WO2006070501A1 - 建設機械の制御回路 - Google Patents
建設機械の制御回路 Download PDFInfo
- Publication number
- WO2006070501A1 WO2006070501A1 PCT/JP2005/012731 JP2005012731W WO2006070501A1 WO 2006070501 A1 WO2006070501 A1 WO 2006070501A1 JP 2005012731 W JP2005012731 W JP 2005012731W WO 2006070501 A1 WO2006070501 A1 WO 2006070501A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- stick
- valve
- cylinder
- boom
- Prior art date
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
- E02F9/2282—Systems using center bypass type changeover valves
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- 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
- E02F9/2292—Systems with two or more pumps
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50545—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using braking valves to maintain a back pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/51—Pressure control characterised by the positions of the valve element
- F15B2211/513—Pressure control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/52—Pressure control characterised by the type of actuation
- F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/555—Pressure control for assuring a minimum pressure, e.g. by using a back pressure valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6653—Pressure control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
Definitions
- the present invention relates to a control circuit for a construction machine having an open center circuit provided with a center bypass line.
- FIG. 5 shows a conventional hydraulic circuit used in a hydraulic excavator (swivel type).
- the left and right brake travel motors 11 and 12 for driving the lower traveling body (crawler belt), the lower traveling body.
- the swing motor 13 for swinging the upper swing body and the following various hydraulic cylinders for operating the front working device 14 (Fig. 6) attached to the upper swing body are to be controlled. .
- the front working device 14 has a boom 15, a stick 16 and a packet 17 sequentially connected by pins 21, 22, 23, and the boom 15 is connected by a boom cylinder 24, and the stick 16 is The packet 17 is rotated by the bucket cylinder 26 by the stick cylinder 25.
- the center of gravity of each member is indicated by a black dot.
- the hydraulic fluid discharged from the hydraulic pump 28 driven by the vehicle-mounted engine 27 is used for various operations corresponding to the hydraulic motors 11, 12, 13 and the hydraulic cylinders 24, 25, 26. It is supplied to each of these hydraulic actuators via valves 111, 121, 131, 241, 242, 251, 252, 261.
- Ps is a hydraulic oil supply line connected to the discharge line of the variable displacement hydraulic pump 28
- T is a hydraulic oil discharge tank line connected to the tank 29
- Cb is various operation valves 111. , 1 21, 131, 241, 242, 251, 252, 261 Indicates the center bypass line that communicates through the neutral position.
- an orifice 31 and a relief valve 32 for taking out a negative flow control pressure (hereinafter referred to as “negative control pressure”) are connected in parallel.
- the upstream side of the valve 32 communicates with a pump regulator 35 that controls a capacity variable means 34 such as a swash plate of a hydraulic pump 28 through a negative flow control line (hereinafter referred to as “negative control line”) 33.
- the downstream side communicates with tank 29.
- negative control pressure the pressure of the negative control line 33
- the pump regulator 35 controls the capacity variable means 34 such as a swash plate so that the pump discharge flow rate becomes smaller, thereby preventing wasteful supply of hydraulic oil.
- a hydraulic excavator equipped with such an open center hydraulic circuit system including the center binos line Cb is already known (see, for example, Patent Document 1).
- the boom cylinder lifting start point at the boom control lever moves backward compared to when the standard packet is mounted, and becomes much narrower than the fine operation range with the standard packet.
- the opening area of the passage from the tank side to the tank line T is A, and the pressure on the tank side is P
- Patent Document 1 JP-A-9 151487 (Page 5, Figure 1) Disclosure of the invention
- the present invention has been made in view of the above points.
- a control circuit for a construction machine having an open center circuit even when the packet weight is changed, the same operation as that performed when tuning with a standard packet is performed.
- the purpose is to provide a construction machine control circuit that can ensure the safety.
- the invention described in claim 1 includes a boom cylinder that operates a boom from a hydraulic pump, a stick cylinder that operates a stick connected to the tip of the boom, and a bucket cylinder that operates a packet connected to the tip of the stick.
- Control circuit for construction machinery with an open center circuit provided with a center bypass line in the boom operation valve, stick operation valve, and packet operation valve that respectively control the oil supplied to the tank and returned to the tank via the return line
- the center bypass line on the downstream side of the boom control valve A control circuit for a construction machine equipped with a pressure system valve to control the direction of increasing pressure.
