CN105089094A - Working machinery - Google Patents
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- CN105089094A CN105089094A CN201510188023.4A CN201510188023A CN105089094A CN 105089094 A CN105089094 A CN 105089094A CN 201510188023 A CN201510188023 A CN 201510188023A CN 105089094 A CN105089094 A CN 105089094A
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Abstract
The invention provides a navy. On the condition that a plurality of hydraulic pumps driven by an engine enables walking hydraulic motors and hydraulic actuator except for the walking hydraulic motors to simultaneously and respectively work in hydraulic manner, an engine output can be effectively used. The navy of the embodiment of the invention is provided with a first pump (14L) driven by an engine (11), a second pump (14R), a pump motor (14A) and a walking straight advancing valve (56). On the condition that walking hydraulic motors (1L, 1R) and stick cylinders (8) act at the same time, the walking straight advancing valve (56) enable the first pump (14L) to be communicated with the walking hydraulic motors (1L, 1R), the walking hydraulic motors (1L, 1R) are driven by a first working oil discharged by the first pump (14L), and the stick cylinders (8) is driven by at least a second working oil in the second working oil discharged by the second pump (14R) and a third working oil discharged by the pump motor (14A).
Description
Technical field
The present invention relates to a kind of Work machine, possesses the straight valve of walking, the straight valve of this walking, when having carried out comprising walking and having operated in interior composition operation, makes the flowing of mode to working oil of the walking hydraulic motor work of left and right control with the working oil of being discharged by a hydraulic pump.
Background technology
Known a kind of building machinery, possesses the auxiliary pump of engine-driven first pump and the second pump and electrical motor driven (with reference to patent document 1.)。
Above-mentioned building machinery possesses transfer valve, and when making running gear actuator and working rig system actuator works simultaneously, this transfer valve makes the flowing of the mode switch operating oil of running gear actuator work with the working oil of discharging by means of only the second pump.In addition, in this case, above-mentioned building machinery is configured to, and the working oil that the working oil can discharged by the first pump and auxiliary pump are discharged makes the work of working rig system actuator.
Patent document 1: Japanese Unexamined Patent Publication 2007-327526 publication
But above-mentioned building machinery is configured to, the working oil of the working oil of the auxiliary pump of the drive source beyond by motor and electrical motor driven and the first pump is made to collaborate and make working rig system actuator speedup.Therefore, following this control cannot be performed: when low speed is walked, only engine loading is reduced towards the discharge rate of the second hydraulic pump of running gear actuator supply working oil by reducing, and by being exported the working oil of the hydraulic pump driven by the motor suitable with this load reduction, make working rig system actuator speedup.
Summary of the invention
In view of the foregoing, expect to provide a kind of Work machine, when using the multiple hydraulic pumps driven by common drive source to make walking hydraulic motor and the hydraulic actuator beyond it work and work respectively on hydraulic pressure simultaneously, the output of this drive source more effectively can be utilized.
The Work machine of embodiments of the invention has: the first pump, discharges the first working oil, second pump, discharges the second working oil, 3rd pump, discharges the 3rd working oil, first walking hydraulic motor, at least can flow into above-mentioned first working oil, second walking hydraulic motor, at least can flow into above-mentioned second working oil, hydraulic actuator, at least can flow into above-mentioned second working oil and above-mentioned 3rd working oil, and straight switching part of walking, switch above-mentioned first pump and above-mentioned second pump cut off with being communicated with between above-mentioned first walking hydraulic motor and above-mentioned second walking hydraulic motor, above-mentioned first pump, above-mentioned second pump and above-mentioned 3rd pump are driven by common drive source, at above-mentioned first walking hydraulic motor, when above-mentioned second walking hydraulic motor and the action simultaneously of above-mentioned hydraulic actuator, the straight switching part of above-mentioned walking makes above-mentioned first pump be communicated with between above-mentioned first walking hydraulic motor and above-mentioned second walking hydraulic motor, above-mentioned first walking hydraulic motor and above-mentioned second walking hydraulic motor are driven by above-mentioned first working oil, and above-mentioned hydraulic actuator is driven by least above-mentioned second working oil in above-mentioned second working oil and above-mentioned 3rd working oil.
The effect of invention
According to above-mentioned formation, a kind of Work machine can be provided, when using the multiple hydraulic pumps driven by common drive source to make walking hydraulic motor and the hydraulic actuator beyond it work simultaneously, more effectively can utilize the output of this drive source.
Accompanying drawing explanation
Fig. 1 is an example of the Work machine of embodiments of the invention and the lateral view of excavator.
Fig. 2 is the synoptic diagram of the configuration example representing the hydraulic circuit that the excavator of Fig. 1 carries.
Fig. 3 is the synoptic diagram of the configuration example representing the control valve corresponding with walking hydraulic motor.
Fig. 4 is the synoptic diagram of the configuration example representing straight valve of walking.
Fig. 5 is the flow chart of the flow process of the example processed when representing walking.
Fig. 6 is the figure of state of hydraulic circuit when representing that the walking rod of left and right has been carried out half bar operation towards direction of advance.
Fig. 7 be represent that the walking rod of left and right has been carried out half bar operation towards direction of advance and dipper action bars has been carried out half bar operation towards closing direction when the figure of state of hydraulic circuit.
Fig. 8 be represent that the walking rod of left and right has been carried out half bar operation towards direction of advance and dipper action bars have been carried out the operation of full bar towards closing direction when the figure of state of hydraulic circuit.
Fig. 9 is the synoptic diagram of other configuration examples of the hydraulic circuit that the excavator of Fig. 1 carries.
