CN103898939B - Construction machinery and its control method - Google Patents
Construction machinery and its control method Download PDFInfo
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- CN103898939B CN103898939B CN201310378572.9A CN201310378572A CN103898939B CN 103898939 B CN103898939 B CN 103898939B CN 201310378572 A CN201310378572 A CN 201310378572A CN 103898939 B CN103898939 B CN 103898939B
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Abstract
A kind of construction machinery is provided, scheduled operation can be appropriately performed according to the surplus of liquid reducer.The excavator of the embodiment of the present invention is had the hydraulic actuator of the working oil action to be spued by hydraulic pump driven by the engine (14R, 14L) and is carried out the waste gas cleaning system (32) of the purification of exhaust gas using urea water, and is had the surplus test section (300) of the surplus of detection urea water and controlled the pump output control unit (301) of the pump output of hydraulic pump (14R, 14L) according to the surplus of urea water and the excavator duration of runs.
Description
Technical field
The present invention relates to a kind of construction machinery, has the working oil action to be spued by hydraulic pump driven by the engine
Hydraulic actuator and by liquid reducer carry out exhaust gas purification waste gas cleaning system.
Background technology
In recent years, in the construction machineries such as excavator equipped with diesel engine, in order to cope with the exhaust gas control of high level
System, is arranged waste gas cleaning system in the exhaust system of diesel engine, and the exhaust gas from diesel engine is being arranged by setting
The NOx reducing catalysts in the downstream side of tracheae and released into air.
In the past, as this waste gas cleaning system, the choosing using liquid reducer (such as aqueous solution of urea) is mostly used greatly
Select the NOx purification system of reduced form.However, can not when liquid reducer is used up using the waste gas cleaning system of liquid reducer
Carry out the purified treatment of exhaust gas.In addition, even if liquid reducer is able to maintain that operating if using up engine, if therefore in liquid
Reducing agent maintains engine operating in the state of using up, then a large amount of NOx is discharged.
In order to avoid this point, this was detected when the surplus of liquid reducer tails off in the past, sends out alarm, and
Forcibly reduce the output of engine (referring for example to patent document 1).
Patent document 1：Japanese Unexamined Patent Publication 2002-371831 bulletins
However, existing waste gas cleaning system not to the surplus of driver notification liquid reducer close to the feelings of predeterminated level
Condition just reduces the output of engine in the case where the surplus of liquid reducer becomes predeterminated level.
Therefore, the driver of construction machinery executes in which can not know whether the limitation that can not be exported by engine in advance
Scheduled operation there are problems that construction machinery must be stopped in the midway of operation according to the surplus of liquid reducer.
Invention content
The present invention makes in view of the above problems, its purpose is to provide it is a kind of can be according to more than liquid reducer
Amount is appropriately performed the construction machinery and its control method of predetermined operation.
To achieve the goals above, a kind of construction machinery of the embodiment of the present invention, has：Hydraulic actuator, by by
The working oil action that engine-driven hydraulic pump is spued；And waste gas cleaning system, carry out exhaust gas using liquid reducer
Purification, in above-mentioned construction machinery, has：Surplus test section detects the surplus of aforesaid liquid reducing agent；With pump output control
Portion according to the surplus of aforesaid liquid reducing agent and wants the duration of runs for making the construction machinery operate, controls the pump of above-mentioned hydraulic pump
Output.
In addition, a kind of control method of construction machinery of the embodiment of the present invention, above-mentioned construction machinery have：Hydraulic actuating
Device is acted by the working oil that hydraulic pump driven by the engine is spued；And waste gas cleaning system, using liquid reducer into
The purification of row exhaust gas includes the following steps in the control method of above-mentioned construction machinery：Surplus detecting step detects above-mentioned liquid
The surplus of body reducing agent；Rate-determining steps are exported with pump, according to the surplus of aforesaid liquid reducing agent and want that the construction machinery is made to operate
The duration of runs, control above-mentioned hydraulic pump pump output.
Invention effect：
According to said program, the present invention, which is capable of providing, to be appropriately performed scheduled work according to the surplus of liquid reducer
The construction machinery and its control method of industry.
Description of the drawings
Fig. 1 is the side view of the excavator of the embodiment of the present invention.
Fig. 2 is the block diagram of the configuration example of the drive system for the excavator for indicating Fig. 1.
Fig. 3 is the figure of the configuration example of the waste gas cleaning system for the excavator for indicating Fig. 1.
Fig. 4 is the skeleton diagram of the configuration example of the adjuster for the excavator for indicating Fig. 1.
Fig. 5 is the PQ line charts of the relationship between the discharge pressure P and discharge flow Q for indicating hydraulic pump.
Fig. 6 is the chart for indicating the relationship between pump horsepower upper limit value and per hour urea consumption.
Fig. 7 is the figure for the example for indicating ureometer image.
Fig. 8 is the flow chart for the flow for indicating the 1st pump output control process.
Fig. 9 is the flow chart for the flow for indicating the 2nd pump output control process.
Symbol description
1 ... lower running body
1R, 1L ... walking hydraulic motor
2 ... rotating mechanisms
3 ... upper rotating bodies
4 ... swing arms
5 ... dippers
6 ... scraper bowls
7 ... swing arm cylinders
8 ... dipper cylinders
9 ... scraper bowl cylinders
10 ... driver's cabins
11 ... diesel engines
13R, 13L ... adjuster
14R, 14L ... hydraulic pump
15 ... pioneer pumps
16R, 16L ... high-pressure and hydraulic pipeline
17 ... control valves
The negative control throttle valve of 18R, 18L ...
