WO2016121185A1 - Rotation control device - Google Patents

Rotation control device Download PDF

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Publication number
WO2016121185A1
WO2016121185A1 PCT/JP2015/080797 JP2015080797W WO2016121185A1 WO 2016121185 A1 WO2016121185 A1 WO 2016121185A1 JP 2015080797 W JP2015080797 W JP 2015080797W WO 2016121185 A1 WO2016121185 A1 WO 2016121185A1
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WO
WIPO (PCT)
Prior art keywords
meter
control
turning
hydraulic
hydraulic motor
Prior art date
Application number
PCT/JP2015/080797
Other languages
French (fr)
Japanese (ja)
Inventor
尚隆 増田
貴史 川野
直人 川淵
Original Assignee
株式会社タダノ
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Publication of WO2016121185A1 publication Critical patent/WO2016121185A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • 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
    • 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
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • 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

Definitions

  • the present invention relates to a turning control device, and more particularly, a turning having a simplified structure in which turning operation characteristics can be changed to those intended by an operator by independently controlling a meter-in flow rate and a meter-out opening area.
  • the present invention relates to a control device.
  • a conventional turning control device is provided in a working machine having a turning table such as a mobile crane.
  • the turning control device includes a hydraulic motor capable of turning the turntable, a hydraulic pump that supplies hydraulic oil to the hydraulic motor, and a control valve that controls a flow path of hydraulic oil flowing into and out of the hydraulic motor. Is known.
  • the control spool controlled by the operation amount input through the operation lever is used.
  • the opening area of each flow path such as meter-in and meter-out is uniquely determined with respect to the stroke position. For this reason, the turning operation characteristics are uniquely determined, and it is difficult to change the turning operation characteristics to those intended by the operator.
  • the problem to be solved by the present invention has a simplified structure in which the meter-in flow rate and the meter-out opening area can be controlled independently, and the turning operation characteristics can be changed to those intended by the operator.
  • a turning control device is provided.
  • a turning control device includes a hydraulic motor capable of turning a turntable in a work machine, and a variable displacement hydraulic pump that supplies hydraulic oil to the hydraulic motor.
  • a control valve having a flow path for hydraulic oil flowing into and out of the hydraulic motor, a meter-in control unit for controlling a flow rate of hydraulic oil flowing into the hydraulic motor by controlling a discharge amount of the hydraulic pump, A meter-out control unit that controls an opening area of the flow passage on the side that flows out of the hydraulic motor by controlling the valve opening of the control valve.
  • the turning control device further includes a detector that detects a working state of the working machine, wherein the meter-in control unit is detected by the number of rotations of a prime mover that drives the hydraulic pump and the detector. It is preferable to control the discharge amount of the variable displacement hydraulic pump according to the working state of the working machine.
  • the meter-in control unit controls the rotation direction of the hydraulic motor by the control of the control valve.
  • the turning control device includes an operation characteristic input unit capable of inputting an arbitrary operation characteristic, and the meter-in control unit and the meter-out control unit are based on the operation characteristic input in the operation characteristic input unit. It is preferable to drive.
  • the inflow amount of the hydraulic oil to the hydraulic motor is controlled by the control of the hydraulic pump of the meter-in control unit, and the opening area on the outflow side in the hydraulic oil flow passage is controlled by the control valve of the meter-out control unit.
  • the brake pressure generated on the hydraulic oil outflow side of the hydraulic motor is controlled. Accordingly, for example, it is not necessary to adopt a complicated structure such as a control system provided with a plurality of control valves, so that turning in which the meter-in and meter-out can be controlled independently and the structure of the control device can be simplified is possible.
  • a control device can be provided.
  • a turning control device capable of changing the turning operation characteristics to those intended by the operator by independently controlling meter-in and meter-out.
  • an existing variable displacement hydraulic pump can be used as the hydraulic pump, complicated equipment and control are not required for adjusting the discharge amount of hydraulic oil, resulting in further simplification.
  • a turning control device having a structure can be provided.
  • the flow rate control valve with pressure compensation and the bleed-off circuit are not required for meter-in control, and the control is simplified and stabilized. It is possible to provide a turning control device that can be easily controlled.
  • variable displacement hydraulic pump is driven according to the number of rotations of the prime mover for driving the hydraulic pump and the detection results from various detectors that detect the working state of the work machine.
  • the discharge amount can be controlled.
  • a mode in which an operation lever for inputting a driving amount of a desired swivel of the operator and an accelerator pedal for controlling the rotational speed of a prime mover for driving the hydraulic pump can be operated independently. There is. In such a working machine, even if the hydraulic pump capacity determined by the operation lever is constant, the amount of hydraulic oil discharged by the hydraulic pump changes due to the change in the number of revolutions of the prime mover by the operation of the accelerator pedal. To do.
  • the optimum rate of change of the hydraulic pump discharge amount with respect to the change in the rotational speed of the prime mover varies depending on the work state of the work machine, the operator's preference, and the like. If it is a desirable form of the present invention, the turning control device which can change the change rate of the discharge amount of the hydraulic oil of the hydraulic pump with respect to the change in the rotational speed of the prime mover according to the work state of the work machine, the operator's preference, etc. Can be provided.
  • a turning control device capable of determining the rotation direction and meter-in flow rate of the hydraulic motor only by the meter-in control unit without going through a complicated control process. If the rotational direction of the hydraulic motor is determined, the meter-in and meter-out flow paths are also determined. As a result, the flow path of hydraulic fluid, the rotational direction of the hydraulic motor, and the meter-in flow rate are determined only by the meter-in control unit. Can do.
  • meter-in control is performed by inputting, for example, various operation characteristic patterns previously stored in a storage unit or the like mounted on the work machine using the operation characteristic input unit. It is possible to provide a turning control device that can appropriately execute various combinations of the control forms of the unit and the meter-out control unit according to the working state of the work implement.
  • FIG. 1 is a side view of the mobile crane 1.
  • the mobile crane 1 includes a traveling vehicle 10 and a crane device 20.
  • a rough terrain crane is shown in FIG.
  • the vehicle to which the present invention is applied is not limited to a rough terrain crane, and for example, a work vehicle that can perform a turning operation at the time of work and is required to have a simplified structure in a device that controls the turning operation. It can be applied to a work vehicle.
  • Vehicle 10 has wheels 11 and travels using engine E shown in FIG. 2 as a power source.
  • engine E shown in FIG. 2
  • outriggers 12 for preventing the mobile crane 1 from overturning during crane work and for stably supporting the mobile crane 1.
  • the outrigger 12 can project outward in the vehicle width direction and can extend downward by a hydraulic jack cylinder.
  • the outrigger 12 stably supports the mobile crane 1 against the ground surface by grounding the lower end.
  • the crane device 20 includes a swivel base 21, a boom 22, and a cabin 23.
  • the swivel base 21 is a member provided at a substantially central portion in the front-rear direction of the vehicle 10 so as to be turnable on a horizontal plane.
  • the turntable 21 is provided so as to be turnable with respect to the upper portion of the vehicle 10.
  • the swivel base 21 is swung by the hydraulic motor 3 shown in FIG. The driving of the hydraulic motor 3 will be described later with reference to FIG.
  • the boom 22 is a member that can be raised and lowered with respect to the swivel base 21 and that can be expanded and contracted.
  • the boom 22 consists of a plurality of cylinders arranged in a nested manner, and expands and contracts by advancing and retracting the cylinders with a hydraulic extension cylinder.
  • the cylindrical body arranged on the outermost side of the boom 22 is pivotally connected to a bracket 24 erected on the upper part of the swivel base 21 at its base end.
  • a hydraulic hoisting cylinder 25 is connected between the lower surface portion of the outermost cylinder in the boom 22 and the bracket 24.
  • the boom 22 is raised and lowered by the extending and retracting operation of the raising and lowering cylinder 25.
  • a hook block 26 is suspended from the tip of the boom 22 by a wire rope.
  • a load can be locked to the hook block 26, and the hook block 26 and the load can be moved up and down by adjusting the winding length of the wire rope while the load is locked to the hook block 26.
  • the cabin 23 is a box-shaped member that is provided on the side of the bracket 24 at the top of the swivel base 21 and can swivel together with the swivel base 21.
  • An operator can get into the cabin 23, and the operation input unit 4 (see FIG. 2) including an operation lever, an operation button, a touch panel, and the like provided in the interior controls the operation of the vehicle 10 and the expansion and contraction of the boom 22. And operations related to undulations can be input.
  • FIG. 2 is a schematic configuration diagram showing an embodiment of the turning control device according to the present invention.
  • the turning control device 100 includes a hydraulic motor 3, an operation input unit 4, a hydraulic pump 5, a control valve 6, and a controller 7.
  • the hydraulic motor 3 is driven when hydraulic oil is supplied, and can turn the turntable 21. By switching the inflow direction and the outflow direction of the hydraulic oil with respect to the hydraulic motor 3, the rotation direction of the hydraulic motor 3 can be switched. When the rotation direction of the hydraulic motor 3 is switched, a turning operation in one direction of the turntable 21 and a turning operation in the opposite direction can be performed.
  • the operation input unit 4 is shown as an operation lever in FIG. In the present embodiment, an operation related to the turning operation can be input by tilting the operation input unit 4.
  • a push button, a pedal, a touch panel, or the like may be employed in addition to the operation lever.
  • the hydraulic pump 5 is a member that supplies hydraulic oil to the hydraulic motor 3.
  • the hydraulic pump 5 uses the engine E as a drive source, similarly to the drive source of the vehicle 10.
  • a PTO (power take-off) mechanism 8 for taking out the power of the engine E is connected to the hydraulic pump 5.
  • the hydraulic pump 5 is driven to discharge hydraulic oil.
