JP6873808B2 - Work machine - Google Patents

Description

The present invention relates to a working machine such as a backhoe.

Conventionally, a working machine disclosed in Patent Document 1 is known.
The working machine disclosed in Patent Document 1 includes a control valve that controls a hydraulic actuator and a control device that supplies a current corresponding to the amount of operation of the operating lever to set the opening degree of the control valve. When the operation is started from the neutral position of the operation lever, the control device supplies a current (one-shot current) larger than the target current corresponding to the operation amount of the operation lever to the control valve for a short time, and then the control valve. The current supplied to is lowered to the target current.

Japanese Patent No. 2695335

However, in the technique of Patent Document 1, a one-shot current is supplied to the control valve at the start of operation regardless of the amount of operation of the operating lever. That is, in Patent Document 1, a one-shot current is supplied to the control valve even if the operating amount of the operating lever is small. For this reason, the hydraulic actuator may react more sensitively than the operator intended.
Therefore, in view of the above problems, it is an object of the present invention to provide a working machine capable of appropriately controlling the operating speed of the hydraulic actuator according to the operating speed of the operating member by the operator.

The work machine according to one aspect of the present invention includes a hydraulic actuator operated by hydraulic oil, an electromagnetic control valve that controls the flow rate of hydraulic oil flowing through the hydraulic actuator, and an operating member that receives an operator's operation on the hydraulic actuator. A control device that controls the opening degree of the electromagnetic control valve according to the operation amount of the operation member and a measurement device that detects the oil temperature of the hydraulic oil are provided, and the control device includes an operation speed of the operation member. When is less than the threshold value, the electromagnetic control valve is controlled by the first control value corresponding to the operation amount of the operation member, and when the operation speed is equal to or more than the threshold value, the electromagnetic control valve is controlled by the first control value. It has a threshold value setting unit that controls by a second control value in which the opening degree of the electromagnetic control valve is larger than the control value and sets the threshold value according to the oil temperature .

According to the above configuration, when the operating speed for the operating member is equal to or higher than the threshold value, the hydraulic actuator is quickly operated by controlling the electromagnetic control valve with the second control value, and the operating speed for the operating member is less than the threshold value. In some cases, by controlling the electromagnetic control valve with the first control value, the hydraulic actuator can be operated more slowly than the threshold value or more. As a result, the operating speed of the hydraulic actuator can be appropriately controlled according to the operating speed of the operating member by the operator.

It is a schematic block diagram of the hydraulic system and the control system of the work machine which concerns on 1st Embodiment. It is a figure which shows the relationship between the load and the target engine speed in a standard control mode. It is a figure which shows the relationship between a load and a target engine speed in an integrated control mode. It is a figure which shows the setting screen which sets the engine speed for every hydraulic attachment. It is a figure which shows the setting screen which sets the engine speed for every work. It is a figure which shows the setting screen which sets the engine speed of a hydraulic attachment to a different value. It is a figure which shows the setting screen which sets the engine speed for each group. It is a schematic block diagram of the hydraulic system and the control system of the work machine which concerns on 2nd Embodiment. It is a figure which shows the relationship between the operation amount of the operation member, and the engine speed. It is a figure which shows the 1st control flowchart in 2nd Embodiment. It is a figure which shows the 2nd control flowchart in 2nd Embodiment. It is a schematic block diagram of the hydraulic system and the control system of the work machine which concerns on 3rd Embodiment. It is a figure which shows the 1st control flowchart which controls a control valve. It is a figure which showed the relationship of the operation amount of the operation member, the 1st control value, and the 2nd control value. It is a figure which shows the relationship with the time from the start of operation of the operation member, the operation amount, and the threshold value. It is a figure which shows the 2nd control flowchart which controls a control valve. It is a figure which shows the 3rd control flowchart which controls a control valve. It is a figure which shows the setting screen which shows the setting of a hydraulic attachment. It is a figure which shows the setting screen which shows the setting of a hydraulic actuator. It is a figure which shows the 4th control flowchart which controls a control valve. It is a schematic block diagram of the hydraulic system and the control system of the work machine which concerns on 4th Embodiment. It is a figure which shows the relationship between the operation amount of a work operation member, and a turning speed. It is a figure which shows the 1st control flowchart of a swivel device. It is a figure which shows the 2nd control flowchart of a swivel device. It is an overall side view of a backhoe.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
[First Embodiment]
FIG. 20 is a schematic side view showing the overall configuration of the working machine 1. In this embodiment, a backhoe is exemplified as the working machine 1. The working machine 1 may be a front loader, a skid steering loader, a compact truck loader, or the like.

First, the overall configuration of the working machine 1 will be described.
As shown in FIG. 20, the working machine 1 includes a machine body (swivel table) 2, a first traveling device 3R, a second traveling device 3L, and a working device 4. A cabin 5 is mounted on the aircraft 2. A driver's seat (seat) 6 on which the driver (operator) is seated is provided in the cabin 5.

In the present embodiment, the front side (direction of arrow A1 in FIG. 20) of the driver seated in the driver's seat 6 of the work machine 1 is forward, the rear side of the driver (direction of arrow A2 in FIG. 20) is rear, and the driver's side. The left side (front side of FIG. 20) will be described as the left side, and the driver's right side (back side of FIG. 20) will be described as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction K1, will be described as the body width direction.
As shown in FIG. 20, the first traveling device 3R is provided on the right side with respect to the machine body 2, and the second traveling device 3L is provided on the left side with respect to the machine body 2. The first traveling device 3R and the second traveling device 3L are crawler-type traveling mechanisms (crawler-type traveling devices) in the present embodiment. The first traveling device 3R and the second traveling device 3L are driven by traveling motors MR and ML, which are traveling hydraulic actuators. A dozer device 7 is attached to the front portion of the first traveling device 3R and the second traveling device 3L. The dozer device 7 can be raised and lowered (blades are raised and lowered) by expanding and contracting the dozer cylinder C3, which will be described later.

The airframe 2 is rotatably supported on a traveling frame via a swivel bearing 8 around a vertical axis (an axial center extending in the vertical direction). The machine body 2 is swiveled by a swivel motor MT including a hydraulic motor (hydraulic actuator). The machine body 2 has a substrate (hereinafter referred to as a swivel substrate) 9 that swivels around the vertical axis and a weight 10. The swivel substrate 9 is formed of a steel plate or the like and is connected to the swivel bearing 8. The weight 10 is provided at the rear of the machine body 2. The prime mover E1 is mounted on the rear part of the machine body 2. The prime mover E1 is an engine. The prime mover E1 may be an electric motor, or may be a hybrid type having an engine and an electric motor.

The airframe 2 has a support bracket 13 at the front portion slightly to the right of the center in the airframe width direction. A swing bracket 14 is attached to the support bracket 13 so as to be swingable around the vertical axis. A working device 4 is attached to the swing bracket 14.
The working device 4 has a boom 15, an arm 16, and a bucket (working tool) 17. The base of the boom 15 is pivotally attached to the swing bracket 14 so as to be rotatable around a horizontal axis (an axis extending in the width direction of the machine body). As a result, the boom 15 can swing up and down. The arm 16 is pivotally attached to the tip end side of the boom 15 so as to be rotatable around a horizontal axis. As a result, the arm 16 can swing back and forth or up and down. The bucket 17 is provided on the tip end side of the arm 16 so that it can perform a squeeze operation and a dump operation. The work machine 1 can be equipped with another work tool (hydraulic attachment) that can be driven by a hydraulic actuator in place of or in addition to the bucket 17. Examples of other working tools include a hydraulic breaker, a hydraulic crusher, an angle bloom, an earth auger, a pallet fork, a sweeper, a mower, and a snow blower.

The swing bracket 14 can be swung by expanding and contracting the swing cylinder C4 provided in the machine body 2. The boom 15 can swing by expanding and contracting the boom cylinder C1. The arm 16 can be swung by expanding and contracting the arm cylinder C9. The bucket 17 can be squeezed and dumped by expanding and contracting the bucket cylinder (working tool cylinder) C2. The work system hydraulic actuators such as the swing cylinder C4, the boom cylinder C1, the arm cylinder C9, and the bucket cylinder C2 are composed of hydraulic cylinders.

