JPH10159807A - Hydraulic circuit unit of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve workability and working efficiency of a hydraulic circuit unit by calculating torque allotment to respective hydraulic pumps on the basis of an operational tool operational quantity and controlling the torque allotment based upon the result of the calculation for proper torque allotment. SOLUTION: Electromagnetic proportion control valves 42, 43, 44, control the torque control pressure to be supplied to respective regulators P1b, P2b, P3b of pump P1, P2, P3 on the basis of the control command from a torque control part. Then, the torque control part, firstly calculates the allotment of the supply torque T1 to the pump P1 in response to the openrational quantity of a turning operational lever, and further, it makes such a calculation as allocating torques (Tt to T1) obtained by subtracting supply T1 of pump P1 from output torque Tt to hydraulic pumps P1, P2, P3 of an engine M at a rate in response to the operational quantity of each operational lever used for such a running attachment. And a control command on the basis of the result of calculation is outputted to electromagnetic proportion control valves 42, 43, 44 so as to make operation with proper torque allotment.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a hydraulic circuit device of a working machine such as a hydraulic shovel used for various construction work and civil engineering work.

[0002]

2. Description of the Related Art Generally, a hydraulic circuit device for a working machine of this type includes a plurality of hydraulic actuators and a plurality of variable displacement hydraulic pumps for supplying hydraulic oil to the hydraulic actuators. is there. In such a hydraulic circuit device, an output torque from a power source such as an engine is distributed to each of the hydraulic pumps. For example, a working machine is a hydraulic shovel including three hydraulic pumps. Conventionally, as shown in FIG. 9, when the turning operation lever is not operated (it is located at the neutral position), the torque distribution to the first pump P1 that supplies pressure oil to the turning motor is reduced ( For example, the output torque of the engine is 3%), and the remaining torque is evenly distributed to the second and third hydraulic pumps P2 and P3. On the other hand, when the turning operation lever is operated, the torque distribution to the first pump is selected from a plurality of preset types (two types of 15% and 20% in the case of FIG. 9). And the remaining torque obtained by subtracting the selected torque is evenly distributed to the remaining two second and third hydraulic pumps P2 and P3.

[0003]

