JP7110433B2 - Hydraulic system of work equipment - Google Patents

Description

The present invention relates to a hydraulic system for work equipment such as skid steer loaders and compact track loaders.

Conventionally, Patent Document 1 is known as a hydraulic system for working machines such as skid steer loaders and compact track loaders.
The hydraulic system of Patent Document 1 switches an HST motor that can switch between low speed (1st speed) and high speed (2nd speed), a hydraulic switching valve that can switch the HST motor between 1st speed and 2nd speed, and a hydraulic switching valve. and a directional switching valve. The hydraulic system also includes an HST pump that can change the angle of the swash plate by operating the travel lever and can change the amount of hydraulic oil supplied to the HST motor according to the angle of the swash plate.

JP 2013-36276 A

In a hydraulic system, an attempt has been made to replace the directional switching valve with an electromagnetic proportional valve and switch the hydraulic switching valve with the pressure of hydraulic oil output from the electromagnetic proportional valve. When the directional switching valves are electromagnetic proportional valves, there is a possibility that the electric current for operating the electromagnetic proportional valves and the pressure of hydraulic oil output from the electromagnetic proportional valves may differ for each electromagnetic proportional valve. Also, when the swash plate of the HST motor is operated by an electromagnetic proportional valve, the relationship between the electromagnetic proportional valve and the angle of the swash plate may differ.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a hydraulic system for a work machine capable of improving the operability of the work machine. .

The technical means taken by the present invention to solve the above technical problems are as follows.
A hydraulic system of a work machine includes a hydraulic actuator operated by hydraulic fluid, a second operating section capable of operating the hydraulic actuator based on a control signal, and actuator information relating to the control signal and the operation of the hydraulic actuator. a second acquisition unit; a second storage unit that stores a relationship between the control signal acquired by the second acquisition unit and the actuator information; and the second operation based on the relationship stored in the second storage unit. and a second switch capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates. and a switching valve for controlling the flow rate of hydraulic fluid acting on the hydraulic actuator, wherein the second actuation unit includes a proportional valve for controlling the operation of the switching valve, and the switching valve and the proportional valve. and the second acquisition unit obtains the control signal output to the proportional valve in the setting mode and the hydraulic oil acting on the second pilot oil passage as the actuator information. to get pressure and .

A hydraulic system of a work machine includes a hydraulic actuator operated by hydraulic fluid, a second operating section capable of operating the hydraulic actuator based on a control signal, and actuator information relating to the control signal and the operation of the hydraulic actuator. a second acquisition unit; a second storage unit that stores a relationship between the control signal acquired by the second acquisition unit and the actuator information; and the second operation based on the relationship stored in the second storage unit. and a second switch capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates. a device, a switching valve for controlling the flow rate of hydraulic fluid acting on the hydraulic actuator, a supply/discharge oil passage connecting the switching valve and the hydraulic actuator, and detecting the flow rate of hydraulic fluid flowing through the supply/discharge oil passage and a fourth measuring device, wherein the second obtaining unit obtains the control signal output to the second operating unit in the setting mode and the flow rate of hydraulic oil detected by the fourth measuring device as the actuator information. and get .

A hydraulic system of a work machine includes a hydraulic actuator operated by hydraulic fluid, a second operating section capable of operating the hydraulic actuator based on a control signal, and actuator information relating to the control signal and the operation of the hydraulic actuator. a second acquisition unit; a second storage unit that stores a relationship between the control signal acquired by the second acquisition unit and the actuator information; and the second operation based on the relationship stored in the second storage unit. and a second switch capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates. and a fifth measuring device for detecting the speed of the hydraulic actuator, wherein the second acquisition unit obtains the control signal output to the second actuation unit in the setting mode and the actuator information as the actuator information. 5 Obtaining the velocity of the hydraulic actuator detected by the measuring device.

A hydraulic system of a work machine includes a hydraulic actuator operated by hydraulic fluid, a second operating section capable of operating the hydraulic actuator based on a control signal, and actuator information relating to the control signal and the operation of the hydraulic actuator. a second acquisition unit; a second storage unit that stores a relationship between the control signal acquired by the second acquisition unit and the actuator information; and the second operation based on the relationship stored in the second storage unit. and a second switch capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates. and a sixth measuring device for detecting the angular velocity of a pin that rotatably supports the hydraulic actuator, wherein the second acquiring unit receives the control signal output to the second operating unit in the setting mode. and the angular velocity of the pin detected by the sixth measuring device as the actuator information.

ADVANTAGE OF THE INVENTION According to this invention, the operability in a working machine can be improved.

It is a figure which shows the hydraulic system of the traveling system in 1st Embodiment. FIG. 5 is a diagram showing the relationship between the output current and the swash plate angle when the output current is varied from minimum to maximum. It is a figure which shows the modification of the hydraulic system of a traveling system. It is a figure which shows the hydraulic system of the working system in 2nd Embodiment. It is a figure which shows the relationship between a 2nd pilot oil path, a proportional valve, and a pressure-receiving part. It is a figure which shows the 1st modification of the hydraulic system of a work system. It is a figure which shows the 2nd modification of the hydraulic system of a work system. FIG. 10 is a diagram showing a third modification of the hydraulic system of the working system; It is a figure which shows the side surface of a track loader. FIG. 10 is a side view of the truck loader when the cabin is raised;

A hydraulic system for a working machine according to embodiments of the present invention will be described below with reference to the drawings.
[First Embodiment]
The overall configuration of the work machine will be described. 7 and 8 show a track loader as an example of the work machine 1. FIG. The work machine is not limited to a track loader, and may be, for example, a tractor, skid steer loader, compact track loader, backhoe, or the like. In this embodiment, the front side of the driver seated in the driver's seat of the working machine 1 (the direction indicated by the arrow F shown in FIG. 7) is the front side, and the rear side of the driver (the direction indicated by the arrow R shown in FIG. 7). , the left side of the driver (front side as viewed from the paper surface of FIG. 7) is the left side, and the right side of the driver (rear side as viewed from the paper surface of FIG. 7) is the right side.