FIG. 1 shows the hydraulic system and the control system of the work machine 1. The hydraulic system of the work machine 1 includes a first hydraulic pump P1, a second hydraulic pump P2, a third hydraulic pump P3, and a plurality of control valves V1 to V10. The first hydraulic pump P1 and the second hydraulic pump P2 are variable displacement hydraulic pumps. The third hydraulic pump P3 is a constant-capacity hydraulic pump. The first hydraulic pump P1, the second hydraulic pump P2, and the third hydraulic pump P3 are driven by the power of the engine E1 to discharge the hydraulic oil stored in the hydraulic oil tank. In this embodiment, the hydraulic system of the working machine 1 includes three hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2, third hydraulic pump P3), but the number is not limited.

The plurality of control valves V1 to V10 are valves (electromagnetic control valves) that control the flow rate of hydraulic oil supplied to the hydraulic actuators (working system hydraulic actuator, traveling system hydraulic actuator), respectively. The plurality of control valves V1 to V10 are electromagnetic three-position switching valves whose spool positions are switched by hydraulic oil (pilot oil) supplied from the third hydraulic pump P3. That is, the plurality of control valves V1 to V10 have solenoid valves, and the pressure of the pilot oil acting on the spool changes depending on the opening degree of the solenoid valves, so that the position of the spool can be changed. In this embodiment, an electromagnetic three-position switching valve incorporating a solenoid valve is shown, but the solenoid valve may be configured separately. Further, the plurality of control valves V1 to V10 may be a two-position switching valve other than the three-position switching valve, a four-position switching valve, or the like, and the present invention is not limited.

The plurality of control valves V1 to V10 are a boom control valve V1 that controls the boom cylinder C1, a bucket control valve V2 that controls the bucket cylinder C2, a dozer control valve V3 that controls the dozer cylinder C3, and a swing control that controls the swing cylinder C4. Valve V4, right traveling control valve V5 that controls the traveling system hydraulic actuator (traveling motor MR) of the first traveling device 3R, left traveling control valve that controls the traveling system traveling hydraulic actuator (traveling motor ML) of the second traveling device 3L. It has V6, a first SP control valve V7 that controls a spare actuator, a second SP control valve V8 that controls a spare actuator, an arm control valve V9 that controls an arm cylinder C9, and a swivel control valve V10 that controls a swivel motor MT. ..

The boom control valve V1, the bucket control valve V2, the dozer control valve V3, the swing control valve V4, and the right traveling control valve V5 are connected to the first discharge oil passage 41 connected to the first hydraulic pump P1. A second discharge oil passage 42 connected to the second hydraulic pump P2 is connected to the left travel control valve V6, the first SP control valve V7, the second SP control valve V8, the arm control valve V9, and the swivel control valve V10.

Hereinafter, for convenience of explanation, the group of the boom control valve V1, the bucket control valve V2, the dozer control valve V3, the swing control valve V4, and the right travel control valve V5 is referred to as the first block B1, and the left travel control valve V6 and the first SP control. The group of the valve V7, the second SP control valve V8, the arm control valve V9, and the swing control valve V10 may be referred to as the second block B2.
A communication valve V11 is provided between the first block B1 and the second block B2. The communication valve V11 is a switching valve that switches between the first position and the second position, and the first discharge oil passage 41 and the second discharge oil passage 42 are connected to each other. When the communication valve V11 is in the first position, the first discharge oil passage 41 and the second discharge oil passage 42 are connected via the communication valve V11, and when the communication valve V11 is in the second position, the first position. The communication between the 1 discharge oil passage 41 and the 2nd discharge oil passage 42 is cut off by the communication valve V11. The communication valve V11 may be a 3-position switching valve other than the 2-position switching valve, a 4-position switching valve, or the like, and is not limited.

The working machine 1 is provided with a swivel device. The swivel device is a device including a machine body (swivel stand) 2, a swivel motor MT, and a hydraulic pump (first hydraulic pump P1, second hydraulic pump P2).
Next, the configuration of the control system of the working machine 1 will be described.
As shown in FIG. 1, the control system of the working machine 1 has a plurality of control devices 51 and 52. The control device 51 is a work control device that mainly controls the hydraulic system, and has a hydraulic control unit 53. The hydraulic control unit 53 is composed of an electronic electric circuit, a program, and the like provided in the control device 51. The hydraulic control unit 53 controls hydraulic equipment provided in the work machine 1, for example, a plurality of control valves V1 to V10, communication valves V11, and hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2). The flood control unit 53 may be anything as long as it controls the flood control device, and the control target is not limited to this embodiment. The control device 52 is an engine control device 52 that controls the engine E1. In this embodiment, the control system has a plurality of control devices 51 and 52, but the control devices 51 and 52 may be configured by one control device, and the number of the control devices 51 and 52 is not limited.

A work operation member (work operation member 19L, work operation member 19R, work operation member 19D) is connected to the control device 51. The work operation member 19L is arranged on the left side of the driver's seat 6, the work operation member 19R is arranged on the right side of the driver's seat 6, and the work operation member 19D is arranged on the right side of the driver's seat 6 separately from the work operation member 19R. Has been done. The work operation member 19L and the work operation member 19R are levers having a potentiometer (detection device) for detecting the amount of swing (operation amount), and are levers that can swing forward, backward, right, and left. The work operation member 19D is a lever having a potentiometer (detection device) for detecting the amount of swing (operation amount), and is a lever that can swing forward and backward.

When an operator (operator) or the like operates the work operation member 19L, the operation amount and operation direction of the work operation member 19L are detected by the potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the swing solenoid valve of the swing control valve V10 to control the opening degree of the swing solenoid valve, or controls the opening degree of the swing solenoid valve, or the arm control valve, according to the operation amount and operation direction of the work operation member 19L. The solenoid of the arm solenoid valve of V9 is excited to control the opening degree of the arm solenoid valve. As a result, a pilot pressure acts on the pressure receiving portion of the swivel control valve V10, the position of the swivel control valve V10 is switched, and the rotation direction of the swivel motor MT is switched according to the position, or the arm control valve V9 Pilot pressure acts on the pressure receiving portion of the arm control valve V9, the position of the arm control valve V9 is switched, and the arm cylinder C9 expands and contracts according to the position.

When the operator or the like operates the work operation member 19R, the operation amount and operation direction of the work operation member 19R are detected by the potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the boom solenoid valve of the boom control valve V1 according to the operation amount and the operation direction of the work operation member 19R to control the opening degree of the boom solenoid valve, or the work operation. The solenoid of the bucket solenoid valve of the bucket control valve V2 is excited to control the opening degree of the bucket solenoid valve according to the operation amount and operation direction of the member 19R. As a result, a pilot pressure acts on the pressure receiving portion of the boom control valve V1, the position of the boom control valve V1 is switched, and the boom cylinder C1 expands or contracts according to the position, or the pressure receiving portion of the bucket control valve V2. The pilot pressure acts to switch the position of the bucket control valve V2, and the bucket cylinder C2 expands and contracts according to the position.

When the operator or the like operates the work operation member 19D, the operation amount and operation direction of the work operation member 19D are detected by the potentiometer, and the detected operation amount and operation direction are input to the control device 51. The hydraulic control unit 53 excites the solenoid of the dozer solenoid valve of the dozer control valve V3 according to the operation amount and the operation direction of the work operation member 19D, and controls the opening degree of the dozer solenoid valve. As a result, a pilot pressure acts on the pressure receiving portion of the dozer control valve V3, the position of the dozer control valve V3 is switched, and the dozer cylinder C3 expands and contracts according to the position.

As described above, by operating the work operation member (work operation member 19L, work operation member 19R, work operation member 19D), the machine body 2, the boom 15, the arm 16, the bucket (work tool) 17, and the dozer device 7 can be moved. Can be operated.
A traveling operation member (traveling operation member 20L, traveling operating member 20R) is connected to the control device 51. The traveling operation member 20L and the traveling operation member 20R are arranged in front of the driver's seat 6. The traveling operation member 20L and the traveling operation member 20R are levers having a potentiometer (detection device) for detecting the amount of swing (operation amount), and are levers that can swing forward and backward.