21 ... rotation hydraulic motors
25 ... guide's fluid pressure lines
26-1~26-n ... operating devices
27-1~27-n, 28-1~28-n ... guide's fluid pressure lines
29R, 29L ... bear pressure control sensor
30 ... shoveling machine controllers
32 ... waste gas cleaning systems
34 ... engine control module (ECM)
35 ... waste gas cleaning system controllers
37 ... monitors
38 ... turbocharger
39 ... exhaust channels
40 ... air purifiers
41 ... air suction ways
43 ... intercoolers
44,45 ... NOx sensors
46 ... particulate filters
49 ... selective reduction type NOx catalysts
50 ... urea water injection valves
51 ... urea water feeding pipes
52 ... urea water supply pumps
53 ... urea water tanks
54 ... urea water headroom sensors
60R, 60L ... vert actuator
61R, 61L ... slide-valve gear
62R, 62L ... horsepower control proportioning valve
63R, 63L ... feedback rod
64 ... operating oil tanks
65R, 65L ... discharge pressure sensor
300 ... surplus test sections
301 ... pump output control units
600R, 600L ... working piston
601R, 601L, 602R, 602L ... compression chamber
610R, 610L ... guiding valve
611R, 611L ... spring
Specific implementation mode
Then, it is described with reference to the embodiment of the present invention.
Fig. 1 is the construction machinery i.e. side view of excavator for indicating the embodiment of the present invention.In the lower running of excavator
On body 1, via rotating mechanism 2 equipped with upper rotating body 3.Swing arm 4 is installed in upper rotating body 3.On the top of swing arm 4
Dipper 5 is installed, scraper bowl 6 is installed on the top of dipper 5.Swing arm 4, dipper 5 and scraper bowl 6, which are constituted, excavates auxiliary equipment, respectively
Swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 by being used as hydraulic cylinder are hydraulically driven.Driving is provided in upper rotating body 3
Room 10, and equipped with power sources such as engines.
Fig. 2 is the block diagram of the configuration example of the drive system for the excavator for indicating Fig. 1.
Be connected on the output shaft as the diesel engine 11 of mechanical driving portion 2 systems hydraulic pump 14R,
14L and pioneer pump 15.On hydraulic pump 14R, 14L, control valve 17 is connected with via high-pressure and hydraulic pipeline 16R, 16L.In addition,
On pioneer pump 15, via guide's fluid pressure line 25 be connected with operating device 26-1~26-n (n be 2 or more natural number, below
Also identical).In addition, hydraulic pump 14R, 14L are the variable of discharge flow when often being rotated 1 time by adjuster 13R, 13L control pump
Capacity type hydraulic pump.
Control valve 17 is the device for the control for carrying out the hydraulic system in excavator.The walking of lower running body 1 is used
Hydraulic motor 1R, 1L, swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, rotation are with hydraulic actuators such as hydraulic motors 21 via high pressure liquid
Pressure pipe road is connected to all directions control valve set in control valve 17.
Operating device 26-1~26-n is for operating walking hydraulic motor 1R, 1L, swing arm cylinder 7, dipper cylinder 8, scraper bowl
The device of the hydraulic actuators such as cylinder 9, rotation hydraulic motor 21, including operating lever and pedal.Operating device 26-1~26-n warps
By guide fluid pressure line 27-1~27-n and 28-1~28-n, connect respectively with all directions control valve set in control valve 17
It connects.
The entrance side (upstream side) for entering control valve 17 in high-pressure and hydraulic pipeline 16R is connected with for detecting hydraulic pump
The discharge pressure sensor 65R of the discharge pressure of 14R, enters the entrance side (upstream side) of control valve 17 in high-pressure and hydraulic pipeline 16L
It is connected with the discharge pressure sensor 65L of the discharge pressure for detecting hydraulic pump 14L.The output of discharge pressure sensor 65R, 65L are believed
Number it is fed into shoveling machine controller 30.
In addition, the outlet side (downstream side) of the control valve 17 in high-pressure and hydraulic pipeline 16R, 16L, respectively positioned at most lower
Have between the directional control valve and operating oil tank 64 of trip negative control control (hereinafter referred to as " negative control ") negative control throttle valve 18L,
18R generates use by limiting by the flowing of hydraulic pump 14R, 14L working oil to spue in the upstream of negative control throttle valve 18L, 18R
In the control pressure (hereinafter referred to as " negative pressure control ") of negative control control.Negative pressure control is detected by negative pressure control sensor 29R, 29L.Negative control
The output signal of pressure sensor 29R, 29L are fed into shoveling machine controller 30.
Shoveling machine controller 30 is the main control unit for the drive control for carrying out excavator.In the present embodiment, excavator control
Device 30 processed is that have CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read
Only Memory), the computer of input/output port, storage device etc..In addition, in the present embodiment, shoveling machine controller 30
It is read from ROM and including aftermentioned surplus test section 300 and pumps the corresponding program of the various functions important document of output control unit 301 simultaneously
It is unfolded in RAM, CPU is made to execute processing corresponding with various functions important document.
Fig. 3 outlined waste gas cleaning system 32 mounted on the excavator of Fig. 1.In the present embodiment, exhaust gas is net
The exhaust gas that set diesel engine 11 from excavator is discharged in change system 32 purifies.
Diesel engine 11 be by from fuel tank (not shown) by high-pressure pump supply fuel, and by the high pressure fuel to
Combustion chamber inner direct simultaneously makes it burn to drive.Diesel engine 11 and high-pressure pump etc. are by engine control module
(hereinafter referred to as " ECM ") 34 is controlled.
Exhaust gas from diesel engine 11 flows to exhaust channel 39 downstream after by turbocharger 38, leads to
Waste gas cleaning system 32 is crossed be discharged in air after purified treatment.
On the other hand, from air purifier 40 imported into the sucking air in air suction way 41 by turbocharger 38 and
Intercooler 43 etc. and be supplied to diesel engine 11.
