JP6752183B2 - 油圧作業機械 - Google Patents
油圧作業機械 Download PDFInfo
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- JP6752183B2 JP6752183B2 JP2017172515A JP2017172515A JP6752183B2 JP 6752183 B2 JP6752183 B2 JP 6752183B2 JP 2017172515 A JP2017172515 A JP 2017172515A JP 2017172515 A JP2017172515 A JP 2017172515A JP 6752183 B2 JP6752183 B2 JP 6752183B2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/007—Installations or systems with two or more pumps or pump cylinders, wherein the flow-path through the stages can be changed, e.g. from series to parallel
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/001—Servomotor systems with fluidic control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/423—Motor capacity control by fluid pressure control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/68—Inputs being a function of gearing status
- F16H2059/6838—Sensing gearing status of hydrostatic transmissions
- F16H2059/6861—Sensing gearing status of hydrostatic transmissions the pressures, e.g. high, low or differential pressures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
- F16H2061/1212—Plausibility checks; Counting means for repeated failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
- F16H2061/1216—Display or indication of detected failures
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Description
作業時は、フロント操作または旋回操作が行われるため、走行単独操作判定部71の判定結果は偽となり、診断条件判定部75の判定結果も偽となる。これにより、差圧値算出部81で算出された差圧値は有効差圧値抽出部82によって抽出されないため、異常判定部83による左右の走行装置50,60の異常判定は行われない。これにより、フロント作業装置103または上部旋回体102を駆動する作業時に、左右の走行装置50,60が異常と誤判定されることを防止できる。
ステアリング走行時は、走行操作のみが検出されるため、走行単独操作判定部71による判定結果は真となる。一方、ステアリング走行時は、第1ポンプ傾転指令値と第2ポンプ傾転指令値との差が大きくなるため、直進走行判定部74の判定結果は偽となり、診断条件判定部75の判定結果も偽となる。これにより、差圧値算出部81で算出された差圧値は有効差圧値抽出部82によって抽出されないため、異常判定部83による左右の走行装置50,60の異常判定は行われない。その結果、左右の走行装置50,60が同等に駆動されていない走行時に、左右の走行装置50,60が異常と誤判定されることを防止できる。
直進走行時は、走行操作のみが検出されるため、走行単独操作判定部71の判定結果は真となる。また、直進走行時は、第1ポンプ傾転指令値と第2ポンプ傾転指令値とが同程度であるため、直進走行判定部74の判定結果は真となり、診断条件判定部75の判定結果も真となる。これにより、差圧値算出部81で算出された差圧値は有効差圧値抽出部82によって抽出されるため、異常判定部83により左右の走行装置50,60の異常判定が行われる。
Claims (7)
- 可変容量型の第1油圧ポンプおよび第2油圧ポンプと、
前記第1油圧ポンプから供給される圧油によって駆動される左走行油圧モータを有する左走行装置と、
前記第2油圧ポンプから供給される圧油によって駆動される右走行油圧モータを有する右走行装置と、
前記第1油圧ポンプまたは前記第2油圧ポンプから供給される圧油によって駆動される油圧アクチュエータと、
前記油圧アクチュエータによって駆動される作業装置と、
前記左走行装置を操作するための左走行操作装置と、
前記右走行装置を操作するための右走行操作装置と、
前記作業装置を操作するための作業操作装置と、
前記左走行操作装置および前記右走行操作装置の操作に応じて前記第1油圧ポンプおよび前記第2油圧ポンプのポンプ容量を制御する制御装置と、
前記左走行操作装置および前記右走行操作装置の操作内容を判定する走行操作検出装置と、
前記作業操作装置の操作内容を判定する作業操作検出装置とを備えた作業機械において、
前記第1油圧ポンプの吐出圧である第1ポンプ圧力を検出する第1圧力検出装置と、