When an operator or the like operates the travel operation member 20L and the travel operation member 20R, the operation amount and operation direction of the travel operation member 20L and the travel operation member 20R are detected by the potentiometer, and the detected operation amount and operation direction are determined by the control device. It is input to 51. The hydraulic control unit 53 excites the solenoid of the left traveling solenoid valve of the left traveling control valve V6 according to the operating amount and operating direction of the traveling operating member 20L, and corresponds to the operating amount and operating direction of the traveling operating member 20R. , The solenoid of the right traveling solenoid valve of the right traveling control valve V5 is excited. As a result, a pilot pressure acts on the pressure receiving portions of the right traveling control valve V5 and the left traveling control valve V6, and the right traveling control valve V5 and the left traveling control valve V6 are switched respectively, so that the traveling motor MR and the traveling motor ML are switched. The direction of rotation is determined.

As described above, when the work operation member (work operation member 19L, work operation member 19R, work operation member 19D) and the travel operation member (travel operation member 20L, travel operation member 20R) are operated, the control device 51 excites the solenoid. By outputting the degaussing control signal, the machine body 2, the boom 15, the arm 16, the bucket (working tool) 17, the dozer device 7, the first traveling device 3R and the second traveling device 3L can be controlled.

By the way, the control device 51 has two control modes (first control mode and second control mode), and the control form of the work machine 1 differs depending on the control mode.
A switching member 65 is connected to the control device 51. The switching member 65 is, for example, an ON / OFF switch, which is provided in the vicinity of the driver's seat 6 and can be switched manually by an operator (operator). The switching member 65 may be provided inside the control device 51 so that the operator cannot manually operate the switching member 65.

The control device 51 is provided with a switching unit (mode switching unit) 54 that operates in response to the switching of the switching member 65. The switching unit 54 is composed of an electronic / electric circuit, a program, or the like provided in the control device 51. When the switching member 65 is turned on, the switching unit 54 of the control device 51 sets the control device 51 to the first mode, and when the switching member 65 is turned off, the switching unit 54 of the control device 51 sets the control device 51. Set to the second mode. That is, the switching unit 54 has a first state (integrated control mode) in which the engine speed is increased or decreased according to the load by the rotation speed control unit 55A described later according to the switching of the switching member 65 of the control device 51, and the load. It switches to the second state (standard control mode) in which the engine speed is not increased or decreased according to the above.

When the control device 51 is set to the second mode (standard control mode), the engine speed is a predetermined engine speed (target engine speed set by the accelerator setting member 64 connected to the control device 51). ) Is output to the control device 52. Further, in the standard control mode, as described above, the control device 51 (flood control unit 53) controls a plurality of control valves V1 to V10 and the like according to the amount of operation of the work operation member and the traveling operation member. ..

Further, in the standard control mode, the control device 51 (hydraulic control unit 53) discharges from the hydraulic pumps (first hydraulic pump P1 and second hydraulic pump) based on the operation amount of the work operation member and the traveling operation member. The angle of the swash plate of the hydraulic pumps (first hydraulic pump P1 and second hydraulic pump) is controlled so as to obtain the flow rate of the hydraulic oil and discharge the obtained flow rate.
In the standard control mode, the hydraulic control unit 53 obtains the hydraulic oil to be discharged from the hydraulic pump based on the operation amount of the work operation member and the traveling operation member, and controls the sloping plate angle based on the obtained hydraulic oil. However, instead of this, by providing a load sensing system having a pressure compensation valve in the hydraulic system of the work equipment 1, the load pressure and the like detected from the control valves V1 to V11 are detected in the detection oil passage. Then, the angle of the sloping plate of the hydraulic pump may be controlled by the regulator based on the PPS signal and the PLS signal detected by the detection oil passage. The angle of the sloping plate of the hydraulic pump may be controlled by other methods, and the control of the angle of the sloping plate of the hydraulic pump is not limited. The accelerator setting member 64 described above is, for example, a lever, a volume switch, or the like provided in the vicinity of the driver's seat 6, and the target engine speed is set by the operation of the operator.

FIG. 2A shows the relationship between the load line L1 indicating the load (load acting on the hydraulic pump) in the standard control mode and the target line L2 indicating the target engine speed. As shown in FIG. 2A, in the standard control mode, the target engine speed is not changed according to the load even if the load line L1 at the time of operation of the hydraulic actuators (working system hydraulic actuator, traveling system hydraulic actuator) fluctuates. That is, the target engine speed output to the control device 52 is fixed at a constant level (the target line L2 is constant).

That is, in the standard control mode, the control device 51 uses the target engine speed (commanded speed), which is a fixed value instructed by the accelerator setting member 64, as the target engine speed (target line L2: output speed). The control of the traveling system hydraulic actuator and the working system hydraulic actuator is executed while performing feedback control that outputs and matches the actual engine rotation speed with the target engine rotation speed.

On the other hand, as shown in FIG. 2B, when the control device 51 is set to the first mode (integrated control mode), the target engine speed (command speed) set by the accelerator setting member 64 is ignored. The target engine speed (output speed) to be output to the control device 52 is changed according to the load line L1.
The engine rotation is controlled by the integrated control mode by the rotation speed control unit 55A provided in the control device 51. The rotation speed control unit 55A is composed of an electronic electric circuit, a program, and the like provided in the control device 51. The rotation speed control unit 55A increases or decreases the target engine rotation speed at least according to the load acting on the hydraulic pumps (first hydraulic pump P1 and second hydraulic pump P2). Specifically, the rotation rate control unit 55A of the hydraulic oil discharged from the hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2) based on the operation amount of the work operation member and the operation amount of the traveling operation member. The flow rate, that is, the required flow rate is obtained, and the target engine speed is calculated from the required flow rate.

Specifically, the rotation rate control unit 55A is a hydraulic actuator (boom) corresponding to the first block B1 (boom control valve V1, bucket control valve V2, dozer control valve V3, swing control valve V4 and right travel control valve V5). The required flow rate Q1 to be supplied to the cylinder C1, the bucket cylinder C2, the dozer cylinder C3, the swing cylinder C4, and the traveling motor MR) is obtained. For the required flow rate Q1, for example, the opening degree of each of the control valves V1 to V5 is calculated based on the operating amount of the work operation member and the traveling operation member, and the respective opening degree and Cv value (capacity coefficient) of the control valves V1 to V5 are calculated. ), The flow rate of each control valve V1 to V5 may be obtained, and the flow rate of each control valve V1 to V5 may be summed up, or the flow rate may be obtained based on the front-rear differential pressure ΔP of the control valves V1 to V5. Therefore, the flow rates of the control valves V1 to V5 may be obtained, and the flow rates of the control valves V1 to V5 may be summed up to obtain the required flow rate Q1.

Further, the rotation speed control unit 55A is a hydraulic actuator (travel motor) corresponding to the second block B2 (left travel control valve V6, first SP control valve V7, second SP control valve V8, arm control valve V9 and swivel control valve V10). The required flow rate Q2 to be supplied to the ML, the spare actuator, and the swivel motor MT) is obtained. Similar to the required flow rate Q1, the required flow rate Q2 calculates the opening degree of each of the control valves V6 to V10 based on, for example, the operating amounts of the work operation member and the traveling operation member, and the opening degree of each of the control valves V6 to V10 is calculated. The flow rate of each control valve V6 to V10 may be obtained based on the relationship between the Cv value and the Cv value, and the flow rate of each control valve V6 to V10 may be totaled to obtain the flow rate. The flow rate of each control valve V6 to V10 may be obtained based on the above, and the flow rate of each control valve V6 to V10 may be totaled to obtain the required flow rate Q2.

Next, the rotation speed control unit 55A rotates the target engine based on the required flow rates Q1 and Q2 and the swash plate angle of the hydraulic pump (the swash plate angle of the first hydraulic pump P1 and the swash plate angle of the second hydraulic pump P2). Find the number (required number of revolutions). Specifically, when the rotation speed control unit 55A communicates the first discharge oil passage 41 and the second discharge oil passage 42 with the communication valve V11, the rotation speed control unit 55A uses the equation (1) to set the target engine speed. Ask. Further, when the rotation speed control unit 55A blocks the first discharge oil passage 41 and the second discharge oil passage 42 by the communication valve V11, the rotation speed control unit 55A uses the equations (2) and (3) to rotate the target engine. Find the number.