  • Engine E is an example of a prime mover in the present invention.
  • the prime mover may be, for example, an electric motor instead of the engine E that burns fuel.
  • the hydraulic pump 5 in this embodiment is a variable displacement hydraulic pump. Therefore, the amount of hydraulic oil discharged from the hydraulic pump 5 can be adjusted in accordance with an electrical signal input from the controller 7 described later.
  • the control valve 6 is a member having a flow path for hydraulic oil flowing into and out of the hydraulic motor 3. Specifically, the control valve 6 incorporates a long spool having a groove-like meter-in channel and meter-out channel formed on the peripheral surface.
  • the control valve 6 has a proportional solenoid and can adjust the amount of movement of the spool and switch the direction of movement.
  • the spool is movable along the axial direction of the spool in accordance with an electric signal input to the proportional solenoid.
  • control valve 6 of the present embodiment as shown in FIG. 2, two sets of meter-in flow paths and meter-out flow paths are provided, and the flow direction of hydraulic oil can be switched by moving the spool. . Thereby, if the direction which a spool moves is switched, the distribution direction of hydraulic oil can be changed.
  • the opening area of the meter-out flow path changes according to the movement amount of the spool. Therefore, by controlling the amount of movement of the spool, that is, the opening area of the meter-out flow path, the brake pressure generated on the hydraulic oil discharge side of the hydraulic motor 3 due to the meter-out flow rate is controlled.
  • the meter-in flow path is formed so as to immediately enter the fully open state or the substantially fully open state when the spool moves in any direction from the neutral position. In other words, the opening area of the meter-in channel becomes maximum or substantially maximum when the spool moves from the neutral position. For this reason, in this embodiment, the control of the opening area of the meter-out flow path is the control of the valve opening degree of the control valve 6.
  • control valve 6 controls only the flow direction for the meter-in flow path, and controls the valve opening degree for obtaining the necessary opening area only for the meter-out flow path. For this reason, it is only necessary to provide one spool, and as the control valve 6, it is only necessary to make a slight design change to the control valve having a simple structure using one existing spool. Conventionally, a plurality of spools are used when various control modes of meter-in flow and meter-out flow are required.
  • the controller 7 is a member that can receive various electric signals from various sensors described later, can perform appropriate arithmetic processing, and can output drive signals to the hydraulic pump 5 and the control valve 6, respectively.
  • the controller 7 is composed of, for example, a CPU, a ROM, a RAM, and the like.
  • the controller 7 also serves as a meter-in control unit and a meter-out control unit in the present invention.
  • the function of the controller 7 as the meter-in control unit is to control the flow rate of the hydraulic oil flowing into the hydraulic motor 3 by controlling the discharge amount of the hydraulic pump 5, and the swivel base 21 input from the operation input unit 4.
  • a function of controlling the moving direction of the spool of the control valve 6 according to the turning direction can be given.
  • the function of the controller 7 as a meter-out control unit is to control the opening area of the meter-out flow path by controlling the valve opening of the control valve 6 and control the brake pressure generated on the hydraulic oil outflow side of the hydraulic motor 3. The function to do can be mentioned.
  • the controller 7 includes a signal related to an operation input in the operation input unit 4, a signal related to an operation characteristic input, a signal related to the state of the mobile crane 1, a signal related to the rotational speed of the prime mover, and the like. Entered. Specifically, as a member for inputting a signal to the controller 7, as shown in FIG. 2, the stroke sensor 71, the first load sensor 72, the second load sensor 73, the turning angle sensor 74, the undulation angle sensor 75, the rotation A number sensor 76, a lever position sensor 77, and an operation characteristic input unit 78 are provided.
  • the members that input signals to these controllers 7 are examples of detectors that detect the working state of the mobile crane 1.
  • the controller 7 outputs electric signals for driving, increasing / decreasing the flow rate of hydraulic oil, and stopping the hydraulic pump 5 and the control valve 6 based on various electric signals inputted.
  • the stroke sensor 71 is a sensor member that detects the extension / contraction length of the boom 22.
  • information related to the length of the boom 22 is obtained based on the electrical signal input by the stroke sensor 71.
  • the first load sensor 72 is a sensor member that detects a load acting on the tip of the boom 22.
  • information relating to the load including the mass of the load is obtained based on the electrical signal input by the first load sensor 72.
  • the second load sensor 73 is a sensor member that detects the mass of the counterweight mounted on the vehicle 10 or the crane device 20 or the like. In the controller 7, information related to the mass of the counterweight is obtained based on the electric signal input from the second load sensor 73.
  • the turning angle sensor 74 is a sensor member that detects the turning angle of the turntable 21.
  • the controller 7 based on the electrical signal input from the turning angle sensor 74, information related to the turning angle of the turntable 21 and information related to the turning speed by calculating the turning angle per unit time of the turntable 21. Is obtained.
  • the hoisting angle sensor 75 is a sensor member that detects the hoisting angle of the boom 22 when the hoisting cylinder 25 is driven. In the controller 7, information related to the working radius is obtained based on the electrical signals input by the stroke sensor 71 and the undulation angle sensor 75.
  • the rotation speed sensor 76 is a sensor member that detects the rotation speed of the engine E.
  • information related to the rotational speed of the engine E is obtained based on the electrical signal input by the rotational speed sensor 76.
  • the lever position sensor 77 is a sensor member that detects the degree to which the operation lever that is the operation input unit 4 is tilted, that is, the operation amount. In the controller 7, information related to the operation amount of the operation input unit 4 is obtained based on the electric signal input by the lever position sensor 77.
  • the operation characteristic input unit 78 is a member that is provided in the cabin 23 similarly to the operation input unit 4 and is used for input related to selection and adjustment of the operation characteristic by the operator.
  • the operation characteristic in the present embodiment is, for example, the relationship between the operation amount in the operation input unit 4 and the driving amounts of the vehicle 10 and the crane device 20.
  • By adjusting the operation characteristics for example, a characteristic capable of obtaining a large drive amount with a small operation amount, a characteristic capable of obtaining a small drive amount with a large operation amount, a characteristic in which the turning speed is more important than the turning accuracy of the turntable 21, and turning It is possible to switch characteristics that emphasize turning accuracy from the turning speed of the table 21.
  • the controller 7 based on the electrical signal input by the operation characteristic input unit 78, information related to the input operation characteristic desired by the worker is obtained.
  • the operation characteristics intended by the operator input via the operation characteristic input unit 78 and the like are controlled by appropriately combining a plurality of control valves, a plurality of spools, a flow rate control valve with pressure compensation, and the like. It was realized by.
  • the hydraulic pump escapes from the hydraulic pump to the hydraulic oil tank according to the circuit pressure. Since the bleed-off flow rate varies, the meter-in flow rate varies according to the variation of the turning load. In the case of a conventional circuit configuration having a bleed-off flow path, the meter-in flow rate also varies depending on the flow rate into the control valve, that is, the discharge amount of the hydraulic pump that varies depending on the engine speed.
  • a form in which a flow control valve with pressure compensation is used for meter-in control is known.
  • the operation input at the operation input unit is performed by correcting the bleed-off flow rate by the flow control valve with pressure compensation for each variation of the circuit pressure and the flow rate of the hydraulic oil flowing into the control valve.
  • a meter-in flow rate corresponding to the amount could be obtained.
  • the actuator provided in such a work machine has a swiveling speed that is sized according to the operation amount. It was not possible to control immediately. For example, when the turning speed is slower than the manipulated variable, that is, when the rotational speed of the hydraulic motor is lower than the meter-in flow rate specified by the input manipulated variable, the pressure on the hydraulic oil inflow side of the hydraulic motor increases, and as a result The turning motion is accelerated.
  • the opening area of the meter-in flow rate and the meter-out flow path can be controlled more reliably and independently than before, and the swivel has a simplified structure and can easily change the operation characteristics of the hydraulic motor 3. A control device was sought.
  • this embodiment employs a circuit configuration in which the meter-in flow rate depends only on the rotational speed of the engine E and the capacity of the hydraulic pump 5 without using a pressure control flow control valve.
  • the meter-in flow rate in the present embodiment does not or hardly varies due to factors other than control by the meter-in control unit of the controller 7, that is, fluctuations in the circuit pressure and the inflow flow rate to the control valve 6. Therefore, in the present embodiment, the operation and operation characteristics related to the turning operation input through the operation input unit 4 and the operation characteristic input unit 78 are more reliably and accurately executed in the hydraulic motor 3 than in the past.
  • the flow rate of the hydraulic oil flowing into the hydraulic motor 3 and the brake pressure generated on the outflow side are controlled independently by separate members. Specifically, the control of the flow rate of the hydraulic oil flowing into the hydraulic motor 3 is achieved by controlling the discharge amount of the hydraulic pump 5 in accordance with the rotational speed of the engine E and the working state of the mobile crane 1. Further, the control of the brake pressure generated in the flow path of the hydraulic oil flowing out from the hydraulic motor 3 is achieved by controlling the valve opening of the control valve 6.
  • the turning control device 100 does not need to control the flow rate of hydraulic oil by combining a plurality of control valves, a plurality of spools, a flow rate control valve, and the like as in the past. Further, since the turning control device 100 can control the meter-in flow rate and meter-out opening area of hydraulic oil using separate members that do not affect each other, that is, independent members, the structure and control system of the device are Not complicated or difficult.
  • the swing control device 100 controls each flow rate of the hydraulic oil flowing into and out of the hydraulic motor 3 by independent members such as the hydraulic pump 5 and the control valve 6, the swing control device 100 is operated by changing each control mode by the independent members. It is preferable because the characteristics can be easily changed and the range in which the operating characteristics can be changed is wider than in the past. Further, since meter-in control is performed by controlling the discharge amount of the hydraulic pump 5, the dependency of the discharge amount of the hydraulic pump 5 on the rotation speed of the engine E, that is, the dependency of the meter-in flow rate on the rotation speed of the engine E can be freely set. Can do.
