CN105544630A - Construction machinery - Google Patents
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- CN105544630A CN105544630A CN201510712772.2A CN201510712772A CN105544630A CN 105544630 A CN105544630 A CN 105544630A CN 201510712772 A CN201510712772 A CN 201510712772A CN 105544630 A CN105544630 A CN 105544630A
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Abstract
The invention provides a construction machinery which prevents action passivation of a movable arm (4) when compound operation of closing operation of a grab bucket (6) and lifting operation of the movable arm (4) is performed. The construction machinery related by the embodiment of the invention is provided with a grab bucket opening and closing cylinder (10) enabling the grab bucket (6) to be opened and closed, a movable arm cylinder (7) driving the movable arm (4), a main pump (14L) connected with the grab bucket opening and closing cylinder (10), and a main pump (14R) connected with the movable arm cylinder (7). And, in the construction machinery, when the compound operation of the closing operation of the grab bucket (6) and the lifting operation of the movable arm (4) is performed, the delivery capacity of the main pump (14R) is greater than the delivery capacity of the main pump (14L).
Description
Technical field
The application advocates the priority of No. 2014-219590th, the Japanese patent application based on application on October 28th, 2014.The full content of this Japanese publication is by reference to being applied in this manual.
The present invention relates to a kind of construction machinery possessing grab bucket.
Background technology
There will be a known the hydraulic control circuit (referenced patent document 1) of the hydraulic construction machine possessing the broken cylinder driving breaker.
This hydraulic control circuit, when carrying out the composition operation with the broken cylinder of hydraulic pump parallel join and dipper cylinder, if the pressure that spues of hydraulic pump becomes more than setting, then reduces the discharge-amount being equivalent to fragmentation procedure amount.Further, prevent because broken cylinder arrives the sharply speedup that stroke end causes dipper.
Patent document 1: Japanese Unexamined Patent Publication 2010-31978 publication
But above-mentioned hydraulic control circuit is not considered to drive the pressure (dipper load pressure) of the working oil needed for dipper cylinder to be greater than the situation of the safe pressure (broken cylinder safe pressure) of the pipeline safety valve about broken cylinder.Therefore, when carrying out the composition operation of broken cylinder and dipper cylinder, if dipper load pressure is greater than broken cylinder safe pressure, then makes a part for the working oil that should flow into dipper cylinder flow out from this pipeline safety valve, cause the action of passivation dipper cylinder.
Summary of the invention
In view of the above problems, the present invention is for providing a kind of construction machinery, and it prevents when carrying out the composition operation that grab bucket closed procedure operates with the operating body forming fixture, the action passivation of operating body.
Construction machinery involved by embodiments of the invention has makes the 1st hydraulic unit driver of grab bucket opening and closing, the 2nd hydraulic unit driver driving the operating body forming fixture, the 1st pump be connected with described 1st hydraulic unit driver and the 2nd pump be connected with described 2nd hydraulic unit driver, wherein, when carrying out the composition operation that described grab bucket closed procedure and described operating body operate, the discharge-amount of described 2nd pump is made to be greater than the discharge-amount of described 1st pump.
Invention effect
According to above-mentioned component, provide a kind of construction machinery, it prevents when carrying out the composition operation that grab bucket closed procedure operates with the operating body forming fixture, the action passivation of operating body.
Accompanying drawing explanation
Fig. 1 is the lateral view of the construction machinery involved by embodiments of the invention.
Fig. 2 is the block diagram of the structure example of the drive system of the construction machinery representing Fig. 1.
Fig. 3 is the synoptic diagram of the structure example of the hydraulic circuit representing the construction machinery being equipped on Fig. 1.
Fig. 4 is the flow chart of the flow process of the example representing discharge-amount adjustment process.
Fig. 5 is the figure of the example representing the pressure that spues-discharge-amount correspondence graph.
Fig. 6 is the figure of the state of the hydraulic circuit of the Fig. 3 started when discharge-amount adjusts.
Fig. 7 is the figure of the state of the hydraulic circuit of the Fig. 3 started when discharge-amount adjusts.
The figure of the state of the hydraulic circuit of Fig. 3 when Fig. 8 is the adjustment of stopping discharge-amount.
Fig. 9 is the figure of the passage of time of the various physical quantitys of carrying out when discharge-amount adjusts.
In figure: 1-lower running body, 1A, 1B-walking hydraulic motor, 2-slew gear, 2A-revolution hydraulic motor, 3-upper rotation, 4-swing arm, 5-dipper, 6-grabs bucket, 7-swing arm cylinder, 8-dipper cylinder, 9-scraper bowl cylinder, 10-grab bucket opening and closing cylinder, 11-motor, 13, 13L, 13R-adjuster, 14, 14L, 14R-main pump, 15-pioneer pump, 17-by-pass valve control, 20L, 20R-negative control choke valve, 21L, 21R-center bleed off circuit, 22L, 22R-walks abreast oil circuit, 23L, 23R-returns oil circuit, 26-operating means, 29-pressure sensor, 30-controller, 50-safety valve, 51, 52-load one way valve, 54-converging roads, 171L ~ 175L, 171R ~ 175R-control valve, S1L, S1R, S2L, S2R, S3, S4, S5-pressure sensor, T-service tank.
