JPS6128639A - Oil-pressure driver for excavating working vehicle - Google Patents

Abstract

PURPOSE:To make control without deviation of response according to the temperature of oil by a method in which the temperature of working oil and the speed of operation are detected and stored, and correction is made for the operating speed of a working oil-pressured cylinder, which is indicated by an operator, on the basis of oil temperatures and operating speeds stored. CONSTITUTION:Pressure oil is supplied through an electromagnetic proportional valve 11 to an oil-pressure motor A1 for slewing by an oil-pressure pump 10. An oil temperature detector 12 is provided at the nozzle of the pump 10, and a detector 19 for slewing speeds is also provided to the motor A1. An indicated slewing speed signal SS is given to a slewing operator lever 13. The indicated signal SS of the lever 13, oil temperature signal TD, and slewing speed signal SD are input in a controller 14. The driving speed S is determined on the basis of a function of oil temperature TP and slewing speed SD stored in a memory 15 in the controller 14, and the valve 11 is controlled. Control without the delay of answer according to the temperatures of working oil can thus be made.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a hydraulic drive device for various hydraulic actuators such as a hydraulic motor for driving a swivel table in an excavation work vehicle such as a pack hoe work vehicle. The present invention relates to a hydraulic drive system for an excavation work vehicle, which is provided with an electromagnetic proportional valve that adjusts the amount of hydraulic oil supplied to the electromagnetic proportional valve, and an input means for instructing the drive speed of a hydraulic actuator by outputting an operating voltage to the electromagnetic proportional valve.

[Conventional technology]

In the above-mentioned work vehicle, the working environment changes rapidly, and due to the drop in hydraulic oil viscosity due to the rise in hydraulic oil temperature, the hydraulic oil flow rate fluctuates even if the opening degree of the electromagnetic proportional valve remains the same, and the driving speed of the hydraulic actuator changes. Since the driving speed indicated by the input means tends to be inconsistent, conventionally, a speed sensor is provided to detect the driving speed of the hydraulic actuator, and the difference between the driving speed detected by the sensor and the commanded driving speed is measured. The so-called feedback control, which adjusts the opening degree of the electromagnetic proportional valve according to the deviation, was performed so that the driving speed of the hydraulic actuator was constant with respect to the commanded driving speed (references are not available). Can not).

[Problem that the invention seeks to solve]

However, in the case of the above-mentioned conventional feedback control using Sumari, there is a delay in response and a steady-state deviation remains. It was difficult to control the actual drive speed, and there was room for improvement.

In view of the above-mentioned circumstances, an object of the present invention is to provide a structure that can quickly and accurately make the driving speed of a hydraulic actuator constant with respect to the commanded driving speed according to the hydraulic oil temperature. .

[Means for solving problems]

The characteristic configuration of the hydraulic drive device for an excavation work vehicle according to the present invention is as follows:
Based on the information from the sensor that detects the hydraulic oil temperature, the electromagnetic proportional valve that adjusts the amount of hydraulic oil supplied to the hydraulic actuator, the input means that instructs the drive speed of the hydraulic actuator, and the hydraulic oil temperature detection sensor, Made for hydraulic actuators! A controller is provided to control the output plate pressure for operating the electromagnetic proportional valve of the 11v oil supply means for storing the output voltage as a function of the hydraulic oil temperature, and an output voltage specified by the storage means based on the drive speed specified by the input means and the oil temperature detected by the hydraulic oil temperature detection sensor, for operating the electromagnetic proportional valve. The functions and effects of the provision of an output means for transmitting a signal are as follows.

[Effect]

The tab 9, for example, as shown in FIG.
is the parameter, and when a certain commanded drive speed (A6o) is given, the hydraulic oil temperature ('r, L(T2), CTs
)... Output voltage value (V 1 ) * ff2 ) + CV that allows a constant drive speed to be obtained, respectively.
B)... is determined and stored, and the output voltage that provides a constant drive speed relative to the commanded drive speed is read out based on the detected hydraulic oil temperature and transmitted as an operation signal.

〔Effect of the invention〕

As a result, since the operation output voltage for the electromagnetic i'1illa valve itself is uniquely changed and set according to a pre-stored value corresponding to the hydraulic oil temperature, shift feedback control can be caused by deviations in drive speed as a result of the operation. Overall, the drive speed control μ of the hydraulic actuator can be performed quickly and reliably at all times regardless of the high or low temperature of the hydraulic oil.

〔Example〕

The present invention will be described in detail below based on the drawings.

As shown in Figure 2, a pair of left and right crawler traveling devices (1
), a swivel base (5) equipped with a boarding operation section (3) and an engine (A) is attached to a machine base (2) equipped with a hydraulic sweater (Al).
It is rotatably mounted around the vertical axis (Pl).

And each hydraulic cylinder (A2).

(A3), (A4') makes the horizontal axis (P2)
, (Ps).

