WO2015076130A1 - 作業機械の駆動装置 - Google Patents
作業機械の駆動装置 Download PDFInfo
- Publication number
- WO2015076130A1 WO2015076130A1 PCT/JP2014/079646 JP2014079646W WO2015076130A1 WO 2015076130 A1 WO2015076130 A1 WO 2015076130A1 JP 2014079646 W JP2014079646 W JP 2014079646W WO 2015076130 A1 WO2015076130 A1 WO 2015076130A1
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- WIPO (PCT)
- Prior art keywords
- hydraulic
- pumps
- switching valve
- pump
- actuators
- Prior art date
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
-
- 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
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
-
- 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
- F15B2211/20561—Type of pump reversible
-
- 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
- F15B2211/20569—Type of pump capable of working as pump and motor
-
- 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
- F15B2211/20576—Systems with pumps with multiple pumps
-
- 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
- F15B2211/27—Directional control by means of the pressure source
-
- 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
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
-
- 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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
Definitions
- the present invention relates to a drive device used in a work machine such as a hydraulic excavator, and more particularly to a drive device that drives a hydraulic actuator with a hydraulic pump.
- the hydraulic closed circuit system does not require a control valve that controls the supply direction and flow rate of hydraulic fluid discharged from the hydraulic pump, there is no pressure loss due to the control valve, and the hydraulic fluid at the required flow rate is discharged from the hydraulic pump. There is little flow loss.
- the potential energy of the hydraulic actuator to be driven and the kinetic energy at the time of deceleration can be regenerated, thereby realizing energy saving.
- Japanese Patent Application Laid-Open No. 2004-133867 discloses a conventional technique that joins hydraulic oils discharged from a plurality of hydraulic pumps to ensure the driving speed of the hydraulic actuator without increasing the size of the plurality of hydraulic pumps.
- a hydraulic pump is assigned to each hydraulic actuator based on a priority order map that defines a priority connection relationship between a plurality of hydraulic pumps and a plurality of hydraulic actuators. Switching control is performed.
- Patent Document 1 The prior art disclosed in Patent Document 1 described above always assigns hydraulic pumps to the respective hydraulic actuators based on the priority order map and performs switching control of the switching valves in accordance with the assignments. there is a possibility.
- the hydraulic pump connected to a certain hydraulic actuator is It is possible to connect to a hydraulic actuator that is activated from priority and reconnect another hydraulic pump to a certain hydraulic actuator.
- a plurality of hydraulic actuators are being driven and the flow rate to a certain hydraulic actuator is reduced to decelerate, that is, when the number of assigned hydraulic pumps decreases, multiple hydraulic pumps are assigned to the hydraulic actuators that reduce the flow rate. From this state, a certain hydraulic pump among the plurality of assigned hydraulic pumps is not connected. Therefore, this certain hydraulic pump becomes unused.
- the hydraulic pump connected to the other hydraulic actuators based on the priority map Can be unassigned and reconnected to its unused hydraulic pump.
- the switching valve is controlled with the number of times of switching more than necessary (hereinafter sometimes referred to as the number of switching).
- the number of switching it is possible to increase the vehicle body vibration due to the shock generated by the pressure fluctuation at the time of switching, deteriorate the operability, and further reduce the life due to the deterioration of the components including the switching valve.
- the present invention has been made from the above-described actual state of the prior art, and an object of the present invention is to provide a drive device for a work machine that can reduce unnecessary switching control of a switching valve.
- the present invention provides a plurality of hydraulic actuators, a plurality of variable displacement hydraulic pumps for driving the plurality of hydraulic actuators, and a connection between the hydraulic actuator and the hydraulic pump.
- a plurality of switching valves an operation unit for operating the hydraulic actuator, a controller for controlling the hydraulic pump and the switching valve, and at least two of the one or more hydraulic actuators.
- a drive device for a work machine configured such that a hydraulic pump can be connected to a closed circuit via the switching valve, wherein the controller is configured to operate the operation unit, and the plurality of hydraulic pumps and the plurality of hydraulic actuators.
- a plurality of hydraulic pumps with respect to the hydraulic actuator based on a priority order map that defines a priority connection relationship; It includes a priority arithmetic circuit for calculating the hit Ri, the priority operation circuit, if the allocation number of the hydraulic pump is increased, is characterized by assigning to select the hydraulic pump unassigned.
- the present invention configured as described above is based on the priority order calculation circuit of the controller and the operation of the operation unit and the priority order map that defines the priority connection relationship between the plurality of hydraulic pumps and the plurality of hydraulic actuators.
- a hydraulic pump that is not allocated immediately before the increase is allocated.
- the connection of the hydraulic pump connected to a certain hydraulic actuator is changed. Therefore, since an unused hydraulic pump can be connected to the hydraulic actuator to be started, unnecessary switching control of the switching valve can be reduced. As a result, the frequency of shocks caused by pressure fluctuations at the time of switching can be reduced, so that vehicle body vibration can be reduced, operability can be improved, and the life of components including the switching valve can be improved.
- the present invention also includes a plurality of hydraulic actuators, a plurality of variable displacement hydraulic pumps that drive the plurality of hydraulic actuators, a plurality of switching valves connected between the hydraulic actuator and the hydraulic pump, An operation unit for operating a hydraulic actuator; and a controller for controlling the hydraulic pump and the switching valve, wherein at least two of the hydraulic pumps are connected to the one hydraulic actuator via the switching valve.
- a drive device for a work machine configured to be connectable to a closed circuit, wherein the controller is a priority order map that defines an operation of the operation unit and a priority connection relationship between the plurality of hydraulic pumps and the plurality of hydraulic actuators.
