CN102979118A - Construction machinery - Google Patents

Abstract

The invention provides a piece of construction machinery, comprising an oil hydraulic circuit which drives a bucket rod by pressure oil flows out from an oil chamber on a cylinder bottom of a boom cylinder. The construction machinery comprises a control device (30) which is provided with a control executing determining portion (300), a confluence control portion (301), and an output capacity reduction portion (302). The control executing determining portion (300) determines whether control start conditions are satisfied. The confluence control portion (301) controls inflow of the pressure oil which flows out from the oil chamber on the cylinder bottom of the boom cylinder to a stick cylinder (8). The output capacity reduction portion (302) controls output capacity of a main pump (12L). When the control device determines movable arm operation amount on a descent direction is in a scheduled intermediate operating area and bucket rod operation amount on an opening direction is in a scheduled upper limit side operating area through the control executing determining portion, the pressure oil which flows out from the oil chamber on the cylinder bottom of the boom cylinder flows in an oil chamber on a side a rod of the stick cylinder through the confluence control portion. Output capacity of the main pump is limited by the output capacity reduction portion.

Description

Construction machinery

Technical field

The present invention relates to the construction machinery of the hydraulic circuit of the pressure oil that flows out a kind of cylinder bottom side grease chamber that possesses effective utilization slave arm cylinder to decline direction operation swing arm the time.

Background technology

In the past, the known swing arm decline regenerative circuit (for example referring to Patent Document 1) that has the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder to decline direction operation swing arm the time is flowed out to be supplied in the bar side grease chamber of swing arm cylinder.

Patent documentation 1: Japanese kokai publication hei 10-89317 communique

Yet, because bar runs through in the grease chamber, so the volume of the bar side grease chamber of swing arm cylinder is less than the volume of the cylinder bottom side grease chamber of swing arm cylinder, the total amount of the pressure oil that therefore can't regeneration flows out from cylinder bottom side grease chamber, make can't regeneration residual pressure oil be back to fuel tank, thereby effective recycling of fully having sought energy hardly.In addition, even during other hydraulic cylinders beyond the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder is flowed out is supplied in swing arm, also sometimes require the higher pressure of pressure of the pressure oil that flows out than the cylinder bottom side grease chamber of slave arm cylinder according to the duty of construction machinery, and because to reasons such as the supply oil circuit of other hydraulic cylinders are complicated, fail fully to seek effectively applying flexibly of the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder flows out.

Summary of the invention

In view of the above problems, the object of the present invention is to provide a kind of construction machinery that possesses the hydraulic circuit of the driving that the pressure oil that flow out the cylinder bottom side grease chamber of slave arm cylinder can be used in other hydraulic unit drivers.

To achieve these goals, the construction machinery that embodiments of the invention are related possesses the device that comprises dipper and swing arm, it is characterized in that, comprising: dipper operational ton test section, detect the dipper operational ton; Swing arm operational ton test section detects the swing arm operational ton; And control device, have and determine whether the control execution detection unit that carries out predetermined work by described fixture, the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder is flowed out is to interflow control part that the inflow of other hydraulic unit drivers is controlled, and the discharge-amount that reduces the discharge-amount of main pump reduces section, when the dipper operational ton of carrying out swing arm operational ton that detection unit is judged to be descent direction by described control in predetermined intermediary operation zone and opening direction during at predetermined upper limit side operating area, described control device flows into to other hydraulic unit drivers by the pressure oil that described interflow control part flows out the cylinder bottom side grease chamber of slave arm cylinder, and reduces the discharge-amount that section reduces described main pump by described discharge-amount.

The invention effect:

According to above-mentioned member, the present invention can provide a kind of construction machinery that possesses the hydraulic circuit of the driving that the pressure oil that flow out the cylinder bottom side grease chamber of slave arm cylinder can be used in other hydraulic unit drivers.

Description of drawings

Fig. 1 is the lateral view of the related hydraulic actuated excavator of expression the 1st embodiment.

Fig. 2 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 1st embodiment.

Fig. 3 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 1st embodiment.

Fig. 4 is the flow chart that is illustrated in the flow process of the interflow control processing of carrying out in the related hydraulic actuated excavator of the 1st embodiment.

Fig. 5 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 2nd embodiment.

Fig. 6 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 3rd embodiment.

Fig. 7 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 3rd embodiment.

Fig. 8 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 4th embodiment.

Fig. 9 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 5th embodiment.

Figure 10 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 5th embodiment.

Figure 11 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 6th embodiment.

Figure 12 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 7th embodiment.

Among the figure: the 1-lower running body, the 2-slew gear, 3-top revolving body, the 4-swing arm, 5-dipper, 6-scraper bowl, 7-swing arm cylinder, 8-dipper cylinder, 9-scraper bowl cylinder, 10-driver's cabin, 12L, the 12R-main pump, 13L, the 13R-adjuster, 14-proportion magnetic valve, 14a-reversal valve, the 14b-control pump, 16A-dipper action bars, 16B-swing arm action bars, 16C-scraper bowl action bars, the 17A-dipper is opened guide's pressure sensor, 17B-swing arm decline guide pressure sensor, the 17C-scraper bowl cuts out guide's pressure sensor, 17D-dipper bar pressure sensor, 17E-dipper cylinder bottom pressure sensor, 17F, the 17G-pressure sensor that spues, 17H-swing arm cylinder bottom pressure sensor, 18-master's overflow valve, 19L, the 19R-overflow valve, 20L, 20R-negative control restriction choke, 21-proportion magnetic valve, 30-controller, 40L, 40R-intermediate bypass oil circuit, 41L, 41R-bears the pressure control oil circuit, 150-control valve (valve is directly advanced in walking), 151～160-flow control valve, 157A-interflow high-pressure oil passage, detection unit is carried out in 300-control, and 301-collaborates control part, and the 302-discharge-amount reduces section.

The specific embodiment

Below, with reference to the accompanying drawings the preferred embodiments of the present invention are described.

[embodiment 1]

Fig. 1 is the lateral view of the related hydraulic actuated excavator of expression the 1st embodiment of the present invention.In the hydraulic actuated excavator, by slew gear 2 top revolving body 3 is equipped on the crawler type lower running body 1 with freely rotating.

Top revolving body 3 forwardly central portion carries the excavation fixture that comprises swing arm 4, dipper 5 and scraper bowl 6 and drive respectively their swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9.In addition, top revolving body 3 forwardly carries and is used for the driver's cabin 10 that the operator takes, and carries the engine (not shown) as drive source at the rear portion.In addition, below with swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, walking with hydraulic motor (not shown) and turn round with hydraulic motor (not shown) etc. and be referred to as " hydraulic unit driver ".

Fig. 2 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 1st embodiment.In addition, represent high-pressure oil passage, guide's oil circuit and driven by power/control system with solid line, dotted line and dotted line respectively among Fig. 2.

Among the 1st embodiment, hydraulic circuit makes pressure oil be circulated to fuel tank from 2 main pump 12L, 12R that drive by engine via each intermediate bypass oil circuit 40L, 40R.

Main pump 12L, 12R are supplied in the device of control valve 150, every flow control valve 151～160 by high-pressure oil passage with pressure oil for being used for, and for example are ramp type variable capacity type hydraulic pump.In addition, the pump control mode of main pump 12L, 12R adopts negative control control in the present embodiment, but also can adopt just other control modes such as control, Loadsensing control.

Adjuster 13L, 13R are the device for the discharge-amount of controlling main pump 12L, 12R, for example control the discharge-amount of main pump 12L, 12R by the swash plate deflection angle of regulating main pump 12L, 12R.

Proportion magnetic valve 14 is for being used for control action in the device of the pressure of adjuster 13L, for example for changing the ratio electromagnetic relief pressure valve that output is pressed according to the control instruction electric current that comes self-controller 30.In addition, in the situation that adopts just control, the output straightening of proportion magnetic valve 14 connects and acts on main pump 12L.

Intermediate bypass oil circuit 40L is for being communicated with flow control valve 151,153,155,157 and 158 high-pressure oil passage, possessing negative control restriction choke 20L between the flow control valve 159 in downstream and pressure oil tank.

Intermediate bypass oil circuit 40R is for being communicated with control valve 150, flow control valve 152,154,156,159 and 160 high-pressure oil passage, possessing negative control restriction choke 20R between the flow control valve 160 in downstream and pressure oil tank.

Flowing of the pressure oil that main pump 12L, 12R spue limited by negative control restriction choke 20L, 20R.Therefore, negative control restriction choke 20L, 20R produce the control that is used for control adjuster 13L, 13R and press (hereinafter referred to as " negative pressure control ").