The explanation of symbol:
1: lower running body; 2: slew gear; 3: upper rotation; 4: swing arm; 5: dipper; 6: scraper bowl; 7: swing arm cylinder; 8: dipper cylinder; 9: scraper bowl cylinder; 7a, 8a, 9a: regeneration valve; 7b, 8b: maintaining valve; 10: driver's cabin; 11: motor; 13: speed changer; 14A: pump motor; 14L: the first pump; 14R: the second pump; 14aA, 14aL, 14aR: safety valve; 15: control pump; 17: control valve; 21: revolution hydraulic motor; 21L, 21R: port; 22L, 22R: safety valve; 22S: shuttle valve; 22G: regeneration valve; 23L, 23R: one way valve; 30: controller; 51,52,53: variable load one way valve; 55: converging valve; 56: straight valve of walking; 56M: valve body; 56P: pilot port; 56S: spring; 56V: electromagnetic valve; 57L, 57R: uniform effluent valve; 60,61,62,63,81,82,90,91,91A: transfer valve; 80: accumulator; 170,171,172,173,174L, 174R: control valve; 174HL, 174HR: shuttle valve; 174M: valve body; 174PL, 174PR: pilot port; 174SL, 174SR: spring; 174VL, 174VR: electromagnetic valve; T: operating oil tank
Detailed description of the invention
Fig. 1 is an example of the Work machine of embodiments of the invention and the lateral view of excavator.On the lower running body 1 of excavator, be equipped with upper rotation 3 via slew gear 2.Upper rotation 3 is provided with swing arm 4.In the front end of swing arm 4, dipper 5 is installed, in the front end of dipper 5, scraper bowl 6 is installed.As the swing arm 4 of operation important document, dipper 5 and scraper bowl 6, namely the example forming fixture excavates fixture, and by swing arm cylinder 7, dipper cylinder 8 and scraper bowl cylinder 9 hydraulic-driven respectively.Upper rotation 3 is provided with driver's cabin 10, and is equipped with motor 11 power source such as grade and controller 30 etc.
Controller 30 is control device of the master control part as the drived control carrying out excavator.In the present embodiment, controller 30 is made up of the arithmetic processing apparatus comprising CPU and internal storage, makes CPU perform the program of the drived control that internal storage stores and realize various function.
Fig. 2 is the synoptic diagram of the configuration example representing the hydraulic circuit that the excavator of Fig. 1 carries.In the present embodiment, hydraulic circuit mainly comprises the first pump 14L, the second pump 14R, pump motor 14A, control valve 17 and hydraulic actuator.Hydraulic actuator mainly comprises left side walking hydraulic motor 1L, right side walking hydraulic motor 1R, swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, revolution hydraulic motor 21 and accumulator 80.
Swing arm cylinder 7 is hydraulic cylinders that swing arm 4 is elevated, and is connected with regeneration valve 7a between bottom side grease chamber and Gan Ce grease chamber, and side, bottom side grease chamber is provided with maintaining valve 7b.In addition, dipper cylinder 8 is the hydraulic cylinders making dipper 5 opening and closing, is connected with regeneration valve 8a between bottom side grease chamber and Gan Ce grease chamber, and side, Gan Ce grease chamber is provided with maintaining valve 8b.In addition, scraper bowl cylinder 9 is the hydraulic cylinders making scraper bowl 6 opening and closing, is connected with regeneration valve 9a between bottom side grease chamber and Gan Ce grease chamber.
Revolution hydraulic motor 21 makes the pivotal hydraulic motor of upper rotation 3, port 21L, 21R are connected with operating oil tank T via safety valve 22L, 21R respectively, and be connected with regeneration valve 22G via shuttle valve 22S, and be connected with operating oil tank T via one way valve 23L, 23R.
Safety valve 22L opens when the pressure of port 21L side reaches the safe pressure of regulation, is discharged by the working oil of port 21L side towards operating oil tank T.In addition, safety valve 22R opens when the pressure of port 21R side reaches the safe pressure of regulation, is discharged by the working oil of port 21R side towards operating oil tank T.
The working oil of the pressure higher side in port 21L side and port 21R side supplies towards regeneration valve 22G by shuttle valve 22S.
Regeneration valve 22G is the valve carrying out action according to the instruction carrying out self-controller 30, switches revolution hydraulic motor 21 (shuttle valve 22S) and cuts off with being communicated with between pump motor 14A or accumulator 80.
One way valve 23L opens when the pressure of port 21L side becomes negative pressure, from operating oil tank T towards port 21L side supply working oil.One way valve 23R opens when the pressure of port 21R side becomes negative pressure, from operating oil tank T towards port 21R side supply working oil.So, towards the supply establishment of the port supply working oil of suction side when one way valve 23L, 23R is formed in the braking of revolution hydraulic motor 21.
Left side walking hydraulic motor 1L is the hydraulic motor that the left track of lower running body 1 is rotated.In addition, right side walking hydraulic motor 1R is the hydraulic motor that the right side track of lower running body 1 is rotated.In addition, same with revolution hydraulic motor 21, left side walking hydraulic motor 1L and right side walking hydraulic motor 1R comprises safety valve and one way valve etc. respectively and forms, but omits diagram to this.
First pump 14L sucks working oil and the hydraulic pump of discharging from operating oil tank T, is ramp type variable capacity type hydraulic pump in the present embodiment.In addition, the first pump 14L is connected to adjuster.Adjuster changes the swash plate deflection angle of the first pump 14L according to the instruction carrying out self-controller 30 and controls the discharge rate of the first pump 14L.Also identical about the second pump 14R.
In addition, the discharge side of the first pump 14L is provided with safety valve 14aL.Safety valve 14aL opens when the pressure of the discharge side of the first pump 14L reaches the safe pressure of regulation, is discharged by the working oil of discharge side towards operating oil tank.About the second pump 14R discharge side set by safety valve 14aR also identical.
Pump motor 14A is not only as hydraulic pump (the 3rd pump) but also the hydraulic means worked as hydraulic motor, is ramp type variable capacity type hydraulic pump motor in the present embodiment.In addition, same with the first pump 14L and the second pump 14R, pump motor 14A is connected to adjuster.Adjuster changes the swash plate deflection angle of pump motor 14A according to the instruction carrying out self-controller 30 and controls the discharge rate of pump motor 14A.