  • the turning control device 100 has an optimum operation characteristic by changing each control mode of meter-in and meter-out according to the work state of the mobile crane 1 detected by signals from various sensors 71 to 75. Can be changed.
  • the work radius is calculated based on the extension / contraction length of the boom 22 detected by the stroke sensor 71 and the undulation angle of the boom 22 detected by the undulation angle sensor 75, and the calculated work radius, the load of the suspended load, etc.
  • the ratio of the meter-out opening area to the meter-in flow rate that is, the magnitude of the brake pressure, it is possible to change the turning operation characteristics that facilitate fine operations in situations where turning accuracy is required.
  • FIG. 3 is a schematic configuration diagram showing another embodiment of the turning control device according to the present invention.
  • the turning control device 101 includes two switching valves 91 and 92 and throttle valves 93 and 94.
  • the switching valves 91 and 92 have solenoids as switching means, and the flow paths are opened and closed in accordance with an electric signal input from the controller 7.
  • the switching valve 91 is a branch passage formed between the hydraulic pump 5 and the control valve 6 so that a part of the hydraulic oil discharged from the hydraulic pump 5 flows to the tank.
  • a throttle valve 93 is disposed downstream of the switching valve 91 in the branch flow path.
  • the switching valve 92 and the throttle valve 94 are branched flow paths formed so as to connect the meter-in flow path and the meter-out flow path between the control valve 6 and the hydraulic motor 3. Has been placed.
  • the flow rate of the hydraulic oil flowing through the switching valves 91 and 92 and the throttle valves 93 and 94 is set to be small depending on the opening degree of the throttle valves 93 and 94.
  • the switching valves 91 and 92 and the throttle valves 93 and 94 form a flow path for allowing a small amount of hydraulic oil to escape to the tank, thereby smoothing the turning operation when the turning operation of the swivel base 21 is started and stopped. Can do.
  • the amount of hydraulic oil that passes through the throttle valves 93 and 94 is an amount that hardly affects the drive of the hydraulic motor 3 determined by the control by the hydraulic pump 5 and the control valve 6. Control similar to that of the turning control device 100 is possible.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Jib Cranes (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Provided is a rotation control device having a simplified structure, the rotation control device being capable of independently controlling a meter-in flow rate and a meter-out opening area and being configured so that the characteristics of rotation operation can be changed to those desired by a worker. A rotation control device 100 is provided with: a hydraulic motor 3 capable of rotating the rotatable table of a mobile crane; a variable displacement hydraulic pump 5 for supplying hydraulic oil to the hydraulic motor 3; a control valve 6 having flow passages for hydraulic oil flowing into and out of the hydraulic motor 3; and a controller 7 for controlling the amount of discharge from the hydraulic pump 5 to control the flow rate of hydraulic oil which flows into the hydraulic motor 3, and controlling the degree of opening of the control valve 6 to control the area of opening of the flow passage through which hydraulic oil flows out of the hydraulic motor 3.

Description

旋回制御装置Swing control device
　本発明は、旋回制御装置に関し、特に、メータイン流量及びメータアウト開口面積を独立して制御することで、旋回操作特性を作業者の意図するものに変更可能な、簡略化された構造を有する旋回制御装置に関する。 The present invention relates to a turning control device, and more particularly, a turning having a simplified structure in which turning operation characteristics can be changed to those intended by an operator by independently controlling a meter-in flow rate and a meter-out opening area. The present invention relates to a control device.
　従来の旋回制御装置は、例えば移動式クレーン等の旋回台を有する作業機に設けられている。旋回制御装置は、旋回台を旋回可能な油圧モータと、油圧モータに対して作動油を供給する油圧ポンプと、油圧モータに対して流出入する作動油の流通路を制御するコントロールバルブとを備えたものが知られている。 A conventional turning control device is provided in a working machine having a turning table such as a mobile crane. The turning control device includes a hydraulic motor capable of turning the turntable, a hydraulic pump that supplies hydraulic oil to the hydraulic motor, and a control valve that controls a flow path of hydraulic oil flowing into and out of the hydraulic motor. Is known.
　コントロールバルブ内に油圧モータに対して流出入する作動油の流通路を制御するコントロールスプールが１本だけ設けられている形態では、操作レバーを介して入力される操作量により制御されるコントロールスプールのストローク位置に対して、一意的にメータイン及びメータアウト等の各流路の開口面積が決定される。このため、旋回操作特性は一意的に定まり、旋回操作特性を作業者の意図するものに変更することが困難であった。 In the configuration in which only one control spool for controlling the flow path of hydraulic oil flowing into and out of the hydraulic motor is provided in the control valve, the control spool controlled by the operation amount input through the operation lever is used. The opening area of each flow path such as meter-in and meter-out is uniquely determined with respect to the stroke position. For this reason, the turning operation characteristics are uniquely determined, and it is difficult to change the turning operation characteristics to those intended by the operator.
　旋回操作特性を作業者の意図するものに変更可能な発明として、メータイン及びメータアウト等の各開口面積を独立して制御する個別のコントロールスプールを備え、全てのコントロールスプールを独立して制御する油圧アクチュエータの制御装置が知られている（特許文献１参照）。また、メータイン制御のためのコントロールバルブと、メータアウト制御のためのコントロールバルブとを併用する油圧シリンダ回路も知られている（特許文献２参照）。 As an invention that can change the turning operation characteristics to those intended by the operator, it has an individual control spool that controls each opening area such as meter-in and meter-out independently, and hydraulic pressure that controls all the control spools independently An actuator control device is known (see Patent Document 1). There is also known a hydraulic cylinder circuit that uses both a control valve for meter-in control and a control valve for meter-out control (see Patent Document 2).
特許第３９４８１２２号公報Japanese Patent No. 3948122 特開２００３－１３０００５号公報JP 2003-130005 A
　しかしながら、メータイン及びメータアウト等の各開口面積を、複数のコントロールバルブ、コントロールスプール等の組合せで制御する場合、装置の構造及び制御工程の複雑化を招いていた。 However, when each opening area such as meter-in and meter-out is controlled by a combination of a plurality of control valves, control spools, etc., the structure of the apparatus and the control process are complicated.
　よって、本発明が解決しようとする課題は、メータイン流量及びメータアウト開口面積を独立して制御可能であり、旋回操作特性を作業者の意図するものに変更可能な、簡略化された構造を有する旋回制御装置を提供することである。 Therefore, the problem to be solved by the present invention has a simplified structure in which the meter-in flow rate and the meter-out opening area can be controlled independently, and the turning operation characteristics can be changed to those intended by the operator. A turning control device is provided.
　前記課題を解決するための手段として、本発明に係る旋回制御装置は、作業機における旋回台を旋回可能な油圧モータと、前記油圧モータに対して作動油を供給する可変容量型の油圧ポンプと、前記油圧モータに対して流出入する作動油の流通路を有するコントロールバルブと、前記油圧ポンプの吐出量の制御により、前記油圧モータに流入する作動油の流量を制御するメータイン制御部と、前記コントロールバルブの弁開度の制御により、前記油圧モータから流出する側の前記流通路の開口面積を制御するメータアウト制御部と、を備える。 As means for solving the above-described problems, a turning control device according to the present invention includes a hydraulic motor capable of turning a turntable in a work machine, and a variable displacement hydraulic pump that supplies hydraulic oil to the hydraulic motor. A control valve having a flow path for hydraulic oil flowing into and out of the hydraulic motor, a meter-in control unit for controlling a flow rate of hydraulic oil flowing into the hydraulic motor by controlling a discharge amount of the hydraulic pump, A meter-out control unit that controls an opening area of the flow passage on the side that flows out of the hydraulic motor by controlling the valve opening of the control valve.
　また、本発明に係る旋回制御装置において、前記作業機の作業状態を検出する検出器を備え、前記メータイン制御部は、前記油圧ポンプを駆動する原動機の回転数と、前記検出器により検出された前記作業機の作業状態とに応じて、可変容量型の前記油圧ポンプの吐出量を制御するのが好ましい。 The turning control device according to the present invention further includes a detector that detects a working state of the working machine, wherein the meter-in control unit is detected by the number of rotations of a prime mover that drives the hydraulic pump and the detector. It is preferable to control the discharge amount of the variable displacement hydraulic pump according to the working state of the working machine.
　更に、本発明に係る旋回制御装置において、前記メータイン制御部は、前記コントロールバルブの制御により、前記油圧モータの回転方向を制御するのが好ましい。 Furthermore, in the turning control device according to the present invention, it is preferable that the meter-in control unit controls the rotation direction of the hydraulic motor by the control of the control valve.
　本発明に係る旋回制御装置において、任意の操作特性を入力可能な操作特性入力部を備え、前記メータイン制御部及び前記メータアウト制御部は、前記操作特性入力部において入力された操作特性に基づいて駆動するのが好ましい。 The turning control device according to the present invention includes an operation characteristic input unit capable of inputting an arbitrary operation characteristic, and the meter-in control unit and the meter-out control unit are based on the operation characteristic input in the operation characteristic input unit. It is preferable to drive.