Negative pressure control oil circuit 41L, 41R pass to guide's oil circuit of adjuster 13L, 13R for the negative pressure control that is used for producing in the upstream of negative control restriction choke 20L, 20R.

Adjuster 13L, 13R control the discharge-amount of main pump 12L, 12R by the swash plate deflection angle of regulating main pump 12L, 12R according to negative pressure control.In addition, adjuster 13L, 13R are set as the more large discharge-amount of main pump 12L, 12R and the more little discharge-amount that more increases main pump 12L, 12R of negative pressure control of importing of more reducing of negative pressure control of importing.

Particularly, when the hydraulic unit driver in the hydraulic actuated excavator does not carry out any operation (hereinafter referred to as " standby mode "), the pressure oil that main pump 12L, 12R spue arrives negative control restriction choke 20L, 20R by intermediate bypass oil circuit 40L, 40R.And the mobile negative pressure control that produces in the upstream of negative control restriction choke 20L, 20R that makes of the pressure oil that main pump 12L, 12R spue increases.Its result, adjuster 13L, 13R are reduced to the discharge-amount of main pump 12L, 12R to allow minimum discharge-amount, the pressure loss (suction loss) when suppressing the pressure oil that spues by intermediate bypass oil circuit 40L, 40R.

On the other hand, when any hydraulic unit driver in the operation hydraulic actuated excavator, the pressure oil that main pump 12L, 12R spue flows into the hydraulic unit driver of operand by the flow control valve corresponding with the hydraulic unit driver of operand.And the mobile amount that arrives negative control restriction choke 20L, 20R that makes of the pressure oil that main pump 12L, 12R spue reduces or disappearance, is reduced in the negative pressure control of the upstream generation of negative control restriction choke 20L, 20R.Its result, the adjuster 13L, the 13R that accept lowered negative pressure control increase the discharge-amount of main pump 12L, 12R, make sufficient pressure oil be circulated in the hydraulic unit driver of operand, make the driving of the hydraulic unit driver of operand have reliability.

According to structure described above, the hydraulic system of Fig. 2 can suppress the unnecessary energy consumption (the suction loss that the pressure oil that main pump 12L, 12R spue produces) among main pump 12L, the 12R in intermediate bypass oil circuit 40L, 40R under standby mode.

In addition, the hydraulic system of Fig. 2 can be supplied with required sufficient pressure oil to the hydraulic unit driver of driven object reliably from main pump 12L, 12R when driving hydraulic unit driver.

In addition, adjuster 13L, 13R are except carrying out above-mentioned negative pressure control control, also by press the swash plate deflection angle (by full power control) of regulating main pump 12L, 12R to control the discharge-amount of main pump 12L, 12R according to spuing of main pump 12L, 12R.Particularly, when spuing of main pump 12L, 12R presses to predetermined value when above, the swash plate deflection angle that adjuster 13L, 13R regulate main pump 12L, 12R reduces discharge-amount, in order to avoid press the shaft horsepower that surpasses engine with the pump horsepower of the product representation of discharge-amount to spue.

Control valve 150 directly advances valve for walking, for operation at the same time drive lower running body 2 about the bobbin valve that moves during with hydraulic motor (not shown) and other hydraulic unit drivers in addition of walking.Particularly, control valve 150 can be in order only to switch flowing of pressure oil to flow control valve 151 and flow control valve 152 circulations respectively from main pump 12L take the rectilinear propagation that improves lower running body 2 as purpose makes pressure oil.

Flow control valve 151 is to use circulation in the hydraulic motor (not shown) and the bobbin valve that flows of switching pressure oil for the pressure oil that main pump 12L is spued in the left side walking, and flow control valve 152 is to use circulation in the hydraulic motor (not shown) and the bobbin valve that flows of switching pressure oil for the pressure oil that main pump 12L or 12R are spued in the right side walking.

Flow control valve 153 is to use circulation in the hydraulic motor (not shown) and the bobbin valve that flows of switching pressure oil for the pressure oil that main pump 12L or 12R are spued in revolution.

Flow control valve 154 is to be supplied to scraper bowl cylinder 9 and the pressure oils in the scraper bowl cylinder 9 to be expelled to the bobbin valve of fuel tank for the pressure oil that main pump 12R is spued.

Flow control valve 155 is bobbin valves of the preparation that can utilize in order to drive hydraulic motor or hydraulic cylinder.

Flow control valve 156, the 157th is for the pressure oil that main pump 12L, 12R are spued is supplied to swing arm cylinder 7 and the pressure oils in the swing arm cylinder 7 are expelled to fuel tank and switch the bobbin valve that flows of pressure oil.In addition, flow control valve 156 is the bobbin valves (hereinafter referred to as " the 1st swing arm flow control valve ") that move all the time when operation swing arm action bars 16B.In addition, flow control valve 157 is the bobbin valves (hereinafter referred to as " the 2nd swing arm flow control valve ") that move when only operating swing arm action bars 16B more than with predetermined action bars operational ton.

The 1st swing arm flow control valve 156 possesses the high-pressure oil passage 156A that is arranged in decline side position (the bobbin position on figure right side) and comprises flap valve between CT port and pc port.In addition, the CT port is the cylinder bottom side grease chamber of binding swing arm cylinder 7 and the port of fuel tank, and pc port is the port of the bar side grease chamber of binding main pump 12R and swing arm cylinder 7, and the PT port is for linking the port of main pump 12R and fuel tank.In addition, high-pressure oil passage 156A flows into the regeneration high-pressure oil passage of the bar side grease chamber of swing arm cylinder 7 for the pressure oil that flows out for the cylinder bottom side grease chamber that makes slave arm cylinder 7.In addition, regeneration is made as with the 1st swing arm flow control valve 156 proportional towards the displacement of decline side position direction (left of figure to) with the aperture area of high-pressure oil passage 156A.

The 2nd swing arm flow control valve 157 possesses the high-pressure oil passage 157A that is arranged in decline side position (the bobbin position in figure left side) and comprises flap valve and restriction choke between the cylinder bottom side grease chamber of PT port and swing arm cylinder 7.In addition, high-pressure oil passage 157A is the interflow high-pressure oil passage that collaborates to intermediate bypass oil circuit 40L for the pressure oil that flow out the cylinder bottom side grease chamber that makes slave arm cylinder 7.In addition, the interflow is made as with the 2nd swing arm flow control valve 157 proportional towards the displacement of decline side position direction (right of figure) with the aperture area of high-pressure oil passage 157A.

Flow control valve 158, the 159th is for the pressure oil that main pump 12L, 12R are spued is supplied to dipper cylinder 8 and the pressure oils in the dipper cylinder 8 are expelled to fuel tank and switch the bobbin valve that flows of pressure oil.In addition, the valve (hereinafter referred to as " 1st dipper flow control valve ") of flow control valve 158 for when operating dipper action bars 16A, moving all the time.In addition, flow control valve 159 is the valves (hereinafter referred to as " the 2nd dipper flow control valve ") that move when only operating dipper action bars 16A more than with predetermined action bars operational ton.

Flow control valve 160 arrives to the bobbin valve of negative control restriction choke 20R for switching the pressure oil that main pump 12R is spued.

Dipper action bars 16A is for being used for the operating means of operation dipper 5, and the pressure oil that utilizes control pump (not shown) to spue makes with the corresponding first pilot of action bars operational ton and is directed in the 1st dipper flow control valve 158 and the 2nd any pilot port of dipper flow control valve 159 left and right sides separately.

Swing arm action bars 16B is for being used for the operating means of operation swing arm 4, and the pressure oil that utilizes control pump to spue makes with the corresponding first pilot of action bars operational ton and is directed in the 1st swing arm flow control valve 156 and the 2nd any pilot port of swing arm flow control valve 157 left and right sides separately.

Scraper bowl action bars 16C is for being used for the operating means of operation scraper bowl 6, and the pressure oil that utilizes control pump to spue makes any pilot port of the left and right sides that is directed in flow control valve 154 with the corresponding first pilot of action bars operational ton.

Dipper is opened the example that guide's pressure sensor 17A is dipper operational ton test section, is to detect the action bars operational ton of opening direction (action bars work angle) of dipper action bars 16A as the pressure sensor of pressure the value that controller 30 output detections are gone out.

Swing arm decline guide pressure sensor 17B is an example of swing arm operational ton test section, is to detect the action bars operational ton (action bars work angle) of descent direction of swing arm action bars 16B as the pressure sensor of pressure the value that controller 30 output detections are gone out.

