WO2015178317A1 - ショベル及びその制御方法 - Google Patents

ショベル及びその制御方法 Download PDF

Info

Publication number
WO2015178317A1
WO2015178317A1 PCT/JP2015/064092 JP2015064092W WO2015178317A1 WO 2015178317 A1 WO2015178317 A1 WO 2015178317A1 JP 2015064092 W JP2015064092 W JP 2015064092W WO 2015178317 A1 WO2015178317 A1 WO 2015178317A1
Authority
WO
WIPO (PCT)
Prior art keywords
hydraulic
oil
cylinder
boom
valve
Prior art date
Application number
PCT/JP2015/064092
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
宏治 川島
Original Assignee
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to CN201580025527.2A priority Critical patent/CN106460877B/zh
Priority to JP2016521080A priority patent/JP6434504B2/ja
Publication of WO2015178317A1 publication Critical patent/WO2015178317A1/ja

Links

Images

Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits

Definitions

  • the present invention relates to an excavator provided with a regenerative oil passage that allows hydraulic oil flowing out from a contraction side oil chamber of a boom cylinder to flow into an extension side oil chamber during a boom lowering operation, and a control method thereof.
  • a construction machine control device in which a boom cylinder and a bucket cylinder are simultaneously driven by hydraulic oil discharged from one hydraulic pump to simultaneously move a boom and a bucket as an operating body (see Patent Document 1). ).
  • This control device is configured to move an arm as a driving body by driving an arm cylinder with hydraulic oil discharged from another hydraulic pump.
  • the control device also includes a regenerative oil passage that allows hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder to flow into the rod side oil chamber of the boom cylinder when the boom lowering operation is performed.
  • control device described above is an operation in which a hydraulic pump discharges to a boom cylinder having a relatively low load pressure when a soil removal operation that is a combined operation including a boom lowering operation, an arm opening operation, and a bucket opening operation is performed.
  • the bucket opening speed at the time of the soil discharging operation is lowered, and there is a risk of causing poor matching between the bucket opening speed and the arm opening speed.
  • An excavator includes a boom cylinder driven by hydraulic oil discharged from a hydraulic pump, another hydraulic cylinder driven by hydraulic oil discharged from the hydraulic pump, and a contraction side oil of the boom cylinder.
  • the above-described means provides a shovel that prevents poor matching of the operating speeds of the operating body during complex operation including boom lowering operation.
  • FIG. 1 It is a side view which shows the structural example of the shovel which concerns on the Example of this invention. It is a figure which shows the structural example of the hydraulic circuit mounted in the shovel of FIG. It is the schematic which shows the structural example of a variable check valve. It is sectional drawing of the part containing the control valve in the hydraulic circuit of FIG. It is a figure which shows the state of the hydraulic circuit when boom lowering operation is performed independently. It is a figure which shows the state of a control valve when boom lowering operation is performed independently. It is a figure which shows the state of the hydraulic circuit when a soil removal operation is performed. It is a figure which shows the state of a control valve when a soil removal operation is performed.
  • FIG. 1 is a side view showing a configuration example of a work machine according to an embodiment of the present invention.
  • an excavator (excavator) 1 as a work machine has an upper swing body 3 mounted on a crawler-type lower traveling body 2 via a swing mechanism so as to be rotatable around the X axis.
  • the upper swing body 3 is provided with a drilling attachment at the front center.
  • the excavation attachment includes a boom 4, an arm 5, and an end attachment 6, and includes a boom cylinder 7, an arm cylinder 8, and an end attachment hydraulic cylinder 9 as hydraulic actuators.
  • the end attachment 6 is a bucket
  • the end attachment hydraulic cylinder 9 is a bucket cylinder.
  • the end attachment 6 may be other than a bucket such as a grapple.
  • FIG. 2 is a diagram showing a configuration example of a hydraulic circuit mounted on the excavator of FIG.
  • the broken line of FIG. 2 shows a control pressure line
  • the dotted line of FIG. 2 shows an electric signal line.
  • Hydraulic pumps 10L and 10R are variable displacement pumps driven by a drive source such as an engine or an electric motor.
  • the hydraulic pump 10L circulates the hydraulic oil to the hydraulic oil tank 22 through the center bypass oil passage 30L that communicates each of the control valves 11L to 15L.
  • the hydraulic pump 10L can supply hydraulic oil to each of the control valves 12L to 15L through a parallel oil passage 31L extending parallel to the center bypass oil passage 30L.
  • the hydraulic pump 10R circulates the hydraulic oil to the hydraulic oil tank 22 through the center bypass oil passage 30R that communicates each of the control valves 11R to 15R.
  • the hydraulic pump 10R can supply hydraulic oil to each of the control valves 12R to 15R through a parallel oil passage 31R extending in parallel with the center bypass oil passage 30R.
  • the hydraulic pump 10L and the hydraulic pump 10R may be collectively referred to as the “hydraulic pump 10”. The same applies to the other components configured by a pair of left and right.
  • the control valve 11L operates to supply hydraulic oil discharged from the hydraulic pump 10L to the left traveling hydraulic motor 42L as a hydraulic actuator when a left traveling lever (not shown) as an operation device is operated. It is a spool valve that switches the flow of oil.
  • the control valve 11R is a spool valve as a traveling straight valve.
  • the straight travel valve 11R is a 4-port 2-position spool valve, and has a first valve position and a second valve position.
  • the first valve position has a flow path that connects the hydraulic pump 10L and the parallel oil path 31L, and a flow path that connects the hydraulic pump 10R and the control valve 12R.
  • the second valve position has a flow path that connects the hydraulic pump 10R and the parallel oil path 31L, and a flow path that connects the hydraulic pump 10L and the control valve 12R.
  • the control valve 12L is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the hydraulic pump 10 to an optional hydraulic actuator (not shown).
