CN106460888A - Shovel and control method therefor - Google Patents
Shovel and control method therefor Download PDFInfo
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- CN106460888A CN106460888A CN201580025526.8A CN201580025526A CN106460888A CN 106460888 A CN106460888 A CN 106460888A CN 201580025526 A CN201580025526 A CN 201580025526A CN 106460888 A CN106460888 A CN 106460888A
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- China
- Prior art keywords
- swing arm
- discharge flow
- command value
- flow
- hydraulic pump
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A shovel (1) is provided with: a boom cylinder (7) that receives at least one part of hydraulic oil that is discharged by a hydraulic pump (10R) as pump supply oil; a regenerated oil path (33) that causes at least one part of the hydraulic oil that flows out from a bottom-side oil chamber of the boom cylinder (7) to flow into a rod-side oil chamber as regenerated oil; and a controller (54) that controls the discharge flow rate (Qp) of the hydraulic oil that is discharged by the hydraulic pump (10R) and adjusts the boom cylinder inflow rate (Qs). The controller (54) determines the discharge flow rate (Qp) in accordance with the thrust force (F) that acts on the boom cylinder (7) when a boom lowering operation is performed and maximizes a regeneration flow rate (Qg) while setting the pressure of the rod-side oil chamber to be equal to or greater than a predetermined target pressure (Ptg).
Description
Technical field
The present invention relates to a kind of excavator possessing regenerative circuit and its control method, when carrying out swing arm step-down operation,
Described regenerative circuit makes the working oil that the contraction side grease chamber of slave arm cylinder flows out be flowed into stretching, extension side grease chamber.
Background technology
The known control device having following construction machinery, it simultaneously drives swing arm by the working oil that 1 hydraulic pump spues
Cylinder and scraper bowl cylinder, so that the swing arm as operating body and scraper bowl carry out action (referenced patent document 1 simultaneously.).
This control device includes regenerative circuit, in the case of having carried out swing arm step-down operation, this regenerative circuit make from
The working oil that the bottom side grease chamber of swing arm cylinder flows out is flowed into the bar side grease chamber of swing arm cylinder.And, decline behaviour only having carried out swing arm
In the case of work, compared with situation about simultaneously carrying out with swing arm step-down operation and scraper bowl opening operation, make the discharge flow of hydraulic pump
Reduce, it is to avoid the discharge pressure of hydraulic pump excessively rises.
Conventional art document
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2000-309949 publication
The summary of invention
Invention technical task to be solved
Even if however, in the case of only having carried out swing arm step-down operation, above-mentioned control device also operates still according to swing arm
Determining the discharge flow of hydraulic pump, this cannot change the operational ton of bar.Therefore, even if outer in swing arm cylinder to be made contraction
Power (for example, including power produced by the weight of the annex of the weight of soil sand) of different sizes in the case of, if swing arm action bars
Operational ton identical, then the discharge flow of hydraulic pump is also identical.As a result, external force is less, regeneration efficiency (is being flowed into swing arm cylinder
The work oil mass of bar side grease chamber in shared regeneration oil mass ratio) become lower.
In view of the foregoing, preferably provide a kind of excavator that can improve regeneration efficiency during swing arm step-down operation.
For solving the means of technical task
Excavator involved by embodiments of the invention possesses：Swing arm cylinder, accepts the working oil of hydraulic pump discharge at least
A part supplies oil supply as pump；Regenerative circuit is so that a part for the working oil flowing out from the contraction side grease chamber of described swing arm cylinder
It is flowed into stretching, extension side grease chamber as reclaimed oil；And control device, control the discharge flow of working oil that described hydraulic pump spues and
Adjust the supply flow rate that described pump supplies oil supply, in the case of having carried out swing arm step-down operation, described control device is according to effect
Thrust in described swing arm cylinder to determine described discharge flow, by the pressure of described stretching, extension side grease chamber be set to authorized pressure with
On, make the regenerant flow of described reclaimed oil become maximum.
Invention effect
A kind of excavator that can improve regeneration efficiency during swing arm step-down operation can be provided according to said method.
Brief description
Fig. 1 is the side view of the configuration example representing the excavator involved by embodiments of the invention.
Fig. 2 is the figure of the configuration example of the hydraulic circuit representing the excavator being equipped on Fig. 1.
Fig. 3 is the figure representing the state of hydraulic circuit when individually having carried out swing arm step-down operation.
