CN103898939A - Construction machine and control method thereof - Google Patents
Construction machine and control method thereof Download PDFInfo
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- CN103898939A CN103898939A CN201310378572.9A CN201310378572A CN103898939A CN 103898939 A CN103898939 A CN 103898939A CN 201310378572 A CN201310378572 A CN 201310378572A CN 103898939 A CN103898939 A CN 103898939A
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Abstract
The invention provides a construction machine capable of executing predetermined work according to residual liquid reducer. An excavator comprises a liquid actuator which operates by working oil output through a hydraulic pump (14R, 14L) driven by an engine, a waste gas purification system (32) purifying waste gas with urea water, a residue detection portion (300) for detecting residual urea water, and an pump output control portion (301) controlling the pump output of the hydraulic pump (14R, 14L) according to the residual urea water and rotation time of the excavator.
Description
Technical field
The present invention relates to a kind of construction machinery, possess the hydraulic actuator of the working oil action by being spued by engine-driven hydraulic pump and the waste gas cleaning system that carries out the purification of waste gas by liquid reducer.
Background technology
In recent years, being equipped with in the construction machineries such as the excavator of Diesel engine, in order to tackle the waste gas control of high level, in the exhaust system of Diesel engine, waste gas cleaning system is set, from the waste gas of Diesel engine by be arranged on stack downstream NOx reducing catalyst and in atmosphere, emit.
In the past, as this waste gas cleaning system, mostly adopted the NOx system system of the selective reduction type that uses liquid reducer (for example aqueous solution of urea).But, use the waste gas cleaning system of liquid reducer in the time that liquid reducer is used up, cannot carry out the purified treatment of waste gas.In addition, even if liquid reducer is used up, motor also can keep on the go, if maintain engine running under the state of therefore using up at liquid reducer, discharges a large amount of NOx.
For fear of this point, in the time that the surplus of liquid reducer tails off, this was detected in the past, give the alarm, and forcibly reduce the output (for example, with reference to patent documentation 1) of motor.
Patent documentation 1: TOHKEMY 2002-371831 communique
But existing waste gas cleaning system does not notify the situation that the surplus of liquid reducer approaches predeterminated level just to become in the surplus of liquid reducer the output that reduces motor predeterminated level to driver.
Therefore, the driver of construction machinery cannot know whether in advance can not be subject to motor output restriction carry out predetermined operation, there is according to the surplus of liquid reducer the problem that must stop construction machinery midway in operation.
Summary of the invention
The present invention makes in view of the above problems, and its object is to provide a kind of construction machinery and the control method thereof that can suitably carry out according to the surplus of liquid reducer predetermined operation.
To achieve these goals, a kind of construction machinery of embodiments of the invention, possesses: hydraulic actuator, moves by the working oil being spued by engine-driven hydraulic pump; And waste gas cleaning system, use liquid reducer to carry out the purification of waste gas, in above-mentioned construction machinery, possess: surplus test section, the surplus of detection aforesaid liquid reducing agent; With pump output control part, according to the surplus of aforesaid liquid reducing agent and the duration of runs of wanting to make this construction machinery running, control the pump output of above-mentioned hydraulic pump.
In addition, the control method of a kind of construction machinery of embodiments of the invention, above-mentioned construction machinery possesses: hydraulic actuator, moves by the working oil being spued by engine-driven hydraulic pump; And waste gas cleaning system, use liquid reducer to carry out the purification of waste gas, in the control method of above-mentioned construction machinery, comprise the following steps: surplus detecting step, the surplus of detection aforesaid liquid reducing agent; Step is controlled in output with pump, according to the surplus of aforesaid liquid reducing agent and the duration of runs of wanting to make this construction machinery running, controls the pump output of above-mentioned hydraulic pump.
Invention effect:
According to such scheme, the present invention can provide construction machinery and the control method thereof that can suitably carry out according to the surplus of liquid reducer predetermined operation.
Brief description of the drawings
Fig. 1 is the lateral view of the excavator of embodiments of the invention.
Fig. 2 is the block diagram of the structure example of the drive system of the excavator of presentation graphs 1.
Fig. 3 is the figure of the structure example of the waste gas cleaning system of the excavator of presentation graphs 1.
Fig. 4 is the skeleton diagram of the structure example of the adjuster of the excavator of presentation graphs 1.
Fig. 5 is the PQ line chart that represents the relation between pressure P and discharge flow Q that spues of hydraulic pump.
Fig. 6 is the chart that represents the relation between pump horsepower higher limit and urea consumption per hour.
Fig. 7 is the figure that represents the example of ureometer image.
Fig. 8 is the flow chart that represents the flow process of the 1st pump output control processing.
Fig. 9 is the flow chart that represents the flow process of the 2nd pump output control processing.
