US20020011013A1 - Hydraulic excavating mobile machine - Google Patents

Hydraulic excavating mobile machine Download PDF

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Publication number
US20020011013A1
US20020011013A1 US09/910,851 US91085101A US2002011013A1 US 20020011013 A1 US20020011013 A1 US 20020011013A1 US 91085101 A US91085101 A US 91085101A US 2002011013 A1 US2002011013 A1 US 2002011013A1
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US
United States
Prior art keywords
pressure compensating
operating
hydraulic
actuators
operation mode
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.)
Abandoned
Application number
US09/910,851
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English (en)
Inventor
Hiroshi Sawada
Seiichi Fuchita
Kouichi Kawamura
Toshio Yokoyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
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Komatsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Assigned to KOMATSU LTD. reassignment KOMATSU LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FUCHITA, SEIICHI, KAWAMURA, KOUICHI, SAWADA, HIROSHI, YOKOYAMA, TOSHIO
Publication of US20020011013A1 publication Critical patent/US20020011013A1/en
Abandoned legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/965—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of metal-cutting or concrete-crushing implements
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present invention mainly relates to a hydraulic excavating mobile machine which can reasonably control an operation of a working implement in a construction equipment provided with an excavating working implement such as a hydraulic power shovel.
  • FIG. 1 An operation for leveling the ground (generally called as a raking operation) in which a bucket is used in a working implement.
  • the raking operation has been carried out as shown in FIG. 1, for example.
  • operations of lifting a boom 102 and excavating with a bucket 101 at a top end of an arm 103 are carried out simultaneously with operations of respective operating cylinders 104 and 105 being combined.
  • the arm 103 moves in the direction of the movement by gravity to draw a locus of the bucket 101 from the start point of the operation going under a target line on the ground as shown by a broken line b in FIG. 1.
  • Prevention of the bucket 101 from going under the target line in such a way depends largely on an ability of an operator. Therefore, a skill is required in carrying out the operation.
  • JP-A-11-316611 As a disclosed related art about the present invention, there is JP-A-11-316611 in which the same inventor has proposed a pressure compensating valve suited for being applied to a hydraulic pressure control of simultaneous operation of a plurality of actuators. It is disclosed that the pressure compensating characteristic of the pressure compensating valve varies in compliance with a controlling pressure to make it possible to obtain the desired pressure compensating characteristic by changing the controlling pressure.
  • the disclosed pressure compensating valve yet provides no solution for carrying out effective operation with a plurality of the actuator made operated in combination as described above. Therefore, the combined operation is still carried out depending on the skill for such a operation of an operator, which leaves the problem in that no such kind of operation can be effectively carried out without highly skilled operator.
  • the present invention has been made in view of such a situation, and it is an object of the present invention to provide a hydraulic excavating mobile machine which has a function that can carry out a desired operation with a combined operation of a plurality of actuators controlled by an operator selecting an operation mode at hand without being required to have any skill.
  • a hydraulic excavating mobile machine comprises a machine at least two parts of which is operated by respective hydraulic actuators, a directional control valve provided in each pressurized fluid supply line to each of the actuators, a pressure compensating valve provided in each pressurized fluid supply line to each of the actuators, an operation mode selecting unit provided in a cab of the mobile machine, a controller providing a control signal, and a variable pressure compensating value function storing unit provided in the controller.
  • the pressure compensating valves are operated by the control signal from the controller having the variable pressure compensating value function storing unit according to an operation mode selected by the operation mode selecting unit to thereby control a rate of amount of a pressurized fluid supplied to each of the actuators.
  • a value of a supplying ratio of pressurized fluid to each of a plurality of the actuators are set beforehand in the variable pressure compensating value function storing unit in the controller.
  • an operator selects the operation mode by the operation mode selecting unit provided in the cab to change a condition for throttling the pressure compensating valve in the pressurized fluid supply line to each of a plurality of the actuators.