In the conventional hydraulic circuit device, when the turning operation lever is being operated, the torque selected by the selection switch is preferentially distributed to the first pump. The hydraulic oil supply to the turning motor can be performed without being affected by the hydraulic oil supply to other hydraulic actuators, thereby giving priority to the turning operation regardless of the operation or non-operation of the other hydraulic actuators. There is an advantage that can be carried out. However, according to this method, the torque distribution to the first pump is allowed to be selected only from among the several types set in advance, or even if the operation amount of the turning operation lever is small, the first pump Has a problem that the selected torque is distributed, and there is a problem to be solved by the present invention. Further, since the above-mentioned conventional one is configured such that equal torque is distributed to the second and third hydraulic pumps, only the hydraulic actuator supplied with hydraulic oil from one of the hydraulic pumps is operated. However, there is also a problem to be solved that equal torque distribution is performed to both pumps, and that proper torque distribution is not performed and workability and work efficiency may be reduced.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has been created with the object of solving these problems. The hydraulic pressure of a working machine comprising an amount detecting means, hydraulic actuators respectively operating based on the detected operation amounts, and a plurality of variable displacement hydraulic pumps for supplying hydraulic oil to the hydraulic actuators In the circuit device, a torque control means for controlling the torque of each hydraulic pump and a control command to the torque control means for distributing an output torque from a hydraulic pump power source to each hydraulic pump are output to the hydraulic circuit device. When providing a torque control unit, a torque distribution to each hydraulic pump is performed by the torque control unit based on an operation tool operation amount input from the operation amount detection unit. A torque distribution calculation means for calculation, is provided with a torque distribution output means for outputting a control command to the torque control means according to the result of the torque distribution calculation means. By doing so, the torque distribution to each hydraulic pump is performed based on the operation amount of the operation tool, and workability and work efficiency are improved.
In this device, the pressure oil from the first hydraulic pump set in advance among the plurality of hydraulic pumps is supplied to the corresponding first hydraulic actuator by operating the first operating tool, and the other hydraulic oil other than the first hydraulic pump is When the pressure oil from the pump is supplied to each of the corresponding remaining hydraulic actuators operated by the operation of the remaining operating tools other than the first operating tool, the torque distribution calculating means transmits the first hydraulic pump to the first hydraulic pump. Calculation for distributing the torque based on the operation amount of the operation tool, and subtraction torque obtained by subtracting the calculated torque to the first hydraulic pump from the output torque of the hydraulic pump power source, based on the operation amount of the remaining operation tools And a calculation to be distributed to other hydraulic pumps. Further, in this case, the calculation of the torque distribution to the first hydraulic pump by the torque distribution calculating means can be performed irrespective of the operation amount of the remaining operating tools. The torque is preferentially distributed to one hydraulic pump, and the operation of the first hydraulic actuator is
This can be performed preferentially without being affected by the supply of pressure oil to the remaining hydraulic actuators. In the case where it is not necessary to give priority to the operation of the first actuator, the calculation of the torque distribution to the first hydraulic pump by the torque distribution calculating means is performed by the operation amount of the first operating tool with respect to the operating amounts of all the operating tools. May be configured based on the ratio. This can be implemented when there are a plurality of other hydraulic pumps and each of the other hydraulic pumps supplies hydraulic oil to a corresponding one or more hydraulic actuators. In addition, a joining oil passage for joining the supply pressure oil from each of the other hydraulic pumps and supplying the pressure oil to the other hydraulic actuators, and an opening / closing control valve for controlling the opening / closing of the joining oil passage are provided. The present invention can also be implemented in those provided. Further, the torque distribution to the other hydraulic pumps by the torque distribution calculating means is performed based on the ratio of the operation amount of the hydraulic actuator operation tool corresponding to each hydraulic pump to the operation amount of all the remaining operation tools. Can be configured. Further, the torque control means can be constituted by using an electromagnetic proportional control valve for supplying a torque control pressure to a capacity changing means of the hydraulic pump. Further, a discharge pressure detecting means for detecting a discharge pressure of each of the hydraulic pumps is connected to the torque control unit, and a torque distribution calculating means is connected to each of the hydraulic pumps based on an input signal from the discharge pressure detecting means. A feedback mechanism for calculating the torque distribution can be provided, and by doing so, the calculation of the torque distribution can be performed with high accuracy. In such a hydraulic circuit device, an upper revolving structure is rotatably supported by a lower traveling structure, and various hydraulic actuators such as a revolving motor, left and right traveling motors, a boom cylinder, a stick cylinder, a bucket cylinder, and the like. , First, second, and third hydraulic pumps, and the first pump supplies hydraulic oil to the turning motor, and the second and third pumps supply hydraulic oil to the remaining hydraulic actuators. It can be carried out on a shovel or the like.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, three embodiments of the present invention will be described with reference to the drawings. First, FIG. 1 to FIG. 5 show a first embodiment. In the drawings, reference numeral 1 denotes a hydraulic shovel, and the hydraulic shovel 1 includes a crawler-type lower traveling body 2 and a lower traveling body 2. Upper revolving unit 3 supported to be pivotable upward, and working unit 4 attached to upper revolving unit 3
The working unit 4 further includes a boom 5 whose base end is swingably supported by the upper swing body 2,
The basic structure of a stick 6, which is swingably supported at the tip of the boom 5, and a member device such as a bucket 7, which is swingably supported at the tip of the stick 6, is the same as the conventional one. It is.

The hydraulic excavator 1 further includes a turning motor 8 for turning the upper turning body 3, left and right running motors 9 and 10, a boom cylinder 11 for rocking the boom 5, and a stick 6. Various hydraulic actuators such as a stick cylinder 12 for swinging and a bucket cylinder 13 for swinging the bucket 7 are provided, and these hydraulic actuators are operated by a hydraulic pump driven by the power of the engine M. In this embodiment, the first, second, and third pumps P1, P2 are used as hydraulic pumps.
A total of three variable displacement hydraulic pumps P2 and P3 are used. These hydraulic pumps P1, P2 and P3 are swash plate type axial piston pumps whose discharge amount changes based on the inclination angle displacement of the swash plates P1a, P2a and P3a. The pump P1 is for the turning motor 8, the second pump P2 is for the left and right traveling motors 9, 10, and the stick cylinder 12, and the third pump P3 is for the bucket cylinder 13, the boom cylinder 11, and the attachment cylinder. 14 are set so as to supply the pressurized oil. Here, the attachment cylinder 14 is a hydraulic cylinder for a work attachment such as a breaker mounted in place of the bucket 6.

