is, the smaller it is. The hydraulic pump flow rate increase rate is output, and a larger hydraulic pump flow rate maximum value outputs a larger hydraulic pump flow rate increase rate, and a smaller hydraulic pump flow rate maximum value outputs a smaller hydraulic pump flow rate increase rate.

油圧ポンプ流量増加率制御部８４は、油圧ポンプ流量最大値演算部８１で算出された油圧ポンプ流量最大値と油圧ポンプ流量増加率演算部８３で決定された油圧ポンプ流量増加率が入力されると、操作レバー１６のレバー操作開始時から決定された油圧ポンプ流量増加率に従って油圧ポンプ流量最大値まで油圧ポンプ流量を補正する。そして、補正後の油圧ポンプ流量を電気・油圧信号変換デバイス７０ａ，７０ｂに出力してレギュレータ４２ａ，４２ｂを制御することにより、油圧ポンプ４１ａ，４１ｂから油圧シリンダへ供給される圧油の流量が制御される。 When the hydraulic pump flow rate increase rate control unit 84 receives the hydraulic pump flow rate maximum value calculated by the hydraulic pump flow rate maximum value calculation unit 81 and the hydraulic pump flow rate increase rate determined by the hydraulic pump flow rate increase rate calculation unit 83. The hydraulic pump flow rate is corrected to the maximum value of the hydraulic pump flow rate according to the hydraulic pump flow rate increase rate determined from the start of the lever operation of the operation lever 16. The corrected hydraulic pump flow rate is output to the electric/hydraulic signal conversion devices 70a and 70b to control the regulators 42a and 42b, thereby controlling the flow rate of the pressure oil supplied from the hydraulic pumps 41a and 41b to the hydraulic cylinders. To be done.

図９はレバー操作量とポンプ指令流量の関係を場合に分けて示すものであり、図９（ａ）は動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつ油圧ポンプ流量最大値が大きい時、図９（ｂ）は動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつ油圧ポンプ流量最大値が大きい時、図９（ｃ）は動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつ油圧ポンプ流量最大値が小さい時、図９（ｄ）は動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつ油圧ポンプ流量最大値が小さい時をそれぞれ示している。また、図９の下段における実線は、油圧ポンプ流量増加率制御部８４から電気・油圧信号変換デバイス７０ａ，７０ｂに出力される制御後の油圧ポンプ流量、図９の下段における破線は油圧ポンプ流量最大値演算部８１から油圧ポンプ流量増加率制御部８４に入力される制御前の油圧ポンプ流量をそれぞれ示している。 FIG. 9 shows the relationship between the lever operation amount and the pump command flow rate in different cases. FIG. 9A shows that the gravity direction component of the operation direction of the front member at the start of operation is large and the maximum hydraulic pump flow rate value. Is large, FIG. 9(b) shows that the gravity direction component of the operation direction of the front member at the start of operation is small, and the maximum hydraulic pump flow rate is large, and FIG. 9(c) shows the operation of the front member at the start of operation. 9D shows a case where the gravity direction component in the direction is large and the maximum hydraulic pump flow rate is small, FIG. 9D shows a case where the gravity direction component in the operation direction of the front member at the start of operation is small and the maximum hydraulic pump flow rate is small. Shown respectively. Further, the solid line in the lower part of FIG. 9 is the hydraulic pump flow amount after control output from the hydraulic pump flow rate increase rate control unit 84 to the electric/hydraulic signal conversion devices 70a and 70b, and the broken line in the lower part of FIG. 9 is the maximum hydraulic pump flow amount. The hydraulic pump flow rates before control, which are input from the value calculation section 81 to the hydraulic pump flow rate increase rate control section 84, are shown.

図９（ａ）に示すように、動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつ油圧ポンプ流量最大値が大きい時は、油圧ポンプ流量の流量増加率を大きくしてシリンダ内の圧油が不足しないようにし、図９（ｂ）に示すように、動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつ油圧ポンプ流量最大値が大きい時は、図９（ａ）の時に比べて油圧ポンプ流量の流量増加率を小さくしてシリンダ圧の急上昇を抑えるようにしている。また、図９（ｃ）に示すように、動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつ油圧ポンプ流量最大値が小さい時は、油圧ポンプ流量の流量増加率を大きくしてシリンダ内の圧油が不足しないようにし、図９（ｄ）に示すように、動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつ油圧ポンプ流量最大値が小さい時は、図９（ｃ）の時に比べて油圧ポンプ流量の流量増加率を小さくしてシリンダ圧の急上昇を抑えるようにしている。 As shown in FIG. 9A, when the gravity direction component of the operation direction of the front member at the start of operation is large and the maximum hydraulic pump flow rate value is large, the flow rate increase rate of the hydraulic pump flow rate is increased to increase the internal pressure of the cylinder. 9(b), when the component in the direction of gravity of the operation direction of the front member at the start of operation is small and the maximum hydraulic pump flow rate is large, as shown in FIG. 9(a), In this case, the rate of increase in the hydraulic pump flow rate is made smaller than in the case of (1) to suppress the rapid increase in cylinder pressure. Further, as shown in FIG. 9C, when the gravity direction component of the operation direction of the front member at the start of operation is large and the maximum hydraulic pump flow rate is small, the flow rate increase rate of the hydraulic pump flow rate is increased. When the pressure oil in the cylinder does not become insufficient, and when the gravity direction component of the operation direction of the front member at the start of operation is small and the maximum hydraulic pump flow rate value is small, as shown in FIG. Compared to the case of (c), the flow rate increase rate of the hydraulic pump flow rate is made smaller to suppress the rapid increase of the cylinder pressure.