  • the control valve 12R operates to supply hydraulic oil discharged from the hydraulic pump 10 to the right traveling hydraulic motor 42R as a hydraulic actuator when a right traveling lever (not shown) as an operating device is operated. It is a spool valve that switches the flow of oil.
  • the control valve 13L is hydraulic oil for supplying hydraulic oil discharged from the hydraulic pump 10 to the hydraulic hydraulic motor 44 for rotation as a hydraulic actuator when a swing operation lever (not shown) as an operation device is operated. It is a spool valve that switches the flow of the.
  • the control valve 13R is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the hydraulic pump 10 to the bucket cylinder 9 when a bucket operating lever (not shown) as an operating device is operated. It is.
  • the control valves 14 ⁇ / b> L and 14 ⁇ / b> R switch the flow of hydraulic oil to supply the hydraulic oil discharged from the hydraulic pump 10 to the boom cylinder 7 when a boom operation lever (not shown) as an operation device is operated. It is a spool valve.
  • the control valve 14L additionally supplies hydraulic oil to the boom cylinder 7 when the boom operation lever is operated in the boom raising direction with a predetermined lever operation amount or more.
  • the control valves 15L and 15R switch the flow of hydraulic oil so as to supply hydraulic oil discharged from the hydraulic pump 10 to the arm cylinder 8 when an arm operation lever (not shown) as an operation device is operated. It is a spool valve.
  • the control valve 15R additionally supplies hydraulic oil to the arm cylinder 8 when the arm operation lever is operated at a predetermined lever operation amount or more.
  • the hydraulic oil flowing out from each of the left traveling hydraulic motor 42L, the optional hydraulic actuator, the turning hydraulic motor 44, and the arm cylinder 8 is discharged to the hydraulic oil tank 22 through the return oil path 32L.
  • the hydraulic oil flowing out from each of the right traveling hydraulic motor 42R, the bucket cylinder 9, the boom cylinder 7, and the arm cylinder 8 is discharged to the hydraulic oil tank 22 through the return oil path 32R.
  • the center bypass oil passages 30L and 30R are respectively provided with negative control throttles 20L and 20R between the control valves 15L and 15R located on the most downstream side and the hydraulic oil tank 22.
  • the negative control is abbreviated as “negative control”.
  • the negative control throttles 20L and 20R generate a negative control pressure upstream of the negative control throttles 20L and 20R by limiting the flow of hydraulic oil discharged from the hydraulic pumps 10L and 10R.
  • the pressure sensors S1 and S2 detect the negative control pressure generated upstream of the negative control throttles 20L and 20R, and output the detected value to the controller 54 as an electrical negative control pressure signal.
  • Pressure sensors S3 and S4 detect the discharge pressures of the hydraulic pumps 10L and 10R, and output the detected values to the controller 54 as electrical discharge pressure signals.
  • an operation content detection unit is attached to operation devices such as a left travel lever, a right travel lever, an arm operation lever, a turning operation lever, a boom operation lever, and a bucket operation lever.
  • the operation content detection unit is, for example, a pressure sensor (not shown) that detects a pilot pressure generated by each operation device. These pressure sensors output the detected value to the controller 54 as an electrical pilot pressure signal.
  • the controller 54 is a functional element that controls the hydraulic circuit, and is, for example, a computer including a CPU, RAM, ROM, NVRAM, and the like.
  • the controller 54 electrically operates the operation contents (for example, presence / absence of lever operation, lever operation direction, lever operation amount, etc.) of various operation devices based on the output of the operation content detection unit such as a pressure sensor.
  • the operation content detection unit may be configured by a sensor other than the pressure sensor, such as an inclination sensor that detects the inclination of various operation levers.
  • the controller 54 causes the CPU to execute programs corresponding to various functional elements that operate the variable check valve 50, the makeup valve 51, and the like according to the operation contents of the various operation devices.
  • the variable check valve 50 is an example of a mechanism that can block communication between the hydraulic pump 10R and the boom cylinder 7, and operates according to a command output from the controller 54.
  • the variable check valve 50 is a load check valve installed in the oil passage 33 that connects the parallel oil passage 31R and the control valve 14R. Specifically, the variable check valve 50 prevents the flow of hydraulic oil from the control valve 14R to the parallel oil passage 31R, and the parallel oil when the pressure of the hydraulic oil in the parallel oil passage 31R exceeds the open pressure. The flow of hydraulic oil from the path 31R to the control valve 14R is allowed.
  • FIG. 3 is a schematic diagram illustrating a configuration example of the variable check valve 50.
  • the variable check valve 50 mainly includes a valve body 50a, a spring 50b, and an electromagnetic valve 50c.
  • the valve body 50a moves so as to open the oil passage 33 when the pressure of the hydraulic oil in the parallel oil passage 31R exceeds the open pressure, and the oil passage when the pressure of the hydraulic oil in the parallel oil passage 31R is equal to or lower than the open pressure. It moves so that 33 may be closed.
  • the spring 50 b generates a force (first valve closing force) that moves the valve body 50 a so as to close the oil passage 33.
  • the electromagnetic valve 50c is an electromagnetic proportional valve that operates in accordance with a current command output from the controller 54.
  • the solenoid valve 50c adjusts the secondary pressure using hydraulic fluid discharged from the control pump 55 that is a fixed displacement pump. Similar to the spring 50b, the secondary pressure generates a force (second valve closing force) that moves the valve body 50a so as to close the oil passage 33.
  • the variable check valve 50 is used when the force (opening force) that pushes the valve body 50a due to the hydraulic oil pressure in the parallel oil passage 31R is equal to or less than the closing force that is the resultant force of the first closing force and the second closing force.
