WO2011138963A1 - 作業車両の油圧制御装置 - Google Patents
作業車両の油圧制御装置 Download PDFInfo
- Publication number
- WO2011138963A1 WO2011138963A1 PCT/JP2011/060601 JP2011060601W WO2011138963A1 WO 2011138963 A1 WO2011138963 A1 WO 2011138963A1 JP 2011060601 W JP2011060601 W JP 2011060601W WO 2011138963 A1 WO2011138963 A1 WO 2011138963A1
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- WO
- WIPO (PCT)
- Prior art keywords
- arm
- bucket
- pressure oil
- control valve
- driving actuator
- Prior art date
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Classifications
-
- 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
-
- 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
-
- 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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
-
- 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
- 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
-
- 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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
Definitions
- the present invention relates to a hydraulic control technique for driving an arm or bucket attached to a work vehicle.
- a work vehicle such as a wheel loader having a swingable arm or a bucket swingable at the tip of the arm is known.
- a tandem hydraulic circuit that prioritizes the swinging operation of the bucket has been adopted as a hydraulic circuit for swinging and driving the arm and bucket (see Patent Document 1).
- Patent Document 1 a work vehicle is known that employs a parallel hydraulic circuit as a hydraulic circuit for swinging and driving the arm and bucket so that the arm can be swung even when the bucket is swung (patent) Reference 2).
- a hydraulic pump that supplies pressure oil
- an arm drive actuator that swings and drives an arm attached to the work vehicle by the pressure oil supplied from the hydraulic pump
- the bucket drive actuator that swings and drives the bucket attached to the tip of the arm by the pressurized oil and the pressure oil supplied from the hydraulic pump to the arm drive actuator are controlled to control the drive of the arm drive actuator Arm drive pressure oil control valve, bucket drive pressure oil control valve for controlling the drive of the bucket drive actuator by controlling the pressure oil supplied from the hydraulic pump to the bucket drive actuator, and arm drive pressure oil control
- An arm operating unit that controls the valve, a bucket operating unit that controls the pressure oil control valve for driving the bucket, An operation state detection unit that detects an operation state of the actuator for the bucket and the actuator for driving the bucket, and when the operation state detection unit detects that the arm driving actuator and the bucket driving actuator are operated in combination, And a flow rate control valve that restricts the pressure oil supplied to the tank.
- the flow control valve is supplied to the arm driving actuator according to the control characteristic of the pressure oil of the bucket driving pressure oil control valve. It is preferable to control the pressure oil that is applied.
- the hydraulic control device for a work vehicle according to the first or second aspect further includes a main relief valve for defining a maximum pressure of the pressure oil supplied by the hydraulic pump, and the flow control valve Is the pressure supplied to the arm drive actuator so that the pressure oil is not guided from the main relief valve to the tank side while the bucket drive pressure oil control valve shuts off the pressure oil to the bucket drive actuator. It is preferred to control the oil.
- the flow rate control valve is supplied from the bucket drive pressure oil control valve to the bucket drive actuator.
- the flow rate of the pressure oil is controlled to be maximum, it is preferable to shut off the pressure oil supplied to the arm driving actuator.
- the flow rate control valve is operated by the operation state detection unit to operate the bucket drive actuator and lower the arm.
- the flow rate control valve is operated when the arm driving actuator is operated in the downward direction and when it is operated in the upward direction. Therefore, it is preferable to change the flow rate characteristic of the pressure oil discharged from the hydraulic pump and flowing into the arm driving actuator.
- an angle detection unit that detects an angle of the arm
- An angle setting unit for setting an arbitrary angle of the arm
- the flow rate control valve detects the operation of the bucket driving actuator and the operation of the arm driving actuator in the arm raising direction by the operation state detection unit; It is preferable to start limiting the amount of pressure oil supplied from the hydraulic pump to the arm driving actuator after the arm angle detected by the angle detection unit reaches the angle set by the angle setting unit.
- the flow rate control valve is configured to cause the operation state detection unit to operate the bucket drive actuator and lower the arm. It is preferable to limit the amount of pressure oil supplied from the hydraulic pump to the arm driving actuator only when the operation of the arm driving actuator is detected.
- FIG. 1 is a side view of a wheel loader as an example of a work vehicle including a hydraulic control device according to the present invention.
- FIG. 2 is a diagram illustrating a hydraulic circuit that drives the arm and the bucket.
- FIG. 3 is a diagram showing the relationship between the proportional solenoid valve output pressure and the opening area of the flow path of the flow control valve.
- FIG. 4 is a diagram showing the relationship between the pilot pressure of the bucket control valve and the proportional solenoid valve output pressure of the proportional solenoid valve.
- 5 (a) to 5 (f) are diagrams showing the relationship between the opening area of the flow path of the bucket control valve, the high pressure side pilot pressure, the opening area of the flow path of the flow control valve, and the bucket spool stroke.
- FIG. 6 is a flowchart showing an operation of outputting a control signal to the proportional solenoid valve.
- FIG. 1 is a side view of a wheel loader as an example of a work vehicle provided with the hydraulic control device of the present embodiment.
- the wheel loader 100 includes a front vehicle body 110 having an arm 111, a bucket 112, a tire 113, and the like, and a rear vehicle body 120 having an operator cab 121, an engine compartment 122, a tire 123, and the like.
- a lift arm (hereinafter simply referred to as an arm) 111 is rotated in the up-and-down direction (up and down movement) by driving the arm cylinder 114, and the bucket 112 is rotated in the up-and-down direction (dumping or clouding) by driving the bucket cylinder 115.
- the front vehicle body 110 and the rear vehicle body 120 are rotatably connected to each other by a center pin 101, and the front vehicle body 110 is refracted left and right with respect to the rear vehicle body 120 by expansion and contraction of a steering cylinder (not shown).
- FIG. 2 is a diagram showing a hydraulic circuit that drives the arm 111 and the bucket 112.
- the hydraulic circuit includes a main pump 6 that discharges the pressure oil supplied to the arm cylinder 114 and the bucket cylinder 115, and a direction and flow rate of the pressure oil supplied from the main pump 6 to control the arm cylinder 114 and the bucket cylinder.