As shown in FIGS. 7 and 8 , the work machine 1 includes a machine body 2 , a work device 3 attached to the machine body 2 , and a travel device 4 that supports the machine body 2 . A cabin 5 is mounted in the upper part of the aircraft body 2 and in the front part of the aircraft body 2 . A rear portion of the cabin 5 is supported by a support bracket 11 of the fuselage 2 and is swingable around a support shaft 12 . The front part of the cabin 5 can be supported by the front part of the airframe 2 . A driver's seat 13 is provided in the cabin 5 .

The travel device 4 is composed of a crawler type travel hydraulic device. The travel device 4 is provided below the left side of the body 2 and below the right side of the body 2 . The travel device 4 can travel by driving force of a hydraulically driven travel hydraulic device 44, which will be described later.
The working device 3 includes a boom 22L, a boom 22R, and a bucket 23 (working tool) attached to the ends of the booms 22L and 22R. The boom 22L is arranged on the left side of the body 2. As shown in FIG. The boom 22R is arranged on the right side of the body 2. As shown in FIG. The booms 22L and 22R are interconnected by a connector (not shown) provided between the booms 22L and 22R. Boom 22L and boom 22R are supported by first lift link 24 and second lift link 25, respectively. A boom cylinder 26 consisting of a double-acting hydraulic cylinder is provided between the base sides of the booms 22L and 22R and the rear lower portion of the machine body 2 so as to correspond to the booms 22L and 22R. By simultaneously extending and retracting the boom cylinders 26, the booms 22L and 22R are simultaneously swung up and down. Mounting brackets 27 are pivotally connected to the tip sides of the booms 22L and 22R so as to be rotatable about the horizontal axis, and the rear side of the bucket 23 is attached to the mounting brackets 27 .

A bucket cylinder 28, which is a double-acting hydraulic cylinder, is interposed between the mounting bracket 27 and the tip side intermediate portions of the booms 22L and 22R, corresponding to the booms 22L and 22R. The expansion and contraction of the bucket cylinder 28 causes the bucket 23 to swing (squeeze and dump).
The bucket 23 is detachable from the mounting bracket 27 . By removing the bucket 23, the mounting bracket 27 can be attached with various attachments (hydraulically driven work implements having hydraulic actuators), and is configured to perform various types of work other than excavation (or other excavation work). It is

Next, the hydraulic system of the working machine will be described.
FIG. 1 is a diagram showing a hydraulic system of a traveling system of a working machine.
As shown in FIG. 1, the hydraulic system has a first hydraulic pump P1 and a second hydraulic pump P2. The first hydraulic pump P<b>1 is used to drive the boom cylinder 26 , the bucket cylinder 28 , or the hydraulic actuator of the attachment attached to the tip side of the boom 22 . The second hydraulic pump P2 (pilot pump, charge pump) is mainly used to supply hydraulic oil pressure as control pressure or signal pressure. Hereinafter, for convenience of explanation, hydraulic oil as control pressure or signal pressure will be referred to as "pilot oil", and the pressure of the pilot oil will be referred to as "pilot pressure".

The hydraulic system has a travel hydraulic device 44 and a switching valve 45 . The traveling hydraulic system 44 has a first traveling hydraulic pump 66A, a second traveling hydraulic pump 66B, a first traveling motor 80A, a second traveling motor 80B, and a hydraulic switching valve 90. Note that the hydraulic switching valve 90 and the traveling hydraulic system 44 may be configured separately. The hydraulic switching valve 90 has a first hydraulic switching valve 90A and a second hydraulic switching valve 90B.

The first travel hydraulic pump 66A and the first travel motor 80A are connected by a first circulation oil passage 71 through which hydraulic oil can be circulated. The second traveling hydraulic pump 66B and the second traveling motor 80B are connected by a second circulation oil passage 72 through which hydraulic oil can be circulated. The first hydraulic switching valve 90A and the first traveling motor 80A are connected by an oil passage 73, and the second hydraulic switching valve 90B and the second traveling motor 80B are connected by an oil passage 74. The first hydraulic switching valve 90A, the second hydraulic switching valve 90B and the switching valve 45 are connected by an oil passage 75. As shown in FIG. The switching valve 45 and the second hydraulic pump P<b>2 are connected by an oil passage 76 . Note that the first travel hydraulic pump 66A and the second travel hydraulic pump 66B are connected to the second hydraulic pump P2 by oil passages (not shown), and the hydraulic fluid discharged from the second hydraulic pump P2 is supplied to the first travel hydraulic pump P2. It can be supplied to the hydraulic pump 66A and the second traveling hydraulic pump 66B.

The first travel hydraulic pump 66A is a swash plate type variable displacement axial pump driven by the power of the prime mover 29 . The angle of the swash plate of the first travel hydraulic pump 66A can be changed. The angle of the swash plate changes the discharge direction and amount of hydraulic oil, thereby changing the rotational output of the first travel motor 80A.
The second travel hydraulic pump 66B has the same configuration as the first travel hydraulic pump 66A. When the angle of the swash plate of the second travel hydraulic pump 66B is changed, the discharge direction and amount of hydraulic oil are changed, thereby changing the rotational output of the second travel motor 80B.