It is in-line on exhaust channel 39 to be provided with the diesel particulate filtering that the particulate material in exhaust gas is captured from upstream side
The selective reduction type NOx catalyst 49 for selective catalysis reduction of the NOx in removing exhaust gas is removed in device 46 and reduction.
The supply of 49 receptive liquid reducing agent of selective reduction type NOx catalyst (such as urea or ammonia etc.) continuously restores
Remove the NOx in removing exhaust gas.In the present embodiment, consider from the easiness of processing, using urea water (aqueous solution of urea) as liquid
Body reducing agent.
The upstream side of selective reduction type NOx catalyst 49 in exhaust channel 39 is provided with for selective reduction type
NOx catalyst 49 supplies the urea water injection valve 50 of urea water.Urea water injection valve 50 is connected via urea water feeding pipe 51
To urea water tank 53 (liquid reducer case).
In addition, being provided with urea water supply pump 52 on urea water feeding pipe 51.Stored urine in urea water tank 53
Plain water is fed into urea water injection valve 50 by urea water supply pump 52, the choosing from urea water injection valve 50 to exhaust channel 39
Select the upstream position injection of reduced form NOx catalyst 49.
The urea water sprayed from urea water injection valve 50 is fed into selective reduction type NOx catalyst 49.The urine supplied
Plain water carries out hydrolyzable in selective reduction type NOx catalyst 49 and generates ammonia.The ammonia is in selective reduction type NOx catalyst 49
It is interior that NOx contained in exhaust gas is restored, thus carry out the purification of exhaust gas.
First NOx sensor 44 is disposed in the upstream side of urea water injection valve 50.In addition, the second NOx sensor 45 is arranged
In the downstream side of selective reduction type NOx catalyst 49.NOx sensor 44,45 detects in the exhaust gas at respective equipping position
NOx concentration.
Urea water headroom sensor 54 is equipped in urea water tank 53.The urea water headroom sensor 54 detects urea water
Urea water surplus in case 53.
Above-mentioned NOx sensor 44,45, urea water headroom sensor 54, urea water injection valve 50 and urea water supply pump 52
It is connected to waste gas cleaning system controller 35.Waste gas cleaning system controller 35 is according to being detected by NOx sensor 44,45
NOx concentration carries out emitted dose control, so as to spray the urea of appropriate amount by urea water injection valve 50 and urea water supply pump 52
Water.
In addition, waste gas cleaning system controller 35 is according to the urea water surplus exported from urea water headroom sensor 54, meter
Calculate ratio of the urea water surplus relative to the overall volume of urea water tank 53.In the present embodiment, by urea water surplus relative to
The ratio of the overall volume of urea water tank 53 is known as urea water surplus ratio.For example, urea water surplus indicates urea water tank 53 than 50%
The urea water of half of capacity remain in urea water tank 53.
Waste gas cleaning system controller 35 is connect by communication unit with the ECM34 for the control for carrying out diesel engine 11.
In addition, ECM34 is connected to shoveling machine controller 30 by communication unit.
The various information of waste gas cleaning system 32 possessed by waste gas cleaning system controller 35 are shoveling machine controllers 30
The structure that can be shared.In addition, ECM34, waste gas cleaning system controller 35 are equally respectively included with shoveling machine controller 30
CPU, RAM, ROM, input/output port and storage device etc..
In addition, being connected with monitor 37 (display device) on shoveling machine controller 30.Shown on monitor 37 warning,
Operating condition is shown.
In addition, being connected with horsepower control proportioning valve 62R, 62L on shoveling machine controller 30.Horsepower control proportioning valve 62R,
62L is the valve used in the control of adjuster 13R, 13L respectively.
Fig. 4 is the skeleton diagram for the configuration example for indicating adjuster 13R, 13L.In addition, the structure of adjuster 13R, 13L are identical,
Therefore adjuster 13L is only illustrated in Fig. 4, omits the diagram of adjuster 13R.Adjuster 13L is that the pump of control hydraulic pump 14L is every
The mechanism of discharge flow when rotating 1 time, main includes vert actuator 60L, guiding valve (Spool valve) mechanism 61L, horsepower
Control proportioning valve 62L and feedback rod 63L.
The actuator 60L that verts is the inclined plate (yoke to the pump capacity for changing hydraulic pump 14L：Yoke driving of verting) is carried out
Function important document.Specifically, the actuator 60L that verts includes at one end with major diameter compression zone PR1L and in the other end with small
The working piston 600L of diameter compression zone PR2L, compression chamber 601L corresponding with major diameter compression zone PR1L and with path compression zone
The corresponding compression chamber 602L of PR2L.Working oil is imported to compression chamber 601L from hydraulic pump 14L via guiding valve 610L, in addition from compression
Working oil is discharged via guiding valve 610L in room 601L.In addition, the discharge pressure of hydraulic pump 14L acts on compression chamber 602L.Working piston
If 600L working oils imported into compression chamber 601L to compression chamber 602L side displacements, turn driving hydraulic pump to the inclination of small flow
The inclined plate (yoke) of 14L.In addition, if working piston 600L working oils are from compression chamber 601L discharge and to compression chamber 601L side displacements,
The inclined plate (yoke) for turning driving hydraulic pump 14L is then rolled to big flow.
Slide-valve gear 61L is the work(for the supply discharge that working oil is carried out for the compression chamber 601L to the actuator 60L that verts
Energy important document, including guiding valve 610L and spring 611L.Guiding valve 610L has and the hydraulic pump 14L first ports being connected to and working oil
The second port and the output port being connected to compression chamber 601L that case 64 is connected to.In addition, guiding valve 610L optionally switch to by
First position that first port is connected to output port, the second position that second port is connected to output port or by first
The neutral position that port and second port are not connected to output port.Spring 611L applies direction to guiding valve 610L makes guiding valve
The power that 610L is acted on to the direction of second position side displacement.