以上説明したように、本発明の第２の実施形態では、各フロント部材の動作開始時における動作方向と姿勢およびレバー操作量（油圧ポンプ流量最大値）とを判別し、フロント部材の動作方向の重力方向成分が大きい場合、フロント部材の自重が動作方向と同じ方向に働く分シリンダ速度の加速度は大きくなるが、油圧ポンプ流量の増加率を大きくしているため、シリンダ内の圧油不足による息継ぎの発生を防止することができる。また、フロント部材の動作方向の重力方向成分が小さい場合、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、油圧ポンプ流量の増加率を小さくしているため、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 As described above, in the second embodiment of the present invention, the operation direction and posture of each front member at the start of operation and the lever operation amount (hydraulic pump flow rate maximum value) are determined to determine the operation direction of the front member. When the gravity component is large, the acceleration of the cylinder speed increases due to the fact that the weight of the front member acts in the same direction as the operating direction, but since the increase rate of the hydraulic pump flow rate is large, breathing due to insufficient pressure oil in the cylinder Can be prevented. When the gravity component of the operation direction of the front member is small, the acceleration of the cylinder speed is reduced because the weight of the front member works in the opposite direction to the operation direction, but the increase rate of the hydraulic pump flow rate is reduced, It is possible to prevent a shock from occurring by suppressing a sharp increase in pressure.

また、操作レバー１６の操作量が大きく油圧ポンプ流量最大値が大きい場合、シリンダの加速は大きくなるが、油圧ポンプ流量の増加率を大きくしているため、シリンダ内の圧油不足による息継ぎの発生を防止することができる。また、操作レバー１６の操作量が小さく油圧ポンプ流量最大値が小さい場合、シリンダの加速度は小さくなるが、油圧ポンプ流量の増加率を小さくしているため、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 Further, when the operation amount of the operation lever 16 is large and the maximum hydraulic pump flow rate is large, the acceleration of the cylinder is large, but since the increase rate of the hydraulic pump flow rate is large, the occurrence of breathing due to lack of pressure oil in the cylinder occurs. Can be prevented. Further, when the operation amount of the operation lever 16 is small and the maximum hydraulic pump flow rate is small, the acceleration of the cylinder is small, but since the increase rate of the hydraulic pump flow rate is small, a sudden increase in cylinder pressure is suppressed and a shock is generated. Can be prevented.

次に、本発明の第３の実施形態を図１０〜図１３に基づいて説明する。 Next, a third embodiment of the present invention will be described based on FIGS.

図１０に示すように、第３の実施形態に係る油圧システムは、ブームシリンダ６のボトム側とロッド側の負荷圧力を検出するブームシリンダ圧センサ２２と、アームシリンダ８のボトム側とロッド側の負荷圧力を検出するアームシリンダ圧センサ２３と、バケットシリンダ１０のボトム側とロッド側の負荷圧力を検出するバケットシリンダ圧センサ２４とを備えている点と、油圧ポンプ４１ａ，４１ｂの吐出圧力を検出するポンプ圧センサ４４ａ，４４ｂを備えている点と、オペレータが作業装置４のバケット部分に装着するアタッチメントを選択してコントローラ８０へ入力することが可能なアタッチメント選択スイッチ２５を備えている点と、コントローラ８０が後述するシリンダ圧センサ故障判定部とフロント部材重量・寸法記憶部８８を備えている点を除くと、全体構成は第１の実施形態と同様である。 As shown in FIG. 10, the hydraulic system according to the third embodiment includes a boom cylinder pressure sensor 22 that detects load pressure on the bottom side and rod side of the boom cylinder 6, and a bottom side and rod side of the arm cylinder 8. An arm cylinder pressure sensor 23 for detecting the load pressure, a bucket cylinder pressure sensor 24 for detecting the load pressure on the bottom side and the rod side of the bucket cylinder 10, and a discharge pressure of the hydraulic pumps 41a, 41b are detected. That the pump pressure sensors 44a and 44b are provided, and that the operator has an attachment selection switch 25 that can select an attachment to be mounted on the bucket portion of the work device 4 and input the attachment to the controller 80. The overall configuration is the same as that of the first embodiment, except that the controller 80 includes a cylinder pressure sensor failure determination unit and a front member weight/dimension storage unit 88 described later.

図１１に示すように、コントローラ８０は、油圧ポンプ流量最大値演算部８１、動作方向重力方向成分演算部８２、油圧ポンプ流量増加率演算部８３、油圧ポンプ流量増加率制御部８４に加えて、等価質量演算部８５、油圧ポンプ流量増加率係数演算部８６、補正後油圧ポンプ流量増加率演算部８７、フロント部材重量・寸法記憶部８８、シリンダ圧センサ故障判定部８９を備えている。 As shown in FIG. 11, the controller 80 includes, in addition to the maximum hydraulic pump flow rate calculation unit 81, the operation direction gravity direction component calculation unit 82, the hydraulic pump flow rate increase rate calculation unit 83, and the hydraulic pump flow rate increase rate control unit 84, An equivalent mass calculation unit 85, a hydraulic pump flow rate increase rate coefficient calculation unit 86, a corrected hydraulic pump flow rate increase rate calculation unit 87, a front member weight/dimension storage unit 88, and a cylinder pressure sensor failure determination unit 89 are provided.

