WO2022210981A1 - 作業機械及び作業機械用の操作装置 - Google Patents
作業機械及び作業機械用の操作装置 Download PDFInfo
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- WO2022210981A1 WO2022210981A1 PCT/JP2022/016307 JP2022016307W WO2022210981A1 WO 2022210981 A1 WO2022210981 A1 WO 2022210981A1 JP 2022016307 W JP2022016307 W JP 2022016307W WO 2022210981 A1 WO2022210981 A1 WO 2022210981A1
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- switching valve
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- 239000010720 hydraulic oil Substances 0.000 claims abstract description 46
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- 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
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/0422—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks
- F15B13/0424—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks the joysticks being provided with electrical switches or sensors
-
- 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
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/18—Combined units comprising both motor and pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
Definitions
- the present disclosure relates to work machines and operating devices for work machines.
- Patent Document 1 A working machine comprising a lower traveling structure, an upper revolving structure that can swivel with respect to the lower traveling structure, an attachment attached to the upper revolving structure, a swing hydraulic motor that rotates the upper revolving structure, and a hydraulic actuator that drives the attachment.
- Patent Document 2 discloses an operating device for a hydraulic working machine.
- an operation device for operating a working machine can be operated in the left-right direction and the front-rear direction, for example. other hydraulic actuators. Therefore, when operating the operating device in one direction, there is a possibility that the operating device is unintentionally operated in the other direction.
- an object of the present invention is to provide a work machine and an operation device for the work machine that improve operability.
- a working machine includes an operating device operable in a first direction and a second direction, a hydraulic pump that supplies hydraulic fluid, a hydraulic actuator, and hydraulic fluid that flows from the hydraulic pump to the hydraulic actuator. and a control device for controlling the direction switching valve based on the operation amount of the operating device, wherein the operating device is operated in the first direction due to its structure or arrangement.
- the force tends to escape in the second direction, or when the force is operated in the second direction, the force tends to escape in the first direction. configured to be relatively large.
- FIG. 1 is a side view of a shovel according to an embodiment of the present invention
- FIG. Figure 2 is a top view of the shovel of Figure 1
- 2 is a diagram showing a configuration example of a hydraulic system mounted on the excavator of FIG. 1
- FIG. It is a figure which shows the structural example of an electric operation system. It is a top perspective view of the driver's seat in a cabin. It is a sectional view of an operating device. It is a schematic diagram explaining the strength of the return spring of the left-right direction and the front-back direction in an operating device.
- FIG. 5 is a schematic diagram illustrating the movement of the operating lever when the operator tilts the operating lever backward;
- FIG. 10 is a diagram showing a dead area in lateral operation of a conventional shovel
- FIG. 4 is a diagram showing a dead area in lateral operation of the shovel of the present embodiment
- FIG. 5 is a diagram showing a dead area in operation in the front-rear direction of the shovel of the present embodiment
- It is a schematic diagram explaining the strength of the return spring of the left-right direction and the front-back direction in an operating device.
- FIG. 10 is a schematic diagram illustrating movement of an operation lever when performing a boom raising operation and a bucket closing operation at the same time;
- FIG. 10 is a schematic diagram illustrating movement of an operation lever when performing a boom raising operation and a bucket closing operation at the same time
- FIG. 2 is a schematic diagram showing an example of an operable range of an operating device in the excavator according to the present embodiment and a maximum operation amount at which a spool stroke amount of a directional switching valve is maximized; It is a figure which shows an example of operation of an operating device. It is a figure which shows another example of operation of an operating device.
- FIG. 11 is a schematic diagram showing an example of an operable range of an operating device in an excavator according to a modification and a maximum operation amount at which a spool stroke amount of a directional switching valve is maximized;
- FIGS. 1 is a side view of the shovel 100
- FIG. 2 is a top view of the shovel 100.
- the undercarriage 1 of the excavator 100 includes a crawler 1C.
- the crawler 1 ⁇ /b>C is driven by a traveling hydraulic motor 2 ⁇ /b>M as a traveling actuator mounted on the lower traveling body 1 .
- the crawler 1C includes a left crawler 1CL and a right crawler 1CR.
- the left crawler 1CL is driven by a left traveling hydraulic motor 2ML
- the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.
- An upper revolving body 3 is rotatably mounted on the lower traveling body 1 via a revolving mechanism 2 .
- the revolving mechanism 2 is driven by a revolving hydraulic motor 2A as a revolving actuator mounted on the upper revolving body 3 .
- a boom 4 is attached to the upper revolving body 3 .
- An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.
- the boom 4, arm 5, and bucket 6 constitute an excavation attachment AT, which is an example of an attachment.
- a boom 4 is driven by a boom cylinder 7
- an arm 5 is driven by an arm cylinder 8
- a bucket 6 is driven by a bucket cylinder 9 .
- the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 constitute an attachment actuator.
- the boom 4 is supported so as to be vertically rotatable with respect to the upper revolving body 3 .
- a boom angle sensor S1 is attached to the boom 4 .
- the boom angle sensor S ⁇ b>1 can detect a boom angle ⁇ b>1 that is the rotation angle of the boom 4 .
- the boom angle ⁇ 1 is, for example, the angle of elevation from the lowest state of the boom 4 . Therefore, the boom angle ⁇ 1 becomes maximum when the boom 4 is raised to the maximum.
- the arm 5 is rotatably supported with respect to the boom 4.
- An arm angle sensor S2 is attached to the arm 5. As shown in FIG.
- the arm angle sensor S2 can detect an arm angle ⁇ 2 that is the rotation angle of the arm 5 .
- the arm angle ⁇ 2 is, for example, the opening angle of the arm 5 from the most closed state. Therefore, the arm angle ⁇ 2 becomes maximum when the arm 5 is opened most.
- Bucket angle sensor S3 can detect bucket angle ⁇ 3, which is the rotation angle of bucket 6 .
- Bucket angle ⁇ 3 is, for example, an opening angle from the most closed state of bucket 6 . Therefore, the bucket angle ⁇ 3 becomes maximum when the bucket 6 is opened most.
- each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 is composed of a combination of an acceleration sensor and a gyro sensor. However, it may be composed only of the acceleration sensor. Also, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, or may be a rotary encoder, potentiometer, inertial measurement device, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.
- a cabin 10 as an operator's cab is provided in the upper swing body 3, and a power source such as an engine 11 is mounted.
- a space recognition device 70, an orientation detection device 71, a positioning device 73, a body tilt sensor S4, a turning angular velocity sensor S5, and the like are attached to the upper swing body 3.
- an operation device 26, a controller 30, an information input device 72, a display device D1, an audio output device D2, and the like are provided inside the cabin 10, an operation device 26, a controller 30, an information input device 72, a display device D1, an audio output device D2, and the like are provided.
