JPH09250504A - Vibration control equipment of hydraulic actuator - Google Patents
Vibration control equipment of hydraulic actuatorInfo
- Publication number
- JPH09250504A JPH09250504A JP6308096A JP6308096A JPH09250504A JP H09250504 A JPH09250504 A JP H09250504A JP 6308096 A JP6308096 A JP 6308096A JP 6308096 A JP6308096 A JP 6308096A JP H09250504 A JPH09250504 A JP H09250504A
- Authority
- JP
- Japan
- Prior art keywords
- switching valve
- pressure
- vibration
- actuator
- hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は方向切替弁の急激な
切替え動作時にアクチュエーターに生じる衝撃や振動を
防止する油圧アクチュエーターの振動防止装置の技術分
野に属する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technical field of a vibration preventing device for a hydraulic actuator which prevents an impact or vibration generated in an actuator during a sudden switching operation of a directional control valve.
【0002】[0002]
【従来の技術】建設機械、例えば、油圧ショベルの被駆
動体は大きな慣性を有しており、これらを駆動するアク
チュエーターの駆動油圧回路を構成する油圧回路要素や
油圧管路は強靱な剛体で形成されているため、動作の急
停止時等にはアクチュエーターの作動油の流入側と流出
側との間に高圧と低圧が交互に発生することにより、ア
クチュエーターが激しく振動して操作者に不快感を与え
るという現象が知られている。かかる不具合を解消する
ために、従来から多くの提案が為されている。2. Description of the Related Art A construction machine, for example, a driven body of a hydraulic excavator has a large inertia, and a hydraulic circuit element and a hydraulic pipeline forming a driving hydraulic circuit of an actuator for driving them are formed of a rigid body. Therefore, when the operation is suddenly stopped, high pressure and low pressure are alternately generated between the inflow side and the outflow side of the hydraulic oil of the actuator, causing the actuator to vibrate violently and causing discomfort to the operator. The phenomenon of giving is known. Many proposals have heretofore been made in order to solve such problems.
【0003】例えば、特開平6−17448号公報に
は、油圧シリンダーの流入側と流出側の主管路間を電磁
開閉弁を介して接続し、操作レバーが操作された後、中
立位置まで戻された時に、油圧シリンダーに接続された
主管路内の油圧が上昇して作動圧または保持圧に達した
時は、所定時間だけ前記電磁開閉弁を開放することによ
り、油圧シリンダーの停止時に生じる機械的振動を防止
した振動抑制装置の発明が開示されている。For example, in Japanese Unexamined Patent Publication (Kokai) No. 6-17448, an inflow side and an outflow side of a hydraulic cylinder are connected via an electromagnetic on-off valve, and an operating lever is operated and then returned to a neutral position. When the hydraulic pressure in the main pipe connected to the hydraulic cylinder rises and reaches the working pressure or the holding pressure, the mechanical on-off that occurs when the hydraulic cylinder is stopped by opening the solenoid on-off valve for a predetermined time. An invention of a vibration suppressing device that prevents vibration is disclosed.
【0004】[0004]
【発明が解決しようとする課題】上述の従来技術におい
ては、主管路内の油圧が上昇して作動圧または保持圧に
達した時に電磁開閉弁が開放され、油圧シリンダーの流
入側と流出側の管路が連通するので、速やかな制動を掛
けるべく操作桿を操作したにも拘らず、所定時間が経過
するまで制動が掛からないため、操作者が意図した位置
で被駆動体が停止せず、操作性が悪くなる。なお、設定
圧を作動圧または保持圧に代えてより高い設定圧に変更
すれば所定の制動力を得ることができるが、急操作に伴
う最初の衝撃を避けることができない。In the above-mentioned prior art, when the hydraulic pressure in the main pipeline rises and reaches the operating pressure or the holding pressure, the electromagnetic on-off valve is opened, and the inflow side and the outflow side of the hydraulic cylinder are opened. Since the pipeline communicates, despite the fact that the operating rod was operated to apply quick braking, the braking is not applied until the predetermined time elapses, so the driven body does not stop at the position intended by the operator, Operability deteriorates. It should be noted that a predetermined braking force can be obtained by changing the set pressure to a higher set pressure instead of the operating pressure or the holding pressure, but the first impact associated with a sudden operation cannot be avoided.
【0005】本発明は従来技術におけるかかる問題点を
解決して、操作桿の急激な戻し操作によりアクチュエー
ターに生じる衝撃や振動を防止しながら、アクチュエー
ターの動作を操作桿の操作に速やかに追随させることが
できる油圧アクチュエーターの振動防止装置を提供する
ことを目的とする。The present invention solves the above problems in the prior art, and prevents the actuator from shocking or vibrating due to a sudden return operation of the operating rod, while allowing the operation of the actuator to quickly follow the operation of the operating rod. It is an object of the present invention to provide a vibration prevention device for a hydraulic actuator that can achieve the above.
【0006】[0006]
【課題を解決するための手段】本発明は上記課題を解決
するために、操作桿の操作速度を調べて、その操作速度
が所定の値以上であった時は、方向切替弁を介してアク
チュエーターに作動油が供給される流入側管路内の作動
油を該流入側管路に接続された切替弁を開路して、アク
チュエーターの流出側管路や油タンクに常時接続された
管路等の低圧側管路内に放流させ、流入側管路内の作動
油の圧力振動が十分低下した時、前記切替弁を閉路する
ようにしたり、油圧作動式の方向切替弁のパイロット受
け部に接続されたパイロット管路の途中に設けられた絞
り付切替弁の切替え動作や操作桿の操作量を検出した検
出信号を遅延回路で遅延させた遅延信号に基づく電磁作
動式の方向切替弁の切替え動作により、方向切替弁の切
替え動作速度を緩和するようにしたものである。In order to solve the above-mentioned problems, the present invention investigates the operating speed of an operating rod, and when the operating speed is equal to or higher than a predetermined value, an actuator is operated via a directional switching valve. The hydraulic oil in the inflow side pipeline to which the hydraulic oil is supplied is opened by opening the switching valve connected to the inflow side pipeline, so that the outflow side pipeline of the actuator or the pipeline constantly connected to the oil tank, etc. When it is discharged into the low pressure side pipe and the pressure oscillation of the hydraulic oil in the inflow side pipe is sufficiently reduced, the switching valve is closed or connected to the pilot receiving part of the hydraulically operated directional switching valve. By the switching operation of the switching valve with a throttle provided in the middle of the pilot line and the switching operation of the electromagnetically operated directional switching valve based on the delay signal obtained by delaying the detection signal that detected the operation amount of the operating rod with the delay circuit. , Slow down the switching operation speed of the direction switching valve It is obtained by way.
【0007】[0007]
【発明の実施の形態】本発明は建設機械、特に、油圧シ
ョベル、ホイルローダー等に適用され、そのブーム、旋
回等の急な戻し操作時にブームシリンダーや旋回モータ
ー等に発生する衝撃や振動を効果的に防止する。即ち、
対象となるアクチュエーターを動作させるための操作桿
の操作量を監視して、操作桿が所定の操作量以上操作さ
れ、かつ、中立位置に向かって戻し操作された時の操作
量の変化が所定の値以上であった時に、当該アクチュエ
ーターの高圧となっている主管路を切替弁を介して低圧
の管路に連通させたり、当該アクチュエーターに作動油
の方向と流量を切り替えて供給する方向切替弁の切替え
動作を減速する制御を行う。以下、図面を参照して本発
明の実施例を詳細に説明する。BEST MODE FOR CARRYING OUT THE INVENTION The present invention is applied to a construction machine, particularly a hydraulic excavator, a wheel loader, etc., and has an effect of shock and vibration generated in a boom cylinder, a turning motor, etc. during a sudden return operation such as boom, turning and the like. To prevent it. That is,
The operating amount of the operating rod for operating the target actuator is monitored, and the change in the operating amount when the operating rod is operated by a predetermined operating amount or more and is returned toward the neutral position is determined. When the value is equal to or more than the value, the high pressure main line of the actuator is connected to the low pressure line via the switching valve, or the direction switching valve that supplies the actuator by switching the direction and flow rate of hydraulic oil is supplied. Controls to decelerate the switching operation. Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
【0008】[0008]
【実施例】図1は本発明の第1の実施例に係るブームシ
リンダー駆動油圧回路図である。同図において、1はブ
ームシリンダー、2はブームシリンダー1のボトム側に
作動油を供給するための主管路Ta の油圧を検出する圧
力センサー、3は主管路Ta ,Tb 間に接続された電磁
開閉弁、4はブームシリンダー1に供給される作動油の
方向と流量を切り替えて供給する方向切替弁、5および
6はそれぞれ作動油およびパイロット油の供給源である
作動油圧ポンプおよびパイロット油圧ポンプ、7はブー
ムシリンダー1を駆動するために操作される操作桿、8
(a,b)は操作桿7の操作方向に応じて切り替えら
れ、パイロット油圧ポンプ6からのパイロット油を方向
切替弁4の該当パイロット受け部に供給するパイロット
弁、9は動力消費された油が還流する油タンク、10は
操作桿7の操作方向と操作量を検出する操作値センサ
ー、11は圧力センサー2と操作値センサー10からの
検出値データを基に後述する演算処理を実行し、電磁開
閉弁3のソレノイドに適時に駆動電流ic を出力するコ
ントローラーである。1 is a boom cylinder drive hydraulic circuit diagram according to a first embodiment of the present invention. In the figure, 1 is a boom cylinder, 2 is a pressure sensor for detecting the hydraulic pressure of a main pipeline Ta for supplying hydraulic oil to the bottom side of the boom cylinder 1, and 3 is connected between the main pipelines T a and T b. An electromagnetic opening / closing valve, 4 is a direction switching valve for switching the direction and flow rate of the hydraulic oil supplied to the boom cylinder 1, and 5 and 6 are operating hydraulic pumps and pilot hydraulic pressures that are the supply sources of hydraulic oil and pilot oil, respectively. Pump, 7 is an operating rod operated to drive the boom cylinder 1, 8
(A, b) is switched according to the operating direction of the operating rod 7, and the pilot oil from the pilot hydraulic pump 6 is supplied to the corresponding pilot receiving portion of the direction switching valve 4, and 9 is the oil that has consumed power. The recirculating oil tank, 10 is an operation value sensor for detecting the operation direction and operation amount of the operation rod 7, and 11 is an electromagnetic sensor which executes a calculation process described later based on the detected value data from the pressure sensor 2 and the operation value sensor 10, It is a controller that outputs a driving current i c to the solenoid of the on-off valve 3 at a proper time.