第３の実施形態においても、コントローラ８０に備えられる油圧ポンプ流量最大値演算部８１は、操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、フロント部材毎に設定されたテーブルを参照して操作レバー１６の操作量に比例した油圧ポンプ流量最大値を演算する。一方、動作方向重力方向成分演算部８２は、各フロント部材５，７，９の回転角センサ１１，１２，１３によって検出されたフロント部材回転角度と、車体の傾斜角度センサ１４によって検出された車体の傾斜角度と、操作圧センサ１７によって検出された操作レバー１６の操作量が入力されると、オペレータが稼働しようとしているフロント部材の動作方向の重力方向成分の大きさを演算する。油圧ポンプ流量増加率演算部８３は、油圧ポンプ流量最大値演算部８１で算出された油圧ポンプ流量最大値と動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分とが入力されると、図８に示すような二次元のテーブルを参照して油圧ポンプ流量増加率を演算する。 Also in the third embodiment, the maximum hydraulic pump flow rate calculation unit 81 included in the controller 80 is set for each front member when the operation amount of the operation lever 16 detected by the operation pressure sensor 17 is input. The maximum value of the hydraulic pump flow rate that is proportional to the operation amount of the operation lever 16 is calculated with reference to the table. On the other hand, the operation direction gravity direction component calculation unit 82 includes a front member rotation angle detected by the rotation angle sensors 11, 12, 13 of the front members 5, 7, 9 and a vehicle body detected by the vehicle body inclination angle sensor 14. When the angle of inclination and the operation amount of the operation lever 16 detected by the operation pressure sensor 17 are input, the magnitude of the gravity direction component of the operation direction of the front member on which the operator is about to operate is calculated. The hydraulic pump flow rate increase rate calculation unit 83 calculates the maximum hydraulic pump flow rate calculated by the maximum hydraulic pump flow rate calculation unit 81 and the gravity direction component of the operation direction of the front member calculated by the operation direction gravity direction component calculation unit 82. Is input, the hydraulic pump flow rate increase rate is calculated with reference to a two-dimensional table as shown in FIG.

ここまでは第２の実施形態と同様であるが、第３の実施形態の場合は、等価質量演算部８５に、各フロント部材の回転角センサ１１，１２，１３によって検出されたフロント部材回転角度と、車体の傾斜角度センサ１４によって検出された車体の傾斜角度と、各シリンダ圧センサ２２，２３，２４によって検出されたシリンダ負荷圧力と、アタッチメント選択スイッチ２５による入力に基づいてフロント部材重量・寸法記憶部８８の記憶部から出力されるフロント部材の重量・寸法と入力されると、等価質量演算部８５がオペレータが稼働しようとしているフロント部材の等価質量を演算する。 Up to this point, the procedure is the same as in the second embodiment, but in the case of the third embodiment, the equivalent mass calculation unit 85 causes the front member rotation angle detected by the rotation angle sensors 11, 12, 13 of each front member. Based on the inclination angle of the vehicle body detected by the inclination angle sensor 14 of the vehicle body, the cylinder load pressure detected by each cylinder pressure sensor 22, 23, 24, and the input from the attachment selection switch 25, the weight and size of the front member are measured. When the weight and size of the front member output from the storage unit of the storage unit 88 are input, the equivalent mass calculation unit 85 calculates the equivalent mass of the front member that the operator is about to operate.

ここで、シリンダ圧センサ故障判定部８９は、各シリンダ圧センサ２２，２３，２４によって検出されたシリンダ負荷圧力とポンプ圧センサ４４ａ，４４ｂによって検出された油圧ポンプ４１ａ，４１ｂの吐出圧力とが入力されると、各シリンダ圧センサ２２，２３，２４が故障しているか否かを判断し、各シリンダ圧センサ２２，２３，２４に故障がないと判断した場合に、各シリンダ圧センサ２２，２３，２４によって検出されたシリンダ負荷圧力を等価質量演算部８５に入力する。一方、シリンダ圧センサ故障判定部８９は、各シリンダ圧センサ２２，２３，２４のいずれかが故障していると判断すると、シリンダ負荷圧力の代わりに、ポンプ圧センサ４４ａ，４４ｂによって検出された油圧ポンプ４１ａ，４１ｂの吐出圧力を等価質量演算部８５に入力する。 Here, the cylinder pressure sensor failure determination unit 89 inputs the cylinder load pressure detected by each cylinder pressure sensor 22, 23, 24 and the discharge pressure of the hydraulic pump 41a, 41b detected by the pump pressure sensor 44a, 44b. Then, it is determined whether or not each cylinder pressure sensor 22, 23, 24 has a failure, and when it is determined that each cylinder pressure sensor 22, 23, 24 has no failure, each cylinder pressure sensor 22, 23 , 24 is input to the equivalent mass calculation unit 85. On the other hand, when the cylinder pressure sensor failure determination unit 89 determines that one of the cylinder pressure sensors 22, 23, 24 has failed, the hydraulic pressure detected by the pump pressure sensors 44a, 44b instead of the cylinder load pressure. The discharge pressures of the pumps 41a and 41b are input to the equivalent mass calculation unit 85.

また、フロント部材重量・寸法記憶部８８の記憶部には、ブーム５、アーム７、バケット９の長さと重量、アタッチメント（ブレーカやカッター等）の長さと重量が記憶されており、例えば、バケット９の代わりにブレーカを使用する場合、フロント部材重量・寸法記憶部８８は、アタッチメント選択スイッチ２５からブレーカを指示する信号を受け取ると、ブレーカを含むフロント部材の重量・寸法に関するデータを等価質量演算部８５に入力する。 Further, the storage unit of the front member weight/dimension storage unit 88 stores the length and weight of the boom 5, the arm 7, the bucket 9, and the length and weight of the attachment (breaker, cutter, etc.). When a breaker is used instead of the breaker, when the front member weight/dimension storage unit 88 receives a signal instructing the breaker from the attachment selection switch 25, the equivalent mass calculation unit 85 outputs data regarding the weight/dimension of the front member including the breaker. To enter.