  • each degree of the pressure compensation can be controlled in a condition commensurate with the operation.
  • a pressure control valve connected thereto is operated to perform an operation control with the degree of compensation of the amount of the operating pressurized fluid supplied to the actuator kept as being specified.
  • two operated parts for example, are set in operating conditions different from each other such that one is controlled to be fast operated while the other slowly operated. This made it possible to provide a combined operation of a plurality of actuators that is carried out according to a procedure set beforehand without depending on skills of operators.
  • a strong compensating function storing unit is better provided as the variable pressure compensating value function storing unit in the controller.
  • a weak compensating function storing unit is better provided as the variable pressure compensating value function storing unit.
  • the operation mode selecting unit is better provided with an operation mode selecting switch and a variable level adjusting switch to allow a degree of pressure compensation in the pressure compensating valve by the variable pressure compensating value storing unit to be variable.
  • a hydraulic excavating mobile machine comprises a machine at least two parts of which is operated by respective hydraulic actuators, a directional control valve provided in each pressurized fluid supply line to each of the actuators, a pressure compensating valve provided in each pressurized fluid supply line to each of the actuators, a monitor installed in a cab of the mobile machine, an operation mode selecting unit provided in the monitor, a resistor, and a solenoid valve.
  • an electric signal from the operation mode selecting unit is inputted to each of the pressure compensating valves through the resistor and the solenoid valve to operate the pressure compensating valve to thereby control an amount of a pressurized fluid supplied to each of the actuators.
  • an electric signal corresponding to the selected operation mode produces a voltage across an electric resistor (resistor).
  • the produced voltage operates a solenoid valve connected to the resistor, by which the voltage is converted to a corresponding hydraulic signal.
  • the converted hydraulic signal controls a degree of pressure compensation by the pressure compensating valve in a condition commensurate with the operation. For example, a pressure compensation by a pressure compensating valve on a selected side is made to be carried out under a set condition different from that for the other pressure compensation valve. Thus, the operating condition of the actuator on the selected side is changed from that of the other actuator.
  • a combined operation of a plurality of actuators which operation was previously carried out by a skill of an operator, can be carried out in accordance with the set condition for improving operation efficiency.
  • FIG. 1 is an explanatory view of a problem in raking operation carried out by a hydraulic power shovel
  • FIG. 2A is a view showing a mode of previous operation in the hydraulic power shovel with a working implement provided with a heavyweight attachment
  • FIG. 2B is a view showing a mode of previous operation in the hydraulic power shovel in deep excavation
  • FIG. 3 is a hydraulic control circuit diagram showing a mode of a first example according to the present invention.
  • FIG. 4 is a flow chart showing an operation process in a hydraulic excavating mobile machine in the first example
  • FIG. 5 is a hydraulic control circuit diagram showing only a principal part of a second example according to the present invention.
  • FIG. 6 is a hydraulic control circuit diagram showing a mode of a third example according to the present invention.
  • FIG. 7 is a flow chart showing an operation process in a hydraulic excavating mobile machine in the third example.
  • FIG. 3 there is shown a hydraulic control circuit diagram showing a mode of a first example of the present invention.
  • a hydraulic pump 1 driven by an engine mounted on a mobile machine, a hydraulic cylinder 2 for operating a boom (equivalent to an actuator in the present invention), and a hydraulic cylinder 3 for operating an arm (equivalent to an actuator in the present invention).
  • operating fluid supplying circuits 4 and 5 are provided, in which pressure control valves 6 and 7 are provided, respectively.
  • pressure control valves 6 and 7 are provided, respectively.
  • a pressure compensating valve 10 between the pressure control valve 6 and the hydraulic cylinder 2 , there is provided a pressure compensating valve 10 , and between the pressure control valve 7 and the hydraulic cylinder 3 , there is provided a pressure compensating valve 10 a.
  • Operating levers 11 and 12 on the left and right are connected to the pressure control valves 6 and 7 and are also electrically connected to the controller through pressure switches 13 and 13 a , respectively.