The first travel motor 80A is composed of a cam motor (radial piston motor). The first travel motor 80A is of a variable capacity type that can change the size of the capacity (motor capacity) during operation, and by changing the motor capacity, it is possible to change the rotation and torque of the output shaft. Specifically, the first travel motor 80A has a first motor 81 and a second motor 82 . By supplying hydraulic oil to both the first motor 81 and the second motor 82, the motor capacity is increased, and the first travel motor 80A is set to 1st speed. Further, by supplying hydraulic oil to either the first motor 81 or the second motor 82, the motor displacement is reduced, and the first travel motor 80 is set to the second speed. The second traveling motor 80B has the same configuration as the first traveling motor 80A, and can be changed to 1st or 2nd speed.

The first hydraulic switching valve 90A is a hydraulic switching valve that can be switched between a plurality of switching positions according to the pilot pressure, which is the pressure of the pilot oil, and switches the first traveling motor 80A to the first speed or second speed. , a first position 90a, a second position 90b, and a neutral position 90c. Specifically, when the pressure of the pilot oil acting on the pressure receiving portion 91 of the first hydraulic switching valve 90A is less than the set pressure, which is a predetermined pressure, the hydraulic switching valve 90 is moved to the first position 90a by the spring. retained. When the first hydraulic switching valve 90A is at the first position 90a, hydraulic fluid is supplied to both the first motor 81 and the second motor 82, and the first traveling motor 80A is in first speed. When the pressure of the pilot oil acting on the pressure receiving portion 91 of the first hydraulic switching valve 90A is equal to or higher than the set pressure, the first hydraulic switching valve 90A is switched to the second position 90b via the neutral position 90c. When the first hydraulic switching valve 90A is in the second position 90b, hydraulic fluid is supplied only to the first motor 81, and the first traveling motor 80A is in second speed.

The second hydraulic switching valve 90B has the same configuration as the first hydraulic switching valve 90A. The second hydraulic switching valve 90B switches the second traveling motor 80B to 1st speed or 2nd speed.
The switching valve 45 is, for example, a two-position switching valve that can be switched between a first position 45a and a second position 45b, and switches between the first hydraulic switching valve 90A and the second hydraulic switching valve 90B. When switching valve 45 is switched to first position 45a, first hydraulic switching valve 90A and second hydraulic switching valve 90B are placed at first position 90a. When the switching valve 45 is set to the second position 45b, the first hydraulic switching valve 90A and the second hydraulic switching valve 90B are switched to the second position 90b via the neutral position 90c. That is, by switching the switching valve 45, the first traveling motor 80A and the second traveling motor 80B can be switched to the 1st speed or the 2nd speed.

Now, as shown in FIG. 1 , the hydraulic system includes a first operating section 50 and a control device 60 . The first operating unit 50 can operate (activate) the hydraulic pumps of the traveling system (the first traveling hydraulic pump 66A and the second traveling hydraulic pump 66B). The first operating section 50 includes a regulator 50A and a regulator 50B. The regulator 50A and the regulator 50B are devices operated by control signals. The swash plate of the first traveling hydraulic pump 66A is changed based on the operation of the regulator 50A. The swash plate of the second traveling hydraulic pump 66A is changed based on the operation of the regulator 50B.

The control device 60 is a device that controls the regulators 50A and 50B, and is composed of, for example, a CPU. The control device 60 can switch between at least a setting mode 60a and a control mode 60b. The setting mode 60a is a mode for making various settings related to control. A control mode 60b is a mode for performing control. Switching between the setting mode 60 a and the control mode 60 b is performed by a first switching device 61 connected to the control device 60 . The first switching device 61 is, for example, a switch or the like arranged near the driver's seat 13 and can be operated by the driver or the like.

In the setting mode 60a, the control device 60 receives angle information related to the angle of the swash plate of the traveling system hydraulic pumps (the first traveling hydraulic pump 66A, the second traveling hydraulic pump 66B) and the first operating unit 50 (the regulator 50A, the The relationship with the control signal output to the regulator 50B) is set.
For example, the control device 60 is connected to a first measuring device 67 that detects the angles of the swash plates (referred to as swash plate angles) of the first travel hydraulic pump 66A and the second travel hydraulic pump 66B. In the setting mode 60a, the swash plate angles of the first travel hydraulic pump 66A and the second travel hydraulic pump 66B detected by the first measuring device 67 are acquired as the angle information. In the setting mode 60a, the output current (current) output from the control device 60 to each of the first operation units 50 (the regulator 50A and the regulator 50B) is acquired as the control signal.

In the setting mode 60a, the relationship between the swash plate angle of the first travel hydraulic pump 66A and the second travel hydraulic pump 66B and the current is stored. In the control mode 60b, the first operating unit 50 (regulators 50A and 50B) is controlled based on the relationship between the current and the swash plate angle of the first travel hydraulic pump 66A and the second travel hydraulic pump 66B.
The setting mode and the control mode will be described below together with the configuration of the control device 60. FIG.