- the invention described in claim 2 is the control circuit for the construction machine according to claim 1, wherein the pressure sensor detects the pressure of the hydraulic oil supplied to the rod side of the stick cylinder, and the pressure sensor. And a pressure control valve for controlling in a direction to increase the center bypass line pressure downstream of the stick operation valve in accordance with the detected increase in pressure.
- the invention described in claim 3 is a pressure control valve force in the construction machine control circuit according to claim 1 or 2, a center bypass line force, and a negative flow control pressure for pump discharge flow rate control.
- a pressure control valve force in the construction machine control circuit according to claim 1 or 2 a center bypass line force, and a negative flow control pressure for pump discharge flow rate control.
- the negative flow control load pressure compensation valve is formed.
- the flow control valve with pressure compensation in the control circuit of the construction machine includes a spring for setting a differential pressure and a head of a stick cylinder. Pressure that increases the set load of the spring in response to an increase in the load pressure applied to the side, and increases the set load of the spring to a value that cancels the pressure compensation of the flow control when the load pressure on the head side is equal to or greater than the specified value. And a compensation cancellation unit.
- the meter-out flow control function of the flow control valve with pressure compensation does not change the stick lowering speed in the stick-in operation even in a heavy-weight packet wearing state.
- the boom holding pressure is generated in the center binos line by the pressure sensor and the pressure control valve, so that even if the load pressure changes, the boom raising flow modulation curve does not change, and the stable flow characteristics Therefore, regardless of the packet type, it is possible to improve the workability by averaging the water using the stick lowering speed and boom raising speed as instructed, and to improve the performance by averaging the water for each packet weight. This eliminates the need to perform a tuning test on the control valve, which can reduce the effort and cost and improve the reliability.
- the boom raising operation by the hydraulic oil supplied to the head side of the boom cylinder and the stick by the hydraulic oil supplied to the rod side of the stick cylinder are performed.
- the pressure control valve that controls the in pressure to increase the pressure can keep the operation lever point at the start of the boom raising operation constant, and the fine operation range and the flow rate rise gain with respect to the valve stroke.
- a pressure sensor that detects the pressure of the hydraulic oil supplied to the rod side of the stick cylinder, and a center binos line downstream from the stick operation valve according to the pressure rise detected by the pressure sensor
- the pressure control valve that controls the pressure in a direction to increase the pressure can keep the control lever point at the start of the stick cylinder contraction operation constant regardless of the magnitude of the load, as well as the fine operation range and the flow rate rise gain with respect to the valve stroke. Can compensate for improved accuracy and cycle time in lifting the load, The evil I spoon of sudden change and inching performance of the cylinder speed and stick cylinder speed can be prevented.
- the negative flow control pressure take-out orifice and relief valve and the pressure control valve for controlling the center bypass line pressure are integrated together to obtain a negative flow control load pressure. Since they are compensated valves, they can be incorporated into the center bypass line at the same time, saving labor and saving installation space.
- the pressure compensation canceling unit controls to increase the set load of the spring when the load pressure on the head side of the stick cylinder increases, but in a heavy load state such as excavation
- the set load of the spring is increased sufficiently and the effective differential pressure of the spool on the meter-out side is set very large.
- the set flow rate as a flow control valve is apparently larger and larger than the actual return flow on the rod side of the stick cylinder determined by the maximum flow rate of the hydraulic pump. Therefore, in this state, the pressure compensation function on the rod side of the stick cylinder Does not act, it becomes a normal throttle valve, and can exhibit a meter-out characteristic with a normal throttle function.
- FIG. 1 is a circuit diagram showing an embodiment relating to a stick cylinder control portion of a control circuit for a construction machine according to the present invention.
- FIG. 2 is a circuit diagram showing an embodiment relating to a boom cylinder control portion of the control circuit. It is.
- FIG. 7 is a characteristic diagram showing changes in boom cylinder extension speed.
- FIG. 8 is an explanatory diagram of a change in stick cylinder elongation speed.
- circuit shown in FIG. 5 is a basic circuit on which the present invention is based.
- the same reference numerals are attached and the description thereof is omitted, and the circuits of the traveling system, the turning system, and the packet system are the same, and are omitted.
- FIGS. 1 and 2 show the load pressure compensation system in the two-pump open center system shown in FIG. 5, and partially compensate for the load pressure while taking into account the characteristics of the current open center system. It improves the leveling performance and productivity when using large, heavy-weight packets, and the lifting operability when lifting loads.
- reference numeral 41 denotes a control valve, which incorporates spools of various operation valves 111, 121, 131, 241, 242, 251, 252, 261 shown in FIG. .