Horsepower control proportioning valve 62L is the function important document for making guiding valve 610L displacements.In the present embodiment, horsepower controls
Proportioning valve 62L uses the working oil to be spued by pioneer pump 15, generates corresponding with the instruction current from shoveling machine controller 30
Secondary side pressure.It is moved in such a way that secondary pressure measurement is increased with instruction current increase specifically, horsepower controls proportioning valve 62L
Make.If secondary side pressure increases, guiding valve 610L to the displacement of first position side, working piston 600L to compression chamber 602L side displacements,
The inclined plate (yoke) of hydraulic pump 14L is verted driving to small flow side.As a 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 position side, and working piston 600L is to compression chamber 601L side displacements, hydraulic pressure
The inclined plate (yoke) for pumping 14L is verted driving to big flow side.As a result, the discharge flow of hydraulic pump 14L increases.
Feedback rod 63L be for the actuator 60L that will vert Displacement Feedback to guiding valve 610L link mechanism.Specifically
Say, feedback rod 63L its amount of movement is physically fed back into guiding valve 610L when working piston 600L is moved and make guiding valve 610L to
Neutral position returns.
Then, illustrate function important document possessed by shoveling machine controller 30.
Surplus test section 300 is the function important document for the surplus for detecting liquid reducer, in the present embodiment, obtains urea water
The urea water surplus that headroom sensor 54 exports.
Also, surplus test section 300 will subtract amount obtained from predetermined amount as effective from acquired urea water surplus
Urea water surplus and calculate.
" predetermined amount " is that institute's remaining amount in urea water tank 53 is wished at the time of the operation of excavator is completed, e.g.
It is equivalent to the amount of scheduled urea water surplus ratio (such as 25%).
Pump output control unit 301 is the function important document for the pump output (discharge flow) for controlling hydraulic pump 14R, 14L.In this reality
It applies in example, pump output control unit 301 is negative according to being detected by negative pressure control sensor 29R, 29L and discharge pressure sensor 65R, 65L
Pressure control, spue pressure etc., the desired value of the respective discharge flow of hydraulic pump 14R, 14L is found out, so that actual discharge flow becomes
The mode of the desired value makes hydraulic pump 14R, 14L work.
Specifically, pump output control unit 301 then more reduces hydraulic pump 14R, 14L so that the negative pressure control that is detected the big
The desired value (hereinafter referred to as " negative control control targe value ") of discharge flow, and the negative pressure control detected is smaller, more increases hydraulic pump
The negative control control targe value of 14R, 14L.
In addition, pump output control unit 301 is pressed according to spuing, calculate that (maximum is set with the 1st pump horsepower upper limit value that arbitrarily sets
Surely torque is pumped) corresponding discharge flow (the 1st horsepower of control targe value).
In addition, pump output control unit 301 is transported according to the effective urea water surplus and excavator calculated by surplus test section 300
Turn the time, calculates the 2nd pump horsepower upper limit value of hydraulic pump 14R, 14L.Also, it pumps output control unit 301 to press according to spuing, calculate
Discharge flow (the 2nd horsepower of control targe value) corresponding with the 2nd pump horsepower upper limit value.
On this basis, output control unit 301 is pumped by negative control control targe value, the 1st horsepower of control targe value and the 2nd horsepower
Minimum value is selected as final goal value to drive adjuster 13R, 13L in control targe value.
" the excavator duration of runs " refer to be with not feeding urea water in the present embodiment during wanting to make excavator to operate
During wanting that excavator is made to operate.
" pump horsepower upper limit value " refers to the maximum value for the pump horsepower that hydraulic pump is absorbed.Here, illustrating pump horsepower with reference to Fig. 5
Relationship between upper limit value and the discharge pressure and discharge flow of hydraulic pump.In addition, Fig. 5 is to indicate that the discharge of hydraulic pump is pressed P and spat
The PQ line charts of relationship between outflow Q, it is indicated by the solid line using relatively high pump horsepower upper limit value H1 when relationship, use dotted line
Relationship when indicating using relatively low pump horsepower upper limit value H2.In addition, hereinafter, the case where in addition to being refered in particular to reference marks with
Outside, " pump horsepower upper limit value " indicates the 2nd pump horsepower upper limit value.
As shown in figure 5, in the case of no matter using which of pump horsepower upper limit value H1 and pump horsepower upper limit value H2, liquid
The flow that press pump can spue is all as the pressure P that spues increases and reduces.This is because pump horsepower is by pressure P and the stream that spues of spuing
The product of Q is measured to indicate.In addition, as shown in figure 5, gradually increased in the pressure P that spues, and pump horsepower upper limit value H1 is used
When compare, when using pump horsepower upper limit value H2, flow that hydraulic pump can spue is in the case where the pressure P smaller stages that spue start
Drop.If also, spue and press P identical, the flow that hydraulic pump can spue using pump horsepower upper limit value H2 is always
Change in low level than using pump horsepower upper limit value H1 the case where.
Here, illustrating the relationship between pump horsepower upper limit value and per hour urea consumption with reference to Fig. 6.In addition, Fig. 6 is table
Show the chart of the relationship between pump horsepower upper limit value and per hour urea consumption.
As shown in fig. 6, the consumption of urea per hour U1 when using pump horsepower upper limit value H1, which is more than, uses the pump horsepower upper limit
The consumption of urea per hour U2 when value H2.This is because engine 11 receives using pump horsepower upper limit value H1
Load be more than the load that engine 11 receives using pump horsepower upper limit value H2, in order to maintain engine speed
The fuel quantity of consumption also increases.