The control device 60 has a first acquisition section 62 , a first storage section 63 and a first control section 64 . The first acquisition unit 62 and the first control unit 64 are composed of programs and the like stored in the control device 60 .
The first acquisition unit 62 is operable in the setting mode 60a. When the setting mode 60a is set by the first switching device 61, as shown in FIG. 2, the control device 60 changes the current (output current) output to the regulator 50A from the minimum value to the maximum value. The first acquisition unit 62 acquires a first increase relationship that is the relationship between the output current output from the control device 60 to the regulator 50A and the swash plate angle of the first travel hydraulic pump 66A detected by the first measurement device 67. do. The first storage unit 63 also stores the output current to the regulator 50A acquired by the first acquisition unit 62, the swash plate angle of the first traveling hydraulic pump 66A, and the first increasing relationship.

Further, the control device 60 changes the output current to be output to the regulator 50A from the maximum value to the minimum value, and the first acquisition unit 62 obtains the first value, which is the relationship between the output current and the swash plate angle of the first travel hydraulic pump 66A. A decrease relation is acquired, and the first storage unit 63 stores the first decrease relation. That is, in the setting mode 60a, the first acquisition unit 62 acquires the first increase relationship and the first decrease relationship during control of the regulator 50A, and the first storage unit 63 stores the first increase relationship and the first decrease relationship. Remember.

In the setting mode 60a, the control device 60 increases or decreases the output current of the regulator 50B as well as the regulator 50A. A second increasing relationship and a second decreasing relationship with respect to the swash plate angle of 66B are stored.
As described above, in the setting mode 60a, the output current output from the control device 60 to the regulators 50A and 50B and the traveling system hydraulic pump (first It is possible to grasp the relationship (first increase relationship, first decrease relationship, second increase relationship, second decrease relationship) with the swash plate angle of the traveling hydraulic pump 66A, the second traveling hydraulic pump 66B).

The first control section 64 is operable in the control mode 60 b and controls the first operating section 50 . In this embodiment, the first control section 64 controls the regulators 50A and 50B that are the first operating section 50 . An operation member 65 connected to the control device 60 is used to operate the first operating portion 50 (regulators 50A and 50B). The operating member 65 is a swingable lever, a slidable slide switch, a pressable push switch, or the like.

When the operation member 65 is operated, the first control unit 64 outputs current to the regulators 50A and 50B based on the amount of operation of the operation member 65 . The relationship between the amount of operation of the operation member 65 and the current output from the first control section 64 (control device 60) is set in advance. For example, when the operation amount of the operation member 65 is small, the current output from the first control unit 64 is small, and when the operation amount of the operation member 65 is large, the current output from the first control unit 64 is large.

Specifically, in the control mode 60b, when the operation member 65 is operated in one direction from the neutral position, the first control unit 64 controls the relationship (first increase relationship, first decrease relationship) set in advance in the setting mode 60a. , second increasing relation, and second decreasing relation), after referring to the first increasing relation, the regulator adjusts the swash plate angle with respect to the manipulated variable indicated by the first increasing relation to the target swash plate angle. The actual swash plate angle is matched with the target swash plate angle while feeding back the current output to 50A. Further, in the control mode 60b, when the operation member 65 is operated from the maximum position in one direction to the neutral position, the first control unit 64 refers to the first decrease relationship, and then performs the operation indicated by the first decrease relationship. The actual swash plate angle is made to match the target swash plate angle while feeding back the current output to the regulator 50A so that the swash plate angle with respect to the amount becomes the target swash plate angle.

On the other hand, in the control mode 60b, when the operation member 65 is operated in the other direction from the neutral position, the first control unit 64 selects one of the first increasing relationship, the first decreasing relationship, the second increasing relationship, and the second decreasing relationship. , and after referring to the second increase relationship, the actual swash plate angle is adjusted while feeding back the current output to the regulator 50B so that the swash plate angle corresponding to the manipulated variable indicated by the second increase relationship becomes the target swash plate angle. Match the plate angle to the target swash plate angle. Further, in the control mode 60b, when the operation member 65 is operated from the maximum position in the other direction to the neutral position, the first control unit 64 refers to the second decrease relationship, and then performs the operation indicated by the second decrease relationship. The actual swash plate angle is made to match the target swash plate angle while feeding back the current output to the regulator 50B so that the swash plate angle with respect to the amount becomes the target swash plate angle.

For example, when the work machine 1 is manufactured, delivered, or maintained, the control device 60 is set to the setting mode 60a, and the output current output to the first operating unit 50 and the travel system detected by the first measuring device 67 are measured. The relationship with the swash plate angle in the hydraulic pump is acquired by the first acquisition unit 62 and the acquired relationship is stored in the second storage unit 122 . After acquiring the relationship between the output current and the swash plate angle, in control mode 60b, by outputting the output current to the first actuation unit 50 based on the relationship, operability in running can be improved. In particular, when the traveling system pump is operated in the direction of increasing speed, the first increasing relationship and the second increasing relationship are used, and when the traveling system pump is operated in the direction of decreasing speed, the first increase relationship is used. Since the decreasing relation and the second decreasing relation are used, it is possible to improve the operability when increasing the travel speed of the work implement 1 and when decreasing the travel speed. In this case, the influence of hysteresis of the operating member 65 can be reduced.

In the above-described embodiment, the regulators 50A and 50B are used as the first operating section 50, and the control device 60 performs control based on the relationship between the output currents output to the regulators 50A and 50B and the swash plate angle. Alternatively, the control may be performed based on the relationship between the pilot pressure acting on the pressure receiving portions 66a and 66b of the travel system hydraulic pumps (the first travel hydraulic pump 66A and the second travel hydraulic pump 66B) and the swash plate angle.