なお、目標エンジン回転数を求めるにあたって、油圧ポンプ（第１油圧ポンプＰ１の斜板角、第２油圧ポンプＰ２の斜板角）の斜板角を用いている。油圧アクチュエータに作用する負荷が所定よりも大きくなった場合、油圧ポンプの所定よりも斜板角は小さくなる。油圧アクチュエータに作用する負荷が大きくなっている状態（油圧ポンプの斜板角が負荷の影響により小さくなった状態）から負荷が小さくなった場合は、油圧ポンプの斜板角は所定の角度に戻る。したがって、上述した目標エンジン回転数の式（１）〜（３）では、油圧ポンプの斜板角に応じて変更することが可能であり、作業の負荷に応じて、目標エンジン回転数を変化させることができる。式（１）〜（３）において、斜板角は最大値を用いてもよい。

In determining the target engine speed, the swash plate angle of the hydraulic pump (the swash plate angle of the first hydraulic pump P1 and the swash plate angle of the second hydraulic pump P2) is used. When the load acting on the hydraulic actuator becomes larger than the predetermined value, the swash plate angle becomes smaller than the predetermined value of the hydraulic pump. When the load acting on the hydraulic actuator is large (the swash plate angle of the hydraulic pump is small due to the influence of the load) and the load is small, the swash plate angle of the hydraulic pump returns to the specified angle. .. Therefore, the above-mentioned target engine speed equations (1) to (3) can be changed according to the swash plate angle of the hydraulic pump, and the target engine speed is changed according to the work load. be able to. In the formulas (1) to (3), the maximum value of the swash plate angle may be used.

Then, when the first discharge oil passage 41 and the second discharge oil passage 42 are communicated with each other by the communication valve V11, the rotation speed control unit 55A sets the target engine rotation speed obtained by the equation (1) to the control device 52. Output to. When the rotation speed control unit 55A cuts off the first discharge oil passage 41 and the second discharge oil passage 42 by the communication valve V11, the rotation speed control unit 55A has the target engine speed obtained by the equation (2) and the equation (2). The target engine speed, whichever is larger than the target engine speed obtained in 3), is output to the control device 52. The switching operation in the communication valve V11 is switched by the control device 51 based on the working state or running state of the working machine 1. The switching operation in the communication valve V11 may be performed by switching a switch or the like provided around the driver's seat 6, or may be performed by another method.

As described above, in the integrated control mode, the rotation speed control unit 55A of the control device 51 changes the target engine rotation speed according to the work load, thereby increasing or decreasing the actual engine speed according to the load. Can be done. In this way, according to the integrated control mode, by increasing or decreasing the engine speed according to the work load, the work can be performed at the same speed without reducing the speed of the hydraulic actuator, while saving energy. Can be planned.

In the integrated control mode, the target engine speed is changed according to the load, but the control of the control valves V1 to V11 and the control of the swash plate angle of the hydraulic pump are the same as in the standard control mode.
By the way, in the work machine 1, the engine speed can be limited for each hydraulic actuator (hydraulic attachment) or for each work (for each work content). As shown in FIG. 3, the engine speed is limited by the control device 51 and the display device 70 connected to the control device 51.

The control device 51 has a first setting unit 56. The first setting unit 56 is composed of an electronic electric circuit, a program, and the like provided in the control device 51. The first setting unit 56 sets a limit value of the engine speed (upper limit value and / or lower limit value of the engine speed) in cooperation with the display device 70.
As shown in FIGS. 3A and 3B, the display device 70 has a display unit 71 capable of displaying various information related to the work machine 1, and an operation unit (operation tool) 72 for operating the display unit 71 and the like. ing. The display unit 71 is composed of a panel such as a liquid crystal. The operation unit 72 is composed of a plurality of switches and the like, and includes a first switch 72a, a second switch 72b, and a third switch 73c. The operation unit 72 is not limited to any switch as long as it can operate the display device 70.

As shown in FIG. 3A, the first setting unit 56 of the control device 51 causes the display unit 71 of the display device 70 to display the setting screen M1 when a predetermined operation is performed by the operation unit 72. The setting screen M1 is a screen for limiting the engine speed for each hydraulic actuator (flood attachment). The first setting unit 56 causes the setting screen M1 to display characters and figures indicating hydraulic attachments (boom, bucket, arm, etc.) that can be attached to the work machine 1. Further, the first setting unit 56 displays the upper limit value and / or the lower limit value of the engine speed corresponding to each hydraulic attachment on the setting screen M1 by numbers or figures (bars). When the operator selects the first switch 72a on the setting screen M1, the first setting unit 56 determines the hydraulic attachment for setting the engine speed among the plurality of hydraulic attachments displayed on the setting screen M1. Further, when the operator selects the second switch 72b and the third switch 72c after determining the hydraulic attachment for setting the engine speed on the setting screen M1, the first setting unit 56 sets the engine speed corresponding to the hydraulic attachment. When the operator selects the first switch 72a again by increasing or decreasing the upper limit value and / or the lower limit value of the engine speed, the upper limit value and / or the lower limit value of the engine speed is determined to be the value at the time of selection.

In this way, the first setting unit 56 of the control device 51 can set a limit value (upper limit value and / or lower limit value) of the engine speed for each hydraulic attachment that can be attached to the work machine 1.
As shown in FIG. 3B, the first setting unit 56 of the control device 51 causes the display unit 71 of the display device 70 to display the setting screen M2 when a predetermined operation is performed by the operation unit 72. On the setting screen M2, the engine speed is limited for each work. The first setting unit 56 displays characters and figures indicating the work (excavation, running, turning, etc.) that can be performed by the work machine 1 on the setting screen M2. Further, the first setting unit 56 displays the upper limit value and / or the lower limit value of the engine speed corresponding to each work on the setting screen M2 by numbers or figures (bars) or the like. When the operator selects the first switch 72a on the setting screen M2, the first setting unit 56 determines the work for setting the engine speed among the plurality of operations displayed on the setting screen M2. Further, when the operator selects the second switch 72b and the third switch 72c after determining the work for setting the engine speed on the setting screen M2, the first setting unit 56 raises the upper limit of the engine speed corresponding to the work. When the value and / or the lower limit value is increased or decreased and the operator selects the first switch 72a again, the upper limit value and / or the lower limit value of the engine speed is determined to be the value at the time of selection.

In this way, the first setting unit 56 of the control device 51 can set a limit value (upper limit value and / or lower limit value) of the engine speed for each work that can be performed by the work machine 1. In the above-described embodiment, the control device 51 (first setting unit 56) controls the display on the display device 70, but the display device 70 may be provided with the control device 51 (first setting unit 56). , The display device 70 and the control device 51 (first setting unit 56) may be integrated.

In the above-described embodiment, the limit value of the engine speed can be arbitrarily set for each hydraulic actuator (flood attachment), but the hydraulic actuator (flood) is used for at least two hydraulic actuators (flood attachment). The limit value may be set to a different value for each attachment).
FIG. 3C shows a setting screen M3 in which the limit value can be set to a different value. Similar to the setting screen M1 described above, the setting screen M3 displays characters and figures indicating hydraulic attachments (boom, bucket, arm, etc.) that can be attached to the work machine 1. As shown in FIG. 3C, for example, after setting the engine speed of the arm, in the engine speed of another hydraulic attachment such as a boom, the first setting unit 56 has a settable range (a width in which a limit value can be set). F1 is displayed on the setting screen M3. The settable range F1 is changed by the engine speed of the previously set hydraulic attachment such as an arm or the like.

Therefore, the operator operates the second switch 72b and the third switch 72c to set the set value of the boom engine speed within the settable range F1 to set a limit value different from the arm engine speed. be able to. In the setting screen M3 of FIG. 3C, an example in which the limit value is set to a different value according to at least two hydraulic attachments, that is, the engine speed set earlier is the settable range of the engine speed set later. It is an example of making F1 variable, and the illustrated hydraulic attachment and engine speed are not limited to those shown in FIG. 3C.