- the side of the upper rotating body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.
- the space recognition device 70 is configured to recognize objects existing in the three-dimensional space around the shovel 100. Further, the space recognition device 70 is configured to calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object.
- the space recognition device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a range image sensor, an infrared sensor, or the like. In the example shown in FIGS.
- the space recognition device 70 includes a front sensor 70F attached to the front end of the upper surface of the cabin 10, a rear sensor 70B attached to the rear end of the upper surface of the upper revolving body 3, and a right sensor 70R attached to the right end of the top surface of the upper revolving body 3 .
- An upper sensor that recognizes an object existing in the space above the upper swing body 3 may be attached to the excavator 100 .
- the orientation detection device 71 is configured to detect information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 .
- the orientation detection device 71 may be composed of, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3 .
- the orientation detection device 71 may be configured by a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper swing body 3 .
- the orientation detection device 71 may be a rotary encoder, a rotary position sensor, or the like.
- the orientation detection device 71 may be configured by a resolver.
- the orientation detection device 71 may be attached to, for example, a center joint provided in association with the revolving mechanism 2 that achieves relative rotation between the lower traveling body 1 and the upper revolving body 3 .
- the orientation detection device 71 may be composed of a camera attached to the upper revolving body 3 .
- the orientation detection device 71 performs known image processing on the image (input image) captured by the camera attached to the upper rotating body 3 to detect the image of the lower traveling body 1 included in the input image.
- the orientation detection device 71 identifies the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using a known image recognition technique. Then, the angle formed between the direction of the longitudinal axis of the upper revolving body 3 and the longitudinal direction of the lower traveling body 1 is derived.
- the direction of the longitudinal axis of the upper rotating body 3 is derived from the mounting position of the camera. Since the crawler 1C protrudes from the upper rotating body 3, the orientation detection device 71 can identify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C. In this case, orientation detection device 71 may be integrated into controller 30 .
- the information input device 72 is configured so that the excavator operator can input information to the controller 30 .
- the information input device 72 is a switch panel installed close to the display section of the display device D1.
- the information input device 72 may be a touch panel arranged on the display portion of the display device D1, or may be a voice input device such as a microphone arranged in the cabin 10 .
- the information input device 72 may be a communication device. In this case, the operator can input information to the controller 30 via a communication terminal such as a smart phone.
- the positioning device 73 is configured to measure the current position.
- the positioning device 73 is a GNSS receiver, detects the position of the upper swing structure 3 and outputs the detected value to the controller 30 .
- the positioning device 73 may be a GNSS compass. In this case, the positioning device 73 can detect the position and orientation of the upper swing body 3 .
- the fuselage tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane.
- the fuselage tilt sensor S4 is an acceleration sensor that detects the tilt angle about the longitudinal axis and the tilt angle about the lateral axis of the upper swing structure 3 with respect to the horizontal plane.
- the longitudinal axis and the lateral axis of the upper swing body 3 are orthogonal to each other and pass through a shovel center point, which is one point on the swing axis of the shovel 100 .
- the turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper turning body 3.
- the turning angular velocity sensor S5 is a gyro sensor.
- the turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.
- the turning angular velocity sensor S5 may detect turning velocity.
- the turning speed may be calculated from the turning angular velocity.
- At least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the turning angular velocity sensor S5 is hereinafter also referred to as an attitude detection device.
- the posture of the excavation attachment AT is detected, for example, based on outputs from the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.
- the display device D1 is a device that displays information.
- the display device D1 is a liquid crystal display installed inside the cabin 10 .
- the display device D1 may be a display of a communication terminal such as a smart phone.
- the audio output device D2 is a device that outputs audio.
- the voice output device D2 includes at least one of a device that outputs voice toward the operator inside the cabin 10 and a device that outputs voice toward the worker outside the cabin 10 .
- the audio output device D2 may be a speaker attached to the communication terminal.
- the operating device 26 is a device used by the operator to operate the actuator.
- the operation device 26 is installed in the cabin 10 so that it can be used by an operator sitting in the driver's seat.
- the controller 30 is a control device for controlling the excavator 100 .
- the controller 30 is configured by a computer including a CPU, RAM, NVRAM, ROM, and the like.
- the controller 30 reads programs corresponding to the functional elements such as the information acquisition section 30a and the control section 30b from the ROM, loads them into the RAM, and causes the CPU to execute processes corresponding to the functional elements.
- each functional element is realized by software.
- at least one of each functional element may be implemented in hardware or firmware. It should be noted that each functional element is distinguished for convenience of explanation, and is still a part of the controller 30, and does not need to be configured to be physically distinguishable.
- FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100.
- FIG. 3 shows the mechanical driveline, hydraulic lines, pilot lines, and electrical control system in double, solid, dashed, and dotted lines, respectively.
- the hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operation device 26, a discharge pressure sensor 28, an operation sensor 29, a controller 30, and the like.
- the hydraulic system is configured so that hydraulic oil can be circulated from the main pump 14 driven by the engine 11 to the hydraulic oil tank through the center bypass line 40 or parallel line 42.
- the engine 11 is a drive source for the shovel 100.
- the engine 11 is, for example, a diesel engine that operates to maintain a predetermined number of revolutions.
- An output shaft of the engine 11 is connected to respective input shafts of the main pump 14 and the pilot pump 15 .
- the main pump 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line.
- the main pump 14 is a swash plate type variable displacement hydraulic pump.
- the regulator 13 is configured to be able to control the discharge amount of the main pump 14 .
- the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 according to the control command from the controller 30 .
- the pilot pump 15 is configured to supply hydraulic fluid to hydraulic control devices (for example, pilot ports of directional switching valves 171 to 176, which will be described later) via a pilot line 25 (see FIG. 4, which will be described later).
- the pilot pump 15 is a fixed displacement hydraulic pump. Pilot pump 15 may be omitted.
- the function previously performed by the pilot pump 15 may be realized by the main pump 14 .
- the main pump 14, apart from the function of supplying the hydraulic fluid to the control valve unit 17, may also have the function of supplying the hydraulic fluid to the hydraulic control device after the pressure of the hydraulic fluid is reduced by a throttle or the like. good.
- the control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100.
- the control valve unit 17 includes directional switching valves 171-176.
- Direction switching valve 175 includes direction switching valve 175L and direction switching valve 175R
- direction switching valve 176 includes direction switching valve 176L and direction switching valve 176R.
- the control valve unit 17 is configured to selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators through direction switching valves 171 to 176 .
- the direction switching valves 171 to 176 for example, control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank.
- Hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.
- the operating device 26 is a device used by the operator to operate the actuator.