Scraper bowl is opened the example that guide's pressure sensor 17C is scraper bowl operational ton test section, is to detect the action bars operational ton of opening direction (action bars work angle) of scraper bowl action bars 16C as the pressure sensor of pressure the value that controller 30 output detections are gone out.

About walk action bars (or pedal) and revolution action bars (all not shown) be respectively for the operation walking of lower running body 2 and the rotating operating means of top revolving body 3.The pressure oil that these operating means and dipper action bars 16A etc. utilize control pump to spue in the same manner make with the corresponding first pilot of action bars operational ton (or amount of pedal operation) be directed in respectively with about walking with hydraulic motor and revolution any pilot port of the left and right sides with flow control valve corresponding to hydraulic motor.In addition, the operator (for action bars direction of operating and action bars operational ton) detects with the pressure form by corresponding pressure sensor in the same manner with pressure sensor 17A～17C and detected value is output in controller 30 to the content of operation of these each operating means.

Main overflow valve 18 is pressed when above pressure oil is discharged in fuel tank the voltage-controlled safety valve of making less than predetermined overflow pressure that spues for press to predetermined overflow when spuing of main pump 12L or 12R.

Overflow valve 19L, 19R press when above pressure oil to be discharged in fuel tank negative pressure control are controlled to safety valve less than predetermined overflow pressure for the negative pressure control when the upstream of negative control restriction choke 20L, 20R becomes predetermined overflow.

Proportion magnetic valve 21 is for being used for control action in the device of the first pilot of the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157, for example for changing the ratio electromagnetic relief pressure valve that output is pressed according to the control instruction electric current that comes self-controller 30.

Controller 30 is for being used for the control device of control hydraulic circuit, such as by possessing CPU(Central Processing Unit), RAM(Random Access Memory), ROM(Read Only Memory) etc. computer consist of.

In addition, controller 30 is read respectively from non-volatile memory mediums such as ROM and is carried out detection unit 300, interflow control part 301 and discharge-amount with control and reduce program corresponding to section 302, and when in the volatile storage medium such as RAM, launching, CPU is carried out and each self-corresponding processing.

Particularly, controller 30 receives the detected value of the output such as pressure sensor 17A～17C, carries out respectively according to these detected values and carries out the processing that detection unit 300, interflow control part 301 and discharge-amount reduce section 302 based on control.

Afterwards, controller 30 Comparative Examples electromagnetic valves 14 and 21 are suitably exported with control execution detection unit 300, interflow control part 301 and discharge-amount and are reduced control instruction electric current corresponding to section 302 result separately.

Control is carried out detection unit 300 for being used for judging in the work of returning based on casting work, the level of excavating fixture like making in the decline direction operation swing arm 4 dipper 5 whether carry out the function important document that reduces the control (aftermentioned) of section 302 based on interflow control part 301 and discharge-amount when opening the work (hereinafter referred to as " casting work etc. ") that direction moves aloft.Control is carried out detection unit 300 and is for example judged according to the action bars operational ton of the descent direction of the action bars operational ton of opening direction of dipper action bars 16A and swing arm action bars 16B whether control beginning condition sets up (whether the control condition subsequent is false).

Particularly, when the action bars operational ton of opening direction of dipper action bars 16A at the action bars operational ton of the descent direction of predetermined upper limit side operating area and swing arm action bars 16B during at predetermined intermediary operation zone or upper limit side operating area, control is carried out detection unit 300 and is judged to be control beginning condition and sets up (be in casting work etc. state).

" control beginning condition " is be used to the condition that begins to carry out to reduce based on interflow control part 301 and discharge-amount the control (aftermentioned) of section 302, and " control condition subsequent " is for the condition that finishes to reduce based on interflow control part 301 and discharge-amount the control (aftermentioned) of section 302.In addition, when control beginning condition was set up, the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7 was higher than the pressure of other hydraulic unit drivers that collaborate target.

" upper limit side operating area " refer to, near the scope of the action bars operational ton when in order to desirable direction of operating operand to be operated action bars being operated to the maximum action bars work angle.For example, upper limit side operating area comprises the action bars operational ton of the dipper action bars 16A when to opening direction operation dipper 5 dipper action bars 16A being carried out limit operation.

" intermediary operation zone " refer to, the scope of the action bars operational ton when in order to desirable direction of operating operand slowly to be operated action bars being operated.The action bars operational ton of swing arm action bars 16B when for example, the intermediary operation district inclusion operates swing arm action bars 16B in order slowly to operate from swing arm 4 to descent direction.

More specifically, the intermediary operation district inclusion with the sand casting during in the operation of predetermined location, horizontal return etc. for aloft when opening direction operation dipper 5 to decline direction operation swing arm 4 and the action bars operational ton of the swing arm action bars 16B during operation swing arm action bars 16B.

In addition, upper limit side operating area can be set its lower limit for and equate with the upper limit in intermediary operation zone, also can set between the upper limit in its lower limit and intermediary operation zone to separate certain intervals.

The pressure oil that interflow control part 301 flows out for the cylinder bottom side grease chamber that is used for control slave arm cylinder 7 is for example controlled the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction (right of Fig. 2) to the function important document of the inflow of other hydraulic unit drivers.Below, will be called based on this control of interflow control part 301 " interflow control ".

Particularly, interflow control part 301 for example with the action bars operational ton of the descent direction of swing arm action bars 16B mutually independently control action in the first pilot of the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 and control the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction (right of Fig. 2).In addition, the 2nd swing arm flow control valve 157 is made as and being in proportion of the first pilot of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction (right of Fig. 2).

More specifically, for example when carrying out detection unit 300 by control and be judged to be control beginning condition and be false (the control condition subsequent is set up), interflow control part 301 is made as maximum with the control instruction electric current of Comparative Examples electromagnetic valve 21.And, interflow control part 301 blocks being communicated with between the decline side guide force feed road of pilot port and swing arm action bars 16B of decline side (left side) of the 2nd swing arm flow control valve 157, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in drainage (fuel tank) port.Thus, interflow control part 301 is forbidden the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction (right of Fig. 2), and forbids that the pressure oil of the cylinder bottom side grease chamber outflow of slave arm cylinder 7 collaborates to intermediate bypass oil circuit 40L.In addition, in the present embodiment, at swing arm action bars 16B during the decline direction operation, the pressure oil that flows out in the cylinder bottom side grease chamber of the bar side grease chamber of swing arm cylinder 7 regeneration slave arm cylinder 7 with high-pressure oil passage 156A by the regeneration of the 1st swing arm flow control valve 156.

On the other hand, for example when being judged to be the establishment of control beginning condition by control execution detection unit 300, collaborate the control instruction electric current of the pre-sizing of control part 301 Comparative Examples electromagnetic valves, 21 outputs.And interflow control part 301 is adjusted into the pressure oil on the decline side guide force feed road of swing arm action bars 16B with the corresponding pressure of control instruction electric current and imports the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157.In addition, swing arm decline guide pressing element has along with the increase of the action bars operational ton of the descent direction of swing arm action bars 16B and the tendency that increases.Thus, interflow control part 301 make the 2nd swing arm flow control valve 157 towards (right of Fig. 2) displacement of decline side position direction and the pressure oil that begins to carry out the cylinder bottom side grease chamber of slave arm cylinder 7 to flow out to the interflow of intermediate bypass oil circuit 40L.In addition, in the present embodiment, the pressure oil that flow out the cylinder bottom side grease chamber of the slave arm cylinder 7 of also regenerating in the bar side grease chamber of swing arm cylinder 7.In addition, the swing arm of pilot port that acts on the decline side (left side) of the 2nd swing arm flow control valve 157 first pilot that descends preferably is controlled to and becomes predefined steady state value (being typically higher value).In addition, in the present embodiment, about the swing arm of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 first pilot that descends, consider the unlatching fault of proportion magnetic valve 21 and the pressure oil on the decline side guide force feed road of swing arm action bars 16B is pressed as the source, but the pressure oil that also control pump (not shown) can be spued is pressed as the source.In addition, at this moment, but proportion magnetic valve 21 usage ratio electromagnetic valves and and the disproportional electromagnetic relief pressure valve.

In addition, the swing arm of pilot port that interflow control part 301 can act on according to the pressure change of the cylinder bottom side grease chamber of swing arm cylinder 7 the decline side of the 2nd swing arm flow control valve 157 first pilot that descends, and change the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction.

In addition, the swing arm that interflow control part 301 also can change according to the action bars operational ton of the descent direction of swing arm action bars 16B the pilot port of the decline side that acts on the 2nd swing arm flow control valve 157 first pilot that descends, and change the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction.At this moment, the swing arm that interflow control part 301 can change the pilot port of the decline side that acts on the 2nd swing arm flow control valve 157 first pilot that descends is so that different from the swing arm of the pilot port of the decline side that acts on the 1st swing arm flow control valve 156 first pilot that descends.