油圧ポンプ流量増加率係数演算部８６は、等価質量演算部８５で演算されたフロント部材の等価質量と動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分が入力されると、図１２に示すような二次元のテーブルを参照して油圧ポンプ流量増加率係数を演算する。 The hydraulic pump flow rate increase coefficient calculation unit 86 receives the equivalent mass of the front member calculated by the equivalent mass calculation unit 85 and the gravity direction component of the movement direction of the front member calculated by the movement direction gravity direction component calculation unit 82. Then, the hydraulic pump flow rate increase rate coefficient is calculated with reference to a two-dimensional table as shown in FIG.

図１２はフロント部材の等価質量と油圧ポンプ流量増加率計数との関係を示す特性図であり、大きさを異にする５種類の重力方向成分について表されている。同図に示すように、動作開始時のフロント部材の動作方向の重力方向成分が大きいほど、かつフロント部材の等価質量が大きいほど、油圧ポンプの流量増加率が大きくなるような係数を出力し、動作開始時のフロント部材の動作方向の重力方向成分が大きいほど、かつフロント部材の等価質量が小さいほど、油圧ポンプの流量増加率が小さくなるような係数を出力する。また、動作開始時のフロント部材の動作方向の重力方向成分が小さいほど、かつフロント部材の等価質量が大きいほど、油圧ポンプの流量増加率が小さくなるような係数を出力し、動作開始時のフロント部材の動作方向の重力方向成分が小さいほど、かつフロント部材の等価質量が小さいほど、油圧ポンプの流量増加率が大きくなるような係数を出力するようになっている。 FIG. 12 is a characteristic diagram showing the relationship between the equivalent mass of the front member and the hydraulic pump flow rate increase rate count, and is represented for five types of gravity direction components having different sizes. As shown in the figure, as the gravity direction component of the operation direction of the front member at the start of operation is larger, and as the equivalent mass of the front member is larger, a coefficient that increases the flow rate increase rate of the hydraulic pump is output, A coefficient is output such that the flow rate increase rate of the hydraulic pump becomes smaller as the gravity direction component of the operation direction of the front member at the start of operation becomes larger and the equivalent mass of the front member becomes smaller. Also, a coefficient is output such that the flow rate increase rate of the hydraulic pump becomes smaller as the component of the front member in the direction of gravity at the start of operation in the direction of gravity is smaller and the equivalent mass of the front member is larger. A coefficient is output such that the flow rate increase rate of the hydraulic pump increases as the component in the direction of gravity of the operation direction of the member decreases and the equivalent mass of the front member decreases.

補正後油圧ポンプ流量増加率演算部８７は、油圧ポンプ流量増加率係数演算部８６で演算された油圧ポンプ流量増加率係数と油圧ポンプ流量増加率演算部８３で演算された油圧ポンプ流量増加率とが入力されると、これら油圧ポンプ流量増加率係数と油圧ポンプ流量増加率を乗算して補正後油圧ポンプ流量増加率を演算する。 The corrected hydraulic pump flow rate increase rate calculation unit 87 calculates the hydraulic pump flow rate increase rate coefficient calculated by the hydraulic pump flow rate increase rate coefficient calculation unit 86 and the hydraulic pump flow rate increase rate calculated by the hydraulic pump flow rate increase rate calculation unit 83. Is input, the corrected hydraulic pump flow rate increase rate is calculated by multiplying the hydraulic pump flow rate increase rate coefficient and the hydraulic pump flow rate increase rate.

油圧ポンプ流量増加率制御部８４は、補正後油圧ポンプ流量増加率演算部８７で演算された補正後油圧ポンプ流量増加率と油圧ポンプ流量最大値演算部８１で算出された油圧ポンプ流量最大値とが入力されると、操作レバー１６のレバー操作開始時から決定された油圧ポンプ流量増加率に従って油圧ポンプ流量最大値まで油圧ポンプ流量を補正する。 The hydraulic pump flow rate increase rate control unit 84 calculates the corrected hydraulic pump flow rate increase rate calculated by the corrected hydraulic pump flow rate increase rate calculation unit 87 and the hydraulic pump flow rate maximum value calculated by the hydraulic pump flow rate maximum value calculation unit 81. Is input, the hydraulic pump flow rate is corrected to the maximum value of the hydraulic pump flow rate according to the hydraulic pump flow rate increase rate determined from the start of the lever operation of the operation lever 16.