- the operating device 26 includes, for example, an operating lever and an operating pedal.
- the actuators include at least one of hydraulic actuators and electric actuators.
- an electric actuation system including an electric actuation lever can be used.
- a lever operation amount of the electric operation lever is input to the controller 30 as an electric signal.
- Electromagnetic valves (hydraulic control valves 31X1 and 31X2, which will be described later with reference to FIG. 4) are arranged between the pilot pump 15 and the pilot ports of the respective control valves.
- the solenoid valve is configured to operate in response to an electrical signal from controller 30 .
- the controller 30 controls the solenoid valves with an electric signal corresponding to the amount of lever operation to increase or decrease the pilot pressure, thereby operating each control valve as a control valve. It can be moved within the unit 17 .
- Each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates according to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.
- the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14 .
- the discharge pressure sensor 28 outputs the detected value to the controller 30 .
- the operation sensor 29 is configured to detect the content of the operation of the operation device 26 by the operator.
- the operation sensor 29 detects the operation direction and the amount of operation of the operation device 26 corresponding to each actuator, and outputs the detected values to the controller 30 .
- the operation sensor 29 is an angle sensor that detects the operation angle of the operation lever.
- the content of the operation of the operating device 26 may be detected using a sensor other than the angle sensor.
- the main pump 14 includes a left main pump 14L and a right main pump 14R.
- the left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipe 40L or the left parallel pipe 42L
- the right main pump 14R circulates the right center bypass pipe 40R or the right parallel pipe 42R. to circulate hydraulic oil to the hydraulic oil tank.
- the left center bypass line 40L is a hydraulic oil line that passes through directional switching valves 171, 173, 175L, and 176L arranged in the control valve unit 17.
- the right center bypass line 40R is a hydraulic oil line passing through directional switching valves 172, 174, 175R and 176R arranged within the control valve unit 17. As shown in FIG.
- the directional switching valve 171 supplies the hydraulic fluid discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and discharges the hydraulic fluid discharged by the left traveling hydraulic motor 2ML to the hydraulic fluid tank.
- the directional switching valve 172 supplies the hydraulic fluid discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and discharges the hydraulic fluid discharged by the right traveling hydraulic motor 2MR to the hydraulic fluid tank.
- the direction switching valve 173 switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic fluid discharged by the swing hydraulic motor 2A to the hydraulic fluid tank. It is a spool valve.
- the directional switching valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. be.
- the directional switching valve 175L is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7.
- the directional switching valve 175R is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank. be.
- the directional switching valve 176L is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged from the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. be.
- the directional switching valve 176R is a spool valve that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. be.
- the left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L.
- the left parallel pipeline 42L allows the hydraulic fluid to flow through the downstream direction switching valves when the flow of hydraulic fluid passing through the left center bypass pipeline 40L is restricted or blocked by any of the direction switching valves 171, 173, and 175L.
- the right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R.
- the right parallel pipeline 42R allows hydraulic fluid to flow to the downstream directional switching valves when the flow of hydraulic fluid through the right center bypass pipeline 40R is restricted or blocked by any of the directional switching valves 172, 174, and 175R. is configured to supply
- the regulator 13 includes a left regulator 13L and a right regulator 13R.
- the left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L according to the discharge pressure of the left main pump 14L.
- the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L, for example, to reduce the discharge amount.
- the operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D.
- the travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.
- the left operating lever 26L is used for turning operation and operating the arm 5.
- the left operating lever 26L When the left operating lever 26L is operated in the front-rear direction, it utilizes hydraulic oil discharged from the pilot pump 15 to apply a control pressure to the pilot port of the directional switching valve 176 in accordance with the amount of lever operation. Further, when operated in the left-right direction, the hydraulic oil discharged from the pilot pump 15 is used to apply a control pressure to the pilot port of the directional switching valve 173 in accordance with the amount of lever operation.
- the left operating lever 26L when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of the directional switching valve 176L and also introduces hydraulic fluid into the left pilot port of the directional switching valve 176R. let it be introduced. Further, when the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of the directional switching valve 176L and introduces hydraulic fluid into the right pilot port of the directional switching valve 176R. . When the left control lever 26L is operated in the left turning direction, hydraulic oil is introduced into the left pilot port of the direction switching valve 173, and when it is operated in the right turning direction, the right side of the direction switching valve 173 is introduced. Introduce hydraulic fluid to the pilot port.
- the right operating lever 26R is used to operate the boom 4 and the bucket 6.
- the right operating lever 26R When the right operating lever 26R is operated in the front-rear direction, it utilizes hydraulic oil discharged from the pilot pump 15 to apply a control pressure to the pilot port of the directional switching valve 175 in accordance with the amount of lever operation. Further, when operated in the left-right direction, hydraulic oil discharged from the pilot pump 15 is used to apply a control pressure to the pilot port of the directional switching valve 174 in accordance with the amount of lever operation.
- the travel lever 26D is used to operate the crawler 1C.
- the left travel lever 26DL is used to operate the left crawler 1CL.
- the left travel lever 26DL may be configured to interlock with the left travel pedal.
- the hydraulic oil discharged by the pilot pump 15 is used to apply a control pressure to the pilot port of the directional switching valve 171 in accordance with the amount of lever operation.
- the right travel lever 26DR is used to operate the right crawler 1CR.
- the right travel lever 26DR may be configured to interlock with the right travel pedal.
- it utilizes hydraulic oil discharged from the pilot pump 15 to apply a control pressure to the pilot port of the directional switching valve 172 in accordance with the amount of lever operation.
- the discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R.
- the discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30 . The same applies to the discharge pressure sensor 28R.
- the operation sensors 29 include operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.
- the operation sensor 29LA detects the content of the operator's operation of the left operation lever 26L in the front-rear direction, and outputs the detected value to the controller 30.
- FIG. The details of the operation include, for example, the lever operation direction and lever operation amount (lever operation angle).
- the operation sensor 29LB detects the content of the operator's operation of the left operation lever 26L in the horizontal direction, and outputs the detected value to the controller 30.
- the operation sensor 29RA detects the content of the operator's operation of the right operation lever 26R in the front-rear direction, and outputs the detected value to the controller 30.
- the operation sensor 29 RB detects the content of the operator's operation of the right operation lever 26 R in the horizontal direction, and outputs the detected value to the controller 30 .
- the operation sensor 29DL detects the content of the operator's operation of the left traveling lever 26DL in the front-rear direction, and outputs the detected value to the controller 30 .
- the operation sensor 29DR detects the content of the operator's operation of the right traveling lever 26DR in the front-rear direction, and outputs the detected value to the controller 30 .
- the controller 30 receives the output of the operation sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14.