Detailed description of the invention
First, be described with reference to the construction machinery involved by figure 1 pair of embodiments of the invention.In addition, Fig. 1 is the lateral view of construction machinery.The lower running body 1 of the construction machinery shown in Fig. 1 is equipped with upper rotation 3 via slew gear 2.Upper rotation 3 is provided with fixture.Fixture is formed by as the construction swing arm 4 of body, dipper 5 and grab bucket 6.Specifically, upper rotation 3 is provided with swing arm 4.The front end of swing arm 4 is provided with dipper 5, the front end of dipper 5 is provided with the grab bucket 6 as termination fixture.Swing arm 4 is rotated by swing arm cylinder 7, and dipper 5 is rotated by dipper cylinder 8.Further, grab bucket 6 is rotated by dipper cylinder (grab bucket tilting cylinder) 9, and makes hook 6a opening and closing by grab bucket opening and closing cylinder 10.In addition, scraper bowl cylinder 9 uses scraper bowl to replace making this scraper bowl pivotal general hydraulic cylinder during grab bucket 6, in the present embodiment, for rotating (inclination) grab bucket 6.Further, upper rotation 3 is provided with driver's cabin, and is equipped with motor 11 etc.In addition, illustrate in Fig. 1 simultaneously by grab bucket 6 promptly construction object time the state A1 of fixture, and by the state A2 of fixture when slinging after grab bucket 6 promptly construction object.
Fig. 2 is the block diagram of the structure example of the drive system of the construction machinery representing Fig. 1, represents mechanical dynamic system, high-pressure and hydraulic pipeline, pilot line and electric-control system respectively with doublet, solid line, dotted line and single dotted broken line.
The drive system of construction machinery mainly comprises motor 11, adjuster 13, main pump 14, pioneer pump 15, by-pass valve control 17, operating means 26, pressure sensor 29 and controller 30.
Motor 11 is drive sources of construction machinery.In the present embodiment, it is the Diesel engine as internal combustion engine of the mode action of the rotating speed maintaining regulation.Further, the output shaft of motor 11 is connected to the power shaft of main pump 14 and pioneer pump 15.
Main pump 14 supplies working oil via high-pressure and hydraulic pipeline to by-pass valve control 17.In the present embodiment, main pump 14 is ramp type variable capacity type hydraulic pumps.
Adjuster 13 controls the discharge-amount of main pump 14.In the present embodiment, adjuster 13, according to the control signal carrying out self-controller 30, regulates the swash plate deflection angle of main pump 14, controls the discharge-amount of main pump 14 thus.
Pioneer pump 15 supplies working oil via pilot line to operating means 26.In the present embodiment, pioneer pump 15 is fixed capacity type hydraulic pumps.
By-pass valve control 17 is the hydraulic control devices of the hydraulic system controlled in construction machinery.In the present embodiment, by-pass valve control 17 supplies to one or more subassembly selection in swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, grab bucket opening and closing cylinder 10, left side walking hydraulic motor 1A, right side walking hydraulic motor 1B and revolution hydraulic motor 2A the working oil that main pump 14 spues.In addition, below, swing arm cylinder 7, dipper cylinder 8, scraper bowl cylinder 9, grab bucket opening and closing cylinder 10, left side walking hydraulic motor 1A, right side walking hydraulic motor 1B and revolution hydraulic motor 2A are referred to as " hydraulic unit driver ".
Operating means 26 is that operator is for operating the device of hydraulic unit driver.In the present embodiment, operating means 26 is to the working oil that spues of pilot port supply pioneer pump 15 of the control valve in by-pass valve control 17.Specifically, operating means 26 supplies to the pilot port with each self-corresponding control valve of hydraulic unit driver the working oil that pioneer pump 15 spues.In addition, the pressure (first pilot) of the working oil supplied separately to pilot port is based on the action bars or the direction of operating of pedal (not shown) and the pressure of operational ton with each self-corresponding operating means 26 of hydraulic unit driver.
Pressure sensor 29 is examples for the content of operation test section of content of operation for detecting operating means 26.In the present embodiment, pressure sensor 29 detects and the direction of operating of each self-corresponding operating means 26 of hydraulic unit driver and operational ton with pressure pattern, and exports the value detected to controller 30.In addition, the content of operation of operating means 26 can utilize other sensors beyond the inclination sensor of the gradient detecting various action bars etc., pressure sensor to detect.Specifically, pressure sensor 29 is installed on each operating means 26 such as left side walking action bars, right side walking action bars, dipper action bars, revolution action bars, swing arm action bars, grab bucket tilt operation bar, grab bucket opening and closing pedal respectively.
Controller 30 is the control device for controlling construction machinery.In the present embodiment, controller 30 is made up of the computer possessing CPU, RAM, ROM etc.Further, controller 30 reads the program corresponding with various function important document from ROM and uploads to RAM, performs the process corresponding with various function important document by CPU.
Further, the content of operation (such as, with or without bar operation, bar direction of operating, bar operational ton etc.) that controller 30 is respective according to the output electro-detection operating means 26 of pressure sensor 29.