- 115 is provided in an arm control valve 41 and bucket control valve 42 for controlling the expansion and contraction operation of 115, and in a parallel oil passage branched from a pipe line upstream of the bucket control valve 42 and connected in parallel with the arm control valve 41.
- a flow rate control valve 43, a proportional solenoid valve 44 for controlling the flow rate control valve 43, a main relief valve 45 for defining the maximum pressure of the pressure oil discharged from the main pump 6, and a pilot pump 46 are provided. .
- the bucket control valve 42 and the arm control valve 41 are operated by operating hydraulic pilot type operating levers for arm and bucket (not shown), respectively, and these hydraulic pilot type operating levers are pressures discharged from the pilot pump 46.
- a pilot valve for reducing the pressure of oil according to the operation amount of the operation lever is provided, and the pilot pressure generated by the pilot valve acts on the bucket control valve 42 and the arm control valve 41 to control the switching amount.
- the hydraulic circuit includes an arm raising pilot pressure sensor 51 for detecting a pilot pressure for operating the arm control valve 41 to the raising side, an arm lowering pilot pressure sensor 52 for detecting the lowering pilot pressure, and a bucket A bucket tilt pilot pressure sensor 53 for detecting a pilot pressure to the tilt side (up side) of the control valve 42, a bucket dump pilot pressure sensor 54 for detecting a pilot pressure to the dump side (down side), and a main pump 6
- a pressure sensor 55 for detecting the discharge pressure is provided on each pilot pipeline. Each of these sensors is connected to the controller 10.
- the main pump 6 and the pilot pump 46 are hydraulic pumps driven by an engine (not shown).
- the arm control valve 41 is a valve that changes the spool switching position according to the pilot pressure (arm raising pilot pressure and arm lowering pilot pressure) to change the direction and flow rate of the pressure oil supplied to the arm cylinder 114. is there.
- the arm control valve 41 has a P port, a P ′ port, a T port, a T ′ port, an A port, and a B port.
- the bucket control valve 42 changes the spool switching position according to the pilot pressure (bucket tilt pilot pressure and bucket dump pilot pressure), and changes the direction and flow rate of the pressure oil supplied to the bucket cylinder 115. It is a valve.
- the bucket control valve 42 has a P port, a P ′ port, a T port, a T ′ port, an A port, and a B port.
- the P port of the arm control valve 41 is connected to the flow control valve 43 on the parallel oil passage via a check valve, the P ′ port is connected to the T ′ port of the bucket control valve 42, and the T port is the hydraulic oil tank 7.
- the T ′ port of the arm control valve 41 is connected to the hydraulic oil tank 7, the A port is connected to the bottom side oil chamber 114 a of the arm cylinder 114, and the B port is connected to the rod side oil chamber 114 b of the arm cylinder 114.
- the P port of the bucket control valve 42 is connected to the main pump 6 via a check valve, the P ′ port is connected to the main pump 6, the T ′ port is connected to the P ′ port of the arm control valve 41, and the T port is connected to the main pump 6.
- the hydraulic oil tank 7, the A port is connected to the bottom side oil chamber 115 a of the bucket cylinder 115, and the B port is connected to the rod side oil chamber 115 b of the bucket cylinder 115.
- the opening area (arm spool opening area) of the flow path connecting the P ′ port and the T ′ port gradually decreases according to the magnitude of the arm raising pilot pressure, and the P port and the A port And the opening area of the flow path connecting the T port and the B port are gradually increased. That is, when the arm raising pilot pressure becomes high, the pressure oil from the main pump 6 is supplied to the bottom side oil chamber 114a of the arm cylinder 114, and the rod side oil chamber 114b of the arm cylinder 114 is the hydraulic oil tank. The spool moves so as to be connected to 7. As a result, the cylinder rod of the arm cylinder 114 is extended and the arm 111 is rotated upward.
- the opening area of the flow path connecting the P ′ port and the T ′ port is gradually reduced according to the magnitude, and the flow path connecting the P port and the B port.
- the opening area of the flow path connecting the T port and the A port gradually increase. That is, when the arm lowering pilot pressure becomes high, the pressure oil from the main pump 6 is supplied to the rod side oil chamber 114b of the arm cylinder 114, and the bottom side oil chamber 114a of the arm cylinder 114 is the hydraulic oil tank. The spool moves so as to be connected to 7. As a result, the cylinder rod of the arm cylinder 114 is retracted and the arm 111 is rotated downward.
- the arm control valve 41 shown in the figure shuts off the P port when the arm lowering pilot pressure becomes higher, communicates the P ′ port and the T ′ port, communicates the A port and the B port, and Provide a float position to connect to the port.
- the spool of the bucket control valve 42 moves from the neutral position when the bucket tilt pilot pressure increases.
- the opening area of the flow path connecting the P ′ port and the T ′ port gradually decreases, the opening area of the flow path connecting the P port and the A port, and the T port
- the opening area of the flow path connecting the B port increases gradually. That is, when the bucket tilt pilot pressure becomes high, the pressure oil from the main pump 6 is supplied to the bottom side oil chamber 115a of the bucket cylinder 115, and the rod side oil chamber 115b of the bucket cylinder 115 is the hydraulic oil tank.
- the spool moves so as to be connected to 7.
- the cylinder rod of the bucket cylinder 115 is extended and the bucket 112 is rotated upward. Note that turning the bucket 112 upward is also referred to as tilting the bucket.
- the opening area of the flow path connecting the P ′ port and the T ′ port is gradually reduced according to the magnitude of the pressure, and the flow path connecting the P port and the B port is gradually reduced.
- the opening area and the opening area of the flow path connecting the T port and the A port gradually increase. That is, when the bucket dump pilot pressure becomes high, the pressure oil from the main pump 6 is supplied to the rod side oil chamber 115b of the bucket cylinder 115, and the bottom oil chamber 115a of the bucket cylinder 115 is the hydraulic oil tank.
- the spool moves so as to be connected to 7. As a result, the cylinder rod of the bucket cylinder 115 is retracted and the bucket 112 is rotated downward (dumped).
- the flow control valve 43 is provided in the middle of a parallel oil passage connecting the main pump 6 and the P port of the arm control valve 41 via a check valve.