Fig. 4 is the figure of the relation of the working oil representing inflow and outflow in swing arm cylinder.
Fig. 5 is the corresponding pass representing between swing arm step-down operation amount and regenerative circuit and the respective flow path area of oil return line
The figure of of system.
Fig. 6 is the relation representing discharge flow respectively and swing arm cylinder inflow flow, regenerant flow and swing arm rod pressure between
Chart.
Fig. 7 is the flow chart of the flow process of representing discharge flow optimization processing.
Fig. 8 is the chart representing various parameters when individually carrying out swing arm step-down operation over time.
Specific embodiment
Fig. 1 is the side view of the configuration example representing the Work machine involved by embodiments of the invention.In FIG, as
Upper rotation 3 is taken in the way of around X-axis revolution freely by the excavator (excavator) 1 of Work machine via slew gear
On crawler type lower running body 2.
And, upper rotation 3 possesses excavation attachment in central front portion.Excavation attachment includes swing arm 4, dipper 5 and shovel
Bucket 6, and include swing arm cylinder 7 as hydraulic unit driver, dipper cylinder 8 and scraper bowl cylinder 9.
Fig. 2 is the figure of the configuration example of the hydraulic circuit representing the excavator being equipped on Fig. 1.In addition, the dotted line of Fig. 2 represents control
Pressing pressure line, the dotted line of Fig. 2 represents electrical signal line.
Hydraulic pump 10L, 10R are powered variable displacement pump by driving sources such as engine, electro-motors.In this reality
Apply in example, hydraulic pump 10L makes working oil be recycled to work by connecting control valve 11L～15L middle position bleed off circuit 30L each other
Oil tank 22.And, hydraulic pump 10L can by the parallel oil circuit 31L that extends parallel to middle position bleed off circuit 30L and respectively to
Control valve 11L～15L supply working oil.Similarly, hydraulic pump 10R passes through to connect control valve 11R～15R middle position bypass each other
Oil circuit 30R makes working oil be recycled to service tank 22.And, hydraulic pump 10R can be by parallel to middle position bleed off circuit 30R
The parallel oil circuit 31R extending is respectively to control valve 12R～15R supply working oil.In addition, in herein below, hydraulic pump 10L sometimes
And hydraulic pump 10R is referred to as " hydraulic pump 10 " and is referenced.With regard to pair of right and left other constitutive requirements of constituting also identical.
Control valve 11L is bobbin valve, and this bobbin valve is (not shown in the left side walking rod as operation device.) operated
In the case of switch operating oil flowing so that using hydraulic pump 10L spue working oil be supplied to the left side as hydraulic unit driver
Hydraulic motor 42L is used in walking.
Control valve 11R is the bobbin valve as straight travel valve.In the present embodiment, straight travel valve 11R is the 4 bobbin valves leading to 2,
There is the 1st valve position and the 2nd valve position.Specifically, the 1st valve position has the stream of connection hydraulic pump 10L and parallel oil circuit 31L
Road and the stream connecting hydraulic pump 10R and control valve 12R.And, the 2nd valve position has connection hydraulic pump 10R and parallel oil circuit
The stream of 31L and the stream connecting hydraulic pump 10L and control valve 12R.
Control valve 12L is bobbin valve, and the flowing of this bobbin Vavle switching working oil, so that the working oil that hydraulic pump 10 is spued
It is supplied to selective hydraulic unit driver (not shown.).
Control valve 12R is bobbin valve, and this bobbin valve is (not shown in the right side walking rod as operation device.) operated
In the case of switch operating oil flowing so that the working oil that hydraulic pump 10 is spued is supplied to the right side row as hydraulic unit driver
Walk to use hydraulic motor 42R.
Control valve 13L is bobbin valve, and this bobbin valve is (not shown in the revolution action bars as operation device.) operated
In the case of switch operating oil flowing so that the working oil that hydraulic pump 10 is spued be supplied to as hydraulic unit driver revolution use
Hydraulic motor 44.
Control valve 13R is bobbin valve, and this bobbin valve is (not shown in the scraper bowl action bars as operation device.) operated
In the case of switch operating oil flowing so that the working oil that hydraulic pump 10 is spued is supplied to scraper bowl cylinder 9.