- the priority calculation circuit maintains the allocation of the hydraulic pumps allocated to the hydraulic actuators other than the predetermined hydraulic actuator when the allocation number of the plurality of hydraulic pumps to the predetermined hydraulic actuator decreases. It is characterized by doing.
- the present invention configured as described above is based on the priority order calculation circuit of the controller and the operation of the operation unit and the priority order map that defines the priority connection relationship between the plurality of hydraulic pumps and the plurality of hydraulic actuators.
- the priority order calculation circuit of the controller and the operation of the operation unit and the priority order map that defines the priority connection relationship between the plurality of hydraulic pumps and the plurality of hydraulic actuators.
- the present invention assigns a plurality of hydraulic pumps to hydraulic actuators based on a priority order operation circuit and a priority order map that defines a priority connection relationship between a plurality of hydraulic pumps and a plurality of hydraulic actuators.
- a priority order operation circuit assigns a plurality of hydraulic pumps to hydraulic actuators based on a priority order operation circuit and a priority order map that defines a priority connection relationship between a plurality of hydraulic pumps and a plurality of hydraulic actuators.
- a hydraulic pump that is not allocated immediately before the increase is allocated.
- the present invention when the number of hydraulic pumps allocated to a predetermined hydraulic actuator decreases, the allocation of hydraulic pumps allocated to hydraulic actuators other than the predetermined hydraulic actuator is maintained. With these configurations, the present invention can reduce unnecessary switching control of the switching valve. Problems, configurations, and effects other than those described above will be made clear from the following description of embodiments.
- FIG. 1 is a side view showing a hydraulic excavator including an embodiment of a working machine drive device according to the present invention. It is a circuit block diagram which shows the principal part of the drive device with which the hydraulic shovel shown in FIG. 1 is equipped. It is a block diagram which shows the controller in the drive device shown in FIG. FIG. 4 is a graph showing calculation in a required pump number calculation circuit of the controller shown in FIG. 3, (a) is a boom cylinder, (b) is an arm cylinder, (c) is a bucket cylinder, and (d) is a swing motor. It is a table
- FIG. 4 is a time chart showing the operation of the controller shown in FIG. 3 when the number of requested pumps is decreased.
- A) is the lever operation amount
- (b) is the number of requested pumps
- (c) is the number of pumps used
- (d) is from time t1
- (e) is the state of the switching valve after time t2 and time t2.
- It is a flowchart which shows the allocation control of the hydraulic pump of the controller shown in FIG.
- FIG. 1 is a side view showing a hydraulic excavator 1 including an embodiment of a drive device for a work machine according to the present invention.
- a hydraulic excavator 1 that is an example of a working machine according to an embodiment of the present invention includes a traveling body 101, and a revolving body 102 is provided on the traveling body 101.
- the traveling body 101 and the revolving body 102 constitute a main body.
- the traveling body 101 is provided with crawler belts provided on the left and right sides of the main body and travel motors 10a and 10b which are hydraulic actuators and provide travel power to the left and right crawler belts.
- the turning body 102 is turnable with respect to the traveling body 101 by a bearing mechanism (not shown) interposed between the turning body 102 and a turning motor 10c that is a hydraulic actuator.
- the swivel body 102 has a work device 103 mounted on the front of the main frame 105, a counterweight 108 on the rear, and a cab 104 on the left front.
- a work device 103 mounted on the front of the main frame 105, a counterweight 108 on the rear, and a cab 104 on the left front.
- an engine 106 as a prime mover and a drive system 107 driven by a drive output from the engine 106 are accommodated.
- the work device 103 is a front work machine for performing a work such as excavation by connecting a structure including a boom 111, an arm 112, and a bucket 113 by a link mechanism and performing a rotational motion around each link shaft.
- the work device 103 includes a boom cylinder 7a, an arm cylinder 7b, and a bucket cylinder 7c as hydraulic actuators for rotating the boom 111, the arm 112, and the bucket 113.
- FIG. 2 is a circuit configuration diagram showing a main part of the drive device provided in the excavator 1 shown in FIG. In the description of the drive device, the response time from the command to the operation is not considered.
- the drive system 107 which is a drive device, includes a variable displacement closed-circuit hydraulic pumps 2a to 2f (hereinafter sometimes simply referred to as hydraulic pumps), a boom cylinder 7a, and an arm cylinder 7b.
- the hydraulic cylinder closed circuit system in which the bucket cylinder 7c and the swing motor 10c are connected by piping without using the control valve, and the variable displacement type open circuit hydraulic pumps 1a and 1b and the travel motors 10a and 10b are supplied flow rates.
- a hydraulic open circuit system connected using piping through a control valve 11 as a hydraulic control device for controlling the supply direction.
- hydraulic closed circuit system and the hydraulic open circuit system are mixed, but this is not particular, and depending on the application of the work machine, for example, all hydraulic actuators may be configured as a hydraulic closed circuit system. It may take the form of
- the hydraulic closed circuit system includes an engine 106, a power transmission device 15 including a gear mechanism, and the like, and a drive output including torque and rotational speed is supplied from the engine 106 via the power transmission device 15.
- the closed circuit hydraulic pumps 2a to 2f are provided, and hydraulic regulators 3a to 3f, which are discharge flow rate variable devices for varying the discharge flow rates of the closed circuit hydraulic pumps 2a to 2f.
- the hydraulic closed circuit system is for a boom cylinder 7a, an arm cylinder 7b, a bucket cylinder 7c, and a swing motor 10c, and at least one of these boom cylinder 7a, arm cylinder 7b, bucket cylinder 7c, and swing motor 10c and a closed circuit.