  • the controller 54 adjusts the magnitude of the second valve closing force by adjusting the magnitude of the current command to the electromagnetic valve 50c. In this way, the controller 54 can switch communication / blocking between the hydraulic pump 10 ⁇ / b> R and the boom cylinder 7 by electronically controlling the variable check valve 50.
  • the makeup valve 51 prevents the hydraulic oil pressure in the rod side oil chamber of the boom cylinder 7 from becoming negative. This is to prevent cavitation in the rod side oil chamber.
  • the makeup valve 51 is a variable check valve installed in the makeup oil path 34 that connects the return oil path 32R and the rod side oil chamber of the boom cylinder 7, and is the same as the variable check valve 50. It has a configuration. Therefore, the controller 54 can adjust the flow passage area of the makeup oil passage 34 by electronically controlling the makeup valve 51. Specifically, the controller 54 can increase the flow passage area of the makeup oil passage 34 by adjusting the opening pressure of the variable check valve as the makeup valve 51 to be low. This is because if the pressure difference between the upstream side and the downstream side of the makeup valve 51 is the same, the opening area of the makeup valve 51 increases as the opening pressure decreases.
  • the makeup valve 51 may be a check valve with a fixed opening pressure.
  • the check valve 52 is a check valve installed in the oil passage 35 that connects the parallel oil passage 31R and the control valve 13R. Specifically, the check valve 52 prevents the flow of hydraulic oil from the control valve 13R to the parallel oil passage 31R, and parallels when the pressure of the hydraulic oil in the parallel oil passage 31R exceeds a predetermined opening pressure. The flow of hydraulic oil from the oil passage 31R to the control valve 13R is allowed. The same applies to the check valve installed between the hydraulic pump 10 and each of the control valves 12L to 15L, 12R, 15R.
  • the pump regulators 40L and 40R are mechanisms for controlling the discharge amounts of the hydraulic pumps 10L and 10R.
  • the pump regulators 40L and 40R control the discharge amounts of the hydraulic pumps 10L and 10R by adjusting the swash plate tilt angles of the hydraulic pumps 10L and 10R according to the command generated by the controller 54.
  • the pump regulators 40L and 40R reduce the discharge amounts of the hydraulic pumps 10L and 10R according to a command generated by the controller 54 based on the negative control pressure signal. As a result, pressure loss (pumping loss) when hydraulic oil discharged from the hydraulic pumps 10L and 10R passes through the center bypass oil passages 30L and 30R is suppressed.
  • the pump regulators 40L, 40R increase the discharge amount of the hydraulic pumps 10L, 10R, circulate sufficient hydraulic oil to each hydraulic actuator, and ensure the driving of each actuator.
  • the pump regulators 40L and 40R cause the hydraulic pump 10L to respond to a command generated by the controller 54 based on the discharge pressure signal.
  • the discharge amount of 10R is reduced. This is to prevent the absorption horsepower of the hydraulic pumps 10L and 10R from exceeding the output horsepower of the engine as the drive source.
  • the pump regulators 40L and 40R use the negative control pressure upstream of the negative control throttles 20L and 20R, the discharge pressure of the hydraulic pump 10L, and the discharge pressure of the hydraulic pump 10R to hydraulically control the discharge amounts of the hydraulic pumps 10L and 10R. You may control to.
  • FIG. 4 is a cross-sectional view of a portion including the control valve 13R and the control valve 14R in the hydraulic circuit of FIG.
  • the control valve 14R is mainly composed of a valve body 14Ra (a portion indicated by hatching with a downward slanting left) and a boom spool 14Rb (a portion indicated by hatching with a sloping rightward) that slides in a valve hole formed in the valve body 14Ra. including.
  • the valve body 14Ra has six land portions L1 to L6. Further, a first return oil passage 32R1 constituting a return oil passage 32R is formed between the land portion L1 and the land portion L2, and a return oil passage 32R is constituted between the land portion L5 and the land portion L6. A second return oil passage 32R2 is formed. An annular space V1 is formed between the land portion L2 and the land portion L3, an annular space V2 is formed between the land portion L3 and the land portion L4, and between the land portion L4 and the land portion L5. Is formed with an annular space V3.
  • the boom spool 14Rb has a shaft portion A and four land portions L7 to L10 formed on the shaft portion A.
  • An annular space V4 is formed between the land portion L7 and the land portion L8, an annular space V5 is formed between the land portion L8 and the land portion L9, and between the land portion L9 and the land portion L10. Is formed with an annular space V6.
  • a regeneration oil path RC is formed in the boom spool 14Rb.
  • the annular space V1 is an annular space formed around the valve hole between the land portion L2 and the land portion L3 of the valve body 14Ra.
  • a first cylinder port P1 that communicates with an oil passage that connects the rod-side oil chamber of the boom cylinder 7 and the control valve 14R is formed in the portion of the valve body 14Ra that faces the annular space V1.
  • a makeup oil passage 34 including a makeup valve 51 is connected to the annular space V1, and hydraulic fluid from the first return oil passage 32R1 can flow into the annular space V1.
  • the annular space V1 communicates with the first return oil passage 32R1 via the annular space V4 when the boom spool 14Rb slides in the left direction of FIG.
  • the annular space V1 communicates with the annular space V2 via the annular space V5 when the boom spool 14Rb slides in the right direction in FIG.
  • the annular space V2 is an annular space formed around the valve hole between the land portion L3 and the land portion L4 of the valve body 14Ra.
  • a pump port P2 that leads to an oil passage 33 that connects the hydraulic pump 10R and the control valve 14R is formed in a portion of the valve body 14Ra that faces the annular space V2.
  • the annular space V2 communicates with the annular space V3 via the annular space V5 when the boom spool 14Rb slides in the left direction of FIG.