Control valve 14L, 14R is bobbin valve, and this bobbin valve is (not shown in the swing arm action bars as operation device.) grasped
The flowing of switch operating oil in the case of work, so that the working oil that hydraulic pump 10 is spued is supplied to swing arm cylinder 7.In addition, dynamic
In the case that arm action bars is operated to swing arm ascent direction with amount more than the bar operational ton that specifies, control valve 14L is by work
Oily additional services is to swing arm cylinder 7.
Control valve 15L, 15R is bobbin valve, and this bobbin valve is (not shown in the dipper action bars as operation device.) grasped
The flowing of switch operating oil in the case of work, so that the working oil that hydraulic pump 10 is spued is supplied to dipper cylinder 8.In addition, controlling
In the case that amount more than dipper action bars is with the bar operational ton that specifies for the valve 15R is operated, by working oil additional services to bucket
Bar cylinder 8.
Middle position bleed off circuit 30L, 30R have between control valve 15L, 15R positioned at most downstream and service tank 22 respectively
Standby negative control choke valve 20L, 20R.In addition, following, negative control is referred to as " negative control ".Negative control choke valve 20L, 20R are to hydraulic pressure
The flowing of the working oil that pump 10L, 10R spue is limited, to produce negative pressure control in the upstream of negative control choke valve 20L, 20R
Power.
The negative governor pressure that pressure sensor S1, S2 detection produces in the upstream of negative control choke valve 20L, 20R, and will detect
Value as negative governor pressure electric signal output to controller 54.
Pressure sensor S3, S4 detect the discharge pressure of hydraulic pump 10L, 10R, and using the value detecting as discharge pressure
Electric signal output is to controller 54.
Pressure sensor S5 detect swing arm cylinder 7 bar side grease chamber in working oil pressure, and using the value detecting as
Semaphore electric pressure signal exports to controller 54.And, pressure sensor S6 detects in the bottom side grease chamber of swing arm cylinder 7
The pressure of working oil, and the value detecting is exported as swing arm base pressure electric signal to controller 54.
In addition, in left side walking rod, right side walking rod, dipper action bars, revolution action bars, swing arm action bars, scraper bowl behaviour
Make to be provided with operation content test section in the operation devices such as bar.The elder generation that operation content test section for example, generates to each operation device
The pressure sensor that pilot power is detected is (not shown.).These pressure sensors are using the value detecting as pilot pressure electricity
Signal output is to controller 54.
Controller 54 is the function important document controlling hydraulic circuit, for example, possesses the calculating of CPU, RAM, ROM, NVRAM etc.
Machine.In the present embodiment, controller 54 exporting to various operation devices according to the operation content test section such as pressure sensor
Operation content (such as the presence or absence of bar operation, bar direction of operating, bar operational ton etc..) carry out electro-detection.In addition, operation content detection
Portion the sensor in addition to pressure sensor can also be made up of inclination sensor of inclination detecting various action bars etc..
And, controller 54 makes CPU execution corresponding to the program of various functions important document, and this various functions important document makes pump adjust
Device 40L, 40R etc. carry out action according to the operation content of various operation devices.
Pump control mechanism 40L, 40R are the mechanisms that the discharge flow to hydraulic pump 10L, 10R is controlled.In the present embodiment
In, instruction that pump control mechanism 40L, 40R generate according to controller 54 and adjust the swash plate deflection angle of hydraulic pump 10L, 10R, thus
Control the discharge flow of hydraulic pump 10L, 10R.
In the state of such as hydraulic unit driver in excavator 1 is not all operated, the working oil that hydraulic pump 10L, 10R spue
Reach negative control choke valve 20L, 20R by middle position bleed off circuit 30L, 30R so that upstream in negative control choke valve 20L, 20R
The negative governor pressure producing increases.In the case of being somebody's turn to do, pump control mechanism 40L, 40R generate according to negative pressure control force signal according to controller 54
Instruction reduce hydraulic pump 10L, 10R discharge flow.As a result, the working oil that hydraulic pump 10L, 10R spue is by middle position
The pressure loss (suction loss) during bleed off circuit 30L, 30R is suppressed.