Reference numerals 22 to 28 denote operation amounts of operation levers (all not shown) for turning, left running, right running, stick, bucket, boom, and attachment. The operation amount detecting means includes an angle detection sensor and the like. Signals from these operation amount detecting means 22 to 28 are set so as to be input to a control device 29 described later. Also, 30, 31, 32 are the hydraulic pumps P1, P2,
It is a discharge pressure detecting means for detecting the discharge pressure of P3, and is constituted by a pressure detection sensor and the like. Signals from these discharge pressure detecting means 30, 31, 32 are also input to the control device 29. It is set as follows.

The control unit 29 is constructed using a microcomputer or the like.
The output torque from the engine M (target torque)
Control unit 33 for distributing the hydraulic pressure to the hydraulic pumps P1, P2, and P3;
A valve control unit 41 for controlling the opening amounts of the four control valves 34 to 40 is provided. The valve control unit 41 controls each of the pilot valves 34a to 40a based on an input signal from the operation amount detection means 22 to 28 to supply the hydraulic oil to the hydraulic actuators 8 to 14 at a flow rate corresponding to the operation amount of each operation lever. To control the opening amounts of the corresponding control valves 34 to 40. Since a conventionally known valve control unit 41 is employed, the details thereof are described in detail below. Here, it is omitted.

On the other hand, the torque control section 33 calculates the torque distribution to the hydraulic pumps P1, P2, P3 based on the input signals from the operation amount detecting means 22 to 28, and based on the calculation result. Electromagnetic proportional control valves 42, 43 described below,
A control command is output to the controller 44. A control procedure of the torque controller 33 will be described below with reference to a block diagram shown in FIG.

First, the calculation of the torque distribution to the first pump P1 is performed based on the lever operation amount value α input from the turning operation amount detecting means 22. That is, the torque control unit 33 converts the lever operation amount value α into a lever theoretical value β according to a preset function [a], and further converts the lever theoretical value β into a preset function [b]. It is converted to the first pump torque ratio A. Here, the first pump torque ratio A is equal to the first, second, and third pumps P of the engine M.
1, the ratio of the supply torque T1 to the first pump P1 to the output torque Tt to P2, P3 (A = T1 / Tt). The first pump torque rate A is expressed as a percentage, for example, 0 to 0. It is set to be in the range of 20%. That is, the first pump torque ratio A is 0% when the turning operation lever is in the neutral position, and 20% when the turning operation lever is fully operated.
%, And when it is operated to be located between the neutral position and the full operation position, it is set to an appropriate value between 0% and 20% corresponding to the operation amount. Then, by multiplying the first pump torque rate A by the output torque Tt, a supply torque T1 to the first pump P1 is calculated (T1 = A × Tt). In the first embodiment, the first pump torque ratio A is 0
It is set in the range of ~ 20%, but is not limited to this, and corresponds to the type of working machine, the magnitude of the engine output, the capacity of the hydraulic pump, etc., such as 0 ~ 15%, 0 ~ 25%, etc. Needless to say, it can be set appropriately.

On the other hand, the calculation of the torque distribution to the second and third pumps P2 and P3 is performed by first detecting the operation amounts of the operation levers for the left-hand running, right-hand running, stick, bucket, boom, and attachment operating levers. The lever operation amount value α input from the means 23 to 28 is converted into a predetermined function [c] to
It is converted to a flow rate equivalent value γ according to [h]. Then, the required flow rate δ of each of the actuators 9 to 14 is calculated from the flow rate equivalent value γ. In the case of the first embodiment, the left running motor 9, the right running motor 10, and the attachment cylinder 14 are used. Is the required flow rate δ (δ = γ) as it is, and for the stick cylinder 12 and the boom cylinder 11, the value obtained by multiplying the flow rate equivalent value γ by a constant “2” is the required flow rate δ (δ = 2γ). )
For the bucket cylinder 13, the value obtained by multiplying the flow rate equivalent value γ by the constant “1.2” is the required flow rate δ (δ = 1.2
γ).