【0009】図2は操作桿7の操作方向に応じた操作値
の取り方を示す模式図である。本実施例では操作値の取
り方は、操作桿7が中立位置にある時、操作値θが0、
操作桿7を前方に押し込んでブームシリンダー1が伸長
する方向に操作された時に操作値θの符号が正、操作桿
7を手前に引き込んでブームシリンダー1が収縮する方
向に操作された時に操作値θの符号が負となるように設
定されている。操作値センサー10は操作桿7の操作方
向と操作量を検出する周知の変移検出器を用いることが
できる。FIG. 2 is a schematic diagram showing how to obtain an operation value according to the operation direction of the operation rod 7. In this embodiment, the operation value is obtained by setting the operation value θ to 0 when the operation rod 7 is at the neutral position,
The sign of the operation value θ is positive when the operating rod 7 is pushed forward and the boom cylinder 1 is operated in the extending direction, and the operating value when the operating rod 7 is pulled toward you and the boom cylinder 1 is contracted The sign of θ is set to be negative. As the operation value sensor 10, a well-known displacement detector that detects the operation direction and the operation amount of the operation rod 7 can be used.
【0010】次に、本実施例の動作を説明する。本実施
例のブームシリンダーの振動防止装置は操作桿7の急操
作時にブームシリンダー1に生じる振動の発生を防止で
きるように構成されているが、典型的にはブームシリン
ダー1を急停止させる時に生じる振動の発生を防止する
振動防止動作に代表されるので、以下に、ブームシリン
ダー急停止時振動防止制御の動作を説明する。Next, the operation of this embodiment will be described. The vibration preventing device for the boom cylinder of the present embodiment is configured so as to prevent the occurrence of vibration that occurs in the boom cylinder 1 when the operating rod 7 is suddenly operated, but it is typically generated when the boom cylinder 1 is suddenly stopped. As represented by the vibration prevention operation for preventing the occurrence of vibration, the operation of the boom cylinder sudden stop vibration prevention control will be described below.
【0011】図3および図4はブームシリンダー急停止
時振動防止制御の流れ図である。まず、操作値センサー
10からの出力値を見て、現時刻の操作値θ(t) の値を
第1操作値カウンター値θ1 として登録する(S1)。
次の手順S2では時刻tが時間Δtだけ経過したか否か
を判断する。その判断結果が否ならば、時間Δtだけ経
過するのを待ち、その判断結果が然りとなったならば、
その時刻の操作値θ(t) の値を第2操作値カウンター値
θ2 として登録する(S3)。FIGS. 3 and 4 are flow charts of vibration prevention control during boom cylinder sudden stop. First, looking at the output value from the operation value sensor 10, the value of the operation value θ (t) at the current time is registered as the first operation value counter value θ 1 (S1).
In the next step S2, it is determined whether or not the time t has passed the time Δt. If the judgment result is negative, wait for the time Δt to elapse, and if the judgment result is yes,
The value of the operation value θ (t) at that time is registered as the second operation value counter value θ 2 (S3).
【0012】次に、第1操作値カウンター値θ1 の絶対
値の大きさを調べて、最小操作値θmin 以上か否かを判
断する(S4)。その判断結果が然りならば、即ち、操
作桿7が左右の何れかの方向に最小操作値θmin 以上操
作されていれば手順S5に移って、第1操作値カウンタ
ー値θ1 の符号(sign)と、第1操作値カウンター値θ
1 と第2操作値カウンター値θ2 との差の積を演算し
て、その積が所定の操作量差δ1 以上か否かを判断す
る。つまり、操作桿7が所定の速さ以上で戻し操作され
たか否かを判断する。なお、ここで第1操作値カウンタ
ー値θ1 の符号(sign)との積を取るのは、操作桿7が
左右の何れの方向に操作された場合でも手順S5の判断
処理を有効に機能させることができるようにするためで
ある。Next, the magnitude of the absolute value of the first operation value counter value θ 1 is checked to determine whether it is equal to or greater than the minimum operation value θ min (S4). If the determination result is correct, that is, if the operation rod 7 has been operated in the left or right direction by the minimum operation value θ min or more, the process proceeds to step S5 and the sign of the first operation value counter value θ 1 ( sign) and the first operation value counter value θ
The product of the difference between 1 and the second operation value counter value θ 2 is calculated, and it is determined whether the product is greater than or equal to a predetermined operation amount difference δ 1 . That is, it is determined whether or not the operating rod 7 has been returned at a predetermined speed or higher. Here, the product of the first operation value counter value θ 1 and the sign (sign) is to make the determination processing of step S5 effectively function regardless of whether the operation rod 7 is operated in the left or right direction. This is so that it can be done.
【0013】手順S4または手順S5の判断結果が否な
らば、即ち、時間Δt前の時点で操作桿7が左右の何れ
かの方向に最小操作値θmin より少ない操作量しか操作
されなかったか、操作桿7が所定の速さよりも遅い速度
で戻し操作された場合には、ブームシリンダー1に大き
な振動は生じないので、第2操作値カウンター値θ2の
値を第1操作値カウンター値θ1 に移して更新登録させ
る(S6)。そして、手順S2に戻って、時間Δtだけ
経過するのを待ち、更新した新たな第2操作値カウンタ
ー値θ2 との値に基づいて上述の演算と判断の処理を繰
り返す。手順S5の判断結果が然りとなったならば、電
磁開閉弁3のソレノイドに出力する駆動電流ic の値を
i0 として、電磁開閉弁3を開路させ、現時刻の圧力セ
ンサー2の出力値P(t) を取り込んで、第1圧力カウン
ター値P1 として登録すると共に、その時刻tを弁開時
刻t0 として登録する(S7)。If the result of the determination in step S4 or step S5 is negative, that is, if the operating rod 7 was operated in either of the left and right directions by a smaller operation amount than the minimum operation value θ min before the time Δt, When the operating rod 7 is returned at a speed slower than a predetermined speed, the boom cylinder 1 does not vibrate significantly, so the value of the second operation value counter value θ 2 is set to the first operation value counter value θ 1 To perform update registration (S6). Then, the procedure returns to step S2, waits for the time Δt to elapse, and the above-described calculation and determination processing is repeated based on the updated new second operation value counter value θ 2 . If the determination result of step S5 is correct, the value of the drive current i c output to the solenoid of the solenoid opening / closing valve 3 is set to i 0 , the solenoid opening / closing valve 3 is opened, and the output of the pressure sensor 2 at the current time is output. The value P (t) is taken in and registered as the first pressure counter value P 1 , and the time t is registered as the valve opening time t 0 (S7).