- the controller 30 also receives the output of a control pressure sensor 19 provided upstream of the throttle 18 and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14 .
- the throttle 18 includes a left throttle 18L and a right throttle 18R
- the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.
- a left throttle 18L is arranged between the most downstream directional switching valve 176L and the hydraulic oil tank in the left center bypass pipe 40L. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L.
- the left throttle 18L generates a control pressure for controlling the left regulator 13L.
- the left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30.
- the controller 30 controls the discharge amount of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L according to this control pressure.
- the controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases.
- the discharge amount of the right main pump 14R is similarly controlled.
- the controller 30 increases the discharge amount of the left main pump 14L, circulates a sufficient amount of hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.
- the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state. Wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipe 40 . Further, the hydraulic system of FIG. 3 can reliably supply necessary and sufficient working oil from the main pump 14 to the hydraulic actuator to be operated when the hydraulic actuator is to be operated.
- the information acquisition unit 30 a is configured to acquire information about the excavator 100 .
- the information acquisition unit 30a includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body tilt sensor S4, a turning angular velocity sensor S5, a cylinder pressure sensor, a turning pressure sensor (a turning pressure sensor described later in FIG. 4).
- the cylinder pressure sensor includes, for example, at least one of a boom rod pressure sensor, a boom bottom pressure sensor, an arm rod pressure sensor, an arm bottom pressure sensor, a bucket rod pressure sensor, and a bucket bottom pressure sensor.
- the information acquisition unit 30a obtains, as information about the excavator 100, boom angle, arm angle, bucket angle, body inclination angle, turning angular velocity, boom rod pressure, boom bottom pressure, arm rod pressure, arm bottom pressure, bucket rod pressure, Bucket bottom pressure, swing pressure, running pressure, boom stroke amount, arm stroke amount, bucket stroke amount, discharge pressure of main pump 14, operation of operation device 26 (operation direction, operation amount), three-dimensional space around excavator 100 at least one of: information on an object existing in the vehicle, information on the relative relationship between the orientation of the upper swing structure 3 and the orientation of the lower traveling structure 1, information input to the controller 30, and information on the current position get one.
- the information acquisition unit 30a acquires information related to the operation of the excavator 100 based on the acquired information related to the excavator 100.
- Information about the operation of the excavator 100 includes, for example, information about the operation that the excavator 100 is performing.
- the operations performed by the excavator 100 include, for example, a single swing action to swing the upper swing body 3, a combined boom-up swing action to swing the upper swing body 3 while raising the boom 4, and an operation to swing the upper swing body 3 while lowering the boom 4.
- Boom lowering turning combined action for turning Arm opening turning combined action for turning the upper turning body 3 while opening the arm 5
- Upper part while opening the bucket 6 It includes a bucket-opening turning combined motion for turning the revolving body 3, a bucket-closing turning combined movement for turning the upper turning body 3 while closing the bucket 6, and the like.
- the control unit 30b is configured to be able to control the movement of the excavator 100 based on the information acquired by the information acquisition unit 30a.
- FIG. 4 is a diagram showing a configuration example of an electric operation system.
- the electric operation system of FIG. 4 is an example of a turning operation system.
- the electric operation system of FIG. 4 can be similarly applied to a boom operation system, an arm operation system, a bucket operation system, a travel operation system, and the like.
- the electric operation system mainly includes a directional switching valve 173 of the pilot pressure-actuated control valve unit 17 (also see FIG. 3), an operation device 26 as an electric operation lever, and a hydraulic control for left turning operation. It is composed of a valve 31X1, a hydraulic control valve 31X2 for turning to the right, a pressure sensor 32X1, a pressure sensor 32X2, and a controller 30.
- the direction switching valve 173 controls the flow rate of hydraulic oil flowing from the main pump 14 to the swing hydraulic motor 2A, which is a hydraulic actuator. Specifically, the directional switching valve 173 has pilot ports P1 and P2, and supplies hydraulic fluid (pilot pressure) to the pilot ports P1 and P2 to move the spool.
- the operation device 26 as an electric operation lever has an operation sensor 29 that detects the details of the operation of the operation device 26 by the operator (operation direction, operation amount) and outputs the detected value to the controller 30 .
- the hydraulic control valve 31X1 is provided on the pilot line 25 that connects the pilot pump 15 and the pilot port P1 of the direction switching valve 173, and supplies hydraulic oil (pilot pressure) to the pilot port P1 of the direction switching valve 173.
- the hydraulic control valve 31X1 moves the spool of the directional switching valve 173 from the neutral position to the one end side (right side in FIG. 4) in the axial direction.
- Hydraulic oil supplied from the main pump 14 is supplied to the left port of the swing hydraulic motor 2A, and can swing the upper swing body 3 to the left.
- the hydraulic control valve 31X2 is provided on the pilot line 25 that connects the pilot pump 15 and the pilot port P2 of the direction switching valve 173, and supplies hydraulic oil (pilot pressure) to the pilot port P2 of the direction switching valve 173.
- the hydraulic control valve 31X1 moves the spool of the direction switching valve 173 from the neutral position to the other end side (left side in FIG. 4) in the axial direction.
- Hydraulic oil supplied from the main pump 14 is supplied to the right port of the swing hydraulic motor 2A, and can swing the upper swing body 3 to the right.
- the pressure sensor 32X1 detects the pressure of hydraulic fluid on the secondary side of the hydraulic control valve 31X1. Pressure sensor 32X1 outputs the detected value to controller 30 .
- the pressure sensor 32X2 detects the pressure of hydraulic fluid on the secondary side of the hydraulic control valve 31X2.
- the pressure sensor 32X2 outputs the detected value to the controller 30.
- the swing pressure sensor 27X1 detects the pressure of hydraulic oil (load pressure during left swing) at the left port of the swing hydraulic motor 2A, which is a hydraulic actuator.
- the turning pressure sensor 27X1 outputs the detected value to the controller 30.
- the swing pressure sensor 27X2 detects the pressure of hydraulic oil (load pressure during right swing) at the right port of the swing hydraulic motor 2A, which is a hydraulic actuator.
- the turning pressure sensor 27X2 outputs the detected value to the controller 30.
- a discharge pressure sensor 28 detects the discharge pressure of the main pump 14 .
- the discharge pressure sensor 28 outputs the detected value to the controller 30 .
- the controller 30 controls the hydraulic control valve 31X1 based on the pressure of the hydraulic fluid on the secondary side of the hydraulic control valve 31X1 detected by the pressure sensor 32X1, thereby controlling the pilot pressure supplied to the pilot port P1 of the direction switching valve 173. can be controlled.