- Lever operation amount which is an operation signal to the electromagnetic switching valve 12 which is a connecting device for enabling hydraulic closed circuit connection to the hydraulic pumps 2a to 2f, and the boom cylinder 7a, arm cylinder 7b, bucket cylinder 7c and swing motor 10c.
- a controller 16 as a control device for controlling the hydraulic regulators 3a to 3f and the electromagnetic switching valve 12 in accordance with the lever operation amount of the operating device 17.
- the closed-circuit hydraulic pumps 2a to 2f are provided with two closed-circuit hydraulic pumps 2a to 2f in order to provide driving directions and discharge flow rates for the boom cylinder 7a, arm cylinder 7b, bucket cylinder 7c, and swing motor 10c.
- a bidirectional discharge mechanism that allows hydraulic oil (pressure oil) to be discharged from each of the connection ports.
- the bidirectional discharge mechanism is controlled by hydraulic regulators 3a to 3f.
- a hydraulic closed circuit is configured in which the hydraulic oil circulates between the closed circuit hydraulic pumps 2a to 2f and the hydraulic actuator without returning to the hydraulic oil tank 9.
- the regenerative energy is transmitted to the return hydraulic oil, and is transmitted to one of the closed circuit hydraulic pumps 2a to 2f.
- the closed-circuit hydraulic pumps 2a to 2f perform a regenerative operation with regenerative energy.
- the regenerative energy is transmitted as a drive output to any of the other closed circuit hydraulic pumps 2a to 2f driving other hydraulic actuators via the power transmission device 15.
- an energy saving effect corresponding to the regenerative energy is obtained for the engine 106.
- the hydraulic closed circuit system includes a charge pump, a make-up check valve, and a one-rod hydraulic cylinder head side and a rod for increasing circuit pressure to prevent cavitation.
- a flushing valve for replacing the hydraulic oil in the closed circuit while absorbing the flow rate difference from the side, a relief valve for relieving the hydraulic oil when the hydraulic pressure exceeds a predetermined value, and the like are provided.
- the electromagnetic switching valve 12 is used for "BM” in order to connect a plurality of the closed circuit hydraulic pumps 2a to 2f to one of the boom cylinder 7a, the arm cylinder 7b, the bucket cylinder 7c and the swing motor 10c.
- the switching valve is composed of a total of 18 switching valves including an “AM” switching valve, an “BK” switching valve, and an “SW” switching valve.
- the “BM” switching valve is a switching valve for connecting to the boom cylinder 7 a, and all of the closed circuit hydraulic pumps 2 a to 2 f located upstream of the electromagnetic switching valve 12 are connected at the maximum. It is possible to connect.
- the “AM” switching valve is a switching valve for connecting to the arm cylinder 7b, and among the closed circuit hydraulic pumps 2a to 2f located upstream of the electromagnetic switching valve 12, the maximum is the closed circuit hydraulic pumps 2a to 2d. Can be connected.
- the “BK” switching valve is a switching valve for connection to the bucket cylinder 7 c, and can be connected at the maximum among the closed circuit hydraulic pumps 2 a to 2 f located upstream of the electromagnetic switching valve 12.
- the “SW” switching valve is a switching valve for connection to the swing motor 10c.
- the closed circuit hydraulic pumps 2a to 2f located upstream of the electromagnetic switching valve 12 a total of two closed circuit hydraulic pressures are used.
- the pumps 2e and 2f can be connected.
- connection form of the above-mentioned electromagnetic switching valve 12 is not particular to this, and another connection form may be used depending on the use of the work machine.
- an operation device 17 is provided for giving an operation command to each hydraulic actuator.
- the operating device 17 includes operating levers 17a and 17b that can tilt forward, backward, left and right, and a detection device (not shown) that electrically detects the tilting amount of the operating levers 17a and 17b, that is, the lever operating amount.
- the lever operation amount detected by the detection device is output to the controller 16 through the electrical wiring as a lever operation amount signal.
- the operating device 17 has a mechanism for electrically detecting the lever operation amount.
- the operating device 17 is not particularly limited to this, and may be another mechanism such as a hydraulic mechanism. That is, if it is a hydraulic mechanism, a pilot hydraulic pump is provided separately, and a mechanism for reducing the discharge pressure of this hydraulic pump according to the lever operation amount is typical.
- the controller 16 performs a predetermined control calculation, outputs an opening degree command signal to the hydraulic regulators 3a to 3f, and outputs a switching valve connection command signal to the electromagnetic switching valve 12, thereby performing control. That is, the controller 16 determines the hydraulic pressure based on information such as a lever operation amount signal output from the operating device 17 and operating hydraulic pressure signals output from the pressure sensors 18a to 18h connected to the connection ports of the hydraulic actuators.
- the regulators 3a to 3f, the electromagnetic switching valve 12 and the control valve 11 are controlled.
- the hydraulic open circuit system is provided with the control valve 11 for providing the driving direction of the traveling motors 10a and 10b and the discharge flow rate downstream.
- the open circuit hydraulic pumps 1a and 1b are unidirectional discharge mechanisms, and have two connection ports, and one of these two connection ports is connected to a hydraulic oil tank 9 for temporarily storing pressure oil.
- the suction port is connected to the hydraulic oil tank 9 using a pipe.
- the other connection ports of the open circuit hydraulic pumps 1a and 1b are connected to the connection port of the control valve 11 as a discharge port.
- the discharge flow rate from the discharge port is controlled by a one-way discharge mechanism.
- the one-way discharge mechanism is controlled by hydraulic regulators 3g and 3h.