【0014】図4に移って、手順S8では時刻tが時間
Δtだけ経過したか否かを判断する。その判断結果が否
ならば、時間Δtだけ経過するのを待ち、その判断結果
が然りとなったならば、その時刻の圧力センサー2の出
力値P(t) を取り込んで、第2圧力カウンター値P2 と
して登録する(S9)。次に、時刻tが時間Δtに較べ
てある程度長い時間t1 だけ弁開時刻t0 から経過した
か否かを判断して(S10)、その判断結果が然りなら
ば、手順S16に移り、判断結果が否ならば、第2圧力
カウンター値P2 と第1圧力カウンター値P1 との差の
絶対値の大きさを調べて、所定の圧力差δ2 以下か否か
を判断する(S11)。その判断結果が然りならば、ブ
ームシリンダー1に接続された主管路Ta (Tb )内の
圧力変動が十分小さくなったと判断できるので、時間Δ
tだけ経過するのを待ち(S12)、時間Δtだけ経過
したならば、その時刻の圧力センサー2の出力値P(t)
を取り込んで、第3圧力カウンター値P3 として登録す
る(S13)。Turning to FIG. 4, in step S8, it is determined whether or not the time t has passed by the time Δt. If the judgment result is negative, wait for the time Δt to elapse, and if the judgment result is correct, the output value P (t) of the pressure sensor 2 at that time is fetched and the second pressure counter It is registered as the value P 2 (S9). Next, it is determined whether or not the time t has elapsed from the valve opening time t 0 for a time t 1 which is longer than the time Δt to some extent (S10). If the result of the determination is yes, the process proceeds to step S16, If the determination result is negative, the magnitude of the absolute value of the difference between the second pressure counter value P 2 and the first pressure counter value P 1 is examined to determine whether or not the pressure difference is equal to or less than a predetermined pressure difference δ 2 (S11). ). If the determination result is correct, it can be determined that the pressure fluctuation in the main pipe line T a (T b ) connected to the boom cylinder 1 has become sufficiently small.
Waiting for t to elapse (S12), and if time Δt elapses, the output value P (t) of the pressure sensor 2 at that time
Is taken in and registered as the third pressure counter value P 3 (S13).
【0015】そして、時刻tと時刻(t+Δt)の圧力
差の変化、即ち、(P1 −P2 )−(P2 −P3 )=P
1 +P3 −2P2 の値を演算し、その絶対値の大きさを
調べて、所定の圧力差変化δ3 以下か否かを判断する
(S14)。手順S11またはS14の判断結果が否な
らば、ブームシリンダー1に接続された主管路Ta (T
b )内の圧力変動または圧力振動が大きいので、第2圧
力カウンター値P2 を第1圧力カウンター値P1 に移し
て更新登録させ(S15)、手順S8に戻って、上述の
主管路Ta 内の圧力P(t) の圧力変動または圧力振動の
大きさの判定処理を繰り返す。手順S14の判断結果が
然り、即ち、主管路Ta 内の圧力P(t) の変化率がある
程度低下してきたならば、あるいは手順S10の判断
で、時刻tが弁開時刻t0 から時間t1 だけ経過したと
判断したならば、電磁開閉弁3のソレノイドに出力する
駆動電流ic の値を0にして、電磁開閉弁3を閉路させ
(S16)、ブームシリンダーの急停止時振動防止制御
の処理を終了する。The change in pressure difference between time t and time (t + Δt), that is, (P 1 -P 2 )-(P 2 -P 3 ) = P
1 + P 3 calculates the value of -2P 2, by examining the magnitude of the absolute value, it is determined whether or not a predetermined pressure difference change [delta] 3 or less (S14). If the result of the determination in step S11 or S14 is negative, the main conduit T a (T
Since the pressure fluctuation or pressure oscillation in b ) is large, the second pressure counter value P 2 is moved to the first pressure counter value P 1 to be updated and registered (S15), and the procedure returns to step S8 to return to the above-mentioned main pipeline T a. The determination process of the pressure fluctuation of the internal pressure P (t) or the magnitude of the pressure vibration is repeated. If the result of the determination in step S14 is correct, that is, if the rate of change of the pressure P (t) in the main pipeline T a has decreased to some extent, or in the determination in step S10, the time t is the time from the valve opening time t 0 to the time If it is determined that only t 1 has elapsed, the value of the drive current i c output to the solenoid of the electromagnetic opening / closing valve 3 is set to 0, and the electromagnetic opening / closing valve 3 is closed (S16) to prevent vibration of the boom cylinder during sudden stop. The control process ends.
【0016】図5は操作者がブームシリンダー1を伸長
させるべく、操作桿7を前方に押し込み操作して(θ
(t) >0)最小操作値θmin より大きい一定の操作量を
保った後、急に戻し操作した時の主管路Ta 内の圧力P
(t) の変動および駆動電流icの出力値を示す波形図で
ある。同図を参照して本実施例の動作を具体的に説明す
る。操作者による操作桿7の前方への押し込み操作によ
り方向切替弁4が右の切替え位置に切り替わり、主管路
Ta 内に作動油圧ポンプ5の吐出油が流入するから、そ
の圧力P(t) は急速に立ち上がり、操作者による操作桿
7の操作が一定の操作量に達した時、若干の振動の後、
一定の圧力値に収斂する。その後、時刻tにおいて操作
桿7が急に戻し操作されると、(θ1 −θ2 )>δ1 と
なるから、手順S5の判断結果が然りとなって駆動電流
ic =i0 となり、電磁開閉弁3のソレノイドが付勢さ
れ、電磁開閉弁3が開成する。In FIG. 5, the operator pushes the operating rod 7 forward so as to extend the boom cylinder 1 (θ
(t)> 0) The pressure P in the main pipe line T a when a constant operation amount larger than the minimum operation value θ min is maintained and then a sudden return operation is performed.
It is a wave form diagram which shows the fluctuation | variation of (t) and the output value of drive current i c . The operation of this embodiment will be specifically described with reference to FIG. Since the directional control valve 4 by the operation of pushing forward the operating rod 7 by the operator is switched to the right switching position, oil discharged from the hydraulic pressure pump 5 into main conduit T a flows, the pressure P (t) is When it rises rapidly and the operation of the operating rod 7 by the operator reaches a certain amount of operation, after some vibration,
Converges to a constant pressure value. After that, when the operating rod 7 is suddenly returned at time t, (θ 1 −θ 2 )> δ 1 is satisfied, so that the determination result of step S5 is accordingly and the drive current i c = i 0 . The solenoid of the electromagnetic opening / closing valve 3 is energized to open the electromagnetic opening / closing valve 3.
【0017】これにより、主管路Ta 内の圧力は急速に
低下する(イ)。しかし、この時は未だ方向切替弁4が
閉じ切っていないので、作動油圧ポンプ5の吐出油は一
部方向切替弁4を介して主管路Ta 側に流入しており、
その吐出油は電磁開閉弁3および方向切替弁4を介して
油タンク9に還流するものの、電磁開閉弁3および方向
切替弁4の絞り作用等により抵抗を受けるので、主管路
Ta 内の圧力P(t) は0近傍までは低下しない。操作桿
7の戻し操作により操作値θ(t) の値が0になると方向
切替弁4が閉じるから、ブームシリンダー1に連通する
油圧回路は主管路Ta ,Tb と、その間を連通する電磁
開閉弁3とで構成される閉回路だけになる。ブームシリ
ンダー1は比較的大きな慣性を有しているが、電磁開閉
弁3の絞り作用等により作動油の流れが抵抗を受けるの
で、速やかに停止する。As a result, the pressure in the main pipe line T a drops rapidly (a). However, at this time, since the direction switching valve 4 has not been closed yet, the discharge oil of the working hydraulic pump 5 has flowed into the main pipe line Ta side through the partial direction switching valve 4,
Although the discharge oil is refluxed to the oil tank 9 via the solenoid valve 3 and the direction switching valve 4, since resisted by the diaphragm action and the like of the electromagnetic valve 3 and the direction switching valve 4, the pressure in the main line T a P (t) does not decrease until near 0. When the operation value θ (t) becomes 0 due to the return operation of the operation rod 7, the direction switching valve 4 is closed, so that the hydraulic circuit communicating with the boom cylinder 1 is connected to the main pipelines T a and T b and the electromagnetic passage communicating between them. There is only a closed circuit composed of the on-off valve 3. Although the boom cylinder 1 has a relatively large inertia, the flow of the hydraulic oil receives a resistance due to the throttling action of the electromagnetic opening / closing valve 3 or the like, so that the boom cylinder 1 is quickly stopped.