(P4) Boom (6), arm (
Excavation work equipment E (D,) consisting of 7) and packet (A)
is attached to the swivel base (5) via a swing bracket (9) that can swing left and right using a hydraulic cylinder (A5), and the dozer unit UR (D2) is attached to the base so that it can be freely lowered to the outside by using a hydraulic cylinder (A6). (2) and constitutes an excavation work vehicle.

The drive system for the hydraulic motor (AI) that rotates the swivel table (5) is composed of an engine (A) as shown in Fig. 1.
) is connected to the hydraulic oil flow path between the hydraulic pump Ql) attached to the hydraulic motor (AI) and the hydraulic motor (AI) via an electromagnetic proportional valve Q1 that adjusts the amount and direction of hydraulic oil supply to the hydraulic motor (A, ''). An oil temperature sensor (2) for detecting the temperature of the hydraulic oil is attached to the hydraulic oil flow path, and a detection signal (TD) from the sensor) and an operating lever α provided in the driving part (3) are provided.
Directive drive speed signal (
S8) is configured to be input to the controller a. The main part of the controller a is composed of a microcomputer, and as shown in FIG. ', )... as a buff meter, the output voltage value (V I) that gives a constant driving speed for a certain commanded driving speed (Sso),
(V2), (V3)... are stored in the memory 85 in the controller (b), which is an example of storage means.

Then, the central processing unit aO of the controller 04 has an AD converter a.
In response to the command drive speed signal (S5) input via η, an output voltage value ( vO), memo! J-Qf9, and output it as an operation signal sealed to the electromagnetic proportional valve Oυ via a DA converter (V) as an example of an output means (I4).
It is completed.

Furthermore, a speed sensor C1l for detecting the driving speed of the hydraulic motor (Aθ) is attached, and the detected driving speed signal (SD) by the sensor <+1 is
The deviation from the command drive speed signal (S5) is determined by inputting it to the central processing unit aQ via ig Q'it, and the output voltage (VO) to the electromagnetic proportional valve 0υ can be changed and adjusted according to the deviation. It is designed to monitor and control disturbances in the drive speed (V) caused by factors other than the hydraulic oil temperature.

[Another example]

The oil temperature sensor (2) can be changed as appropriate in its configuration, detection method, mounting groove structure, etc. For example, an oil temperature sensor θ that detects the hydraulic oil temperature (T) as a digital μ signal is provided, and an AD It may also be possible to input it without going through the converter aη.

Instead of inputting the commanded drive speed (A8) manually using the 1-operation lever 0, the commanded drive speed <SS> may be input as appropriate based on an automatic pilot system, and these can be input using the input means (L). It is called.

In the above-mentioned embodiment, a speed sensor O is attached to the hydraulic motor (A), and the structure is configured to control fluctuations in the drive speed caused by factors other than the hydraulic oil temperature (1). In the invention, the speed sensor 0 may be omitted.

The present invention is particularly useful for quickly and accurately controlling the speed of the hydraulic motor (A1) involved in the rotation of the swivel table (5) in automatic excavation, but it is also useful for controlling the speed of the hydraulic motor (A1) involved in the rotation of the swivel table (5) in automatic excavation. Hydraulic cylinders (A2) to (A6) for driving
), and they are collectively referred to as hydraulic actuators (a).

The output voltage value (6) for the commanded drive speed (Ss) using the hydraulic oil temperature (1) as a parameter shown in Fig. 8 can be adjusted as appropriate depending on the type of hydraulic oil and hydraulic actuator, or the drawing conditions. Can be changed.

[Brief explanation of drawings]

The drawings show an embodiment of the hydraulic drive system for an excavation work vehicle according to the present invention, in which Fig. 1 is a schematic diagram of drive speed control, Fig. 2 is an overall side view of the excavation work vehicle, and Fig. 18 shows hydraulic oil temperature. 3 is a graph showing the relationship between the commanded driving speed and the output voltage using the parameter . aυ...Solenoid proportional valve, (J4...Sensor, U...Input means, (141...Controller, Q5...Storage means , θ frame...Output means, (5)...Hydraulic actuator, (S
)... Drive speed, (S8)... Indicated drive speed, ('I')... Hydraulic oil temperature, (TD)
...Detected oil temperature, (V) ...Output voltage,
('Vo)...Instructed output voltage.

Claims (1)

[Claims] A sensor (12) that detects the hydraulic oil temperature (T), an electromagnetic proportional valve (11) that adjusts the amount of hydraulic oil supplied to the hydraulic actuator (A), and the hydraulic actuator (A).
a controller (14) that controls an output voltage (V) for operating the electromagnetic proportional valve (11) based on information from the sensor (12) and an input means (13) for instructing the driving speed (S) of the proportional valve; is provided, and the controller (14) is configured to input the output voltage (V) to the drive speed (S) and hydraulic oil temperature (T).
and means (15) for storing the information as a function of the driving speed (S_S) instructed by the input means (13) and the oil temperature (T_D) detected by the sensor. output means (for transmitting the output voltage (V_O) as an operation signal for the electromagnetic proportional valve (11);
18) A hydraulic drive system for an excavation work vehicle.