It pumps output control unit 301 and uses pre-stored pump horsepower upper limit value shown in fig. 6 in ROM etc. and urea per hour
Relationship (corresponding table) between consumption, determines the pump horsepower upper limit value that can be utilized.Specifically, pump output control unit 301
Effective urea water surplus is removed with the excavator duration of runs to calculate the urea consumption that can be consumed per unit time, and according to
The urea consumption calculated determines the pump horsepower upper limit value that can be utilized.In the present embodiment, pump horsepower upper limit value H1 is energy
Maximum pump horsepower upper limit value in the range enough set, pump horsepower upper limit value H2 are pump horsepowers minimum in the range that can be set
Upper limit value.Therefore, pump output control unit 301 the urea consumption calculated be it is corresponding with pump horsepower upper limit value H1 per hour
When urea consumption U1 or more, using pump horsepower upper limit value H1 as the pump horsepower upper limit value that can be utilized.In addition, pump output control
It is adopted when the urea consumption calculated is less than per hour urea consumption U2 corresponding with pump horsepower upper limit value H2 in portion 301 processed
Use pump horsepower upper limit value H2 as the pump horsepower upper limit value that can be utilized.In addition, Fig. 6 indicates pump horsepower upper limit value and urinates per hour
Plain consumption has the state of proportionate relationship, but the relationship of the two can also be nonlinear relationship.
It is transported in addition, pump output control unit 301 obtains the excavator that the when of determining pump horsepower upper limit value utilizes according to user's input
Turn the time.Specifically, pump output control unit 301 is for example when excavator starts when showing excavator operating on monitor 37
Between input picture.Excavator duration of runs input picture is the text message for including urgency operator's input excavator duration of runs
With the picture of the input frame for confirming the inputted excavator duration of runs.Pump output control unit 301 obtain operator via
The value of input unit input (not shown) is as the excavator duration of runs.
In addition, pump output control unit 301 can not also ask operator to input the excavator duration of runs, but determining to pump
The standard time (the excavator duration of runs of standard, for example, 8 hours) is used when horsepower upper limit value.
Later, final goal of the output control unit 301 according to the respective discharge flow of hydraulic pump 14R, 14L determined is pumped
Value determines the command current value to horsepower control proportioning valve 62R, 62L.
Also, pump the command current value pair that output control unit 301 is exported and determined to horsepower control proportioning valve 62R, 62L
The instruction current for the size answered.
In addition, pump output control unit 301 show on monitor 37 the current urea water surplus of expression than ureometer figure
Picture.On this basis, pump output control unit 301 is the case where the pump horsepower upper limit value determined is less than pump horsepower upper limit value H1
Under, i.e., in the case where the pump horsepower upper limit value determined is restricted, is shown on monitor 37 and indicate that pump horsepower is limited
Content text message.This will not be felt well to make to notice the action of excavator to become slow operator.
In addition, pump output control unit 301 can also exist in the case where the pump horsepower upper limit value determined is pump horsepower upper limit value H1
In the case that the pump horsepower upper limit value determined is not limited, is shown on monitor 37 and indicate that pump horsepower is not limited
The text message of the content of system.
In addition, output control unit 301 is pumped in the case where the pump horsepower upper limit value determined is less than pump horsepower upper limit value H2,
I.e. can not be in the state that urea water surplus is maintained predetermined amount or more appropriate until the excavator duration of runs terminates
Pump output in the range of make excavator operate in the case of, show on monitor 37 expression the content text message.Separately
Outside, predetermined amount is for example comparable to amount of the urea water surplus than 25%.
In addition, pump output control unit 301 can also calculate and can urea water surplus be maintained predetermined amount or more
There is no the time (hereinafter referred to as " the excavator duration of runs ") for enabling excavator to operate with pumping export-restriction under state, and is supervising
Show that calculated excavator being capable of the duration of runs on visual organ 37.Specifically, pump output control unit 301 by with use pump horse
The consumption of urea per hour U1 when power upper limit value H1 removes effective urea water surplus, and calculating can tie up by urea water surplus
It holds to enable the excavator duration of runs that excavator operates with pump horsepower upper limit value H1 in the state of more than predetermined amount, and is supervising
Show that calculated excavator being capable of the duration of runs on visual organ 37.Operator can by comparing shown excavator as a result,
It the duration of runs and the desirable excavator duration of runs, is able to know that and whether can if even if not inputting the excavator duration of runs
Excavator is set not operated during desirable by the limitation of pump output.
In addition, pump output control unit 301 duration of runs can also can be less than the predetermined time in the excavator calculated
In the case of, it shows that the excavator duration of runs inputs picture on monitor 37, operator is urged to input the excavator duration of runs.This
When, pump output control unit 301 is after obtaining the excavator duration of runs, by removing effective urea water with the excavator duration of runs
Surplus calculates urea consumption per hour, and the pump horse for determining to utilize according to the consumption of urea per hour calculated
Power upper limit value.
Here, illustrating the ureometer image that pump output control unit 301 is shown on monitor 37 with reference to Fig. 7.Fig. 7 (A)~
Fig. 7 (D) is to indicate that urea water surplus ratio is 90% or more and 100% or less, 75% less than 90%, 50% or more and small respectively
In 75%, 25% less than 50% state ureometer image, such as shown with green.
Fig. 7 (E) be indicate urea water surplus than for 25% less than 50% state and pump output control unit 301
According to operator input the excavator duration of runs and effective urea water surplus determine pump horsepower upper limit value with pump output 5% by
Limit the ureometer image of suitable situation.In addition, Fig. 7 (F) indicate urea water surplus than for 25% less than 50%
The ureometer image for the state that state and excavator can be 8 hours the duration of runs.In addition, the urea of Fig. 7 (E) and Fig. 7 (F)
Meter image is shown with the identical color with Fig. 7 (D) (such as green).In addition, aobvious in the lower part of the ureometer image of Fig. 7 (E)
It is shown with and indicates that pump output by the text message of limitation 5%, shows in the lower part of the ureometer image of Fig. 7 (F) and indicates shoveling function
The text message that enough durations of runs are 8 hours.It is exported by pump in addition, can also be shown in the lower part of the ureometer image of Fig. 7 (E)
The pump horsepower upper limit value that control unit 301 determines.At this point, the ratio that pump horsepower upper limit value is for example 100% to pump horsepower upper limit value H1
Rate is shown.