On the other hand, in the case that arbitrary hydraulic unit driver is operated, the working oil warp that hydraulic pump 10L, 10R spue
It is flowed into this hydraulic unit driver by the control valve corresponding to this hydraulic unit driver.Therefore, negative control choke valve 20L, 20R are reached
Amount reduces or disappears, and the negative governor pressure producing in the upstream of negative control choke valve 20L, 20R reduces.In the case of being somebody's turn to do, pump control mechanism
40L, 40R make the discharge flow of hydraulic pump 10L, 10R increase, and so that enough working oils is circulated in each hydraulic unit driver, will
The driving of each driver is set to reliably drive.
And, in the case of the setting depending on the discharge pressure of hydraulic pump 10L, 10R exceedes according to discharge flow, pump
Adjuster 40L, 40R reduce the discharge of hydraulic pump 10L, 10R according to the instruction that controller 54 generates according to discharge pressure signal
Flow.This is to prevent hydraulic pump 10L, 10R's to inhale the shaft horsepower that horsepower exceedes the engine as driving source.
In addition, pump control mechanism 40L, 40R can also be using the negative governor pressure of upstream of negative control choke valve 20L, 20R, hydraulic pressure
The discharge pressure of pump 10L and the discharge pressure of hydraulic pump 10R, control the discharge flow of hydraulic pump 10L, 10R in a hydrodynamic manner.
Then, with reference to Fig. 3, the state of the hydraulic circuit individually having carried out during swing arm step-down operation is illustrated.In addition,
Fig. 3 is the figure representing the state of hydraulic circuit when individually having carried out swing arm step-down operation, and corresponds to Fig. 2.And, in this reality
Apply in example, swing arm step-down operation refers to the operation being used for making swing arm 4 decline when making excavation attachment carry out action in the air.And
And, the heavy line of Fig. 3 represents the flowing of the working oil towards swing arm cylinder 7, and the thick dotted line of Fig. 3 represents the work towards service tank 22
Make the flowing of oil.And, in the present embodiment, swing arm step-down operation is carried out with the operation of full bar." full bar operation " refers to specify
Operational ton more than the bar operation that carries out of amount it is stipulated that operational ton for example, more than 80% operational ton.In addition, operational ton
100% corresponds to operational ton when making action bars tilt to greatest extent, and operational ton 0% corresponds to when action bars is remained neutral
The operational ton of (when action bars is operated).
Specifically, if swing arm action bars is operated downward, the pilot port on figure right side for control valve 14R is subject to first
Pilot power and mobile to figure left side.
If control valve 14R is moved to the left, middle position bleed off circuit 30R is blocked, the working oil that therefore hydraulic pump 10R spues
Flow towards control valve 14R after by parallel oil circuit 31R.And, the working oil of parallel oil circuit 31R is by control valve
It is flowed into the bar side grease chamber of swing arm cylinder 7 after 14R.And, the another part of the working oil that the bottom side grease chamber of slave arm cylinder 7 flows out
After the regenerative circuit 33 by being formed in control valve 14R, collaborated with the working oil from parallel oil circuit 31R, and
It is flowed into the bar side grease chamber of swing arm cylinder 7.And, the remainder of the working oil that the bottom side grease chamber of slave arm cylinder 7 flows out passes through shape
The oil return line 34 in control valve 14R is become to be discharged to service tank 22.
Then, with reference to Fig. 4 to individually having carried out acting on thrust F, the hydraulic pump 10R of swing arm cylinder 7 during swing arm step-down operation
The relation of capacity of returns Qc of discharge flow Qp, the regenerant flow Qg of regenerative circuit 33 and oil return line 34 illustrate.In addition, figure
4 is the figure of the relation of the working oil representing inflow and outflow in swing arm cylinder 7.
If the compression area of the bar side of the piston sliding in swing arm cylinder 7 is set to Ar, the compression area of bottom side is set to
Ab, the pressure of bar side grease chamber is set to swing arm rod pressure Pr, the pressure of bottom side grease chamber is set to swing arm base pressure Pb, then acts on
Thrust F in swing arm cylinder 7 can be represented by following formula (1).
[mathematical expression 1]
F=Ab × Pb-Ar × Pr... (1)
And, formula (1) can be rewritten by following formula (2).
[mathematical expression 2]
And if, the differential pressure before and after the choke valve constituting regenerative circuit 33 is set to Δ P (=Pb-Pr), by working oil
Density be set to ρ, the flow path area (choke valve section) of regenerative circuit 33 is set to Ag, the efflux coefficient of working oil is set to C,
Then the regenerant flow Qg of regenerative circuit 33 can be represented by following formula (3).