- the control valve 11 and the hydraulic regulators 3g and 3h are controlled according to a lever operation amount generated by an operation device (not shown) provided in the cab 104.
- the lever operation amount is output to the controller 16.
- the controller 16 performs a control operation different from that of the hydraulic closed circuit system, converts it into an output signal, and outputs it to the control valve 11 and the hydraulic regulators 3g and 3h via electric wiring.
- FIG. 3 is a block diagram showing a controller in the drive device shown in FIG. 4A and 4B are graphs showing calculations in the requested pump number calculation circuit 30 of the controller 16 shown in FIG. 3, where FIG. 4A is a boom cylinder 7a, FIG. 4B is an arm cylinder 7b, FIG. 4C is a bucket cylinder 7c, d) is a turning motor 10c.
- FIG. 5 is a table showing a priority map of the controller 16 shown in FIG.
- the controller 16 includes a requested pump number calculation circuit 30, a priority order calculation circuit 31, and a priority order map 32.
- the required pump number calculation circuit 30 calculates the required pump number to be connected to the hydraulic actuator based on the operation amount of the operation levers 17a and 17b of the operation device 17, that is, the lever operation amount. As shown in FIGS. 4A to 4D, the required pump number calculation circuit 30 is based on a lever operation amount signal output from the operation device 17 when the operation levers 17a and 17b are operated.
- the required number of hydraulic pumps is calculated from the amount of hydraulic oil required for driving the boom cylinder 7a, arm cylinder 7b, bucket cylinder 7c and swing motor 10c.
- 4 (a) to 4 (d) show an example in which the hydraulic oil flow rate increases proportionally according to the lever operation amount, but this is not particular, and it depends on the work machine. You may give the specification.
- the priority map 32 defines the priority connection relationship between the hydraulic pumps 2a to 2f for closed circuits and the hydraulic actuators of the boom cylinder 7a, the arm cylinder 7b, the bucket cylinder 7c, and the swing motor 10c.
- each of these hydraulic actuators is shown as a vertical axis
- each of the closed circuit hydraulic pumps 2a to 2f is shown as a horizontal axis
- each square corresponding to each axis has, for example, “1”, “2”,.
- a priority order such as “7” is shown.
- the indication of “ ⁇ ” in these squares indicates that the closed circuit hydraulic pumps 2 a to 2 f and the hydraulic actuator are not connected via the electromagnetic switching valve 12.
- the hydraulic actuator to be operated is a boom cylinder 7a that requires a large flow rate
- the connectable hydraulic pumps are all of P1 to P6.
- the connection order is P1, P4, P2, P5, P6, P3.
- the hydraulic actuator to be operated is the arm cylinder 7b
- the connectable hydraulic pumps are P1 to P4
- the connection order is P2, P1, P3, and P4.
- the hydraulic actuator to be operated is a bucket cylinder 7c that requires a large flow rate
- the hydraulic pumps that can be connected are all of P1 to P6, and the connection order is P3, P6, P4, P5, P2, and P1. In order.
- the connectable hydraulic pumps are P5 and P6, and the connection order is P5 and P6.
- the numbers “1” to “7” in the priority order map 32 indicate the priority order in which the smaller hydraulic actuators are preferentially connected in the predetermined closed circuit hydraulic pumps 2a to 2f.
- the priority calculation circuit 31 is a closed circuit hydraulic pressure for each hydraulic actuator based on the required pump number calculated by the required pump number calculation circuit 30 based on the operation amount of the operation levers 17a and 17b and the priority map 32. The allocation of the pumps 2a to 2f is calculated. Based on the calculation result in the priority order calculation circuit 31, a switching valve connection command signal for switching the predetermined electromagnetic switching valve 12 and a hydraulic pump connection command for connecting the predetermined closed circuit pumps 2a to 2f. Are output, the predetermined electromagnetic switching valve 12 is controlled to switch based on the output switching valve connection command signal and the hydraulic pump connection command, and the open circuit hydraulic pumps 2a to 2f are connected to the hydraulic actuators. .
- the priority order calculation circuit 31 is not assigned immediately before the increase, that is, the unused closed circuit hydraulic pump 2a.
- the number of pumps assigned to the plurality of closed circuit hydraulic pumps 2a to 2f to the predetermined hydraulic actuator decreases (when the number of pumps decreases)
- other hydraulic actuators other than the predetermined hydraulic actuator
- the closed-circuit hydraulic pumps 2a to 2f assigned to are maintained.
- FIG. 6 is a time chart showing the operation of the controller 16 shown in FIG. 3 when the number of requested pumps is increased.
- A is the lever operation amount
- (b) is the number of requested pumps
- (c) is the number of pumps used
- (d ) Is the state of the electromagnetic switching valve 12 before time t1
- (e) is the state of the electromagnetic switching valve 12 after time t1 and time t1.
- 7 is a time chart showing the operation of the controller 16 shown in FIG. 3 when the required number of pumps is decreased.
- (e) is the state of the electromagnetic switching valve 12 after time t2 and time t2.
- FIG. 8 is a flowchart showing assignment control of the closed circuit hydraulic pumps 2a to 2f of the controller 16 shown in FIG.
- the horizontal axis represents time
- the vertical axis of each figure represents FIGS. 6 (a) and 7 (c).
- FIG. 6 (b) and FIG. 7 (b) show the required number of pumps
- FIG. 6 (c) and FIG. 7 (c) show the number of pumps used.
- the required number of pumps for each hydraulic actuator of the boom cylinder 7a, arm cylinder 7b, bucket cylinder 7c and swing motor 10c is calculated by the required pump number calculation circuit 30 with respect to the lever operation amount at each time.