前記第2油圧ポンプの吐出圧である第2ポンプ圧力を検出する第2圧力検出装置とを更に備え、
前記制御装置は、前記左走行操作装置および前記右走行操作装置のみが操作され、かつ前記左走行操作装置および前記右走行操作装置のそれぞれの操作に基づいて前記第1油圧ポンプおよび前記第2油圧ポンプのポンプ容量の指令値が等しくなることで前記第1油圧ポンプから前記左走行油圧モータに供給される圧油の流量と前記第2油圧ポンプから前記右走行油圧モータに供給される圧油の流量とが等しくなり、これによって前記左走行装置および前記右走行装置が直進走行中であると判定した場合に、前記第1ポンプ圧力および前記第2ポンプ圧力の一方から他方を差し引いた値に基づいて異常判定評価値を算出し、この異常判定評価値と所定の判定基準値との比較結果に基づいて前記左走行装置および前記右走行装置のいずれか一方に異常があると判定する
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記制御装置は、前記第1油圧ポンプのポンプ容量と前記第2油圧ポンプのポンプ容量との差分が所定の閾値よりも小さいときに、前記左走行装置および前記右走行装置が直進走行中であると判定する
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記制御装置は、前記異常判定評価値を算出する前に、前記第1圧力検出装置および前記第2圧力検出装置で検出された各圧力値に対してローパスフィルタ処理を行う
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記制御装置は、前記第1ポンプ圧力および前記第2ポンプ圧力の一方から他方を差し引いた値を前記異常判定評価値として算出する
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記制御装置は、前記第1ポンプ圧力および前記第2ポンプ圧力の一方から他方を差し引いた値の積算値を前記異常判定評価値として算出する
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記制御装置は、前記第1ポンプ圧力または第2ポンプ圧力が所定の圧力よりも小さい場合は、前記異常判定評価値を算出しない
ことを特徴とする油圧作業機械。 - 請求項1に記載の油圧作業機械において、
前記左走行装置および前記右走行装置の走行モードを選択するための走行モード選択装置を更に備え、
前記左走行油圧モータおよび前記右走行油圧モータは、それぞれ、可変容量型の油圧モータであり、
前記制御装置は、前記走行モード選択装置によって選択された走行モードに応じて前記左走行油圧モータおよび前記右走行油圧モータのモータ容量を制御し、
前記制御装置は、前記走行モード選択装置によって選択された走行モードごとに前記異常判定評価値を算出し、前記走行モード選択装置によって選択された走行モードに応じて前記所定の判定基準値を切り換える
ことを特徴とする油圧作業機械。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017172515A JP6752183B2 (ja) | 2017-09-07 | 2017-09-07 | 油圧作業機械 |
PCT/JP2018/029869 WO2019049603A1 (ja) | 2017-09-07 | 2018-08-09 | 油圧作業機械 |
CN201880015670.7A CN110382791B (zh) | 2017-09-07 | 2018-08-09 | 液压工作机械 |
US16/493,052 US11274418B2 (en) | 2017-09-07 | 2018-08-09 | Hydraulic work machine |
KR1020197025933A KR102325861B1 (ko) | 2017-09-07 | 2018-08-09 | 유압 작업 기계 |
EP18854388.8A EP3581718B1 (en) | 2017-09-07 | 2018-08-09 | Hydraulic working machine |
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US10801617B2 (en) * | 2018-01-05 | 2020-10-13 | Cnh Industrial America Llc | Propel system with active pump displacement control for balancing propel pump pressures in agricultural vehicles |
JP7441718B2 (ja) * | 2020-05-07 | 2024-03-01 | 国立大学法人広島大学 | 故障予測システム及び故障予測方法 |
US20220049469A1 (en) * | 2020-08-15 | 2022-02-17 | Kubota Corporation | Working machine |
JP7478113B2 (ja) | 2020-08-15 | 2024-05-02 | 株式会社クボタ | 作業機 |
US20220049461A1 (en) * | 2020-08-15 | 2022-02-17 | Kubota Corporation | Working machine |
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JPH086837Y2 (ja) | 1989-10-31 | 1996-02-28 | 油谷重工株式会社 | 走行速度の制限回路 |