[mathematical expression 3]
If here, using Section 1 stream coefficient Cg being represented by formula (4), formula (3) can be rewritten by following formula (5).
[mathematical expression 4]
[mathematical expression 5]
Qg2=Cg2×(Pb-Pr)…(5)
Similarly, if the pressure in the downstream of oil return line 34 is set to Pt, before and after the choke valve of composition oil return line 34
Differential pressure is set to Δ P (=Pb-Pt), and the density of working oil is set to ρ, and the flow path area (choke valve section) of oil return line 34 is set to
Ac, the efflux coefficient of working oil is set to C, then capacity of returns Qc of oil return line 34 can be represented by following formula (6).
[mathematical expression 6]
If here, using Section 2 stream coefficient Cc being represented by formula (7), formula (6) can be rewritten by following formula (8).
[mathematical expression 7]
[mathematical expression 8]
Qc2=Cc2×(Pb-Pt)…(8)
In addition, the flow path area Ac of the flow path area Ag of regenerative circuit 33 and oil return line 34 is according to swing arm action bars down
The bar operational ton of side (below, is set to " swing arm step-down operation amount ".) and well-determined value.Fig. 5 represents swing arm step-down operation amount
One of corresponding relation and flow path area Ag and flow path area Ac between respectively.Specifically, swing arm step-down operation amount is bigger,
Flow path area Ag and flow path area Ac is all bigger.For example, swing arm step-down operation amount be 100% (maximum rod operational ton) situation
Under, flow path area Ag becomes maximum Agmax, and flow path area Ac becomes maximum Acmax.
Therefore, in the present embodiment, between Section 1 stream coefficient Cg and Section 2 stream coefficient Cc and swing arm step-down operation amount
Corresponding relation is exported in advance according to formula (4) and formula (7), and be pre-stored within the ROM of controller 54 in the form of corresponding to table etc.
In.Thus, if swing arm step-down operation amount is determined, controller 54 can be respectively by Section 1 stream coefficient Cg and Section 2 stream coefficient
Cc is defined as uniquely.
And if, the flow of the working oil in the bar side grease chamber being flowed into swing arm cylinder 7 is set to swing arm cylinder inflow flow Qs,
The flow of the working oil that the bottom side grease chamber of slave arm cylinder 7 is flowed out is set to delivery flow Qe, then delivery flow Qe can be by following formula
(9) represent.
[mathematical expression 9]
And, if swing arm cylinder flows into the discharge flow Qp sum that flow Qs is regenerant flow Qg and hydraulic pump 10R, and discharge
Flow Qe is regenerant flow Qg and capacity of returns Qc sum, then formula (9) can be rewritten by following formula (10).
[mathematical expression 10]
Then, to illustrate with reference to Fig. 6 to make swing arm action bars carry out discharge flow Qp difference during full bar operation downward
And swing arm cylinder flows into the relation between flow Qs, regenerant flow Qg and swing arm rod pressure Pr.Fig. 6 is to represent to make swing arm action bars court
The discharge flow Qp that lower section has been carried out during full bar operation flows into flow Qs, regenerant flow Qg and swing arm rod pressure with swing arm cylinder respectively
The chart of the relation between Pr.Specifically, Fig. 6 (A) is to represent that discharge flow Qp and swing arm cylinder flow into the relation of flow Qs
Chart.And, Fig. 6 (B) is the chart of the relation representing discharge flow Qp and regenerant flow Qg, and Fig. 6 (C) is to represent discharge flow
The chart of the relation of Qp and swing arm rod pressure Pr.In addition, in Fig. 6 (A)～Fig. 6 (C), corresponding to the transverse axis phase of discharge flow Qp
With.And, in Fig. 6 (A)～Fig. 6 (C), change indicated by the solid line represents the larger feelings of the external force of swing arm cylinder 7 contraction to be made
Change under condition.And, the change being represented by dashed line represent external force be moderate in the case of change, use single dotted broken line table
The change shown represent external force less in the case of change.In addition, the external force that swing arm cylinder 7 to be made is shunk is according to the soil in scraper bowl 6
Posture of the amount of sand, the posture (be in sloping floor, or on flat ground) of excavator 1 and excavation attachment etc. and change.
Specifically, as shown in Fig. 6 (A), in the case of making swing arm action bars carry out full bar operation downward, i.e.