  • the annular space V2 communicates with the annular space V1 via the annular space V5 when the boom spool 14Rb slides in the right direction in FIG.
  • the annular space V3 is an annular space formed around the valve hole between the land portion L4 and the land portion L5 of the valve body 14Ra. Further, a second cylinder port P3 that leads to an oil passage that connects the bottom side oil chamber of the boom cylinder 7 and the control valve 14R is formed in a portion of the valve body 14Ra that faces the annular space V3. Further, the annular space V3 communicates with the annular space V2 via the annular space V5 when the boom spool 14Rb slides in the left direction of FIG. Further, the annular space V3 communicates with the second return oil passage 32R2 via the annular space V6 when the boom spool 14Rb slides in the right direction of FIG.
  • the reclaimed oil path RC is an oil for causing the hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder 7 to flow into the rod side oil chamber of the boom cylinder 7 when the boom spool 14Rb slides in the right direction in FIG. Road.
  • the reclaimed oil passage RC opens to the outer peripheral surfaces of the land portion L8 and the land portion L9, and when the boom spool 14Rb slides in the right direction in FIG. 4, the annular space V1 and the annular space V3. It is formed so that it can communicate.
  • the boom lowering speed depends on the opening area of the regenerated oil path RC and the opening area of the second cylinder port P3 (the channel area of the channel between the annular space V3 and the second return oil path 32R2). The larger the opening area, the faster.
  • the control valve 13R has appropriate connection relationships among the first cylinder port Q1, the pump port Q2, the second cylinder port Q3, the first return oil path 32R1, and the second return oil path 32R2.
  • the flow of hydraulic oil from the hydraulic pump 10R to the hydraulic oil tank 22 through the bucket cylinder 9 is controlled.
  • the first cylinder port Q1 is a port that leads to an oil passage that connects the rod side oil chamber of the bucket cylinder 9 and the control valve 13R.
  • the pump port Q2 is a port that leads to an oil passage 35 that connects the hydraulic pump 10R and the control valve 13R, and the second cylinder port Q3 connects the bottom oil chamber of the bucket cylinder 9 and the control valve 13R. This port leads to the oil passage. Since the control valve 13R has the same configuration as the control valve 14R, detailed description thereof is omitted.
  • FIG. 5 is a diagram illustrating a state of the hydraulic circuit when the boom lowering operation is performed alone, and corresponds to FIG.
  • the boom lowering operation means an operation for lowering the boom 4 when the excavation attachment is moved in the air.
  • 5 represents the flow of hydraulic oil toward the boom cylinder 7
  • the thick dotted line in FIG. 5 represents the flow of hydraulic oil toward the hydraulic oil tank.
  • the boom lowering operation is performed by a half lever operation.
  • “Half lever operation” means a lever operation performed with a smaller operation amount than a full lever operation.
  • the “full lever operation” means a lever operation performed with a predetermined operation amount or more, and the predetermined operation amount is, for example, an operation amount of 80% or more.
  • the operation amount 100% corresponds to the operation amount when the operation lever is tilted to the maximum, and the operation amount 0% corresponds to the operation amount when the operation lever is neutral (when the operation lever is not operated). To do.
  • control valve 14R receives the pilot pressure at the pilot port on the right side of the figure and moves to the left side of the figure.
  • the controller 54 adjusts the opening pressure of the variable check valve 50 to be low, and allows the flow of hydraulic oil from the parallel oil passage 31R toward the control valve 14R.
  • FIG. 6 is a cross-sectional view of a portion including the control valve 13R and the control valve 14R in the hydraulic circuit of FIG. 2, and corresponds to FIG.
  • the boom lowering operation is performed by a half lever operation.
  • the boom spool 14Rb of the control valve 14R moves from the state shown in FIG. 4 to the right side in the figure.
  • the left and right are reversed, but the movement of the boom spool 14Rb in FIG. 6 to the right corresponds to the movement of the control valve 14R in FIG. 5 to the left.
  • FIG. 7 is a diagram illustrating a state of the hydraulic circuit when the earthing operation is performed, and corresponds to FIGS. 2 and 5.
  • 7 represents the flow of hydraulic oil toward the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9, and the thick dotted line in FIG. 7 represents the flow of hydraulic oil toward the hydraulic oil tank.
  • the boom lowering operation is performed by a half lever operation
  • the arm opening operation is performed by a full lever operation
  • the bucket opening operation is performed by a full lever operation.
  • the control valve 14R receives the pilot pressure at the pilot port on the right side of the figure and moves to the left side of the figure.
  • the control valve 13R receives the pilot pressure at the pilot port on the right side of the figure and moves to the left side of the figure.
  • the control valve 15L receives the pilot pressure at the pilot port on the right side of the figure and moves to the left side of the figure.
  • the controller 54 adjusts the opening pressure of the variable check valve 50 to be high, and interrupts the flow of hydraulic oil from the parallel oil passage 31R toward the control valve 14R.
  • the hydraulic oil in the parallel oil passage 31R flows into the rod side oil chamber of the bucket cylinder 9 through the oil passage 35 and the control valve 13R.
  • the hydraulic oil flowing out from the bottom side oil chamber of the bucket cylinder 9 is discharged to the hydraulic oil tank 22 through the control valve 13R and the return oil passage 32R.
  • the controller 54 increases the flow passage area of the makeup oil passage 34 by adjusting the opening pressure of the makeup valve 51 to be lower.
  • part of the hydraulic oil in the return oil passage 32R joins the hydraulic oil from the regenerated oil passage RC through the makeup oil passage 34 and flows into the rod side oil chamber of the boom cylinder 7.
  • FIG. 8 is a cross-sectional view of a portion including the control valve 13R and the control valve 14R in the hydraulic circuit of FIG. 2, and corresponds to FIG. 4 and FIG.