Next, the total required flow rate ε of the second pump P2 is determined by adding the required flow rates δ of the left traveling motor 9, the right traveling motor 10, and the stick cylinder 12. Further, the total required flow rate ε is multiplied by the discharge pressure η of the second pump P2 detected by the discharge pressure detecting means 31,
The required torque D of the second pump P2 is obtained (D = ε ×
η). Further, the total required flow rate ε of the third pump P3 is obtained by adding the required flow rates δ of the bucket cylinder 13, the boom cylinder 11, and the attachment cylinder 14. Further, the total required flow rate ε is multiplied by the discharge pressure η of the third pump P3 detected by the discharge pressure detecting means 32,
The required torque E of the third pump P3 is obtained (E = ε ×
η). Then, the required torque D of the second pump P2 is
The second pump torque ratio B is obtained by dividing by the sum of the required torques D and E of the second and third pumps P2 and P3 (B = D / (D
+ E)). Here, the second pump torque ratio B is a ratio of the supply torque T2 to the second pump P2 to the sum of the supply torques T2 and T3 to the second and third pumps P2 and P3 (B = T
2 / (T2 + T3)). The second pump torque ratio B is multiplied by a subtraction torque (Tt-T1) obtained by subtracting the supply torque T1 to the first pump P1 from the output torque Tt of the engine M to supply the second pump torque rate B to the second pump P2. The torque T2 is calculated (T2 = B × (T
t-T1)). Also, the required torque E of the third pump P3
Is divided by the sum of the required torques D and E of the second and third pumps P2 and P3 to obtain a third pump torque ratio C (C = E /
(D + E)). Here, the third pump torque ratio C is a ratio of the supply torque T3 to the third pump P3 to the sum of the supply torques T2 and T3 to the second and third pumps P2 and P3 (C = T3 / (T2 + T3)). It is. The output torque T of the engine M is added to the third pump torque ratio C.
The supply torque T3 to the third pump P3 is calculated by multiplying the subtraction torque (Tt-T1) by subtracting the supply torque T1 to the first pump P1 from t (T3 = T3).
C × (Tt−T1)).

Further, each of the calculated hydraulic pumps P
1, P2, and P3, the supply torques T1, T2, and T3 are converted into torque control pressures R1,
Convert to R2, R3. The torque control unit 33 controls the electromagnetic proportional control valves 4, 43, and 44 for controlling the torque of the hydraulic pumps P 1, P 2, and P 3.
Regulators (corresponding to the variable capacity means of the present invention) P1b, P2b, which displace the swash plates P1a, P2a, P3a of the hydraulic pumps P1, P2, P3, respectively.
The pressure supplied to P3b is the torque control pressure R1, R2,
The control command is outputted so as to be R3, and the supply torques T1, T2, T3 are respectively distributed to the hydraulic pumps P1, P2, P3. 46 is a regulator P1b, P2b, P3
b is a pilot pump serving as a pressure oil supply source.

In the present embodiment, constant control of torque (constant horsepower control) is employed for variable control of the hydraulic pumps P1, P2, and P3, and PQ (pressure-flow rate) indicated by a dotted line in FIG. 3) The pump output is controlled to be kept constant at each point on the curve. In this apparatus, by changing the torque control pressures R1, R2, R3 supplied to the regulators P1b, P2b, P3b, the PQ curve shifts in the direction of the arrow, and the pump absorption torque (horsepower) changes. Configuration.

In the first embodiment configured as described above, the electromagnetic proportional control valves 42, 43, and 44 control the first, second, and third pumps P 1 based on a control command from the torque control unit 33. , P2, P3 regulators P1b, P
2b, torque control pressures R1, R2, R3 supplied to P3b
In this case, the torque control unit 3
3 first calculates the distribution of the supply torque T1 to the first pump P1 according to the operation amount of the turning operation lever, and further calculates the first torque from the output torque Tt to the hydraulic pumps P1, P2, P3 of the engine M. A subtraction torque (Tt-T1) obtained by subtracting the supply torque T1 of the pump P1 is calculated by a ratio corresponding to the operation amount of each operation lever for the left traveling, right traveling, stick, bucket, boom, and attachment. Calculations for allocating to the second and third pumps P2 and P3 are performed, and control commands based on the calculation results are output to the electromagnetic proportional control valves 42, 43 and 44.