Then, with reference to figure 3, the structure example of hydraulic circuit of the construction machinery being equipped on Fig. 1 is described.In addition, Fig. 3 is the figure of the structure example of the hydraulic circuit representing the construction machinery being equipped on Fig. 1.Further, Fig. 3 and Fig. 2 is identical, represents high-pressure and hydraulic pipeline, pilot line and electric-control system respectively with solid line, dotted line and single dotted broken line.
Main pump 14L, 14R are the variable capacity type hydraulic pumps driven by motor 11, corresponding with the main pump 14 of Fig. 2.In the present embodiment, main pump 14L makes working oil be circulated to service tank T through the control valve 171L ~ 175L center bleed off circuit 21L separately forming by-pass valve control 17.Further, main pump 14L can supply working oil by the parallel oil circuit 22L extended in parallel with center bleed off circuit 21L to control valve 172L ~ 175L separately.Similarly, main pump 14R makes working oil be circulated to service tank T through the control valve 171R ~ 175R center bleed off circuit 21R separately forming by-pass valve control 17.Further, main pump 14R can supply working oil by the parallel oil circuit 22R extended in parallel with center bleed off circuit 21R to control valve 172R ~ 175R separately.In addition, below, sometimes main pump 14L and main pump 14R is referred to as " main pump 14 " and carrys out reference.Also identical about other constitutive requirements be made up of pair of right and left.
When control valve 171L is operation left side walking action bars (not shown), in order to the working oil spued by main pump 14L is supplied to the bobbin valve (Spoolvalve) of flowing of left side walking hydraulic motor 1A and switch operating oil.
Control valve 171R is the bobbin valve as the straight valve of walking.In the present embodiment, the straight valve 171R that walks is four-way two bit line axle valve, has the 1st valve position and the 2nd valve position.Specifically, the 1st valve position has the stream being communicated with main pump 14L and parallel oil circuit 22L and the stream being communicated with main pump 14R and control valve 172R.Further, the 2nd valve position has the stream being communicated with main pump 14R and parallel oil circuit 22L and the stream being communicated with main pump 14L and control valve 172R.
When control valve 172L is operation grab bucket opening and closing pedal (not shown), be supplied to the bobbin valve of the flowing of grab bucket opening and closing cylinder 10 and switch operating oil in order to the working oil spued by main pump 14L.
When control valve 172R is operation right side walking action bars (not shown), in order to the working oil spued by main pump 14 is supplied to the bobbin valve of flowing of right side walking hydraulic motor 1B and switch operating oil.
When control valve 173L is operation revolution action bars (not shown), be supplied to the bobbin valve of the flowing of revolution hydraulic motor 2A and switch operating oil in order to the working oil spued by main pump 14.
When control valve 173R is operation grab bucket tilt operation bar (not shown), be supplied to the bobbin valve of the flowing of scraper bowl cylinder 9 and switch operating oil in order to the working oil spued by main pump 14R.
When control valve 174L, 174R are operations swing arm action bars (not shown), be supplied to the bobbin valve of the flowing of swing arm cylinder 7 and switch operating oil in order to the working oil spued by main pump 14.In addition, with specify more than bar operational ton to swing arm direction of improvement operation swing arm action bars time, control valve 174L by working oil additional services to swing arm cylinder 7.
When control valve 175L, 175R are operations dipper action bars (not shown), be supplied to the bobbin valve of the flowing of dipper cylinder 8 and switch operating oil in order to the working oil spued by main pump 14.In addition, during to specify that more than bar operational ton operates dipper action bars, control valve 175R by working oil additional services to dipper cylinder 8.
In addition, the working oil flowed out separately from left side walking hydraulic motor 1A, grab bucket opening and closing cylinder 10, revolution hydraulic motor 2A, dipper cylinder 8 is expelled to service tank T by returning oil circuit 23L.Similarly, the working oil flowed out separately from right side walking hydraulic motor 1B, scraper bowl cylinder 9, swing arm cylinder 7 is expelled to service tank T by returning oil circuit 23R.Further, sometimes service tank T is expelled to from a part for the working oil of dipper cylinder 8 outflow by returning oil circuit 23R.
Center bleed off circuit 21L, 21R are possessing negative control choke valve 20L, 20R respectively between control valve 175L, 175R and service tank T of most downstream.In addition, below by negative control referred to as " negative control ".Negative control choke valve 20L, 20R limit the flowing of the working oil that main pump 14L, 14R spue, and produce negative pressure control in the upstream of negative control choke valve 20L, 20R.Controller 30 utilizes this negative pressure control to perform negative control and controls.Specifically, the negative pressure control produced by negative control choke valve 20L, 20R is lower, and the discharge-amount of main pump 14L, 14R is more increased.Further, the negative pressure control that negative control choke valve 20L, 20R produce makes the discharge-amount of main pump 14L, 14R be reduced to regulation lower limit when exceeding authorized pressure.
Safety valve 50 is by the valve of the Stress control of the cylinder bottom grease chamber of grab bucket opening and closing cylinder 10 below the closed safe pressure of regulation.
Load one way valve 51 prevents the working oil in grab bucket opening and closing cylinder 10 to the valve of parallel oil circuit 22L adverse current.