  • the boom lowering operation is performed by a half lever operation
  • the bucket opening operation is performed by a full lever operation.
  • the controller 54 adjusts the opening pressure of the variable check valve 50 to be high, and interrupts the flow of hydraulic oil from the parallel oil passage 31R toward the control valve 14R. Therefore, the hydraulic oil discharged from the hydraulic pump 10R does not flow into the annular space V2.
  • the hydraulic oil discharged from the hydraulic pump 10R is the rod side oil of the bucket cylinder 9 through the check valve 52, the oil passage 35, the pump port Q2, and the first cylinder port Q1 when the bucket spool 13Rb moves to the right. Flows into the chamber. Further, the hydraulic oil flowing out from the bottom side oil chamber of the bucket cylinder 9 reaches the first return oil passage 32R1 through the second cylinder port Q3, and a part thereof is discharged to the hydraulic oil tank 22.
  • the controller 54 increases the flow passage area of the makeup oil passage 34 by adjusting the opening pressure of the makeup valve 51 to be low. Therefore, the controller 54 can supply a sufficient amount of hydraulic oil to the rod side oil chamber of the boom cylinder 7 without supplying the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R to the rod side oil chamber of the boom cylinder 7.
  • FIG. 9 is a flowchart showing an example of the composite operation process, and the controller 54 repeatedly executes the composite operation process at a predetermined control cycle.
  • the controller 54 determines whether or not a predetermined composite operation has been performed (step ST1).
  • the predetermined composite operation is a composite operation including a boom lowering operation and an end attachment operation.
  • the controller 54 determines whether or not a composite operation including a boom lowering operation and a bucket opening operation has been performed based on outputs of various pressure sensors as an operation content detection unit.
  • the predetermined combined operation may be a soil removal operation as a combined operation including a boom lowering operation, an arm opening operation, and a bucket opening operation, or may be a combined operation including a boom lowering operation and a bucket closing operation. Good.
  • step ST1 the controller 54 ends the current composite operation process.
  • step ST1 the controller 54 blocks communication between the hydraulic pump 10R and the boom cylinder 7 (step ST2).
  • the controller 54 shuts off the oil passage 33 on the meter-in side of the control valve 14R.
  • the hydraulic pump 10R, the boom cylinder 7 and the like are given by giving a current command to the electromagnetic valve 50c constituting the variable check valve 50 installed in the oil passage 33 to increase the opening pressure of the variable check valve 50. Block communication between the two.
  • the controller 54 increases the flow passage area of the makeup oil passage 34 related to the rod side oil chamber of the boom cylinder 7 (step ST3).
  • the controller 54 gives a current command to the electromagnetic valve constituting the variable check valve as the makeup valve 51 to reduce the opening pressure of the variable check valve, thereby reducing the flow of the makeup oil passage 34. Increase road area.
  • step ST2 and step ST3 are out of order, and after the process of step ST3 is executed, the process of step ST2 may be executed or may be executed simultaneously.
  • the controller 54 can supply only the regenerated oil and the return oil to the rod side oil chamber of the boom cylinder 7 without supplying the hydraulic oil discharged from the hydraulic pump 10R to the rod side oil chamber of the boom cylinder 7. . Therefore, the controller 54 can supply all the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R to the rod side oil chamber of the bucket cylinder 9. As a result, a decrease in the opening speed of the bucket 6 can be prevented, and further, the opening speed of the bucket 6 can be increased. And the controller 54 can prevent poor matching of the boom lowering speed, the arm opening speed, and the bucket opening speed. Specifically, the controller 54 can improve, for example, the arm / bucket simultaneous reachability.
  • the arm / bucket simultaneous reachability means that the time required for the arm 5 operated by the full lever to reach the predetermined second posture from the predetermined first posture and the bucket 6 operated by the full lever from the predetermined first posture. It means performance that matches the time required to reach a predetermined second posture.
  • the shovel 1 can discharge
  • controller 54 cuts off the communication between the hydraulic pump 10R and the boom cylinder 7, no pressure loss occurs at the control valve 14R.
  • the controller 54 increases the flow passage area of the makeup oil passage 34, so that a sufficient amount of hydraulic oil flows from the bottom oil chamber of the bucket cylinder 9 and flows through the return oil passage 32 ⁇ / b> R to the boom cylinder. 7 can flow (regenerate) into the rod side oil chamber. Therefore, the amount of hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 will not be insufficient, and cavitation will not occur. Further, since the controller 54 causes the hydraulic oil in the return oil path 32R to flow into the rod side oil chamber of the boom cylinder 7, the pressure of the hydraulic oil in the return oil path 32R can be reduced, and the bottom side oil in the bucket cylinder 9 can be reduced. The pressure loss (meter-out loss) of the hydraulic oil flowing out from the chamber can be reduced.
  • FIG. 10 is a diagram showing another configuration example of the hydraulic circuit mounted on the excavator in FIG. 1, and corresponds to FIG. 10 represents the flow of hydraulic oil toward the boom cylinder 7, arm cylinder 8, or bucket cylinder 9, and the thick dotted line in FIG. 10 represents the flow of hydraulic oil toward the hydraulic oil tank.
  • control valve 14La is provided instead of the control valve 14L.
  • both are common in other points. Therefore, description of common points is omitted, and differences are described in detail.
  • the control valve 14La is a 6-port 3-position spool valve, and has a valve position during a boom raising operation, a neutral valve position, and a valve position during a boom lowering operation.
  • the boom raising operation valve position (right valve position) is a valve position adopted when the boom operation lever is operated in the raising direction.