　本発明によると、メータイン制御部の油圧ポンプの制御によって油圧モータに対する作動油の流入量が制御され、メータアウト制御部のコントロールバルブの制御によって作動油の流通路における流出側の開口面積を制御し、油圧モータの作動油の流出側に生じるブレーキ圧力を制御する。したがって、例えば複数のコントロールバルブを設ける制御系等の複雑な構造を採る必要が無くなるので、メータイン及びメータアウトを独立して制御可能であると共に、制御に係る装置の構造の簡略化が可能な旋回制御装置を提供することができる。更に、本発明によると、メータイン及びメータアウトを独立して制御することによって、旋回操作特性を作業者の意図するものに変更可能な旋回制御装置を提供することができる。また、本発明によると、油圧ポンプとして既存の可変容量型油圧ポンプを用いることができるので、作動油の吐出量の調整に複雑な機器類及び制御が不要となり、結果としてより一層簡略化された構造を有する旋回制御装置を提供することができる。本発明によると、油圧モータへ流入するメータイン流量は可変容量型ポンプの吐出量によって決定されるため、メータイン制御に圧力補償付き流量制御弁及びブリードオフ回路を必要とせず、制御の簡略化及び安定的な制御が容易な旋回制御装置を提供することができる。 According to the present invention, the inflow amount of the hydraulic oil to the hydraulic motor is controlled by the control of the hydraulic pump of the meter-in control unit, and the opening area on the outflow side in the hydraulic oil flow passage is controlled by the control valve of the meter-out control unit. The brake pressure generated on the hydraulic oil outflow side of the hydraulic motor is controlled. Accordingly, for example, it is not necessary to adopt a complicated structure such as a control system provided with a plurality of control valves, so that turning in which the meter-in and meter-out can be controlled independently and the structure of the control device can be simplified is possible. A control device can be provided. Furthermore, according to the present invention, it is possible to provide a turning control device capable of changing the turning operation characteristics to those intended by the operator by independently controlling meter-in and meter-out. In addition, according to the present invention, since an existing variable displacement hydraulic pump can be used as the hydraulic pump, complicated equipment and control are not required for adjusting the discharge amount of hydraulic oil, resulting in further simplification. A turning control device having a structure can be provided. According to the present invention, since the meter-in flow rate flowing into the hydraulic motor is determined by the discharge amount of the variable displacement pump, the flow rate control valve with pressure compensation and the bleed-off circuit are not required for meter-in control, and the control is simplified and stabilized. It is possible to provide a turning control device that can be easily controlled.
　更に、本発明の好ましい形態によると、油圧ポンプを駆動するための原動機の回転数と、作業機の作業状態を検出する各種検出器からの検出結果とに応じて、可変容量型の油圧ポンプの吐出量を制御することができる。
　なお、作業機によっては、作業者の所望の旋回台の駆動量を入力する操作レバーと、油圧ポンプを駆動するための原動機の回転数を制御するアクセルペダルと、を独立して操作可能な形態がある。このような形態の作業機において、操作レバーにより決定される油圧ポンプ容量が一定であっても、アクセルペダルの操作によって原動機の回転数が変化することによって、油圧ポンプによる作動油の吐出量が変化する。原動機の回転数変化に対する油圧ポンプ吐出量の最適な変化割合は、作業機の作業状態及び作業者の好み等に応じて異なる。本発明の好ましい形態であれば、原動機の回転数変化に対する油圧ポンプの作動油の吐出量の変化割合を、作業機の作業状態及び作業者の好み等に応じて適宜に変更可能な旋回制御装置を提供することができる。 Furthermore, according to a preferred embodiment of the present invention, the variable displacement hydraulic pump is driven according to the number of rotations of the prime mover for driving the hydraulic pump and the detection results from various detectors that detect the working state of the work machine. The discharge amount can be controlled.
Note that, depending on the work machine, a mode in which an operation lever for inputting a driving amount of a desired swivel of the operator and an accelerator pedal for controlling the rotational speed of a prime mover for driving the hydraulic pump can be operated independently. There is. In such a working machine, even if the hydraulic pump capacity determined by the operation lever is constant, the amount of hydraulic oil discharged by the hydraulic pump changes due to the change in the number of revolutions of the prime mover by the operation of the accelerator pedal. To do. The optimum rate of change of the hydraulic pump discharge amount with respect to the change in the rotational speed of the prime mover varies depending on the work state of the work machine, the operator's preference, and the like. If it is a desirable form of the present invention, the turning control device which can change the change rate of the discharge amount of the hydraulic oil of the hydraulic pump with respect to the change in the rotational speed of the prime mover according to the work state of the work machine, the operator's preference, etc. Can be provided.
　本発明の他の好ましい形態によると、複雑な制御工程を経ることなく、メータイン制御部だけで油圧モータの回転方向及びメータイン流量を確定可能な旋回制御装置を提供することができる。なお、油圧モータの回転方向が確定すればメータイン及びメータアウトの流通経路も確定するので、結果として作動油の流通経路と油圧モータの回転方向とメータイン流量とを、メータイン制御部のみで確定することができる。 According to another preferred embodiment of the present invention, it is possible to provide a turning control device capable of determining the rotation direction and meter-in flow rate of the hydraulic motor only by the meter-in control unit without going through a complicated control process. If the rotational direction of the hydraulic motor is determined, the meter-in and meter-out flow paths are also determined. As a result, the flow path of hydraulic fluid, the rotational direction of the hydraulic motor, and the meter-in flow rate are determined only by the meter-in control unit. Can do.
　また、本発明の他の好ましい形態によると、例えば予め作業機に搭載される記憶手段等に記憶させておいた種々の操作特性パターン等を操作特性入力部を用いて入力することによって、メータイン制御部及びメータアウト制御部の各制御形態の様々な組合せを、作業機の作業状態等に応じて適宜に実行可能な旋回制御装置を提供することができる。 According to another preferred embodiment of the present invention, meter-in control is performed by inputting, for example, various operation characteristic patterns previously stored in a storage unit or the like mounted on the work machine using the operation characteristic input unit. It is possible to provide a turning control device that can appropriately execute various combinations of the control forms of the unit and the meter-out control unit according to the working state of the work implement.
移動式クレーンの側面図である。It is a side view of a mobile crane. 本発明に係る旋回制御装置の一実施形態を示す概略構成図である。It is a schematic block diagram which shows one Embodiment of the turning control apparatus which concerns on this invention. 本発明に係る旋回制御装置の他の実施形態を示す概略構成図である。It is a schematic block diagram which shows other embodiment of the turning control apparatus which concerns on this invention.
　以下に、本発明に係る旋回制御装置について、図面を参照しつつ説明する。
　まず、本発明が適用される作業機の一例である移動式クレーン１の概略について、図１を参照しつつ説明する。図１は、移動式クレーン１の側面図である。 A turning control device according to the present invention will be described below with reference to the drawings.
First, an outline of a mobile crane 1 which is an example of a work machine to which the present invention is applied will be described with reference to FIG. FIG. 1 is a side view of the mobile crane 1.
　図１に示すように、移動式クレーン１は、走行する車両１０と、クレーン装置２０とを備えている。
　なお、移動式クレーン１として、図１にラフテレーンクレーンを示している。本発明が適用される車両としてはラフテレーンクレーンに限られず、例えば作業時に旋回動作が可能であり、旋回動作を制御する装置において構造の簡略化が求められている作業車両、具体的には高所作業車に適用することができる。 As shown in FIG. 1, the mobile crane 1 includes a traveling vehicle 10 and a crane device 20.
As the mobile crane 1, a rough terrain crane is shown in FIG. The vehicle to which the present invention is applied is not limited to a rough terrain crane, and for example, a work vehicle that can perform a turning operation at the time of work and is required to have a simplified structure in a device that controls the turning operation. It can be applied to a work vehicle.
　車両１０は、車輪１１を有し、図２に示すエンジンＥを動力源として走行する。また、車両１０の前側及び後側の左右両側には、クレーン作業時に移動式クレーン１の転倒を防止すると共に、移動式クレーン１を安定的に支持するためのアウトリガ１２が設けられている。アウトリガ１２は、車両幅方向外側に張り出し可能であると共に、油圧式のジャッキシリンダによって下方に伸長可能である。アウトリガ１２は、下端を接地させることにより移動式クレーン１を接地面に対して安定的に支持する。 Vehicle 10 has wheels 11 and travels using engine E shown in FIG. 2 as a power source. In addition, on both the left and right sides of the front side and the rear side of the vehicle 10, there are provided outriggers 12 for preventing the mobile crane 1 from overturning during crane work and for stably supporting the mobile crane 1. The outrigger 12 can project outward in the vehicle width direction and can extend downward by a hydraulic jack cylinder. The outrigger 12 stably supports the mobile crane 1 against the ground surface by grounding the lower end.
　また、クレーン装置２０は、旋回台２１と、ブーム２２と、キャビン２３とを有する。 Further, the crane device 20 includes a swivel base 21, a boom 22, and a cabin 23.
　旋回台２１は、車両１０の前後方向略中央部に水平面上を旋回可能に設けられる部材である。旋回台２１は、車両１０の上部に対して旋回自在に設けられている。旋回台２１は、図２に示す油圧モータ３によって旋回する。油圧モータ３の駆動については、図２を参照しつつ後述する。 The swivel base 21 is a member provided at a substantially central portion in the front-rear direction of the vehicle 10 so as to be turnable on a horizontal plane. The turntable 21 is provided so as to be turnable with respect to the upper portion of the vehicle 10. The swivel base 21 is swung by the hydraulic motor 3 shown in FIG. The driving of the hydraulic motor 3 will be described later with reference to FIG.