- the controller 30 supplies hydraulic fluid to the pilot port P2 of the direction switching valve 173 by controlling the hydraulic control valve 31X2 based on the pressure of the hydraulic fluid on the secondary side of the hydraulic control valve 31X2 detected by the pressure sensor 32X2. Pilot pressure can be controlled. That is, the controller 30 is configured to be able to control the spool stroke amount of the direction switching valve 173 by controlling the hydraulic control valves 31X1 and 31X2.
- the controller 30 controls the hydraulic control valves 31X1 and 31X2 based on the details of the operation (operation direction, operation amount) of the operation device 26 detected by the operation sensor 29, and controls the spool stroke amount of the directional switching valve 173. Further, the controller 30 controls the hydraulic control valves 31X1 and 31X2 based on the details of the operation (operation direction, operation amount) of the operation device 26 detected by the operation sensor 29 and the discharge pressure of the main pump 14 detected by the discharge pressure sensor 28. to control the spool stroke amount of the direction switching valve 173 .
- the controller 30 detects the operation contents (operation direction, operation amount) of the operation device 26 detected by the operation sensor 29, and the differential pressure between the discharge pressure of the main pump 14 and the load pressure of the hydraulic actuator detected by the discharge pressure sensor 28. , the hydraulic control valves 31X1 and 31X2 are controlled, and the spool stroke amount of the directional switching valve 173 is controlled.
- FIG. 5 is a top perspective view of the driver's seat inside the cabin 10.
- a left operating lever 26L is arranged in front of the left side of the driver's seat, and a right operating lever 26R is arranged in front of the right side of the driver's seat.
- FIG. 6 is a cross-sectional view of the operating device 26. As shown in FIG.
- the operating device 26 includes a rod-shaped operating lever 901, a cam 902, a universal joint 903, a lid body 904, a housing 905, pushers 911 (911A, 911B), return springs 912 (912A, 912B), and a stroke sensor 913 (913A, 913D).
- a rod-shaped operating lever 901 is attached to a lid 904 and a housing 905 via a universal joint 903 . Thereby, the operation lever 901 is configured to be tiltable in the front-rear direction and the left-right direction.
- the cam 902 is fixed below the operating lever 901 .
- the lower surface of the cam 902 contacts the upper end of the pusher 911 projecting from the lid body 904 .
- a lid body 904 and a housing 905 accommodate a pusher 911, a return spring 912, a stroke sensor 913, and the like.
- the pusher 911, the return spring 912, and the stroke sensor 913 are provided in four sets in leftward, rightward, forward, and rearward directions when the operating device 26 is viewed from above.
- FIG. 6 is a cross-sectional view seen from the rear side to the front, and illustrates the leftward pusher 911A, return spring 912A, and stroke sensor 913A, and the rightward pusher 911B, return spring 912B, and stroke sensor 913B.
- the forward pusher 911, return spring 912 (912C described later in FIG. 7 etc.), stroke sensor 913 and backward pusher 911, return spring 912 (912D described later in FIG. 7 etc.), and stroke sensor 913 and redundant description is omitted.
- the pusher 911 has a tubular portion arranged in the chamber 906 of the housing 905 and closed at the upper side, and a shaft portion arranged above the tubular portion and protruding from the hole 907 of the lid 904 .
- the cylindrical portion of the pusher 911 is configured to be vertically movable within the chamber 906 of the housing 905 .
- the cylindrical portion of the pusher 911 moves vertically in the chamber 906 so that the shaft portion of the pusher 911 moves vertically.
- the return spring 912 returns the tilted operating lever 901 to the neutral position as described later.
- the return spring 912 is a compression spring that is disposed inside the cylindrical portion of the pusher 911 and has a lower end in contact with the bottom surface of the chamber 906 and an upper end in contact with the top surface of the cylindrical portion of the pusher 911 . Thereby, the return spring 912 urges the pusher 911 upward.
- a stroke sensor 913 detects the amount of vertical movement of the pusher 911 .
- the stroke sensor 913 is an example of the operation sensor 29 (see FIG. 3) that detects the content of the operation of the operation device 26 by the operator.
- a value detected by the stroke sensor 913 is output to the controller 30 .
- the left and right pushers 911A and 911B are urged upward by return springs 912A and 912B.
- the head of the pusher 911A pushes the lower surface of the left side of the cam 902
- the head of the pusher 911B pushes the lower surface of the right side of the cam 902, so that the operating lever 901 returns to the neutral position in the horizontal direction.
- the longitudinal pusher 911 is urged upward by return springs 912C and 912D.
- the head of the forward pusher 911 pushes the front lower surface of the cam 902, and the head of the rearward pusher 911 pushes the rear lower surface of the cam 902, so that the operating lever 901 is neutralized in the longitudinal direction. configured to return to position.
- the stroke sensor 913A can detect the amount of leftward operation of the control lever 901 by detecting the amount of movement of the pusher 911A. The same applies to the right direction, forward direction, and backward direction.
- FIG. 7 is a schematic diagram for explaining the strength of the return springs 912A to 912D in the left-right direction and the front-rear direction in the operating device 26.
- FIG. FIG. 7 shows an operable range 920 of the operating lever 901 .
- the operating lever 901 is configured to be operable in the left-right direction and the front-rear direction within an operable range 920 .
- the strength of the return springs 912A to 912D is schematically illustrated by the size of circles.
- the spring constants of the return springs 912A and 912B in the left-right direction are set smaller than the spring constants of the return springs 912C and 912D in the front-rear direction.
- the force by which the operator pushes the operating lever 901 in the lateral direction is smaller than the force by which the operator pushes the operating lever 901 in the front-rear direction. Therefore, as shown in FIG. 7, the operability of the operator is improved by making the spring constant of the return springs 912A and 912B in the left and right direction smaller than the spring constant of the return springs 912C and 912D in the front and back direction.
- the operability of the operator may be improved by making the spring constant of the outward return spring 912 smaller than the spring constant of the inward return spring 912 .
- the spring constants of the return springs 912A to 912D are not limited to the relationship shown in FIG. 7, and may be equal.
- FIG. 8 is a schematic diagram for explaining the movement of the operating lever 901 when the operator tilts the operating lever 901 backward.
- the operating lever 901 eg, the left operating lever 26L
- the operator tends to apply more force to the inside (right side) of the neutral position 901A than to the outside (left side). Therefore, the force that pushes the operating lever 901 in the front-rear direction escapes to the right, and the operating lever 901 may move to the inside (right side) of the neutral position 901A.
- the arm closing motion there is a possibility that the turning motion is unintentionally input.
- the operator when operating the operating lever 901 (eg, the left operating lever 26L) in the left-right direction, the operator tends to apply more force to the inner side (rear side) than the outer side (front side) of the neutral position 901A. Therefore, the force pushing the operation lever 901 in the left-right direction escapes to the rear side, and the operation lever 901 may move inside (rear side) of the neutral position 901A.