In addition, the discharge side of pump motor 14A is provided with safety valve 14aA.Safety valve 14aA opens when the pressure of the discharge side of pump motor 14A reaches the safe pressure of regulation, is discharged by the working oil of discharge side towards operating oil tank.
In addition, in the present embodiment, the first pump 14L, the second pump 14R and pump motor 14A driving shaft separately mechanically link.Specifically, respective driving shaft links with the output shaft of the gear ratio of regulation and motor 11 via speed changer 13.Therefore, as long as constant engine speed NE, then respective rotating speed is also constant.But the first pump 14L, the second pump 14R and pump motor 14A also can be connected with motor 11 via buncher etc., even if so that engine speed is constantly also can change rotating speed.
Control valve 17 is hydraulic control devices of the control of the fluid power system of carrying out excavator.In addition, control valve 17 mainly comprise variable load one way valve 51 ~ 53, converging valve 55, straight valve 56 of walking, uniform effluent valve 57L, 57R, transfer valve 60 ~ 63 and control valve 170 ~ 173,174L, 174R.
Control valve 170 ~ 173,174L, 174R be to flow out relative to various hydraulic actuator the working oil that flows into towards and the valve that controls of flow.In the present embodiment, control valve 170 ~ 173,174L, 174R are that accepted the operating means such as corresponding action bars by any one pilot port of left and right (not shown respectively.) pilot pressure that generates and carry out the guiding valve of 4 port 3 positions of action.Operating means makes the pilot pressure generated according to operational ton (work angle), acts on the pilot port of side corresponding to direction of operating.
Specifically, control valve 170 be can to flow out relative to revolution hydraulic motor 21 working oil that flows into towards and the guiding valve that controls of flow, control valve 171 be can to flow out relative to dipper cylinder 8 working oil that flows into towards and the guiding valve that controls of flow.
In addition, control valve 172 be can to flow out relative to swing arm cylinder 7 working oil that flows into towards and the guiding valve that controls of flow, control valve 173 be can to flow out relative to scraper bowl cylinder 9 working oil that flows into towards and the guiding valve that controls of flow.
In addition, control valve 174L be can to flow out relative to left side walking hydraulic motor 1L the working oil that flows into towards and the guiding valve that controls of flow, control valve 174R be can to flow out relative to right side walking hydraulic motor 1R the working oil that flows into towards and the guiding valve that controls of flow.
Fig. 3 is the synoptic diagram of the configuration example representing control valve 174L.As shown in Figure 3, control valve 174L mainly comprises valve body 174M, pilot port 174PL, 174PR, spring 174SL, 174SR, shuttle valve 174HL, 174HR and electromagnetic valve 174VL, 174VR.
Electromagnetic valve 174VL carries out the electromagnetic switching valve of 3 port 2 positions of action according to the instruction carrying out self-controller 30.Specifically, electromagnetic valve 174VL has: the first valve position, is discharged by the working oil acting on pilot port 174PL and pilot pressure is reduced towards operating oil tank T; And second valve position, the working oil that control pump 15 is discharged acts on pilot port 174PL and pilot pressure is increased.In addition, the numeral valve position in the parantheses in figure.Also identical about other valves.Further, electromagnetic valve 174VL is, when receiving the instruction of regulation from controller 30, becomes the second valve position, and the pilot pressure acting on pilot port 174PL is increased.Control valve 174L is, when the pilot pressure acting on pilot port 174PL increases, becomes the first valve position, when pilot pressure reduces, becomes the second valve position by the power of spring 174SR.
Equally, electromagnetic valve 174VR carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, be the electromagnetic switching valve of 3 port 2 positions.Specifically, electromagnetic valve 174VR has: the first valve position, is discharged by the working oil acting on pilot port 174PR and pilot pressure is reduced towards operating oil tank T; And second valve position, the working oil that control pump 15 is discharged acts on pilot port 174PR and pilot pressure is increased.Further, electromagnetic valve 174VR is, when receiving the instruction of regulation from controller 30, becomes the second valve position, and the pilot pressure acting on pilot port 174PR is increased.Control valve 174L is, when the pilot pressure acting on pilot port 174PR increases, becomes the 3rd valve position, when pilot pressure reduces, becomes the second valve position by the power of spring 174SL.
Shuttle valve 174HL makes left side walking rod (not shown.) pilot pressure of a larger side acts on pilot port 174PL in the pilot pressure that generates of the pilot pressure that generates and electromagnetic valve 174VL.In addition, shuttle valve 174HR makes right side walking rod (not shown.) pilot pressure of a larger side acts on pilot port 174PR in the pilot pressure that generates of the pilot pressure that generates and electromagnetic valve 174VR.By this formation, the pilot pressure that controller 30 such as can make electromagnetic valve 174VL, 174VR generate, becomes the pressure that pilot pressure when being operated by full bar with walking rod is suitable.Further, even if when walking rod is by half bar operation, also can control valve 174 be made to move with the stroke same with situation about being operated by full bar.In addition, " half bar operates " means the bar operation carried out to operate little operational ton than full bar.In addition, " full bar operation " means the bar operation that more than the operational ton specified carries out, and the operational ton of regulation is such as the operational ton of more than 80%.In addition, operational ton 100% is corresponding with operational ton when making action bars tilt to greatest extent, and operational ton 0% is corresponding with making the operational ton of (when not operating action bars) immediately in action bars.