　ブーム２２は、旋回台２１に対して起伏可能に設けられると共に、伸縮可能に設けられる部材である。ブーム２２は、入れ子状に配置される複数本の筒体から成り、油圧式の伸縮シリンダで該筒体を相互に進退させることによって伸縮する。ブーム２２において最も外側に配置される筒体は、その基端部が旋回台２１の上部に立設されるブラケット２４に揺動自在に連結されている。図１に示すように、ブーム２２における最も外側の筒体の下面部とブラケット２４との間には、油圧式の起伏シリンダ２５が連結されている。該起伏シリンダ２５の伸縮動作によってブーム２２が起伏する。ブーム２２の先端には、例えばフックブロック２６がワイヤロープにより吊下されている。フックブロック２６には荷物を係止可能であり、フックブロック２６に荷物を係止した状態でワイヤロープの巻取り長さが調整されることによってフックブロック２６及び荷物を上下動させることができる。 The boom 22 is a member that can be raised and lowered with respect to the swivel base 21 and that can be expanded and contracted. The boom 22 consists of a plurality of cylinders arranged in a nested manner, and expands and contracts by advancing and retracting the cylinders with a hydraulic extension cylinder. The cylindrical body arranged on the outermost side of the boom 22 is pivotally connected to a bracket 24 erected on the upper part of the swivel base 21 at its base end. As shown in FIG. 1, a hydraulic hoisting cylinder 25 is connected between the lower surface portion of the outermost cylinder in the boom 22 and the bracket 24. The boom 22 is raised and lowered by the extending and retracting operation of the raising and lowering cylinder 25. For example, a hook block 26 is suspended from the tip of the boom 22 by a wire rope. A load can be locked to the hook block 26, and the hook block 26 and the load can be moved up and down by adjusting the winding length of the wire rope while the load is locked to the hook block 26.
　キャビン２３は、旋回台２１の上部であってブラケット２４の側方に設けられる箱状の部材であり、旋回台２１と共に旋回可能である。キャビン２３には作業者が乗り込むことができ、内部に設けられた操作レバー、操作ボタン及びタッチパネル等を含む操作入力部４（図２参照）によって、車両１０の走行に係る操作、ブーム２２の伸縮及び起伏に係る操作等を入力可能になっている。 The cabin 23 is a box-shaped member that is provided on the side of the bracket 24 at the top of the swivel base 21 and can swivel together with the swivel base 21. An operator can get into the cabin 23, and the operation input unit 4 (see FIG. 2) including an operation lever, an operation button, a touch panel, and the like provided in the interior controls the operation of the vehicle 10 and the expansion and contraction of the boom 22. And operations related to undulations can be input.
　ブーム２２の伸縮動作に用いられる伸縮シリンダ、起伏動作に用いられる起伏シリンダ２５、旋回動作に用いられる油圧モータ３は、作動油の供給又は排出によって作動する。ここで、油圧モータ３を制御する旋回制御装置１００について、図２を参照しつつ説明する。
　なお、図２は本発明に係る旋回制御装置の一実施形態を示す概略構成図である。 The telescopic cylinder used for the expansion / contraction operation of the boom 22, the hoisting cylinder 25 used for the hoisting operation, and the hydraulic motor 3 used for the turning operation operate by supplying or discharging hydraulic oil. Here, the turning control device 100 for controlling the hydraulic motor 3 will be described with reference to FIG.
FIG. 2 is a schematic configuration diagram showing an embodiment of the turning control device according to the present invention.
　図２に示すように、旋回制御装置１００は、油圧モータ３と、操作入力部４と、油圧ポンプ５と、コントロールバルブ６と、コントローラ７とを備える。 As shown in FIG. 2, the turning control device 100 includes a hydraulic motor 3, an operation input unit 4, a hydraulic pump 5, a control valve 6, and a controller 7.
　油圧モータ３は、作動油が供給されると駆動し、上記旋回台２１を旋回させることができる。油圧モータ３に対する作動油の流入方向及び流出方向を切り替えることによって、油圧モータ３の回転方向を切り替えることができる。油圧モータ３の回転方向が切り替わることによって、旋回台２１の一方向への旋回動作、及び逆方向への旋回動作を行うことができる。 The hydraulic motor 3 is driven when hydraulic oil is supplied, and can turn the turntable 21. By switching the inflow direction and the outflow direction of the hydraulic oil with respect to the hydraulic motor 3, the rotation direction of the hydraulic motor 3 can be switched. When the rotation direction of the hydraulic motor 3 is switched, a turning operation in one direction of the turntable 21 and a turning operation in the opposite direction can be performed.
　操作入力部４は、図２に操作レバーとして示している。本実施形態においては、操作入力部４を傾倒することによって、旋回動作に係る操作を入力することができる。なお、本発明において操作入力部としては、操作レバー以外に、押ボタン、ペダル及びタッチパネル等を採用しても良い。 The operation input unit 4 is shown as an operation lever in FIG. In the present embodiment, an operation related to the turning operation can be input by tilting the operation input unit 4. In the present invention, as the operation input unit, a push button, a pedal, a touch panel, or the like may be employed in addition to the operation lever.
　油圧ポンプ５は、油圧モータ３に対して作動油を供給する部材である。油圧ポンプ５は、上記車両１０の駆動源と同様に、エンジンＥを駆動源としている。油圧ポンプ５にはエンジンＥの動力を取り出すためのＰＴＯ（パワーテイクオフ）機構８が接続されている。ＰＴＯ機構８で取り出されたエンジンＥの動力が油圧ポンプ５に伝達されることによって、油圧ポンプ５が駆動して作動油を吐出する。
　なお、エンジンＥは本発明における原動機の一例である。本発明において原動機としては、燃料を燃焼させるエンジンＥに代えて、例えば電動モータ等であっても良い。 The hydraulic pump 5 is a member that supplies hydraulic oil to the hydraulic motor 3. The hydraulic pump 5 uses the engine E as a drive source, similarly to the drive source of the vehicle 10. A PTO (power take-off) mechanism 8 for taking out the power of the engine E is connected to the hydraulic pump 5. When the power of the engine E taken out by the PTO mechanism 8 is transmitted to the hydraulic pump 5, the hydraulic pump 5 is driven to discharge hydraulic oil.
Engine E is an example of a prime mover in the present invention. In the present invention, the prime mover may be, for example, an electric motor instead of the engine E that burns fuel.
　本実施形態における油圧ポンプ５は可変容量型の油圧ポンプである。よって、後述のコントローラ７から入力される電気信号に応じて、油圧ポンプ５が吐出する作動油の量が調整可能となっている。 The hydraulic pump 5 in this embodiment is a variable displacement hydraulic pump. Therefore, the amount of hydraulic oil discharged from the hydraulic pump 5 can be adjusted in accordance with an electrical signal input from the controller 7 described later.
　コントロールバルブ６は、油圧モータ３に対して流出入する作動油の流通路を有する部材である。具体的にコントロールバルブ６は、周面に溝状のメータイン流路及びメータアウト流路が形成された長尺状のスプールを内蔵する。コントロールバルブ６は比例ソレノイドを有し、スプールの移動量の調整及び移動方向の切り替えが可能である。該スプールは、比例ソレノイドに入力される電気信号に応じて、スプールの軸方向に沿って移動可能になっている。 The control valve 6 is a member having a flow path for hydraulic oil flowing into and out of the hydraulic motor 3. Specifically, the control valve 6 incorporates a long spool having a groove-like meter-in channel and meter-out channel formed on the peripheral surface. The control valve 6 has a proportional solenoid and can adjust the amount of movement of the spool and switch the direction of movement. The spool is movable along the axial direction of the spool in accordance with an electric signal input to the proportional solenoid.
　本実施形態のコントロールバルブ６においては、図２に示すように、メータイン流路及びメータアウト流路の組み合わせが２組設けられ、スプールの移動によって作動油の流通方向が切り替え可能に形成されている。これにより、スプールの移動する方向を切り替えると、作動油の流通方向を変更することができる。 In the control valve 6 of the present embodiment, as shown in FIG. 2, two sets of meter-in flow paths and meter-out flow paths are provided, and the flow direction of hydraulic oil can be switched by moving the spool. . Thereby, if the direction which a spool moves is switched, the distribution direction of hydraulic oil can be changed.
　また、本実施形態におけるコントロールバルブ６は、メータアウト流路の開口面積がスプールの移動量に応じて変化する。よって、スプールの移動量すなわちメータアウト流路の開口面積を制御することにより、メータアウト流量に起因した油圧モータ３の作動油の排出側に生じるブレーキ圧力が制御される。なお、本実施形態においてメータイン流路は、スプールが中立位置からいずれかの方向に移動すると、すぐに全開状態又は略全開状態になるように形成されている。換言すると、メータイン流路の開口面積は、スプールが中立位置から移動すると最大又は略最大になる。このため、本実施形態においては、メータアウト流路の開口面積の制御がコントロールバルブ６の弁開度の制御となる。 Further, in the control valve 6 in the present embodiment, the opening area of the meter-out flow path changes according to the movement amount of the spool. Therefore, by controlling the amount of movement of the spool, that is, the opening area of the meter-out flow path, the brake pressure generated on the hydraulic oil discharge side of the hydraulic motor 3 due to the meter-out flow rate is controlled. In the present embodiment, the meter-in flow path is formed so as to immediately enter the fully open state or the substantially fully open state when the spool moves in any direction from the neutral position. In other words, the opening area of the meter-in channel becomes maximum or substantially maximum when the spool moves from the neutral position. For this reason, in this embodiment, the control of the opening area of the meter-out flow path is the control of the valve opening degree of the control valve 6.
　コントロールバルブ６は、前述の通り、メータイン流路については流通方向のみを制御し、メータアウト流路についてのみ、必要な開口面積を得るための弁開度の制御を行う。このため、スプールは１本設けるだけで良く、コントロールバルブ６としては、既存の１本のスプールを用いた単純構造を有するコントロールバルブに若干の設計変更を加えるだけで良い。なお、従来ではメータイン流量及びメータアウト流量の様々な制御形態が必要である場合は複数本のスプールを用いていた。 As described above, the control valve 6 controls only the flow direction for the meter-in flow path, and controls the valve opening degree for obtaining the necessary opening area only for the meter-out flow path. For this reason, it is only necessary to provide one spool, and as the control valve 6, it is only necessary to make a slight design change to the control valve having a simple structure using one existing spool. Conventionally, a plurality of spools are used when various control modes of meter-in flow and meter-out flow are required.