Specifically, as shown in FIG. 3, the first actuation unit 50 (regulators 50A and 50B), the pressure receiving portions 66a of the travel system hydraulic pumps (first travel hydraulic pump 66A, second travel hydraulic pump 66B), 66 b is connected by a first pilot oil passage 77 . Further, the control device 60 is connected to a second measuring device 78 that detects the pilot pressure, which is the pressure of the working oil acting on the first pilot oil passage 77 . In the setting mode 60a, the first acquiring unit 62 acquires the output currents output to the regulators 50A and 50B and the pilot pressure detected by the second measuring device 78 as angle information. The first storage unit 63 stores the relationship between the output current and the pilot pressure. The first controller 64 performs control based on the relationship between the output current and the pilot pressure in the control mode 60b. That is, in the modification shown in FIG. 3, by replacing the above-described swash plate angle with pilot pressure, the control device 60 acquires the relationship between the output current and the pilot pressure in advance, and obtains the relationship between the output current and the pilot pressure. control based on the relationship between
[Second embodiment]
FIG. 4 is a diagram showing the hydraulic system of the working system of the working machine. The working hydraulic system is applicable to the working machine of the first embodiment.

The working hydraulic system includes a first hydraulic pump P<b>1 and a plurality of switching valves 20 . A plurality of switching valves 20 are valves that control various hydraulic actuators provided in work machine 1 . Hydraulic actuators are devices that are operated by hydraulic fluid, such as hydraulic cylinders and hydraulic motors. In this embodiment, the multiple switching valves 20 are a boom switching valve 20A, a bucket switching valve 20B, and a preliminary switching valve 20C.

The boom switching valve 20A is a valve that controls a hydraulic actuator (boom cylinder) 26 that operates the booms 22L and 22R. The boom switching valve 20A is a direct acting spool type 3-position switching valve.
The bucket switching valve 20B is a valve that controls a hydraulic cylinder (bucket cylinder) 28 that controls the bucket 23 . The bucket switching valve 20B is a direct-acting spool type three-position switching valve of a pilot system.

The spare switching valve 20C is a valve that controls a hydraulic actuator (hydraulic cylinder, hydraulic motor, etc.) 30 attached to the spare attachment. The preliminary switching valve 20C is a direct-acting spool type three-position switching valve of a pilot system.
A discharge oil passage 51 connects the first hydraulic pump P1 and the plurality of switching valves 20 (the boom switching valve 20A, the bucket switching valve 20B, and the preliminary switching valve 20C). A plurality of switching valves 20 and hydraulic actuators 26, 28, 30 are connected by supply and discharge oil passages, respectively. The oil supply and drainage passages include oil supply and drainage passages 100a, 100b, and 100c. The supply/discharge oil passage 100a connects the hydraulic actuator 26 and the boom switching valve 20A. The supply/discharge oil passage 100b connects the hydraulic actuator 28 and the bucket switching valve 20B. The supply/discharge oil passage 100c connects the hydraulic actuator 30 and the preliminary switching valve 20C.

As shown in FIG. 5 , the working hydraulic system includes a second operating section 102 capable of operating hydraulic actuators 26 , 28 , 30 via switching valve 20 . The second operating portion 102 has a proportional valve 103 that controls the switching valve 20 and a second pilot oil passage 104 that connects the switching valve 20 and the proportional valve 103 .
The proportional valves 103 include a proportional valve 103A controlling the boom switching valve 20A, a proportional valve 103B controlling the bucket switching valve 20B, and a proportional valve 103C controlling the preliminary switching valve 20C. The proportional valve 103A, the proportional valve 103B, the proportional valve 103C, and the second hydraulic pump P2 are connected by an oil passage 105. As shown in FIG.

The second pilot oil passage 104 includes an oil passage 104A that connects the pressure receiving portions 31a and 31b of the boom switching valve 20A and the proportional valve 103A, and an oil passage that connects the pressure receiving portions 32a and 32b of the bucket switching valve 20B and the proportional valve 103B. It has a passage 104B and an oil passage 104C connecting the pressure receiving portions 33a, 33b of the preliminary switching valve 20C and the proportional valve 103C.
Therefore, if the opening degrees of the proportional valve 103A, the proportional valve 103B, and the proportional valve 103C are changed, the pressure receiving portions 31a and 31b of the boom switching valve 20A, the pressure receiving portions 32a and 32b of the bucket switching valve 20B, and the pressure receiving portions of the auxiliary switching valve 20C are changed. The pilot pressure acting on either 33a, 33b can be varied. As a result, the proportional valve 103A, the proportional valve 103B, and the proportional valve 103C can switch any one of the boom switching valve 20A, the bucket switching valve 20B, and the preliminary switching valve 20C.

As shown in FIG. 4, the hydraulic system has a control device 110 . The control device 110 is a device that controls the second operating section 102, and is composed of, for example, a CPU. The control device 110 can switch between at least a setting mode 110a and a control mode 110b. The setting mode 110a is a mode for making various settings related to control. The control mode 110b is a mode for performing control. Switching between the setting mode 110 a and the control mode 110 b is performed by a second switching device 111 connected to the control device 110 . The second switching device 111 is, for example, a switch or the like arranged near the driver's seat 13 and can be operated by the driver or the like.