図１３はレバー操作量とポンプ指令流量の関係を場合に分けて示す説明図であり、図１３（ａ）は動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつ油圧ポンプ流量最大値が大きい時、図１３（ｂ）は動作開始時のフロント部材の動作方向の重力方向成分が大きく、かつフロント部材の等価質量が小さい時、図１３（ｃ）は動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつフロント部材の等価質量が小さい時、図１３（ｄ）は動作開始時のフロント部材の動作方向の重力方向成分が小さく、かつフロント部材の等価質量が大きい時をそれぞれ示している。また、図１３の下段における実線は、油圧ポンプ流量増加率制御部８４から電気・油圧信号変換デバイス７０ａ，７０ｂに出力される制御後の油圧ポンプ流量、図１３の下段における破線は油圧ポンプ流量最大値演算部８１から油圧ポンプ流量増加率制御部８４に入力される制御前の油圧ポンプ流量をそれぞれ示している。 FIG. 13 is an explanatory view showing the relationship between the lever operation amount and the pump command flow rate in different cases, and FIG. 13A shows a large gravity direction component of the operation direction of the front member at the start of operation and a maximum hydraulic pump flow rate. When the value is large, FIG. 13(b) shows that the component of gravity in the direction of movement of the front member at the start of operation is large and the equivalent mass of the front member is small, and FIG. 13(c) shows that of the front member at the start of operation. When the gravity direction component of the operation direction is small and the equivalent mass of the front member is small, FIG. 13D shows when the gravity direction component of the operation direction of the front member at the start of operation is small and the equivalent mass of the front member is large. Are shown respectively. Further, the solid line in the lower part of FIG. 13 is the hydraulic pump flow rate after control output from the hydraulic pump flow rate increasing rate control unit 84 to the electric/hydraulic signal conversion devices 70a and 70b, and the broken line in the lower part of FIG. 13 is the maximum hydraulic pump flow rate. The hydraulic pump flow rates before control, which are input from the value calculation section 81 to the hydraulic pump flow rate increase rate control section 84, are shown.

図１３から明らかなように、動作開始時のフロント部材の動作方向の重力方向成分が大きい場合、油圧ポンプ流量の流量増加率を大きくしてシリンダ内の圧油が不足しないようし、その際、図１３（ａ）と図１３（ｂ）に示すように、フロント部材の等価質量が大きいほど油圧ポンプの流量増加率が大きくなるようにする。また、動作開始時のフロント部材の動作方向の重力方向成分が小さい場合、油圧ポンプ流量の流量増加率を小さくしてシリンダ圧の急上昇を抑えるようにし、その際、図１３（ｃ）と図１３（ｄ）に示すように、フロント部材の等価質量が大きいほど油圧ポンプの流量増加率が小さくなるようにする。そして、このような補正後の油圧ポンプ流量を電気・油圧信号変換デバイス７０ａ，７０ｂに出力してレギュレータ４２ａ，４２ｂを制御することにより、油圧ポンプ４１ａ，４１ｂから油圧シリンダへ供給される圧油の流量が制御される。 As is apparent from FIG. 13, when the gravity direction component of the operation direction of the front member at the start of the operation is large, the flow rate increase rate of the hydraulic pump flow rate is increased to prevent the pressure oil in the cylinder from becoming insufficient. As shown in FIGS. 13(a) and 13(b), the larger the equivalent mass of the front member, the larger the flow rate increase rate of the hydraulic pump. Further, when the gravity direction component of the operation direction of the front member at the start of the operation is small, the flow rate increase rate of the hydraulic pump flow rate is reduced to suppress the rapid increase of the cylinder pressure. As shown in (d), the larger the equivalent mass of the front member, the smaller the flow rate increase rate of the hydraulic pump. Then, by outputting the corrected hydraulic pump flow rate to the electric/hydraulic signal conversion devices 70a and 70b to control the regulators 42a and 42b, the pressure oil supplied from the hydraulic pumps 41a and 41b to the hydraulic cylinders can be changed. The flow rate is controlled.

以上説明したように、本発明の第３の実施形態では、各フロント部材の動作開始時における動作方向と姿勢とレバー操作量（油圧ポンプ流量最大値）と等価質量とを判別し、フロント部材の動作方向の重力方向成分が大きい場合、フロント部材の自重が動作方向と同じ方向に働く分シリンダ速度の加速度は大きくなるが、油圧ポンプ流量の増加率を大きくしているため、シリンダ内の圧油不足による息継ぎの発生を防止することができる。また、フロント部材の動作方向の重力方向成分が小さい場合、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、油圧ポンプ流量の増加率を小さくしているため、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 As described above, in the third embodiment of the present invention, the operation direction and posture of each front member at the start of operation, the lever operation amount (maximum hydraulic pump flow rate) and the equivalent mass are determined, and the front member of the front member is determined. When the gravity component of the operation direction is large, the acceleration of the cylinder speed increases as much as the weight of the front member acts in the same direction as the operation direction, but the increase rate of the hydraulic pump flow rate increases, so the pressure oil in the cylinder increases. It is possible to prevent the occurrence of breathing due to a shortage. When the gravity component of the operation direction of the front member is small, the acceleration of the cylinder speed is reduced because the weight of the front member works in the opposite direction to the operation direction, but the increase rate of the hydraulic pump flow rate is reduced, It is possible to prevent a shock from occurring by suppressing a sharp increase in pressure.

また、フロント部材の先端が車体の中心から遠い場合、フロント部材の動作方向が重力方向のときは、フロント部材の先端が車体の中心に近い場合に比べてシリンダの加速度は大きくなるが、ポンプ流量の増加率が大きくなるように係数を掛けて補正することによってシリンダの息継ぎの発生を防止できる。一方、フロント部材の動作方向が鉛直上向きのときは、フロント部材の先端が車体の中心に近い場合に比べて、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、ポンプ流量の増加率を小さくなるように係数を掛けて補正することで、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 Also, when the front end of the front member is far from the center of the vehicle body, the cylinder acceleration is larger when the front member operates in the direction of gravity than when the front member front end is closer to the center of the vehicle body. It is possible to prevent the occurrence of breathing of the cylinder by multiplying by a coefficient so as to increase the increase rate. On the other hand, when the operation direction of the front member is vertically upward, the acceleration of the cylinder speed becomes smaller as compared with the case where the front end of the front member is closer to the center of the vehicle body, because the own weight of the front member acts in the opposite direction to the operation direction. By multiplying and correcting the increase rate of the pump flow rate so as to be small, it is possible to suppress the sudden increase of the cylinder pressure and prevent the occurrence of shock.