Symbol description
1 ... lower running body
1R, 1L ... walking hydraulic motor
2 ... rotating mechanism
3 ... upper rotating body
4 ... swing arm
5 ... dipper
6 ... scraper bowl
7 ... swing arm cylinder
8 ... dipper cylinder
9 ... scraper bowl cylinder
10 ... driver's cabin
11 ... Diesel engine
13R, 13L ... adjuster
14R, 14L ... hydraulic pump
15 ... pioneer pump
16R, 16L ... high-pressure and hydraulic pipeline
17 ... by-pass valve control
18R, 18L ... negative control choke valve
21 ... rotation hydraulic motor
25 ... guide's fluid pressure line
26-1～26-n ... operating means
27-1～27-n, 28-1～28-n ... guide's fluid pressure line
29R, 29L ... negative pressure control sensor
30 ... excavator controller
32 ... waste gas cleaning system
34 ... engine control module (ECM)
35 ... waste gas cleaning system controller
37 ... monitor
38 ... turbocharger
39 ... exhaust channel
40 ... air purifier
41 ... air suction way
43 ... intercooler
44,45 ... NOx sensor
46 ... particulate filter
49 ... selective reduction type NOx catalyzer
50 ... urea water injection valve
51 ... urea water feeding pipe
52 ... urea water supply pump
53 ... urea water tank
54 ... urea water surplus sensor
60R, 60L ... actuator verts
61R, 61L ... slide-valve gear
62R, 62L ... horsepower control ratio valve
63R, 63L ... feedback rod
64 ... operating oil tank
65R, 65L ... pressure sensor spues
300 ... surplus test section
301 ... pump output control part
600R, 600L ... working piston
601R, 601L, 602R, 602L ... compression chamber
610R, 610L ... guiding valve
611R, 611L ... spring
Detailed description of the invention
Then, with reference to the accompanying drawings of embodiments of the invention.
Fig. 1 represents that the construction machinery of embodiments of the invention is the lateral view of excavator.On the lower running body 1 of excavator, be equipped with upper rotating body 3 via rotating mechanism 2.Swing arm 4 is installed in upper rotating body 3.On the top of swing arm 4, dipper 5 is installed, on the top of dipper 5, scraper bowl 6 is installed.Swing arm 4, dipper 5 and scraper bowl 6 form and excavate fixtures, respectively by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 as hydraulic cylinder by hydraulic-driven.In upper rotating body 3, be provided with driver's cabin 10, and be equipped with the power sources such as motor.
Fig. 2 is the block diagram of the structure example of the drive system of the excavator of presentation graphs 1.
On the output shaft of the Diesel engine 11 as mechanical type drive division, be connected with hydraulic pump 14R, 14L and the pioneer pump 15 of 2 systems.On hydraulic pump 14R, 14L, be connected with by-pass valve control 17 via high-pressure and hydraulic pipeline 16R, 16L.In addition,, on pioneer pump 15, be connected with operating means 26-1～26-n (n is more than 2 natural number, below also identical) via guide's fluid pressure line 25.In addition, hydraulic pump 14R, 14L are the variable capacity type hydraulic pumps of the discharge flow during by adjuster 13R, the every rotation of 13L control pump 1 time.
By-pass valve control 17 is the devices that carry out the control of the hydraulic system in excavator.Hydraulic motor 1R, 1L, swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, the rotation for walking of lower running body 1 use are connected to all directions control valve set on by-pass valve control 17 with hydraulic actuators such as hydraulic motors 21 via high-pressure and hydraulic pipeline.
Operating means 26-1～26-n is the device for operating the hydraulic actuators such as walking hydraulic motor 1R, 1L, swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, rotation hydraulic motor 21, comprises action bars and pedal.Operating means 26-1～26-n, via guide's fluid pressure line 27-1～27-n and 28-1～28-n, is connected respectively with all directions control valve set on by-pass valve control 17.
The entrance side (upstream side) that enters by-pass valve control 17 at high-pressure and hydraulic pipeline 16R is connected with the pressure sensor 65R that spues that spues and press for detection of hydraulic pump 14R, and the entrance side (upstream side) that enters by-pass valve control 17 at high-pressure and hydraulic pipeline 16L is connected with the pressure sensor 65L that spues that spues and press for detection of hydraulic pump 14L.The output signal of pressure sensor 65R, 65L of spuing is fed into excavator controller 30.
In addition, at the outlet side (downstream) of the by-pass valve control 17 of high-pressure and hydraulic pipeline 16R, 16L, between the directional control valve in downstream and operating oil tank 64, possess respectively negative control and control negative control choke valve 18L, the 18R of (hereinafter referred to as " negative control ") use, flowing of the working oil being spued by hydraulic pump 14R, 14L by restriction, produces in the upstream of negative control choke valve 18L, 18R the control of controlling for negative control and presses (hereinafter referred to as " negative pressure control ").Negative pressure control is detected by negative pressure control sensor 29R, 29L.The output signal of negative pressure control sensor 29R, 29L is fed into excavator controller 30.
The waste gas cleaning system 32 that Fig. 3 roughly carries on the excavator of presentation graphs 1.In the present embodiment, the waste gas that waste gas cleaning system 32 is discharged Diesel engine set from excavator 11 purifies.
The exhaust channel 39 that flows to its downstream from the waste gas of Diesel engine 11 after process turbocharger 38, is undertaken being discharged in atmosphere after purified treatment by waste gas cleaning system 32.
On the other hand, the air amount importing in air suction way 41 from air purifier 40 is supplied to Diesel engine 11 by turbocharger 38 and intercooler 43 etc.
The in upright arrangement selective reduction type NOx catalyzer 49 for selective catalysis reduction of catching the diesel particulate filter 46 of the particulate material waste gas and reduction and remove the NOx in waste gas from upstream side that is provided with on exhaust channel 39.