- an arm closing motion may be input unintentionally.
- the operating lever 901 for example, the right operating lever 26R
- the operator tends to apply more force to the inside (left side) of the neutral position 901A than to the outside (right side). Therefore, the force that pushes the operating lever 901 in the front-rear direction escapes to the left, and the operating lever 901 may move to the inside (left side) of the neutral position 901A.
- a turning operation may be input unintentionally.
- the operator when operating the operating lever 901 (eg, the right operating lever 26R) in the left-right direction, the operator tends to apply more force to the inside (rear side) of the neutral position 901A than to the outside (front side). Therefore, the force pushing the operation lever 901 in the left-right direction escapes to the rear side, and the operation lever 901 may move inside (rear side) of the neutral position 901A.
- the boom raising operation is input unintentionally.
- FIG. 9 is a diagram showing an insensitive area 921 with respect to lateral operations in the excavator according to the reference example.
- a dead area 921 is provided in which the hydraulic actuator does not operate with respect to the input of the operating device 26 .
- a dead area 921 for left-right operation is constant regardless of the operation amount in the front-rear direction. Therefore, as shown in FIG. 8, for example, when the operation lever 901 is operated in the rearward direction to perform the arm closing operation, there is a possibility that the turning operation is input unintentionally.
- FIG. 10 is a diagram showing a dead area 922 in lateral operation of the shovel 100 of this embodiment.
- the width of the insensitive region 922 to the operation in the lateral direction increases as the amount of operation in the longitudinal direction increases. is set.
- the excavator 100 of this embodiment is an electric operation system as shown in FIG.
- the dead area in the left-right direction increases.
- the operation lever 901 when the operation lever 901 is operated in the rearward direction to close the arm, the force pushing the operation lever 901 escapes to the left and right, resulting in unintentional input in the left and right direction. Even in such a case, it is possible to prevent an unintended turning motion from occurring by increasing the width of the dead area in the left-right direction, which is the direction in which the force is likely to escape.
- FIG. 11 is a diagram showing a dead area in operation in the front-rear direction of the excavator 100 of this embodiment.
- the insensitive area 923 for operation in the front-rear direction may be set to increase as the amount of operation in the left-right direction increases.
- the spring constants of the return springs 912C and 912D in the front-rear direction are larger than the spring constants of the return springs 912A and 912B in the left-right direction.
- the operation lever 901 when the operation lever 901 is operated in a certain direction, even if the operation lever 901 is tilted in another direction in which the force is likely to escape, the operation in the other direction is not sensed. Therefore, unintended operation of the excavator 100 can be prevented. Thereby, the operability of the excavator 100 can be improved.
- the direction in which the force is likely to escape is determined, for example, based on the strength of the four return springs 912A to 912D arranged on the front, rear, left, and right of the neutral position 901A. For example, if the spring constant of the return springs 912C and 912D in the front-rear direction is larger than the spring constant of the return springs 912A and 912B in the left-right direction, the operating lever 901 will unintentionally move left and right when operated in the front-rear direction. Easy to fall in any direction.
- the direction in which the force can easily escape may be determined, for example, based on the structure of the human arm. For example, the operator tends to pull the operating lever 901 (left operating lever 26L) slightly inward (to the right) when tilting it backward. Alternatively, the operator tends to pull the operating lever 901 (right operating lever 26R) slightly inward (to the left) when tilting it backward. Therefore, the operating lever 901 may tend to fall unintentionally in the left-right direction when operated backward.
- the dead area 923 with respect to operation in the front-rear direction is constant regardless of the amount of operation in the left-right direction.
- the dead area in the front-rear direction may be increased as the amount of operation in the left-right direction increases.
- the spring constant of the return springs 912C and 912D in the longitudinal direction is greater than the spring constant of the return springs 912A and 912B in the lateral direction (see FIGS. 7 and 8). Although explained as an example, it is not limited to this.
- the spring constants of the return springs 912A-912D may be equal.
- the dead area in the lateral direction may increase as the amount of operation in the longitudinal direction increases.
- the pushing back force of the return spring 912D on the rear side increases as the operating lever 901 is tilted rearward.
- the dead area in the front-rear direction may increase as the operation amount in the left-right direction increases.
- the more the operation lever 901 is tilted leftward the greater the pushing-back force of the leftward return spring 912A.
- the width of the dead area in the vertical direction, in which the force tends to escape is increased. It is possible to prevent the arm opening/closing operation that does not occur.
- the structure of the operation device 26 (the spring constant of the return spring) has been described as having a direction in which the force is likely to escape, it is not limited to this. Depending on the arrangement of the operating device 26, it can be applied even when there is a direction in which the force tends to escape. That is, the operating device 26 that can be operated in the first direction and the second direction is structurally or dispositionally designed to easily release force in the second direction when operated in the first direction. The force may be easily released in the first direction when the switch is operated, and the dead area may be relatively large in the direction in which the force is easily released.
- the operation device is provided with return springs for returning the operation lever to the neutral position in the left-right direction and the front-rear direction. For this reason, when the operation lever is input obliquely, for example, when the operation lever is input obliquely to the right front, it is necessary to push in the two return springs, the front return spring and the right return spring. In addition to requiring an operating force, the operating amount from the neutral position of the operating lever also increases.
- FIG. 12 is a schematic diagram for explaining strength of the return springs 912A to 912D in the left-right direction and the front-rear direction in the operating device 26.
- FIG. FIG. 12 shows the operable range 920 of the operating lever 901 .
- the operating lever 901 is configured to be operable in the left-right direction and the front-rear direction within an operable range 920 .
- the strength of the return springs 912A to 912D is schematically illustrated by the size of circles.
- the spring constants of the return springs 912A and 912B in the left-right direction are set smaller than the spring constants of the return springs 912C and 912D in the front-rear direction.
- the force by which the operator pushes the operating lever 901 in the lateral direction is smaller than the force by which the operator pushes the operating lever 901 in the front-rear direction.
- the operability of the operator is improved by making the spring constant of the return springs 912A and 912B in the lateral direction smaller than the spring constant of the return springs 912C and 912D in the front-rear direction.
- the operability of the operator may be improved by making the spring constant of the outward return spring 912 smaller than the spring constant of the inward return spring 912 .
- the spring constants of the return springs 912A to 912D are not limited to the relationship shown in FIG. 12, and may be equal.
- FIG. 13 is a schematic diagram for explaining the movement of the operating lever 901 when simultaneously performing the boom raising operation and the bucket closing operation.