In the setting mode 110a, the actuator information on the working system hydraulic actuators (hydraulic actuators 26, 28, 30) and the control output by the control device 110 to the second actuation unit 102 (proportional valve 103A, proportional valve 103B, proportional valve 103C). Sets the relationship with the signal.
For example, a third measuring device 114 is connected to the controller 110 . The third measuring device 114 acquires the pressure of hydraulic fluid acting on the second pilot oil passage 104 (oil passage 104A, oil passage 104B, oil passage 104C). That is, the third measuring device 114 detects pilot pressure acting on each of the oil passages 104A, 104B, and 104C. Therefore, the third measuring device 114 can detect the pilot pressure acting on any one of the pressure receiving portion of the boom switching valve 20A, the pressure receiving portion of the bucket switching valve 20B, and the pressure receiving portion of the preliminary switching valve 20C.

According to the above, in the setting mode 110a, the pilot pressure detected by the third measuring device 114 is acquired as the actuator information. Also, in the setting mode 110a, the output current (current) output from the control device 110 to each of the second actuation units 102 (proportional valve 103A, proportional valve 103B, and proportional valve 103C) is acquired as a control signal.
In the setting mode 110a, the relationship between the pilot pressure and the current output to the second operating section 102 is stored. In control mode 110b, proportional valve 103A, proportional valve 103C, proportional valve 103A, proportional It controls valve 103B and proportional valve 103C.

The setting mode and control mode will be described below together with the configuration of the control device 110 .
As shown in FIG. 5, the switching valve 20 includes pressure receiving portions 31a, 32a, 33a on one side and pressure receiving portions 31b, 32b, 33b on the other side. The operations of the proportional valves 103A, 103B, and 103C communicating with the pressure receiving portions 31a, 32a, and 33a will be described. Since it is the same as the proportional valves 103A, 103B, and 103C communicating with the portions 31a, 32a, and 33a, the description is omitted.

The control device 110 has a second acquisition section 121 , a second storage section 122 and a second control section 123 . The second acquisition unit 121 and the second control unit 123 are composed of programs and the like stored in the control device 110 .
The second acquisition unit 121 is operable in the setting mode 110a. When the setting mode 110a is set by the second switching device 111, the control device 110 changes the current (output current) output to the proportional valve 103A from the minimum value to the maximum value. The second acquisition unit 121 acquires a third increase relationship that is the relationship between the output current output from the control device 110 to the proportional valve 103A and the pilot pressure of the oil passage 104A detected by the third measurement device 114. The second storage unit 122 also stores the third increase relationship.

In addition, the control device 110 changes the output current output to the proportional valve 103A from the maximum value to the minimum value, and the second acquisition unit 121 detects the output current output to the proportional valve 103A and the third measuring device 114. The second storage unit 122 stores the third decrease relationship, which is the relationship with the pilot pressure of the oil passage 104A. That is, in the setting mode 110a, the second acquisition unit 121 acquires the third increase relationship and the third decrease relationship during control of the proportional valve 103A, and the second storage unit 122 stores the third increase relationship and the third decrease relationship. memorize

In the setting mode 110a, the control device 110 also changes the output current of the proportional valve 103B and the proportional valve 103C in the same manner as the proportional valve 103A described above, and changes the output current of the oil passage 104B, The pilot pressure of the oil passage 104C is acquired and stored.
With respect to the operation of the proportional valve 103B or the proportional valve 103C in the control device 110, the proportional valve 103A described above is replaced with the "proportional valve 103B" or the "proportional valve 103C", and the oil passage 104A is replaced with the "oil passage 104B" or the "oil passage 104B". 104C".

As described above, in the setting mode 110a, the second acquisition unit 121 and the second storage unit 122 of the control device 110 allow the control device 110 to transfer the data from the control device 110 to the second actuation unit 102 (proportional valve 103A, proportional valve 103B, proportional valve 103C). The relationship between the output current and the pilot pressure when operating the hydraulic actuators (hydraulic actuators 26, 28, 30) of the work system (third increase relationship, third decrease relationship, fourth increase relationship, fourth decrease relationship ) can be grasped.

The second control unit 123 is operable in the control mode 110b and controls the second operation unit 102 . The proportional valves (proportional valves 103A, 103B, 103C) are operated by an operating member 125 connected to the control device 110. FIG. The operation member 125 is a swingable lever, switch, or the like.
When the operating member 125 is operated, the second control unit 123 outputs current to the proportional valves 103A, 103B, and 103C based on the amount of operation of the operating member 125 . A relationship between the amount of operation of the operation member 125 and the current output from the second control unit 123 (control device 110) is set in advance. For example, when the operation amount of the operation member 125 is small, the current output from the second control unit 123 is small, and when the operation amount of the operation member 125 is large, the current output from the second control unit 123 is large.

The control in the control mode 110b associated with the operation of the operating member 125 will be described below.
The operating member 125 operates a boom operating member 125a that operates the proportional valve 103A (boom 22L and boom 22R), a bucket operating member 125b that operates the proportional valve 103B (bucket 23), and a proportional valve 103C (preliminary attachment). and a preliminary operating member 125c.

Specifically, when any one of the boom operation member 125a, the bucket operation member 125b, and the preliminary operation member 125c is operated in one direction from the neutral position in the control mode 110b, the second control unit 123 switches to the preset mode 110a. (third increasing relationship, third decreasing relationship, fourth increasing relationship, fourth decreasing relationship), after referring to the third increasing relationship, the actual pilot pressure in the second pilot oil passage 104 is The pilot pressure is matched with the target hydraulic oil while feeding back the current output to any one of the proportional valves 103A, 103B, and 103C so as to match the pilot pressure indicated by the third increasing relationship. In addition, in the control mode 110b, the second control unit 123 operates the boom operating member 125a, the bucket operating member 125b, or the auxiliary operating member 125c from the maximum position in one direction to the neutral position. , the current output to any one of the proportional valves 103A, 103B, 103C is fed back so that the actual pilot pressure in the second pilot oil passage 104 matches the pilot pressure indicated by the third decreasing relationship. while matching the pilot pressure to the target hydraulic fluid.