  • pilot circuits 15 and 15 a are branched for taking out operating load pressures, respectively.
  • the pilot circuits 15 and 15 a are connected to a shuttle valve 16 .
  • the controller 14 is equipped with a known control device and a variable pressure compensating value function storing unit.
  • a known control device To the variable pressure compensating value function storing unit, there is inputted beforehand an instruction value for setting a supplying ratio of operating pressurized fluid supplied to the hydraulic cylinder 2 for boom operation to the fluid supplied to the hydraulic cylinder 3 for arm operation in the combined operation.
  • various values that allow the above supplying ratio of operating pressurized fluid to be further finely set in variable.
  • the supplying ratio of operating pressurized fluid to the hydraulic cylinder 2 to that to the hydraulic cylinder 3 is taken as 1:1.
  • the supplying ratio of operating pressurized fluid to the hydraulic cylinder 2 for boom operation to that to the hydraulic cylinder 3 for arm operation is set as:
  • boom operation 1 arm operation 0.8.
  • the ratio is set as:
  • boom operation 0.9 arm operation 1.
  • a monitor 18 that is provided with, for example, two operation mode selecting switches (operating buttons) 18 a and 18 b as an operation mode selecting unit for carrying out selection in compliance with an operation mode.
  • the monitor 18 is connected to the controller with a signal circuit so that operation conditions of the boom and the arm can be selected in compliance with the operating mode by the operation mode selecting switch 18 a and 18 b when an operator in the cab carries out an operation accompanied with the combined operation.
  • the monitor 18 is also provided with a variable level adjusting switch 19 (with a structure like a variable resistor switch) so that an operation can be carried out with a fixed controlled variable, discontinuously provided by the operation mode selecting switches 18 a and 18 b , made further finely varied.
  • a variable level adjusting switch 19 (with a structure like a variable resistor switch) so that an operation can be carried out with a fixed controlled variable, discontinuously provided by the operation mode selecting switches 18 a and 18 b , made further finely varied.
  • the other one of the specified signals is transmitted to the operating solenoid valve 17 a for operating the pressure compensating valve 10 a in the operating pressurized fluid supplying circuit 5 that supplies the operating pressurized fluid to the hydraulic cylinder 3 for arm operation.
  • the operating solenoid valves 17 and 17 a operates the pressure compensating valves 10 and 10 a , respectively, so that operating pressurized fluid supplied to the hydraulic cylinder 3 for arm operation is throttled at a specified ratio to that supplied to the hydraulic cylinder 2 for boom operation.
  • the pressure compensating valve 10 a on the arm operation side is more throttled.
  • the throttle of the pressure compensating valve 10 a on the arm lifting side is more released.
  • the operator operates the operation levers 11 and 12 to provide the operating speed of the hydraulic cylinder 3 for arm operation as being a little faster than that of the hydraulic cylinder 2 for boom operation.
  • a variable level adjusting switch 19 provided on the monitor 18 is operated for carrying out level adjustment.
  • an instruction value of control is compensated for the initially set value in the controller 14 depending on the adjusted setting value. Consequently, a ratio of the supplied operating pressurized fluid to the hydraulic cylinder for the boom to that for the arm is changed to allow a desired operation.
  • the above ratio can be set with a supplying condition for one hydraulic cylinder fixed and that for the other hydraulic cylinder only controlled.
  • the selected operation mode is canceled by operating the operation mode selecting switch on the monitor 18 .
  • This further cancels the instruction by the controller 14 to the pressure compensating valves 10 and 10 a to return the operation condition to the normal one.
  • loaded pressures at the hydraulic cylinders 2 and 3 in the operating pressurized fluid supplying circuit 4 and 5 are detected, respectively, for the pressure adjustment carried out by the shuttle valve 16 .