As a result, the output torque T from the engine M
t is distributed to the first, second, and third pumps P1, P2, and P3 based on the operation amounts of the respective operation levers. That is, an appropriate torque corresponding to the operation amount of the operation lever is distributed to the hydraulic pumps P1, P2, and P3 that supply pressure oil to the hydraulic actuators 8 to 14 that are operated by the operation lever operated by the operator. Workability,
Work efficiency is improved.

Further, in the first embodiment, the torque control unit 33 first determines the torque distribution to the first pump P1 based on the operation amount of the turning operation lever, and determines the remaining torque in the second and the second pumps P1. Since the configuration is such that the oil is distributed to the three pumps P2 and P3, the supply of the hydraulic oil to the turning motor 8 is preferentially performed without being affected by the supply of the hydraulic oil to the other hydraulic actuators 9 to 14. There is an advantage that the turning operation can be performed with priority regardless of the operation or non-operation of other hydraulic actuators.

Next, a second embodiment is shown in FIGS. 6 and 7. In the second embodiment, as shown in a hydraulic circuit diagram of FIG. Combined oil passage Z that joins oil passage X and pressure oil supply oil passage Y from third pump P3
And a combiner valve 47 (corresponding to the on-off control valve of the present invention) 47 for opening and closing the merging oil passage Z. When the combiner valve 47 is closed, the pressure oil from the second and third pumps P2 and P3 is supplied to the corresponding hydraulic actuators 9 to 14, as in the first embodiment. But the combiner valve 47
Are open, the second and third pumps P2, P3
Is supplied to the hydraulic actuators 9 to 14 other than the corresponding hydraulic oil via the merged oil passage Z. The combiner valve 47 is controlled to be opened when the boom 5, the stick 6, and the bucket 7 are operated in combination, and the like, but the details of this open / close control are omitted here.

Next, the control procedure of the torque control unit 33 in the second embodiment will be described with reference to the block diagram shown in FIG. 7, but the combiner valve 47 is closed ("off" in FIG. 7). And the calculation of the torque distribution to the first pump P1 is omitted because it is the same as in the first embodiment, and the combiner valve 47 is opened (“on” in FIG. 7) hereinafter. The torque distribution to the second and third pumps P2 and P3 in the case will be described.

That is, in the second embodiment, the calculation of the torque distribution to the second and third pumps P2 and P3 is performed first for the left traveling and for the right traveling, as in the first embodiment. , The lever operation amount value α input from the operation amount detection means 23 to 28 of the stick, bucket, boom, and attachment operation levers is converted into a flow equivalent value γ in accordance with preset functions [c] to [h]. Convert to Each of the actuators 9 to
14, the required flow rate δ (δ) for the second pump P2 is obtained for the left traveling motor 9 and the right traveling motor 10 in the case of the second embodiment. = Γ). For the stick cylinder 12 and the boom cylinder 11, the flow rate equivalent value γ is a constant “2”.
Is the required flow rate δ (δ = 2γ). When the combiner valve 47 is “on”, “１ ／” of the required flow rate δ becomes the required flow rate for the second pump P2,
The remaining "1/2" is set to be the required flow rate for the third pump P3. Further, for the bucket cylinder 13, a value obtained by multiplying the flow rate equivalent value γ by the constant “1.2” is the required flow rate δ (δ = 1.2γ). When the combiner valve 47 is “on”, the required flow rate The flow rate δ is set so that “0.2 / 1.2” is the required flow rate for the second pump P2, and the remaining “1 / 1.2” is the required flow rate for the third pump P3. Furthermore, for the attachment cylinder 14, the required flow rate δ (δ
= Γ). Next, the required flow rates of the left traveling motor 9, the right traveling motor 10, the stick cylinder 12, the bucket cylinder 13, and the boom cylinder 11 for the second pump P2 are added,
The total required flow rate ε of the second pump P2 is obtained. Further, the total required flow rate ε of the third pump P3 is obtained by adding the required flow rates δ of the stick cylinder 12, the bucket cylinder 13, the boom cylinder 11, and the attachment cylinder 14 for the third pump P3. Then, based on the total required flow rate ε, the required torques D and E of the second and third pumps P2 and P3, the second and third pump torque ratios B and C,
And the torque T supplied to the second and third pumps P2 and P3.
1 and T2 are calculated, but these calculations are the same as in the first embodiment, and will not be described.