In addition, interflow control part 301 can change the 2nd swing arm flow control valve 157 towards the displacement of decline side position direction according to the action bars operational ton of the descent direction of the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7 and swing arm action bars 16B.

In addition, interflow control part 301 swing arm of pilot port that can act on according to the setting content changing of the construction machinery of the current times such as the pattern of construction machinery (such as being H pattern, SP pattern etc.), target engine speed the decline side of the 2nd swing arm flow control valve 157 first pilot that descends.

In addition, interflow control part 301 can make the swing arm first pilot that descends become effective to the effect of the pilot port of the decline side of the 2nd swing arm flow control valve 157 by the input that is arranged at the input units such as contact panel (not shown) in the driver's cabin 10 according to the operator.On the contrary, also can make the swing arm first pilot that descends that the effect of the pilot port of the decline side of the 2nd swing arm flow control valve 157 is become invalid.

In addition, the swing arm of pilot port that acts on the decline side (left side) of the 2nd swing arm flow control valve 157 controlled the making interimly of first pilot that descend changes, and also can be controlled to non-stage and linear or non-linearly change.

In addition, when carrying out detection unit 300 by control and be judged to be control beginning condition and again be judged to be control beginning condition after setting up and be false (the control condition subsequent is set up), interflow control part 301 blocks being communicated with between the decline side guide force feed road of pilot port and swing arm action bars 16B of decline side (left side) of the 2nd swing arm flow control valve 157, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in drainage (fuel tank) port, makes the first pilot of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 return to state before changing.

Discharge-amount reduces section 302 for the function important document for the discharge-amount that reduces main pump, for example reduces to the discharge-amount of the main pump 12L of the 1st dipper flow control valve 158 supply pressure oil.Below, will be called based on this control that discharge-amount reduces section 302 " reducing control ".

Particularly, for example when carrying out detection unit 300 by control and be judged to be control beginning condition and be false (the control condition subsequent is set up), discharge-amount reduces section 302 the control instruction electric current of Comparative Examples electromagnetic valve 14 is made as minimum.And discharge-amount reduces section 302 and blocks being communicated with between reversal valve (shuttle valve) 14a and the control pump 14b, and reversal valve 14a is communicated in drainage (fuel tank) port.Thus, discharge-amount reduces section 302 makes reversal valve 14a action, so that suction function is in adjuster 13L.

On the other hand, for example when being judged to be the establishment of control beginning condition by control execution detection unit 300, discharge-amount reduces the control instruction electric current of the pre-sizing of section's 302 Comparative Examples electromagnetic valves, 14 outputs.And discharge-amount reduces section 302 reversal valve 14a is communicated in control pump 14b, and the pressure that acts on adjuster 13L is increased to the pressure (〉 negative pressure corresponding with the control instruction electric current), reduce the discharge-amount of main pump 12L.

The amplitude that reduces of discharge-amount that reduces the main pump 12L of section 302 based on discharge-amount for example equates by the flow that interflow control part 301 is redefined for the pressure oil that flows out with the cylinder bottom side grease chamber of slave arm cylinder 7 and flow into to dipper cylinder 8.

At this moment, controller 30 is when being judged to be the establishment of control beginning condition by control execution detection unit 300, begin to carry out the pressure oil that the cylinder bottom side grease chamber of slave arm cylinder 7 flows out by interflow control part 301 to the interflow of intermediate bypass oil circuit 40L, reduce the discharge-amount that section 302 makes main pump 12L by discharge-amount and reduce to measure accordingly with the flow of the pressure oil that collaborates.

Thus; controller 30 can guarantee to reduce based on the interflow control of interflow control part 301 and based on discharge-amount the responsiveness that reduces to control all the dipper 5 in the situation of execution not of section 302 when carrying out casting work etc.; and by reducing the discharge-amount of main pump 12L, can realize reducing and the raising of fuel efficiency of engine load.

In addition, reduce the amplitude that reduces of discharge-amount of the main pump 12L of section 302 based on discharge-amount, also can be set as less than the cylinder bottom side grease chamber of slave arm cylinder 7 by interflow control part 301 and flow out and the flow of the pressure oil that flows into to dipper cylinder 8.

Thus, controller 30 can be realized when carrying out casting work etc. than the fast action of action that reduces to control all the dipper 5 in the situation of execution not that reduces section 302 based on the interflow control of interflow control part 301 and based on discharge-amount, and by reducing the discharge-amount of main pump 12L, can realize reducing and the raising of fuel efficiency of engine load.

At this, carry out detection unit 300 with reference to 3 couples in figure control and judge when carrying out based on the casting work of excavating fixture etc., whether to carry out based on the interflow control of interflow control part 301 and based on the example that discharge-amount reduces the processing that reduces to control (hereinafter referred to as " determination processing is carried out in control ") of section 302 and describe.In addition, Fig. 3 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 1st embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.In addition, the initial value of control determination flag F (the initialization process setting value when starting controller 30) is made as " 0 ".

At first, control carry out the action bars operational ton of opening direction that detection unit 300 judges dipper action bars 16A whether at the action bars operational ton of the descent direction of upper limit side operating area and swing arm action bars 16B whether in the intermediary operation zone or upper limit side operating area.

Particularly, control is carried out detection unit 300 and is judged that the output of swing arm decline guide pressure sensor 17B is that swing arm descends first pilot whether more than predetermined threshold β (step ST1).At this moment, swing arm decline guide refers to more than being pressed in predetermined threshold β, and the action bars operational ton of the direction of improvement of swing arm action bars 16B is in the intermediary operation zone or upper limit side operating area.

Be pressed in threshold value beta when above (step ST1 is) when being judged to be swing arm decline guide, control is carried out detection unit 300 and is judged that it is that dipper is opened first pilot whether more than predetermined threshold α (step ST2) that dippers are opened the output of guide's pressure sensor 17A.At this moment, dipper is opened the guide and is referred to that the action bars operational ton of opening direction of dipper action bars 16A is at upper limit side operating area more than being pressed in predetermined threshold α.

Open the guide and be pressed in threshold alpha when above (step ST2 is) when being judged to be dipper, control is carried out detection unit 300 and is judged to be control beginning condition and sets up and control determination flag F is set " 1 " (step ST3).

On the other hand, descend first pilot during less than threshold value beta (step ST1's is no) when being judged to be swing arm, control is carried out detection unit 300 and is judged to be control beginning condition and is false (the control condition subsequent is set up) and control determination flag F is set " 0 " (step ST4).This is because the action bars operational ton of descent direction that can judge swing arm action bars 16B is not in the intermediary operation zone and the either party of upper limit side operating area.

In addition, be pressed in threshold value beta when above even be judged to be swing arm decline guide, when being judged to be dipper and opening first pilot less than threshold alpha (step ST2's is no), control is carried out detection unit 300 and also is judged to be control beginning condition and is false (the control condition subsequent is set up) and control determination flag F is set " 0 " (step ST4).This is because can judge that the action bars operational ton of opening direction of dipper action bars 16A is not at upper limit side operating area.

In addition, control is carried out detection unit 300 and can be opened first pilot and whether carry out the swing arm whether judgement more than threshold value beta of first pilot that descends after the judgement more than threshold alpha carrying out dipper, also can carry out simultaneously these judgements.Other embodiment about following explanation are also identical.

Then, the cylinder bottom side grease chamber that begins to carry out pressure oil slave arm cylinder 7 with reference to figure 4 involutory flow control part 301 describes to the example that the inflow of dipper cylinder 8 and discharge-amount reduce the processing (hereinafter referred to as " interflow control is processed ") that section 302 reduces the discharge-amount of main pump 12L.In addition, Fig. 4 is the flow chart of the flow process of expression interflow control processing, and lasting execution the during the hydraulic actuated excavator action processed in this interflow control.

At first, interflow control part 301 reads in control and carries out the control determination flag F(step ST11 that sets in the determination processing), and judge that control determination flag F is " 1 " or " 0 " (step ST12).

When being judged to be control determination flag F for " 1 " (step ST12 is), interflow control part 301 is carried out interflow control makes the cylinder bottom side grease chamber of pressure oil slave arm cylinder 7 flow into to dipper cylinder 8, and discharge-amount reduces section 302 and carries out the discharge-amount (step ST13) that reduces to control to reduce main pump 12L.