また、フロント部材の先端が車体の中心に近い場合、フロント部材の動作方向が重力方向のときは、フロント部材の先端が車体の中心から遠い場合に比べてシリンダの加速度は小さくなるが、ポンプ流量の増加率が小さくなるように係数を掛けて補正することで、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。一方、フロント部材の動作方向が鉛直上向きのときは、フロント部材の先端が車体の中心から遠い場合に比べて、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は大きくなるが、ポンプ流量の増加率が大きくなるように係数を掛けて補正することによってシリンダの息継ぎの発生を防止できる。 Also, when the front end of the front member is close to the center of the vehicle body, the cylinder acceleration is smaller when the front member operates in the gravity direction than when the front member front end is far from the center of the vehicle body. By multiplying by a coefficient so as to reduce the rate of increase of, the cylinder pressure can be prevented from rising rapidly and a shock can be prevented. On the other hand, when the operation direction of the front member is vertically upward, the acceleration of the cylinder speed is larger than that when the front end of the front member is far from the center of the vehicle body, because the own weight of the front member acts in the opposite direction to the operation direction. The occurrence of breathing of the cylinder can be prevented by multiplying by a coefficient so as to increase the rate of increase of the pump flow rate and making a correction.

しかも、本発明の第３の実施形態では、シリンダ圧センサ２２，２３，２４が故障した場合でも、それをシリンダ圧センサ故障判定部８９によって感知して、代わりにポンプ圧センサ４４ａ，４４ｂの測定値を用いるようにしたので、正常時に近い精度でフロント部材の等価質量を演算することができる。 Moreover, in the third embodiment of the present invention, even if the cylinder pressure sensors 22, 23, 24 fail, they are sensed by the cylinder pressure sensor failure determination unit 89, and instead the pump pressure sensors 44a, 44b are measured. Since the value is used, the equivalent mass of the front member can be calculated with an accuracy close to that in the normal state.

さらに、本発明の第３の実施形態では、オペレータがアタッチメント選択スイッチ２５を用いてバケット部分に装着されたアタッチメントを選択し、フロント部材重量・寸法記憶部８８に記憶されているフロント部材やアタッチメントの寸法と重量に関するデータを等価質量の演算に用いているため、バケット部分を各アタッチメントに交換した際にも正確にフロント部材の等価質量を演算することができる。 Further, in the third embodiment of the present invention, the operator uses the attachment selection switch 25 to select the attachment mounted on the bucket portion, and the operator selects one of the front members and the attachments stored in the front member weight/dimension storage unit 88. Since the data regarding the dimensions and the weight are used for the calculation of the equivalent mass, the equivalent mass of the front member can be accurately calculated even when the bucket portion is replaced with each attachment.

なお、上記した第３の実施形態では、油圧ポンプ流量増加率係数演算部８６に等価質量演算部８５で演算されたフロント部材の等価質量と動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分とを入力することにより、油圧ポンプ流量増加率係数演算部８６が油圧ポンプ流量増加率係数を演算するようにしているが、図１４に示す第４の実施形態のように、等価質量演算部８５の代わりに積荷質量演算部９０を用いるようにしても良い。 In the third embodiment described above, the equivalent mass of the front member calculated by the equivalent mass calculation unit 85 in the hydraulic pump flow rate increase coefficient calculation unit 86 and the front member calculated by the operation direction gravity direction component calculation unit 82. The hydraulic pump flow rate increase rate coefficient calculation unit 86 calculates the hydraulic pump flow rate increase rate coefficient by inputting the gravitational direction component of the motion direction of the above. However, as in the fourth embodiment shown in FIG. Further, the load mass calculation unit 90 may be used instead of the equivalent mass calculation unit 85.

すなわち、図１４に示すように、積荷質量演算部９０にはバケットシリンダ圧センサ２４によって検出されるバケットシリンダ１０の負荷圧力が入力され、その検出値に基づいて積荷質量演算部９０はバケット９の積荷質量を演算する。この積荷質量演算部９０で演算されたバケットの積荷質量と動作方向重力方向成分演算部８２で演算されたフロント部材の動作方向の重力方向成分が油圧ポンプ流量増加率係数演算部８６に入力されると、油圧ポンプ流量増加率係数演算部８６は補正後油圧ポンプ流量増加率演算部８７に入力すべき油圧ポンプ流量増加率係数を演算する。なお、それ以外の構成は第３の実施形態と同様であるため、ここでは重複する説明を省略することとする。 That is, as shown in FIG. 14, the load pressure of the bucket cylinder 10 detected by the bucket cylinder pressure sensor 24 is input to the load mass calculation unit 90, and the load mass calculation unit 90 of the bucket 9 detects the load pressure based on the detected value. Calculate the cargo mass. The load mass of the bucket calculated by the load mass calculation unit 90 and the gravity direction component in the operation direction of the front member calculated by the operation direction gravity direction component calculation unit 82 are input to the hydraulic pump flow rate increase rate coefficient calculation unit 86. Then, the hydraulic pump flow rate increase rate calculation unit 86 calculates the hydraulic pump flow rate increase rate coefficient to be input to the corrected hydraulic pump flow rate increase rate calculation unit 87. Since the other configuration is the same as that of the third embodiment, duplicate description will be omitted here.