- the controller 30 controls the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 based on the lateral operation amount of the operation lever 901 . Therefore, when maximizing the spool stroke amount of the direction switching valve 174, the operating lever 901 is operated to the maximum in the lateral direction of the operable range 920.
- FIG. The controller 30 also controls the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 based on the operation amount of the operation lever 901 in the front-rear direction. Therefore, when maximizing the spool stroke amount of the directional switching valve 175, the operating lever 901 is operated to the maximum front-rear direction of the operable range 920.
- the operator tilts the operation lever 901 to the rear left side and operates it from the neutral position 901A to the operation position 901H.
- the cam 902 (see FIG. 6) fixed to the operating lever 901 pushes the return springs 912A and 912D. Therefore, when operating the operating lever 901 in an oblique direction, it is necessary to push in two return springs. The amount of operation is also increased. The same applies when the operation lever 901 is tilted to the rear right, front left, or front right.
- the operable range 920 of the operating lever 901 has a difficult-to-operate region 925 in which the operating force is large and the amount of operation is large.
- the difficult-to-operate region 925 with a large operating force and a large amount of operation is also used for operation.
- the operation in such a difficult-to-operate region 925 fatigues the operator.
- FIG. 14 is a schematic diagram showing an example of an operable range 920 of the operating device 26 in the excavator 100 according to the present embodiment and a maximum operation amount 926 at which the spool stroke amount of the directional switching valve is maximized.
- the controller 30 controls the maximum left-right direction maximum spool stroke amount (control amount) of the directional switching valve 174 corresponding to the bucket cylinder 9 according to the operation amount of the operation lever 901 in the front-rear direction.
- the manipulated variable 926 is different.
- the amount of operation of the operation lever 901 in the lateral direction (second direction) and the maximum amount of operation 926 at which the spool stroke amount (control amount) is maximized is determined according to the amount of operation in the longitudinal direction (first direction). Relationships change.
- the operation amount and the stroke amount (control amount) of the operation lever 901 in the left-right direction do not match, and the relationship between the operation amount and the control amount in the left-right direction (second direction) is different from that in the front-rear direction (first direction). Varies depending on the amount of operation.
- the leftward maximum operation amount 926 is the operation amount L1. That is, when the operation lever 901 is operated leftward to the operation amount L1, the controller 30 controls the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 to be maximized.
- the leftward maximum operation amount 926 becomes an operation amount L2 (L2 ⁇ L1). That is, when the operation lever 901 is operated leftward to the operation amount L2, the controller 30 controls the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 to be maximized. When the operating lever 901 is further tilted to the left, the spool stroke amount of the directional switching valve 174 is maintained at its maximum.
- the leftward maximum operation amount 926 becomes an operation amount L3 (L3 ⁇ L2). That is, when the operation lever 901 is operated leftward to the operation amount L3, the controller 30 controls the directional switching valve 174 corresponding to the bucket cylinder 9 so that the spool stroke amount is maximized. When the operating lever 901 is further tilted to the left, the spool stroke amount of the directional switching valve 174 is maintained at its maximum.
- the controller 30 sets the maximum operation amount 926 in the left-right direction at which the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 is maximized according to the operation amount (eg, B1 to B3) of the operation lever 901 in the front-rear direction. change the value of (for example, L1 to L3). Then, the controller 30 controls the spool stroke amount of the directional switching valve 174 based on the maximum operation amount 926 and the operation amount of the operation lever 901 in the horizontal direction. For example, the controller 30 controls the spool stroke amount of the directional switching valve 174 based on the ratio between the maximum operation amount 926 and the operation amount of the operation lever 901 in the horizontal direction.
- the controller 30 controls the spool stroke amount of the directional switching valve 174 based on the ratio between the maximum operation amount 926 and the operation amount of the operation lever 901 in the horizontal direction.
- the controller 30 adjusts the maximum operation amount 926 in the longitudinal direction at which the spool stroke amount (control amount) of the directional switching valve 175 corresponding to the boom cylinder 7 is maximized according to the operation amount of the operation lever 901 in the lateral direction.
- the relationship between the operation amount of the operation lever 901 in the longitudinal direction and the maximum operation amount 926 at which the spool stroke amount (control amount) is maximized changes according to the operation amount in the left-right direction. That is, the operation amount and the stroke amount (control amount) of the operation lever 901 in the front-rear direction do not match, and the relationship between the operation amount in the front-rear direction and the control amount changes depending on the operation amount in the left-right direction.
- the maximum operation amount 926 in the forward direction is the operation amount F1. That is, when the operation lever 901 is operated forward to the operation amount F1, the controller 30 controls the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 to be maximized.
- the maximum operation amount 926 in the forward direction is an operation amount F2 (F2 ⁇ F1). That is, when the operation lever 901 is operated forward to the operation amount F2, the controller 30 controls the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 to be maximized. When the operating lever 901 is further tilted forward, the spool stroke amount of the directional switching valve 175 is maintained at its maximum.
- the maximum operation amount 926 in the forward direction is an operation amount F3 (F3 ⁇ F2). That is, when the operation lever 901 is operated forward to the operation amount F3, the controller 30 controls the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 to be maximized. When the operating lever 901 is further tilted forward, the spool stroke amount of the directional switching valve 175 is maintained at its maximum.
- the controller 30 sets the maximum operation amount 926 in the front-rear direction at which the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 is maximized according to the operation amount (for example, R1 to R3) of the operation lever 901 in the left-right direction. change the value of (eg, F1 to F3).
- the controller 30 controls the spool stroke amount of the directional switching valve 175 based on the maximum operation amount 926 and the operation amount of the operation lever 901 in the front-rear direction.
- the controller 30 controls the spool stroke amount of the direction switching valve 175 based on the ratio between the maximum operation amount 926 and the operation amount of the operation lever 901 in the front-rear direction.
- FIG. 15 is a diagram showing an example of the operation of the operating device 26.
- FIG. The operator pushes the operating lever 901 rearward from the neutral position 901A and operates it to the operating position 901D. Thereby, the controller 30 maximizes the spool stroke amount of the direction switching valve 175 corresponding to the boom cylinder 7 .
- the controller 30 maximizes the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 .
- FIG. 16 is a diagram showing another example of the operation of the operating device 26.
- the operator pushes the operation lever 901 leftward from the neutral position 901A and operates it to the operation position 901F.
- the controller 30 maximizes the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 .
- the operator pushes the operating lever 901 rearward and operates it to the operating position 901G, thereby maximizing the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 .
- the hydraulic actuators such as the boom cylinder 7 and the bucket cylinder 9 can be operated without using the difficult-to-operate region 925 (see FIG. 13) in which the operation force is large and the operation amount is large. can be done. As a result, fatigue of the operator can be reduced and operability can be improved.