Particularly, interflow control part 301 makes the control instruction electric current of Comparative Examples electromagnetic valve 21 be reduced to predetermined size from maximum value, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in the decline side guide force feed road of swing arm action bars 16B.This is to be adjusted into the corresponding pressure of control instruction electric current and to import the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 for the pressure oil with the decline side guide force feed road of swing arm action bars 16B.In addition, when the 2nd swing arm flow control valve 157 during at desirable decline side position, interflow control part 301 still maintains desirable decline side position with the 2nd swing arm flow control valve 157.

In addition, discharge-amount control part 302 makes the control instruction electric current of Comparative Examples electromagnetic valve 14 be increased to predetermined size from minimum value, and reversal valve 14a is communicated in control pump 14b.This is to be adjusted into and the corresponding pressure of control instruction electric current (〉 negative pressure for the pressure oil that control pump 14b is spued) and import adjuster 13L.

On the other hand, when being judged to be control determination flag F and not being " 1 " (but " 0 ") (step ST12's is no), interflow control part 301 is removed interflow control, the cylinder bottom side grease chamber that ends pressure oil slave arm cylinder 7 flows into to dipper cylinder 8, discharge-amount reduces section's 302 releasings and reduces control, ends to reduce the discharge-amount (step ST14) of main pump 12L.

Particularly, interflow control part 301 is made as maximum with the size of the control instruction electric current of Comparative Examples electromagnetic valve 21, block being communicated with between the decline side guide force feed road of pilot port and swing arm action bars 16B of decline side (left side) of the 2nd swing arm flow control valve 157, and the pilot port of the decline side (left side) of the 2nd swing arm flow control valve 157 is communicated in drainage (fuel tank) port.In addition, when the 2nd swing arm flow control valve 157 during in the centre position, interflow control part 301 still maintains the centre position with the 2nd swing arm flow control valve 157.

In addition, discharge-amount control part 302 is made as minimum with the size of the control instruction electric current of Comparative Examples electromagnetic valve 14, blocks being communicated with between reversal valve 14a and the control pump 14b.This is to act on adjuster 13L for the pressure oil that control pump 14b is spued.

According to above structure, as long as when being judged to be the establishment of control beginning condition, the pressure oil that the related hydraulic actuated excavator of the 1st embodiment just can make the cylinder bottom side grease chamber of slave arm cylinder 7 flow out collaborates to intermediate bypass oil circuit 40L, and can reduce the discharge-amount of main pump 12L.Its result, the pressure oil that the related hydraulic actuated excavator of the 1st embodiment can together flow out the cylinder bottom side grease chamber of slave arm cylinder 7 with the pressure oil that main pump 12L spues is supplied in the 1st dipper flow control valve 158 in the downstream that is positioned at the 2nd swing arm flow control valve 157, and when casting work etc. by dipper 5 regenerations.This be because, during the casting work etc., the become pressure of the bar side grease chamber that is higher than dipper cylinder 8 of the pressure of the cylinder bottom side grease chamber of swing arm cylinder 7.In addition, the related hydraulic actuated excavator of the 1st embodiment can change independently mutually with the action bars operational ton of the descent direction of swing arm action bars 16B and flows through the interflow with the amount of the pressure oil of high-pressure oil passage 157A, therefore can during casting work etc. the action of dipper 5 be accelerated to desirable speed.In addition, the related hydraulic actuated excavator of the 1st embodiment makes the discharge-amount of main pump 12L reduce amount corresponding to flow below the flow of the pressure oil that flows into to dipper cylinder 8 with the cylinder bottom side grease chamber of slave arm cylinder 7, therefore can not make the action passivation of dipper 5 and reduces the engine load.In addition, therefore the amplitude that reduces of the discharge-amount that the related hydraulic actuated excavator of the 1st embodiment can Set arbitrarily main pump 12L can be accelerated the action of the dipper 5 during the casting work etc. to desirable speed mutually independently with the adjusting of interflow flow.

In addition, the related hydraulic actuated excavator of the 1st embodiment since in the 2nd swing arm flow control valve 157 built-in interflow high-pressure oil passage 157A, therefore can avoid the maximization of hydraulic circuit and complicated, realize above-mentioned effect when adopting small-sized and cheap structure.

[embodiment 2]

Then, the control of carrying out in the related hydraulic actuated excavator of the 2nd embodiment of the present invention with reference to 5 couples in figure is carried out determination processing and is described.In addition, Fig. 5 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 2nd embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.

In addition, the control of Fig. 5 execution determination processing control execution determination processing from Fig. 3 on control beginning condition and the different this point of control condition subsequent is different.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.

Summary, in case control the judgement that the beginning condition is set up, then as long as swing arm decline guide is pressed in more than the threshold value beta, the control of Fig. 5 is carried out determination processing and is pressed in that predeterminated level is above just will be controlled determination flag F and be maintained " 1 " as long as dipper is opened the guide.Namely, in case control the judgement that the beginning condition is set up, then if the action bars operational ton of the descent direction of swing arm action bars 16B in the intermediary operation zone or upper limit side operating area, the action bars operational ton that determination processing and dipper action bars 16A are carried out in the control of Fig. 5 irrespectively will be controlled determination flag F and be maintained " 1 ".

Below, reference flow sheet is carried out determination processing to the control of Fig. 5 and is elaborated.

At first, control is carried out detection unit 300 and is judged that swing arms descend first pilot whether more than threshold value beta (step ST21).

Be pressed in threshold value beta when above (step ST21 is) when being judged to be swing arm decline guide, control is carried out detection unit 300 and is judged whether control determination flag F is " 0 " (step ST22).

When being judged to be control determination flag F for " 0 " (step ST22 is), control is carried out detection unit 300 and is judged that dippers open first pilot whether more than threshold alpha (step ST23).

Open the guide and be pressed in threshold alpha when above (step ST23 is) when being judged to be dipper, control is carried out detection unit 300 and is judged to be control beginning condition and sets up and control determination flag F is set " 1 " (step ST24).

When being judged to be dipper and opening first pilot less than threshold alpha (step ST23's is no), control is carried out detection unit 300 and is judged to be control beginning condition and is false and control determination flag F is set " 0 " (still being maintained " 0 ") (step ST25).

In addition, when being judged to be control determination flag F and not being " 0 " (but " 1 ") (step ST22's is no), control is carried out detection unit 300 and is judged that dipper opens first pilot whether as threshold alpha more than 1 (step ST26).In addition, threshold alpha 1 is the value less than threshold alpha, for example is 2/3rds size of threshold alpha.

To open first pilot be threshold alpha 1 when above (step ST26 is) when being judged to be dipper, and control is carried out detection unit 300 and kept the state (step ST27) of control determination flag F being set " 1 ", makes to process and returns.

When being judged to be dipper and opening first pilot less than threshold alpha 1 (step ST26's is no), control is carried out detection unit 300 and is judged to be control beginning condition and is false, and F sets " 0 " (step ST28) to the control determination flag.

On the other hand, descend first pilot during less than threshold value beta (step ST21's is no) when being judged to be swing arm, control is carried out detection unit 300 and is judged to be that the control condition subsequent is set up and control determination flag F is set " 0 " (step ST28).

According to above structure, in case control the judgement that the beginning condition is set up, then as long as swing arm decline guide is pressed in more than the threshold value beta, and dipper opens the guide and is pressed in threshold alpha more than 1, and the related hydraulic actuated excavator of the 2nd embodiment will be controlled determination flag F and be maintained " 1 ".That is, whether the related hydraulic actuated excavator of the 2nd embodiment can prevent from carrying out based on the interflow control of interflow control part 301 and reduce the result of determination that reduces to control of section 302 is opened first pilot because of dipper frequent switching of change based on discharge-amount.Its result, the related hydraulic actuated excavator of the 2nd embodiment can prevent: owing to the numerous variation of guide's voltage-frequency of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 causes that flowing through the interflow causes with the amount frequent variations of the pressure oil of high-pressure oil passage 157A or the numerous variation of control voltage-frequency that acts on adjuster 13L and the discharge-amount frequent variations of main pump 12L cause thus excavating the action of fixture with vibratility.

[embodiment 3]

Then, with reference to figure 6 and Fig. 7 the related hydraulic actuated excavator of the 3rd embodiment of the present invention is described.In addition, Fig. 6 is the synoptic diagram of structure example that expression is equipped on the hydraulic circuit of the related hydraulic actuated excavator of the 3rd embodiment.Fig. 6 is identical with Fig. 2, represents high-pressure oil passage, guide's oil circuit and driven by power/control system with solid line, dotted line and dotted line respectively.In addition, Fig. 7 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 3rd embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.