In the case that the flow path area Ac of oil return line 34 is set to maximum Acmax, swing arm cylinder flows into flow Qs and discharge flow Qp's
Size is unrelated, and external force is more big then bigger.
On the other hand, if external force is constant, it is nearly constant that swing arm cylinder flows into flow Qs, and with the size of discharge flow Qp no
Close.That is, even if increasing discharge flow Qp, swing arm cylinder flows into flow Qs and also will not increase, and swing arm decrease speed also will not increase.This
It is because that regenerant flow Qg is unrelated with the size of external force as shown in Fig. 6 (B), increase with discharge flow Qp and reduce.
Therefore, if reducing discharge flow Qp, swing arm cylinder inflow flow Qs need not be reduced and just can increase regenerant flow Qg.
However, as shown in Fig. 6 (C), swing arm rod pressure Pr has following tendency, that is, unrelated with the size of external force, with telling
Outflow Qp reduces and reduces.Therefore, if making discharge flow Qp excessively reduce, swing arm rod pressure Pr will be led to excessively to reduce,
It is likely to result in producing air pocket.
And, as shown in Fig. 6 (C), if discharge flow Qp is constant, external force is bigger, and swing arm rod pressure Pr is lower.That is, if
External force is larger, even if then it is also possible to lead to swing arm rod pressure Pr to be reduced to generation gas in the case that discharge flow Qp is larger
The level in cave.
Therefore, the minimizing of discharge flow Qp is capable of the increase of regenerant flow Qg, is effective in terms of realizing energy-conservation.
However, not producing air pocket and making required discharge flow Qp when becoming maximization of regenerant flow Qg according to the size of external force not
Same, therefore can not unrestrictedly reduce discharge flow Qp.
Therefore, controller 54 determines discharge flow Qp in the way of goal pressure Ptg that swing arm rod pressure Pr becomes regulation,
Do not producing in the range of air pocket, making regenerant flow Qg as larger as possible.In addition it is stipulated that goal pressure Ptg be impossible to produce
The pressure of the level in angry cave, for example, 4 [MPa].
In the example of Fig. 6 (C), by external force, discharge flow Qp when less is set to QpL to controller 54, so that by semaphore
Pressure Pr is set to goal pressure Ptg.And, controller 54 by external force for moderate when discharge flow Qp be set to QpM (＞
QpL), by external force, discharge flow Qp when larger is set to QpH (＞ QpM).
And, if discharge flow Qp when external force is less is confirmed as QpL, regenerant flow Qg when external force is less becomes
QgL, swing arm cylinder flows into flow Qs becomes QsL (=QgL+QpL).And if, discharge flow Qp quilt when external force is moderate
It is defined as QpM, then regenerant flow Qg when external force is moderate becomes QgM (＞ QgL), swing arm cylinder flows into flow Qs to be become
QsM (=QgM+QpM ＞ QsL).And if, discharge flow Qp when external force is larger is confirmed as QpH, when external force is larger again
Raw flow Qg becomes QgH (＞ QgM), and swing arm cylinder flows into flow Qs becomes QsH (=QgH+QpH ＞ QsM).
And understand in the case that swing arm action bars is downward by the operation of full bar and unrelated with the size of external force and spue
Situation during identical discharge flow QpR is compared, and external force is less, then the increment of regenerant flow Qg is bigger.Specifically, recovery stream
Amount Qg increment become DH when external force is larger, external force for moderate when become DM (＞ DH), become DL when external force is less
(＞ DM).And understand that external force is bigger, then swing arm rod pressure Pr is less in discharge identical discharge flow QpR.The opposing party
Even if face is it is known that in the case of being reduced to QpL, QpM or QpH by discharge flow Qp from QpR, if external force is identical, in swing arm
Cylinder flows into and does not almost find on flow Qs to change.
Then, to illustrate optimization processing that controller 54 is carried out to the discharge flow Qp of hydraulic pump 10R (below, with reference to Fig. 7
It is set to " discharge flow optimization processing ".).In addition, Fig. 7 is the flow chart of the flow process of representing discharge flow optimization processing,
Controller 54 repeats this discharge flow optimization processing with the controlling cycle specifying.And, in the present embodiment, " spue stream
The optimization of amount Qp " refers to do not producing the discharge flow realizing in the range of air pocket making regenerant flow Qg become maximum.