  • S 1 On starting the operation, when carrying out a special operation (raking operation, for example), a button for the operation mode selecting switch 18 a or 18 b is pressed on the monitor 18 in the cab. This makes the process go to step S 2 . When no button is pressed (No), the operation is decided to be a normal operation and the process is shifted to step S 8 .
  • a special operation raking operation, for example
  • S 2 A decision is made as to whether or not a combined operation with the boom and the arm is carried out as the special operation. When the combined is to be carried out, the process is made to go to step S 3 . When the result of the decision is “No”, the process is shifted to step S 6 as being an individual operation.
  • S 3 When the combined operation is selected, a specified pressure compensation level is selected in compliance with the operation. Namely, for example, when the operation is the above raking operation, the pressure compensation level corresponding to the raking operation is selected in the controller 14 .
  • S 4 An instruction signal, corresponding to the selected pressure compensation level, is transmitted from the controller 14 to the operating solenoid valve 17 a on the arm side to operate the operating solenoid valve 17 a.
  • S 5 The pressure compensating valves 10 and 10 a are operated through the operating solenoid valves 17 and 17 a in compliance with signals of amounts of operations by the operating levers 11 and 12 in combined operation, respectively.
  • the pressure compensation performed by the pressure compensating valves 10 and 10 a the supply of the operating pressurized fluid to the respective hydraulic cylinders 2 and 3 is controlled to carry out combined operation of the operating machine for performing a target operation.
  • the process returns to step S 1 again.
  • step S 2 when it is selected that each of the boom and the arm is operated as an individual operation, the operation is carried out as follows.
  • S 6 Hydraulic signals corresponding to signals of amounts of operation by the operating lever 11 and 12 are outputted (from the pressure control valves 6 and 7 ), respectively.
  • S 7 The operating machine is operated in compliance with signals of amounts of operation by the operating lever 11 and 12 in the individual operation.
  • step S 1 when a normal operation is selected in step S 1 , the operation is carried out as in a general operation as follows.
  • S 8 Hydraulic signals corresponding to signals of amounts of operation by the respective operating lever 11 and 12 are outputted (from the pressure control valves 6 and 7 ).
  • S 9 The operating machine is operated in compliance with signals of amounts of operation in the combined operation by the operating lever 11 and 12 .
  • step S 1 When the individual operation or the operation of the operating machine in the normal operation is finished, the process returns to step S 1 and is shifted to the next operation with the above operation procedure.
  • the pressure compensating valves carry out subsequent control about a ratio of the amount of the operating pressurized fluid supplied to the hydraulic cylinder for the boom operation to that supplied to the hydraulic cylinder for the arm operation (degree of compensation), which ratio has been set by the controller 14 beforehand.
  • FIG. 5 a second example will be explained with reference to FIG. 5.
  • the configuration of the second example is provided so that instruction signals from the monitor 18 are transmitted to the operating solenoid valves 17 and 17 a through simple paths as shown in FIG. 5.
  • the second example is the same as the first example in the basic configuration. Hence, the same or similar parts are denoted by the same reference numerals or characters as those in the first example.
  • instruction signals are transmitted from the operation mode selecting switches 18 a and 18 b provided on the monitor 18 to the operating solenoid valves 17 and 17 a through resistors 21 and 22 , and the operating solenoid valves 17 and 17 a provides hydraulic signals for throttling the pressure compensating valves 10 and 10 a , respectively.
  • the resistors 21 and 22 can be either fixed or variable.
  • a control system for the combined operation of the operating machine is operated in the same way as in the above first example.
  • the hydraulic cylinder 2 for the boom operation and the hydraulic cylinder 3 for the arm operation are controlled in compliance with the selected operation mode, so that the operation can be easily carried out without depending on high skills.
  • FIG. 6 is a hydraulic control circuit diagram showing a mode of a third example according to the present invention.
  • the third example is configured as using electric operating levers. Since the basic configuration thereof is the same as those of the above examples. Thus, the same or similar parts are denoted by the same reference numerals or characters as those in the above examples with detailed explanation to be omitted.