- the flow rate control valve 43 controls the flow rate of the pressure oil flowing to the P port of the arm control valve 41 in accordance with the pressure of the pilot pressure oil supplied via the proportional solenoid valve 44 (proportional solenoid valve output pressure). That is, as the pressure of the pilot pressure oil supplied to the flow control valve 43 increases, the parallel oil passage is throttled to restrict the flow rate of the pressure oil supplied to the P port of the arm control valve 41 to a low level. As the pressure decreases, the parallel oil passage is opened so that the pressure oil supplied to the P port of the arm control valve 41 is not limited.
- FIG. 3 is a diagram showing the relationship between the proportional solenoid valve output pressure and the opening area of the flow path of the flow control valve 43.
- the proportional solenoid valve output pressure is equal to or less than the predetermined pressure Pa1
- the opening area of the flow path of the flow control valve 43 is maximized
- the proportional solenoid valve output pressure is greater than the predetermined pressure Pa1
- the proportional solenoid valve output pressure As the flow rate increases, the opening area of the flow path of the flow control valve 43 gradually decreases.
- the proportional solenoid valve output pressure reaches a predetermined pressure Pamax, the opening area of the flow path of the flow control valve 43 becomes zero, and the parallel oil path is shut off.
- the proportional solenoid valve output pressure is determined by a control signal (solenoid excitation output) output from the controller 10 to the proportional solenoid valve 44.
- the proportional solenoid valve 44 controls the pressure of the pilot pressure oil supplied from the pilot pump 46 to the flow control valve 43 based on the output from the controller 10 as described later.
- the controller 10 is a control device that controls each part of the wheel loader 100 and outputs a control signal to the proportional solenoid valve 44, and includes an arithmetic processing unit having a CPU, ROM, RAM, and other peripheral circuits. Composed.
- the controller 10 includes a torque converter input shaft rotational speed sensor 13 for detecting the rotational speed Ni of the torque converter input shaft, and a torque converter for detecting the rotational speed Nt of the output shaft of the torque converter.
- An output shaft rotational speed sensor 14, an arm angle sensor 56 that detects an angle of the arm 111 with respect to the front vehicle body 110, and an angle adjustment switch 57 described later are connected.
- the angle adjustment switch 57 is a switch for the operator to set the angle of the arm 111 as a condition for starting the flow rate control by the flow rate control valve 43, and is provided in the cab 121.
- the arm control valve 41 and the bucket control valve 42 are arranged in parallel with the flow of the pressure oil from the main pump 6, so that a so-called parallel hydraulic circuit is configured.
- the flow control valve 43 is disposed upstream of the arm control valve 41 with respect to the flow of pressure oil from the main pump 6.
- the flow control valve 43 is disposed in parallel with the bucket control valve 42 and the bucket cylinder 115 with respect to the flow of pressure oil from the main pump 6.
- this hydraulic circuit can supply pressure oil to the arm cylinder 114 and the bucket cylinder 115 simultaneously as a parallel hydraulic circuit. Therefore, in the wheel loader 100 using this hydraulic circuit, the arm 111 and the bucket 112 can be swung simultaneously.
- a case is considered where a composite operation is performed in which after the earth and sand in the bucket 112 is discharged, the angle position of the bucket 112 is returned to a horizontal position horizontal to the ground while the arm 111 is lowered.
- the arm 111 is turned upward and the bucket 112 is turned downward.
- the arm control valve 41 is supplied with an arm lowering pilot pressure.
- the P port and the B port are connected, and the T port and the A port are connected.
- the bucket control valve 42 is connected to the P port and the A port by applying a bucket tilt pilot pressure, and is connected to the T port and the B port.
- the arm 111 tends to fall under its own weight, the pressure in the rod side oil chamber 114b of the arm cylinder 114 decreases. Therefore, when the flow control valve 43 is not provided as in the conventional parallel hydraulic circuit, the pressure oil from the main pump 6 is preferentially supplied to the rod side oil chamber 114b of the arm cylinder 114, Since it is difficult for pressure oil to be supplied to the bottom side oil chamber 115a of the bucket cylinder 115, there is a possibility that the inconvenience that the bucket 112 is difficult to turn upward is likely to occur. That is, the arm 111 falls down before the bucket 112 assumes a horizontal posture.
- the excavation work and the non-excavation work in the wheel loader 100 are determined based on a predetermined condition.
- the arm 111 and the bucket 112 are further determined according to other conditions.
- the flow rate control valve 43 regulates the pressure oil flowing from the main pump 6 to the arm control valve 41.
- the controller 10 determines that the wheel loader 100 is performing an excavation operation (in an excavation state), and if any of the following conditions is not satisfied, It is determined that the wheel loader 100 is in a non-digging state.
- the discharge pressure of the main pump 6 detected by the pressure sensor 55 exceeds a predetermined pressure. That is, when the load of the main pump 6 is high.
- the angle of the arm 111 detected by the arm angle sensor 56 is not more than a predetermined angle. That is, when the position of the arm 111 is low.
- the torque converter speed ratio e is calculated based on the torque converter input shaft rotational speed sensor 13 and the torque converter output shaft rotational speed sensor detected by the torque converter input shaft rotational speed Ni and the output shaft rotational speed Nt.
- the torque converter speed ratio e is less than or equal to a predetermined value. That is, the vehicle speed of the wheel loader 100 is low, but the rotational speed of the engine 1 is high and the traveling load is large.
- the controller 10 determines the pilot pressures detected by the pilot pressure sensors 51 to 54. Based on this, the detected pressure of the arm raising pilot pressure sensor 51 or the arm lowering pilot pressure sensor 52 is equal to or higher than a predetermined pressure, and the detected pressure of the bucket tilt pilot pressure sensor 53 or the bucket dump pilot pressure sensor 54 is equal to or higher than a predetermined pressure. When it is, it is determined that the composite operation has been performed.
- the controller 10 controls the flow rate control valve 43 (that is, the proportional solenoid valve output pressure of the proportional solenoid valve 44) as follows depending on whether or not the combined operation is performed.