Pressure sensor S1L, S1R detect the negative pressure control produced in the upstream of negative control choke valve 20L, 20R, detected value is born pressure control signal as electricity and exports controller 30 to.
Pressure sensor S2L, S2R detect the pressure that spues of main pump 14L, 14R, spued by detected value press signal to export controller 30 to as electricity.
Pressure sensor S3 detects the pressure (hereinafter referred to as " grab bucket cylinder bottom pressure ") of the cylinder bottom grease chamber of grab bucket opening and closing cylinder 10, exports detected value to controller 30 as electricity grab bucket cylinder bottom pressure signal.
Pressure sensor S4 is one of pressure sensor 29, detect the first pilot acting on right side (grab bucket closed side) pilot port of control valve 172L (following, be called " the closed first pilot of grab bucket "), export detected value to controller 30 as the closed first pilot signal of electricity grab bucket.
Pressure sensor S5 is one of pressure sensor 29, detect the first pilot acting on left side (the swing arm lifting side) pilot port of control valve 174L and right side (the swing arm lifting side) pilot port of control valve 174R (following, be called " swing arm promotes first pilot "), detected value is promoted first pilot signal as electronic arm and exports controller 30 to.
Controller 30 receives the output of pressure sensor 29, S1L, S1R, S2L, S2R, S3, S4, S5 etc., makes CPU perform the program of adjustment main pump 14L, 14R discharge-amount separately.
And, all with full (full) action bars/full (full) pedal (such as, the neutral condition of action bars/pedal is set to 0%, the operational ton of when maximum mode of operation being set to 100% more than 80%) the ongoing operation hydraulic unit driver (such as grab bucket opening and closing cylinder 10) relevant with main pump 14L and hydraulic unit driver (such as swing arm cylinder 7) relevant with main pump 14R time, the discharge-amount L1 of main pump 14L is set to identical with the discharge-amount L2 of main pump 14R by controller 30.Below, which is called " the discharge-amount method of synchronization ".
Then, with reference to figure 4 to when carrying out composition operation that grab bucket 6 closed procedure and operating body operate, the example that controller 30 adjusts the process (hereinafter referred to as " discharge-amount adjustment process ") of the discharge-amount of main pump 14 is described.In addition, Fig. 4 is the flow chart of the flow process of the example representing discharge-amount adjustment process, and controller 30 repeats this discharge-amount adjustment process with regulation control cycle.
First, controller 30 determines whether in discharge-amount adjustment (step ST1).In the present embodiment, controller 30, with reference to value of statistical indicant in the adjustment being stored in RAM etc., determines whether the adjustment carrying out main pump 14 discharge-amount.In adjustment, mark has the initial value " 0 " of expression " in non-adjustment ", can switch to the value " 1 " of expression " in adjustment ".
When being judged to be in not discharge-amount adjustment (NO of step ST1), controller 30 determines whether the beginning condition (step ST2) meeting discharge-amount adjustment.In the present embodiment, grab bucket cylinder bottom pressure is greater than authorized pressure TH1 by controller 30, and the closed first pilot of grab bucket is greater than authorized pressure TH2 is set to beginning condition.In addition, the first pilot (hereinafter referred to as " turning round first pilot ") acting on the pilot port of control valve 173L also can be less than authorized pressure TH3 by controller 30, namely, will not carry out revolution operation join in beginning condition.And, controller 30 also can be (following by the first pilot acting on left side (dipper closed side) pilot port of control valve 175L, be called " dipper closes first pilot ") be less than authorized pressure TH4, namely, do not carry out dipper closed procedure and join in beginning condition.In addition, authorized pressure TH1 ~ TH4 is stored in advance in ROM etc.Further, authorized pressure TH1 is set as the pressure being slightly less than closed safe pressure.
When being judged to not meet beginning condition (NO of step ST2), controller 30 does not start to carry out the discharge-amount adjustment process that discharge-amount adjustment just terminates this.
When being judged to be satisfied beginning condition (YES of step ST2), controller 30 starts to carry out discharge-amount adjustment (step ST3).In the present embodiment, mark in adjustment is switched to value " 1 " by controller 30.On this basis, controller 30 adjusts the discharge-amount L1 of main pump 14L according to the pressure P2 that spues of main pump 14R.Specifically, controller 30, with reference to the pressure that the spues-discharge-amount correspondence graph being stored in advance in ROM etc., is derived and the discharge-amount L1 pressing P2 corresponding that spues.
Fig. 5 is the figure of the example representing the pressure that spues-discharge-amount correspondence graph, and transverse axis corresponds to the pressure P2 that spues of main pump 14R, and the longitudinal axis corresponds to the discharge-amount L1 of main pump 14L.And, Fig. 5 illustrates following relation: when the pressure that spues P2 is for below value P2L, the allowable maximum of discharge-amount L1 becomes higher limit Lmax, when the pressure that spues P2 is greater than value P2L and is less than value P2H, along with spuing, pressure P2 rises, the allowable maximum of discharge-amount L1 reduces, and when the pressure that spues P2 is for more than value P2H, the allowable maximum of discharge-amount L1 becomes lower limit Lmin.