  • the control valve 14La causes the hydraulic oil discharged from the hydraulic pump 10 to flow into the bottom side oil chamber of the boom cylinder 7.
  • the neutral valve position (central valve position) is a valve position that is adopted when the boom control lever is not operated.
  • the control valve 14La communicates the center bypass oil passage 30L.
  • the boom lowering valve position (left valve position) is a valve position that is adopted when the boom operating lever is operated in the downward direction and the arm operating lever is operated.
  • the control valve 14La merges the hydraulic oil discharged from the hydraulic pump 10L and a part of the hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder 7, and after the merge The hydraulic oil is supplied to the arm cylinder 8.
  • the controller 54 can supply only the regenerated oil and the return oil to the rod side oil chamber of the boom cylinder 7 without supplying the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R to the rod side oil chamber of the boom cylinder 7. Therefore, the controller 54 can supply all the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R to the rod side oil chamber of the bucket cylinder 9. As a result, a decrease in the opening speed of the bucket 6 can be prevented, and further, the opening speed of the bucket 6 can be increased. And the controller 54 can prevent poor matching of the boom lowering speed, the arm opening speed, and the bucket opening speed.
  • the controller 54 increases the flow passage area of the makeup oil passage 34, so that a sufficient amount of hydraulic oil flows from the bottom oil chamber of the bucket cylinder 9 and flows through the return oil passage 32 ⁇ / b> R to the boom cylinder. 7 can be made to flow into the rod side oil chamber. Therefore, the amount of hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 will not be insufficient, and cavitation will not occur.
  • the excavator blocks communication between the hydraulic pump 10R and the boom cylinder 7 when the combined operation including the boom lowering operation and the end attachment operation is performed.
  • the hydraulic oil (regenerated oil) flowing out from the bottom side oil chamber of the cylinder 7 and the hydraulic oil (return oil) flowing through the return oil passage 32 ⁇ / b> R are caused to flow into the rod side oil chamber of the boom cylinder 7. Therefore, all the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R can be supplied to the bucket cylinder 9.
  • a decrease in the operation speed of the bucket 6 can be prevented, and further, the operation speed of the bucket 6 can be increased.
  • matching failure between the arm operation speed and the bucket operation speed can be prevented.
  • the flow passage area of the makeup oil passage 34 when the combined operation including the boom lowering operation and the end attachment operation is being performed is when the combined operation including the boom lowering operation and the end attachment operation is not performed. It is adjusted to be larger than the flow passage area of the makeup oil passage 34. Therefore, even if the excavator according to the embodiment of the present invention shuts off the communication between the hydraulic pump 10R and the boom cylinder 7, the hydraulic oil flows out from the bottom side oil chamber of the bucket cylinder 9 and flows through the return oil passage 32R. Therefore, a sufficient amount of hydraulic oil can flow into the rod side oil chamber of the boom cylinder 7. As a result, the amount of hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 will not be insufficient, and cavitation will not occur.
  • the boom spool 14Rb is connected to the first cylinder port P1 connected to the rod side oil chamber of the boom cylinder 7, the pump port P2 connected to the hydraulic pump 10R, and the first cylinder port P2 connected to the bottom side oil chamber of the boom cylinder 7. It has 2 cylinder ports P3.
  • the return oil path 32R flows out of the first return oil path 32R1 through which hydraulic oil flowing out from the bucket cylinder 9 flows when the bucket opening operation is performed, and out of the bucket cylinder 9 when the bucket closing operation is performed.
  • a second return oil passage 32R2 through which hydraulic oil flows.
  • the first cylinder port P1 is formed closer to the first return oil path 32R1 than to the second return oil path 32R2. Therefore, the length of the makeup oil passage 34 can be limited to a necessary minimum length, and the pipe resistance of the makeup oil passage 34 can be suppressed.
  • controller 54 switches communication / blocking between the hydraulic pump 10R and the boom cylinder 7 by electronically controlling the variable check valve 50. Further, the controller 54 adjusts the size of the flow passage area of the makeup oil passage 34 by electronically controlling the makeup valve 51. Therefore, the flow of hydraulic oil flowing into and out of the boom cylinder 7 can be controlled easily and quickly.
  • FIG. 11 is a diagram showing still another configuration example of the hydraulic circuit mounted on the shovel of FIG. Further, the thick solid line in FIG. 11 represents the flow of hydraulic oil toward the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9, and the thick dotted line in FIG. 11 represents the flow of hydraulic oil toward the hydraulic oil tank.
  • the regeneration oil path RC, the makeup oil path 34, and the makeup valve 51 are arranged outside the control valve 17, and the on-off valve 56, the variable throttle 57, and the variable throttle 58 are provided.
  • This is different from the hydraulic circuit of FIG. 2 in that it is added.
  • both are common in other points. Therefore, description of common points is omitted, and differences are described in detail.
  • the control valve 17 is a valve assembly including control valves 11L to 15L and control valves 11R to 15R.
  • the hydraulic circuit in FIG. 2 is configured to include a regeneration oil path RC, a makeup oil path 34, and a makeup valve 51 in the control valve 17.
  • the on-off valve 56 is an example of a functional element that switches communication / blocking of the regenerated oil path RC, and operates according to a command output by the controller 54.
  • the on-off valve 56 is a 2-port 2-position electromagnetic on-off valve, and has a first valve position and a second valve position.
  • the first valve position includes a flow path that connects the bottom side oil chamber and the rod side oil chamber of the boom cylinder 7, a throttle that suppresses the flow rate of the hydraulic oil flowing through the flow path, and a bottom side oil.