  • a potentiometer (not shown) is provided for each of electric operating levers 25 and 26 for transmitting an amount of a lever operation.
  • the potentiometer normally provides a voltage ranging from an upper limit of 5V to a lower limit of 0V as an electric signal.
  • a neutral zone having a slight range of dead band is provided at around 2.5V corresponding to a neutral position of the lever so that the electric signal generation is unresponsive to a slight initial movement of the lever from the neutral position.
  • a voltage produced at each of the potentiometers by operating each of the operating levers is outputted as an electric signal to the controller 14 .
  • control signals corresponding to the outputted electric signals are transmitted to solenoid proportional control valves 27 and 27 a .
  • hydraulic signals corresponding to the control signals are transmitted to the operating parts of the pressure control valves 6 and 7 provided in the operating pressurized fluid supplying circuit 4 and 5 to the hydraulic cylinders 2 and 3 , respectively.
  • the pressure compensating valves 10 and 10 a provided between the outlet of the pressure control valve 6 and the inlet of the hydraulic cylinder 2 , and between the outlet of the pressure control valve 7 and the inlet of the hydraulic cylinder 3 , there are inputted hydraulic signals from the operating solenoid valves 17 and 17 a , respectively.
  • the electric signal circuits 30 and 31 are connected so that instruction signals are transmitted thereto from the controller 14 .
  • selection of an operation mode made by the operation mode selecting switches 18 a and 18 b (operation buttons) on the monitor 18 provided in the cab when a combined operation is necessary, allows a selected operation signal to be inputted to the controller 14 .
  • the controller 14 then transmits operation instruction signals, corresponding to the selected operation mode, to the operating solenoid valves 17 and 17 a .
  • the operating solenoid valves 17 and 17 a then throttle or release the corresponding pressure compensating valves 10 and 10 a to control amounts of operating pressurized fluids supplied to the corresponding hydraulic cylinders 2 and 3 , respectively.
  • an amount of the operating pressurized fluid supplied to one of the hydraulic cylinders is throttled or less throttled compared with that to the other hydraulic cylinder so that the operating pressurized fluids are supplied to the hydraulic cylinders with supplying ratios different from each other.
  • a difference is caused between the operation speed of the arm and that of the boom to make it possible to provide a movement complying with the selected operation, so that the intended object can be easily achieved.
  • T 1 On starting the operation, when carrying out a special operation (raking operation, for example), a button for either the operation mode selecting switch 18 a or that 18 b is pressed on the monitor 18 in the cab. This makes the process go to step T 2 . When no button is pressed (No), the operation is decided to be a normal operation and the process is shifted to step T 8 .
  • a special operation raking operation, for example
  • T 2 A decision is made as to whether or not a combined operation with the boom and the arm is carried out as the special operation. When the combined operation is to be carried out, the process is made to go to step T 3 . When the result of the decision is “No”, the process is shifted to step T 6 as being an individual operation.
  • T 3 When the combined operation is selected, a specified pressure compensation level is selected in compliance with the operation. Namely, for example, when the operation is the above raking operation, the pressure compensation level corresponding to the raking operation is selected in the controller 14 .
  • T 4 An instruction signal, corresponding to the selected pressure compensation level, is transmitted from the controller 14 to the operating solenoid valve 17 a on the arm side (the operating solenoid valve 17 on the boom side) to operate the operating solenoid valve 17 a (the operating solenoid valve 17 ).
  • T 5 The pressure compensating valve 10 a (the pressure compensating valve 10 ) is operated by a hydraulic signal from the operating solenoid valve 17 a (the operating solenoid valve 17 ). By the pressure compensation, the supply of the operating pressurized fluid to the hydraulic cylinder 3 (the hydraulic cylinder 2 ) is controlled to carry out combined operation of the working implement for performing a target operation. In compliance with signals of amounts of operations by the operating levers 25 and 26 in combined operation, output signals are provided from the controller 14 to the solenoid proportional control valves 27 and 27 a , respectively.