- the priority order calculating circuit 31 assigns pumps to the closed circuit hydraulic pumps 2a to 2f with reference to the priority order map 32. Calculate.
- the requested pump number of the boom cylinder 7a before time t1 is “0”
- the requested pump number of the arm cylinder 7b is “2”
- the requested pump number of the bucket cylinder 7c is
- the operation levers 17a and 17b are operated at time t1 to request It is assumed that the number of pumps is “1, 2, 0, 0”, and the required number of pumps increases as “1, 0, 0, 0”.
- the priority calculation circuit 31 is supplied to the requested pump number “1, 2, 0, 0” after the time t1 and the time t1, and the used pump number “0” before the time t1.
- 2, 0, 0 is input (step S1), and it is determined whether or not the required pump number NPr is equal to or greater than the number of used pumps NPu, that is, NPr ⁇ NPu (step S2).
- the control starts at the start, and returns to the start when the return is reached. This control is performed at a predetermined cycle by an internal timer (not shown) provided in the controller 16.
- step S3 when it is determined that the required pump number NPr and the used pump number NPu are equal (Yes), the assignment calculation of the new closed circuit hydraulic pumps 2a to 2f is not performed. On the other hand, if it is determined in step S3 that the required pump number NPr and the used pump number NPu are not equal (No), whether there are any unused closed-circuit hydraulic pumps 2a to 2f. Is determined (step S4).
- step S4 when it is determined that there are unused closed circuit hydraulic pumps 2a to 2f (Yes), the difference between the requested pump number NPr and the used pump number NPu, that is, NPr-NPu is calculated. Based on this difference, an unused hydraulic pump is allocated (step S5). On the other hand, when there is no unused hydraulic pump (No) in step S4, predetermined closed circuit hydraulic pumps 2a to 2f are assigned to predetermined hydraulic actuators based on the priority map 32. (Step S6).
- the lever operation amount with respect to the boom cylinder 7a is combined with the lever operation amount with respect to the arm cylinder 7b input before time t1.
- the required pump number NPr is changed from “0, 2, 0, 0” before time t1 to “1, 2, 0, 0”.
- the used pumps before time t1 are P1 and P2, and the number of used pumps NPu is “0, 2, 0, 0”.
- the requested pump number NPr “1, 2, 0, 0” and the used pump number NPu “0, 2, 0, 0” are input to the priority calculation circuit 31 (step S1), and the requested pump number NPr.
- step S2 the number of used pumps NPu are compared, and an increase of “0, 1, 0, 0”, that is, the requested pump number NPr is determined to be greater than or equal to the used pump number NPu (step S2). Further, it is determined that the required pump number NPr and the used pump number NPu are not equal (step S3), and the process proceeds to determination of whether or not there is an unused hydraulic pump.
- step S4 since there are P3, P4, P5, and P6 among the unused hydraulic pumps, it is determined that there is an unused hydraulic pump, that is, YES (step S4).
- the hydraulic pump with the highest priority for the boom cylinder 7a is assigned (step S5). As shown in FIG.
- the electromagnetic switching valve 12 is turned on before the time t1 due to the connection between P1 and P2 and the arm cylinder 7b and the "AM" switching valve downstream of P1 and P2. It has become. Further, as shown in FIG. 6E, at the time t1, the “BM” switching valve downstream of P4 is turned on with the connection between the assigned P4 and the boom cylinder 7a.
- the number of used pumps NPu after time t1 satisfies the required pump number NPr, and the used pump number NPu equal to the required pump number is secured. Therefore, the working speed of the hydraulic actuator can be obtained as required, and the number of switching of the electromagnetic switching valve 12 is only one time of the “BM” switching valve.
- step S7 when the required pump number NPr does not become equal to or greater than the used pump number NPu (No) in the above step S2, that is, when the required pump number NPr is decreasing, it is for the closed circuit according to the priority map 32 shown in FIG.
- the unnecessary switching of the electromagnetic switching valve 12 is required as will be described later, so that the closed circuit used for driving the hydraulic actuator reduces the number of required pumps.
- the number of pumps 2a to 2f is decreased, and the connection of the closed circuit hydraulic pumps 2a to 2f to the hydraulic actuators other than the arm cylinder 7b, that is, the boom cylinder 7a, is not changed (step S7). ).
- the lever of the arm cylinder 7b out of the lever operation amounts of the boom cylinder 7a and the arm cylinder 7b input before time t2.
- the amount of operation decreases.
- the required pump number NPr is changed from “1, 2, 0, 0” to “1, 1, 0, 0”.
- the used pumps before time t2 are P1, P2, and P4, and the number of used pumps NPu is “1, 2, 0, 0”.
- the requested pump number NPr “1, 1, 0, 0” and the used pump number NPr “1, 2, 0, 0” are input to the priority calculation circuit 31 (step S1).
- the requested pump number NPr and the used pump number NPu are compared, and it is determined that the decrease is “0, 1, 0, 0”, that is, the requested pump number NPr is smaller than the used pump number NPu (step S2).
- the number of pumps used is reduced from the hydraulic pumps connected to the arm cylinder 7b, which is a hydraulic actuator that reduces the number of requested pumps (step S7).
- the hydraulic pump connected to the arm cylinder 7b has P1 with a priority “2” and P2 with a priority “1” before time t2. Since the decrease in the number of requested pumps at time t2 is “0, 1, 0, 0”, as shown in FIG. 5, “1” P1 having a lower priority is unused.