  • a check valve for preventing the flow of hydraulic oil to the chamber.
  • the on-off valve 56 blocks communication between the bottom side oil chamber and the rod side oil chamber when in the second valve position.
  • the on-off valve 56 may not be an electromagnetic on-off valve as shown, but may be a variable throttle similar to the variable throttle 57.
  • the variable throttle 57 is an example of a functional element that adjusts the flow rate of hydraulic oil flowing from the bottom side oil chamber of the boom cylinder 7 to the control valve 14R, and increases or decreases the flow path area according to a command output from the controller 54.
  • the controller 54 increases the flow rate of the working oil flowing through the regenerated oil passage RC by reducing the flow passage area of the variable throttle 57, and increases the flow amount of the working oil flowing through the regenerated oil passage RC by increasing the flow passage area of the variable throttle 57. Can be reduced.
  • the variable throttle 58 is an example of a functional element that adjusts the flow rate of hydraulic oil flowing through the makeup oil passage 34. Similar to the variable throttle 57, the variable throttle 58 increases or decreases the flow path area in accordance with a command output from the controller 54.
  • the controller 54 reduces the flow area of the variable throttle 58 when the bucket opening operation is not performed (for example, when the bucket closing operation is performed), and operates to the boom cylinder 7 through the makeup oil path 34. Prevent oil from entering.
  • the controller 54 increases the flow passage area of the variable throttle 58 when the combined operation including the boom lowering operation and the bucket opening operation is performed, so that the hydraulic oil flowing out from the bucket cylinder 9 becomes the makeup oil passage. 34 to flow smoothly.
  • the controller 54 operates to discharge the hydraulic pump 10R. Without supplying oil to the rod side oil chamber of the boom cylinder 7, only regenerated oil and return oil can be supplied to the rod side oil chamber of the boom cylinder 7. Therefore, the controller 54 can supply all the hydraulic oil discharged from the hydraulic pump 10 ⁇ / b> R to the rod side oil chamber of the bucket cylinder 9. As a result, a decrease in the opening speed of the bucket 6 can be prevented, and further, the opening speed of the bucket 6 can be increased. And the controller 54 can prevent poor matching of the boom lowering speed, the arm opening speed, and the bucket opening speed.
  • the pipe connecting the bottom oil chamber of the bucket cylinder 9 and the control valve 13R forms a part of the return oil path.
  • the hydraulic circuit of FIG. 11 has a configuration in which the on / off valve 56 and the variable throttle 57 are separated from the control valve 14R and the on / off valve 56 and the variable throttle 57 are arranged outside the control valve 14R.
  • the on-off valve 56 may be separated from the control valve 14R.
  • the opening / closing valve 56 is disposed outside the control valve 14R, and the variable throttle 57 is integrated in the control valve 14R.
  • only the function performed by the variable throttle 57 may be separated from the control valve 14R.
  • only the variable throttle 57 is disposed outside the control valve 14R, and the on-off valve 56 is integrated in the control valve 14R.
  • the controller 54 increases a flow passage area of the makeup oil passage 34, and supplies a sufficient amount of hydraulic oil from the hydraulic oil flowing out from the bottom side oil chamber of the bucket cylinder 9 to the rod side oil chamber of the boom cylinder 7. Can flow in. Therefore, the amount of hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 will not be insufficient, and cavitation will not occur.
  • the hydraulic circuit of FIG. 11 may employ a control valve 14La as shown in FIG.
  • the controller 54 joins the hydraulic oil discharged from the hydraulic pump 10L when the soil discharge operation is performed and a part of the hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder 7, and operates after the merge. Oil is supplied to the arm cylinder 8.
  • the controller 54 electronically controls the variable check valve 50 to block communication between the hydraulic pump 10R and the boom cylinder 7.
  • the variable check valve 50 may be another type of valve such as an electromagnetic on-off valve.
  • the controller 54 electronically controls the variable check valve as the makeup valve 51 to adjust the flow passage area of the makeup oil passage 34.
  • makeup valve 51 may be another type of valve such as an electromagnetic proportional valve that directly changes the opening area of the valve in response to a current command from controller 54.
  • the hydraulic oil discharged from the hydraulic pump 10L and a part of the hydraulic oil flowing out from the bottom side oil chamber of the boom cylinder 7 are combined at the time of the combined operation including the boom lowering operation. Is supplied to the arm cylinder 8.
  • the present invention is not limited to this configuration.
  • the joined hydraulic oil may be supplied to another hydraulic actuator such as the turning hydraulic motor 44.
  • the boom cylinder 7 and the bucket cylinder 9 are basically driven by hydraulic oil discharged from the hydraulic pump 10R, and the arm cylinder 8 is basically driven by hydraulic oil discharged from the hydraulic pump 10L. Is done. Then, the controller 54 shuts off the communication between the hydraulic pump 10R and the boom cylinder 7 and performs the return oil flowing out from the bucket cylinder 9 as the end attachment hydraulic cylinder in the combined operation including the boom lowering operation.
  • the boom 4 is lowered with regenerated oil.
  • the present invention is not limited to this configuration.
  • the boom 4 may be lowered with return oil and regenerated oil as hydraulic oil flowing out from another hydraulic cylinder (for example, the arm cylinder 8) other than the bucket cylinder 9.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
PCT/JP2015/064092 2014-05-19 2015-05-15 ショベル及びその制御方法 WO2015178317A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201580025527.2A CN106460877B (zh) 2014-05-19 2015-05-15 挖土机及其控制方法
JP2016521080A JP6434504B2 (ja) 2014-05-19 2015-05-15 ショベル及びその制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-103711 2014-05-19
JP2014103711 2014-05-19