Alternatively, the first setting unit 56 may set the set value of each of the plurality of hydraulic attachments so that the set value of the predetermined hydraulic attachment does not exceed the set value of the other hydraulic attachment. For example, when the set value of the arm is increased among the arm, the boom, and the bucket, the first setting unit 56 sets the upper limit of the set value of the boom and the bucket to be less than the set value of the arm.

Further, in the above-described embodiment, the limit value of the engine speed can be set for each hydraulic actuator (hydraulic attachment) or for each work, but the hydraulic actuator or work is grouped and limited for each group. The value may be set. As shown in FIG. 4, the first setting unit 56 displays the setting screen M4 of the display unit 71 of the display device 70. On the setting screen M4, for example, the first group of the arm, the boom, and the bucket, the second group of the cutter and the crumple, and the third group of the breaker are displayed. The first setting unit 56 sets an upper limit value and / or a lower limit value of the engine speed for each group (first group, second group, third group) displayed on the setting screen M4. It is preferable that the group is set arbitrarily by operating the display device 70.

In the above-described embodiment, the limit values are set to different values for each of the hydraulic actuators (hydraulic attachments) for at least two hydraulic actuators (hydraulic attachments), but instead, for at least two operations. The limit value may be set to a different value for each work. For example, when the limit value for excavation work is set to 2100 rpm, the limit value for running work is set to 1600 rpm. The numerical value of the above-mentioned limit value is an example and is not limited.

Here, in the integrated control mode, the engine speed is limited so as not to exceed the limit values (upper limit value, lower limit value) set by the first setting unit 56. The control device 51 has a rotation speed limiting unit 58 that limits the engine speed to the limit value set by the first setting unit 56. The rotation speed limiting unit 58 is composed of an electronic / electric circuit, a program, or the like provided in the control device 51.

The engine speed limiting unit 58 does not limit the engine speed when the required rotation speed calculated by the rotation speed control unit 55A is equal to or less than the set value (upper limit value). That is, the rotation speed limiting unit 58 allows the engine rotation speed to be increased or decreased according to the required rotation speed obtained by the rotation control unit 55A. On the other hand, the rotation speed limiting unit 58 limits the engine rotation speed when the required rotation speed calculated by the rotation speed control unit 55A exceeds the set value (upper limit value).

For example, when the required rotation speed when operating the arm 16 is 1600 rpm and the set value of the arm 16 is 1800 rpm, the rotation speed limiting unit 58 does not limit the engine speed, but the set value of the arm 16. When is 1400 rpm, the engine speed is limited. That is, when the required rotation speed <set value, the rotation speed limiting unit 58 limits the target engine rotation speed (output rotation speed) to be output to the control device 52 to the set value.

As described above, even if the integrated control mode is set by the rotation speed limiting unit 58 of the control device 51, since the control device 51 has the rotation speed limiting unit 58, the engine speed can be increased while improving the fuel efficiency. Noise can be reduced by limiting. Further, as described above, the operator can flexibly change the engine speed according to the work while setting the engine speed required for the work.

By the way, in the standard control mode, the control device 51 sets the target engine speed based on the command value of the accelerator setting member 64, but in the integrated control mode, the command value of the accelerator setting member 64 is set. Based on this, another parameter related to the work machine 1 is set instead of the target engine speed. That is, the accelerator setting member 64 is used to set the target engine speed in the standard control mode, but is used to set another parameter different from the target engine speed in the integrated control mode.

Specifically, the control device 51 has a second setting unit 59 that determines a command value set by the accelerator setting member 64. The second setting unit 59 is composed of an electronic electric circuit, a program, and the like provided in the control device 51. In the standard control mode, when the command value commanded by the accelerator setting member 64 is input to the control device 51, the second setting unit 59 sets the target engine speed based on the input command value. That is, in the standard control mode, if the accelerator setting member 64 is operated to change the command value, the second setting unit 59 enables the target engine speed to be changed from the idling speed to the maximum speed.

On the other hand, when the second setting unit 59 is in the integrated control mode, that is, when the engine speed is increased or decreased according to the load, the command value commanded by the accelerator setting member 64 is input to the control device 51. Set the hydraulic oil change value to increase or decrease the hydraulic oil flow rate based on the input command value. Then, the control device 51 increases or decreases the sloping plate angle of the hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2) from the current sloping plate angle according to the hydraulic oil change value. For example, in the integrated control mode, if the accelerator setting member 64 is operated to change the command value, the second setting unit 59 can change the swash plate angle of the hydraulic pumps (first hydraulic pump P1, second hydraulic pump P2). Can be increased or decreased within the range of ± 10%. That is, in the integrated control mode, the rotation control unit 55A automatically increases / decreases the engine speed, so that the accelerator setting member 64 for increasing / decreasing the engine speed is unnecessary, but the accelerator setting that is no longer necessary in the integrated control mode is required. The member 64 can be used as another setting member for adjusting the hydraulic oil. As a result, even in the integrated control mode, the angle of the swash plate of the hydraulic pump can be changed, so that the speed of the hydraulic actuator can be finely adjusted. In the above-described embodiment, the accelerator setting member 64 is changed to a setting member for increasing or decreasing the hydraulic oil by the second setting unit 59, but the setting is not limited to this, and the setting related to the work machine 1 is performed. Anything can be used as long as it is changed to a member.
[Second Embodiment]
FIG. 5 shows the hydraulic system and the control system of the second embodiment. The description of the same configuration as that of the first embodiment will be omitted.

As shown in FIG. 5, the control device 51 includes a hydraulic control unit 53, a rotation control unit 55B, and a storage unit 60. The hydraulic control unit 53 and the rotation control unit 55B are composed of an electronic electric circuit, a program, and the like provided in the control device 51. The hydraulic control unit 53 controls, for example, a plurality of control valves V1 to V11, a hydraulic pump, and the like, as in the above-described embodiment. The rotation control unit 55B sets the engine speed based on the amount of operation of the operation members (work operation member, travel operation member). That is, the rotation speed control unit 55B increases or decreases the rotation speed of the engine based on the operation amount of the operating member before the hydraulic control unit 55B controls the hydraulic pump.

FIG. 6 shows an example of a control line L showing the relationship between the operation amount of the work operation member used for setting the engine rotation speed by the rotation control unit 55B and the engine rotation speed. First, the control line L will be described. The relationship between the operation amount of the work operation member and the engine speed (control line L) is stored in the storage unit 60 of the control device 51. The relationship between the operation amount of the work operation member and the engine speed may be data in which the value indicating the operation amount of the work operation member and the value indicating the engine speed are associated with each other, or the operation amount of the work operation member. It may be a function for obtaining the engine speed from, or any other function as long as it relates the operation amount and the engine speed.

As shown in FIG. 6, when the operation amount of the control line L is less than 0 to 38%, the engine speed is the idling speed (minimum rotation speed), and as the operation amount exceeds 38% and the operation amount increases. The engine speed becomes maximum when the engine speed increases and the amount of operation exceeds approximately 80% or more. The control line L is obtained by obtaining the required flow rate Q3 from the operating amount of the operating member, and converting the required flow rate Q3 into the engine speed. That is, the control line L1 sets the engine speed based on the flow rate (required flow rate) of the hydraulic oil corresponding to the operation amount of the work operation member. Further, the control line L1 sets the engine speed based on the swash plate angle of the hydraulic pump. In other words, the rotation control unit 55B sets the engine rotation speed based on the flow rate (required flow rate) of the hydraulic oil corresponding to the operation amount of the work operation member, and also sets the engine rotation speed based on the diagonal plate angle of the hydraulic pump. To set. The method of calculating the control line L is an example and is not limited.

The control line L is assigned to each of the operation directions (front, rear, right, left) of the work operation member 19L, the work operation member 19R, and the work operation member 19D. In other words, the control line L is assigned to each work in the work machine 1. For example, since the work operation member 19L, the work operation member 19R, and the work operation member 19D operate in 10 directions (there are 10 types of work), 10 control lines L1 corresponding to the 10 directions are stored in the storage unit 60. doing. If the control valves V1 to V10 have the same flow rate characteristics, the control lines L having the same flow rate characteristics may also be used.