- FIG. 1 shows a stick cylinder 2 with a control valve 41 and a stick-in operation.
- a stick-in meter-out load pressure compensation valve 42 is shown as a pressure-compensated flow control valve that compensates the load pressure for 5 meter-out flows.
- control valve 41 is provided with a negative flow control load pressure compensation valve (hereinafter referred to as a "negative control load pressure compensation valve") 43 for stickout side load pressure compensation. Yes.
- control valve 41 includes a boom raising side load pressure compensation.
- a negative control load pressure compensation valve 44 is provided.
- one output port of the stick operation valve 251 and the head side 25h of the stick cylinder 25 are connected by a head side supply / discharge line 51, and the stick operation valve 251 The other output port communicates with the rod side 25r of the stick cylinder 25, the force rod side oil supply line 52, and the line 54 via the load hold check valve 53.
- the stick-in / meter-out load pressure compensation valve 42 has a halfway force on the line 54 from the load hold check valve 53 to the rod side 25r of the stick cylinder 25.
- the rod side return line 55 is branched as a return line.
- a pressure compensation valve 56, a flow rate control valve 57, and a regeneration check valve 58 for differential pressure control are sequentially provided.
- a line 61 for detecting pressure upstream from the flow control valve 57 is led to the negative side, and a line 62 for detecting pressure downstream from the flow control valve 57 is connected to the other side on the opposite side. Further, a differential pressure setting spring 63 is brought into contact with the other side, and the differential pressure across the flow control valve 57 is set by the spring 63.
- the differential pressure across the flow control valve 57 is increased by increasing the set load of the spring 63 in accordance with the increase of the load pressure applied to the head side 25h of the stick cylinder 25.
- the cylinder's piston-type pressure compensation release unit 64 is provided to increase the set load of the spring 63 to a value to release the pressure compensation of the flow control when the load pressure on the head side exceeds the predetermined value.
- the head pressure detection line 65 drawn from the head side supply / discharge line 51 is led into the cylinder of the pressure compensation release unit 64.
- a piston that operates by receiving the load pressure on the head side 25h of the stick cylinder 25 guided by the head pressure detection line 65 is incorporated.
- the set load of the spring 63 is controlled. That is, the piston of the pressure compensation release unit 64 is a force that controls to increase the set load of the spring 63 when the load pressure on the head side 25h increases. When the load pressure on the head side 25h reaches a high pressure that exceeds a predetermined value. The set load of the spring 63 is increased to a value at which the pressure compensation function cannot be obtained.
- the flow control valve 57 has a return spring 66 abutted on one side and a pilot pressure line 67 guided to the other side.
- This pilot pressure line 67 is connected to the stick control valve 251 stick. Branched from the pilot pressure line 251a on the cylinder extension side (stick 'in side). A pilot pressure line 251b on the stick 'cylinder contraction side (stick' out side) is led to the opposite side of the stick operation valve 251.
- a line 68 on the downstream side of the flow control valve 57 is connected to a return line 70 connected to the tank 29 via a back pressure check valve 69 for generating a constant back pressure in this portion.
- This back pressure check valve 69 sets the back pressure of the return oil by the set load of the spring that presses the check valve against the valve seat.
- a line 71 is branched from a line 54 connected to the rod side 25r of the stick cylinder 25, and this line 71 passes through a line relief valve 72 and a check valve 73 connected in parallel to a return line 70. It is connected.
- the line relief valve 72 communicates and protects the pipe line when an abnormally high pressure is generated on the rod side 25r of the stick cylinder 25, resulting in pipe breakage.
- a pressure sensor 81 is installed in the line 54 connected to the rod side 25r of the stick cylinder 25.
- the pressure sensor 81 is connected to the controller 83 via an electric signal line 82.
- the pressure switch 84 is further connected to the input portion of the controller 83, and the output portion of the controller 83 is connected to the negative control load compensation valve 43 on the stick-out side. .
- negative control line an orifice 31 and a relief valve 32 are disposed in parallel in the center bypass line Cb that has passed through the stick operation valve 251, and a negative flow control line is provided from the upstream side thereof.
- negative control line an electromagnetic proportional relief valve 85 as a pressure control valve is interposed further upstream than the drawing position of the negative control line 33.
- the output part of the controller 83 is connected to the solenoid 86 of the electromagnetic proportional relief valve 85.
- a rod side supply / discharge line 88 is connected to the rod side 24r of the boom cylinder 24, and a head side supply / discharge line 89 is connected to the head side 24h.