Further, controller 30 controls to avoid the total absorbed horsepower of main pump 14 to exceed (or adding up to absorption torque) shaft horsepower of motor 11 by gross horse power.In addition, the total absorbed horsepower of main pump 14 is with the absorbed horsepower (or absorbing torque) of the main pump 14L of the product representation of the pressure P1 and discharge-amount L1 that spues of main pump 14L and with the summation of the absorbed horsepower (or absorbing torque) of the main pump 14R of the product representation of pressing P2 and discharge-amount L2 that spues of main pump 14R.Therefore, as long as determine the discharge-amount L1 of main pump 14L, then controller 30 can determine the allowable maximum of the discharge-amount L2 of main pump 14R uniquely.Specifically, make the allowable maximum of discharge-amount L1 less, the allowable maximum of discharge-amount L2 more can be made to increase.
Fig. 6 and Fig. 7 is the figure of the state of the hydraulic circuit of the Fig. 3 represented when starting discharge-amount adjustment, and the heavy solid line arrows in figure represents the flow direction of working oil, and heavy line is thicker, represents that the flow of working oil is larger.
Specifically, Fig. 6 illustrates that fixture is when the state A1 of Fig. 1, carries out separately the closed procedure of grab bucket 6, the state of grab bucket 6 promptly after the construction object hydraulic circuit of (hook 6a to closing direction mobile stops after).Now, the working oil that main pump 14R spues is expelled to service tank T by center bleed off circuit 21R, and therefore the pressure P2 that spues of main pump 14R is in the state being less than value P2L (with reference to figure 5).Therefore, the allowable maximum of the discharge-amount L1 of main pump 14L, with reference to the pressure that the spues-discharge-amount correspondence graph of figure 5, is set as higher limit Lmax by controller 30.Its result, the working oil that main pump 14L spues is expelled to service tank T by safety valve 50 while being set to more than closed safe pressure by the pressure of the working oil (the thick dashed line part with reference to figure 6) in the oil circuit be connected with the cylinder bottom side of grab bucket opening and closing cylinder 10 and in parallel oil circuit 22L.In addition, until grab bucket 6 promptly construction object, namely until hook 6a stops to the mobile of closing direction, grab bucket cylinder bottom pressure can not reach authorized pressure TH1.This is because grab bucket when hook 6a moves to closing direction, the cylinder bottom grease chamber of opening and closing cylinder 10 becomes large, receives the working oil that main pump 14L spues.Further, grab bucket cylinder bottom pressure compresses construction object along with grab bucket 6, namely along with hook 6a is slack-off and increase to the movement of closing direction.Further, if grab bucket cylinder bottom pressure reaches closed authorized pressure TH1, then working oil stops to the inflow of cylinder bottom grease chamber, and hook 6a stops to the mobile of closing direction.Therefore, the state representation grab bucket 6 that cylinder bottom pressure of grabbing bucket is greater than authorized pressure TH1 terminates the state after firmly grasping construction object.
Further, hydraulic circuit state when Fig. 7 illustrates the composition operation carrying out grab bucket 6 closed procedure and swing arm 4 lifting operation.Specifically, the state of the hydraulic circuit of fixture when the state A2 of Fig. 1 is represented.Now, the working oil that main pump 14R spues flows into the cylinder bottom grease chamber of swing arm cylinder 7, and therefore the pressure P2 that spues of main pump 14R is in the state being greater than value P2L (with reference to figure 5).Therefore, the allowable maximum of the discharge-amount L1 of main pump 14L, with reference to the pressure that the spues-discharge-amount correspondence graph of figure 5, is set smaller than higher limit Lmax by controller 30.Now, compared with when carrying out separately grab bucket 6 closed procedure, discharge-amount L1 reduces, but the working oil that main pump 14L spues identically with when carrying out separately the closed procedure of grab bucket 6, while being set to more than closed safe pressure by the pressure of the working oil (dotted portion with reference to figure 7) in the oil circuit be connected with the cylinder bottom side of grab bucket opening and closing cylinder 10 and in parallel oil circuit 22L, be expelled to service tank T by safety valve 50.In addition, the pressure P2 that spues of main pump 14R is greater than the pressure P1 that spues of main pump 14L, but the working oil that main pump 14R spues can not flow in parallel oil circuit 22L.This is because blocked towards the flowing of parallel oil circuit 22L by load one way valve 52.
So, even if when continuing to carry out grab bucket 6 closed procedure and swing arm 4 lifting operation with full action bars/full pedal, controller 30 also controls the discharge-amount L1 of main pump 14L and the discharge-amount L2 of main pump 14R respectively.Specifically, while making the total absorbed horsepower of main pump 14 be less than the shaft horsepower of motor 11, P2 is higher for the pressure that spues of main pump 14R, and the discharge-amount L1 of main pump 14L is more reduced.Its result, compares with when being set to identical by discharge-amount L1 with discharge-amount L2, and controller 30 can increase discharge-amount L2, and can increase the rate of climb of swing arm 4.Further, controller 30 is owing to reducing the discharge-amount L1 of main pump 14L, therefore, it is possible to the work oil mass that reduction is discharged from safety valve 50.