JP3133523B2 (ja) * | 1992-11-24 | 2001-02-13 | 株式会社小松製作所 | 4輪走行装置の制御装置 |
JP3314886B2 (ja) * | 1992-11-24 | 2002-08-19 | 株式会社小松製作所 | 4輪走行装置の油圧駆動系異常検出装置 |
JPH0932041A (ja) | 1995-07-24 | 1997-02-04 | Yutani Heavy Ind Ltd | 作業車両の制御装置 |
DE60140090D1 (de) * | 2001-01-19 | 2009-11-12 | Hitachi Construction Machinery | Hydraulikmotor-Störungsdetektor und hydraulisch angetriebenes Fahrzeug |
JP2003148419A (ja) | 2001-11-08 | 2003-05-21 | Hitachi Constr Mach Co Ltd | 走行モータの駆動装置 |
JP2004074331A (ja) * | 2002-08-13 | 2004-03-11 | Shin Caterpillar Mitsubishi Ltd | ブレーカ用作動油供給制御システム及び供給制御方法 |
CN100451353C (zh) * | 2003-11-14 | 2009-01-14 | 株式会社小松制作所 | 建设机械的油压控制装置 |
JP2005344818A (ja) | 2004-06-02 | 2005-12-15 | Hitachi Constr Mach Co Ltd | 建設機械の油圧装置 |
JP2006084315A (ja) * | 2004-09-16 | 2006-03-30 | Mitsubishi Agricult Mach Co Ltd | 回転体の回転数検出装置及び回転制御装置 |
KR101276982B1 (ko) * | 2006-04-19 | 2013-06-19 | 두산인프라코어 주식회사 | 굴삭기의 주행복합동작 제어용 유압시스템 |
JP2010148435A (ja) * | 2008-12-25 | 2010-07-08 | Iseki & Co Ltd | コンバイン |
JP5220917B2 (ja) | 2009-03-24 | 2013-06-26 | 日立建機株式会社 | 建設機械の異常検出装置 |
JP2010254203A (ja) * | 2009-04-28 | 2010-11-11 | Hitachi Ltd | 動力装置 |
DE102010009704A1 (de) * | 2010-03-01 | 2011-09-01 | Robert Bosch Gmbh | Hydraulischer Fahrantrieb und Verfahren zum Steuern eines derartigen Fahrantriebs |
KR101213528B1 (ko) | 2010-05-20 | 2012-12-18 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 작업 차량의 제어 방법 |
EP2662576B1 (en) | 2011-01-06 | 2021-06-02 | Hitachi Construction Machinery Tierra Co., Ltd. | Hydraulic drive of work machine equipped with crawler-type traveling device |
JP5499334B2 (ja) | 2011-06-21 | 2014-05-21 | 日立建機株式会社 | 液圧回転機の摩耗検出装置 |
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JP5974684B2 (ja) * | 2012-07-03 | 2016-08-23 | コベルコ建機株式会社 | 建設機械の油圧制御装置 |
KR101825752B1 (ko) * | 2012-08-17 | 2018-02-06 | 현대건설기계 주식회사 | 휠 굴삭기의 주행 제어 시스템 및 방법 |
JP2015135031A (ja) * | 2014-01-20 | 2015-07-27 | コベルコ建機株式会社 | 走行式油圧作業機械 |
CN105986592B (zh) | 2015-02-11 | 2021-07-13 | 住友建机株式会社 | 挖土机及挖土机的管理装置 |
JP6510396B2 (ja) * | 2015-12-28 | 2019-05-08 | 日立建機株式会社 | 作業機械 |
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KR102325861B1 (ko) | 2021-11-12 |
CN110382791A (zh) | 2019-10-25 |
US20200018043A1 (en) | 2020-01-16 |
KR20190113916A (ko) | 2019-10-08 |
WO2019049603A1 (ja) | 2019-03-14 |
CN110382791B (zh) | 2021-09-17 |
JP2019049102A (ja) | 2019-03-28 |
EP3581718B1 (en) | 2021-12-22 |
EP3581718A1 (en) | 2019-12-18 |
US11274418B2 (en) | 2022-03-15 |
EP3581718A4 (en) | 2020-12-16 |
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