Fig. 6 possess on dipper bar pressure sensor 17D and this aspect of dipper cylinder bottom pressure sensor 17E different from the related hydraulic circuit of the 1st embodiment of Fig. 2, but identical on other aspects.

In addition, the control of Fig. 7 carry out determination processing have judge the dipper bar whether press press on above this aspect of step ST33 at the dipper cylinder bottom different from the related control execution determination processing of the 1st embodiment of Fig. 3, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.

Dipper bar pressure sensor 17D is the pressure sensor of the pressure in the bar side grease chamber of detecting dipper cylinder 8, the value that controller 30 output detections are gone out.

Dipper cylinder bottom pressure sensor 17E is the pressure sensor of the pressure in the cylinder bottom side grease chamber of detecting dipper cylinder 8, the value that controller 30 output detections are gone out.

Be pressed in (step ST31 is) more than the threshold value beta when being judged to be swing arm decline guide, and be judged to be dipper and open the guide and be pressed in threshold alpha when above (step ST32 is), control is carried out detection unit 300 and is judged that the dipper bars press whether more than the dipper cylinder bottom is pressed (step ST33).

Particularly, control is carried out detection unit 300 and is judged that according to the output of dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E the dipper bar presses whether more than the dipper cylinder bottom is pressed.

Be pressed in the dipper cylinder bottom and press (step ST33 is) when above when being judged to be the dipper bar, control is carried out detection unit 300 and is judged to be control beginning condition and sets up and control determination flag F is set " 1 " (step ST34).

On the other hand, press (step ST33's is no) when pressing less than the dipper cylinder bottom when being judged to be the dipper bar, control carries out that detection unit 300 is judged to be that control beginning condition is false (the control condition subsequent is set up) and to control determination flag F setting " 0 " (step ST35).This is because when when opening direction operation dipper 5, because the pressure oil that main pump 12L, 12R spue flows into the bar side grease chamber of dipper cylinder 8, so the dipper bar is pressed to become and pressed greater than the dipper cylinder bottom.

Like this, control carry out the action bars operational ton of descent direction that detection unit 300 is judged to be swing arm action bars 16B in the intermediary operation zone or the action bars operational ton of opening direction of upper limit side operating area and dipper action bars 16A at upper limit side operating area, and confirming that the dipper bar is pressed in the dipper cylinder bottom and presses on the above basis, be judged to be the establishment of control beginning condition.

In addition, the related hydraulic actuated excavator of the 3rd embodiment can replace dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E or on these basis, possess swing arm cylinder bottom pressure sensor and semaphore pressure sensor (all not shown).At this moment, control is carried out detection unit 300 and can be pressed on the basis of dipper cylinder bottom more than pressing output according to swing arm cylinder bottom pressure sensor and semaphore pressure sensor and be judged to be the swing arm cylinder bottom and be pressed in semaphore and press when above being judged to be the dipper bar, is judged to be in casting.In addition, control is carried out detection unit 300 and can be pressed in semaphore and press to replace being judged to be the dipper bar and be pressed in the dipper cylinder bottom and press when above being judged to be the swing arm cylinder bottom, is judged to be control beginning condition and sets up.This is because when to decline direction operation swing arm 4, because the pressure oil that flow out the cylinder bottom side grease chamber of slave arm cylinder 7 controlled by outlet throttling, so the swing arm cylinder bottom is pressed to become and pressed greater than semaphore.

In addition, the related hydraulic actuated excavator of the 3rd embodiment can replace dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E or on these basis, possess scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor (all not shown).At this moment, control is carried out detection unit 300 and can be pressed in the dipper cylinder bottom and press on the above basis output according to scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor to be judged to be the scraper bowl bar to be pressed in the scraper bowl cylinder bottom and to press when above, be judged to be the establishment of control beginning condition being judged to be the dipper bar.In addition, control carry out detection unit 300 can also be judged to be the scraper bowl bar be pressed in the scraper bowl cylinder bottom press with on replace being judged to be the dipper bar and be pressed in the dipper cylinder bottom and press when above, be judged to be control beginning condition and set up.This is because when when opening direction operation scraper bowl 6, because the pressure oil that main pump 12L, 12R spue flows into the bar side grease chamber of scraper bowl cylinder 9, so the scraper bowl bar is pressed to become and pressed greater than the scraper bowl cylinder bottom.

According to above structure, detection unit 300 is carried out in the control of carrying out in the related hydraulic actuated excavator of the 3rd embodiment can further improve whether carry out the reliability of controlling and reduce based on discharge-amount the result of determination that reduces to control of section 302 based on the interflow of interflow control part 301.Its result, control carry out detection unit 300 can prevent because of control beginning condition set up (the control condition subsequent is false) although mistake judge that the action that causes not carrying out the dippers 5 such as casting work is accelerated accidentally or the discharge-amount of main pump 12L reduces.

[embodiment 4]

Then, describe with reference to 8 pairs of related hydraulic actuated excavators of the 4th embodiment of the present invention of figure.In addition, Fig. 8 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 4th embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.In addition, the related hydraulic actuated excavator of the 4th embodiment is equipped with hydraulic circuit shown in Figure 6.

The control of Fig. 8 carry out determination processing have judge the dipper bar whether press press on the above step ST44 this point at the dipper cylinder bottom different from the related control execution determination processing of the 2nd embodiment of Fig. 5, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.

When being judged to be control determination flag F for " 0 " (step ST42 is), control is carried out detection unit 300 and is judged that dippers open first pilot whether more than α (step ST43).

Open the guide and be pressed in α when above (step ST43 is) when being judged to be dipper, control is carried out detection unit 300 and is judged that further the dipper bars press whether more than the dipper cylinder bottom is pressed (step ST44).

Be pressed in the dipper cylinder bottom and press (step ST44 is) when above when being judged to be the dipper bar, control is carried out detection unit 300 and is judged to be control beginning condition and sets up and control determination flag F is set " 1 " (step ST45).

On the other hand, press (step ST44's is no) when pressing less than the dipper cylinder bottom when being judged to be the dipper bar, control carries out that detection unit 300 is judged to be that control beginning condition is false and to control determination flag F setting " 0 " (step ST46).This is because when when opening direction operation dipper 5, because the pressure oil that main pump 12L, 12R spue flows into the bar side grease chamber of dipper cylinder 8, so the dipper bar is pressed to become and pressed greater than the dipper cylinder bottom.

In addition, the related hydraulic actuated excavator of the 4th embodiment is identical with the situation of the 3rd embodiment, can replace dipper bar pressure sensor 17D and dipper cylinder bottom pressure sensor 17E(with reference to figure 6) or on these basis, possess scraper bowl cylinder bottom pressure sensor and scraper bowl bar pressure sensor (all not shown) or swing arm cylinder bottom pressure sensor and semaphore pressure sensor (all not shown).

According to above structure, in case control the interim judgement that the beginning condition is set up, then as long as swing arm decline guide is pressed in more than the threshold value beta, and dipper is opened the guide and is pressed in threshold alpha more than 1, is equipped on control on the related hydraulic actuated excavator of the 4th embodiment and carries out detection unit 300 dipper bars and press and whether all will control determination flag F more than the dipper cylinder bottom is pressed and be maintained " 1 ".That is, whether control is carried out detection unit 300 and can be prevented from carrying out based on the interflow control of interflow control part 301 and the result of determination that reduces to control that reduces section 302 based on discharge-amount and open first pilot, the dipper bar is pressed, the dipper cylinder bottom is pressed frequent switching of change because of dipper.Its result, the related hydraulic actuated excavator of the 4th embodiment can prevent: owing to the numerous variation of guide's voltage-frequency of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 causes that flowing through the interflow causes with the amount frequent variations of the pressure oil of high-pressure oil passage 157A or the numerous variation of control voltage-frequency that acts on adjuster 13L and the discharge-amount frequent variations of main pump 12L cause thus excavating the action of fixture with vibratility.

In addition, control execution detection unit 300 can further improve whether carry out the reliability of controlling and reduce based on discharge-amount the result of determination that reduces to control of section 302 based on the interflow of interflow control part 301.Its result can prevent that judging the action that causes not carrying out the dippers 5 such as casting work because of the mistake that control beginning condition is set up accelerates accidentally although detection unit 300 is carried out in control, or the discharge-amount of main pump 12L reduces.In addition, although control is carried out detection unit 300 and can be prevented from judging the regeneration that causes carrying out casting work etc. but not carrying out pressing based on the swing arm cylinder bottom at interflow because of the mistake that the control condition subsequent is set up, or do not carry out the engine load that the discharge-amount based on main pump 12L reduces and reduce.