【0018】この時、主管路Tb 内の圧力は主管路Ta
内の圧力P(t) より高くなっており、主管路Tb 内の作
動油はその内部圧力により若干圧縮している。ブームシ
リンダー1の伸長が停止した時、圧縮していた主管路T
b 内の作動油が元の体積に戻ろうとしてブームシリンダ
ー1を収縮させる向きに応力を及ぼす。これにより、ブ
ームシリンダー1が収縮し始めると、主管路Ta 内の圧
力P(t) が上昇する(ロ)。このように、主管路Ta ,
Tb 間は開路した電磁開閉弁3を介して連通している
が、電磁開閉弁3の絞り作用等により主管路T
a (Tb )内の圧力は若干の間、振動を繰り返し、やが
て一定の値に収斂する。主管路Tb 内の圧力変動は主管
路Ta 内の圧力P(t) の変動と相似で逆位相の波形にな
る。At this time, the pressure in the main pipe line T b is equal to the main pipe line T a.
Has become higher than the pressure P (t) of the inner hydraulic fluid main conduit T b are slightly compressed by the inside pressure. The main pipeline T that was compressed when the boom cylinder 1 stopped extending
The hydraulic oil in b exerts stress in the direction in which the boom cylinder 1 contracts in an attempt to return to the original volume. Thus, the boom cylinder 1 begins to shrink, the pressure P in the main line T a (t) is increased (b). Thus, the main conduit T a ,
Although T b communicates with each other through the open / close solenoid valve 3, the main pipeline T
The pressure in a (T b ) repeatedly oscillates for a while, and eventually converges to a constant value. The pressure fluctuation in the main conduit T b is similar to the fluctuation of the pressure P (t) in the main conduit T a and has a waveform of opposite phase.
【0019】主管路Ta 内の圧力P(t) の振動が収束し
て来ると、圧力変動(P2 −P1 )の絶対値と圧力差変
化(P1 +P3 −2P2 )の絶対値は低下して、手順S
12およびS14の判断結果が然りとなるから、コント
ローラー11から出力されていた駆動電流ic =i0 が
0になり、電磁開閉弁3が閉じられる。なお、電磁開閉
弁3が開成してから時間t1 だけ経過すると、主管路T
a 内の圧力P(t) の振動の有無に拘らず、電磁開閉弁3
が閉じられる。これは、主管路Ta 内の圧力P(t) の振
動の周波数が主管路Ta ,Tb と電磁開閉弁3とで構成
される閉回路の固有振動数に近い場合には、電磁開閉弁
3を閉じて主管路Ta 内の圧力P(t) の振動の周波数を
高めた方が主管路Ta 内の圧力P(t) の振動が早く収束
するからである。When the vibration of the pressure P (t) in the main pipeline T a converges, the absolute value of the pressure fluctuation (P 2 -P 1 ) and the absolute value of the pressure difference change (P 1 + P 3 -2P 2 ) The value decreases and the procedure S
Since the determination results of 12 and S14 are correct, the drive current i c = i 0 output from the controller 11 becomes 0, and the electromagnetic on-off valve 3 is closed. Note that when the time t 1 elapses after the solenoid on-off valve 3 is opened, the main pipeline T
regardless of the presence or absence of the vibration of the pressure P (t) in a, the solenoid valve 3
Is closed. This is because when the frequency of vibration of the pressure P in the main line T a (t) is close to the natural frequency of the composed closed circuit by the main line T a, T b and the electromagnetic valve 3, the electromagnetic on-off This is because when the valve 3 is closed to increase the frequency of the vibration of the pressure P (t) in the main pipeline T a , the vibration of the pressure P (t) in the main pipeline T a converges earlier.
【0020】図6は操作者が操作桿7を手前に引き込み
操作して(θ(t) <0)最小操作値θmin より大きい一
定の操作量を保った後、急に戻し操作した時の主管路T
a 内の圧力P(t) の変動および駆動電流ic の出力値を
示す波形図である。同図に示すように、操作者による操
作桿7の引き込み操作により主管路Ta 内の圧力P(t)
がゆっくり上昇した後、操作桿7の操作が一定の操作量
に達した時、主管路Tb 内の圧力変動の影響を受けて若
干の圧力変動を経て一定の圧力値に収斂する。時刻tに
おいて操作桿7が急に戻し操作されると、それに連動し
て電磁開閉弁3が開成すると共に方向切替弁4が閉じ始
めるため、主管路Ta 内の圧力P(t) は急上昇し、その
後、上述の理由と同じ理由で若干の間、振動を繰り返
し、やがて一定の値に収斂する。FIG. 6 shows the case where the operator pulls the operating rod 7 toward you (θ (t) <0), maintains a constant operating amount larger than the minimum operating value θ min , and then suddenly returns it. Main pipeline T
is a waveform diagram showing an output value of the fluctuation and the drive current i c of the pressure P (t) in a. As shown in the figure, the pressure P (t) in the main pipe line T a is caused by the operation of pulling the operation rod 7 by the operator.
After slowly rising, when the operation of the operating rod 7 reaches a certain operation amount, it is affected by the pressure fluctuation in the main pipe line T b , and after a slight pressure fluctuation, converges to a constant pressure value. When the operating rod 7 is abruptly returning operation at time t, since in conjunction therewith electromagnetic valve 3 begins to close the direction switching valve 4 as well as opened, the pressure P in the main line T a (t) is soared After that, the vibration is repeated for some time due to the same reason as described above, and eventually converges to a constant value.
【0021】このように、本実施例では操作桿7が最小
操作値θmin より大きい一定の操作量だけ操作された
後、中立位置側に急な戻し操作がされ、|θ1 −θ2 |
>δ1となると、操作者はブームシリンダー1を素早く
停止させようとしているものと判断して、直ちに電磁開
閉弁3を開路させてブームシリンダー1を駆動していた
作動油を反対側の主管路および油タンク9に放流させる
から、ブームシリンダー1の動きを操作桿7の操作状態
に速やかに追随させることができ、操作桿7の戻し操作
に対する極めて優れた応答性を実現できると共に、電磁
開閉弁3の絞り作用によるブームシリンダー1に対する
制動力により、操作桿7が急に戻し操作された時でも大
きな衝撃や振動を発生させずにブームシリンダー1を停
止させることができる。As described above, in this embodiment, the operating rod 7 is operated by a constant operating amount larger than the minimum operating value θ min, and then a sudden returning operation is performed to the neutral position side, and | θ 1 −θ 2 |
When> δ 1 , the operator determines that the boom cylinder 1 is about to be stopped quickly, and immediately opens the electromagnetic opening / closing valve 3 to release the hydraulic oil driving the boom cylinder 1 from the main pipe on the opposite side. Since the oil is discharged to the oil tank 9 and the oil tank 9, the movement of the boom cylinder 1 can be quickly followed by the operating state of the operating rod 7, and extremely excellent responsiveness to the returning operation of the operating rod 7 can be realized, and the solenoid opening / closing valve can be realized. By the braking force on the boom cylinder 1 due to the throttle action of 3, the boom cylinder 1 can be stopped without generating a large shock or vibration even when the operating rod 7 is suddenly returned and operated.
【0022】図7は本発明の第2の実施例に係るブーム
シリンダー駆動油圧回路図である。同図において、12
は主管路Ta ,Tb 内の作動油の油タンク9への放流方
向を切り替える放流方向切替弁、13は油タンク9と放
流方向切替弁12との間の油路中に設けられた絞りであ
る。なお、第1の実施例と同一または同一と見做せる箇
所には同一の符号を付し、その重複する説明を省略す
る。以下の説明においても同様である。次に本実施例の
動作を図8および図9に示すブームシリンダーの急停止
時振動防止制御の流れ図を参照して説明する。FIG. 7 is a boom cylinder drive hydraulic circuit diagram according to the second embodiment of the present invention. In the figure, 12
Is a discharge direction switching valve that switches the discharge direction of the hydraulic oil in the main pipelines T a and T b to the oil tank 9, and 13 is a throttle provided in the oil path between the oil tank 9 and the discharge direction switching valve 12. Is. In addition, the same reference numerals are given to the portions which are the same as or can be regarded as the same as those in the first embodiment, and the duplicate description thereof will be omitted. The same applies to the following description. Next, the operation of this embodiment will be described with reference to the flow charts of the vibration prevention control during boom stop of the boom cylinder shown in FIGS. 8 and 9.
【0023】現時刻の操作値θ(t) の値を登録した第1
操作値カウンター値θ1 の絶対値|θ1 |と、第1操作
値カウンター値θ1 と時刻tが時間Δtだけ経過した後
の時刻の操作値θ(t) の値を登録した第2操作値カウン
ター値θ2 との差(θ1 −θ 2 )とsign (θ1)との積の
値を調べて、それぞれθmin およびδ1 に満たなかった
場合の手順S21〜S26の処理は、図3に示す第1の
実施例に係る動作手順S1〜S6と同一なので説明を省
略し、手順S24の判断結果と手順S25の判断結果が
共に然り、即ち、|θ1 |≧θmin かつ(θ1 −θ2 )
・sign (θ1)≧δ1 となった場合の手順S27の処理か
ら説明する。The first registered operation value θ (t) at the current time
Operation value Counter value θ1Absolute value of | θ1| And the first operation
Value counter value θ1And after the time t passes by the time Δt
The second operation value counter that registered the operation value θ (t) at the time
Value θ2Difference (θ1−θ 2) And sign (θ1) With
Check the values andminAnd δ1Was less than
In the case of steps S21 to S26, the process shown in FIG.