Fig. 7 (G) and Fig. 7 (H) be respectively indicate urea water surplus ratio be 15% less than 25%, 10% less than
The ureometer image of 15% state is shown with the color (such as yellow) different from Fig. 7 (A)~Fig. 7 (F).In addition, in Fig. 7
(G) and the lower part of the ureometer image of Fig. 7 (H) shows the text message (alert message) for indicating to need to feed urea water.This
Outside, the ureometer image of Fig. 7 (H) is shown into line flicker.In addition, in the state of Fig. 7 (H), engine output reduces by 20%.
Fig. 7 (I) and Fig. 7 (J) be respectively indicate urea water surplus ratio be 5% less than 10%, 0% less than 5%
State ureometer image, shown with the color different from Fig. 7 (A)~Fig. 7 (H) (such as red).In addition, at Fig. 7 (I)
Ureometer image lower part show indicate need feed urea water text message, under the ureometer image of Fig. 7 (J)
Portion shows the text message for indicating can not to have made operation of power excavators.In addition, in the state of Fig. 7 (I), engine output drop
Low 50%, in the state of Fig. 7 (J), engine becomes idle state or halted state.
Then, with reference to Fig. 8 illustrate shoveling machine controller 30 control pump output processing 1 (hereinafter referred to as " and the 1st pump it is defeated
Go out control process ").In addition, Fig. 8 is the flow chart for the flow for indicating the 1st pump output control process, shoveling machine controller 30 is with pre-
Fixed cycle executes the 1st pump output control process repeatedly.
First, the surplus test section 300 of shoveling machine controller 30 obtains effective urea water surplus (step S1).Specifically
It says, the urea water surplus exported from urea water headroom sensor 54 is subtracted and measured obtained from predetermined amount by surplus test section 300
It is calculated as effective urea water surplus.Predetermined amount is the urea water in the stage for being for example equivalently employed without display alert message
Amount of the surplus than 25%.In addition, predetermined amount can also be equivalent to urea water surplus than the urea water surplus less than 25% than amount.
Later, the pump output control unit 301 of shoveling machine controller 30 determines whether to have obtained the excavator duration of runs (step
S2)。
In the case where being judged to not yet obtaining the excavator duration of runs (no (NO) of step S2), output control unit is pumped
301 on monitor 37 the pop-up display excavator duration of runs input picture (step S3).See that pop-up display excavator operates
Time inputs the operator of picture via the input unit input excavator duration of runs (not shown).
In the case where being judged to having obtained the excavator duration of runs (that step S2 is (YES)), output control unit 301 is pumped
Calculate the excavator duration of runs terminate until can make digging in the state that urea water surplus is maintained predetermined amount or more
The pump horsepower upper limit value (step S4) of native machine operating.Specifically, pump output control unit 301 by with the excavator duration of runs come
Except the effective urea water surplus obtained by surplus test section 300, to calculate urea consumption per hour.Also, pump output
Control unit 301 exports pump horsepower upper limit value with reference to corresponding table shown in fig. 6, according to the consumption of urea per hour calculated.This
Outside, pump output control unit 301 is when calculating urea consumption per hour herein, at the time of initially obtaining the excavator duration of runs
Remaining time between the finish time and current time of the excavator duration of runs determined is used as the excavator duration of runs.
That is, the excavator duration of runs value for being with time going by and reducing same as effective urea water surplus.
Later, pump output control unit 301 to horsepower control proportioning valve 62R, 62L outputs with according to negative control control targe value,
The final mesh for the respective discharge flow of hydraulic pump 14R, 14L that 1st horsepower of control targe value and the 2nd horsepower of control targe value determine
The corresponding instruction current (step S5) of scale value.Horsepower control proportioning valve 62R, 62L is according to the instruction from shoveling machine controller 30
Electric current, the discharge flow of control hydraulic pump 14R, 14L.
Later, pump output control unit 301 judges whether pump horsepower upper limit value is less than predetermined value T1 (step S6).In this implementation
In example, predetermined value T1 is such as pump horsepower upper limit value H1.
In the case where being determined as that pump horsepower upper limit value is less than predetermined value T1 (step S6's be), output control unit 301 is pumped
The limit that will indicate that pump exports confined text message and pump horsepower upper limit value or exported with the comparable pump of the pump horsepower upper limit value
Processing procedure degree is shown in together on monitor 37 (step S7).In the present embodiment, pump output control unit 301 is shown on monitor 37
Show the ureometer image as shown in Fig. 7 (E).
In addition, pump output control unit 301 be determined as pump horsepower upper limit value be predetermined value T2 (<T1) in the case of below,
Confined text message can also be exported instead of pump, include on monitor 37 by other text messages.Specifically,
Pump output control unit 301 can also show on monitor 37 expression in the pump horsepower upper limit value that can be set in the range of, arrive
The excavator duration of runs can not be such that excavator operates until terminating in the state that urea water surplus is maintained predetermined amount or more
Text message.In addition, in the present embodiment, predetermined value T2 is such as pump horsepower upper limit value H2.
And in the case where being determined as that pump horsepower upper limit value is predetermined value T1 or more (step S6's is no), pump output control unit
301 do not show that expression pump exports confined text message, and only show the urea water meter figure for indicating current urea water surplus
Picture.Indicate that the urea water meter image of current urea water surplus is, for example, the urea water meter figure as shown in Fig. 7 (A)~Fig. 7 (D)
Picture.But pump output control unit 301 can also show that expression pump exports no confined text message.