- the controller 10 demagnetizes the solenoid of the proportional solenoid valve 44 when it is determined that the combined operation is not performed as described above. Thereby, since the proportional solenoid valve 44 sets the proportional solenoid valve output pressure to zero, the opening area of the flow path of the flow control valve 43 is maximized. Therefore, when the combined operation is not performed, the flow rate of the pressure oil flowing to the P port of the arm control valve 41 is not limited by the flow control valve 43, and the arm cylinder 114 is operated according to the operation of the operation lever (not shown). Is driven.
- FIG. 4 is a graph showing the relationship between the pilot pressure (bucket tilt pilot pressure and bucket dump pilot pressure) of the bucket control valve 42 and the proportional solenoid valve output pressure of the proportional solenoid valve 44.
- the controller 10 determines the proportional solenoid valve output pressure of the proportional solenoid valve 44 according to the higher pressure (high pressure side pilot pressure) among the pilot pressures detected by the bucket tilt pilot pressure sensor 53 or the bucket dump pilot pressure sensor 54.
- the output signal to the proportional solenoid valve 44 is controlled so as to correspond to any one of L1 to L3 in FIG.
- the correspondence between L1 to L3 is determined based on the relationship between the amount of movement of the spool of the bucket control valve 42 and the opening area of the flow path of the bucket control valve 42, as will be described later.
- FIG. 5A is a diagram illustrating the relationship between the bucket spool stroke when the bucket 112 is rotated downward (during bucket dumping) and the opening area of the flow path of the bucket control valve 42.
- FIG. 5B is a diagram showing the relationship between the bucket spool stroke at the time of bucket dump and the high-pressure side pilot pressure (bucket dump pilot pressure).
- FIG. 5C is a diagram showing the relationship between the bucket spool stroke during bucket dumping and the opening area of the flow path of the flow control valve 43.
- FIG. 5D is a diagram showing the relationship between the bucket spool stroke when the bucket 112 is rotated upward (when the bucket is tilted) and the opening area of the flow path of the bucket control valve 42. .
- FIG. 5A is a diagram illustrating the relationship between the bucket spool stroke when the bucket 112 is rotated downward (during bucket dumping) and the opening area of the flow path of the bucket control valve 42.
- FIG. 5B is a diagram showing the relationship between the bucket
- FIG. 5E is a diagram showing the relationship between the bucket spool stroke during bucket tilt and the high-pressure side pilot pressure (bucket tilt pilot pressure).
- FIG. 5F is a diagram showing the relationship between the bucket spool stroke during bucket tilt and the opening area of the flow path of the flow control valve 43.
- the controller 10 controls the output signal to the proportional solenoid valve 44 so that the opening area of the flow path of the flow control valve 43 is maximized until the bucket spool stroke reaches S1. . That is, the controller 10 limits the flow rate of the pressure oil flowing to the P port of the arm control valve 41 until the flow path connecting the P port and the A port and the flow path connecting the T port and the B port start to open.
- the output signal to the proportional solenoid valve 44 is controlled so as not to occur.
- the controller 10 controls the output signal to the proportional solenoid valve 44 so that the opening area of the flow path of the flow control valve 43 gradually decreases as the bucket spool stroke increases when the bucket spool stroke exceeds S1.
- the controller 10 determines whether the bucket spool stroke and the flow rate control valve when the arm 111 is rotated upward (when the lift arm is raised) and when the arm 111 is rotated downward (when the lift arm is lowered).
- the relationship with the opening area of 43 flow paths is changed as follows.
- the controller 10 increases the amount of decrease in the opening area of the flow path of the flow control valve 43 with respect to the bucket spool stroke increase amount when the lift arm is lowered than when the lift arm is raised. Specifically, the controller 10 sets the bucket dump pilot pressure when the lift arm is raised so that the bucket dump pilot pressure and the proportional solenoid valve output pressure of the proportional solenoid valve 44 correspond to each other as indicated by L3 in FIG. The output signal to the proportional solenoid valve 44 is controlled so that the proportional solenoid valve output pressure of the proportional solenoid valve 44 has a correspondence relationship indicated by L1 in FIG.
- the flow path of the flow control valve 43 is greatly restricted even when the bucket spool stroke is smaller than when the lift arm is raised.
- the flow control valve 43 is controlled by the arm control valve in S4 of FIG. The pressure oil flowing to the 41 P port is shut off.
- the flow rate control valve 43 When the lift arm is raised, the flow rate control valve 43 is moved to the P port of the arm control valve 41 when the bucket spool stroke reaches the stroke S3 where the opening area of the flow path connecting the P port and the A port is maximized. Shut off the flowing pressure oil.
- the correspondence relationship indicated by L1 in FIG. 4 is such that the flow control valve 43 shuts off the pressure oil flowing to the P port of the arm control valve 41 when the bucket spool stroke reaches the stroke S3. Is predetermined.
- the relationship between the bucket spool stroke and the opening area of the flow path of the flow rate control valve 43 is changed between when the lift arm is raised and when the lift arm is lowered for the following reason.
- the lift arm is lowered, as described above, in order to prevent the problem that the pressure oil is hardly supplied to the bucket cylinder 115 due to the weight of the arm 111 and the bucket 112 is difficult to rotate, the arm cylinder is prevented. It is necessary to positively limit the pressure oil supplied to 114 by the flow control valve 43.
- the lift arm is raised, it is not difficult to supply pressure oil to the bucket cylinder 115 due to the weight of the arm 111, but the bucket 112 is preferentially rotated as in a so-called tandem hydraulic circuit.
- the change in the proportional solenoid valve output pressure with respect to the high-pressure side pilot pressure is such that L3 is steeper than L1.
- the controller 10 controls the output signal to the proportional solenoid valve 44 so that the opening area of the flow path of the flow control valve 43 is maximized until the bucket spool stroke reaches S1. . That is, the controller 10 limits the flow rate of the pressure oil flowing to the P port of the arm control valve 41 until the flow path connecting the P port and the B port and the flow path connecting the T port and the A port start to open.
- the output signal to the proportional solenoid valve 44 is controlled so as not to occur. In this way, as in the bucket dump, the pressure oil supplied to the arm cylinder 114 when the bucket cylinder 115 is not being driven is not restricted by the flow control valve 43, so that the arm cylinder 114 is driven. Preventing unnecessary restrictions.