- the electromagnetic switching valve 12 is turned on before the time t2 due to the connection between P1 and P2 and the arm cylinder 7b, the “AM” switching valve downstream of P1 and P2. It has become. Further, as shown in FIG. 7E, at time t2, the “AM” switching valve downstream of P1 is turned off as the required pump number NPr decreases.
- FIG. 9 is a time chart showing the operation of the conventional hydraulic excavator 1 when the number of requested pumps is increased.
- A is the lever operation amount
- (b) is the number of requested pumps
- (c) is the number of pumps used
- (d) Is the state of the electromagnetic switching valve 12 before time t1
- (e) is the state of the electromagnetic switching valve 12 after time t1 and t1.
- FIG. 10 is a time chart showing the operation of the conventional hydraulic excavator 1 when the required number of pumps is reduced.
- (A) is the lever operation amount
- (b) is the required number of pumps
- (c) is the number of pumps used
- (d) Is the state of the electromagnetic switching valve 12 from time t1 to time t2
- (e) is the state of the electromagnetic switching valve 12 after time t2 and time t2.
- the requested pump number of the boom cylinder 7a is “0”
- the requested pump number of the arm cylinder 7b is “2”
- the requested pump number of the bucket cylinder 7c is “0”
- the required number of pumps of the swing motor 10c is “0”, that is, “0, 2, 0, 0”.
- the priority order map 32 shown in FIG. , P1 are assigned to the arm cylinder 7b.
- the lever operation amount for the boom cylinder 7a is input so as to be combined with the lever operation amount for the arm cylinder 7b input before time t1.
- the requested pump number is changed from “0, 2, 0, 0” to “1, 2, 0, 0”, and increases by “1, 0, 0, 0”.
- the requested pump number of the boom cylinder 7a is changed from “0” to “1”.
- the closed circuit hydraulic pumps 2a to 2f assigned to the boom cylinder 7a have the priority order P1 of “1”, the priority order of P4 “2”, and P2.
- the closed circuit hydraulic pumps 2a to 2f assigned to the arm cylinder 7b have a priority order of P1, a priority order of P1, a priority order of P1, and a priority order of P3 of “3”.
- P1 is assigned to the boom cylinder 7a having a higher priority from the arm cylinder 7b, and the priority is next higher to "3" for the arm cylinder 7b.
- P3 is assigned.
- the electromagnetic switching valve 12 is downstream of P1
- the “AM” switching valve corresponding to the connection to the arm cylinder 7b is turned off, and is downstream of P1.
- the “BM” switching valve corresponding to the connection to the boom cylinder 7a is turned on from off, and the “AM” switching valve corresponding to the connection to the arm cylinder 7b is turned on from downstream. Therefore, the number of switching of the electromagnetic switching valve 12 is required three times.
- the electromagnetic switching valve 12 has an "AM" switching valve corresponding to the connection of P1 to the arm cylinder 7b and is turned off from P1. Since the “BM” switching valve corresponding to the connection to the boom cylinder 7a is switched from OFF to ON, and the “BM” switching valve corresponding to the connection to the boom cylinder 7a of P4 is switched from ON to OFF, The number of switching of the electromagnetic switching valve 12 is required three times.
- the number of requested pumps NPr is “0, 2, 0, 0” at time t1. Is changed from “1, 2, 0, 0” to “1, 0, 0, 0”, and when there is an unused hydraulic pump, a predetermined hydraulic pressure is determined based on the priority map 32.
- the predetermined closed circuit hydraulic pumps 2a to 2f are allocated to the actuators, the increased hydraulic pumps are allocated from the unused hydraulic pumps. That is, as shown in FIG. 5, the priorities of the closed circuit hydraulic pumps 2a to 2f with respect to the boom cylinder 7a are as follows: P3 is “6”, P4 is “2”, P5 is “4”, and P6 is “5”. Therefore, P4 having the highest priority is assigned.
- the electromagnetic switching valve 12 sets the number of switching of the electromagnetic switching valve 12 to one only by turning on the “BM” switching valve corresponding to the connection of the P4 to the boom cylinder 7a. be able to.
- the driving according to an embodiment of the present invention is performed with respect to the switching number of the electromagnetic switching valve three times when the required number of pumps is increased in the conventional driving system described above.
- the number of switching of the electromagnetic switching valve 12 can be reduced to one, and unnecessary switching control of the electromagnetic switching valve 12 can be reduced.
- the required pump number NPr is changed from “1, 2, 0, 0” to “1, 1, 0, 0”, and “0, When 1,0,0 "decreases, as shown in FIG. 5 and FIG. 7C, before time t2, P1 having a priority of“ 2 ”and P2 having a priority of“ 1 ”are When used, P2 of “2” having a lower priority with respect to the arm cylinder 7b in which the required pump number NPr decreases is unused.
- the electromagnetic switching valve 12 is electromagnetically switched only by turning off the "AM" switching valve corresponding to the connection of P1 to the arm cylinder 7b.
- the number of switching of the valve 12 may be one.
- the number of used pumps NPu satisfies the required number of pumps NPr, it is possible to obtain the working speed of the hydraulic actuator as required, and at time t2, as shown in FIG. Can be switched once. Therefore, when driving a plurality of hydraulic actuators and reducing the flow rate to a certain hydraulic actuator, that is, even when the number of assigned hydraulic pumps is reduced, the assignment is removed from the hydraulic pump to the hydraulic actuator that reduces the flow rate, In order to maintain the assignment of the hydraulic pumps to other hydraulic actuators, the number of switching of the electromagnetic switching valve 12 should be one while the number of switching when the required number of pumps in the conventional drive system is reduced is three. Therefore, unnecessary switching control of the electromagnetic switching valve 12 can be reduced.