　コントローラ７は、後述の各種センサ等から種々の電気信号が入力され、適宜の演算処理が可能であり、油圧ポンプ５及びコントロールバルブ６に対してそれぞれ駆動信号を出力することができる部材である。コントローラ７は、例えばＣＰＵ、ＲＯＭ及びＲＡＭ等から構成される。
　なお、コントローラ７は本発明におけるメータイン制御部とメータアウト制御部とを兼ねている。 The controller 7 is a member that can receive various electric signals from various sensors described later, can perform appropriate arithmetic processing, and can output drive signals to the hydraulic pump 5 and the control valve 6, respectively. The controller 7 is composed of, for example, a CPU, a ROM, a RAM, and the like.
The controller 7 also serves as a meter-in control unit and a meter-out control unit in the present invention.
　コントローラ７におけるメータイン制御部としての機能は、油圧ポンプ５の吐出量の制御により、油圧モータ３に流入する作動油の流量を制御する機能、及び、操作入力部４で入力される旋回台２１の旋回方向に応じたコントロールバルブ６のスプールの移動方向を制御する機能を挙げることができる。また、コントローラ７におけるメータアウト制御部としての機能は、コントロールバルブ６の弁開度の制御によりメータアウト流路の開口面積を制御し、油圧モータ３の作動油の流出側に生じるブレーキ圧力を制御する機能を挙げることができる。 The function of the controller 7 as the meter-in control unit is to control the flow rate of the hydraulic oil flowing into the hydraulic motor 3 by controlling the discharge amount of the hydraulic pump 5, and the swivel base 21 input from the operation input unit 4. A function of controlling the moving direction of the spool of the control valve 6 according to the turning direction can be given. The function of the controller 7 as a meter-out control unit is to control the opening area of the meter-out flow path by controlling the valve opening of the control valve 6 and control the brake pressure generated on the hydraulic oil outflow side of the hydraulic motor 3. The function to do can be mentioned.
　本実施形態においてコントローラ７には、操作入力部４における操作の入力に係る信号、操作特性の入力に係る信号、移動式クレーン１の状態に係る信号、及び、原動機の回転数に係る信号等が入力される。コントローラ７に対して信号を入力する部材として具体的には、図２に示すように、ストロークセンサ７１、第１荷重センサ７２、第２荷重センサ７３、旋回角度センサ７４、起伏角度センサ７５、回転数センサ７６、レバー位置センサ７７及び操作特性入力部７８が設けられている。これらのコントローラ７に対して信号を入力する部材は、移動式クレーン１の作業状態を検出する検出器の一例である。コントローラ７は入力された種々の電気信号に基づいて、油圧ポンプ５及びコントロールバルブ６に対して駆動、作動油の流量の増減、及び停止に係る電気信号を出力する。 In the present embodiment, the controller 7 includes a signal related to an operation input in the operation input unit 4, a signal related to an operation characteristic input, a signal related to the state of the mobile crane 1, a signal related to the rotational speed of the prime mover, and the like. Entered. Specifically, as a member for inputting a signal to the controller 7, as shown in FIG. 2, the stroke sensor 71, the first load sensor 72, the second load sensor 73, the turning angle sensor 74, the undulation angle sensor 75, the rotation A number sensor 76, a lever position sensor 77, and an operation characteristic input unit 78 are provided. The members that input signals to these controllers 7 are examples of detectors that detect the working state of the mobile crane 1. The controller 7 outputs electric signals for driving, increasing / decreasing the flow rate of hydraulic oil, and stopping the hydraulic pump 5 and the control valve 6 based on various electric signals inputted.
　ストロークセンサ７１は、ブーム２２の伸縮長さを検出するセンサ部材である。コントローラ７では、ストロークセンサ７１により入力される電気信号に基づいて、ブーム２２の長さに係る情報が得られる。 The stroke sensor 71 is a sensor member that detects the extension / contraction length of the boom 22. In the controller 7, information related to the length of the boom 22 is obtained based on the electrical signal input by the stroke sensor 71.
　第１荷重センサ７２は、ブーム２２の先端部に作用する荷重を検出するセンサ部材である。コントローラ７では、第１荷重センサ７２により入力される電気信号に基づいて、荷物の質量を含む荷重に係る情報が得られる。 The first load sensor 72 is a sensor member that detects a load acting on the tip of the boom 22. In the controller 7, information relating to the load including the mass of the load is obtained based on the electrical signal input by the first load sensor 72.
　第２荷重センサ７３は、車両１０又はクレーン装置２０等に搭載されるカウンタウエイトの質量を検出するセンサ部材である。コントローラ７では、第２荷重センサ７３により入力される電気信号に基づいて、カウンタウエイトの質量に係る情報が得られる。 The second load sensor 73 is a sensor member that detects the mass of the counterweight mounted on the vehicle 10 or the crane device 20 or the like. In the controller 7, information related to the mass of the counterweight is obtained based on the electric signal input from the second load sensor 73.
　旋回角度センサ７４は、旋回台２１の旋回角度を検出するセンサ部材である。コントローラ７では、旋回角度センサ７４により入力される電気信号に基づいて、旋回台２１の旋回角度に係る情報、及び、旋回台２１の単位時間当たりの旋回角度を算出することで旋回速度に係る情報が得られる。 The turning angle sensor 74 is a sensor member that detects the turning angle of the turntable 21. In the controller 7, based on the electrical signal input from the turning angle sensor 74, information related to the turning angle of the turntable 21 and information related to the turning speed by calculating the turning angle per unit time of the turntable 21. Is obtained.
　起伏角度センサ７５は、起伏シリンダ２５の駆動によるブーム２２の起伏角度を検出するセンサ部材である。コントローラ７では、ストロークセンサ７１及び起伏角度センサ７５により入力される電気信号に基づいて、作業半径に係る情報が得られる。 The hoisting angle sensor 75 is a sensor member that detects the hoisting angle of the boom 22 when the hoisting cylinder 25 is driven. In the controller 7, information related to the working radius is obtained based on the electrical signals input by the stroke sensor 71 and the undulation angle sensor 75.
　回転数センサ７６は、エンジンＥの回転数を検出するセンサ部材である。コントローラ７では、回転数センサ７６により入力される電気信号に基づいて、エンジンＥの回転数に係る情報が得られる。 The rotation speed sensor 76 is a sensor member that detects the rotation speed of the engine E. In the controller 7, information related to the rotational speed of the engine E is obtained based on the electrical signal input by the rotational speed sensor 76.
　レバー位置センサ７７は、操作入力部４である操作レバーを倒した度合い、つまり操作量を検出するセンサ部材である。コントローラ７では、レバー位置センサ７７により入力される電気信号に基づいて、操作入力部４の操作量に係る情報が得られる。 The lever position sensor 77 is a sensor member that detects the degree to which the operation lever that is the operation input unit 4 is tilted, that is, the operation amount. In the controller 7, information related to the operation amount of the operation input unit 4 is obtained based on the electric signal input by the lever position sensor 77.
　操作特性入力部７８は、操作入力部４と同様にキャビン２３内に設けられ、作業者によって操作特性の選択及び調整に係る入力がなされる部材である。本実施形態における操作特性は、例えば操作入力部４における操作量と、車両１０及びクレーン装置２０の駆動量との関係性である。操作特性を調整することによって、例えば小さい操作量で大きい駆動量を得られる特性、大きい操作量で小さい駆動量を得られる特性、旋回台２１の旋回精度より旋回速度を重視した特性、及び、旋回台２１の旋回速度より旋回精度を重視した特性等を切り替えることができる。コントローラ７では、操作特性入力部７８により入力される電気信号に基づいて、入力された作業者の所望の操作特性に係る情報が得られる。 The operation characteristic input unit 78 is a member that is provided in the cabin 23 similarly to the operation input unit 4 and is used for input related to selection and adjustment of the operation characteristic by the operator. The operation characteristic in the present embodiment is, for example, the relationship between the operation amount in the operation input unit 4 and the driving amounts of the vehicle 10 and the crane device 20. By adjusting the operation characteristics, for example, a characteristic capable of obtaining a large drive amount with a small operation amount, a characteristic capable of obtaining a small drive amount with a large operation amount, a characteristic in which the turning speed is more important than the turning accuracy of the turntable 21, and turning It is possible to switch characteristics that emphasize turning accuracy from the turning speed of the table 21. In the controller 7, based on the electrical signal input by the operation characteristic input unit 78, information related to the input operation characteristic desired by the worker is obtained.
　従来において、操作特性入力部７８等を介して入力される作業者の意図する操作特性は、複数のコントロールバルブ、複数のスプール、及び圧力補償付きの流量制御弁等を適宜に組合せて制御することによって実現していた。 Conventionally, the operation characteristics intended by the operator input via the operation characteristic input unit 78 and the like are controlled by appropriately combining a plurality of control valves, a plurality of spools, a flow rate control valve with pressure compensation, and the like. It was realized by.
　しかしながら、この場合は既存の構造及び形状を有するコントロールバルブ及びスプール等に対して大幅な設計変更を加えた上で複数の部材を用いる必要があったので、装置全体の構造及び制御工程が複雑化してしまい、装置が高価になっていた。 However, in this case, since it was necessary to use a plurality of members after making a significant design change to the control valve and spool having the existing structure and shape, the structure and control process of the entire apparatus became complicated. The device was expensive.