In the second embodiment configured as described above, the output torque Tt from the engine M is controlled based on the operation amounts of the respective operation levers.
Although the functions are distributed to P2 and P3, the same functions and effects as those of the first embodiment are obtained. However, in the second embodiment, the second and third pumps P2 and P3 And a combiner valve 47 for opening and closing the combined oil passage Z. When the combiner valve 47 is closed, a stick, a bucket, and a boom are provided. The amount of operation of each operating lever for the motor works to distribute torque to the corresponding hydraulic pump P2 or P3, respectively.
Are open, that is, the second and third pumps P2, P2
And the hydraulic oil from each of the hydraulic actuators 9-14
In this state, the operating amounts of the stick, bucket, and boom operating levers act to distribute the torque to the second and third pumps P2, P3, respectively. As a result, even if the hydraulic pumps P2 and P3 for supplying the hydraulic oil to the hydraulic actuators 9 to 14 change with the opening and closing of the combiner valve 47, the second, The distribution of torque to the third pumps P2 and P3 changes, and the hydraulic actuators 8 to 14 whose operation levers are operated are changed.
Is distributed to the hydraulic pumps P1, P2, and P3 that supply pressure oil to the hydraulic pumps.

Next, a third embodiment will be described.
Since the hydraulic circuit of this embodiment is the same as that of the first embodiment, FIG. 4 is shared, and the control procedure of the torque control unit 33 will be described below with reference to the block diagram shown in FIG. That is, in the third embodiment, first, the torque control unit 33 controls the operation amount detection units 22 to 22 for the turning, left-hand traveling, right-hand traveling, stick, bucket, boom, and attachment operation levers. The function value [i], which is set in advance,
It is converted into a flow rate equivalent value γ according to [c] to [h]. Each of the actuators 8 to 8 corresponding to the flow rate equivalent value γ
The required flow rate δ of the turning motor 8, the left running motor 9, the right running motor 10, and the attachment cylinder 14 are calculated as the required flow rate γ (δ = γ). Cylinder 1
2 and the cylinder 11 for the boom, the flow rate equivalent value γ
Multiplied by a constant “2” gives the required flow rate δ (δ = 2γ),
The bucket cylinder 13 is set so that a value obtained by multiplying the flow rate equivalent value γ by a constant “1.2” becomes the required flow rate δ (δ = 1.2γ).

Next, the required flow rate δ of the turning motor 8 is defined as the total required flow rate ε of the first pump P1, and the total required flow rate ε is added to the discharge pressure η of the first pump P1 detected by the discharge pressure detecting means 30. To obtain the required torque F of the first pump P1 (F = ε × η). Further, the total required flow rate ε of the second pump P2 is obtained by adding the required flow rates δ of the left traveling motor 9, the right traveling motor 10, and the stick cylinder 12, and the discharge pressure is added to the total required flow rate ε. The required torque D of the second pump P2 is obtained by multiplying the discharge pressure η of the second pump P2 detected by the detection means 31 (D = ε × η).
Furthermore, the bucket cylinder 13 and the boom cylinder 1
1, and each required flow rate δ of the attachment cylinder 14 is added to obtain a total required flow rate ε of the third pump P3,
The total required flow rate ε is multiplied by the discharge pressure η of the third pump P3 detected by the discharge pressure detection means 32, and the third pump P
3 is obtained (E = ε × η). Then, the required torque F of the first pump P1 is divided by the sum of the required torques F, D, and E of the first, second, and third pumps P1, P2, and P3, and the first required pump F with respect to the total required torque is obtained. A torque ratio H (H = F / (D + E + F)) is obtained, and the first pump required torque rate H is divided by a constant “5” to obtain a first pump torque rate A (A = H / 5). Then, the supply torque T1 to the first pump P1 is calculated by multiplying the first pump torque rate A by the output torque Tt of the engine M (T1 = A × Tt). Here, when calculating the first pump torque rate A, the first pump required torque rate H was divided by a constant “5” because the first pump torque rate A was 0 to 20.
The range and the constant can be appropriately set as described in the first embodiment. Further, the required torque D of the second pump P2 is changed to the first, second, and third pumps P1, P2,
By dividing by the sum of the required torques F, D and E of P3, the second pump required torque ratio J (J = D / (D +
E + F)). Further, the second pump required torque ratio J is divided by the sum of the second pump required torque ratio J and a third pump required torque ratio K described later to obtain a second pump torque ratio B (B = J / (J + K). )). Then, the second pump torque ratio B is multiplied by a subtraction torque (Tt-T1) obtained by subtracting the supply torque T1 to the first pump P1 from the output torque Tt of the engine M to supply the second pump torque rate B to the second pump P2. The torque T2 is calculated (T2 = B ×
(Tt-T1)). Further, the required torque E of the third pump P3 is divided by the sum of the required torques F, D, and E of the first, second, and third pumps P1, P2, and P3 to obtain the required torque of the third pump with respect to the total required torque. The ratio K (K = D / (D + E +
F)). Further, the third pump required torque ratio K
Is divided by the sum of the second pump required torque ratio J and the third pump required torque ratio K to obtain a third pump torque ratio C (C = K / (J + K)). Then, the torque (Tt) obtained by subtracting the supply torque T1 to the first pump P1 from the output torque Tt of the engine M to the third pump torque rate C is obtained.
−T1), the supply torque T3 to the third pump P3 is calculated (T3 = C × (Tt−T)
1)).