- the number of switching of the electromagnetic switching valve 12 can be reduced when the number of requested pumps is increased and decreased, the frequency of shocks caused by the pressure fluctuation of the hydraulic oil when the electromagnetic switching valve 12 is switched is reduced. It is possible to reduce the vibration of the vehicle body and improve the operability, and further improve the life of the component equipment including the electromagnetic switching valve 12. Further, since the number of switching of the electromagnetic switching valve 12 is reduced, the power consumption associated with the switching of the electromagnetic switching valve 12 can also be reduced.
- the drive system 107 is mounted on the hydraulic excavator 1 has been described as an example.
- the present invention is not limited to this, and can be driven by hydraulic pressure such as a hydraulic crane or a wheel loader.
- the working machine is equipped with a hydraulic actuator, the working machine other than the hydraulic excavator 1 can be applied.
- closed circuit hydraulic pumps 2a to 2f of the drive system 107 may have the same discharge capacity or different discharge capacities. It may be a pump.
- the number of switching of the electromagnetic switching valve 12 is decreased in each of the case where the number of requested pumps increases and the case where the number of requested pumps decreases.
- the processing according to the present invention may be performed so that the switching number of the electromagnetic switching valve 12 is decreased only when the number of pumps is reduced or only when the required number of pumps is decreased.
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Abstract
Description
例えば、図6(b)に示すように、時刻t1前のブームシリンダ7aの要求ポンプ数が「0」で、アームシリンダ7bの要求ポンプ数が「2」で、バケットシリンダ7cの要求ポンプ数が「0」で、旋回モータ10cの要求ポンプ数が「0」である場合(以下、「0,2,0,0」と示す。)に、時刻t1時に操作レバー17a,17bが操作され、要求ポンプ数が「1,2,0,0」となり、「1,0,0,0」ほど要求ポンプ数が増加したとする。
さらに、上記ステップS2において、要求ポンプ数NPrが使用ポンプ数NPu以上とならない(Noの)場合、すなわち要求ポンプ数NPrが減少している場合は、図5に示す優先順位マップ32に従って閉回路用油圧ポンプ2a~2fの割り当てを元に戻すようにすると、後述のように不要な電磁切換弁12の切換が必要となるため、要求ポンプ数が減少する油圧アクチュエータの駆動に使用している閉回路用ポンプ2a~2fのポンプ数を減少させ、この油圧アクチュエータ、すなわちアームシリンダ7b以外の他の油圧アクチュエータ、すなわちブームシリンダ7aへの閉回路用油圧ポンプ2a~2fの接続変更を行わない(ステップS7)。
ここで、従来の駆動システムの動作について、図9および図10を参照して説明する。図9は、従来の油圧ショベル1における要求ポンプ数増加時の動作を示すタイムチャートで、(a)はレバー操作量、(b)は要求ポンプ数、(c)は使用ポンプ数、(d)は時刻t1前の電磁切換弁12の状態、(e)は時刻t1、およびt1後の電磁切換弁12の状態である。図10は、従来の油圧ショベル1における要求ポンプ数減少時の動作を示すタイムチャートで、(a)はレバー操作量、(b)は要求ポンプ数、(c)は使用ポンプ数、(d)は時刻t1から時刻t2前の電磁切換弁12の状態、(e)は時刻t2、および時刻t2後の電磁切換弁12の状態である。なお、図9(a)~図9(c)、および図10(a)~図10(c)の横軸および縦軸は、図6(a)~図6(c)、および図7(a)~(c)と同様である。
図9(b)に示すように、時刻t1前において、ブームシリンダ7aの要求ポンプ数が「0」で、アームシリンダ7bの要求ポンプ数が「2」で、バケットシリンダ7cの要求ポンプ数が「0」で、旋回モータ10cの要求ポンプ数が「0」、すなわち「0,2,0,0」である。この場合は、アームシリンダ7bの要求ポンプ数が「2」であり、他の油圧アクチュエータからの要求ポンプがないため、図5に示す優先順位マップ32を参照し、優先順位が高い順、すなわちP2、P1の順でアームシリンダ7bに割り当てられる。
なお、本発明は前述した実施形態に限定されるものではなく、様々な変形態様が含まれる。例えば、前述した実施形態は、本発明を分りやすく説明するために説明したものであり、本発明は、必ずしも説明した全ての構成を備えるものに限定されるものではない。
1a,1b 開回路用油圧ポンプ
2a~2f 閉回路用油圧ポンプ(油圧ポンプ)
3a~3g 油圧レギュレータ
7a ブームシリンダ(油圧アクチュエータ)
7b アームシリンダ(油圧アクチュエータ)
7c バケットシリンダ(油圧アクチュエータ)
9 作動油タンク
10a,10b 走行モータ
10c 旋回モータ(油圧アクチュエータ)
11 コントロールバルブ
12 電磁切換弁(切換弁)
15 動力伝達装置
16 コントローラ
17 操作装置(操作部)
17a,17b 操作レバー
18a~18h 圧力センサ
30 要求ポンプ数演算回路
31 優先順位演算回路
32 優先順位マップ
101 走行体
102 旋回体
103 作業装置
104 運転室
105 メインフレーム
106 エンジン
107 駆動システム(駆動装置)
108 カウンタウェイト
111 ブーム
112 アーム
113 バケット
Claims (2)