- the controller 10 controls the output signal to the proportional solenoid valve 44 so that the opening area of the flow path of the flow control valve 43 gradually decreases as the bucket spool stroke increases when the bucket spool stroke exceeds S1.
- the controller 10 changes the relationship between the bucket spool stroke and the opening area of the flow path of the flow rate control valve 43 as follows when the lift arm is raised and when the lift arm is lowered.
- the controller 10 increases the amount of decrease in the opening area of the flow path of the flow control valve 43 with respect to the bucket spool stroke increase amount when the lift arm is lowered than when the lift arm is raised. Specifically, the controller 10 sets the bucket tilt pilot pressure when the lift arm is raised so that the bucket tilt pilot pressure and the proportional solenoid valve output pressure of the proportional solenoid valve 44 correspond to each other as indicated by L3 in FIG. The output signal to the proportional solenoid valve 44 is controlled so that the proportional solenoid valve output pressure of the proportional solenoid valve 44 has a correspondence relationship indicated by L2 in FIG.
- the flow rate control valve 43 When the lift arm is raised, the flow rate control valve 43 is moved to the P port of the arm control valve 41 when the bucket spool stroke reaches the stroke S2 where the opening area of the flow path connecting the P port and the B port is maximized. Shut off the flowing pressure oil.
- the correspondence relationship indicated by L2 in FIG. 4 is such that the flow control valve 43 shuts off the pressure oil flowing to the P port of the arm control valve 41 when the bucket spool stroke reaches the stroke S2. Is predetermined.
- the relationship between the bucket spool stroke and the opening area of the flow path of the flow control valve 43 is different between when the lift arm is raised and when the lift arm is lowered for the same reason as described for the bucket dump. It has changed.
- the flow rate control valve 43 controls the flow rate only when the arm 111 is at a higher position than the angular position set by the angle adjustment switch 57 when the lift arm is lifted even when the bucket is tilted, as in the bucket dump. Is configured to be performed.
- FIG. 6 is a flowchart showing an operation of outputting a control signal to the proportional solenoid valve 44 in the present embodiment.
- step S3 If a negative determination is made in step S3, that is, if it is determined that the state is not excavated, the process proceeds to step S5, and whether or not a composite operation is performed based on the detection values of the sensors 51 to 54 read in step S1. Determine whether. If an affirmative determination is made in step S5, the process proceeds to step S7, and it is determined based on the detection values of the sensors 51 and 52 read in step S1 whether the lift arm is being raised. If an affirmative determination is made in step S7, the process proceeds to step S9, and whether or not the angle of the arm 111 is equal to or larger than the set angle based on the set angle of the angle adjustment switch 57 and the detected angle of the arm angle sensor 56 read in step S1. Determine whether. If a positive determination is made in step S9, the process proceeds to step S11, and it is determined whether the bucket 112 is dumped or the bucket 112 is tilted based on the detection values of the sensors 53 and 54 read in step S1. .
- step S11 If it is determined in step S11 that the bucket 112 is dumped, the process proceeds to step S13, and the high pressure side pilot pressure and the proportional solenoid valve output pressure of the proportional solenoid valve 44 are proportional so as to have a correspondence relationship indicated by L1 in FIG. A control signal is output to the solenoid valve 44 and the process returns.
- step S11 If it is determined in step S11 that the bucket 112 is tilted, the process proceeds to step S15, and the high pressure side pilot pressure and the proportional solenoid valve output pressure of the proportional solenoid valve 44 are proportional so as to correspond to each other as indicated by L2 in FIG. A control signal is output to the solenoid valve 44 and the process returns.
- step S7 When a negative determination is made in step S7, the process proceeds to step S17, and a control signal to the proportional solenoid valve 44 is sent so that the high-pressure side pilot pressure and the proportional solenoid valve output pressure of the proportional solenoid valve 44 have a correspondence relationship indicated by L3 in FIG. Output and return.
- step S3 If step S3 is positively determined, step S5 is negatively determined, or step S9 is negatively determined, the process proceeds to step S19, and a control signal is output so as to demagnetize the solenoid of the proportional solenoid valve 44, and the process returns. .
- the work vehicle including the above-described hydraulic control device has the following operational effects.
- (1) The arm control valve 41 and the bucket control valve 42 are arranged in parallel with the flow of pressure oil from the main pump 6, and the flow control valve 43 is arranged upstream of the arm control valve 41. .
- the pressure oil flowing from the main pump 6 to the arm control valve 41 is regulated by the flow control valve 43.
- the flow control valve 43 is configured to restrict the pressure oil flowing from the main pump 6 to the arm control valve 41.
- the opening area of the flow path connecting the P port and A port is maximized during bucket dumping, and the opening area of the flow path connecting the P port and B port is maximized during bucket tilt.
- the flow control valve 43 is configured to block the pressure oil flowing to the P port of the arm control valve 41.
- the flow rate control valve 43 is configured to regulate the pressure oil flowing from the main pump 6 to the arm control valve 41 both when the lift arm is raised and when the lift arm is lowered. As a result, it is possible to prevent a problem that the load cannot be discharged to the distance when the lift arm is raised and a problem that the return of the bucket 112 becomes worse when the lift arm is lowered.
- the flow control valve 43 is configured to appropriately limit the pressure oil flowing from the main pump 6 to the arm control valve 41 according to the flow control characteristic of the bucket control valve 42.
- the invention is not limited to this.
- the flow rate of the pressure oil flowing to the P port of the arm control valve 41 is not limited until the bucket spool stroke reaches a predetermined stroke, and the bucket spool stroke is set to a predetermined value.
- the pressure oil flowing to the P port of the arm control valve 41 may be cut off when reaching the first stroke. Further, in this case, the rotation of the arm 111 can be prevented from stopping suddenly by configuring so that a predetermined time (for example, several seconds) is required from the start of the shutoff to the completion of the shutoff.
- the flow control valve 43 is configured to shut off the pressure oil flowing from the main pump 6 to the arm control valve 41 when the bucket spool stroke reaches a predetermined stroke (S2 or S3).
- a predetermined stroke S2 or S3
- the present invention is not limited to this. For example, even if the bucket spool stroke reaches a predetermined stroke (S2 or S3), the flow rate control valve 43 does not completely shut off the pressure oil flowing from the main pump 6 to the arm control valve 41, but some pressure oil is You may comprise so that it may flow.