FIG. 7 shows a first control flowchart according to the second embodiment. As shown in FIG. 7, when the work operation member is operated (S1, Yes), the rotation control unit 55B stores a predetermined value stored in the storage unit 60 based on the operation direction and the operation amount of the work operation member. The control line L is referred to (S2), and the engine speed is calculated from the referred control line L and the manipulated variable (S3). The calculated engine speed is output to the control device 52 (S4). For example, when the work operation member is operated in the direction of raising the arm, the rotation control unit 55B refers to the control line L corresponding to the operation direction of the work operation member that operates the arm, and the control line L and the work operation member The engine speed (target engine speed) is obtained from the operation amount and the control line L, and the engine speed (target engine speed) is output to the control device 52. At substantially the same time as outputting the engine speed (target engine speed) to the control device 52, the control device 51 (rotation control unit 55B) outputs a control signal corresponding to the operation amount of the work operation member from the control valves V1 to V1. It outputs to the solenoid valve of V10 to control the control valves V1 to V10, and maximizes the angle of the sloping plate of the hydraulic pump.

After the rotation control unit 55B controls the engine speed according to the operation amount of the work operation member (after the rotation speed control unit 55B sets the engine speed), the hydraulic control unit 53 executes the control of the hydraulic pump (after the rotation speed control unit 55B sets the engine speed). S5). For example, the hydraulic control unit 53 controls the opening degree of the solenoid valves of the control valves V1 to V10 according to the operation amount and the operation direction of the work operation member, and the angle of the swash plate of the hydraulic pump according to the operation amount and the like. To control.

According to the above, when the work operation member is operated from the neutral position, the output required for the operation of the hydraulic actuator can be quickly obtained by increasing the engine speed according to the operation amount of the work operation member. it can. That is, the responsiveness to the operation of the operating member can be improved. In the above-described embodiment, the engine speed is obtained based on the operation amount of the work operation member, but the engine speed may be obtained based on the operation amount of the traveling operation member. That is, the control line L1 may be applied to the traveling operation member, or may be applied to the traveling state.

FIG. 8 shows a second control flowchart according to the second embodiment. In FIG. 8, S1 to S4 are the same as those in FIG. 7 except that they are operating members.
As shown in FIG. 8, after the engine speed is output by the rotation control unit 55B (after S4), the required flow rate (estimated flow rate) Q4 corresponding to the hydraulic control unit 53 is calculated, and the rotation speed control unit 55B corresponds to the calculation. Calculate the required flow rate (estimated flow rate) Q3 (S6). For example, the hydraulic control unit 53 calculates the opening degree of each of the control valves V1 to V10 based on the operation amount of the work operation member and the traveling operation member, and sets the respective opening degree of the control valves V1 to V10 and the Cv value. The flow rate of each control valve V1 to V10 is obtained based on the relationship, and the required flow rate Q4 is obtained by totalizing the flow rates of each control valve V1 to V10, or based on the front-rear differential pressure ΔP of the control valves V1 to V10, etc. The required flow rate Q4 may be obtained by obtaining the flow rates of the control valves V1 to V10 and summing up the flow rates of the control valves V1 to V10, or the required flow rate Q4 may be obtained by another method.

Next, the required flow rate Q4 calculated by the hydraulic control unit 53 and the required flow rate Q3 calculated by the rotation speed control unit 55B are compared (S7). When the required flow rate Q3 is equal to or less than the required flow rate Q4 (S7, Yes), the hydraulic control unit 53 determines that the flow rate of the hydraulic oil cannot be obtained by the engine speed set by the rotation speed control unit 55B, and determines the engine speed. Raise it (S8). For example, the hydraulic control unit 53 increases the engine speed until the required flow rate Q4 becomes equal to or more than the value converted into the engine speed using the equations (2), (3), and the like.

In FIG. 8, the required flow rate Q4 and the required flow rate Q3 are compared. Instead, the hydraulic control unit 53 converts the required flow rate Q4 into the engine speed, and the rotation speed control unit 55B converts the required flow rate Q3. May be converted into engine speeds, and the converted engine speeds may be compared.
According to the above, after the engine speed is increased by the rotation speed control unit 55B, the control can be shifted to the control of the hydraulic control unit 53 only when a sufficient output cannot be obtained by the engine speed. In the second embodiment as well, the rotation control unit 55A or the like shown in the first embodiment may be applied to perform not only the standard control mode but also the integrated control mode, and the display device 70 may be used for each hydraulic actuator. , The engine speed may be set for each work. That is, the hydraulic system of the working machine may be constructed by arbitrarily combining the second embodiment and the first embodiment.
[Third Embodiment]
FIG. 9 shows the hydraulic system and the control system of the third embodiment. The description of the same configuration as that of the first embodiment or the second embodiment will be omitted. In the third embodiment, when the hydraulic control unit 53 of the control device 51 outputs a control value to the solenoid valves of the control valves V1 to V10 based on the operation amount of the operation member, the change in the operation amount of the operation member, that is, , This is an embodiment in which the control value is increased when the operation speed is high. Hereinafter, the flood control unit 53 will be described in detail.

The control device 51 includes a hydraulic control unit 53, a storage unit 60, and a threshold value setting unit 84. The hydraulic control unit 53 includes a speed calculation unit 81 and a control unit 82. The speed calculation unit 81 and the control unit 82 are composed of an electronic electric circuit, a program, and the like provided in the control device 51. The speed calculation unit 81 calculates the operation speed of the operation member based on the swing amount (operation amount) detected by the potentiometer (detection device) when the operation member is operated. In other words, the speed calculation unit 81 is a speed detection unit that detects the operation speed of the operating member.

The control unit 82 controls the control valves V1 to V10 with the first control value corresponding to the operation amount of the operation member when the operation speed is less than the threshold SL, and when the operation speed is equal to or more than the threshold SL Control is performed by the second control value in which the opening degree of the control valves V1 to V10 is larger than that of the first control value. That is, in the present embodiment, the storage unit 60 is the first control that indicates the operating amount of the operating member corresponding to each hydraulic actuator and the current value supplied to the control valves V1 to V10 corresponding to the hydraulic actuator. The value and the second control value are stored in association with each other in advance.

FIG. 11A is a diagram showing an example of the relationship between the operation amount of the operation member stored in the storage unit 60 and the first control value W1 and the second control value W2. As shown in FIG. 11A, the first control value W1 and the second control value W2 become larger as the amount of operation of the operating member increases. The second control value W2 is larger than the first control value W1 in the same manipulated variable, and the second control value W2> the first control value W1. Since the hydraulic control unit 53 changes the opening degree by exciting the solenoid of the solenoid valve, the first control value and the second control value are current values. The first control value and the second control value may be voltage values.

FIG. 10 shows a first control flowchart of the control valves V1 to V10, and FIG. 11B shows the relationship between the time from the start of operation of the operation member and the operation amount and the relationship with the threshold value SL.
As shown in FIG. 10, when the operation member is operated, the speed calculation unit 81 operates the operation speed (operation amount per predetermined time) based on the operation signal (operation amount) input from the operation member to the control device 51. (Change in) is calculated (S10). Specifically, in the present embodiment, the operation position (or operation angle) of the operation member is sampled every predetermined time (for example, every 0.5 msec), and the operation speed is calculated based on the sampling result of the predetermined time. To do. The operation speed detection method is not particularly limited, and other methods may be used.

The control unit 82 determines whether or not the operation speed is equal to or higher than a predetermined threshold SL (S11), and if the operation speed is equal to or higher than the threshold SL (S11, Yes), the control unit 82 corresponds to the operation amount of the operation member. A second current (≈ one-shot current) corresponding to the second control value having an opening degree larger than the first current corresponding to the first control value is output to the solenoid valves of the control valves V1 to V10 (S12). As shown in FIG. 11B, the threshold value SL is a value for determining whether or not the operator has steeply operated the operating member, and is set to, for example, several tens of ms. The first control value is a value indicating a current value (first current value) set corresponding to the operation amount of the operation member, and is a value of the operation amount of the operation member and the opening degree of the control valves V1 to V10. A value set by the relationship. The second control value is a value indicating a second current value in which the opening degree of the control valves V1 to V10 is larger than the first current value, and is set to quickly operate the control valves V1 to V10 (solenoid valve). Is the value to be.