On the other hand, in step ST1, when being judged to carry out discharge-amount adjustment (YES of step ST1), controller 30 determines whether the stop condition (step ST4) meeting discharge-amount adjustment.In the present embodiment, to spue pressure P1 or grab bucket cylinder bottom pressure of controller 30 is less than authorized pressure TH5 (< TH1), or the closed first pilot of grab bucket is less than authorized pressure TH6 (< TH2) and is set to stop condition.In addition, controller 30 also can by revolution first pilot be greater than authorized pressure TH7 (> TH3), namely, carry out revolution operation join in stop condition.Further, dipper also can be closed first pilot and be greater than authorized pressure TH8 (> TH4) by controller 30, namely, carries out dipper closed procedure and joins in stop condition.In addition, authorized pressure TH5 ~ TH8 is stored in advance in ROM etc.Further, authorized pressure TH5, TH6 are set smaller than the value of authorized pressure TH1, TH2 respectively, and authorized pressure TH7, TH8 are set greater than the value of authorized pressure TH3, TH4 respectively.This alternately meets beginning condition and stop condition to prevent, and cause the start and stop frequently repeating discharge-amount adjustment.
When being judged to meet stop condition (YES of step ST4), controller 30 stops discharge-amount adjusting (step ST5).In the present embodiment, mark in adjustment is switched to value " 0 " by controller 30.On this basis, controller 30 controls according to existing negative control control and gross horse power the discharge-amount controlling main pump 14L, 14R.
Fig. 8 is the figure of an example of the hydraulic circuit state of the Fig. 3 represented when stopping discharge-amount adjustment, and in figure, heavy solid line arrows represents the flow direction of working oil.Further, the hydraulic circuit state during composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation is carried out shown in Fig. 8.Specifically, the hydraulic circuit state of fixture when the state A2 of Fig. 1 is represented.Now, due to the cylinder bottom grease chamber of the working oil inflow swing arm cylinder 7 that main pump 14R spues, therefore the pressure P2 that spues of main pump 14R is in the state being greater than value P2L (with reference to figure 5).On the other hand, when the radius of gyration of fixture is less than state A1 (with reference to figure 1), therefore when the pressure that spues P2 is also less than state A1 (with reference to figure 1), namely smaller with the hydraulic circuit state phase shown in Fig. 7, be in the state being less than spue pressure P1 and closed safe pressure.Therefore, the working oil that the working oil that main pump 14L spues is spued by parallel oil circuit 22L and control valve 174L and main pump 14R collaborates and flows into the cylinder bottom grease chamber of swing arm cylinder 7.Its result, the pressure that spues P1 presses P2 equal with spuing.Further, due to all with full action bars/full pedal ongoing operation grab bucket opening and closing cylinder 10 and swing arm cylinder 7, therefore the discharge-amount L1 of main pump 14L is controlled so as to as identical value with the discharge-amount L2 of main pump 14R.Further, in this case, the pressure of the working oil (dotted portion with reference to figure 8) in the oil circuit be connected with the cylinder bottom side of grab bucket opening and closing cylinder 10 also maintains near closed safe pressure.This is because blocked towards the flowing of parallel oil circuit 22L by load one way valve 51.
So, controller 30, when carrying out discharge-amount adjustment, stops discharge-amount adjustment when meeting stop condition.Such as, the pressure P2 that spues of main pump 14R is less than authorized pressure TH5, its result, stops discharge-amount adjustment when the pressure P1 that spues of main pump 14L is less than authorized pressure TH5.Therefore, from main pump 14L working oil with can prevent from excessively limiting discharge-amount L1 when collaborating from the working oil of main pump 14R and flow into swing arm cylinder 7 and the rate of climb passivation that causes swing arm 4.That is, when the pressure of the cylinder bottom grease chamber of swing arm cylinder 7 is less than closed safe pressure, can increase on the basis of discharge-amount L1 of main pump 14L, make the working oil from main pump 14L collaborate with the working oil from main pump 14R and flow into swing arm cylinder 7.
Further, controller 30 stops discharge-amount adjustment when cylinder bottom pressure of grabbing bucket is less than authorized pressure TH5.Therefore, even if when the construction object that grab bucket 6 is firmly grasped is scattered, by supplying rapidly enough working oils to the cylinder bottom grease chamber of grab bucket opening and closing cylinder 10, firmly grasping further of grab bucket 6 can be realized thus fast.
Then, with reference to figure 9, the passage of time of the various physical quantitys of carrying out when discharge-amount adjusts is described.In addition, Fig. 9 is the figure of the passage of time of the various physical quantitys represented when carrying out discharge-amount adjustment.Specifically, Fig. 9 illustrates the passage of time of the ON/OFF state of the grab bucket ON/OFF state of closed procedure, swing arm lifting operation, the discharge-amount L1 of main pump 14L, the discharge-amount L2 of main pump 14R and swing arm flow.Further, the ON state of grab bucket closed procedure refers to the state of full pedal operation grab bucket opening and closing cylinder 10, and the ON state of swing arm lifting operation refers to the state of full action bars operation swing arm cylinder 7.Further, swing arm flow refers to the flow of the working oil of the cylinder bottom grease chamber flowing into swing arm cylinder 7.In addition, the solid line of Fig. 9 represents passage of time when performing discharge-amount adjustment, and passage of time when not performing discharge-amount adjustment illustrates as comparison other by dotted line.