The supply that selective reduction type NOx catalyzer 49 is accepted liquid reducer (such as urea or ammonia etc.) is reduced continuously and is removed the NOx in waste gas.In the present embodiment, consider from the easiness of processing, use urea water (aqueous solution of urea) as liquid reducer.
The upstream side of the selective reduction type NOx catalyzer 49 in exhaust channel 39, is provided with the urea water injection valve 50 for supply with urea water to selective reduction type NOx catalyzer 49.Urea water injection valve 50 is connected to urea water tank 53 (liquid reducer case) via urea water feeding pipe 51.
In addition, on urea water feeding pipe 51, be provided with urea water supply pump 52.The interior stored urea water of urea water tank 53 is fed into urea water injection valve 50 by urea water supply pump 52, and the upstream position of the selective reduction type NOx catalyzer 49 from urea water injection valve 50 to exhaust channel 39 sprays.
The urea water of spraying from urea water injection valve 50 is fed into selective reduction type NOx catalyzer 49.The urea water of supplying with is carried out hydrolyzable and is generated ammonia in selective reduction type NOx catalyzer 49.This ammonia selective reduction type NOx catalyzer 49 interior to waste gas in contained NOx reduce, carry out thus the purification of waste gas.
The one NOx sensor 44 is disposed in the upstream side of urea water injection valve 50.In addition, the 2nd NOx sensor 45 is disposed in the downstream of selective reduction type NOx catalyzer 49.NOx concentration in the waste gas at NOx sensor 44,45 detection equipping position places separately.
On urea water tank 53, be equipped with urea water surplus sensor 54.This urea water surplus sensor 54 detects the urea water surplus in urea water tank 53.
Above-mentioned NOx sensor 44,45, urea water surplus sensor 54, urea water injection valve 50 and urea water supply pump 52 are connected to waste gas cleaning system controller 35.Waste gas cleaning system controller 35, according to the NOx concentration detecting by NOx sensor 44,45, carries out emitted dose control, so that the urea water of spraying appropriate amount by urea water injection valve 50 and urea water supply pump 52.
In addition, waste gas cleaning system controller 35, according to the urea water surplus of exporting from urea water surplus sensor 54, calculates the ratio of urea water surplus with respect to the overall volume of urea water tank 53.In the present embodiment, urea water surplus is called to urea water surplus ratio with respect to the ratio of the overall volume of urea water tank 53.For example, urea water surplus represents that than 50% the urea water of the half of the capacity of urea water tank 53 remains in urea water tank 53.
Waste gas cleaning system controller 35 is connected with the ECM34 of the control of carrying out Diesel engine 11 by communication unit.In addition, ECM34 is connected to excavator controller 30 by communication unit.
The various information of the waste gas cleaning system 32 that waste gas cleaning system controller 35 has are structures that excavator controller 30 can be shared.In addition, ECM34, waste gas cleaning system controller 35 respectively comprise CPU, RAM, ROM, input/output port and storage device etc. same with excavator controller 30.
In addition, on excavator controller 30, be connected with monitor 37 (display unit).On monitor 37, show warning, operating condition demonstration etc.
In addition, on excavator controller 30, be connected with horsepower control ratio valve 62R, a 62L.Horsepower control ratio valve 62R, 62L are respectively the valves using in the control of adjuster 13R, 13L.
Fig. 4 is the skeleton diagram that represents the structure example of adjuster 13R, 13L.In addition, the structure of adjuster 13R, 13L is identical, therefore in Fig. 4, only illustrates adjuster 13L, omits the diagram of adjuster 13R.Adjuster 13L is the mechanism of the discharge flow while controlling the every rotation of pump 1 time of hydraulic pump 14L, mainly comprises the actuator 60L that verts, guiding valve (Spool valve) 61L of mechanism, horsepower control ratio valve 62L and feedback rod 63L.
The actuator 60L that verts be the swash plate (yoke: Yoke) to the pump capacity for changing hydraulic pump 14L vert drive function important document.Specifically, the actuator 60L that verts is included in one end and has large footpath compression zone PR1L and have the working piston 600L of path compression zone PR2L, the compression chamber 601L corresponding with large footpath compression zone PR1L and the compression chamber 602L corresponding with path compression zone PR2L at the other end.Import working oil via guiding valve 610L to compression chamber 601L from hydraulic pump 14L, discharge working oil from compression chamber 601L via guiding valve 610L in addition.In addition, the pressure that spues of hydraulic pump 14L acts on compression chamber 602L., roll and turn the swash plate (yoke) that drives hydraulic pump 14L to low discharge to the displacement of compression chamber 602L side if working piston 600L working oil imports to compression chamber 601L.In addition, if working piston 600L working oil, from compression chamber 601L discharge and to the displacement of compression chamber 601L side, rolls and turns the swash plate (yoke) that drives hydraulic pump 14L to large flow.
Slide-valve gear 61L is the function important document that the supply for the compression chamber 601L of the actuator 60L that verts being carried out to working oil is discharged, and comprises guiding valve 610L and spring 611L.The output port that guiding valve 610L has the first port being communicated with hydraulic pump 14L, the second port being communicated with operating oil tank 64 and is communicated with compression chamber 601L.In addition the neutral position that, guiding valve 610L is optionally switched to the primary importance that the first port is communicated with output port, the second place that the second port is communicated with output port or the first port and the second port are not all communicated with output port.Spring 611L applies towards the power that makes guiding valve 610L to the directive effect of second place side displacement guiding valve 610L.