The control unit 82 determines whether or not the elapsed time for outputting the second current is equal to or longer than a predetermined time (S13), and if the elapsed time is equal to or longer than a predetermined time (S13, Yes), stops the output of the second current. (S14), and subsequently output the first current (S15). The time (elapsed time) for outputting the second current is, for example, several ms to 20 ms. The elapsed time is not limited to the above-mentioned numerical values.
On the other hand, when the operation speed is less than the predetermined threshold value SL (S11, No), the control unit 82 outputs the first current instead of the second current (S15).

According to the above, only when the operator steeply operates the operating member at an operating speed equal to or higher than the threshold SL, the hydraulic actuator can be quickly moved according to the steep operating speed of the operating member, and the operator sets the operating member to the threshold. When the operation speed is less than SL, the hydraulic actuator can be operated slowly according to the operation speed of the operation member. For example, when the soil scooped by the bucket 17 is dropped downward, the bucket 17 needs to move quickly. In such a case, the bucket 17 can be quickly dumped by steeply operating the operating member that operates the bucket 17.

Further, when the operating speed of the operating member is slow, the hydraulic actuator operates slowly, so that both abrupt movement and slow movement can be achieved at the same time, and noise reduction and fuel consumption can be achieved in the entire work machine 1. Can be reduced.
The threshold value SL may be arbitrarily set by the operator or the manager of the working machine 1 by using the first setting unit 56 or the display device 70 described above. Further, the threshold value SL may be changed according to the conditions set in advance by the control device 51 (for example, the oil temperature or the air temperature of the hydraulic oil).

As shown in FIG. 9, a measuring device 83 for detecting the temperature of the hydraulic oil is connected to the control device 51. Further, the control device 51 has a threshold value setting unit 84 that sets the threshold value SL according to the oil temperature. The threshold value setting unit 84 is composed of an electronic electric circuit, a program, and the like provided in the control device 51.
FIG. 12 shows a second control flowchart of the control valves V1 to V10. As shown in FIG. 12, S10 to S15 are the same as those in FIG. As shown in FIG. 12, when the control device 51 acquires the oil temperature measured by the measuring device 83 (S16), the threshold setting unit 84 causes the threshold SL to be set based on the oil temperature (S17). For example, when the oil temperature is low below −10 ° C. and the viscosity of the hydraulic oil is high, the threshold setting unit 84 shortens the threshold SL (decreases the slope of the straight line indicating the threshold SL) as shown in FIG. 11B. .. Further, when the oil temperature is −10 ° C. or higher and the viscosity of the hydraulic oil is low, the threshold value setting unit 84 increases the threshold value SL (increases the slope of the straight line indicating the threshold value SL) as shown in FIG. 11B. The relationship between the oil temperature and the threshold value is an example, and the numerical value is not limited. Further, although the threshold value setting unit 84 sets the threshold value SL in two stages depending on the level of the oil temperature, the threshold value SL may be set in multiple stages larger than the two stages according to the value of the oil temperature. After setting the threshold value SL by the threshold value setting unit 84, the process proceeds to S10 to S15.

Even if the control unit 82 determines whether or not to control with the second current value based on the operation pattern of the operation member (for example, whether or not it is a combined operation in which a plurality of hydraulic actuators are operated at the same time). Good. FIG. 13 shows a third control flowchart of the control valves V1 to V10. As shown in FIG. 13, S10 to S15 are the same as those in FIG.
As shown in FIG. 13, the control unit 82 determines whether or not a plurality of hydraulic actuators have been combinedly operated (S18: combined operation determination). In the combined operation determination, the control unit 82 determines, for example, whether or not the operation member 19L and the operation member 19R are simultaneously operated in combination. Here, the combined operation refers to the case where the two operating members swing from the neutral position substantially at the same time (when the swing amount is input to the control device 51 substantially at the same time), or one of the two operating members. This is the case where one of the operating members is operated from the neutral position while the operating member of the above is not operated in the neutral position and the other operating member is being operated.

When the plurality of hydraulic actuators are combinedly operated (S18, Yes), the control unit 82 proceeds to S15 and performs the operation according to the first control value without performing the control by the second control value. Further, the control unit 82 proceeds to S10 when a plurality of hydraulic actuators are not operated in combination (S18, No), that is, when only one hydraulic actuator is operated. When the operating amount of the operating member exceeds the threshold SL (S11, Yes) when operating one hydraulic actuator, the control unit 82 controls by the second control value as shown in S12.

That is, when the operation pattern of the operation member is a predetermined pattern (S18, No), the control device 51 first sets the control valves V1 to V10 depending on whether or not the operation speed of the operation member is less than the threshold value. It is determined whether to control by the control value or the second control value (S11), while when the operation pattern of the operation member is different from the predetermined pattern (S18, Yes), the operation speed of the operation member is less than the threshold value. The control valves V1 to V10 are controlled by the first control value regardless of whether or not the control valves V1 to V10 are controlled. In the above-described embodiment, the operation pattern is described as a predetermined pattern by taking a compound operation as an example, but the operation pattern is not limited to the compound operation.

The control unit 82 was set to proceed to S10 when only one hydraulic actuator was operated, but instead, it may proceed to S12. That is, when the plurality of hydraulic actuators are not operated in combination (S18, No), the control unit 82 may perform control by the second control value regardless of the operating speed of the operating member.
A hydraulic actuator that controls by the second control value is set in the control device 51, and control by the second control value is performed when the set hydraulic actuator is operated and the operation speed is equal to or higher than the threshold SL. For the hydraulic actuator that has not been set, even if the operation speed is equal to or higher than the threshold value SL, the control by the first control value may be performed without using the second control value.

FIG. 14A shows a setting screen M4 showing the setting of the hydraulic actuator with respect to the hydraulic attachment. On the setting screen M4, a plurality of hydraulic attachments are displayed, and ON / OFF is displayed corresponding to the plurality of hydraulic attachments. ON / OFF of each hydraulic attachment can be set by operating the operating tools 72 (first switch 72a, second switch 72b, and third switch 73c). The relationship between each hydraulic attachment set on the setting screen M4 and ON / OFF (whether or not to use the second control value) is stored in the storage unit 60.

FIG. 14B shows a setting screen M5 showing the setting of the hydraulic actuator. On the setting screen M5, a plurality of hydraulic actuators are displayed, and ON / OFF is displayed corresponding to the plurality of hydraulic actuators. ON / OFF of each hydraulic actuator can be set by operating the operating tool 72 (the first switch 72a, the second switch 72b, and the third switch 73c). The relationship between each hydraulic actuator set on the setting screen M5 and ON / OFF is stored in the storage unit 60. “ON” on the setting screens M4 and M5 indicates that control is performed by the second control value, and “OFF” on the setting screens M4 and M5 indicates that control is not performed by the second control value.

FIG. 15 shows a fourth control flowchart of the control valves V1 to V10. As shown in FIG. 15, S10 to S15 are the same as those in FIG.
As shown in FIG. 15, the control unit 82 refers to the storage unit 60 when the operation member is operated (S21), and the hydraulic actuator corresponding to the operated operation member becomes a control target by the second control value. Whether or not it is determined (S21). When the hydraulic actuator is the control target (S21, Yes), the control unit 84 proceeds to S10, and then when the operating speed of the operating member is equal to or higher than the threshold SL (S11, Yes), as shown in S12, as shown in S12. The control unit 82 controls by the second control value. On the other hand, when the hydraulic actuator is not the control target (S21, No), the control unit 84 proceeds to S15 and performs control by the first control value.

That is, as shown in FIG. 15, when the operating member corresponding to the predetermined hydraulic actuator is operated (S21, Yes), the control device 51 determines whether or not the operating speed of the operating member is less than the threshold value. When it is determined whether the control valves V1 to V10 are controlled by the first control value or the second control value according to the control, an operating member different from the operating member corresponding to the predetermined hydraulic actuator is operated (S21). , No), the control valves V1 to V10 are controlled by the first control value regardless of whether or not the operating speed of the operating member is less than the threshold value.