The description is omitted because it is the same as the operation procedure S1 to S6 according to the embodiment.
In short, the judgment result of step S24 and the judgment result of step S25
Same with each other, that is, | θ1│ ≧ θminAnd (θ1−θ2)
・ Sign (θ1) ≧ δ1Or the process of step S27
Explain.
【0024】この時はsign (θ1)の正負を調べて、これ
が正ならば、駆動電流icaをi0 にして放流方向切替弁
12の切替え位置を左の切替え位置に切り替えさせると
共に、この時の時刻tを弁開時刻t0 として登録する
(S28)。また、sign (θ1)が負ならば、駆動電流i
cbをi0 にして放流方向切替弁12の切替え位置を右の
切替え位置に切り替えさせると共に、この時の時刻tを
弁開時刻t0 として登録する(S29)。At this time, whether the sign (θ 1 ) is positive or negative is checked, and if it is positive, the drive current i ca is set to i 0 and the switching position of the discharge direction switching valve 12 is switched to the left switching position. The time t of the hour is registered as the valve opening time t 0 (S28). If sign (θ 1 ) is negative, drive current i
The switching position of the discharge direction switching valve 12 is switched to the right switching position by setting cb to i 0 , and the time t at this time is registered as the valve opening time t 0 (S29).
【0025】次に、図9に移って、sign (θ1)が正の場
合の手順S30では、主管路Ta 内の圧力P(t) の時間
変化ΔP/Δtの符号を調べて、それが正か否かを判断
する。ΔP/Δt>0ならば、駆動電流icaを0、駆動
電流icbをi0 にして放流方向切替弁12の切替え位置
を左の切替え位置から右の切替え位置に切り替えさせる
(S31)。そして、時刻tが弁開時刻t0 から時間t
2 だけ経過したか否かを判断する(S32)。その判断
結果が否ならば、弁開時刻t0 から時間t2 だけ経過す
るまで待ち、その判断結果が然りとなったならば、駆動
電流icbを0にして(S33)、ブームシリンダーの急
停止時振動防止制御の処理を終了する。sign (θ1)が負
の場合の手順S34では、主管路Ta 内の圧力P(t) の
時間変化ΔP/Δtの符号を調べて、それが負か否かを
判断する。ΔP/Δt<0ならば、駆動電流icbを0、
駆動電流icaをi0 にして放流方向切替弁12の切替え
位置を右の切替え位置から左の切替え位置に切り替えさ
せる(S35)。そして、時刻tが弁開時刻t0 から時
間t2 だけ経過したか否かを判断する(S36)。その
判断結果が否ならば、弁開時刻t0 から時間t2 だけ経
過するまで待ち、その判断結果が然りとなったならば、
駆動電流icaを0にして(S37)、急停止時振動防止
制御の処理を終了する。Next, moving to FIG. 9, in step S30 when sign (θ 1 ) is positive, the sign of the time change ΔP / Δt of the pressure P (t) in the main pipeline T a is checked and To determine whether is correct. If ΔP / Δt> 0, the drive current i ca is set to 0 and the drive current i cb is set to i 0 to switch the switching position of the discharge direction switching valve 12 from the left switching position to the right switching position (S31). The time t is the time t 0 from the valve opening time t 0.
It is determined whether or not only 2 has elapsed (S32). If the determination result is negative, wait until the time t 2 elapses from the valve opening time t 0. If the determination result is correct, the drive current i cb is set to 0 (S33), and the boom cylinder The processing of the vibration prevention control at the time of sudden stop is completed. In sign (θ 1) procedure in the case of negative S34, examines the sign of the time variation [Delta] P / Delta] t of the pressure P (t) in the main conduit T a, it is determined whether negative or not. If ΔP / Δt <0, the drive current i cb is 0,
The drive current i ca is set to i 0 and the switching position of the discharge direction switching valve 12 is switched from the right switching position to the left switching position (S35). Then, it is determined whether or not the time t has passed the time t 2 from the valve opening time t 0 (S36). If the judgment result is negative, wait until the time t 2 has elapsed from the valve opening time t 0 , and if the judgment result is yes,
The drive current i ca is set to 0 (S37), and the processing of the vibration prevention control during sudden stop is completed.
【0026】図10は操作者がブームシリンダー1を伸
長させるべく、操作桿7を前方に押し込み操作して(θ
(t) >0)最小操作値θmin より大きい一定の操作量を
保った後、急に戻し操作した時の本実施例の駆動電流i
ca,icbの出力値、主管路Ta 内の圧力P(t) 、主管路
Tb 内の圧力Pr (t) の変動およびブームシリンダー1
の変移xを従来例に対比して示す波形図である。同図を
参照して本実施例の動作を具体的に説明する。操作者に
よる操作桿7の前方への押し込み操作により、主管路T
a 内の圧力P(t) が急速に立ち上がり、ブームシリンダ
ー1が伸長する。操作者による操作桿7の操作が一定の
操作量に達した後、圧力P(t) は若干の間振動する。一
方、主管路Tb 内の圧力Pr (t) はこの間、緩やかに上
昇した後、若干の間振動する。In FIG. 10, the operator pushes the operating rod 7 forward to extend the boom cylinder 1 (θ
(t)> 0) The drive current i of the present embodiment when a sudden return operation is performed after maintaining a constant operation amount larger than the minimum operation value θ min.
ca, the output value of the i cb, main line T pressure in a P (t), main path fluctuation and the boom cylinder 1 of T pressure in b P r (t)
FIG. 7 is a waveform diagram showing the transition x of FIG. The operation of this embodiment will be specifically described with reference to FIG. When the operator pushes the operation rod 7 forward, the main pipeline T
pressure in a P (t) is rising rapidly, the boom cylinder 1 is extended. After the operation of the operation rod 7 by the operator reaches a certain operation amount, the pressure P (t) vibrates for a while. On the other hand, the pressure P r (t) in the main pipeline T b gradually rises during this period and then oscillates for a while.
【0027】この後、操作者により操作桿7が急に戻し
操作されると、放流方向切替弁12を有しない従来例で
は、方向切替弁4が閉じ始めるため、主管路Ta 内の圧
力P′(t) は若干の時間遅れを伴って急速に低下する一
方、主管路Tb 内の圧力Pr′(t) は若干の時間遅れを
伴って急速に増加する。そして、前述のように主管路T
a ,Tb 壁の伸縮によって主管路Ta 内の圧力P′(t)
および主管路Tb 内の圧力Pr ′(t) は逆位相で大きな
振動を繰り返し、それによってブームシリンダー1も大
きな伸縮振動を繰り返す。After that, when the operating rod 7 is suddenly returned by the operator, in the conventional example having no discharge direction switching valve 12, the direction switching valve 4 starts to close, so that the pressure P in the main pipe line T a is reduced. ′ (T) decreases rapidly with some time delay, while the pressure P r ′ (t) in the main line T b increases rapidly with some time delay. Then, as described above, the main pipeline T
Due to the expansion and contraction of the a and T b walls, the pressure P ′ (t) in the main pipeline T a
And the pressure P r ′ (t) in the main pipe line T b repeats large vibrations in the opposite phase, whereby the boom cylinder 1 also repeats large stretching vibrations.
【0028】これに対し、本実施例では(θ1 −θ2 )
≧δ1 と判定された時点で駆動電流ica=i0 が放流方
向切替弁12の左側ソレノイドに出力され、放流方向切
替弁12が左切替え位置に切り替えられて主管路Ta が
絞り13を介して油タンク9に連通するから、主管路T
a 内の圧力P(t) は操作桿7の急な戻し操作に連動して
急速に低下する。一方、主管路Tb 内の圧力Pr (t) は
方向切替弁4の閉じ動作とブームの慣性力によって急速
に増加するから、ブームシリンダー1の伸長運動は急制
動を受ける。従って、操作桿7が急な戻し操作された後
のブームシリンダー1の伸長変移xの増加を最小限に抑
えることができる。On the other hand, in this embodiment, (θ 1 −θ 2 )
When it is determined that ≧ δ 1 , the drive current i ca = i 0 is output to the left solenoid of the discharge direction switching valve 12, the discharge direction switching valve 12 is switched to the left switching position, and the main pipeline T a opens the throttle 13. Since it communicates with the oil tank 9 via the main pipe line T
pressure in a P (t) rapidly decreases in conjunction with the sudden returning operation of the operating rod 7. On the other hand, the pressure P r (t) in the main pipe line T b rapidly increases due to the closing operation of the direction switching valve 4 and the inertial force of the boom, so that the extension motion of the boom cylinder 1 is suddenly braked. Therefore, it is possible to minimize the increase in the extension displacement x of the boom cylinder 1 after the operation rod 7 is suddenly returned.