- the flow control valve 43 is configured to limit the pressure oil flowing from the main pump 6 to the arm control valve 41 both when the lift arm is raised and when the lift arm is lowered. It is not limited to this.
- the flow rate control valve 43 may be configured to limit the pressure oil flowing from the main pump 6 to the arm control valve 41 only at least one of when the lift arm is raised and when the lift arm is lowered. Provides the same effects as the above-described effects.
- the criterion for determining whether or not excavation work is performed by the wheel loader 100 is an example, and is not limited to the above-described conditions. For example, it may be determined that excavation work is being performed by the wheel loader 100 if at least one of the above-described conditions is satisfied, and whether or not excavation work is being performed by the wheel loader 100 based on other conditions. You may make it judge. (6) The above-described embodiments and modifications may be combined.
- the present invention is not limited to the above-described embodiment, and a hydraulic pump that supplies pressure oil and an arm that swings and drives an arm attached to the work vehicle by the pressure oil supplied from the hydraulic pump.
- a drive actuator, a bucket drive actuator that swings and drives a bucket attached to the tip of the arm by pressure oil supplied from the hydraulic pump, and pressure oil supplied from the hydraulic pump to the arm drive actuator are controlled.
- Arm drive pressure oil control valve for controlling the drive of the arm drive actuator, and bucket drive pressure oil control for controlling the drive of the bucket drive actuator by controlling the pressure oil supplied from the hydraulic pump to the bucket drive actuator
- a valve, arm operating means for controlling the arm drive pressure oil control valve, and a bucket drive pressure oil control valve are controlled.
- the bucket operating means to be controlled, the operation state detecting means for detecting the operating state of the arm driving actuator and the bucket driving actuator, and the arm driving actuator and the bucket driving actuator were operated in combination by the operating state detecting means
- a hydraulic control device for a work vehicle having various structures including a flow rate control valve that restricts pressure oil supplied to the arm driving actuator is included.
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Abstract
Description
本発明の第2の態様によると、第1の態様の作業車両の油圧制御装置において、流量制御弁は、バケット駆動用圧油制御弁の圧油の制御特性に応じてアーム駆動用アクチュエータに供給される圧油を制御するのが好ましい。
本発明の第3の態様によると、第1または第2の態様の作業車両の油圧制御装置において、油圧ポンプで供給される圧油の最高圧力を規定するメインリリーフ弁をさらに備え、流量制御弁は、バケット駆動用圧油制御弁がバケット駆動用アクチュエータへの圧油を遮断している間は、メインリリーフ弁から圧油がタンク側へ導かれないようにアーム駆動用アクチュエータに供給される圧油を制御するのが好ましい。
本発明の第4の態様によると、第1~3のいずれか一の態様の作業車両の油圧制御装置において、流量制御弁は、バケット駆動用圧油制御弁がバケット駆動用アクチュエータへ供給される圧油の流量が最大となるように制御されているときには、アーム駆動用アクチュエータに供給される圧油を遮断するのが好ましい。
本発明の第5の態様によると、第1~4のいずれか一の態様の作業車両の油圧制御装置において、流量制御弁は、操作状態検出部によってバケット駆動用アクチュエータの操作とアームの下げ方向へのアーム駆動用アクチュエータの操作とが検出されたとき、および、バケット駆動用アクチュエータの操作と、アームの上げ方向へのアーム駆動用アクチュエータの操作とが検出されたときに、油圧ポンプから吐出される圧油のアーム駆動用アクチュエータへの流入量を制限するのが好ましい。
本発明の第6の態様によると、第5の態様の作業車両の油圧制御装置において、流量制御弁は、アーム駆動用アクチュエータが下げ方向へ操作されたときと、上げ方向へ操作されたときとで、油圧ポンプから吐出されてアーム駆動用アクチュエータへ流入する圧油の流量特性を変更するのが好ましい。
本発明の第7の態様によると、第1~6のいずれか一の態様の作業車両の油圧制御装置において、アームの角度を検出する角度検出部と、