Horsepower control ratio valve 62L is the function important document for making guiding valve 610L displacement.In the present embodiment, a horsepower control ratio valve 62L uses the working oil being spued by pioneer pump 15, the secondary side pressure that generation is corresponding with instruction current from excavator controller 30.Specifically, the mode that horsepower control ratio valve 62L increases along with instruction current increase with secondary pressure measurement is moved.If secondary side pressure increases, guiding valve 610L is to the displacement of primary importance side, and working piston 600L is to the displacement of compression chamber 602L side, and the swash plate (yoke) of hydraulic pump 14L is to the driving of being verted of low discharge side.Its result, the discharge flow of hydraulic pump 14L reduces.On the contrary, if secondary side drops, guiding valve 610L is to the displacement of second place side, and working piston 600L is to the displacement of compression chamber 601L side, and the swash plate (yoke) of hydraulic pump 14L is to the driving of being verted of large flow side.Its result, the discharge flow of hydraulic pump 14L increases.
Then, the function important document that excavator controller 30 has is described.
And surplus test section 300 deducts scheduled volume and the amount that obtains is calculated as effective urea water surplus using the urea water surplus from obtained.
" scheduled volume " is the moment completing in the operation of excavator to wish amount residual in urea water tank 53, for example, be to be for example equivalent to predetermined urea water surplus, than the amount of (25%).
Pump output control part 301 is function important documents of controlling the pump output (discharge flow) of hydraulic pump 14R, 14L.In the present embodiment, pump output control part 301 according to the negative pressure control being detected by negative pressure control sensor 29R, 29L and spue pressure sensor 65R, 65L, spue and press etc., obtain the desired value of hydraulic pump 14R, 14L discharge flow separately, make hydraulic pump 14R, 14L work so that actual discharge flow becomes the mode of this desired value.
Specifically, pump output control part 301 makes the larger desired value (hereinafter referred to as " desired value is controlled in negative control ") that more reduces the discharge flow of hydraulic pump 14R, 14L of detected negative pressure control, and the less negative control control desired value that more increases hydraulic pump 14R, 14L of the negative pressure control detecting.
In addition, pump output control part 301, according to spuing pressure, calculates and the 1st pump horsepower higher limit of setting arbitrarily (the maximum pump moment of torsion of setting) corresponding discharge flow (controlling desired value for the 1st horsepower).
In addition, pump output control part 301, according to effective urea water surplus of being calculated by surplus test section 300 and excavator duration of runs, calculates the 2nd pump horsepower higher limit of hydraulic pump 14R, 14L.And pump output control part 301, according to spuing pressure, calculates and the corresponding discharge flow of the 2nd pump horsepower higher limit (controlling desired value for the 2nd horsepower).
On this basis, pump output control part 301 is controlled desired value, the 1st horsepower by negative control and is controlled desired value and the 2nd horsepower and control value minimum in desired value and be chosen as final goal value and come driving regulator 13R, 13L.
During " the excavator duration of runs " refer to and want to make excavator running, during wanting to make to the urea water of not supply in the present embodiment excavator running.
" pump horsepower higher limit " refers to the maximum value of the pump horsepower that hydraulic pump absorbs.At this, the relation spuing between pressure and discharge flow of pump horsepower higher limit and hydraulic pump is described with reference to Fig. 5.In addition, Fig. 5 represents that spuing of hydraulic pump press the PQ line chart of the relation between P and discharge flow Q, the relation while representing the higher pump horsepower higher limit H1 of use with solid line, the relation while dotting the lower pump horsepower higher limit H2 of use.In addition, below, except the situation of refering in particular to by reference marks, " pump horsepower higher limit " represents the 2nd pump horsepower higher limit.
As shown in Figure 5, no matter use in which the situation in pump horsepower higher limit H1 and pump horsepower higher limit H2, the flow that hydraulic pump can spue all presses P increase and reduce along with spuing.This be because, pump horsepower press by spuing P and discharge flow Q amass represent.In addition, as shown in Figure 5, press P increase gradually in the situation that spuing, when using pump horsepower higher limit H1 compared with, in the time using pump horsepower higher limit H2, the flow that hydraulic pump can spue presses the less stage of P to start to decline spuing.And, press P identical if spue, the flow that hydraulic pump can spue in the situation that using pump horsepower higher limit H2 changes all the time in the low level of the situation than using pump horsepower higher limit H1.
At this, with reference to Fig. 6, the relation between pump horsepower higher limit and urea consumption per hour is described.In addition, Fig. 6 is the chart that represents the relation between pump horsepower higher limit and urea consumption per hour.
As shown in Figure 6, the urea consumption U1 per hour while using pump horsepower higher limit H1 is greater than the urea consumption U2 per hour while using pump horsepower higher limit H2.This be because, the load that motor 11 is accepted in the situation that using pump horsepower higher limit H1 is greater than the load that motor 11 is accepted in the situation that using pump horsepower higher limit H2, the fuel quantity consuming in order to maintain engine speed also increases.