In the third embodiment configured as described above, the output torque Tt from the engine M is determined based on the operation amounts of the respective operation levers.
Although the functions are distributed to P2 and P3, the same operation and effect as those of the first embodiment can be obtained. However, in the third embodiment, the third embodiment supplies the turning motor 8 with the pressurized oil. In calculating the torque distribution of one pump P1, the calculation is performed based on the ratio of the operation amount of the turning operation lever to the operation amount of all the operated levers. As a result, in the third embodiment, the torque distribution to the first pump P1 is not prioritized as in the first and second embodiments, and the torque distribution to the first pump P1 is also reduced. Similar to the second and third pumps P2 and P3, the calculation is performed based on the ratio of the operation amount of the corresponding operation tool to the operation amounts of all the operation tools operated, and it is not necessary to give priority to the turning operation. Suitable for performing work.

Incidentally, the third embodiment is not provided with a merging oil passage and a combiner valve, but it goes without saying that the third embodiment can also be carried out in a hydraulic circuit device provided with these. In this case, the total required flow rate of the second and third pumps may be obtained in the same manner as in the second embodiment. In the second and third embodiments, components common to the first embodiment (the same components) are denoted by the same reference numerals, are drawn, and the details are omitted.

[Brief description of the drawings]

FIG. 1 is a perspective view of a hydraulic shovel.

FIG. 2 is a block diagram illustrating input and output to and from a control device according to the first, second, and third embodiments.

FIG. 3 is a graph showing variable control characteristics of a hydraulic pump according to the first, second, and third embodiments.

FIG. 4 is a hydraulic circuit diagram according to the first and third embodiments.

FIG. 5 is a block diagram illustrating a control procedure of a torque control unit according to the first embodiment.

FIG. 6 is a hydraulic circuit diagram according to a second embodiment.

FIG. 7 is a block diagram illustrating a control procedure of a torque control unit according to the second embodiment.

FIG. 8 is a block diagram illustrating a control procedure of a torque control unit according to the third embodiment.

FIG. 9 is an explanatory diagram showing torque distribution in a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 2 Lower traveling body 3 Upper revolving body 8 Revolving motor 9 Left traveling motor 10 Right traveling motor 11 Boom cylinder 12 Stick cylinder 13 Bucket cylinder 14 Attachment cylinder 22 Turning operation amount detecting means 23 Left side Operating amount detecting means for traveling 24 Right side operating amount detecting means 25 Operating amount detecting means for stick 26 Operating amount detecting means for bucket 27 Operating amount detecting means for boom 28 Operating amount detecting means for attachment 30 First pump discharge pressure detecting means 31 Two pump discharge pressure detecting means 32 Third pump discharge pressure detecting means 33 Torque control unit 42 Electromagnetic proportional control valve 43 Electromagnetic proportional control valve 44 Electromagnetic proportional control valve 47 Combiner valve Z Combined oil passage P1 First pump P2 Second pump P3 First Three pumps P1b Regulator P2b Regulator P3b Regulator