As shown in Figure 9, if become ON state at moment t1 grab bucket closed procedure, then controller 30 starts to carry out discharge-amount adjustment.Specifically, when controller 30 detects that the output of pressure sensor S3 cylinder bottom pressure of namely grabbing bucket is greater than authorized pressure TH1, when closed first pilot is greater than authorized pressure TH2 and namely the output of pressure sensor S4 grab bucket, be judged to be satisfied beginning condition, and start to carry out discharge-amount adjustment.
Its result, the lower limit Lmin that the discharge-amount L1 of main pump 14L adopts when relevant hydraulic unit driver does not all operate is increased to higher limit Lmax.Specifically, controller 30, with reference to the pressure that spues-discharge-amount correspondence graph as shown in Figure 5, is derived higher limit Lmax by the pressure P2 that spues of main pump 14R, discharge-amount L1 is increased to higher limit Lmax.Now, the pressure P2 that spues of main pump 14R is less than value P2L.
Afterwards, at moment t2, if swing arm lifting operation becomes ON state, then the discharge-amount L1 of main pump 14L is reduced to lower limit Lmin.Specifically, controller 30, with reference to the pressure that spues/discharge-amount correspondence graph as shown in Figure 5, is derived lower limit Lmin by the pressure P2 that spues of main pump 14R, discharge-amount L1 is reduced to lower limit Lmin.Now, the pressure P2 that spues of main pump 14R is more than value P2H.
On the other hand, the lower limit Lmin that the discharge-amount L2 of main pump 14R adopts when relevant hydraulic unit driver does not all operate is increased to flow Lm.Specifically, controller 30 is under gross horse power controls, and the mode being no more than the shaft horsepower of motor 11 with the total absorbed horsepower of main pump 14 derives discharge-amount Lm, makes discharge-amount L2 be increased to flow Lm.Its result, swing arm flow is increased to flow Lm.In addition, absorbed horsepower T is added up to be represented by T=k (coefficient) × (P1 × L1+P2 × L2).When making total absorbed horsepower T maintain constant, discharge-amount L1 less discharge-amount L2 (flow Lm) is larger.
So, when carrying out the composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation, controller 30 makes the discharge-amount L2 of main pump 14R be greater than the discharge-amount L1 of main pump 14L.Therefore, it is possible to the vertical motion passivation of anti-stopper arms 4.
In addition, at moment t2, when not performing discharge-amount adjustment, discharge-amount L1, L2 of main pump 14L, 14R are all set as flow Lp under gross horse power controls.Specifically, the discharge-amount L1 of main pump 14L is reduced to the flow Lp being greater than lower limit Lmin, and the discharge-amount L2 of main pump 14R is increased to the flow Lp being less than flow Lm.Therefore, swing arm flow restriction is the flow Lp of the flow Lm be less than when performing discharge-amount adjustment.Its result, slack-off compared with when the rate of climb of swing arm 4 adjusts with execution discharge-amount.
Specifically, the discharge-amount method of synchronization, namely, can not control respectively in the mode of discharge-amount L1 and discharge-amount L2 when proceeding the lifting operation of grab bucket 6 closed procedure and swing arm 4 with full action bars/full pedal, when the cylinder bottom grease chamber pressure of swing arm cylinder 7 is greater than closed safe pressure, the working oil that main pump 14L cannot be made to spue flows into the cylinder bottom grease chamber of swing arm cylinder 7 via control valve 174L.This is because the major part of this working oil is expelled to service tank T by safety valve 50.Now, increase discharge-amount L2 and mean increase discharge-amount L1, namely, the flow being wasted the working oil of discharging by safety valve 50 is increased.Further, by increasing discharge-amount L1, the absorbed horsepower of main pump 14L also unnecessarily increases, and therefore also limits the increasing degree of absorbed horsepower and the increasing degree of discharge-amount L2 of the main pump 14R under gross horse power control.
And the controller 30 performing discharge-amount adjustment is when the pressure of the cylinder bottom grease chamber of swing arm cylinder 7 is greater than closed safe pressure, the working oil spued by means of only main pump 14R drives swing arm cylinder 7.Namely, by the working oil not making main pump 14L spue unnecessarily collaborate, thus reduce the discharge-amount L1 of main pump 14L, and under gross horse power controls, significantly can increase the discharge-amount L2 of main pump 14R.Its result, can the vertical motion passivation of anti-stopper arms 4.
Further, controller 30, when carrying out the composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation, compared with when carrying out separately the closed procedure of grab bucket 6, reduces the discharge-amount of main pump 14L.Therefore, it is possible to make the consumable absorbed horsepower increase of main pump 14R be equivalent to the amount of the absorbed horsepower reducing main pump 14L, the discharge-amount L2 of main pump 14R can be increased further.
Further, controller 30, when carrying out the composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation, according to the difference of closed safe pressure with grab bucket cylinder bottom pressure, changes the discharge-amount of main pump 14L.Specifically, when when carrying out discharge-amount adjustment, this difference becomes large, namely, grab bucket cylinder bottom pressure is when being less than authorized pressure TH5, stops discharge-amount adjustment, according to existing negative control control and gross horse power control, controls the discharge-amount of main pump 14L, 14R.Therefore, even if when the construction object that grab bucket 6 is firmly grasped is scattered, by supplying rapidly enough working oils to the cylinder bottom grease chamber of grab bucket opening and closing cylinder 10, firmly grasping further of grab bucket 6 can be realized rapidly.