このように構成された第４の実施形態では、各フロント部材の動作開始時における動作方向と姿勢とレバー操作量（油圧ポンプ流量最大値）と積荷質量を判別し、フロント部材の動作方向の重力方向成分が大きい場合、フロント部材の自重が動作方向と同じ方向に働く分シリンダ速度の加速度は大きくなるが、油圧ポンプ流量の増加率を大きくしているため、シリンダ内の圧油不足による息継ぎの発生を防止することができる。また、フロント部材の動作方向の重力方向成分が小さい場合、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、油圧ポンプ流量の増加率を小さくしているため、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 In the fourth embodiment configured in this way, the movement direction and posture of each front member at the start of movement, the lever operation amount (maximum hydraulic pump flow rate), and the load mass are determined, and the gravity in the movement direction of the front member is determined. If the directional component is large, the acceleration of the cylinder speed increases as much as the weight of the front member acts in the same direction as the operating direction, but since the increase rate of the hydraulic pump flow rate is large, breathing due to insufficient pressure oil in the cylinder Occurrence can be prevented. When the gravity component of the operation direction of the front member is small, the acceleration of the cylinder speed is reduced because the weight of the front member works in the opposite direction to the operation direction, but the increase rate of the hydraulic pump flow rate is reduced, It is possible to prevent a shock from occurring by suppressing a sharp increase in pressure.

バケット９に土砂等の積荷がある場合、フロント部材の動作方向が重力方向のときは、バケット９が空荷の場合に比べてシリンダの加速度は大きくなるが、ポンプ流量の増加率が大きくなるように係数を掛けて補正することによってシリンダの息継ぎの発生を防止できる。一方、フロント部材の動作方向が鉛直上向きのときは、バケット９が空荷の場合に比べて、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は小さくなるが、ポンプ流量の増加率を小さくなるように係数を掛けて補正することで、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。 When the bucket 9 has a load such as earth and sand, when the operation direction of the front member is the gravity direction, the acceleration of the cylinder is higher than that when the bucket 9 is an empty load, but the increase rate of the pump flow rate is high. It is possible to prevent the occurrence of breathing of the cylinder by multiplying by and correcting. On the other hand, when the operation direction of the front member is vertically upward, the acceleration of the cylinder speed becomes smaller as compared with the case where the bucket 9 is unloaded, because the own weight of the front member acts in the opposite direction to the operation direction, but the pump flow rate increases. By multiplying by a coefficient so as to reduce the rate and making a correction, it is possible to suppress a sudden increase in cylinder pressure and prevent a shock from occurring.

また、バケット９が空荷の場合、フロント部材の動作方向が重力方向のときは、バケット９に土砂等の積荷がある場合に比べてシリンダの加速度は小さくなるが、ポンプ流量の増加率が小さくなるように係数を掛けて補正することで、シリンダ圧の急上昇を抑えてショックの発生を防止することができる。一方、フロント部材の動作方向が鉛直上向きのときは、バケット９に土砂等の積荷がある場合に比べて、フロント部材の自重が動作方向と逆に働く分シリンダ速度の加速度は大きくなるが、ポンプ流量の増加率が大きくなるように係数を掛けて補正することによってシリンダの息継ぎの発生を防止できる。 Further, when the bucket 9 is empty, when the operation direction of the front member is the direction of gravity, the acceleration of the cylinder is smaller than when the bucket 9 has a load of earth and sand, but the increase rate of the pump flow rate is small. By multiplying the coefficient so that the correction is performed, it is possible to suppress a sudden increase in the cylinder pressure and prevent a shock from occurring. On the other hand, when the operation direction of the front member is vertically upward, the acceleration of the cylinder speed increases as compared with the case where the bucket 9 has a load such as earth and sand, but the self-weight of the front member acts in the opposite direction to the operation direction. The occurrence of breathing of the cylinder can be prevented by multiplying by a coefficient so as to increase the rate of increase of the flow rate and performing correction.

なお、上述した各実施形態は、本発明の説明のための例示であり、本発明の範囲をそれらの実施形態にのみ限定する趣旨ではない。当業者は、本発明の要旨を逸脱することなしに、他の様々な態様で本発明を実施することができる。 In addition, each of the above-described embodiments is an example for describing the present invention, and does not purport to limit the scope of the present invention to only those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

１油圧ショベル
４作業装置
５ブーム（フロント部材）
６ブームシリンダ（アクチュエータ）
７アーム（フロント部材）
８アームシリンダ（アクチュエータ）
９バケット（フロント部材）
１０バケットシリンダ（アクチュエータ）
１１ブーム回転角センサ（位置検出器）
１２アーム回転角センサ（位置検出器）
１３バケット回転角センサ（位置検出器）
１４傾斜角度センサ（傾斜角度検出器）
１６操作レバー（操作装置）
１７操作圧センサ（操作量検出器）
２１エンジン
２２ブームシリンダ圧センサ（シリンダ圧力検出器）
２３アームシリンダ圧センサ（シリンダ圧力検出器）
２４バケットシリンダ圧センサ（シリンダ圧力検出器）
４１ａ，４１ｂ油圧ポンプ
４２ａ，４２ｂレギュレータ
８０コントローラ
８１油圧ポンプ流量最大値演算部
８２動作方向重力方向成分演算部（重力方向成分演算部）
８３油圧ポンプ流量増加率演算部
８４油圧ポンプ流量増加率制御部
８５等価質量演算部
８６油圧ポンプ流量増加率係数演算部（補正係数演算部）
８７補正後油圧ポンプ流量増加率演算部
８８フロント部材重量・寸法記憶部
９０積荷質量演算部