Pump output control part 301 uses the relation (corresponding table) between the pump horsepower higher limit shown in Fig. 6 pre-stored in ROM etc. and urea consumption per hour, the pump horsepower higher limit that decision can utilize.Specifically, 301 use excavator durations of runs of pump output control part are calculated the urea consumption that time per unit can consume except effective urea water surplus, and determine the pump horsepower higher limit that can utilize according to calculated urea consumption.In the present embodiment, pump horsepower higher limit H1 is pump horsepower higher limit maximum in the scope that can set, and pump horsepower higher limit H2 is pump horsepower higher limit minimum in the scope that can set.Therefore, pump output control part 301 is the urea consumption U1 per hour corresponding with pump horsepower higher limit H1 when above at calculated urea consumption, adopts pump horsepower higher limit H1 as the pump horsepower higher limit that can utilize.In addition, pump output control part 301, in the time that calculated urea consumption is less than the per hour urea consumption U2 corresponding with pump horsepower higher limit H2, adopts pump horsepower higher limit H2 as the pump horsepower higher limit that can utilize.In addition, Fig. 6 represents that pump horsepower higher limit and urea consumption per hour have the state of proportionate relationship, but both relations can be also nonlinear relations.
In addition the excavator duration of runs of utilizing when, pump output control part 301 is obtained decision pump horsepower higher limit according to user's input.Specifically, pump output control part 301 for example shows on monitor 37 in the time that excavator starts that excavator inputs picture the duration of runs.It is to comprise urging operator to input the text message of excavator duration of runs and for confirming the picture of input frame of inputted excavator duration of runs that excavator is inputted picture the duration of runs.Pump output control part 301 obtain operator via the value of input unit (not shown) input as excavator duration of runs.
In addition, pump output control part 301 also can not solicit operation person be inputted excavator duration of runs, but in the time determining pump horsepower higher limit, uses the standard time (be for example 8 hours the excavator duration of runs of standard).
Afterwards, pump output control part 301, according to the final goal value of determined hydraulic pump 14R, 14L discharge flow separately, determines the instruction current value to horsepower control ratio valve 62R, 62L.
And pump output control part 301 is to horsepower control ratio valve 62R, the 62L output big or small instruction current corresponding with determined instruction current value.
In addition, pump output control part 301 shows the ureometer image that represents current urea water surplus ratio on monitor 37.On this basis, pump output control part 301 is less than pump horsepower higher limit H1 in determined pump horsepower higher limit, in the case of determined pump horsepower higher limit is restricted, on monitor 37, show the text message that represents the confined content of pump horsepower.This is that operator in order to make the action of noticing excavator become slow can not feel well.In addition, pump output control part 301 can be also pump horsepower higher limit H1 in determined pump horsepower higher limit, in the case of determined pump horsepower higher limit is not restricted, on monitor 37, show the text message of the content that represents that pump horsepower is not restricted.
In addition, pump output control part 301 is less than pump horsepower higher limit H2 in determined pump horsepower higher limit, till excavator finish the duration of runs in the scope of suitable pump output, to make, excavator running, on monitor 37, to show the text message that represents this content urea water surplus being maintained under state more than scheduled volume.In addition, scheduled volume is to be for example equivalent to urea water surplus than 25% amount.
In addition, pump output control part 301 also can calculate can not have pump export-restriction under state more than scheduled volume and make the time of excavator running urea water surplus is maintained (hereinafter referred to as " excavator can the duration of runs "), and on monitor 37, shows that the excavator calculating can the duration of runs.Specifically, urea consumption U1 per hour when pump output control part 301 is used pump horsepower higher limit H1 by use removes effective urea water surplus, calculate and can make the excavator of excavator running can the duration of runs with pump horsepower higher limit H1 urea water surplus being maintained under state more than scheduled volume, and on monitor 37, show that the excavator calculating can the duration of runs.Thus, operator can the duration of runs by more shown excavator and desirable excavator duration of runs, even if do not input excavator duration of runs, turn round in also can knowing whether the restriction that can make excavator not be subject to pump output during desirable.
In addition, pump output control part 301 also can be less than the scheduled time at calculated excavator the duration of runs, shows that excavator inputs picture the duration of runs on monitor 37, urges operator to input excavator duration of runs.Now, pump output control part 301 is after obtaining excavator duration of runs, by removing effective urea water surplus the duration of runs with excavator, calculate urea consumption per hour, and determine according to calculated urea consumption per hour the pump horsepower higher limit that can utilize.
At this, with reference to Fig. 7, the ureometer image that pump output control part 301 shows on monitor 37 is described.Fig. 7 (A)～Fig. 7 (D) be respectively represent urea water surplus than be more than 90% and 100% following, more than 75% and be less than more than 90%, 50% and be less than more than 75%, 25% and be less than the ureometer image of 50% state, for example, show by green.