- 複数の油圧アクチュエータ(7a~7c,10c)と、
前記複数の油圧アクチュエータ(7a~7c,10c)を駆動させるための可変容量型の複数の油圧ポンプ(2a~2f)と、
前記油圧アクチュエータ(7a~7c,10c)と前記油圧ポンプ(2a~2f)との間に接続された複数の切換弁(12)と、
前記油圧アクチュエータ(7a~7c,10c)を操作するための操作部(17)と、
前記油圧ポンプ(2a~2f)および前記切換弁(12)を制御するコントローラ(16)とを具備し、
いずれか1つの前記油圧アクチュエータ(7a~7c,10c)に少なくとも2つ以上の前記油圧ポンプ(2a~2f)が前記切換弁(12)を介して閉回路接続可能に構成された作業機械(1)の駆動装置(107)であって、
前記コントローラ(16)は、前記操作部(17)の操作と、前記複数の油圧ポンプ(2a~2f)と前記複数の油圧アクチュエータ(7a~7c,10c)との優先接続関係を定めた優先順位マップ(32)とに基づき、前記油圧アクチュエータ(7a~7c,10c)に対する前記複数の油圧ポンプ(2a~2f)の割り当てを演算する優先順位演算回路(31)を備え、
前記優先順位演算回路(31)は、前記油圧ポンプ(2a~2f)の割り当て数が増加する場合、割り当てられていない前記油圧ポンプ(2a~2f)を選択して割り当てる
ことを特徴とする作業機械(1)の駆動装置(107)。 - 複数の油圧アクチュエータ(7a~7c,10c)と、
前記複数の油圧アクチュエータ(7a~7c,10c)を駆動させる可変容量型の複数の油圧ポンプ(2a~2f)と、
前記油圧アクチュエータ(7a~7c,10c)と前記油圧ポンプ(2a~2f)との間に接続された複数の切換弁(12)と、
前記油圧アクチュエータ(7a~7c,10c)を操作するための操作部(17)と、
前記油圧ポンプ(2a~2f)および前記切換弁(12)を制御するコントローラ(16)とを具備し、
いずれか1つの前記油圧アクチュエータ(7a~7c,10c)に少なくとも2つ以上の前記油圧ポンプ(2a~2f)が前記切換弁(12)を介して閉回路接続可能に構成された作業機械(1)の駆動装置(107)であって、
前記コントローラ(16)は、前記操作部(17)の操作と、前記複数の油圧ポンプ(2a~2f)と前記複数の油圧アクチュエータ(7a~7c,10c)との優先接続関係を定めた優先順位マップ(32)とに基づき、前記油圧アクチュエータ(7a~7c,10c)に対する前記複数の油圧ポンプ(2a~2f)の割り当てを演算する優先順位演算回路(31)を備え、
前記優先順位演算回路(31)は、所定の油圧アクチュエータ(7a~7c,10c)に対する前記複数の油圧ポンプ(2a~2f)の割り当て数が減少する場合、前記所定の油圧アクチュエータ(7a~7c,10c)以外の前記油圧アクチュエータ(7a~7c,10c)に割り当てられた前記油圧ポンプ(2a~2f)の割り当てを維持する
ことを特徴とする作業機械(1)の駆動装置(107)。
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SE448762B (sv) | 1979-02-26 | 1987-03-16 | Hitachi Construction Machinery | Hydraulisk drivanordning for konstruktionsmaskinerier, innefattande ett flertal slutna hydraulkretsar |
US4369625A (en) * | 1979-06-27 | 1983-01-25 | Hitachi Construction Machinery Co., Ltd. | Drive system for construction machinery and method of controlling hydraulic circuit means thereof |
JPS5857504A (ja) * | 1981-10-02 | 1983-04-05 | Hitachi Constr Mach Co Ltd | 油圧回路の制御方法 |
KR100601458B1 (ko) * | 2004-12-16 | 2006-07-18 | 두산인프라코어 주식회사 | 굴삭기의 붐-암 복합동작 유압제어장치 |
US8978373B2 (en) * | 2011-10-21 | 2015-03-17 | Caterpillar Inc. | Meterless hydraulic system having flow sharing and combining functionality |
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2013
- 2013-11-21 JP JP2013240933A patent/JP5973979B2/ja active Active
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2014
- 2014-11-07 CN CN201480048149.5A patent/CN105531485B/zh active Active
- 2014-11-07 WO PCT/JP2014/079646 patent/WO2015076130A1/ja active Application Filing
- 2014-11-07 US US14/915,344 patent/US9903094B2/en active Active
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JPS6225882B2 (ja) | 1979-06-27 | 1987-06-05 | Hitachi Construction Machinery | |
JPS5754635A (en) * | 1980-09-16 | 1982-04-01 | Hitachi Constr Mach Co Ltd | Hydraulic circuit for civil engineering and construction equipment |
JPS5882504U (ja) * | 1981-11-30 | 1983-06-04 | 株式会社小松製作所 | 油圧回路の制御装置 |
JPS61151333A (ja) * | 1984-12-25 | 1986-07-10 | Komatsu Ltd | 建設機械の液圧回路装置 |
JPS62165003A (ja) * | 1986-01-10 | 1987-07-21 | Tech Res Assoc Openair Coal Min Mach | 油圧シヨベル等の油圧回路における作動油配分装置 |
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US20160208459A1 (en) | 2016-07-21 |
JP5973979B2 (ja) | 2016-08-23 |
US9903094B2 (en) | 2018-02-27 |
EP3073125A1 (en) | 2016-09-28 |
CN105531485B (zh) | 2017-06-09 |
EP3073125B1 (en) | 2018-09-26 |
CN105531485A (zh) | 2016-04-27 |
EP3073125A4 (en) | 2017-06-28 |
JP2015102107A (ja) | 2015-06-04 |
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