On the other hand, in the control mode 110b, when the operation member 125 is operated in the other direction from the neutral position, the second control unit 123 selects one of the third increasing relationship, the third decreasing relationship, the fourth increasing relationship, and the fourth decreasing relationship. , after referring to the fourth increasing relationship, output to any of the proportional valves 103A, 103B, 103C so that the actual pilot pressure in the second pilot oil passage 104 matches the pilot pressure indicated by the fourth increasing relationship. The pilot pressure is made to match the target hydraulic oil while feeding back the current to be applied.

In addition, in the control mode 110b, the second control unit 123 operates the boom operating member 125a, the bucket operating member 125b, or the preliminary operating member 125c from the maximum position in the other direction to the neutral position. , the current output to any one of the proportional valves 103A, 103B, 103C is fed back so that the actual pilot pressure in the second pilot oil passage 104 matches the pilot pressure indicated by the fourth decreasing relationship. while matching the pilot pressure to the target hydraulic fluid.

For example, at the time of manufacture, delivery, maintenance, etc. of the working machine 1, the control device 110 is set to the setting mode 110a, and the control signal output to the second operating portion 102 and the pilot pressure acting on the pressure receiving portion of the switching valve 20 are controlled. is acquired by the second acquiring unit 121 and the acquired relationship is stored in the storage unit 133 . Then, after acquiring the relationship between the control signal and the flow rate of the hydraulic oil, in the control mode 110b, by outputting the control signal to the second operating unit 102 based on the relationship, the operability in the work can be improved. . In particular, it is possible to improve the operability when operating the working device 3 of the working machine 1 in one direction and in the other direction. That is, the influence of hysteresis of the operating member 125 can be reduced.

In the above-described embodiment, the current (output current) output to the proportional valves 103A, 103B, and 103C that operate the switching valve 20 and the pilot pressure acting on the second pilot oil passage 104 (the pressure acting on the pressure receiving portion of the control valve 20 ), the proportional valves 103A, 103B, and 103C are controlled based on the relationship between ), but instead of this, the relationship between the flow rate of hydraulic oil flowing to the hydraulic actuator and the output current when the switching valve 20 is operated You may control based on.

As shown in FIG. 6A, a fourth measuring device 115 is connected to the control device 110 . The fourth measuring device 115 detects the flow rate of hydraulic oil flowing through the supply and drainage oil passages 100 (the supply and drainage oil passages 100a, 100b, 100c). For example, the fourth measuring device 115 detects the flow rate of hydraulic oil flowing through the supply/discharge oil passage 100a, the flow rate of hydraulic oil flowing through the supply/discharge oil passage 100b, and the flow rate of hydraulic oil flowing through the supply/discharge oil passage 100c. Therefore, the fourth measuring device 115 can detect the hydraulic fluid flowing to the hydraulic actuator when at least one of the boom switching valve 20A, the bucket switching valve 20B, and the preliminary switching valve 20C is operated.

In the setting mode 110a, the second acquisition unit 121 acquires the output currents output to the proportional valves 103A, 103B, and 103C and the flow rate of hydraulic oil detected by the fourth measuring device 115 as actuator information. The second storage unit 122 stores the relationship between the output current and the diversion of hydraulic oil. In the control mode 110b, the second control section 123 performs control based on the relationship between the output current and the flow rate of hydraulic oil. That is, in the modification shown in FIG. 6A, the above-described pilot pressure may be read as the flow rate of hydraulic oil directed to the hydraulic actuator.
Further, as shown in FIG. 6B, the control device 110 may be connected to a fifth measuring device 130 that detects the speed (actuator speed) of the working system hydraulic actuators (hydraulic actuators 26, 28, 30).

In the setting mode 110a, the second acquisition unit 121 acquires the output currents output to the proportional valves 103A, 103B, and 103C and the actuator speed detected by the fifth measuring device 130 as actuator information. A second storage unit 122 stores the relationship between the output current and the actuator speed. The second control section 123 performs control based on the relationship between the output current and the actuator speed in the control mode 110b. That is, in the modification shown in FIG. 6B, the pilot pressure described above should be read as the actuator speed.

Control may also be performed based on the relationship between the angular velocity of a pin that rotatably supports the hydraulic actuator and the output current. As shown in FIG. 6C, the control device 60 is connected to a sixth measuring device 131 that detects angular velocities of pins 141 and 142 that support the working system hydraulic actuators (hydraulic actuators 26 and 28).
In the setting mode 110a, the second acquisition unit 121 acquires the output currents output to the proportional valves 103A, 103B, and 103C and the angular velocity detected by the fifth measuring device 130 as actuator information. The second storage unit 122 stores the relationship between the output current and the angular velocity. The second control unit 123 performs control based on the relationship between the output current and the angular velocity in the control mode 110b. That is, in the modification shown in FIG. 6C, the pilot pressure described above should be read as angular velocity.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.
The above-described hydraulic switching valves (the first hydraulic switching valve 90A and the second hydraulic switching valve 90B) have a neutral position 90c. It may be a valve that can be switched between a first position 90a and a second position 90b.