Fig. 7 (E) represents urea water surplus than being more than 25% and being less than 50% state and the ureometer image of the 5% restricted suitable situation that pump output control part 301 is exported according to the excavator duration of runs of operator's input and pump horsepower higher limit that effectively urea water surplus determines and pump.In addition, Fig. 7 (F) represents urea water surplus than being more than 25% and to be less than 50% state and excavator can be the ureometer image of the state of 8 hours the duration of runs.In addition, the ureometer image color identical with Fig. 7 (D) of Fig. 7 (E) and Fig. 7 (F) (for example green) shows.In addition, show in the bottom of the ureometer image of Fig. 7 (E) and represent that pump output is limited 5% text message, show and represent that excavator can be the text message of 8 hours the duration of runs in the bottom of the ureometer image of Fig. 7 (F).In addition, also can show in the bottom of the ureometer image of Fig. 7 (E) the pump horsepower higher limit being determined by pump output control part 301.Now, the ratio that pump horsepower higher limit is for example 100% in order to pump horsepower higher limit H1 shows.
Fig. 7 (G) and Fig. 7 (H) represent urea water surplus than being more than 15% and being less than more than 25%, 10% and being less than the ureometer image of 15% state, use the color different from Fig. 7 (A)～Fig. 7 (F) (for example yellow) to show.In addition, show in the bottom of the ureometer image of Fig. 7 (G) and Fig. 7 (H) text message (alert message) that represents to need supply urea water.In addition, the ureometer image of Fig. 7 (H) carries out flickering display.In addition, under the state of Fig. 7 (H), motor output reduces by 20%.
Fig. 7 (I) and Fig. 7 (J) represent urea water surplus than being more than 5% and being less than more than 10%, 0% and being less than the ureometer image of 5% state, use the color different from Fig. 7 (A)～Fig. 7 (H) (for example red) to show.In addition, show the text message that represents to need supply urea water in the bottom of the ureometer image of Fig. 7 (I), show expression in the bottom of the ureometer image of Fig. 7 (J) and cannot make the text message of operation of power excavators.In addition, under the state of Fig. 7 (I), motor output reduces by 50%, and under the state of Fig. 7 (J), motor becomes idle condition or halted state.
1 example (hereinafter referred to as " the 1st pump output is controlled and processed ") of the processing of excavator controller 30 control pump outputs then, is described with reference to Fig. 8.In addition, Fig. 8 is the flow chart that represents the flow process of the 1st pump output control processing, and excavator controller 30 is repeatedly carried out the 1st pump output control with predetermined period and processed.
First, the surplus test section 300 of excavator controller 30 is obtained effective urea water surplus (step S1).Specifically, surplus test section 300 deducts scheduled volume and the amount that obtains is calculated as effective urea water surplus using the urea water surplus of exporting from urea water surplus sensor 54.Scheduled volume is the urea water surplus that is for example equivalent to the stage that does not show alert message than 25% amount.In addition, scheduled volume can be also the amount that is equivalent to urea water surplus than being less than 25% urea water surplus ratio.
Afterwards, the pump output control part 301 of excavator controller 30 determines whether and obtains the excavator duration of runs (step S2).
In the situation that being judged to be not yet to obtain excavator duration of runs (step S2 no (NO)), pump output control part 301 ejects and shows that excavator inputs picture (step S3) duration of runs on monitor 37.See ejecting and show that operator that excavator inputs picture the duration of runs is via input unit (not shown) input excavator duration of runs.
In the situation that being judged to be to obtain excavator duration of runs (that step S2 is (YES)), pump output control part 301 calculates till excavator finishes the duration of runs can be maintained urea water surplus the pump horsepower higher limit (step S4) that makes excavator running under state more than scheduled volume.Specifically, pump output control part 301 by with excavator duration of runs except the effective urea water surplus being obtained by surplus test section 300, thereby calculate urea consumption per hour.And pump output control part 301, with reference to the correspondence table shown in Fig. 6, is derived pump horsepower higher limit according to calculated urea consumption per hour.In addition, at this pump output control part 301, calculating when urea consumption per hour, the remaining time between the finish time and the current time of excavator duration of runs that the moment of obtaining at first excavator duration of runs is determined is as excavator duration of runs., excavator duration of runs is the value reducing along with the process of time with effectively urea water surplus is same.
Afterwards, pump output control part 301 to horsepower control ratio valve 62R, 62L output with control desired value, the 1st horsepower according to negative control and control instruction current (step S5) corresponding to the final goal value of hydraulic pump 14R, 14L that desired value and the 2nd horsepower control desired value decision discharge flow separately.Horsepower control ratio valve 62R, 62L, according to the instruction current from excavator controller 30, control the discharge flow of hydraulic pump 14R, 14L.
Afterwards, pump output control part 301 judges whether pump horsepower higher limit is less than predetermined value T1 (step S6).In the present embodiment, predetermined value T1 is for example pump horsepower higher limit H1.
In the situation that being judged to be pump horsepower higher limit and being less than predetermined value T1 (step S6 is), pump output control part 301 is presented at (step S7) on monitor 37 by representing that pump is exported together with the limited degree of confined text message and pump horsepower higher limit or the pump output suitable with this pump horsepower higher limit.In the present embodiment, pump output control part 301 shows the ureometer image as shown in Fig. 7 (E) on monitor 37.
In addition, pump output control part 301 is below predetermined value T2 (<T1) in the situation that being judged to be pump horsepower higher limit, also can replace and represent that pump exports confined text message, and other text messages are presented on monitor 37.Specifically, pump output control part 301 also can be on monitor 37 display list be shown in the scope of the pump horsepower higher limit that can set, till excavator finish urea water surplus to be maintained to the text message that makes excavator running under state more than scheduled volume the duration of runs.In addition, in the present embodiment, predetermined value T2 is for example pump horsepower higher limit H2.