Variable load one way valve 51 ~ 53 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, variable load one way valve 51 ~ 53 is can each of switching control valve 171 ~ 173 electromagnetic valve with 2 port 2 positions cut off being communicated with between at least one party in the first pump 14L and the second pump 14R.In addition, variable load one way valve 51 ~ 53 has the one way valve flowing of the working oil returned towards pump side cut off at the first valve position.Specifically, variable load one way valve 51 is, when being in the first valve position, making to be communicated with between control valve 171 with at least one party in the first pump 14L and the second pump 14R, being communicated with cut-out when being in the second valve position.About variable load one way valve 52 and variable load one way valve 53 also identical.
Converging valve 55 is examples for interflow switching part, is to carry out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, whether converging valve 55 can switch to make the working oil of the first pump 14L discharge (hereinafter referred to as " the first working oil ".) working oil of discharging with the second pump 14R is (hereinafter referred to as " the second working oil ".) electromagnetic valve of 2 port 2 positions that collaborates.Specifically, converging valve 55 is, making the first working oil and the second working oil interflow, not making the first working oil and the second working oil collaborate when being in the second valve position when being in the first valve position.
Straight valve 56 of walking is examples for the straight switching part of walking, is to carry out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, straight valve 56 of walking is the guiding valves that can switch the first pump 14L and the second pump 14R and 4 port 2 positions cut off being communicated with between left side walking hydraulic motor 1L and right side walking hydraulic motor 1R.
Fig. 4 is the synoptic diagram of the configuration example representing straight valve 56 of walking.As shown in Figure 4, straight valve 56 of walking mainly comprises valve body 56M, pilot port 56P, spring 56S and electromagnetic valve 56V.
Electromagnetic valve 56V carries out the electromagnetic switching valve of 3 port 2 positions of action according to the instruction carrying out self-controller 30.Specifically, electromagnetic valve 56V has: the first valve position, is discharged by the working oil acting on pilot port 56P and pilot pressure is reduced towards operating oil tank T; And second valve position, the working oil that control pump 15 is discharged acts on pilot port 56P and pilot pressure is increased.Further, valve 56V is, becomes the second valve position when receiving the instruction of regulation from controller 30, and the pilot pressure acting on pilot port 56P is increased.Straight valve 56 of walking is, becomes the second valve position, become the first valve position when pilot pressure reduces by the power of spring 56S when the pilot pressure acting on pilot port 56P increases.
Further, as shown in Figure 2, walking straight valve 56 when being in the first valve position, the first working oil can be made to flow into left side walking hydraulic motor 1L, and make the second working oil flow into right side walking hydraulic motor 1R.In addition, walking straight valve 56 when being in the second valve position, the first working oil can be made to flow into left side walking hydraulic motor 1L and right side walking hydraulic motor 1R both sides.
Uniform effluent valve 57L, 57R carry out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, uniform effluent valve 57L is can to the electromagnetic valve of 2 port 2 positions that the first working oil controls towards the discharge rate of operating oil tank T.Also identical about uniform effluent valve 57R.By this formation, uniform effluent valve 57L, 57R can reproducing control valve 170 ~ 173, association in 174L, 174R the synthesis opening of control valve.Specifically, when converging valve 55 is in the second valve position and straight valve 56 of walking is in the first valve position, uniform effluent valve 57L can the synthesis opening of reproducing control valve 170, control valve 171 and control valve 174L, and uniform effluent valve 57R can the synthesis opening of reproducing control valve 172, control valve 173 and control valve 174R.In addition, when converging valve 55 is in the second valve position and straight valve 56 of walking is in the second valve position, uniform effluent valve 57L can the synthesis opening of reproducing control valve 174L and control valve 174R, and uniform effluent valve 57R can the synthesis opening of reproducing control valve 170 ~ control valve 173.
Transfer valve 60 ~ 63 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 60 ~ 63 can switch the electromagnetic valve of 3 port 2 positions that the working oil that whether makes to discharge respectively from hydraulic actuator flows towards the upstream side (supply side) of pump motor 14A.Specifically, transfer valve 60 is, when being in the first valve position, the working oil of being discharged from revolution hydraulic motor 21 by regeneration valve 22G is flowed towards the supply side of pump motor 14A, when being in the second valve position, the working oil of being discharged from revolution hydraulic motor 21 by regeneration valve 22G is flowed towards accumulator 80.In addition, transfer valve 61 is, when being in the first valve position, the working oil of discharging from dipper cylinder 8 flow towards operating oil tank T, when being in the second valve position, makes to flow from the working oil of dipper cylinder 8 discharge towards the supply side of pump motor 14A.About transfer valve 62 and transfer valve 63 also identical.In addition, in the present embodiment, eliminate the transfer valve that the discharge destination of the working oil of discharging respectively from left side walking hydraulic motor 1L and right side walking hydraulic motor 1R is switched, but also the transfer valve identical with transfer valve 60 can be installed.In this case, the respective of left side walking hydraulic motor 1L and right side walking hydraulic motor 1R also can comprise shuttle valve, regeneration valve etc. in the same manner as revolution hydraulic motor 21.
Accumulator 80 be accumulation pressurized after the hydraulic means of working oil.In the present embodiment, the accumulation that accumulator 80 controls working oil by transfer valve 81 and transfer valve 82 is released.
Transfer valve 81 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 81 be can switch pressurized after the supply source i.e. first pump 14L of working oil and the electromagnetic valve of 2 port 2 positions cut off being communicated with between accumulator 80.Specifically, transfer valve 81 is, when being in the first valve position, the first pump 14L being communicated with between accumulator 80, being communicated with cut-out when being in the second valve position.In addition, transfer valve 81 has the one way valve flowing of the working oil returned towards the first pump 14L side cut off at the first valve position.
Transfer valve 82 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 82 be can switch pressurized after the supply destination of working oil and the electromagnetic valve of the supply side of pump motor 14A and 2 port 2 positions cut off being communicated with between accumulator 80.Specifically, transfer valve 82 is, when being in the first valve position, pump motor 14A being communicated with between accumulator 80, being communicated with cut-out when being in the second valve position.In addition, transfer valve 82 has the one way valve flowing of the working oil returned towards accumulator 80 side cut off at the first valve position.