- FIG. 17 is a schematic diagram showing an example of an operable range 920 of the operating device 26 in the excavator 100 according to the modification, and a maximum operation amount 926A at which the spool stroke amount of the directional switching valve is maximized.
- the maximum manipulated variable 926A may be set outside the operable range 920 . In the example shown in FIG. 17, even if the operating lever 901 is operated to the maximum of the operable range 920, the spool stroke amount of the direction switching valve does not reach its maximum.
- a control is known in which a hydraulic fluid flow rate is preferentially supplied to a specific hydraulic actuator during a compound operation in which a plurality of hydraulic actuators are simultaneously operated.
- the spool stroke amount of the directional switching valve does not reach its maximum.
- Each can be supplied with hydraulic oil.
- the excavator 100 can perform a compound operation according to the operator's operation, and the operability can be improved.
- the controller 30 performs the maximum left-right operation that maximizes the spool stroke amount of the directional switching valve 174 corresponding to the bucket cylinder 9 according to the operation amount of the operation lever 901 in the front-rear direction. Change the value of quantity 926A. Then, the controller 30 controls the spool stroke amount of the directional switching valve 174 based on the maximum operation amount 926 and the operation amount of the operation lever 901 in the horizontal direction. Further, the controller 30 changes the value of the maximum longitudinal operation amount 926A at which the spool stroke amount of the directional switching valve 175 corresponding to the boom cylinder 7 is maximized according to the operation amount of the operation lever 901 in the lateral direction.
- the controller 30 controls the spool stroke amount of the directional switching valve 175 based on the maximum operation amount 926 and the operation amount of the operation lever 901 in the front-rear direction. For example, the controller 30 controls the spool stroke amount of the direction switching valve 175 based on the ratio between the maximum operation amount 926 and the operation amount of the operation lever 901 in the front-rear direction.
- the spool stroke amount of the directional switching valve can be minutely operated with respect to the operation of the operating lever 901 .
- part of the maximum operation amount 926 may be set within the operable range 920 and the other part may be set outside the operable range 920 .
- the operation device 26 has been described as being provided inside the cabin 10 of the excavator 100, it is not limited to this. It may be applied to an operating device for a working machine provided in a cabin of the working machine. Also, the present invention may be applied to an operating device for a working machine that remotely controls the working machine from the outside.
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- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
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- Operation Control Of Excavators (AREA)
Abstract
Description
14 メインポンプ(油圧ポンプ)
26 操作装置
30 コントローラ(制御装置)
100 ショベル
171~176 方向切換弁
901 操作レバー
902 カム
903 ユニバーサルジョイント
904 蓋体
905 筐体
911 プッシャ
912 復帰バネ
913 ストロークセンサ
920 操作可能範囲
921~923 不感領域
925 難操作領域
926 最大操作量
Claims (11)
- 第1方向及び第2方向に操作可能な操作装置と、
作動油を供給する油圧ポンプと、
油圧アクチュエータと、
前記油圧ポンプから前記油圧アクチュエータに流れる作動油を制御する方向切換弁と、
前記操作装置の操作量に基づいて前記方向切換弁を制御する制御装置と、を備え、
前記操作装置は、構造上或いは配置上、前記第1方向に操作されたときに前記第2方向に力が逃げやすくなっており、或いは、前記第2方向に操作されたときに前記第1方向に力が逃げやすくなっており、その逃げやすい方向に関しては、不感領域が相対的に大きくなるように構成されている、
作業機械。 - 前記制御装置は、
前記第2方向の操作量が増加するほど、前記第1方向の不感領域が増加する、
請求項1に記載の作業機械。 - 前記第1方向に傾倒した操作レバーを中立位置に復帰させる第1復帰バネと、
前記第2方向に傾倒した前記操作レバーを中立位置に復帰させる第2復帰バネと、を備え、
前記第2復帰バネのバネ定数は、前記第1復帰バネのバネ定数よりも大きい、
請求項1または請求項2に記載の作業機械。 - 前記第1方向は、左右方向であり、
前記第2方向は、前後方向である、
請求項1乃至請求項3のいずれか1項に記載の作業機械。 - 前記第1方向の操作量が増加するほど、前記第2方向の不感領域は増加する、
請求項1乃至請求項4のいずれか1項に記載の作業機械。 - 前記第1方向に傾倒した操作レバーを中立位置に復帰させる第1復帰バネと、
前記第2方向に傾倒した前記操作レバーを中立位置に復帰させる第2復帰バネと、を備え、
前記第1復帰バネのバネ定数と前記第2復帰バネのバネ定数は等しい、
請求項1または請求項2に記載の作業機械。 - 前記制御装置は、
前記第1方向の操作量に応じて、前記方向切換弁の制御量が最大となる前記第2方向の操作量が異なる、
請求項1に記載の作業機械。 - 前記制御装置は、
前記方向切換弁の制御量が最大となる前記第2方向の操作量と、前記第2方向の操作量と、に基づいて、前記方向切換弁の制御量を制御する、
請求項7に記載の作業機械。 - 前記第1方向の操作量が大きくなるほど、前記方向切換弁の制御量が最大となる前記第2方向の操作量が小さくなる、
請求項7または請求項8に記載の作業機械。 - 前記操作装置は、操作可能な操作可能範囲を有し、
前記制御装置は、
前記操作可能範囲よりも内側で、前記方向切換弁の制御量が最大となる、
請求項7乃至請求項9のいずれか1項に記載の作業機械。 - 第1方向及び第2方向に操作可能な、作業機械用の操作装置であって、
前記操作装置は、構造上或いは配置上、前記第1方向に操作されたときに前記第2方向に力が逃げやすくなっており、或いは、前記第2方向に操作されたときに前記第1方向に力が逃げやすくなっており、その逃げやすい方向に関しては、不感領域が相対的に大きくなるように構成されている、
作業機械用の操作装置。
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KR1020237032418A KR20230162782A (ko) | 2021-03-31 | 2022-03-30 | 작업기계 및 작업기계용의 조작장치 |
CN202280022845.3A CN117062958A (zh) | 2021-03-31 | 2022-03-30 | 施工机械及施工机械用操作装置 |
EP22781191.6A EP4317606A1 (en) | 2021-03-31 | 2022-03-30 | Work machine and operation device for work machine |
JP2023511534A JPWO2022210981A1 (ja) | 2021-03-31 | 2022-03-30 | |
US18/474,617 US20240011243A1 (en) | 2021-03-31 | 2023-09-26 | Work machine and operating device for work machine |
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- 2022-03-30 WO PCT/JP2022/016307 patent/WO2022210981A1/ja active Application Filing
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KR20230162782A (ko) | 2023-11-28 |
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