【0029】こうしてブームシリンダー1の伸長が停止
した時には、主管路Tb 内の圧力Pr (t) は高圧に、主
管路Ta 内の圧力P(t) は低圧になっているため、ブー
ムシリンダー1の受圧面にはこれを収縮させる圧力が作
用し、ブームシリンダー1が収縮し始める。このブーム
シリンダー1の収縮運動により、主管路Ta 内の圧力P
(t) は反転して増加し始めるから、ΔP/Δt>0とな
り、これを検知したコントローラー11は駆動電流ica
を0にすると共に駆動電流icbをi0 に切り替えて、放
流方向切替弁12の切替え位置を左の切替え位置から右
の切替え位置に切り替えさせる。Thus, when the extension of the boom cylinder 1 is stopped, the pressure P r (t) in the main pipeline T b is high and the pressure P (t) in the main pipeline T a is low. A pressure for contracting the pressure receiving surface of the cylinder 1 acts on the pressure receiving surface, and the boom cylinder 1 starts contracting. Due to the contraction movement of the boom cylinder 1, the pressure P in the main pipe line T a is reduced.
Since (t) starts reversing and starts increasing, ΔP / Δt> 0, and the controller 11 that has detected this has a drive current i ca
Is set to 0 and the drive current i cb is switched to i 0 to switch the switching position of the discharge direction switching valve 12 from the left switching position to the right switching position.
【0030】これにより、主管路Tb 内の作動油は油タ
ンク9に流出するから、主管路Tb内の圧力Pr (t) は
速やかに低下する。従って、ブームシリンダー1を戻し
収縮させる主管路Ta 内の圧力P(t) の低下により、主
管路Ta ,Tb 内の圧力P(t) ,Pr (t) の振動、つま
り、ブームシリンダー1の伸縮振動は速やかに収束す
る。As a result, the hydraulic oil in the main pipe line T b flows out to the oil tank 9, so that the pressure P r (t) in the main pipe line T b rapidly drops. Therefore, due to the decrease in the pressure P (t) in the main pipeline T a for retracting and contracting the boom cylinder 1, the vibrations of the pressures P (t), P r (t) in the main pipelines T a , T b , that is, the boom The stretching vibration of the cylinder 1 quickly converges.
【0031】図11は本発明の第3の実施例に係るブー
ムシリンダー駆動油圧回路図である。同図において、1
4a,14bは方向切替弁4の左右のパイロット受け部
に流入するパイロット油の流入管路中に設けられ、駆動
電流ica,icbが出力された時、それぞれ通過するパイ
ロット油の流量を規制する絞り付切替弁である。本実施
例の動作は第2の実施例と同様に、現時刻の操作値θ
(t) の値を登録した第1操作値カウンター値θ1 の絶対
値|θ1 |と、第1操作値カウンター値θ1 と時刻tが
時間Δtだけ経過した後の時刻の操作値θ(t) の値を登
録した第2操作値カウンター値θ2 との差(θ1 −
θ2 )とsign (θ1)との積の値を調べて、|θ1 |≧θ
min かつ(θ1 −θ2 )・sign (θ1)≧δ1 となった場
合にはsign (θ1)の正負を調べる。FIG. 11 is a boom cylinder drive hydraulic circuit diagram according to the third embodiment of the present invention. In the figure, 1
4a and 14b are provided in the pilot oil inflow pipes that flow into the left and right pilot receiving portions of the directional control valve 4, and when the drive currents i ca and i cb are output, the flow rates of the pilot oil that pass through are restricted. It is a switching valve with a throttle. The operation of this embodiment is similar to that of the second embodiment, and the operation value θ at the current time is
The first operation value counter value θ 1 of the absolute value registered the value of (t) | θ 1 | a, operation value of time after the first operation value counter value θ 1 and the time t has elapsed by the time Δt θ ( The difference from the second operation value counter value θ 2 that registered the value of (t) (θ 1 −
The product of θ 2 ) and sign (θ 1 ) is investigated, and | θ 1 | ≧ θ
If min and (θ 1 −θ 2 ) sign (θ 1 ) ≧ δ 1 , the sign (θ 1 ) is checked for positive or negative.
【0032】これが正ならば、駆動電流icaをi0 にし
て絞り付切替弁14aを絞り位置側に切り替えさせ、操
作桿7の急な戻し操作により、方向切替弁4の左パイロ
ット受け部から絞り付切替弁14aを通ってパイロット
弁8aに戻るパイロット油の流量を規制して、方向切替
弁4の左の切替え位置から中立位置への急激な切替え動
作を抑制する。また、sign (θ1)が負ならば、駆動電流
icbをi0 にして絞り付切替弁14bを絞り位置側に切
り替えさせ、操作桿7の急な戻し操作により、方向切替
弁4の右パイロット受け部から絞り付切替弁14bを通
ってパイロット弁8bに戻るパイロット油の流量を規制
して、方向切替弁4の右の切替え位置から中立位置への
急激な切替え動作を抑制する。If this is positive, the drive current i ca is set to i 0 to switch the throttle-equipped switching valve 14a to the throttle position side, and a sudden return operation of the operating rod 7 causes the directional switching valve 4 to move from the left pilot receiving portion. The flow rate of the pilot oil that returns to the pilot valve 8a through the switching valve with throttle 14a is regulated to suppress an abrupt switching operation from the left switching position of the direction switching valve 4 to the neutral position. If sign (θ 1 ) is negative, the drive current i cb is set to i 0 to switch the throttled switching valve 14b to the throttle position side, and the operation rod 7 is suddenly returned to the right of the direction switching valve 4. The flow rate of the pilot oil that returns from the pilot receiving portion to the pilot valve 8b through the throttled switching valve 14b is regulated to suppress an abrupt switching operation from the right switching position of the direction switching valve 4 to the neutral position.
【0033】図12は本発明の第4の実施例に係るブー
ムシリンダー駆動油圧回路図である。同図において、1
5は直流電源、16は操作桿7に連結され、操作桿7の
操作値θ(t) を直流検出電圧vc 値として検出するポテ
ンショメーター型の操作量検出器、17は切替えスイッ
チ、18は積分回路等で構成され、操作値θ(t) の急激
な変動を緩和した遅延操作値θ′(t) に変換する遅延回
路F(s) 、19は入力した操作値θ(t) 信号または遅延
操作値θ′(t) 信号を増幅する増幅器である。本実施例
は方向切替弁4を電磁弁で構成し、第3の実施例におけ
る方向切替弁4の左パイロット受け部に付与される急激
なパイロット圧変化を抑制する絞り付切替弁14a,1
4bを遅延回路F(s) 18で置き換えると共に、切替え
スイッチ17で方向切替弁4の切替え動作を司るソレノ
イドに出力される駆動電流icを出力する増幅器19へ
の入力信号を操作量検出器16により検出された操作値
θ(t) 信号または遅延回路F(s) 18で緩和された遅延
操作値θ′(t) 信号に切替え可能にすることにより、電
気的に第3の実施例のブームシリンダー駆動油圧回路と
同等の働きをさせたものである。FIG. 12 is a boom cylinder drive hydraulic circuit diagram according to the fourth embodiment of the present invention. In the figure, 1
5 is a DC power supply, 16 is a potentiometer type manipulated variable detector connected to the operating rod 7 and detecting the operating value θ (t) of the operating rod 7 as a DC detection voltage v c value, 17 a changeover switch, and 18 an integrating A delay circuit F (s), 19 composed of a circuit or the like, which converts a steep fluctuation of the operating value θ (t) to a delayed operating value θ ′ (t), 19 is an input operating value θ (t) signal or delay It is an amplifier that amplifies the manipulated value θ '(t) signal. In the present embodiment, the direction switching valve 4 is configured by a solenoid valve, and the switching valve with throttle 14a, 1 for suppressing the rapid pilot pressure change applied to the left pilot receiving portion of the direction switching valve 4 in the third embodiment.
4b is replaced with a delay circuit F (s) 18, and an input signal to an amplifier 19 that outputs a drive current i c output to a solenoid that controls the switching operation of the directional control valve 4 by a changeover switch 17 is used as a manipulated variable detector 16 The operation value θ (t) signal detected by or the delay operation value θ ′ (t) signal relaxed by the delay circuit F (s) 18 can be switched to the boom of the third embodiment electrically. It has the same function as a cylinder drive hydraulic circuit.