Further, controller 30, when carrying out the composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation, changes the discharge-amount L1 of main pump 14L according to the pressure P2 that spues of main pump 14R.Such as, P2 is higher for the pressure that spues of main pump 14R, more reduces the discharge-amount L1 of main pump 14L.Its result, when the pressure of the cylinder bottom grease chamber of swing arm cylinder 7 is greater than closed safe pressure, by reducing the discharge-amount L1 of main pump 14L, can increase the discharge-amount L2 of main pump 14R under gross horse power controls.
Further, when the hydraulic circuit of Fig. 3 has the lifting operation carrying out swing arm 4, the working oil that main pump 14L spues and the converging roads 54 that the working oil that main pump 14R spues collaborates.Further, this converging roads 54 is configured with the load one way valve 52 blocked from main pump 14R to the flowing of main pump 14L.Therefore, when the pressure of the cylinder bottom grease chamber of swing arm cylinder 7 is greater than closed safe pressure, while the working oil that can spue by means of only main pump 14R drives swing arm cylinder 7, under the state of discharge-amount L1 reducing main pump 14L, the closed procedure of grab bucket 6 can be proceeded.
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, can to the above embodiments various distortion and replacement in addition.
Such as, in the above-described embodiments, discharge-amount adjustment performs when carrying out the composition operation of grab bucket 6 closed procedure and swing arm 4 lifting operation.But, the invention is not restricted to this formation.Such as, discharge-amount adjustment at the composition operation etc. carrying out grab bucket 6 closed procedure and dipper 5 opening operation, can perform when comprising other composition operations of grab bucket 6 closed procedure.
Further, in the above embodiments, discharge-amount adjustment is performed by the construction machinery with grab bucket opening and closing cylinder 10.But the present invention is not limited to this formation.Such as, discharge-amount adjustment also can have pressure release is carried out to working oil while perform in the construction machinery of other hydraulic unit drivers that drives.
Claims (5)
1. a construction machinery, it has:
Make the 1st hydraulic unit driver of grab bucket opening and closing;
Drive the 2nd hydraulic unit driver of the operating body forming fixture;
The 1st pump be connected with described 1st hydraulic unit driver; And
The 2nd pump be connected with described 2nd hydraulic unit driver,
Wherein, when carrying out the composition operation of the closed procedure of described grab bucket and the operation of described operating body, the discharge-amount of described 2nd pump is made to be greater than the discharge-amount of described 1st pump.
2. construction machinery according to claim 1, wherein,
When carrying out the composition operation of the closed procedure of described grab bucket and the operation of described operating body, compared with when carrying out the independent closed procedure of described grab bucket, reduce the discharge-amount of described 1st pump.
3. construction machinery according to claim 1 and 2, wherein,
Described construction machinery has safety valve, and described safety valve, when carrying out the closed procedure of described grab bucket, makes towards the outflow at least partially of the working oil of described 1st hydraulic unit driver,
When carrying out the composition operation of the closed procedure of described grab bucket and the operation of described operating body, according to the difference of the pressure of the working oil of described 1st hydraulic unit driver of inflow below the safe pressure of described safety valve and described safe pressure, change the discharge-amount of described 1st pump.
4. construction machinery according to claim 1 and 2, wherein,
When carrying out the composition operation of the closed procedure of described grab bucket and the operation of described operating body, according to the pressure that spues of described 2nd pump, change the discharge-amount of described 1st pump.
5. construction machinery according to any one of claim 1 to 4, wherein,
Described construction machinery has converging roads, and described converging roads is when carrying out the operation of described operating body, and the 2nd working oil that the 1st working oil that described 1st pump is spued and described 2nd pump spue collaborates,
Described converging roads is configured with the one way valve blocked from described 2nd pump to the flowing of described 1st pump.
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| JP2014219590A JP6305902B2 (en) | 2014-10-28 | 2014-10-28 | Work machine |
| JP2014-219590 | 2014-10-28 |
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| CN109488651A (en) * | 2018-12-19 | 2019-03-19 | 江苏徐工工程机械研究院有限公司 | A kind of multi-way valve and electric-control system |
| CN115404938A (en) * | 2022-10-08 | 2022-11-29 | 三一海洋重工有限公司 | Control method and device for material grabbing hopper and material grabbing machine |
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| KR102461096B1 (en) * | 2017-07-20 | 2022-10-31 | 현대두산인프라코어 주식회사 | Method and apparatus for controlling travelling speed of construction machinery |
| JP7131138B2 (en) * | 2018-07-04 | 2022-09-06 | コベルコ建機株式会社 | Working machine hydraulic drive |
| KR102086144B1 (en) * | 2018-10-16 | 2020-03-06 | 현대건설기계 주식회사 | Hydraulic Control System for Construction Equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6305902B2 (en) | 2018-04-04 |
| JP2016084910A (en) | 2016-05-19 |
| CN105544630B (en) | 2020-12-15 |
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