Publications (1)

Publication Number Publication Date
WO2015178317A1 true WO2015178317A1 (ja) 2015-11-26

Family

ID=54553988

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/064092 WO2015178317A1 (ja) 2014-05-19 2015-05-15 ショベル及びその制御方法

Country Status (3)

Country Link
JP (1) JP6434504B2 (zh)
CN (1) CN106460877B (zh)
WO (1) WO2015178317A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017180045A (ja) * 2016-03-31 2017-10-05 住友重機械工業株式会社 ショベルのシリーズ、ショベルの油圧回路、及びショベル
WO2017170256A1 (ja) * 2016-03-30 2017-10-05 住友重機械工業株式会社 ショベル
CN110541447A (zh) * 2019-09-06 2019-12-06 上海三一重机股份有限公司 动臂下降回油再用控制装置、方法和挖掘机

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3608548B1 (en) * 2018-03-19 2023-10-25 Hitachi Construction Machinery Co., Ltd. Construction machine
JP7171475B2 (ja) * 2019-03-11 2022-11-15 日立建機株式会社 作業機械

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002227233A (ja) * 2001-02-06 2002-08-14 Shin Caterpillar Mitsubishi Ltd 作業機械におけるブームシリンダの油圧制御回路
JP2004019437A (ja) * 2002-06-14 2004-01-22 Volvo Construction Equipment Holding Sweden Ab フロート機能を有するブームシリンダー合流用油圧回路
JP2006090074A (ja) * 2004-09-27 2006-04-06 Hitachi Constr Mach Co Ltd 作業機械の油圧駆動装置
JP2010190261A (ja) * 2009-02-16 2010-09-02 Kobe Steel Ltd 作業機械の油圧制御装置及びこれを備えた作業機械
JP2013053498A (ja) * 2011-09-06 2013-03-21 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04194129A (ja) * 1990-11-27 1992-07-14 Komatsu Ltd ロードセンシングシステムにおける油圧再生回路
JP2001295813A (ja) * 2000-04-12 2001-10-26 Yanmar Diesel Engine Co Ltd 作業機の油圧回路
JP4815338B2 (ja) * 2006-12-18 2011-11-16 日立建機株式会社 油圧ショベルの油圧駆動装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002227233A (ja) * 2001-02-06 2002-08-14 Shin Caterpillar Mitsubishi Ltd 作業機械におけるブームシリンダの油圧制御回路
JP2004019437A (ja) * 2002-06-14 2004-01-22 Volvo Construction Equipment Holding Sweden Ab フロート機能を有するブームシリンダー合流用油圧回路
JP2006090074A (ja) * 2004-09-27 2006-04-06 Hitachi Constr Mach Co Ltd 作業機械の油圧駆動装置
JP2010190261A (ja) * 2009-02-16 2010-09-02 Kobe Steel Ltd 作業機械の油圧制御装置及びこれを備えた作業機械
JP2013053498A (ja) * 2011-09-06 2013-03-21 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017170256A1 (ja) * 2016-03-30 2017-10-05 住友重機械工業株式会社 ショベル
JP2017180045A (ja) * 2016-03-31 2017-10-05 住友重機械工業株式会社 ショベルのシリーズ、ショベルの油圧回路、及びショベル
CN110541447A (zh) * 2019-09-06 2019-12-06 上海三一重机股份有限公司 动臂下降回油再用控制装置、方法和挖掘机

Also Published As

Publication number Publication date
JP6434504B2 (ja) 2018-12-05
CN106460877A (zh) 2017-02-22
CN106460877B (zh) 2019-05-10
JPWO2015178317A1 (ja) 2017-04-20

Similar Documents

Publication Publication Date Title
JP4193830B2 (ja) 作業機械の油圧制御装置
JP4380643B2 (ja) 作業機械の油圧制御装置
JP6134263B2 (ja) 油圧駆動システム
JP6434504B2 (ja) ショベル及びその制御方法
JP6776334B2 (ja) ショベル及びショベル用コントロールバルブ
US10889963B2 (en) Working machine
WO2011114930A1 (ja) 作業車両の油圧回路
JP6282528B2 (ja) 建設機械
JP2011196439A (ja) 旋回作業車の油圧回路
WO2018021288A1 (ja) ショベル、ショベル用コントロールバルブ
WO2013141037A1 (ja) 走行制御バルブ
JP5823932B2 (ja) 建設機械の油圧駆動装置
JP6196567B2 (ja) 建設機械の油圧駆動システム
JP2020026828A (ja) 建設機械の油圧回路
WO2015115428A1 (ja) 作業機の制御システム及び低圧選択回路
JP7263003B2 (ja) ショベル及びショベル用コントロールバルブ
JP7297401B2 (ja) ショベル
JP6629189B2 (ja) ショベル及びその制御方法
JP7342456B2 (ja) 油圧制御装置
JP7023816B2 (ja) 作業機の油圧システム
US20170108015A1 (en) Independent Metering Valves with Flow Sharing
JP3595148B2 (ja) 再生回路
JP6936687B2 (ja) 作業車両
WO2022172636A1 (ja) 油圧ショベル駆動システム
WO2023074810A1 (ja) ショベル

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15795855

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016521080

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15795855

Country of ref document: EP

Kind code of ref document: A1