Transfer valve 90 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 90 be can switchable pump motor 14A discharge working oil (hereinafter referred to as " the 3rd working oil ".) the electromagnetic valve of 3 port 2 positions of supply destination.Specifically, transfer valve 90 is, when being in the first valve position, the 3rd working oil is flowed towards transfer valve 91, when being in the second valve position, the 3rd working oil is flowed towards operating oil tank T.
Transfer valve 91 carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 91 is electromagnetic valves of 3 port 2 positions of the supply destination that can switch the 3rd working oil.Specifically, transfer valve 91 is, when being in the first valve position, the 3rd working oil is flowed towards dipper cylinder 8, when being in the second valve position, the 3rd working oil is flowed towards revolution hydraulic motor 21.
Then, the process that the flowing of the working oil illustrated when having carried out comprising walking and having operated in interior operation, in controller 30 pairs of hydraulic circuits with reference to Fig. 5 controls is (hereinafter referred to as " processing during walking ".)。In addition, Fig. 5 is the flow chart of the flow process of the example processed when representing walking, processes when controller 30 performs this walking repeatedly with the control cycle of regulation.
First, controller 30 determines whether to have carried out walking operation (step S1).Specifically, controller 30, based on the output of the content of operation test section relevant to walking operating means, electrically detects the content of operation of walking operating means (such as, with or without bar operation, bar direction of operating, bar operational ton etc.)。Then, judge whether walking operating means is operated based on detected content of operation.In the present embodiment, the output of the pressure sensor that controller 30 detects based on the pilot pressure generated walking rod, judges whether walking rod is operated.In addition, content of operation test section also can be made up of the sensor beyond inclination sensor detected the inclination of walking rod etc., pressure sensor.In addition, walking rod also can be walking pedal.
When being judged to not carry out walking operation (step S1's is no), process when controller 30 terminates this walking.
On the other hand, when being judged to have carried out walking operation (step S1 is), controller 30 determines whether to have carried out other operations (step S2).In the present embodiment, the output of the pressure sensor that controller 30 detects based on the pilot pressure generated other operating means beyond dipper action bars, revolution action bars etc., walking operating means, determines whether to have carried out other operations.
When being judged to not carry out other operations (step S2's is no), namely, when the operating means that is judged to only to walk is operated, controller 30 makes left side walking hydraulic motor 1L drive by the first working oil, and makes right side walking hydraulic motor 1R drive (step S3) by the second working oil.
Fig. 6 is the figure of the state representing the hydraulic circuit be judged to be when not carrying out other operations, corresponding with Fig. 2.Specifically, the state of hydraulic circuit when Fig. 6 represents that the walking rod of left and right has been carried out half bar operation towards direction of advance.In this case, as shown in Figure 6, straight for walking valve 56 is set in the first valve position by controller 30, and control valve 174L and control valve 174R is set in the 3rd valve position respectively.By this state of hydraulic circuit, as represented by thick dashed line in Fig. 6, the first working oil that first pump 14L discharges arrives left side walking by control valve 174L and uses hydraulic motor 1L, arrives operating oil tank T from the left side walking working oil that hydraulic motor 1L flows out by control valve 174L.In addition, the second working oil that the second pump 14R discharges arrives right side walking hydraulic motor 1R by the straight valve 56 of walking and control valve 174R, arrives operating oil tank T from the right side walking working oil that hydraulic motor 1R flows out by control valve 174R.
In addition, have nothing to do with the operational ton of left side walking rod, the pilot pressure that control valve 174L is generated by electromagnetic valve 174VR (with reference to Fig. 3) forcibly and be set in the 3rd valve position instantaneously.That is, can not rest on to the operational ton corresponding to left side walking rod, intermediate valve position (position between the second valve position and the 3rd valve position) that pilot pressure that left side walking rod generates is corresponding.Its reason is, reduced and can not produce the pressure loss of waste at the position flow path area of control valve 174L.In addition, controller 30, by adjusting the discharge rate of the first pump 14L, makes the rotary speed of left side walking hydraulic motor 1L become the speed corresponding to the operational ton of left side walking rod thus.
Equally, have nothing to do with the operational ton of right side walking rod, control valve 174R is by forcibly and be set in the 3rd valve position instantaneously.Further, controller 30, by adjusting the discharge rate of the second pump 14R, makes the rotary speed of right side walking hydraulic motor 1R become the speed corresponding to the operational ton of right side walking rod thus.
By this formation, even if when having carried out separately walking operation, controller 30 also can make the pressure loss produced at the position of control valve 174L, 174R reduce, and can realize the rotary speed of walking hydraulic motor 1L, the 1R corresponding to the operational ton of walking rod.
In addition, when being judged to have carried out other operations (step S2 is), namely, when being judged to have carried out to comprise walking and operating in interior composition operation, controller 30 judges whether other operational tons operated are less than setting (step S4).In the present embodiment, controller 30 is such as being judged to be that dipper action bars is (not shown.) when being operated towards closing direction, judge whether dipper action bars operational ton in the closing direction (dipper shutoff operation amount) is less than setting.In addition, setting be equivalent to corresponding with dipper shutoff operation amount needed for the dipper shutoff operation amount of working oil flow when becoming the maximum throughput of the second pump 14R.In addition, the required working oil flow in this situation means the flow of the working oil that should flow into the bottom side grease chamber of dipper cylinder 8.Thus, dipper shutoff operation amount is less than setting and means that the working oil of discharging by means of only the second pump 14R just can perform the closing motion desired by dipper 5.
And, when being judged to be that operational ton that other operate is less than setting (step S4 is), controller 30 makes left side walking hydraulic motor 1L and right side walking hydraulic motor 1R drive by the first working oil, and makes to operate corresponding hydraulic actuator with these other by the second working oil and drive (step S5).