　なお、従来のブリードオフ流路を有するメータイン制御の場合においては、弁開度、つまりブリードオフ流路の開口面積が一定であっても、回路圧力に応じて油圧ポンプから作動油タンクへと逃げているブリードオフ流量が変動するため、旋回負荷の変動に応じてメータイン流量が変動する。また、ブリードオフ流路を有する従来の回路構成の場合、コントロールバルブへの流入流量、つまりエンジン回転数によって変動する油圧ポンプの吐出量によっても、メータイン流量は変動する。 In the case of meter-in control having a conventional bleed-off flow path, even if the valve opening, that is, the opening area of the bleed-off flow path is constant, the hydraulic pump escapes from the hydraulic pump to the hydraulic oil tank according to the circuit pressure. Since the bleed-off flow rate varies, the meter-in flow rate varies according to the variation of the turning load. In the case of a conventional circuit configuration having a bleed-off flow path, the meter-in flow rate also varies depending on the flow rate into the control valve, that is, the discharge amount of the hydraulic pump that varies depending on the engine speed.
　したがって、従来のブリードオフ流路を有するメータイン制御の場合、操作入力部で入力される操作量に応じてメータイン流量を得るためには、回路圧力、ポンプ吐出量を常時検出し、更に検出値の変動がメータイン流量に及ぼす影響を補正するようにブリードオフ開口面積を制御する必要があった。これは、装置全体の構造及び制御工程の複雑化を招いていた。 Therefore, in the case of the meter-in control having the conventional bleed-off flow path, in order to obtain the meter-in flow rate according to the operation amount input at the operation input unit, the circuit pressure and the pump discharge amount are always detected, and the detection value It was necessary to control the bleed-off opening area to compensate for the effect of fluctuations on the meter-in flow rate. This has led to complication of the structure of the entire apparatus and the control process.
　また、別の従来例としては、圧力補償付き流量制御弁をメータイン制御に用いた形態が知られている。この形態の場合、回路圧力とコントロールバルブに流入する作動油の流量とのそれぞれの変動に対して、圧力補償付き流量制御弁がブリードオフ流量を補正することによって、操作入力部で入力される操作量に応じたメータイン流量を得ることができるようになっていた。 Also, as another conventional example, a form in which a flow control valve with pressure compensation is used for meter-in control is known. In the case of this configuration, the operation input at the operation input unit is performed by correcting the bleed-off flow rate by the flow control valve with pressure compensation for each variation of the circuit pressure and the flow rate of the hydraulic oil flowing into the control valve. A meter-in flow rate corresponding to the amount could be obtained.
　しかしながら、移動式クレーンの旋回動作のように旋回する部材の大きな重量に起因して大きな慣性力が生じる場合、このような作業機に備えられるアクチュエータは、旋回速度を操作量に応じた大きさに即座に制御することはできなかった。例えば、操作量より旋回速度が遅い場合、つまり入力された操作量によって指定されたメータイン流量より油圧モータの回転数が低い場合は、油圧モータの作動油の流入側の圧力が上昇し、結果として旋回動作は加速状態となる。逆に、操作量より旋回速度が速い場合は、上記流入側の圧力が低下し、結果として主に油圧モータの作動油の流出側のメータアウト制御により生じるブレーキ圧力によって、旋回動作は減速状態となる。このような加減速の切り換わりは、移動式クレーンの旋回動作において頻繁に生じる。圧力補償付き流量制御弁をメータイン制御に用いた場合、加減速の多数回の切り換わりによる回路圧力の変動によって、圧力補償付き流量制御弁による制御が不安定になり易く、旋回速度のハンチング、及びショックを伴う急激な旋回速度の変動等の不都合を生じ易かった。 However, when a large inertia force is generated due to the large weight of the swiveling member, such as a swiveling operation of a mobile crane, the actuator provided in such a work machine has a swiveling speed that is sized according to the operation amount. It was not possible to control immediately. For example, when the turning speed is slower than the manipulated variable, that is, when the rotational speed of the hydraulic motor is lower than the meter-in flow rate specified by the input manipulated variable, the pressure on the hydraulic oil inflow side of the hydraulic motor increases, and as a result The turning motion is accelerated. On the other hand, when the turning speed is faster than the operation amount, the pressure on the inflow side decreases, and as a result, the turning operation is brought into a deceleration state due to the brake pressure generated mainly by the meter-out control on the hydraulic oil outflow side. Become. Such acceleration / deceleration switching frequently occurs in the turning operation of the mobile crane. When the flow control valve with pressure compensation is used for meter-in control, the control by the flow control valve with pressure compensation is likely to become unstable due to fluctuations in the circuit pressure due to multiple switching of acceleration / deceleration. Inconveniences such as sudden fluctuations in turning speed accompanied by shocks were likely to occur.
　また、特にメータイン及びメータアウトを独立制御することによって旋回操作特性を変更可能とした場合、圧力補償付き流量制御弁が安定した制御を維持しつつ、作業機の作業状態、及び作業者の好み等に応じた多種多様な旋回操作特性の全てを実現することは困難であった。 In particular, when the turning operation characteristics can be changed by independently controlling meter-in and meter-out, the working state of the work machine, the operator's preference, etc. while maintaining stable control of the pressure control flow control valve It was difficult to realize all of the various turning operation characteristics according to the situation.
　よって、メータイン流量及びメータアウト流路の開口面積を従来よりも確実にかつ独立して制御可能であり、更に簡略化された構造を有し、油圧モータ３の操作特性を容易に変更可能な旋回制御装置が求められていた。 Therefore, the opening area of the meter-in flow rate and the meter-out flow path can be controlled more reliably and independently than before, and the swivel has a simplified structure and can easily change the operation characteristics of the hydraulic motor 3. A control device was sought.
　これに対して、本実施形態では、回路圧力の変動、及び、コントロールバルブ６に流入する作動油の流量変動に起因した影響を受け易いブリードオフ流路は設けていない。また、本実施形態は、圧力補償付き流量制御弁も用いることなく、メータイン流量はエンジンＥの回転数と油圧ポンプ５の容量とにのみ依存する回路構成を採用している。これにより、コントローラ７のメータイン制御部による制御以外の要因、つまり上記回路圧力及びコントロールバルブ６への流入流量の変動によって、本実施形態におけるメータイン流量は変動しない又はし難い。したがって、本実施形態では、操作入力部４及び操作特性入力部７８を介して入力される旋回動作に係る操作及び操作特性等が従来よりも確実にかつ正確に油圧モータ３において実行される。 In contrast, in the present embodiment, there is no bleed-off flow path that is easily affected by fluctuations in circuit pressure and fluctuations in the flow rate of hydraulic fluid flowing into the control valve 6. Further, this embodiment employs a circuit configuration in which the meter-in flow rate depends only on the rotational speed of the engine E and the capacity of the hydraulic pump 5 without using a pressure control flow control valve. Thereby, the meter-in flow rate in the present embodiment does not or hardly varies due to factors other than control by the meter-in control unit of the controller 7, that is, fluctuations in the circuit pressure and the inflow flow rate to the control valve 6. Therefore, in the present embodiment, the operation and operation characteristics related to the turning operation input through the operation input unit 4 and the operation characteristic input unit 78 are more reliably and accurately executed in the hydraulic motor 3 than in the past.
　更に、油圧モータ３に流入する作動油の流量と、流出側に生じるブレーキ圧力とは、別部材において独立して制御される。具体的には、油圧モータ３に流入する作動油の流量の制御は、エンジンＥの回転数と移動式クレーン１の作業状態とに応じた油圧ポンプ５の吐出量の制御によって達成される。また、油圧モータ３から流出する側の作動油の流通路に生じるブレーキ圧力の制御は、コントロールバルブ６の弁開度の制御によって達成される。 Furthermore, the flow rate of the hydraulic oil flowing into the hydraulic motor 3 and the brake pressure generated on the outflow side are controlled independently by separate members. Specifically, the control of the flow rate of the hydraulic oil flowing into the hydraulic motor 3 is achieved by controlling the discharge amount of the hydraulic pump 5 in accordance with the rotational speed of the engine E and the working state of the mobile crane 1. Further, the control of the brake pressure generated in the flow path of the hydraulic oil flowing out from the hydraulic motor 3 is achieved by controlling the valve opening of the control valve 6.
　つまり、本実施形態に係る旋回制御装置１００は、従来のように複数のコントロールバルブ、複数のスプール及び流量制御弁等を組合せて作動油の流量制御をする必要が無い。また、旋回制御装置１００は、相互に影響を与えない別部材、つまり独立した部材を用いて作動油のメータイン流量とメータアウト開口面積との制御が可能であるので、装置の構造及び制御系が複雑にならない又はなり難い。 That is, the turning control device 100 according to the present embodiment does not need to control the flow rate of hydraulic oil by combining a plurality of control valves, a plurality of spools, a flow rate control valve, and the like as in the past. Further, since the turning control device 100 can control the meter-in flow rate and meter-out opening area of hydraulic oil using separate members that do not affect each other, that is, independent members, the structure and control system of the device are Not complicated or difficult.
　旋回制御装置１００は、油圧ポンプ５及びコントロールバルブ６という独立した部材によって油圧モータ３に流出入する作動油の各流量の制御を行うので、独立した部材による各制御形態をそれぞれ変更することにより操作特性の変更が容易であり、従来に比べて操作特性の変更可能な範囲も広いので好ましい。また、油圧ポンプ５の吐出量制御によりメータイン制御を行うため、エンジンＥの回転数に対する油圧ポンプ５の吐出量の依存度、すなわちエンジンＥの回転数に対するメータイン流量の依存度を自由に設定することができる。 Since the swing control device 100 controls each flow rate of the hydraulic oil flowing into and out of the hydraulic motor 3 by independent members such as the hydraulic pump 5 and the control valve 6, the swing control device 100 is operated by changing each control mode by the independent members. It is preferable because the characteristics can be easily changed and the range in which the operating characteristics can be changed is wider than in the past. Further, since meter-in control is performed by controlling the discharge amount of the hydraulic pump 5, the dependency of the discharge amount of the hydraulic pump 5 on the rotation speed of the engine E, that is, the dependency of the meter-in flow rate on the rotation speed of the engine E can be freely set. Can do.