- a pressure sensor 91 is installed in the head side supply / discharge line 89, and this pressure sensor 91 is connected to the input part of the controller 83 via the electric signal line 92.
- a pressure switch 94 is connected, and the output part of the controller 83 is connected to the boom raising side. This is connected to the negative control load pressure compensation valve 44.
- an orifice 31 and a relief valve 32 are disposed in parallel in the center bypass line Cb that has passed through the boom operation valve 241, and the negative control line 33 is provided from the upstream side thereof.
- Pulled force Since the electromagnetic proportional relief valve 95 as a pressure control valve is interposed further upstream than the drawing position of the negative control line 33, the output part of the controller 83 is an electromagnetic proportional relief valve 95. Connected to the solenoid 96.
- the passage flow rate (return flow rate) of the flow rate control valve 57 is pressure compensated by the pressure compensation valve 56.
- the stick operation valve 251 is pilot-operated in the stick-in direction in order to start the work by averaging the water from the state shown in FIG. 6 (a)
- the head of the stick cylinder 25 is attached when a heavy weight packet is attached.
- the set load of the spring 63 is controlled to be small by the pressure compensation release section 64 that is operated with the head side load pressure taken out by the head pressure detection line 65, and the flow control valve 57 is Since the pressure is controlled to be small, even if the return hydraulic pressure discharged from the rod side 25r of the stick cylinder 25 is high due to the packet weight, the passage flow rate of the flow control valve 57 is suppressed to a flow rate based on a small differential pressure across the front and back. It is possible to prevent the speed change of the stick extension speed due to the weight packet. As a result, the characteristics when a heavy-weight packet is attached as indicated by the solid line in Fig. 8 are indicated by the dotted line. It is possible to return to the same state as in the standard packet.
- the boom operation valve 241 is switched to the lower chamber position, and the hydraulic oil discharged from the hydraulic pump 28 passes through the head side supply / discharge line 89 to the head side 24h of the boom cylinder 24.
- the oil supplied and returned from the rod side 24r is returned to the tank 29 via the rod side supply / discharge line 88, the boom operation valve 241 and the tank line T.
- the boom head pressure generated in the head side supply / discharge line 89 is detected by the pressure sensor 91 and sent to the controller 83.
- the controller 83 compensates the electric signal corresponding to the boom head pressure with the negative control load pressure compensation. Since the electromagnetic proportional relief valve 95 of the valve 44 is supplied to the solenoid 96 of the solenoid proportional relief valve 95, the pressure of the center bypass line Cb can be increased by the electromagnetic proportional relief valve 95 according to the boom head pressure.
- the hydraulic oil discharged from the hydraulic pump 28 is distributed to the head side supply / discharge line 89 and the center noisy pass line Cb in accordance with the valve stroke of the boom operation valve 241 for the head side supply.
- the greater the load pressure in the exhaust line 89 the greater the flow rate that escapes to the center nose pass line Cb, but the pressure in the center binos line Cb is increased according to the boom head pressure by the electromagnetic proportional relief valve 95.
- the boom control valve 241 can be The boom raising flow rate corresponding to the command signal, that is, the valve stroke is supplied to the head side 24h of the boom cylinder 24 so that the boom cylinder extension speed can be obtained.
- the characteristics when the heavy-duty packet is attached as shown by the solid line in FIG. 7 can be returned to the same state as when the standard packet is shown by the dotted line.
- both the stick-in / meter-out load pressure compensation valve 42 and the boom-up side load pressure compensation negative control load pressure compensation valve 44 work simultaneously, resulting in a heavy load for slope molding other than standard packets.
- the pressure on the head side 24h of the boom cylinder 24 is detected by the pressure sensor 91, and a predetermined current is sent from the controller 83 to the negative control pressure compensation valve 44 at the downstream of the boom control valve 241.
- the stick lowering speed during stick-in operation is Since it does not change due to the trawl function and is stable, as shown in Fig. 4, the water level is averaged when a heavy-weight packet is attached, and the large undulation phenomenon D (Fig. 9) of the packet edge at the start of work is prevented. Effect is obtained. In other words, good water averaging can be ensured even under various packet usage conditions of the user.
- the stick rod pressure generated on the rod side 25r of the stick cylinder 25 is detected by the pressure sensor 81 and sent to the controller 83.
- the controller 83 responds to the stick rod pressure. Is supplied to solenoid 86 of electromagnetic proportional relief valve 85 incorporated in negative control load pressure compensation valve 43 for compensating the load pressure on the stick-out side. The pressure can be increased depending on the stick rod pressure.