In the third embodiment as well, the rotation control unit 55A, the rotation control unit 55B, and the like may be applied so that not only the standard control mode but also the integrated control mode can be performed. The engine speed may be set for each. That is, the hydraulic system of the working machine 1 may be constructed by arbitrarily combining the third embodiment, the second embodiment, and the first embodiment.
[Fourth Embodiment]
FIG. 16 shows the hydraulic system and control system of the fourth embodiment. The description of the same configuration as that of the first embodiment will be omitted.

As shown in FIG. 16, the control device 51 includes a first turning control unit 85 and a second turning control unit 86. The first turning control unit 85 and the second turning control unit 86 are composed of an electronic electric circuit, a program, and the like provided in the control device 51.
The first turning control unit 85 controls the turning device by setting a target turning speed corresponding to the amount of operation of the work operation member 19L. The second turning control unit 86 controls the turning device by setting a high-speed turning speed higher than the target turning speed.

FIG. 17 shows the relationship between the operation amount of the work operation member 19L and the turning speed. As shown in FIG. 17, the first turning control unit 85 sets the turning control line N1 indicating the target turning speed to a larger value as the operation amount increases. The second turning control unit 86 sets the turning control line N2, which indicates a high-speed turning speed, to a larger value as the amount of operation increases. The turning speed indicated by the turning control line N2 is higher than the turning speed indicated by the turning control line N1, and when the same amount of operation is applied, the high-speed turning speed (turning control line N2)> the target turning speed (turning control line). N1). The relationship between the operation amount of the work operation member 19L shown in FIG. 17 and the turning speed (target turning speed and high-speed turning speed) is stored in the storage unit 60.

FIG. 18 shows a first control flowchart of the swivel device.
The control device 51 determines whether or not the work operation member 19L has been operated (S30). When the work operation member 19L is operated (S30, Yes), the second turning control unit 86 refers to the storage unit 60 and makes a high-speed turn based on the operation amount of the work operation member 19L and the turning control line N2. Calculate the speed (S31). The second swivel control unit 86 sets the high-speed output of the hydraulic pump corresponding to the high-speed swivel speed, that is, the swash plate angle (high-speed swash plate angle) (S32). The second turning control unit 86 outputs a control signal indicating a high-speed swash plate angle to the hydraulic pump (S33: high-speed output). The control device 51 (first turning control unit 85) determines whether or not a predetermined time has elapsed since the control by the second turning control unit 86 was started, that is, after the high-speed output by S33 was performed (S34). When the predetermined time has elapsed (S34, Yes), the control of the turning device is started based on the target turning speed (S35). The first turning control unit 85 calculates the target turning speed based on the operation amount of the work operation member 19L and the turning control line N1 with reference to the storage unit 60 (S36).

The first turning control unit 85 sets the target output of the hydraulic pump corresponding to the target turning speed, that is, the swash plate angle (target swash plate angle) (S37). The first turning control unit 85 outputs a control signal indicating the target swash plate angle to the hydraulic pump (S38: target swash plate angle). That is, the first turning control unit 85 converges the turning speed to the target turning speed by controlling the turning device based on the target turning speed after the second turning control unit 86 controls the turning device.

The control for converging the turning speed to the target turning speed in the first turning control unit 85 is preferably performed based on the turning device, that is, the actual turning speed (actual turning speed) of the turning table 2. For example, a measuring device 87 for measuring the actual turning speed of the turning device (swivel table 2) is connected to the control device 51. The first turning control unit 85 obtains the difference (speed difference) between the actual turning speed measured by the measuring device 87 and the target turning speed, and corrects the target sloping plate angle so that the speed difference becomes zero. Match the actual turning speed with the target turning speed.

According to the above, the control device 51 has a first turning control unit 85 and a second turning control unit 86. Further, the first turning control unit 85 controls the turning device based on the target turning speed after the second turning control unit 86 controls the turning device. Therefore, if the work operation member 19L is operated, the turning speed of the turning table 2 can be quickly reached to the target turning speed by the first turning control unit 85 and the second turning control unit 86. Further, since the high-speed turning speed is converged to the target turning speed based on the actual turning speed and the target turning speed measured by the measuring device 87, the turning speed can be stably converged. Further, when the hydraulic pump is a variable displacement pump, the responsiveness is slow, so that the swivel speed of the swivel 2 may be slowed at the initial stage of the swivel 2. However, since the second turning control unit 86 performs turning control at the initial movement stage of the turning table 2 at a high turning speed, it suppresses a decrease in the turning speed at the initial movement stage and causes the turning table 2 to quickly perform the turning operation. be able to.

The swivel device may be controlled based on the operation speed of the work operation member. As shown in FIG. 16, a speed detection unit 81 is provided. The speed detection unit 81 is the same as the above-described embodiment.
FIG. 19 shows a second control flowchart of the swivel device. In FIG. 19, S30 and S31 to S38 are the same as those in FIG. As shown in FIG. 19, when the work operation member 19L is operated (S30, Yes), the speed detection unit 81 detects the operation speed of the work operation member 19L (S40). The control device 51 determines whether or not the operation speed of the work operation member 19L is equal to or higher than the threshold value (S41). When the operation speed is equal to or higher than the threshold value (S41, Yes), the control device 51 shifts the process to S31 and executes control using the high-speed turning speed by the second turning control unit 86 (S31 to S34). On the other hand, when the operation speed is less than the threshold value (S41, No), the control device 51 shifts the process to S35 and executes the control using the target turning speed by the first turning control unit 85 (S35 to S38). ..

According to the above, when the operation of the work operation member is steep, the turning speed of the turning table 2 can be quickly reached to the target turning speed.
As described above, it should be considered that the embodiment disclosed this time is an example in all respects and is not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Work equipment 51 Control device (work control device)
52 Control device (engine control device)
83 Measuring device 84 Threshold setting unit

Claims (5)

A hydraulic actuator operated by hydraulic oil and
An electromagnetic control valve that controls the flow rate of hydraulic oil flowing through the hydraulic actuator,
An operating member that receives an operator's operation on the hydraulic actuator and
A control device that controls the opening degree of the electromagnetic control valve according to the amount of operation of the operating member, and
A measuring device for detecting the oil temperature of the hydraulic oil and
With
When the operating speed of the operating member is less than the threshold value, the control device controls the electromagnetic control valve with a first control value corresponding to the operating amount of the operating member, and the operating speed is equal to or higher than the threshold value. In this case, a threshold value setting unit that controls the electromagnetic control valve with a second control value in which the opening degree of the electromagnetic control valve is larger than the first control value and sets the threshold value according to the oil temperature is provided. Working machine you have. The control device controls the electromagnetic control valve with the second control value for a predetermined time when the operation speed is equal to or higher than the threshold value, and controls the electromagnetic control valve with the first control value after the predetermined time has elapsed. The working machine according to claim 1. When the operation pattern of the operation member is a predetermined pattern, the control device controls the electromagnetic control valve with the first control value depending on whether or not the operation speed of the operation member is less than the threshold value. While determining whether to control with the second control value, if the operation pattern of the operation member is different from the predetermined pattern, the electromagnetic control valve is operated regardless of whether the operation speed of the operation member is less than the threshold value. The working machine according to claim 1 or 2, which is controlled by the first control value. Equipped with multiple hydraulic actuators
When a plurality of hydraulic actuators are combinedly operated by the operating member, the control device controls the electromagnetic control valve with the first control value regardless of whether or not the operating speed of the operating member is less than the threshold value. The work machine according to claim 3, wherein the electromagnetic control valve is controlled by the second control value when only the hydraulic actuator of 1 is operated and the operation speed of the operation member is equal to or higher than the threshold value. Equipped with multiple hydraulic actuators
When the operating member corresponding to the predetermined hydraulic actuator is operated, the control device controls the electromagnetic control valve with the first control value according to whether or not the operating speed of the operating member is less than the threshold value. On the other hand, when an operation member different from the operation member corresponding to the predetermined hydraulic actuator is operated, whether the operation speed of the operation member is less than the threshold value. The working machine according to any one of claims 1 to 4, wherein the electromagnetic control valve is controlled by the first control value regardless of whether or not the electromagnetic control valve is controlled by the first control value.

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