Claims (10)

[Claims] An operation amount detecting means for detecting operation amounts of a plurality of operating tools, hydraulic actuators respectively operating based on the detected operation amounts, and a plurality of hydraulic actuators for supplying hydraulic oil to the hydraulic actuators. A hydraulic circuit device for a working machine comprising a variable displacement hydraulic pump, a torque control means for controlling torque of each hydraulic pump, and an output torque from a hydraulic pump power source. And a torque control unit that outputs a control command to the torque control means in order to distribute the torque to the hydraulic pumps, the torque control unit provides a torque to each hydraulic pump based on an input signal from the operation amount detection means. Torque distribution calculating means for calculating the distribution, and a torque distribution output for outputting a control command to the torque control means based on the calculation result of the torque distribution calculating means Hydraulic circuit device for a working machine provided with a means. 2. A hydraulic system according to claim 1, wherein a predetermined hydraulic oil from a first hydraulic pump among the plurality of hydraulic pumps is supplied to a corresponding first hydraulic actuator by operating a first operating tool, and When pressure oil from a hydraulic pump other than the pump is supplied to each of the corresponding remaining hydraulic actuators operated by the operation of the remaining operating tools other than the first operating tool, the torque distribution calculating means A calculation for distributing the torque to one hydraulic pump based on the operation amount of the first operating tool, and a subtraction torque obtained by subtracting the calculated torque to the first hydraulic pump from the output torque of the power source of the hydraulic pump; A hydraulic circuit device for a working machine configured to perform a calculation to distribute to other hydraulic pumps based on an operation amount of a tool. 3. The hydraulic circuit of a working machine according to claim 2, wherein the calculation of the torque distribution to the first hydraulic pump by the torque distribution calculating means is performed irrespective of the operation amounts of the remaining operating tools. apparatus. 4. The method according to claim 2, wherein the calculation of the torque distribution to the first hydraulic pump by the torque distribution calculating means is performed based on a ratio of the operation amount of the first operation tool to the operation amounts of all the operation tools. The hydraulic circuit device of the working machine that is configured. 5. The work according to claim 2, 3 or 4, wherein when there are a plurality of other hydraulic pumps, each of the other hydraulic pumps supplies pressure oil to a corresponding one or a plurality of hydraulic actuators. Circuit equipment for machinery. 6. The hydraulic circuit device according to claim 5,
A merged oil passage for merging the supply pressure oil from each of the other hydraulic pumps and supplying the hydraulic oil to the hydraulic actuators other than the corresponding one is also provided, and an opening and closing control valve for controlling the opening and closing of the merged oil passage is provided. Working machine hydraulic circuit equipment. 7. The hydraulic actuator operating tool according to claim 5, wherein the torque distribution to the other hydraulic pumps in the torque distribution calculating means is performed with respect to the operation amounts of all the remaining operating tools. A hydraulic circuit device of a working machine configured to perform based on a ratio of an operation amount of the work machine. 8. The hydraulic circuit device for a working machine according to claim 1, wherein the torque control means is configured using an electromagnetic proportional control valve for supplying a torque control pressure to a capacity variable means of the hydraulic pump. 9. A torque control unit according to claim 1, wherein said torque control unit is connected to a discharge pressure detecting means for detecting a discharge pressure of each hydraulic pump, and said torque distribution calculating means comprises an input signal from said discharge pressure detecting means. A hydraulic circuit device of a working machine provided with a feedback mechanism for calculating a torque distribution to each hydraulic pump based on the hydraulic circuit. 10. The working machine according to claim 1, wherein the working machine is a hydraulic excavator having a lower traveling body and an upper revolving body pivotably supported on the lower traveling body, the hydraulic excavator comprising: a rotating motor; It is equipped with various hydraulic actuators such as a motor, a boom cylinder, a stick cylinder, a bucket cylinder, and first, second, and third hydraulic pumps, and the first pump supplies pressure oil to the turning motor. ,
The second and third pumps supply hydraulic oil to the remaining hydraulic actuators.