- the hydraulic oil discharged from the hydraulic pump 28 is distributed to the rod side oil supply line 52 and the center bypass line Cb according to the valve stroke of the stick operation valve 251, and the load on the rod side oil supply line 52 is As the pressure increases, the flow rate that escapes to the center path line Cb increases, but the pressure on the center binos line Cb is increased according to the stick load pressure by the electromagnetic proportional relief valve 85, and the boom holding pressure is applied to the center bypass line Cb.
- the command signal of the stick control valve 25 1 related to the stick load when a heavy weight packet is mounted that is, the stick-out flow rate corresponding to the valve stroke is supplied to the rod side 25r of the stick cylinder 25.
- the stick cylinder contraction speed is obtained.
- the rod side pressure of the stick cylinder 25 during the stick-out operation is detected by the pressure sensor 81, and the negative control load pressure compensation provided in the center bypass line Cb on the downstream side of the stick operation valve 251 is compensated.
- the rod side load pressure of the stick cylinder 25 changes by sending a predetermined current from the controller 83 to the electromagnetic proportional relief valve 85 of the valve 43 and generating the rod holding pressure of the stick cylinder 25 in the center bypass line Cb,
- the stick-out flow rate modulation curve does not change, stable flow characteristics can be maintained, the lever start position is constant along with the boom-up operation, and a fine operation range can be secured, resulting in an improvement effect. Therefore, the operability of lifting in crane work can be improved.
- the load pressure on the head side 25h of the stick cylinder 25 is high, but this high load pressure is guided to the pressure compensation release part 64 by the head pressure detection line 65, and the spring 63 is set. Since the load is sufficiently large and the effective differential pressure of the flow control valve 57 on the meter-out side is set to a very large value, the stick-in meter-out load pressure compensation valve 42 as a flow control valve with pressure compensation is used as the flow control valve. The set flow rate is apparently larger and is larger than the actual return flow rate on the rod side 25r of the stick cylinder 25 determined by the maximum flow rate of the hydraulic pump 28.
- the stick lowering speed during stick-in operation is stable and stable even when a heavy-weight packet is installed.
- the boom raising flow rate modulation curve changes even if the load pressure changes. Therefore, it is possible to maintain a stable flow rate characteristic, so that regardless of the packet type, the workability can be improved by averaging the water according to the stick lowering speed and boom raising speed as instructed.
- the linkage operation between the boom raising operation by the hydraulic oil supplied to the head side 24h of the boom cylinder 24 and the stick-out operation by the hydraulic oil supplied to the rod side 25r of the stick cylinder 25 is started.
- the pressure sensor 91 that detects the pressure of the hydraulic oil supplied to the head side 24h of the boom cylinder 24, and the boom operation valve 24 downstream of the beam according to the rise in pressure detected by the pressure sensor 91.
- the operation lever point for starting the boom raising operation can be kept constant and the fine operation range can be maintained by the electromagnetic proportional relief valve 95 that controls the direction of increasing the centerline pass line pressure on the side.
- the flow rate gain for the valve stroke can be compensated, and at the same time, the pressure of hydraulic oil supplied to the rod side of the stick cylinder 25 is detected.
- the pressure sensor 81 and an electromagnetic proportional relief valve 85 that controls the pressure of the center bypass line on the downstream side of the beam in response to the increase in pressure detected by the pressure sensor 81 to control the load. Regardless of the size, the operation lever point for starting the stick cylinder contraction operation can be held constant, and the fine operation range and the flow rate rise gain with respect to the valve stroke can be compensated, improving the accuracy and cycle time in lifting the load. it can.
- the pressure compensation release unit 64 is a force that controls to increase the set load of the spring 63 when the load pressure on the head side 25h of the stick cylinder 25 increases.
- the set load of the spring 63 is increased sufficiently, and the effective differential pressure of the flow control valve 57 on the meter-out side is set to be very large.
- the out-load pressure compensation valve 42 With the out-load pressure compensation valve 42, the set flow rate as a flow control valve is apparently increased, and the maximum flow rate of the hydraulic pump 28 is reached. Therefore, in this state, the pressure compensation function on the rod side 25r of the stick cylinder 25 does not work, and it becomes a normal throttle valve with a normal throttle function. Meter-out characteristics can be demonstrated.