【0034】即ち、コントローラー11は操作量検出器
16からの直流検出電圧vc から操作桿7の操作値θ
(t) を求め、|θ1 |≧θmin かつ(θ1 −θ2 )・si
gn (θ1)≧δ1 を満たすか否かを常に判断して、その判
断結果が然りとなったならば、切替えスイッチ17を遅
延回路F(s) 18側に切り替える。増幅器19の入力端
子には急激に絶対値が減少する操作値θ(t) の変化を緩
和した遅延操作値θ′(t) 信号が入力するから、方向切
替弁4の左右の切替え位置から中立位置への急激な切替
え動作を抑制できる。That is, the controller 11 determines the operation value θ of the operation rod 7 from the DC detection voltage v c from the operation amount detector 16.
(t) is calculated, and | θ 1 | ≧ θ min and (θ 1 −θ 2 ) ・ si
Whether or not gn (θ 1 ) ≧ δ 1 is satisfied is always determined, and if the determination result is correct, the changeover switch 17 is changed over to the delay circuit F (s) 18 side. Since the delay operation value θ ′ (t) signal, which is obtained by relaxing the change in the operation value θ (t) whose absolute value is rapidly decreased, is input to the input terminal of the amplifier 19, the directional switching valve 4 is neutralized from the left and right switching positions. It is possible to suppress a sudden switching operation to the position.
【0035】[0035]
【発明の効果】以上説明したように請求項1記載の発明
によれば、操作桿の操作速度を調べて、その操作速度が
所定の値以上であった時は方向切替弁を介してアクチュ
エーターに作動油が供給される流入側管路内の作動油を
該流入側管路に接続された切替弁を開路して低圧側管路
内に放流させ、流入側管路内の作動油の圧力振動が十分
低下した時、切替弁を閉路するようにしたので、操作桿
の急激な戻し操作によりアクチュエーターに生じる衝撃
や振動を防止しながら、アクチュエーターの動作を操作
桿の操作に速やかに追随させることができる。請求項2
記載の発明によれば、アクチュエーターから作動油を流
出させるための流出側管路を低圧側管路としたので、ア
クチュエーターの振動を防止する油圧回路の構成を単純
化できる。請求項3記載の発明によれば、作動油が還流
する油タンクに常時接続された管路を低圧側管路とした
ので、アクチュエーターの速やかな停止動作に移ること
ができる。請求項4記載の発明によれば、操作桿の操作
速度が所定の値以上であった時は切替弁を一方の切替動
作位置に切り替えて流入側管路内の作動油を放流させ、
これにより流入側管路内の作動油の圧力が一旦低下した
後、上昇に転じた時、切替弁を他方の切替動作位置に切
り替えて流出側管路内の作動油を放流させるようにした
ので、操作桿の急激な戻し操作後のアクチュエーターの
変移量を可及的に少なくできると共に、流出側管路内の
作動油の圧力振動を速やかに収束させることができる。As described above, according to the invention of claim 1, the operating speed of the operating rod is checked, and when the operating speed is equal to or higher than a predetermined value, the actuator is actuated via the direction switching valve. Pressure oil of the hydraulic oil in the inflow side pipeline is opened by opening the switching valve connected to the inflow side pipeline and discharging the hydraulic oil in the inflow side pipeline to which the hydraulic oil is supplied. When the valve is fully lowered, the switching valve is closed, so it is possible to make the operation of the actuator follow the operation of the operating rod promptly while preventing the impact and vibration caused to the actuator by the sudden return operation of the operating rod. it can. Claim 2
According to the invention described above, the outflow side pipe line for outflowing the hydraulic oil from the actuator is the low pressure side pipe line, so that the structure of the hydraulic circuit for preventing the vibration of the actuator can be simplified. According to the third aspect of the present invention, since the pipeline that is constantly connected to the oil tank in which the hydraulic oil recirculates is the pipeline on the low pressure side, it is possible to move to a quick stop operation of the actuator. According to the invention of claim 4, when the operating speed of the operating rod is equal to or higher than a predetermined value, the switching valve is switched to one switching operation position to discharge the hydraulic oil in the inflow side pipe line,
As a result, when the pressure of the hydraulic oil in the inflow side pipe once drops and then rises, the switching valve is switched to the other switching operation position so that the hydraulic oil in the outflow side pipe is discharged. The amount of displacement of the actuator after the sudden return operation of the operating rod can be reduced as much as possible, and the pressure vibration of the hydraulic oil in the outflow side pipe line can be quickly converged.
【0036】請求項5記載の発明によれば、操作桿の操
作速度を調べて、その操作速度が所定の値以上であった
時は、操作桿の操作に従って切り替えられる方向切替弁
の切替え動作速度を緩和するようにしたので、方向切替
弁の切替え動作を操作桿の操作に追随して速やかに切替
えさせることができる。請求項6記載の発明によれば、
油圧作動式の方向切替弁のパイロット受け部に接続され
たパイロット管路の途中に設けられた絞り付切替弁の切
替えによって方向切替弁の切替え動作速度を緩和したの
で、汎用の油圧回路要素を用いて方向切替弁の滑らかな
切替え動作を行わせることができる。請求項7記載の発
明によれば、操作桿の操作量を検出した検出信号を遅延
回路で遅延させた遅延信号に基づいて電磁作動式の方向
切替弁を切替え動作させることにより、その切替え動作
速度を緩和したので、方向切替弁の切替え動作を応答性
良く、滑らかに行わせることができる。According to the invention of claim 5, the operating speed of the operating rod is checked, and when the operating speed is equal to or higher than a predetermined value, the switching operation speed of the directional switching valve is switched according to the operation of the operating rod. Therefore, the switching operation of the direction switching valve can be swiftly switched following the operation of the operating rod. According to the invention of claim 6,
Since the switching operation speed of the directional switching valve was moderated by switching the switching valve with throttle provided in the pilot line connected to the pilot receiving part of the hydraulically operated directional switching valve, a general-purpose hydraulic circuit element was used. The directional switching valve can be smoothly switched. According to the invention described in claim 7, the electromagnetically operated directional control valve is switched based on the delay signal obtained by delaying the detection signal for detecting the operation amount of the operation rod by the delay circuit, thereby the switching operation speed. Since the above is alleviated, the switching operation of the directional control valve can be smoothly performed with good responsiveness.
【図1】本発明の第1の実施例に係るブームシリンダー
駆動油圧回路図FIG. 1 is a boom cylinder drive hydraulic circuit diagram according to a first embodiment of the present invention.
【図2】操作桿の操作方向に応じた操作値の取り方を示
す模式図FIG. 2 is a schematic diagram showing how to obtain an operation value according to an operation direction of an operation rod.
【図3】第1の実施例に係るブームシリンダー急停止時
振動防止制御の流れ図FIG. 3 is a flowchart of vibration prevention control during a sudden stop of a boom cylinder according to the first embodiment.
【図4】図3に続くブームシリンダー急停止時振動防止
制御の流れ図FIG. 4 is a flow chart of vibration prevention control at the time of sudden stop of the boom cylinder following FIG.
【図5】操作桿が正方向に操作された時の主管路内の圧
力の変動および駆動電流の出力値を示す波形図FIG. 5 is a waveform diagram showing pressure fluctuations in the main pipeline and output values of drive current when the operating rod is operated in the forward direction.
【図6】操作桿が負方向に操作された時の主管路内の圧
力の変動および駆動電流の出力値を示す波形図FIG. 6 is a waveform diagram showing pressure fluctuations in the main pipeline and output values of drive current when the operating rod is operated in the negative direction.
【図7】本発明の第2の実施例に係るブームシリンダー
駆動油圧回路図FIG. 7 is a boom cylinder drive hydraulic circuit diagram according to a second embodiment of the present invention.
【図8】第2の実施例に係るブームシリンダーの急停止
時振動防止制御の流れ図FIG. 8 is a flowchart of vibration prevention control during a sudden stop of the boom cylinder according to the second embodiment.
【図9】図8に続くブームシリンダー急停止時振動防止
制御の流れ図FIG. 9 is a flow chart of vibration prevention control at the time of sudden stop of the boom cylinder following FIG.
【図10】駆動電流の出力値、主管路内の圧力の変動お
よびブームシリンダーの変移を従来例に対比して示す波
形図FIG. 10 is a waveform diagram showing the output value of the drive current, the fluctuation of the pressure in the main pipeline, and the displacement of the boom cylinder in comparison with the conventional example.
【図11】本発明の第3の実施例に係るブームシリンダ
ー駆動油圧回路図FIG. 11 is a boom cylinder drive hydraulic circuit diagram according to a third embodiment of the present invention.