アームの任意の角度を設定する角度設定部をさらに備え、流量制御弁は、操作状態検出部によりバケット駆動用アクチュエータの操作とアームの上げ方向のアーム駆動用アクチュエータの操作とが検出されると、角度検出部で検出したアームの角度が角度設定部で設定された角度に達した後に油圧ポンプから供給される圧油のアーム駆動用アクチュエータへの流入量の制限を開始するのが好ましい。
本発明の第8の態様によると、第1~4のいずれか一の態様の作業車両の油圧制御装置において、流量制御弁は、操作状態検出部によりバケット駆動用アクチュエータの操作とアームを下げる方向のアーム駆動用アクチュエータの操作とが検出されたときのみ、油圧ポンプから供給される圧油のアーム駆動用アクチュエータへの流入量を制限する作業のが好ましい。
(1) 圧力センサ55で検出されるメインポンプ6の吐出圧力が所定の圧力を超えている。すなわち、メインポンプ6の負荷が高負荷である場合。
(2) アーム角度センサ56で検出されるアーム111の角度が所定の角度以下である。すなわち、アーム111の位置が低い場合。
(3) トルコン入力軸回転数センサ13、およびトルコン出力軸回転数センサ14で検出したトルコンの入力軸の回転数Niと出力軸の回転数Ntとに基づいてトルコン速度比eを算出し、算出したトルコン速度比eが所定値以下である。すなわち、ホイールローダ100の車速が低いがエンジン1の回転数が高く、走行負荷が大きい場合。
コントローラ10は、ホイールローダ100で掘削作業を行っていると判断した場合には、比例電磁弁44のソレノイドを消磁する。これにより、比例電磁弁44が比例電磁弁出力圧をゼロとするので、流量制御弁43の流路の開口面積が最大となる。したがって、掘削作業時には、アーム用コントロールバルブ41のPポートへ流れる圧油の流量が流量制御弁43で制限されず、不図示の操作レバーの操作に応じてアームシリンダ114が駆動される。
コントローラ10は、ホイールローダ100が非掘削状態であると判断した場合には、各パイロット圧力センサ51~54で検出した各パイロット圧力に基づいて、アーム上げパイロット圧力センサ51またはアーム下げパイロット圧力センサ52の検出圧力が所定の圧力以上であり、かつ、バケットチルトパイロット圧力センサ53またはバケットダンプパイロット圧力センサ54の検出圧力が所定の圧力以上であるときに複合操作が行われたと判断する。コントローラ10は、複合操作が行われたか否かによって、流量制御弁43を(すなわち比例電磁弁44の比例電磁弁出力圧を)以下のように制御する。
コントローラ10は、上記により複合操作が行われていないと判断した場合には、比例電磁弁44のソレノイドを消磁する。これにより、比例電磁弁44が比例電磁弁出力圧をゼロとするので、流量制御弁43の流路の開口面積が最大となる。したがって、複合操作が行われていない場合には、アーム用コントロールバルブ41のPポートへ流れる圧油の流量が流量制御弁43で制限されず、不図示の操作レバーの操作に応じてアームシリンダ114が駆動される。
コントローラ10は、上記により複合操作が行われていると判断した場合には、バケット112を操作する不図示の操作レバーの操作量が多くなるほど、アーム用コントロールバルブ41のPポートへ流れる圧油の流量が少なくなるように流量制御弁43を制御する。すなわち、コントローラ10は、バケット112を操作する不図示の操作レバーの操作量が多くなるほどバケット112がアーム111に優先して駆動されるように、比例電磁弁44への出力信号を制御することで比例電磁弁44の比例電磁弁出力圧を制御する。
バケットダンプ時、バケットスプールストロークが増えるにつれて、P’ポートとT’ポートとを接続する流路の開口面積は、図5(a)のP’-T’線図で示すように減少する。また、PポートとAポートとを接続する流路の開口面積は、図5(a)のP-A線図で示すように、バケットスプールストロークがS1になるまではゼロであり、S1を超えると増え始め、S3に至ると最大となる。TポートとBポートとを接続する流路の開口面積は、図5(a)のT-B線図で示すように、バケットスプールストロークがS1になるまではゼロであり、S1を超えると増え始め、S3よりも小さいストロークで最大となる。なお、バケットスプールストロークは、図5(b)に示すように、バケットダンプパイロット圧力と略比例関係にある。
バケットチルト時、バケットスプールストロークが増えるにつれて、P’ポートとT’ポートとを接続する流路の開口面積は、図5(d)のP’-T’線図で示すように減少する。また、PポートとBポートとを接続する流路の開口面積は、図5(d)のP-B線図で示すように、バケットスプールストロークがS1になるまではゼロであり、S1を超えると増え始め、S3よりも少ないS2に至ると最大となる。TポートとAポートとを接続する流路の開口面積は、図5(d)のT-A線図で示すように、バケットスプールストロークがS1になるまではゼロであり、S1を超えると増え始め、S3で最大となる。なお、バケットスプールストロークは、図5(e)に示すように、バケットチルト時のパイロット圧力であるバケットチルトパイロット圧力と略比例関係にある。
図6は、本実施の形態における、比例電磁弁44への制御信号の出力処理の動作を示したフローチャートである。ホイールローダ100の不図示のイグニッションスイッチがオンされると、図6に示す処理を行うプログラムが起動され、コントローラ10で繰り返し実行される。ステップS1において、各センサの検出値や角度調整スイッチ57の設定角度を読み込んでステップS3へ進む。ステップS3において、ステップS1で読み込んだ検出値等に基づいて、上述したように掘削状態であるか否かを判断する。
(1) メインポンプ6からの圧油の流れに対してアーム用コントロールバルブ41とバケット用コントロールバルブ42とを並列に配設し、アーム用コントロールバルブ41の上流に流量制御弁43を配設した。そして、アームシリンダ114とバケットシリンダ115を同時に駆動する複合操作が行われたと判断されると、メインポンプ6からアーム用コントロールバルブ41へ流れる圧油を流量制御弁43で規制するように構成した。これにより、複合操作が可能なパラレル油圧回路であっても、複合操作時のバケット112の回動速度が低下することによる不具合の発生を防止できる。したがって、パラレル油圧回路化による複合操作時の操作性の向上と、パラレル油圧回路化による不具合の発生防止とを両立して、作業効率の高い油圧制御装置および作業車両を実現できる。
(1) 上述の説明では、バケット用コントロールバルブ42の流量制御特性に応じて、流量制御弁43がメインポンプ6からアーム用コントロールバルブ41へ流れる圧油を適宜制限するように構成したが、本発明はこれに限定されない。たとえば、バケット用コントロールバルブ42の流量制御特性に関わらず、バケットスプールストロークが所定のスロークに達するまではアーム用コントロールバルブ41のPポートへ流れる圧油の流量を制限せず、バケットスプールストロークが所定のスロークに達した時点でアーム用コントロールバルブ41のPポートへ流れる圧油を遮断するように構成してもよい。また、この場合に、遮断開始から遮断完了までに所定時間(たとえば数秒)要するように構成することで、アーム111の回動が急激に停止することを防止できる。
(6) 上述した各実施の形態および変形例は、それぞれ組み合わせてもよい。
日本国特許出願2010年第107255号(2010年5月7日出願)
Claims (8)
- 作業車両の油圧制御装置であって、
圧油を供給する油圧ポンプと、
前記油圧ポンプから供給される圧油によって作業車両に取り付けられたアームを揺動駆動するアーム駆動用アクチュエータと、
前記油圧ポンプから供給される圧油によって前記アームの先端に取り付けられたバケットを揺動駆動するバケット駆動用アクチュエータと、
前記油圧ポンプから前記アーム駆動用アクチュエータに供給される圧油を制御して前記アーム駆動用アクチュエータの駆動を制御するアーム駆動用圧油制御弁と、