In the above-described embodiment, a cam motor (radial piston motor) is used as the traveling motor, but the traveling motor is not limited to the motors described above. good too.
In the embodiment described above, in the setting mode 60a, the relationship between the angle information and the control information when the opening degree of the first operating valve 50 is changed from the minimum to the maximum is obtained. may be the relationship between the angle information and the control information when the operation amount of is changed from minimum to maximum.

Similarly, in the setting mode 110a, the relationship between the angle information and the control information when the opening degree of the second operating valve 102 is changed from the minimum to the maximum is obtained. may be the relationship between the actuator information and the control information when is changed from minimum to maximum.
In the above-described embodiment, in the control mode 60b, control was performed based on the angle information and the control information set in the setting mode 60a. (first increasing relationship, first decreasing relationship, second increasing relationship, second decreasing relationship) may be corrected for control. For example, the relationship between the predetermined value and the current (first increasing relation , first decreasing relation, second increasing relation, second decreasing relation) are corrected. In this way, regardless of the individual difference of the first operating valve 50, the discharge amount of the hydraulic pump of the traveling system can be made constant.

Similarly, in the control mode 110b, the relationship between the actuator information set in the setting mode 110a and the control information (the third increasing relationship, the third decreasing relationship, the fourth increasing relationship, the fourth decreasing relationship) is corrected to perform control. you can go For example, when the degree of opening of the second operating valve 102 is a predetermined value, the actuator information (pilot pressure, hydraulic oil flow rate, actuator speed, angular velocity) becomes a predetermined value. The relationships (third increasing relationship, third decreasing relationship, fourth increasing relationship, fourth decreasing relationship) are corrected. In this way, regardless of individual differences in the second operating valve 102, the operation of the working system hydraulic actuator can be made constant.

1 working machine 20 switching valve 50 first actuation part 60 control device 60a setting mode 60b control mode 61 first switching device 62 first acquisition part 63 first storage part 64 first control part 77 first pilot oil passage 100 supply and discharge oil Path 102 Second Actuator 103A, 103B, 103C Proportional Valve 104 Second Pilot Oil Path 110 Control Device 110a Setting Mode 110b Control Mode 111 Second Switching Device 114 Third Measuring Device 115 Fourth Measuring Device 121 Second Obtaining Part 122 Second 2 storage unit 123 second control unit 130 fifth measuring device 131 sixth measuring device

Claims (4)

a hydraulic actuator operated by hydraulic fluid;
a second operating unit capable of operating the hydraulic actuator based on a control signal;
a second acquisition unit capable of acquiring the control signal and actuator information relating to the operation of the hydraulic actuator; a second storage unit storing a relationship between the control signal acquired by the second acquisition unit and the actuator information; 2 a control device having a second control section that controls the second actuation section based on the relationship stored in the storage section;
a second switching device capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates;
a switching valve that controls the flow rate of hydraulic oil that acts on the hydraulic actuator;
with
The second actuation unit includes a proportional valve that controls the operation of the switching valve, and a second pilot oil passage that connects the switching valve and the proportional valve,
The second acquisition unit acquires the control signal output to the proportional valve in the setting mode and the pressure of hydraulic oil acting on the second pilot oil passage as the actuator information . a hydraulic actuator operated by hydraulic fluid;
a second operating unit capable of operating the hydraulic actuator based on a control signal;
a second acquisition unit capable of acquiring the control signal and actuator information relating to the operation of the hydraulic actuator; a second storage unit storing a relationship between the control signal acquired by the second acquisition unit and the actuator information; 2 a control device having a second control section that controls the second actuation section based on the relationship stored in the storage section;
a second switching device capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates;
a switching valve that controls the flow rate of hydraulic oil that acts on the hydraulic actuator;
a supply and discharge oil passage connecting the switching valve and the hydraulic actuator;
a fourth measuring device that detects the flow rate of hydraulic oil flowing through the supply and discharge oil passage;
with
The second acquiring unit acquires the control signal output to the second operating unit in the setting mode and the hydraulic fluid flow rate detected by the fourth measuring device as the actuator information. a hydraulic actuator operated by hydraulic fluid;
a second operating unit capable of operating the hydraulic actuator based on a control signal;
a second acquisition unit capable of acquiring the control signal and actuator information relating to the operation of the hydraulic actuator; a second storage unit storing a relationship between the control signal acquired by the second acquisition unit and the actuator information; 2 a control device having a second control section that controls the second actuation section based on the relationship stored in the storage section;
a second switching device capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates;
a fifth measuring device for detecting the velocity of the hydraulic actuator ;
with
The hydraulic system of the working machine, wherein the second acquiring unit acquires the control signal output to the second operating unit in the setting mode and the speed of the hydraulic actuator detected by the fifth measuring device as the actuator information. . a hydraulic actuator operated by hydraulic fluid;
a second operating unit capable of operating the hydraulic actuator based on a control signal;
a second acquisition unit capable of acquiring the control signal and actuator information relating to the operation of the hydraulic actuator; a second storage unit storing a relationship between the control signal acquired by the second acquisition unit and the actuator information; 2 a control device having a second control section that controls the second actuation section based on the relationship stored in the storage section;
a second switching device capable of switching between a setting mode in which the second acquisition unit and the second storage unit operate and a control mode in which the second control unit operates;
a sixth measuring device for detecting the angular velocity of a pin that rotatably supports the hydraulic actuator ;
with
The second acquiring unit acquires the control signal output to the second operating unit in the setting mode and the angular velocity of the pin detected by the sixth measuring device as the actuator information.

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