  • the pressure control valves 6 and 7 carry out control operations of the hydraulic cylinders 2 and 3 with the levels of the above selected pressure compensation being maintained.
  • the process returns to step T 1 again.
  • step T 2 when it is selected that each of the boom and the arm is operated as an individual operation, the operation is carried out as follows.
  • T 6 Electric signals corresponding to signals of amounts of operation by the operating lever 25 and 26 are outputted to the controller 14 from the operating lever 25 and 26 , respectively.
  • T 7 The signals of amounts of operation by the operating lever 25 and 26 in the individual operation are outputted from the controller 14 to the solenoid proportional control valves 27 and 27 a , respectively.
  • the hydraulic signals from the solenoid proportional control valves 27 and 27 a operate the working implement in compliance with the above signals of the amounts of lever operation.
  • step T 1 when a normal operation is selected in step T 1 , the operation is carried out as in a general operation as follows.
  • T 8 Electric signals corresponding to signals of amounts of operation by the respective operating lever 25 and 26 are outputted from the controller 14 .
  • T 9 The operating machine is operated in compliance with signals of amounts of operation in the combined operation by the operating lever 25 and 26 .
  • the pressure compensating valves 10 and 10 a carry out subsequent control about a ratio of the amount of the operating pressurized fluid supplied to the hydraulic cylinder for the boom operation to that supplied to the hydraulic cylinder for the arm operation (degree of compensation), which ratio has been set by the controller 14 beforehand.
  • degree of compensation the ratio of the amount of the operating pressurized fluid supplied to the hydraulic cylinder for the boom operation to that supplied to the hydraulic cylinder for the arm operation (degree of compensation), which ratio has been set by the controller 14 beforehand.
  • the actuators for carrying out control are given as hydraulic actuators.
  • the present invention can be also flexibly applied to the cases in which other types of hydraulically operated equipment are used as the actuator.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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  • Fluid-Pressure Circuits (AREA)
US09/910,851 2000-07-28 2001-07-24 Hydraulic excavating mobile machine Abandoned US20020011013A1 (en)

Applications Claiming Priority (2)

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JP2000-229301 2000-07-28
JP2000229301A JP4493175B2 (ja) 2000-07-28 2000-07-28 油圧式掘削車輌

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US20060104786A1 (en) * 2004-09-08 2006-05-18 J. C. Bamford Excavators Limited Material handling vehicle
US20090182460A1 (en) * 2008-01-14 2009-07-16 Caterpillar Inc. System and method for adjusting machine parameters
WO2011154396A1 (de) * 2010-06-11 2011-12-15 Kiesel, Toni Verfahren zur ansteuerung eines hydraulisch bewegbaren arbeitselementes eines arbeitsgerätes sowie ein arbeitsgerät
DE102011106307A1 (de) * 2011-07-01 2013-01-03 Robert Bosch Gmbh Steueranordnung und Verfahren zum Ansteuern von mehreren hydraulischen Verbrauchern
CN103857844A (zh) * 2011-10-05 2014-06-11 沃尔沃建造设备有限公司 用于控制使用挖掘机的土地平整工作的系统
CN110230334A (zh) * 2019-06-11 2019-09-13 徐州徐工挖掘机械有限公司 一种液压挖掘机智能平地装置及其控制方法
WO2019206774A1 (de) * 2018-04-24 2019-10-31 Putzmeister Engineering Gmbh Verfahren zur bewegungssteuerung eines masts und arbeitsmaschine
EP3779063A4 (en) * 2018-03-30 2021-06-16 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. EXCAVATOR AND INFORMATION PROCESSING DEVICE
CN113474514A (zh) * 2019-09-30 2021-10-01 日立建机株式会社 作业机械

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KR100806269B1 (ko) 2008-02-22

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