Then, another 1 (hereinafter referred to as " the 2nd pump of the processing of the control pump output of shoveling machine controller 30 is illustrated with reference to Fig. 9
Export control process ").In addition, Fig. 9 is the flow chart for the flow for indicating the 2nd pump output control process, shoveling machine controller 30
The 2nd pump output control process is such as executed when excavator starts.
First, the surplus test section 300 of shoveling machine controller 30 obtains effective urea water surplus (step S11).Specifically
It says, the urea water surplus exported from urea water headroom sensor 54 is subtracted and measured obtained from predetermined amount by surplus test section 300
It is calculated as effective urea water surplus.Predetermined amount is the urea water in the stage for being for example equivalently employed without display alert message
Amount of the surplus than 25%.In addition, predetermined amount can also be equivalent to urea water surplus than the urea water surplus less than 25% than amount.
Later, the pump output control unit 301 of shoveling machine controller 30, which calculates, to be maintained pre- by urea water surplus
There is no the time i.e. excavator duration of runs (step for enabling excavator to operate with pumping export-restriction in the state of more than quantitative
S12).Specifically, pump output control unit 301 by with the consumption of urea per hour U1 when using pump horsepower upper limit value H1 come
Except effective urea water surplus, calculating excavator being capable of the duration of runs.
Later, pump output control unit 301 judges whether calculated excavator the duration of runs can be less than predetermined time (step
Rapid S13).In the present embodiment, the predetermined time is the standard time (such as 8 hours).
In the case where being determined as that excavator can be more than the predetermined time duration of runs (step S13's is no), pump output
Control unit 301 shown on monitor 37 excavator can the duration of runs (step S14), terminate the 2nd pump output control process.
In the present embodiment, pump output control unit 301 shows the urea water meter image as shown in Fig. 7 (F) on monitor 37.It grasps as a result,
Excavator whether can be made not operated with being limited by pump output even if author is able to know that if not inputting the excavator duration of runs
Desirable period.
And in the case where being determined as that excavator the duration of runs can be less than the predetermined time (step S13's be), pump output
Control unit 301 shows that the excavator duration of runs inputs picture on monitor 37, and operator is urged to input the excavator duration of runs
(step S15).
Later, pump output control unit 301 obtains the excavator duration of runs (step S16) inputted by operator.
Also, pump output control unit 301 calculate the excavator duration of runs terminate until can be by urea water surplus
It is maintained the pump horsepower upper limit value (step S17) for making excavator operate in the state of predetermined amount or more.Specifically, pump output control
Portion 301 processed is calculated by removing the effective urea water surplus obtained by surplus test section 300 with the excavator duration of runs per small
When urea consumption.Also, output control unit 301 is pumped with reference to corresponding table as shown in FIG. 6, according to the urea per hour calculated
Consumption exports pump horsepower upper limit value.
Later, pump output control unit 301 to horsepower control proportioning valve 62R, 62L outputs with according to negative control control targe value,
1st horsepower of control targe value and derived from the 2nd horsepower of control targe value determine the respective discharge flow of hydraulic pump 14R, 14L
Final goal be worth corresponding instruction current (step S18).Horsepower control proportioning valve 62R, 62L is according to from shoveling machine controller
30 instruction current, the discharge flow of control hydraulic pump 14R, 14L.
Later, pump output control unit 301 judges whether pump horsepower upper limit value is less than predetermined value T1 (step S19).In this reality
It applies in example, predetermined value T1 is such as pump horsepower upper limit value H1.
In the case where being determined as that pump horsepower upper limit value is less than predetermined value T1 (step S19's be), output control unit 301 is pumped
The limit that will indicate that pump exports confined text message and pump horsepower upper limit value or exported with the comparable pump of the pump horsepower upper limit value
Processing procedure degree is shown in together on monitor 37 (step S20).In the present embodiment, pump output control unit 301 is on monitor 37
Show the ureometer image as shown in Fig. 7 (E).
In addition, pump output control unit 301 be determined as pump horsepower upper limit value be predetermined value T2 (<T1) in the case of below,
Confined text message can also be exported instead of pump, include on monitor 37 by other text messages.Specifically,
Pump output control unit 301 can also show on monitor 37 expression in the pump horsepower upper limit value that can be set in the range of, arrive
The excavator duration of runs can not be such that excavator operates until terminating in the state that urea water surplus is maintained predetermined amount or more
Text message.In addition, in the present embodiment, predetermined value T2 is such as pump horsepower upper limit value H2.
And in the case where being determined as that pump horsepower upper limit value is predetermined value T1 or more (step S19's is no), pump output control
Portion 301 does not show that expression pump exports confined text message, and only shows the urea water meter for indicating current urea water surplus
Image.Indicate that the urea water meter image of current urea water surplus is, for example, the urea water meter figure as shown in Fig. 7 (A)~Fig. 7 (D)
Picture.But pump output control unit 301 can also show that expression pump exports no confined text message.
In addition, pump output control unit 301 can also calculate pump horsepower upper limit value using the standard time, replace making with this
Pump horsepower upper limit value is calculated with the excavator duration of runs inputted based on operator obtained by step S15 and step S16.
At this point, pump output control unit 301 can omit the display of excavator duration of runs input picture.In addition, operator can omit
The input of the excavator duration of runs.
According to the above structure, the excavator of shoveling machine controller 30 is carried according to the excavator duration of runs and effective urea water
Surplus determines the best limitation content of pump output, and to hold in the limitation make hydraulic pump 14R, 14L work.Therefore, until
Few period until the excavator duration of runs terminates can prevent from causing the action of excavator excessive since urea water is insufficient
Limitation can not operate.
In addition, the excavator for carrying shoveling machine controller 30 show on monitor 37 determined pump output most preferably
Limit content.Therefore, it is possible to notify operator whether can be to desired by operator before urea water surplus becomes predetermined amount
Activity duration terminate until so that excavator is operated in the state that urea water surplus is maintained predetermined amount or more.