1 Hydraulic excavator 4 Working device 5 Boom (front member)
6 Boom cylinder (actuator)
7 arms (front member)
8 arm cylinder (actuator)
9 bucket (front member)
10 Bucket cylinder (actuator)
11 Boom rotation angle sensor (position detector)
12 Arm rotation angle sensor (position detector)
13 Bucket rotation angle sensor (position detector)
14 Tilt angle sensor (tilt angle detector)
16 Control lever (control device)
17 Operation pressure sensor (operation amount detector)
21 engine 22 boom cylinder pressure sensor (cylinder pressure detector)
23 Arm cylinder pressure sensor (cylinder pressure detector)
24 Bucket cylinder pressure sensor (cylinder pressure detector)
41a, 41b Hydraulic pump 42a, 42b Regulator 80 Controller 81 Maximum hydraulic pump flow rate calculation unit 82 Operation direction Gravity direction component calculation unit (Gravity direction component calculation unit)
83 hydraulic pump flow rate increase rate calculation unit 84 hydraulic pump flow rate increase rate control unit 85 equivalent mass calculation unit 86 hydraulic pump flow rate increase rate calculation unit (correction coefficient calculation unit)
87 Corrected hydraulic pump flow rate increase rate calculation unit 88 Front member weight/dimension storage unit 90 Load mass calculation unit

Claims

An engine, a variable displacement hydraulic pump that uses the engine as a drive source, an actuator that is driven by pressure oil discharged from the hydraulic pump, a front member that is driven by expansion and contraction of the actuator, and a flow rate of the hydraulic pump. A controller for controlling, an operating device for operating the front member, an operation amount detector for detecting an operation amount of the operating device, a position detector for detecting a relative position of the front member, and a bottom side of the actuator. In a working machine having a cylinder pressure detector for detecting load pressure on the rod side ,
The controller is
Gravity direction component calculation for calculating the magnitude of the gravity direction component of the direction vector of the movement of the front member at the start of the movement of the front member, based on the output value of the position detector and the output value of the manipulated variable detector. Department,
A hydraulic pump flow rate maximum value calculation unit that calculates a final hydraulic pump flow rate maximum value of the pressure oil discharged from the hydraulic pump based on the output value of the operation amount detector;
A hydraulic pump flow rate increase calculation unit that calculates a hydraulic pump flow rate increase rate of the pressure oil discharged from the hydraulic pump based on the output value of the gravity direction component calculation unit;
An equivalent mass calculator that calculates the equivalent mass of the front member based on the output value of the cylinder pressure detector and the output value of the position detector;
A correction coefficient for correcting the hydraulic pump flow rate increase rate calculated by the hydraulic pump flow rate increase rate calculation section is calculated based on the output value of the gravity direction component calculation section and the output value of the equivalent mass calculation section. A correction coefficient calculation unit,
A corrected hydraulic pump that calculates a corrected hydraulic pump flow rate by multiplying the correction coefficient output from the correction coefficient calculation section and the hydraulic pump flow rate increase rate output from the hydraulic pump flow rate increase rate calculation section. And a flow rate increase rate calculation unit ,
The controller controls to increase the flow rate of the hydraulic pump up to the hydraulic pump flow rate maximum value according to the corrected hydraulic pump flow rate increase rate,
The hydraulic pump flow rate increase rate calculation unit,
The larger the gravity direction component of the direction vector, the larger the hydraulic pump flow rate increase rate, and the smaller the gravity vector component of the direction vector, the smaller the hydraulic pump flow rate increase rate.
When the front member operates in the direction of gravity, the hydraulic pump flow rate increase rate is calculated so that the hydraulic pump flow rate increase rate is higher when the equivalent weight of the front member is larger than when it is small,
When the front member operates in the direction opposite to the direction of gravity, the hydraulic pump flow rate increase rate is calculated such that the hydraulic pump flow rate increase rate is higher when the equivalent weight of the front member is smaller than when it is large. A working machine characterized by:

The work machine according to claim 1,
The hydraulic pump flow rate increase rate is higher on the basis of the output value from the hydraulic pump flow rate maximum value calculation section when the hydraulic pump flow rate maximum value is larger than when the hydraulic pump flow rate maximum value is small. A working machine that is characterized by the calculation.

The working machine according to claim 1 or 2,
The hydraulic pump flow rate increase rate calculation unit increases the hydraulic pump flow rate increase rate as the hydraulic pump flow rate maximum value increases, based on the output value from the hydraulic pump flow rate maximum value calculation unit. A working machine, wherein the hydraulic pump flow rate increase rate is calculated such that the smaller the value, the smaller the hydraulic pump flow rate increase rate.

The work machine according to claim 1 ,
The correction coefficient calculation unit,
The correction coefficient is output such that the larger the gravity direction component of the direction vector is, and the larger the equivalent mass of the front member is, the larger the increase rate of the hydraulic pump flow rate is,
The correction coefficient is output such that the hydraulic pump flow rate increase rate decreases as the gravity direction component of the direction vector increases and the equivalent mass of the front member decreases.
The correction coefficient is output such that the hydraulic pump flow rate increase rate decreases as the gravity direction component of the direction vector decreases and the equivalent mass of the front member increases.
A working machine, wherein the correction coefficient is output such that the hydraulic pump flow rate increase rate increases as the gravity vector component of the direction vector decreases and the equivalent mass of the front member decreases.

The working machine according to any one of claims 1 to 5 ,
The position detector includes a rotation angle detector that detects a rotation angle of the front member, and a tilt angle detector that detects a tilt angle of a vehicle body to which the front member is attached. ..