【図12】本発明の第4の実施例に係るブームシリンダ
ー駆動油圧回路図FIG. 12 is a boom cylinder drive hydraulic circuit diagram according to a fourth embodiment of the present invention.
1 ブームシリンダー 2 圧力センサー 3 電磁開閉弁 4 方向切替弁 5 作動油圧ポンプ 7 操作桿 8(a,b) パイロット弁 9 油タンク 10 操作値センサー 11 コントローラー 12 放流方向切替弁 13 絞り 14(a,b) 絞り付切替弁 17 切替えスイッチ 18 遅延回路 1 boom cylinder 2 pressure sensor 3 electromagnetic on-off valve 4 directional switching valve 5 actuating hydraulic pump 7 operating rod 8 (a, b) pilot valve 9 oil tank 10 operation value sensor 11 controller 12 discharge direction switching valve 13 throttle 14 (a, b) ) Changeover valve with throttle 17 Changeover switch 18 Delay circuit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大科 守雄 茨城県土浦市神立町650番地 日立建機株 式会社土浦工場内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Morio Oshina 650 Jinrachicho, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Tsuchiura Factory
Claims (7)
の操作の後、急激な戻し操作された時に該操作に基づい
て切替えられる方向切替弁を介して作動油が供給される
アクチュエーターに生じる衝撃や振動を防止する油圧ア
クチュエーターの振動防止装置において、前記操作桿の
操作速度を調べて、その操作速度が所定の値以上であっ
た時は前記方向切替弁を介して前記アクチュエーターに
作動油が供給される流入側管路内の作動油を該流入側管
路に接続された切替弁を開路して低圧側管路内に放流さ
せ、前記流入側管路内の作動油の圧力振動が十分低下し
た時、前記切替弁を閉路するようにしたことを特徴とす
る油圧アクチュエーターの振動防止装置。1. An actuator, to which hydraulic oil is supplied via a direction switching valve that is switched based on the operation of the operating rod after a predetermined amount of operation from the neutral position and then a sudden return operation. In a vibration prevention device for a hydraulic actuator that prevents shock and vibration, check the operating speed of the operating rod, and when the operating speed is equal to or higher than a predetermined value, hydraulic oil is applied to the actuator via the direction switching valve. The supplied hydraulic oil in the inflow side conduit is opened into the low pressure side conduit by opening the switching valve connected to the inflow side conduit, and the pressure vibration of the working oil in the inflow side conduit is sufficient. A vibration preventing device for a hydraulic actuator, wherein the switching valve is closed when the pressure drops.
油を流出させるための流出側管路であることを特徴とす
る請求項1記載の油圧アクチュエーターの振動防止装
置。2. The vibration preventing device for a hydraulic actuator according to claim 1, wherein the low pressure side pipe line is an outflow side pipe line for letting out the hydraulic oil from the actuator.
に常時接続された管路であることを特徴とする請求項1
記載の油圧アクチュエーターの振動防止装置。3. The low-pressure side pipe line is a pipe line which is always connected to an oil tank in which hydraulic oil flows back.
Anti-vibration device for the hydraulic actuator described.
替弁であり、操作桿の操作速度が所定の値以上であった
時は前記切替弁を一方の切替動作位置に切り替えて流入
側管路内の作動油を油タンクに常時接続された管路側に
放流させ、これにより前記流入側管路内の作動油の圧力
が一旦低下した後、上昇に転じた時、前記切替弁を他方
の切替動作位置に切り替えて流出側管路内の作動油を油
タンクに常時接続された管路側に放流させるようにした
ことを特徴とする請求項3記載の油圧アクチュエーター
の振動防止装置。4. The switching valve is a switching valve having two switching operation positions, and when the operating speed of the operating rod is equal to or higher than a predetermined value, the switching valve is switched to one of the switching operation positions and the inflow side is provided. When the hydraulic oil in the pipeline is discharged to the pipeline side that is always connected to the oil tank, the pressure of the hydraulic oil in the inflow pipeline is once reduced and then rises, and the switching valve is turned to the other side. 4. The vibration preventing device for a hydraulic actuator according to claim 3, wherein the hydraulic oil in the outflow side pipeline is discharged to the side of the pipeline that is always connected to the oil tank by switching to the switching operation position of.
の操作の後、急激な戻し操作された時に該操作に基づい
て切替えられる方向切替弁を介して作動油が供給される
アクチュエーターに生じる衝撃や振動を防止する油圧ア
クチュエーターの振動防止装置において、前記操作桿の
操作速度を調べて、その操作速度が所定の値以上であっ
た時は、前記操作桿の操作に従って切り替えられる前記
方向切替弁の切替え動作速度を緩和するようにしたこと
を特徴とする油圧アクチュエーターの振動防止装置。5. An actuator to which hydraulic oil is supplied via a direction switching valve that is switched based on the operation when the operation rod is operated from the neutral position for a predetermined operation amount or more and then is rapidly returned. In a vibration prevention device for a hydraulic actuator that prevents shock and vibration, the operating speed of the operating rod is checked, and when the operating speed is equal to or higher than a predetermined value, the direction switching valve that is switched according to the operation of the operating rod. The vibration prevention device for a hydraulic actuator is characterized in that the switching operation speed of the is reduced.
該方向切替弁のパイロット受け部に接続されたパイロッ
ト管路の途中に設けられた絞り付切替弁の切替えによっ
て前記方向切替弁の切替え動作速度を緩和したことを特
徴とする請求項5記載の油圧アクチュエーターの振動防
止装置。6. The direction switching valve is a hydraulically operated type,
6. The hydraulic pressure according to claim 5, wherein the switching operation speed of the direction switching valve is moderated by switching a throttled switching valve provided midway in a pilot line connected to a pilot receiving portion of the direction switching valve. Anti-vibration device for actuator.
操作桿の操作量を検出した検出信号を遅延回路で遅延さ
せた遅延信号に基づいて前記方向切替弁を切替え動作さ
せることにより、その切替え動作速度を緩和したことを
特徴とする請求項5記載の油圧アクチュエーターの振動
防止装置。7. The directional control valve is of an electromagnetically actuated type,
6. The switching operation speed is relaxed by switching the directional switching valve based on a delay signal obtained by delaying a detection signal for detecting the operation amount of the operation rod by a delay circuit. Anti-vibration device for hydraulic actuator.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6308096A JPH09250504A (en) | 1996-03-19 | 1996-03-19 | Vibration control equipment of hydraulic actuator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP6308096A JPH09250504A (en) | 1996-03-19 | 1996-03-19 | Vibration control equipment of hydraulic actuator |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH09250504A true JPH09250504A (en) | 1997-09-22 |
Family
ID=13219012
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6308096A Pending JPH09250504A (en) | 1996-03-19 | 1996-03-19 | Vibration control equipment of hydraulic actuator |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH09250504A (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004270925A (en) * | 2002-09-25 | 2004-09-30 | Husco Internatl Inc | Apparatus for controlling bounce of hydraulically powered equipment |
KR100505349B1 (en) * | 1998-05-18 | 2005-09-26 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | How to control work equipment of construction machinery |
US7308789B2 (en) * | 2004-03-22 | 2007-12-18 | Volvo Construction Equipment Holding Sweden Ab | Hydraulic cylinder suspension method |
KR100974286B1 (en) * | 2009-09-11 | 2010-08-06 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Apparatus For Mitigating Boom Impact In Excavator |
JP2011106127A (en) * | 2009-11-13 | 2011-06-02 | Sumitomo (Shi) Construction Machinery Co Ltd | Hydraulic circuit of working machine |
KR101334469B1 (en) * | 2006-12-14 | 2013-11-29 | 두산인프라코어 주식회사 | Hydraulic circuit device for excavator to relief shock of boom cylinder |
-
1996
- 1996-03-19 JP JP6308096A patent/JPH09250504A/en active Pending
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100505349B1 (en) * | 1998-05-18 | 2005-09-26 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | How to control work equipment of construction machinery |
JP2004270925A (en) * | 2002-09-25 | 2004-09-30 | Husco Internatl Inc | Apparatus for controlling bounce of hydraulically powered equipment |
US7308789B2 (en) * | 2004-03-22 | 2007-12-18 | Volvo Construction Equipment Holding Sweden Ab | Hydraulic cylinder suspension method |
KR101334469B1 (en) * | 2006-12-14 | 2013-11-29 | 두산인프라코어 주식회사 | Hydraulic circuit device for excavator to relief shock of boom cylinder |
KR100974286B1 (en) * | 2009-09-11 | 2010-08-06 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Apparatus For Mitigating Boom Impact In Excavator |
JP2011106127A (en) * | 2009-11-13 | 2011-06-02 | Sumitomo (Shi) Construction Machinery Co Ltd | Hydraulic circuit of working machine |
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