And be predetermined value T1 above in the situation that (step S6's is no) being judged to be pump horsepower higher limit, pump output control part 301 do not show and represents that pump exports confined text message, and only shows the urea water meter image that represents current urea water surplus.The urea water meter image that represents current urea water surplus is for example the urea water meter image as shown in Fig. 7 (A)～Fig. 7 (D).But pump output control part 301 also can show that the output of expression pump does not have confined text message.
Another 1 example (hereinafter referred to as " the 2nd pump output is controlled and processed ") of the processing of excavator controller 30 control pump outputs then, is described with reference to Fig. 9.In addition, Fig. 9 is the flow chart that represents the flow process of the 2nd pump output control processing, and excavator controller 30 is for example carried out the 2nd pump output control and processed in the time that excavator starts.
First, the surplus test section 300 of excavator controller 30 is obtained effective urea water surplus (step S11).Specifically, surplus test section 300 deducts scheduled volume and the amount that obtains is calculated as effective urea water surplus using the urea water surplus of exporting from urea water surplus sensor 54.Scheduled volume is the urea water surplus that is for example equivalent to the stage that does not show alert message than 25% amount.In addition, scheduled volume can be also the amount that is equivalent to urea water surplus than being less than 25% urea water surplus ratio.
Afterwards, calculate can under state more than scheduled volume, there is no pump export-restriction to make the time of excavator running be that excavator can the duration of runs (step S12) to the pump output control part 301 of excavator controller 30 urea water surplus is maintained.Specifically, the urea consumption U1 per hour when pump output control part 301 is used pump horsepower higher limit H1 by use removes effective urea water surplus, and calculating excavator can the duration of runs.
Afterwards, pump output control part 301 judges whether calculated excavator can be less than the scheduled time (step S13) duration of runs.In the present embodiment, the scheduled time is standard time (for example 8 hours).
Can be the duration of runs that the scheduled time is above in the situation that (step S13's is no) being judged to be excavator, pump output control part 301 shows that on monitor 37 excavator can the duration of runs (step S14), finishes the 2nd pump output and controls and process.In the present embodiment, pump output control part 301 shows the urea water meter image as shown in Fig. 7 (F) on monitor 37.Thus, even if operator does not input excavator duration of runs, also can know whether the restriction that can make excavator not be subject to pump output and turn round desirable during.
And in the situation that being judged to be excavator and can being less than the scheduled time duration of runs (step S13 is), pump output control part 301 shows that on monitor 37 excavator inputs picture the duration of runs, urges operator to input the excavator duration of runs (step S15).
Afterwards, pump output control part 301 is obtained the excavator duration of runs (step S16) of being inputted by operator.
And pump output control part 301 calculates excavator can be maintained urea water surplus the pump horsepower higher limit (step S17) that makes excavator running under state more than scheduled volume till finishing the duration of runs.Specifically, pump output control part 301, by removing the effective urea water surplus being obtained by surplus test section 300 duration of runs with excavator, calculates urea consumption per hour.And pump output control part 301 references correspondence table as shown in Figure 6, derives pump horsepower higher limit according to calculated urea consumption per hour.
The instruction current (step S18) corresponding to final goal value of hydraulic pump 14R, the 14L that afterwards, pump output control part 301 is exported horsepower control ratio valve 62R, 62L and negative the 2nd horsepower of control desired value controlling desired value, the 1st horsepower of control desired value and derive of basis determines discharge flow separately.Horsepower control ratio valve 62R, 62L, according to the instruction current from excavator controller 30, control the discharge flow of hydraulic pump 14R, 14L.
Afterwards, pump output control part 301 judges whether pump horsepower higher limit is less than predetermined value T1 (step S19).In the present embodiment, predetermined value T1 is for example pump horsepower higher limit H1.
In the situation that being judged to be pump horsepower higher limit and being less than predetermined value T1 (step S19 is), pump output control part 301 is presented at (step S20) on monitor 37 by representing that pump is exported together with the limited degree of confined text message and pump horsepower higher limit or the pump output suitable with this pump horsepower higher limit.In the present embodiment, pump output control part 301 shows the ureometer image as shown in Fig. 7 (E) on monitor 37.
In addition, pump output control part 301 is below predetermined value T2 (<T1) in the situation that being judged to be pump horsepower higher limit, also can replace and represent that pump exports confined text message, and other text messages are presented on monitor 37.Specifically, pump output control part 301 also can be on monitor 37 display list be shown in the scope of the pump horsepower higher limit that can set, till excavator finish urea water surplus to be maintained to the text message that makes excavator running under state more than scheduled volume the duration of runs.In addition, in the present embodiment, predetermined value T2 is for example pump horsepower higher limit H2.
And be predetermined value T1 above in the situation that (step S19's is no) being judged to be pump horsepower higher limit, pump output control part 301 do not show and represents that pump exports confined text message, and only shows the urea water meter image that represents current urea water surplus.The urea water meter image that represents current urea water surplus is for example the urea water meter image as shown in Fig. 7 (A)～Fig. 7 (D).But pump output control part 301 also can show that the output of expression pump does not have confined text message.