前記油圧ポンプから前記バケット駆動用アクチュエータに供給される圧油を制御して前記バケット駆動用アクチュエータの駆動を制御するバケット駆動用圧油制御弁と、
前記アーム駆動用圧油制御弁を制御するアーム操作部と、
前記バケット駆動用圧油制御弁を制御するバケット操作部と、
前記アーム駆動用アクチュエータおよび前記バケット駆動用アクチュエータの操作状態を検出する操作状態検出部と、
前記操作状態検出部で前記アーム駆動用アクチュエータと前記バケット駆動用アクチュエータとが複合的に操作されたことを検出すると、前記アーム駆動用アクチュエータに供給される圧油を制限する流量制御弁とを備える作業車両の油圧制御装置。 - 請求項1に記載の作業車両の油圧制御装置において、
前記流量制御弁は、前記バケット駆動用圧油制御弁の圧油の制御特性に応じて前記アーム駆動用アクチュエータに供給される圧油を制御する作業車両の油圧制御装置。 - 請求項1または請求項2に記載の作業車両の油圧制御装置において、
前記油圧ポンプで供給される圧油の最高圧力を規定するメインリリーフ弁をさらに備え、
前記流量制御弁は、前記バケット駆動用圧油制御弁が前記バケット駆動用アクチュエータへの圧油を遮断している間は、前記メインリリーフ弁から圧油がタンク側へ導かれないように前記アーム駆動用アクチュエータに供給される圧油を制御する作業車両の油圧制御装置。 - 請求項1~3のいずれか一項に記載の作業車両の油圧制御装置において、
前記流量制御弁は、前記バケット駆動用圧油制御弁が前記バケット駆動用アクチュエータへ供給される圧油の流量が最大となるように制御されているときには、前記アーム駆動用アクチュエータに供給される圧油を遮断する作業車両の油圧制御装置。 - 請求項1~4のいずれか一項に記載の作業車両の油圧制御装置において、
前記流量制御弁は、前記操作状態検出部によって前記バケット駆動用アクチュエータの操作と前記アームの下げ方向への前記アーム駆動用アクチュエータの操作とが検出されたとき、および、前記バケット駆動用アクチュエータの操作と、前記アームの上げ方向への前記アーム駆動用アクチュエータの操作とが検出されたときに、前記油圧ポンプから吐出される圧油の前記アーム駆動用アクチュエータへの流入量を制限する作業車両の油圧制御装置。 - 請求項5に記載の作業車両の油圧制御装置において、
前記流量制御弁は、前記アーム駆動用アクチュエータが下げ方向へ操作されたときと、上げ方向へ操作されたときとで、前記油圧ポンプから吐出されて前記アーム駆動用アクチュエータへ流入する圧油の流量特性を変更する作業車両の油圧制御装置。 - 請求項1~6のいずれか一項に記載の作業車両の油圧制御装置において、
前記アームの角度を検出する角度検出部と、
前記アームの任意の角度を設定する角度設定部をさらに備え、
前記流量制御弁は、前記操作状態検出部により前記バケット駆動用アクチュエータの操作と前記アームの上げ方向の前記アーム駆動用アクチュエータの操作とが検出されると、前記角度検出部で検出した前記アームの角度が前記角度設定部で設定された角度に達した後に前記油圧ポンプから供給される圧油の前記アーム駆動用アクチュエータへの流入量の制限を開始する作業車両の油圧制御装置。 - 請求項1~4のいずれか一項に記載の作業車両の油圧制御装置において、
前記流量制御弁は、前記操作状態検出部により前記バケット駆動用アクチュエータの操作と前記アームを下げる方向の前記アーム駆動用アクチュエータの操作とが検出されたときのみ、前記油圧ポンプから供給される圧油の前記アーム駆動用アクチュエータへの流入量を制限する作業車両の油圧制御装置。
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KR1020127029083A KR20130100054A (ko) | 2010-05-07 | 2011-05-06 | 작업 차량의 유압 제어 장치 |
EP11777482.8A EP2568181B1 (en) | 2010-05-07 | 2011-05-06 | Work vehicle |
CN201180023096.8A CN102893037B (zh) | 2010-05-07 | 2011-05-06 | 工程车辆的液压控制装置 |
US13/696,537 US9340955B2 (en) | 2010-05-07 | 2011-05-06 | Hydraulic control device for work vehicle |
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JP2010107255A JP5485007B2 (ja) | 2010-05-07 | 2010-05-07 | 作業車両の油圧制御装置 |
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EP (1) | EP2568181B1 (ja) |
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JP5037561B2 (ja) * | 2009-05-13 | 2012-09-26 | 株式会社小松製作所 | 作業車両 |
CN104405005B (zh) * | 2014-11-27 | 2017-10-03 | 广西柳工机械股份有限公司 | 装载机铲装控制系统及铲装控制方法 |
JP6328548B2 (ja) * | 2014-12-23 | 2018-05-23 | 日立建機株式会社 | 作業機械 |
KR102561435B1 (ko) | 2016-08-31 | 2023-07-31 | 에이치디현대인프라코어 주식회사 | 건설기계의 제어 시스템 및 건설기계의 제어 방법 |
JP6697361B2 (ja) * | 2016-09-21 | 2020-05-20 | 川崎重工業株式会社 | 油圧ショベル駆動システム |
JP7304776B2 (ja) * | 2019-09-03 | 2023-07-07 | 川崎重工業株式会社 | 制御弁装置、及びそれを備える油圧駆動システム |
JP7253478B2 (ja) * | 2019-09-25 | 2023-04-06 | 日立建機株式会社 | 作業機械 |
US11702819B2 (en) | 2019-11-25 | 2023-07-18 | Deere & Company | Electrohydraulic implement control system and method |
JP7324717B2 (ja) | 2020-01-14 | 2023-08-10 | キャタピラー エス エー アール エル | 油圧制御システム |
CN115450278B (zh) * | 2022-09-16 | 2023-09-22 | 江苏电子信息职业学院 | 一种装载机铲斗辅助铲掘控制方法 |
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KR20130100054A (ko) | 2013-09-09 |
JP5485007B2 (ja) | 2014-05-07 |
JP2011236942A (ja) | 2011-11-24 |
US20130047598A1 (en) | 2013-02-28 |
EP2568181B1 (en) | 2021-12-01 |
EP2568181A4 (en) | 2017-12-06 |
EP2568181A1 (en) | 2013-03-13 |
CN102893037A (zh) | 2013-01-23 |
US9340955B2 (en) | 2016-05-17 |
CN102893037B (zh) | 2015-03-18 |
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