More than, a preferred embodiment of the present invention is described in detail, but the present invention is not limited to the above embodiments, in technical side
Various modifications and changes etc. can be carried out in the scope of the present invention recorded in case.
For example, in the above-described embodiments, shoveling machine controller 30 is executed by predetermined period repeatedly at the 1st pump output control
Reason, but can also be only performed once when excavator starts, can also by every 3 hours, every the long time interval such as 1 hour
It executes repeatedly.
In addition, in the above-described embodiments, shoveling machine controller 30 is executed when excavator starts at the 2nd pump output control
Reason, but can also repeatedly be executed by predetermined period.At this point, shoveling machine controller 30 is inputting picture by the excavator duration of runs
Obtain the excavator duration of runs after, omit the excavator duration of runs input picture show again and the excavator duration of runs again
It obtains.
In addition, pump output control unit 301 can also be configured to, operator arbitrarily can periodically recall excavator operating
Time inputs picture to input the excavator duration of runs again.
In addition, pump output control unit 301 can also be configured to, operator can delete calculated pump horsepower upper limit value.
For example, pump output control unit 301 can also be shown on monitor 37 for being confirmed whether to execute the pump horsepower based on being calculated
The picture of the pump export-restriction of upper limit value.
In addition, pump output control unit 301 can also be configured to, operator can stop to be based on being calculated in arbitrary timing
Pump horsepower upper limit value pump export-restriction execution.
In addition, urea water surplus in above-described embodiment than the limitation that is exported with pump horsepower upper limit value and engine of range
Relationship between content is an example, however it is not limited to this.
Claims (4)
1. a kind of construction machinery, has：
Hydraulic actuator is acted by the working oil that hydraulic pump driven by the engine is spued；With
Waste gas cleaning system carries out the purification of exhaust gas using liquid reducer,
Have in above-mentioned construction machinery：
Surplus test section detects the surplus of aforesaid liquid reducing agent；With
Output control unit is pumped, according to the surplus of aforesaid liquid reducing agent and wants the duration of runs for making the construction machinery operate, control
The pump of above-mentioned hydraulic pump exports,
Said pump output control unit calculates can be in the state that the surplus of aforesaid liquid reducing agent is maintained to predetermined amount or more
It is lower make that the construction machinery operates without pump export-restriction can the duration of runs,
Also, said pump output control unit makes display device show that calculated above-mentioned being capable of the duration of runs.
2. construction machinery according to claim 1, wherein
It surplus of the said pump output control unit according to aforesaid liquid reducing agent and the duration of runs by operator's input, calculates above-mentioned
The pump horsepower upper limit value of hydraulic pump, and make above-mentioned hydraulic pump works under the limitation of calculated pump horsepower upper limit value.
3. construction machinery according to claim 1 or 2, wherein
Said pump output control unit calculate the duration of runs for wanting to make the construction machinery to operate terminate until can be will be above-mentioned
The surplus of liquid reducer is maintained the pump horsepower upper limit value for making the construction machinery operate in the state of predetermined amount or more, and makes to show
Showing device shows calculated pump horsepower upper limit value.
4. a kind of control method of construction machinery, above-mentioned construction machinery have：Hydraulic actuator passes through liquid driven by the engine
The working oil action that press pump is spued；And waste gas cleaning system, the purification of exhaust gas is carried out using liquid reducer, in above-mentioned construction
Include the following steps in the control method of machinery：
Surplus detecting step detects the surplus of aforesaid liquid reducing agent；With
Pump output rate-determining steps according to the surplus of aforesaid liquid reducing agent and want the duration of runs for making the construction machinery operate, control
The pump output of above-mentioned hydraulic pump is made,
Said pump exports in rate-determining steps, and predetermined amount or more can be maintained by the surplus of aforesaid liquid reducing agent by calculating
Do not have under state pump export-restriction make the construction machinery operate can the duration of runs, also, make display device display counted
The above-mentioned of calculation being capable of the duration of runs.
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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| Publication Number | Publication Date |
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| CN103898939A CN103898939A (en) | 2014-07-02 |
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| CN (1) | CN103898939B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107001006B (en) * | 2014-11-10 | 2019-08-06 | 住友建机株式会社 | Work mechanism with lifting magnet |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040050037A1 (en) * | 2001-12-03 | 2004-03-18 | Betta Ralph Dalla | System and methods for improved emission control of internal combustion engines using pulsed fuel flow |
| CN1875174A (en) * | 2003-10-31 | 2006-12-06 | 日产柴油机车工业株式会社 | Device for detecting concentration and remaining amount of liquid reducer |
| CN202402109U (en) * | 2012-01-17 | 2012-08-29 | 博世汽车柴油***股份有限公司 | Reducing agent supply module for vehicle and shell of reducing agent supply module |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5617348B2 (en) * | 2010-05-17 | 2014-11-05 | いすゞ自動車株式会社 | SCR system |
| JP5257478B2 (en) * | 2011-03-11 | 2013-08-07 | コベルコクレーン株式会社 | Construction machine control equipment |
-
2012
- 2012-12-26 JP JP2012283588A patent/JP2014125794A/en active Pending
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040050037A1 (en) * | 2001-12-03 | 2004-03-18 | Betta Ralph Dalla | System and methods for improved emission control of internal combustion engines using pulsed fuel flow |
| CN1875174A (en) * | 2003-10-31 | 2006-12-06 | 日产柴油机车工业株式会社 | Device for detecting concentration and remaining amount of liquid reducer |
| CN202402109U (en) * | 2012-01-17 | 2012-08-29 | 博世汽车柴油***股份有限公司 | Reducing agent supply module for vehicle and shell of reducing agent supply module |
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| CN103898939A (en) | 2014-07-02 |
| JP2014125794A (en) | 2014-07-07 |
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