In addition, pump output control part 301 also can calculate pump horsepower higher limit with the standard time, replaces and uses the excavator based on operator input of obtaining by step S15 and step S16 to calculate pump horsepower higher limit the duration of runs with this.Now, pump output control part 301 can omit excavator and input the demonstration of picture the duration of runs.In addition, operator can omit the excavator input of the duration of runs.
According to above structure, carry the excavator of excavator controller 30 according to the excavator duration of runs and effective urea water surplus deciding the best limiting content of pump output, and under this limiting content, make hydraulic pump 14R, 14L work.Therefore, at least till excavator finishes the duration of runs during, can prevent from causing the action of excavator excessively to be limited maybe and cannot turn round because urea water is not enough.
In addition, the excavator of lift-launch excavator controller 30 shows the best limiting content of the pump output determining on monitor 37.Therefore, being maintained, urea water surplus under state more than scheduled volume, makes excavator running till can notifying operator whether can get at operator to finish the desirable activity duration before urea water surplus becomes scheduled volume.
Above, describe preferred embodiment of the present invention in detail, but the invention is not restricted to above-described embodiment, in the scope of the present invention of recording in technical scheme, can carry out various distortion, change etc.
For example, in the above-described embodiments, excavator controller 30 is repeatedly carried out the 1st pump output by predetermined period and is controlled and process, but also can in the time that excavator starts, only carry out once, also can by every 3 hours, repeatedly carry out every the long time interval such as 1 hour.
In addition, in the above-described embodiments, excavator controller 30 is carried out the 2nd pump output and is controlled processing in the time that excavator starts, but also can repeatedly carry out by predetermined period.Now, excavator controller 30 is inputting the duration of runs by excavator after picture obtains excavator duration of runs, omits excavator and inputs showing again of picture and obtaining again of the excavator duration of runs duration of runs.
In addition, pump output control part 301 also can be configured to, and operator can recall excavator in timing arbitrarily and input picture the duration of runs and again input excavator duration of runs.
In addition, pump output control part 301 also can be configured to, and operator can delete calculated pump horsepower higher limit.For example, pump output control part 301 also can show the picture for being confirmed whether the pump export-restriction of carrying out the pump horsepower higher limit based on calculated on monitor 37.
In addition, pump output control part 301 also can be configured to, and operator can end the execution of the pump export-restriction of the pump horsepower higher limit based on calculated in timing arbitrarily.
In addition, the relation between the limiting content of the scope of the urea water surplus ratio in above-described embodiment and pump horsepower higher limit and motor output is an example, is not limited to this.
Claims (5)
1. a construction machinery, possesses:
Hydraulic actuator, moves by the working oil being spued by engine-driven hydraulic pump; With
Waste gas cleaning system, uses liquid reducer to carry out the purification of waste gas,
In above-mentioned construction machinery, possess:
Surplus test section, the surplus of detection aforesaid liquid reducing agent; With
Pump output control part, according to the surplus of aforesaid liquid reducing agent and the duration of runs of wanting to make this construction machinery running, controls the pump output of above-mentioned hydraulic pump.
2. construction machinery according to claim 1, wherein,
Said pump output control part, according to the surplus of aforesaid liquid reducing agent and duration of runs of being inputted by operator, calculates the pump horsepower higher limit of above-mentioned hydraulic pump, and make above-mentioned hydraulic pump works under the restriction of the pump horsepower higher limit calculating.
3. construction machinery according to claim 1 and 2, wherein,
Said pump output control part calculate can the surplus of aforesaid liquid reducing agent is maintained under state more than scheduled volume, there is no pump export-restriction and make this construction machinery running can the duration of runs, and display unit is shown calculate can the duration of runs.
4. according to the construction machinery described in any one in claims 1 to 3, wherein,
Said pump output control part can be maintained the surplus of aforesaid liquid reducing agent the pump horsepower higher limit that makes this construction machinery running under state more than scheduled volume till calculating and wanting to make duration of runs of this construction machinery running to finish, and makes display unit show the pump horsepower higher limit calculating.
5. a control method for construction machinery, above-mentioned construction machinery possesses: hydraulic actuator, moves by the working oil being spued by engine-driven hydraulic pump; And waste gas cleaning system, use liquid reducer to carry out the purification of waste gas, in the control method of above-mentioned construction machinery, comprise the following steps:
Surplus detecting step, the surplus of detection aforesaid liquid reducing agent; With
Step is controlled in pump output, according to the surplus of aforesaid liquid reducing agent and the duration of runs of wanting to make this construction machinery running, controls the pump output of above-mentioned hydraulic pump.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012283588A JP2014125794A (en) | 2012-12-26 | 2012-12-26 | Construction machine and its control method |
| JP2012-283588 | 2012-12-26 |
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| CN103898939A true CN103898939A (en) | 2014-07-02 |
| CN103898939B CN103898939B (en) | 2018-07-24 |
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| CN107001006A (en) * | 2014-11-10 | 2017-08-01 | 住友建机株式会社 | Work mechanism with lifting magnet |
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Also Published As
| Publication number | Publication date |
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| CN103898939B (en) | 2018-07-24 |
| JP2014125794A (en) | 2014-07-07 |
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