[embodiment 5]

Then, with reference to figure 9 and Figure 10 the related hydraulic actuated excavator of the 5th embodiment of the present invention is described.In addition, Fig. 9 is the synoptic diagram that expression is equipped on the structure example of the hydraulic circuit on the related hydraulic actuated excavator of the 5th embodiment.Fig. 9 is identical with Fig. 2 and Fig. 6, represents high-pressure oil passage, guide's oil circuit and driven by power/control system with solid line, dotted line and dotted line respectively.In addition, Figure 10 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 5th embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.

Fig. 9 possess on this aspect of pressure sensor 17F, 17G that spues different from the related hydraulic circuit of the 1st embodiment of Fig. 2, but identical on other aspects.

In addition, the control of Figure 10 is carried out determination processing and is judged and spuing of main pump 12L, 12R press both sides to carry out determination processing different from the related control of the 1st embodiment of Fig. 3 on the step ST53 this point more than the predetermined threshold ζ having, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.

The pressure sensor 17F that spues is for detecting the pressure sensor that spues and press of main pump 12L, the value that controller 30 output detections are gone out.

The pressure sensor 17G that spues is for detecting the pressure sensor that spues and press of main pump 12R, the value that controller 30 output detections are gone out.

Be pressed in more than the threshold value beta (step ST51 is) and be judged to be dipper and open the guide and be pressed in threshold alpha when above (step ST52 is) when being judged to be swing arm decline guide, control is carried out detection unit 300 and is judged that spuing of main pump 12L, 12R press both sides whether more than threshold value ζ (step ST53).

Particularly, control is carried out detection unit 300 and is judged that according to the output of spue pressure sensor 17F, 17G spuing of main pump 12L, 12R press both sides whether more than threshold value ζ.

Press both sides' (step ST53 is) when threshold value ζ is above when being judged to be spuing of main pump 12L, 12R, control execution detection unit 300 is judged to be control beginning condition establishment and control determination flag F is set " 1 " (step ST54).

On the other hand, when being judged to be at least one party that spuing of main pump 12L, 12R press less than threshold value ζ (step ST53's is no), control is carried out detection unit 300 and is judged to be control beginning condition and is false (the control condition subsequent is set up) and control determination flag F is set " 0 " (step ST55).This be because, when carrying out casting work etc., flow into the bar side grease chamber of dipper cylinder 8 in order to make pressure oil, the spuing to press of main pump 12L, 12R becomes more than the threshold value ζ.

Like this, control carry out the action bars operational ton of descent direction that detection unit 300 is judged to be swing arm action bars 16B in the intermediary operation zone or the action bars operational ton of opening direction of upper limit side operating area and dipper action bars 16A at upper limit side operating area, and confirming that spuing of main pump 12L, 12R press both sides on the basis more than the threshold value ζ, be judged to be control beginning condition and set up.

According to above structure, detection unit 300 is carried out in the control of carrying out in the related hydraulic actuated excavator of the 5th embodiment can further improve whether carry out the reliability of controlling and reduce based on discharge-amount the result of determination that reduces to control of section 302 based on the interflow of interflow control part 301.Its result, control carry out detection unit 300 can prevent because of control beginning condition set up (the control condition subsequent is false) although mistake judge that the action that causes not carrying out the dippers 5 such as casting work accelerates accidentally, or reduce the discharge-amount of main pump 12L.In addition, control carry out detection unit 300 can prevent because of the control condition subsequent set up (control beginning condition is false) although mistake judge the regeneration that causes carrying out casting work etc. but not carrying out pressing based on the swing arm cylinder bottom at interflow, or do not carry out the engine load that the discharge-amount based on main pump 12L reduces and reduce.

[embodiment 6]

Then, with reference to Figure 11 the related hydraulic actuated excavator of the 6th embodiment of the present invention is described.In addition, Figure 11 is illustrated in the flow chart that the flow process of determination processing is carried out in the control of carrying out in the related hydraulic actuated excavator of the 6th embodiment, and this control is carried out determination processing and continued to carry out during the hydraulic actuated excavator action.In addition, the related hydraulic actuated excavator of the 6th embodiment is equipped with hydraulic circuit shown in Figure 9.

The control of Figure 11 is carried out determination processing and is judged that whether different from the related control execution determination processing of the 2nd embodiment of Fig. 5 on this aspect of the step ST64 more than the threshold value ζ spuing of main pump 12L, 12R press both sides having, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.

When being judged to be control determination flag F for " 0 " (step ST62 is), control is carried out detection unit 300 and is judged that dippers open first pilot whether more than α (step ST63).

Open the guide and be pressed in α when above (step ST63 is) when being judged to be dipper, control is carried out detection unit 300 and is judged that further spuing of main pump 12L, 12R press both sides whether more than threshold value ζ (step ST64).

Press both sides' (step ST64 is) when threshold value ζ is above when being judged to be spuing of main pump 12L, 12R, control execution detection unit 300 is judged to be control beginning condition establishment and control determination flag F is set " 1 " (step ST65).

On the other hand, when being judged to be spuing of main pump 12L, 12R and pressing both sides less than threshold value ζ (step ST64's is no), control is carried out detection unit 300 and is judged to be control beginning condition and is false and control determination flag F is set " 0 " (still being maintained " 0 ") (step ST66).This is because in order to make pressure oil flow into the bar side grease chamber of dipper cylinder 8, the spuing to press of main pump 12L, 12R becomes more than the threshold value ζ when carrying out casting work etc.

According to above structure, in case control the interim judgement that the beginning condition is set up, then as long as swing arm decline guide is pressed in more than the threshold value beta, and dipper is opened the guide and is pressed in threshold alpha more than 1, and whether the pressure both sides that spue that are equipped on control execution detection unit 300 main pump 12L, the 12R of the related hydraulic actuated excavator of the 6th embodiment all will control determination flag F more than threshold value ζ is maintained " 1 ".That is, whether control is carried out detection unit 300 and can be prevented from carrying out based on the interflow control of interflow control part 301 and the result of determination that reduces to control that reduces section 302 based on discharge-amount and open frequent switching of change that spuing of first pilot, main pump 12L, 12R pressed because of dipper.Its result, the related hydraulic actuated excavator of the 6th embodiment can prevent: owing to the numerous variation of guide's voltage-frequency of the pilot port of the decline side (left side) that acts on the 2nd swing arm flow control valve 157 causes that flowing through the interflow causes with the amount frequent variations of the pressure oil of high-pressure oil passage 157A or the numerous variation of control voltage-frequency that acts on adjuster 13L and the discharge-amount frequent variations of main pump 12L cause thus excavating the action of fixture with vibratility.

In addition, control execution detection unit 300 can further improve whether carry out the reliability of controlling and reduce based on discharge-amount the result of determination that reduces to control of section 302 based on the interflow of interflow control part 301.Its result can prevent that judging the action that causes not carrying out the dippers 5 such as casting work because of the mistake that control beginning condition is set up accelerates although detection unit 300 is carried out in control, or the discharge-amount of main pump 12L reduces.In addition, control carry out detection unit 300 can prevent because of control beginning condition be false (the control condition subsequent is set up) although mistake judge the regeneration that causes carrying out casting work etc. but not carrying out pressing based on the swing arm cylinder bottom at interflow, or do not carry out the engine load that the discharge-amount based on main pump 12L reduces and reduce.

[embodiment 7]

Then, with reference to Figure 12 the related hydraulic actuated excavator of the 7th embodiment of the present invention is described.In addition, Figure 12 is the synoptic diagram that expression is equipped on the structure example of the hydraulic circuit on the related hydraulic actuated excavator of the 7th embodiment.Figure 12 and Fig. 2, Fig. 6 and Fig. 9 represent high-pressure oil passage, guide's oil circuit and driven by power/control system with solid line, dotted line and dotted line equally respectively.

Figure 12 possess on dipper bar pressure sensor 17D and this aspect of swing arm cylinder bottom pressure sensor 17H different from the related hydraulic circuit of the 1st embodiment of Fig. 2, but identical on other aspects.

Therefore, omit the explanation of common ground, difference is elaborated.In addition, use and the identical reference symbol of the reference symbol of using for the hydraulic actuated excavator that the 1st embodiment is related is described.In addition, the related hydraulic actuated excavator of the 7th embodiment continues to carry out control execution determination processing shown in Figure 3 during the hydraulic actuated excavator action.

Dipper bar pressure sensor 17D is the pressure sensor of the pressure of the bar side grease chamber of detecting dipper cylinder 8, the value that controller 30 output detections are gone out.