- the present invention can be used for a control circuit of a construction machine including a working device such as a hydraulic excavator.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05765547A EP1832685A4 (en) | 2004-12-28 | 2005-07-11 | CONTROLLER FOR CONSTRUCTION MACHINE |
US10/596,478 US20090308068A1 (en) | 2004-12-28 | 2005-07-11 | Control circuit for construction machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004380575A JP2006183413A (ja) | 2004-12-28 | 2004-12-28 | 建設機械の制御回路 |
JP2004-380575 | 2004-12-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006070501A1 true WO2006070501A1 (ja) | 2006-07-06 |
Family
ID=36614628
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/012731 WO2006070501A1 (ja) | 2004-12-28 | 2005-07-11 | 建設機械の制御回路 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20090308068A1 (ja) |
EP (1) | EP1832685A4 (ja) |
JP (1) | JP2006183413A (ja) |
KR (1) | KR20060120584A (ja) |
CN (1) | CN1914384A (ja) |
WO (1) | WO2006070501A1 (ja) |
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CN105275044A (zh) * | 2015-09-28 | 2016-01-27 | 北华航天工业学院 | 一种挖掘机液压节能控制系统及方法 |
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JP5380240B2 (ja) * | 2009-10-13 | 2014-01-08 | 日立建機株式会社 | 作業機械の油圧駆動装置 |
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EP2980324B1 (en) * | 2013-03-26 | 2021-10-27 | Doosan Infracore Co., Ltd. | Hydraulic system for construction equipment |
DE102013206319A1 (de) * | 2013-04-10 | 2014-10-16 | Deere & Company | Hubvorrichtung |
US8977445B2 (en) * | 2013-06-18 | 2015-03-10 | Caterpillar Inc. | System and method for dig detection |
GB2530707A (en) | 2014-06-13 | 2016-04-06 | Jc Bamford Excavators Ltd | A material handling machine |
JP6493916B2 (ja) * | 2015-04-21 | 2019-04-03 | キャタピラー エス エー アール エル | 流体圧回路および作業機械 |
CN108026713B (zh) * | 2015-09-16 | 2021-03-09 | 卡特彼勒Sarl | 液压作业机器的液压泵控制系统 |
CN105545854A (zh) * | 2016-01-18 | 2016-05-04 | 浙江高宇液压机电有限公司 | 集成回油再生的多路换向阀 |
US10487855B2 (en) | 2016-09-29 | 2019-11-26 | Deere & Company | Electro-hydraulic system with negative flow control |
DE102017115537A1 (de) * | 2017-07-11 | 2019-01-17 | Liebherr-Hydraulikbagger Gmbh | Baumaschine |
US11073442B2 (en) | 2017-12-21 | 2021-07-27 | Swagelok Company | Systems and methods for control and monitoring of actuated valves |
JP7096105B2 (ja) | 2018-08-23 | 2022-07-05 | 株式会社神戸製鋼所 | 掘削作業機械の油圧駆動装置 |
JP7269411B2 (ja) * | 2019-03-27 | 2023-05-08 | 日立建機株式会社 | 作業機械 |
EP4230809A1 (en) * | 2022-02-17 | 2023-08-23 | Robert Bosch GmbH | Hydraulic control system for a machine, machine and method for controlling boom and attachment movements of a machine |
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- 2005-07-11 EP EP05765547A patent/EP1832685A4/en not_active Withdrawn
- 2005-07-11 US US10/596,478 patent/US20090308068A1/en not_active Abandoned
- 2005-07-11 CN CNA2005800039481A patent/CN1914384A/zh active Pending
- 2005-07-11 WO PCT/JP2005/012731 patent/WO2006070501A1/ja active Application Filing
- 2005-07-11 KR KR1020067002775A patent/KR20060120584A/ko not_active Application Discontinuation
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CN101886405A (zh) * | 2010-07-21 | 2010-11-17 | 湖南山河智能机械股份有限公司 | 挖掘节能及平地高效的小型液压挖掘机主阀 |
CN105275044A (zh) * | 2015-09-28 | 2016-01-27 | 北华航天工业学院 | 一种挖掘机液压节能控制系统及方法 |
CN105275044B (zh) * | 2015-09-28 | 2017-11-07 | 北华航天工业学院 | 一种挖掘机液压节能控制系统及方法 |
Also Published As
Publication number | Publication date |
---|---|
JP2006183413A (ja) | 2006-07-13 |
CN1914384A (zh) | 2007-02-14 |
EP1832685A1 (en) | 2007-09-12 |
KR20060120584A (ko) | 2006-11-27 |
EP1832685A4 (en) | 2009-03-18 |
US20090308068A1 (en) | 2009-12-17 |
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