Fig. 7 is the figure of the state of the hydraulic circuit represented when being judged to be that operational ton that other operate is less than setting, corresponding with Fig. 2 and Fig. 6.Specifically, Fig. 7 represent that the walking rod of left and right has been carried out half bar operation towards direction of advance and dipper action bars has been carried out half bar operation towards closing direction when the state of hydraulic circuit.In this case, as shown in Figure 7, straight for walking valve 56 is set in the second valve position by controller 30, and variable load one way valve 51 is set in the first valve position, and transfer valve 61 is set in the first valve position.In addition, controller 30 makes control valve 171 move towards the 3rd valve position, and control valve 174L and control valve 174R is set in the 3rd valve position respectively.By this state of hydraulic circuit, as represented by thick dashed line in Fig. 7, a part for the first working oil that first pump 14L discharges arrives left side walking by control valve 174L and uses hydraulic motor 1L, arrives operating oil tank T from the left side walking working oil that hydraulic motor 1L flows out by control valve 174L.In addition, the remainder of the first working oil that the first pump 14L discharges arrives right side walking hydraulic motor 1R by the straight valve 56 of walking and control valve 174R, arrives operating oil tank T from the right side walking working oil that hydraulic motor 1R flows out by control valve 174R.In addition, as represented by thick dashed line in Fig. 7, the second working oil that second pump 14R discharges arrives the bottom side grease chamber of dipper cylinder 8 by walking straight valve 56, variable load one way valve 51 and control valve 171, and the working oil flowed out from the Gan Ce grease chamber of dipper cylinder 8 arrives operating oil tank T by control valve 171 and transfer valve 61.
In addition, have nothing to do with the operational ton of walking rod, control valve 174L, 174R are by forcibly and be set in the 3rd valve position instantaneously.Further, controller 30, by adjusting the discharge rate of the first pump 14L, makes the rotary speed of walking hydraulic motor 1L, 1R of left and right become the speed corresponding to the operational ton of the walking rod of left and right thus.
By this formation, even if when having carried out comprising walking and having operated in interior composition operation, controller 30 also can make the pressure loss produced at the position of control valve 174L, 174R reduce, and can realize the rotary speed of walking hydraulic motor 1L, the 1R corresponding to the operational ton of walking rod.
In addition, when the operational ton being judged to be that other operate is more than setting (step S4's is no), controller 30 makes left side walking hydraulic motor 1L and right side walking hydraulic motor 1R drive by the first working oil, and makes to operate corresponding hydraulic actuator with these other by the second working oil and the 3rd working oil and drive (step S6).
Fig. 8 is the figure of the state of the hydraulic circuit represented when being judged to be that other operational tons operated are more than setting, corresponding with Fig. 2, Fig. 6 and Fig. 7.Specifically, Fig. 8 represent that the walking rod of left and right has been carried out half bar operation towards direction of advance and dipper action bars have been carried out the operation of full bar towards closing direction when the state of hydraulic circuit.In this case, as shown in Figure 8, straight for walking valve 56 is set in the second valve position by controller 30, and variable load one way valve 51 is set in the first valve position, and transfer valve 61 is set in the first valve position.In addition, control valve 171 is set in the 3rd valve position by controller 30, and control valve 174L and control valve 174R is set in the 3rd valve position respectively.By this state of hydraulic circuit, as represented by heavy line in Fig. 8, a part for the first working oil that first pump 14L discharges arrives left side walking by control valve 174L and uses hydraulic motor 1L, arrives operating oil tank T from the left side walking working oil that hydraulic motor 1L flows out by control valve 174L.In addition, the remainder of the first working oil that the first pump 14L discharges arrives right side walking hydraulic motor 1R by the straight valve 56 of walking and control valve 174R, arrives operating oil tank T from the right side walking working oil that hydraulic motor 1R flows out by control valve 174R.In addition, as represented by thick dashed line in Fig. 8, the second working oil that second pump 14R discharges arrives the bottom side grease chamber of dipper cylinder 8 by walking straight valve 56, variable load one way valve 51 and control valve 171, and the working oil flowed out from the Gan Ce grease chamber of dipper cylinder 8 arrives operating oil tank T by control valve 171 and transfer valve 61.
In addition, have nothing to do with the operational ton of walking rod, control valve 174L, 174R are by forcibly and be set in the 3rd valve position instantaneously.Further, controller 30, by adjusting the discharge rate of the first pump 14L, makes the rotary speed of walking hydraulic motor 1L, 1R of left and right become the speed corresponding to the operational ton of the walking rod of left and right thus.
By this formation, even if when having carried out comprising walking and having operated in interior composition operation, controller 30 also can make the pressure loss produced at the position of control valve 174L, 174R reduce, and can realize the rotary speed of walking hydraulic motor 1L, the 1R corresponding to the operational ton of walking rod.
In addition, transfer valve 90 is set in the first valve position by controller 30, and transfer valve 91 is set in the first valve position.Further, controller 30 makes pump motor 14A carry out work as hydraulic pump.In this case, the 3rd working oil that pump motor 14A discharges, as represented by thick dashed line in Fig. 8, is collaborated by transfer valve 90, transfer valve 91 and the second working oil, and arrives the bottom side grease chamber of dipper cylinder 8 by control valve 171.
In addition, the discharge rate of pump motor 14A is controlled as, and the total absorbed horsepower of the absorbed horsepower of the absorbed horsepower of the first pump 14L, the absorbed horsepower of the second pump 14R and pump motor 14A, is no more than the shaft horsepower of the motor 11 as drive source.In addition, hydraulic pump absorbed horsepower as to discharge rate and discharge pressure long-pending be multiplied by regulation efficiency and the value that obtains calculates.