　また、旋回制御装置１００は、各種センサ７１～７５からの信号によって検出した移動式クレーン１の作業状態に応じて、メータイン、メータアウトの各制御形態を変更することにより、操作特性を最適なものに変更することができる。例えば、ストロークセンサ７１により検出されるブーム２２の伸縮長さ、起伏角度センサ７５によって検出されるブーム２２の起伏角度により作業半径を算出し、算出された作業半径、及び吊り荷の負荷等に応じて、メータイン流量に対するメータアウト開口面積の割合、つまりブレーキ圧力の大きさを制御することによって、旋回精度が求められる状況等に微操作を行い易くするという旋回操作特性の変更を行うことができる。 Further, the turning control device 100 has an optimum operation characteristic by changing each control mode of meter-in and meter-out according to the work state of the mobile crane 1 detected by signals from various sensors 71 to 75. Can be changed. For example, the work radius is calculated based on the extension / contraction length of the boom 22 detected by the stroke sensor 71 and the undulation angle of the boom 22 detected by the undulation angle sensor 75, and the calculated work radius, the load of the suspended load, etc. Thus, by controlling the ratio of the meter-out opening area to the meter-in flow rate, that is, the magnitude of the brake pressure, it is possible to change the turning operation characteristics that facilitate fine operations in situations where turning accuracy is required.
　本発明の変形例としては、例えば図３に示す旋回制御装置１０１を挙げることができる。該旋回制御装置１０１と、図２に示した旋回制御装置１００との相違点のみを以下に説明する。相違点以外は共通の部材を用いているので、図２及び図３において共通の参照符号を付している。
　図３は、本発明に係る旋回制御装置の他の実施形態を示す概略構成図である。 As a modification of the present invention, for example, a turning control device 101 shown in FIG. 3 can be cited. Only the difference between the turning control device 101 and the turning control device 100 shown in FIG. 2 will be described below. Since common members are used except for the differences, the same reference numerals are given in FIGS. 2 and 3.
FIG. 3 is a schematic configuration diagram showing another embodiment of the turning control device according to the present invention.
　図３に示すように、旋回制御装置１０１は、２つの切替バルブ９１及び９２と、絞り弁９３及び９４とを備える。 As shown in FIG. 3, the turning control device 101 includes two switching valves 91 and 92 and throttle valves 93 and 94.
　切替バルブ９１及び９２は、切り替え手段としてソレノイドを有し、コントローラ７から入力される電気信号に応じて流路が開閉される。図３に示すように、切替バルブ９１は、油圧ポンプ５とコントロールバルブ６との間において、油圧ポンプ５で吐出された作動油の一部がタンクに流通するように形成された分岐流路に配置されている。該分岐流路内で絞り弁９３が切替バルブ９１の下流側に配置されている。また、図３に示すように、切替バルブ９２及び絞り弁９４は、コントロールバルブ６と油圧モータ３との間においてメータイン流路とメータアウト流路とを接続するように形成された分岐流路に配置されている。 The switching valves 91 and 92 have solenoids as switching means, and the flow paths are opened and closed in accordance with an electric signal input from the controller 7. As shown in FIG. 3, the switching valve 91 is a branch passage formed between the hydraulic pump 5 and the control valve 6 so that a part of the hydraulic oil discharged from the hydraulic pump 5 flows to the tank. Has been placed. A throttle valve 93 is disposed downstream of the switching valve 91 in the branch flow path. Further, as shown in FIG. 3, the switching valve 92 and the throttle valve 94 are branched flow paths formed so as to connect the meter-in flow path and the meter-out flow path between the control valve 6 and the hydraulic motor 3. Has been placed.
　切替バルブ９１及び９２と絞り弁９３及び９４とに流通する作動油の流量は、絞り弁９３及び９４の開度によって、少量になるように設定されている。切替バルブ９１及び９２と絞り弁９３及び９４とは、少量の作動油をタンクに逃がす流路を形成することによって、旋回台２１の旋回動作の開始及び停止の際に旋回動作を滑らかにすることができる。 The flow rate of the hydraulic oil flowing through the switching valves 91 and 92 and the throttle valves 93 and 94 is set to be small depending on the opening degree of the throttle valves 93 and 94. The switching valves 91 and 92 and the throttle valves 93 and 94 form a flow path for allowing a small amount of hydraulic oil to escape to the tank, thereby smoothing the turning operation when the turning operation of the swivel base 21 is started and stopped. Can do.
　なお、絞り弁９３及び９４を通過する作動油の量は、油圧ポンプ５及びコントロールバルブ６による制御によって決定される油圧モータ３の駆動にはほとんど影響しない量であるので、旋回制御装置１０１は、上記旋回制御装置１００と同様の制御が可能である。 Note that the amount of hydraulic oil that passes through the throttle valves 93 and 94 is an amount that hardly affects the drive of the hydraulic motor 3 determined by the control by the hydraulic pump 5 and the control valve 6. Control similar to that of the turning control device 100 is possible.
　以上、本発明者によってなされた発明を適用した実施形態について説明したが、この実施形態による本発明の開示の一部をなす論述及び図面により、本発明は限定されることはない。すなわち、この実施形態に基づいて当業者等によりなされる他の実施形態、実施例及び運用技術等は全て本発明の範疇に含まれることは勿論であることを付け加えておく。 As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the description and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.
１：移動式クレーン、１００及び１０１：旋回制御装置、１０：車両、１１：車輪、１２：アウトリガ、２０：クレーン装置、２１：旋回台、２２：ブーム、２３：キャビン、２４：ブラケット、２５：起伏シリンダ、２６：フックブロック、３：油圧モータ、４：操作入力部、４１：操作レバー、４２：レバー位置センサ、５：油圧ポンプ、６：コントロールバルブ、７：コントローラ、７１：ストロークセンサ、７２：第１荷重センサ、７３：第２荷重センサ、７４：旋回角度センサ、７５：起伏角度センサ、７６：回転数センサ、７７：レバー位置センサ、７８：操作特性入力部、８：ＰＴＯ機構、９１及び９２：切替バルブ、９３及び９４：絞り弁、Ｅ：エンジン 1: mobile crane, 100 and 101: turning control device, 10: vehicle, 11: wheel, 12: outrigger, 20: crane device, 21: swivel, 22: boom, 23: cabin, 24: bracket, 25: Lift cylinder, 26: hook block, 3: hydraulic motor, 4: operation input unit, 41: operation lever, 42: lever position sensor, 5: hydraulic pump, 6: control valve, 7: controller, 71: stroke sensor, 72 : First load sensor 73: second load sensor 74: turning angle sensor 75: undulation angle sensor 76: rotation speed sensor 77: lever position sensor 78: operation characteristic input unit 8: PTO mechanism 91 And 92: switching valve, 93 and 94: throttle valve, E: engine

Claims (4)

  1. 　作業機における旋回台を旋回可能な油圧モータと、
    　前記油圧モータに対して作動油を供給する可変容量型の油圧ポンプと、
    　前記油圧モータに対して流出入する作動油の流通路を有するコントロールバルブと、
    　前記油圧ポンプの吐出量の制御により、前記油圧モータに流入する作動油の流量を制御するメータイン制御部と、
    　前記コントロールバルブの弁開度の制御により、前記油圧モータから流出する側の前記流通路の開口面積を制御するメータアウト制御部と、を備える、
    　旋回制御装置。     A hydraulic motor capable of turning the swivel in the work machine;
    A variable displacement hydraulic pump that supplies hydraulic oil to the hydraulic motor;
    A control valve having a flow path for hydraulic oil flowing into and out of the hydraulic motor;
    A meter-in control unit for controlling a flow rate of hydraulic oil flowing into the hydraulic motor by controlling a discharge amount of the hydraulic pump;
    A meter-out control unit that controls an opening area of the flow passage on the side that flows out of the hydraulic motor by controlling the valve opening of the control valve;
    Swivel control device.
  2. 　前記作業機の作業状態を検出する検出器を備え、
    　前記メータイン制御部は、前記油圧ポンプを駆動する原動機の回転数と、前記検出器により検出された前記作業機の作業状態とに応じて、可変容量型の前記油圧ポンプの吐出量を制御する、
    　請求項１に記載の旋回制御装置。     A detector for detecting a working state of the working machine;
    The meter-in control unit controls the discharge amount of the variable displacement hydraulic pump according to the rotational speed of the prime mover driving the hydraulic pump and the working state of the working machine detected by the detector.
    The turning control device according to claim 1.
  3. 　前記メータイン制御部は、前記コントロールバルブの制御により、前記油圧モータの回転方向を制御する、
    　請求項１又は２に記載の旋回制御装置。     The meter-in control unit controls the rotation direction of the hydraulic motor by controlling the control valve.
    The turning control device according to claim 1 or 2.
  4. 　任意の操作特性を入力可能な操作特性入力部を備え、
    　前記メータイン制御部及び前記メータアウト制御部は、前記操作特性入力部において入力された操作特性に基づいて駆動する、
    　請求項１～３のいずれかに記載の旋回制御装置。     Equipped with an operation characteristic input unit that can input arbitrary operation characteristics,
    The meter-in control unit and the meter-out control unit are driven based on the operation characteristic input in the operation characteristic input unit.
    The turning control device according to any one of claims 1 to 3.
PCT/JP2015/080797 2015-01-29 2015-10-30 Rotation control device WO2016121185A1 (en)

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