Swing arm cylinder bottom pressure sensor 17H is the pressure sensor of the pressure of the cylinder bottom side grease chamber of detecting swing arm cylinder 7, the value that controller 30 output detections are gone out.

Discharge-amount reduces section 302 when being judged to be the establishment of control beginning condition by control execution detection unit 300, presses the swing arm cylinder bottom of PA and swing arm cylinder bottom pressure sensor 17H detection to press P according to the dipper bar that dipper bar pressure sensor 17D detects _B, determine the amplitude that reduces of the discharge-amount of main pump 12L.

Particularly, discharge-amount reduces section 302 according to following formula (1), and flow out and the interflow flow Q of the pressure oil that flows into to the bar side grease chamber of dipper cylinder 8 the cylinder bottom side grease chamber that calculates slave arm cylinder 7.In addition, C is discharge coefficient, A _REBe the oil circuit area of interflow with high-pressure oil passage 157A.In addition, the swing arm cylinder bottom is pressed P _BPress P greater than the dipper bar _A, press P at the swing arm cylinder bottom _BFor the dipper bar is pressed P _AWhen following, interflow flow Q is set to zero.

[formula 1]

$Q=C\×A_{\mathrm{RE}}\×\sqrt{P_B-P_A}...\left(1\right)$

And discharge-amount reduces section 302 will be defined as with the flow that the interflow flow Q that calculates equates the amplitude that reduces of the discharge-amount of main pump 12L.This be for the flow that makes the pressure oil that flows into to dipper cylinder 8 flow when not carrying out controlling based on the interflow of interflow control part 301 identical.Thus, even discharge-amount reduces the discharge-amount that section 302 has reduced main pump 12L, also can guarantee the action of the dipper 5 that the action of the dipper 5 when not collaborating to control is identical.

In addition, discharge-amount reduces the amplitude that reduces that section 302 also can (for example collaborating to account among the flow Q flow of predetermined ratio) be defined as the flow less than the interflow flow Q that calculates the discharge-amount of main pump 12L.This is the flow when being not less than the interflow control of not carrying out based on interflow control part 301 for the flow that makes the pressure oil that flows into to dipper cylinder 8.Thus, even discharge-amount reduces the discharge-amount that section 302 has reduced main pump 12L, also can guarantee the action of the dipper 5 that the action of the dipper 5 when not collaborating to control is fast.

Afterwards, discharge-amount reduces section's 302 Comparative Examples electromagnetic valves, 14 outputs and the determined control instruction electric current that reduces size corresponding to amplitude, the pressure that acts on adjuster 13L is increased to the pressure (〉 negative pressure corresponding with the control instruction electric current), the discharge-amount of main pump 12L is only reduced the amplitude that reduces that this is determined.

According to above structure, the discharge-amount that is equipped on the related hydraulic actuated excavator of the 7th embodiment reduces section 302 according to dipper bar pressure P _APress P with the swing arm cylinder bottom _B(〉 P _A) between pressure differential, determine the amplitude that reduces of the discharge-amount of main pump 12L.And, press P according to the swing arm cylinder bottom that reduces along with (along with swing arm 4 descends) such as carrying out casting work _B, perhaps press P according to the dipper bar that increases along with (along with dipper 5 is opened) such as carrying out casting work _A, can change the amplitude that reduces of the discharge-amount of main pump 12L.Its result, the action of dipper 5 becomes unstable or passivation in the time of can preventing from carrying out the interflow control based on interflow control part 301.

In addition, the discharge-amount that is equipped on the related hydraulic actuated excavator of the 7th embodiment reduces the pressure that spues that main pump 12L also can detect by the pressure sensor 17F that spues in section 302, replaces detecting by dipper bar pressure sensor 17D the pressure of the bar side grease chamber of dipper cylinder 8 with this.At this moment, discharge-amount reduces section 302 presses from spuing of main pump 12L and deducts the predetermined pressure loss (to the bar side grease chamber supply pressure oil of dipper cylinder 8 time produce the pressure loss), calculates the pressure of the bar side grease chamber of dipper cylinder 8.Its result, even discharge-amount reduces section 302 in the time can't utilizing dipper bar pressure sensor 17D, also can be according to pressing the dipper bar that calculates to press P based on spuing of main pump 12L _APress P with the swing arm cylinder bottom _B(〉 P _A) between pressure differential, determine the amplitude that reduces of the discharge-amount of main pump 12L.

More than, the preferred embodiments of the present invention are had been described in detail, but the invention is not restricted to the embodiments described, can be to the above embodiments in not departing from the scope of the present invention in addition various distortion and displacement.

For example, in the above-described embodiments, proportion magnetic valve 14,21 changes its output piezoelectricity according to the control instruction electric current that comes self-controller 30, its output hydraulic fluid is pressed sexually revise but also can open first pilot and the swing arm first pilot that descends according to dipper.

In addition, in the above-described embodiments, whether whether control carried out detection unit 300 and to be reduced the reducing to control of section 302 and carry out respectively the dipper bar and press and to press above, scraper bowl bar to press at the scraper bowl cylinder bottom at the dipper cylinder bottom to press judgement more than the threshold value ζ that whether above, swing arm cylinder bottom presses more than semaphore is pressed or whether the pressure both sides that spue of main pump 12L, 12R are being scheduled in order to be confirmed whether to carry out based on the interflow control of interflow control part 301 and based on discharge-amount.But control execution detection unit 300 can at random make up these interflow controls of judging whether to carry out based on interflow control part 301 and reach the affirmation that reduces to control that reduces section 302 based on discharge-amount.And, control execution detection unit 300 can also judge whether the posture of excavating fixture is the posture of being scheduled to according to the output of dipper angular transducer, swing arm angular transducer, scraper bowl angular transducer etc., and this result of determination is used for being confirmed whether that the interflow control of carrying out based on interflow control part 301 reaches the control that reduces that reduces section 302 based on discharge-amount.

In addition, in the above-described embodiments, discharge-amount reduces section 302 and only reduces to the discharge-amount of the main pump 12L of the 1st dipper flow control valve 158 supply pressure oil, but also can comprise the discharge-amount that reduces main pump 12L, 12R both sides to the main pump 12R of the 2nd dipper flow control valve 159 supply pressure oil.In addition, discharge-amount reduces section 302 and also can only reduce to the discharge-amount of the main pump 12R of the 2nd dipper flow control valve 159 supply pressure oil.In addition, same during with the discharge-amount that only reduces main pump 12L, the total when reducing main pump 12L, 12R both sides' discharge-amount reduce amplitude, and the amplitude that reduces when only reducing the discharge-amount of main pump 12R be confirmed as collaborating below the flow.

In addition, in the above-described embodiments, the interflow is disposed at the decline side position of the 2nd swing arm flow control valve 157 with high-pressure oil passage 157A, and be built in the 2nd swing arm flow control valve 157, but also can with the 2nd swing arm flow control valve 157 separate configurations, switch connection, block with different electromagnetic proportional valve etc.

In addition, in the above-described embodiments, the pressure oil that interflow control part 301 flows out the cylinder bottom side grease chamber of slave arm cylinder 7 flows into to dipper cylinder 8, but the pressure oil of the cylinder bottom side grease chamber outflow of slave arm cylinder 7 is flowed into to other hydraulic unit drivers such as scraper bowl cylinder 9 grades.

Claims (2)

1. a construction machinery possesses the fixture that comprises dipper and swing arm, it is characterized in that,

Comprise: dipper operational ton test section, detect the dipper operational ton;

Swing arm operational ton test section detects the swing arm operational ton; And

Control device, have determine whether that detection unit is carried out in the control of carrying out predetermined work by described fixture, pressure oil that the cylinder bottom side grease chamber of slave arm cylinder is flowed out reduces section to interflow control part that the inflow of other hydraulic unit drivers is controlled and the discharge-amount that reduces the discharge-amount of main pump

When the dipper operational ton of carrying out swing arm operational ton that detection unit is judged to be descent direction by described control in predetermined intermediary operation zone and opening direction during at predetermined upper limit side operating area, described control device flows into to other hydraulic unit drivers by the pressure oil that described interflow control part flows out the cylinder bottom side grease chamber of slave arm cylinder, and reduces the discharge-amount that section reduces described main pump by described discharge-amount.

2. construction machinery as claimed in claim 1 is characterized in that,

The pressure oil that described interflow control part flows out the cylinder bottom side grease chamber of slave arm cylinder flows into to the dipper cylinder,

Described discharge-amount reduces section according to the pressure differential between the pressure of the bar side grease chamber of the pressure of the cylinder bottom side grease chamber of described swing arm cylinder and described dipper cylinder, determines the amplitude that reduces of the discharge-amount of described main pump.

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