Specifically, in the example of fig. 8, namely the first pump 14L is less than the discharge rate of maximum throughput to discharge working oil with the discharge rate corresponding to the operational ton of walking rod, the second pump 14R discharges working oil with maximum throughput.Such as, when the discharge rate of the first pump 14L being set to 80 [L/ minute], when the discharge pressure of the first pump 14L is set to 28 [MPa], the absorbed horsepower of the first pump 14L is calculated as 38 [kW].In addition, when the maximum throughput of the second pump 14R being set to 200 [L/ minute], when the discharge pressure of the second pump 14R is set to 15 [MPa], the absorbed horsepower of the second pump 14R is calculated as 50 [kW].As a result, the total absorbed horsepower of the absorbed horsepower of the first pump 14L and the absorbed horsepower of the second pump 14R is 88 [kW].In this case, when the maximum shaft horsepower of motor is set to 110 [kW], the excess horse power of motor is 22 (=110-88) [kW].Thus, pump motor 14A can utilize the absorbed horsepower of 22 [kW], when the discharge pressure of pump motor 14A is set to 15 [MPa] identical with the second pump 14R, maximum can with the discharge rate of 88 [L/ minute] supply working oil.
By this formation, even if when having carried out comprising walking and having operated in interior composition operation, as long as the total absorbed horsepower of three hydraulic pumps is no more than the shaft horsepower of motor 11, then the 3rd working oil that pump motor 14A discharges just can be supplied to desired hydraulic actuator with adding by controller 30.Specifically, even if when the second pump 14R cannot utilize walking hydraulic motor 1L, 1R towards left and right to supply the reducing amount of the absorbed horsepower of the first pump 14L of working oil, controller 30 also can make pump motor 14A carry out work as hydraulic pump according to this reducing amount, and can towards other hydraulic actuators supply the 3rd working oil beyond walking hydraulic motor 1L, 1R of left and right.Therefore, even if when having carried out comprising walking and having operated in interior composition operation, controller 30 also can make the pressure loss produced at the position of control valve 174L, 174R reduce, and can realize the rotary speed of walking hydraulic motor 1L, the 1R corresponding to the operational ton of walking rod.Further, the underfed of the working oil supplied towards other hydraulic actuators can not be produced.As a result, the operability of the operation important document driven by other hydraulic actuators can be improved.
Then, other configuration examples of the hydraulic circuit carried with reference to the excavator of Fig. 9 to Fig. 1 are described.In addition, Fig. 9 is the synoptic diagram of other configuration examples of the hydraulic circuit that the excavator of Fig. 1 carries, corresponding with Fig. 2.In addition, the difference of the hydraulic circuit of Fig. 9 and the hydraulic circuit of Fig. 1 is, replaces transfer valve 91 and possesses transfer valve 91A, all common in other respects.Therefore, omit the explanation of common part, different piece is described in detail.
Transfer valve 91A carries out the valve of action according to the instruction carrying out self-controller 30.In the present embodiment, transfer valve 91A is can the electromagnetic valve of switchable pump motor 14A and 2 port 2 positions cut off being communicated with between hydraulic actuator.Specifically, transfer valve 91A is, making pump motor 14A be communicated with between hydraulic actuator, being cut off by pump motor 14A when being in the second valve position with being communicated with between hydraulic actuator when being in the first valve position.
By this formation, the 3rd working oil that pump motor 14A can discharge by controller 30 is towards at least one supply in swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, revolution hydraulic motor 21 and accumulator 80.
By above formation, controller 30, when making walking hydraulic motor 1L, 1R and other hydraulic actuators action simultaneously beyond it, makes the first pump 14L be communicated with between walking hydraulic motor 1L, 1R by straight switching part of walking.Therefore, walking hydraulic motor 1L, 1R are driven by the first working oil, and these other hydraulic actuators are driven by least the second working oil in the second working oil and the 3rd working oil.In addition, the first pump 14L, the second pump 14R and the pump motor 14A as hydraulic pump are driven by common drive source and motor 11.Therefore, such as, even if when the second pump 14R cannot utilize the reducing amount of the absorbed horsepower of the first pump 14L, this reducing amount also can be used in the driving of pump motor 14A by controller 30, can more effectively utilize motor to export.
In addition, when making walking hydraulic motor 1L, 1R and other hydraulic actuators action simultaneously beyond it, controlled by the discharge rate of first working oil of discharging the first pump 14L, adjust walking hydraulic motor 1L, 1R rotary speed separately.This is because controller 30 can drive walking hydraulic motor 1L, 1R by means of only the first working oil.As a result, controller 30 can make the pressure loss produced at the position of control valve 174L, 174R reduce, and can realize the rotary speed of walking hydraulic motor 1L, the 1R corresponding to the operational ton of walking rod.In addition, controller 30, by controlling the discharge rate of the first working oil to adjust walking hydraulic motor 1L, 1R rotary speed separately, therefore at least can make the absorbed horsepower of the first pump 14L reduce the amount that the pressure loss is reduced.Therefore, it is possible to make pump motor 14A drive according to this reducing amount, can motor be more effectively utilized to export.
In addition, when the working oil required for other hydraulic actuators above-mentioned flows exceed the maximum throughput of the second pump 14R, controller 30 drives other hydraulic actuators above-mentioned by the second working oil and the 3rd working oil.In addition, below the maximum throughput that the working oil flow required for other hydraulic actuators above-mentioned is the second pump 14R, controller 30 drives other hydraulic actuators above-mentioned by means of only the second working oil.So, controller 30 can change the formation of the supply source of working oil according to the size of required working oil flow.
In addition, the discharge rate of pump motor 14A controls to be that the total absorbed horsepower of the absorbed horsepower of the absorbed horsepower of the first pump 14L, the absorbed horsepower of the second pump 14R and pump motor 14A is no more than the shaft horsepower of the motor 11 as drive source by controller 30.Therefore, it is possible to prevent the total absorbed horsepower of the shaft horsepower by exceeding motor 11 from driving hydraulic pump, and can prevent motor 11 from stopping due to overload.
Above, the preferred embodiments of the present invention have been described in detail, but the present invention is not limited to above-described embodiment, without departing from the scope of the invention, various distortion and displacement can be applied to above-described embodiment.
Such as, in the above-described embodiments, pump motor 14A had not only worked as hydraulic pump but also as hydraulic motor.But the present invention is not limited to this formation.Such as, also displacement pump motor 14A can be carried out with hydraulic pump.
Claims (4)
1. a Work machine, has:
First pump, discharges the first working oil;
Second pump, discharges the second working oil;
3rd pump, discharges the 3rd working oil;
First walking hydraulic motor, at least can flow into described first working oil;
Second walking hydraulic motor, at least can flow into described second working oil;
Hydraulic actuator, at least can flow into described second working oil and described 3rd working oil; And
To walk straight switching part, switch described first pump and described second pump cut off with being communicated with between described first walking hydraulic motor and described second walking hydraulic motor,
Described first pump, described second pump and described 3rd pump are driven by common drive source,
When making described first walking hydraulic motor and described second walking hydraulic motor and the action simultaneously of described hydraulic actuator, the straight switching part of described walking makes described first pump be communicated with between described first walking hydraulic motor and described second walking hydraulic motor, described first walking hydraulic motor and described second walking hydraulic motor are driven by described first working oil, and described hydraulic actuator is driven by least described second working oil in described second working oil and described 3rd working oil.
2. Work machine as claimed in claim 1, wherein,
When making described first walking hydraulic motor and described second walking hydraulic motor and the action simultaneously of described hydraulic actuator, controlled by the discharge rate of described first working oil of discharging described first pump, adjust described first walking hydraulic motor and described second walking hydraulic motor rotary speed separately.
3. Work machine as claimed in claim 1 or 2, wherein,
Described hydraulic actuator is, when required working oil flows exceed the maximum throughput of described second pump, is driven by described second working oil and described 3rd working oil.
4. Work machine as claimed any one in claims 1 to 3, wherein,
The discharge rate of described 3rd pump is controlled as, and the total absorbed horsepower of the absorbed horsepower of the absorbed horsepower of described first pump, the absorbed horsepower of described second pump and described 3rd pump is no more than the shaft horsepower of drive source.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-097830 | 2014-05-09 | ||
| JP2014097830A JP6282523B2 (en) | 2014-05-09 | 2014-05-09 | Work machine |
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| Publication Number | Publication Date |
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| CN105089094A true CN105089094A (en) | 2015-11-25 |
| CN105089094B CN105089094B (en) | 2019-03-08 |
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| CN201510188023.4A Active CN105089094B (en) | 2014-05-09 | 2015-04-20 | Work machine |
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| JP (1) | JP6282523B2 (en) |
| CN (1) | CN105089094B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6675871B2 (en) * | 2015-12-28 | 2020-04-08 | 住友重機械工業株式会社 | Excavator |
| JP6936687B2 (en) * | 2017-10-05 | 2021-09-22 | ヤンマーパワーテクノロジー株式会社 | Work vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1022395A1 (en) * | 1998-07-07 | 2000-07-26 | Kabushiki Kaisha Kobe Seiko Sho | Hydraulic control device of working machine |
| JP2004169878A (en) * | 2002-11-22 | 2004-06-17 | Kayaba Ind Co Ltd | Driving device of hydraulic motor |
| CN103608526A (en) * | 2011-07-06 | 2014-02-26 | 住友重机械工业株式会社 | Shovel and control method of shovel |
| CN103732837A (en) * | 2011-08-24 | 2014-04-16 | 株式会社小松制作所 | Hydraulic shovel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5630317A (en) * | 1993-03-26 | 1997-05-20 | Kabushiki Kaisha Komatsu Seisakusho | Controller for hydraulic drive machine |
| DE19839062C2 (en) * | 1997-08-29 | 2002-04-18 | Komatsu Mfg Co Ltd | Hydraulic machine control |
| JP2004027706A (en) * | 2002-06-27 | 2004-01-29 | Hitachi Constr Mach Co Ltd | Hydraulic circuit device for construction machinery |
| JP4480565B2 (en) * | 2004-12-10 | 2010-06-16 | 株式会社クボタ | Backhoe hydraulic circuit structure |
| JP4817974B2 (en) * | 2006-06-05 | 2011-11-16 | カヤバ工業株式会社 | Power equipment for construction machinery |
| JP4948046B2 (en) * | 2006-06-06 | 2012-06-06 | カヤバ工業株式会社 | Power equipment for construction machinery |
| JP5974684B2 (en) * | 2012-07-03 | 2016-08-23 | コベルコ建機株式会社 | Hydraulic control equipment for construction machinery |
| US9091286B2 (en) * | 2012-08-31 | 2015-07-28 | Caterpillar Inc. | Hydraulic control system having electronic flow limiting |
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2014
- 2014-05-09 JP JP2014097830A patent/JP6282523B2/en active Active
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- 2015-04-20 CN CN201510188023.4A patent/CN105089094B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1022395A1 (en) * | 1998-07-07 | 2000-07-26 | Kabushiki Kaisha Kobe Seiko Sho | Hydraulic control device of working machine |
| JP2004169878A (en) * | 2002-11-22 | 2004-06-17 | Kayaba Ind Co Ltd | Driving device of hydraulic motor |
| CN103608526A (en) * | 2011-07-06 | 2014-02-26 | 住友重机械工业株式会社 | Shovel and control method of shovel |
| CN103732837A (en) * | 2011-08-24 | 2014-04-16 | 株式会社小松制作所 | Hydraulic shovel |
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| Publication number | Publication date |
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| JP6282523B2 (en) | 2018-02-21 |
| CN105089094B (en) | 2019-03-08 |
| JP2015214826A (en) | 2015-12-03 |
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