First, controller 54 determines whether to carry out swing arm step-down operation (step ST1).In the present embodiment, control
Device 54, according to the output of the operation content test section such as pressure sensor, to be determined whether by the operation content of swing arm action bars
Carry out swing arm step-down operation.And, in the present embodiment, controller 54 is detecting swing arm action bars individually downward by full bar
In the case of operation, it is judged to carry out swing arm step-down operation.And, in the present embodiment, controller 54 is being judged as not
In the case that excavation attachment is pressed to excavation object, that is, it is judged as the situation making excavation attachment carry out action in the air
Under, it is judged to carry out swing arm step-down operation.In addition, controller 54 is believed according to the swing arm rod pressure that pressure sensor S5 exports
Number and pressure sensor S6 output at least one of swing arm base pressure signal judging whether excavation attachment to digging
Pick object is pressed.
In the case of being judged to not carry out swing arm step-down operation (step ST1 no), controller 54 terminates this
Discharge flow optimization processing.
In the case of being judged to carry out swing arm step-down operation (step ST1 be), controller 54 is derived and pump is adjusted
The instruction of section device 40R is the 1st command value (step ST2).In the present embodiment, controller 54 is derived according to negative pressure control force signal
1st command value.1st command value is well-determined discharge flow command value, swing arm step-down operation according to negative pressure control force signal
Amount is more big then bigger.Specifically, swing arm step-down operation amount is bigger, and the amount of movement of control valve 14R becomes bigger, middle position bypass oil
The flow path area of road 30R becomes less.And, if the flow path area of middle position bleed off circuit 30R diminishes, bear governor pressure step-down,
Discharge flow command value becomes big.And, if discharge flow command value becomes big, the discharge flow Qp of hydraulic pump 10R becomes big.Separately
Outward, controller 54 can also derive the 1st command value according to swing arm step-down operation amount.
Afterwards, controller 54 exports the 1st command value to pump control mechanism 40R, and controls swash plate deflection angle, so that hydraulic pump
The discharge flow Qp of 10R becomes the flow (step ST3) corresponding to the 1st command value.
Afterwards, whether controller 54 judges swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr less than rule
Definite value (step ST4).If this is because amplitude of fluctuation is larger, thrust F acting on swing arm cylinder 7 cannot be inferred exactly.Separately
Outward, in the present embodiment, the preceding value of semaphore pressure signal and the currency of pressure sensor S5 output derived by controller 54
Difference as swing arm base pressure Pb amplitude of fluctuation.Amplitude of fluctuation with regard to swing arm rod pressure Pr is also identical.
The amplitude of fluctuation of at least one in being judged to swing arm base pressure Pb and swing arm rod pressure Pr is more than setting
In the case of (step ST4 no), the judgement of controller 54 repeat step ST4.
Afterwards, it is being judged to the feelings that swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr are less than setting
Under condition (step ST4 be), the instruction that controller 54 derives to pump control mechanism 40R is the 2nd command value (step ST5).2nd instruction
Value is the discharge flow command value changing according to thrust F acting on swing arm cylinder 7, and thrust F is more big then bigger.
Specifically, the semaphore pressure signal exporting, pressure sensor S6 are defeated according to pressure sensor S5 for controller 54
The swing arm base pressure signal going out and above-mentioned formula (1) carry out derivative ac-tion in thrust F of swing arm cylinder 7.
And, controller 54 reads goal pressure Ptg of the regulation about swing arm rod pressure Pr from ROM etc., and according to pushing away
Power F and above-mentioned formula (2) and derive swing arm base pressure Pb in the case that swing arm rod pressure Pr is set to goal pressure Ptg.
And, controller 54 reference pair answers table to obtain Section 1 stream coefficient corresponding to current swing arm step-down operation amount
Cg and Section 2 stream coefficient Cc, described corresponding table is previously stored with Section 1 stream coefficient Cg and Section 2 stream coefficient Cc and is declined with swing arm
Corresponding relation between operational ton.In addition, corresponding table is pre-stored within ROM etc..
And, controller 54 derives the recovery stream of regenerative circuit 33 according to acquired Section 1 stream coefficient Cg and formula (5)
Amount Qg.And, controller 54 derives capacity of returns Qc of oil return line 34 according to acquired Section 2 stream coefficient Cc and formula (8).
And, controller 54 derives telling corresponding to the 2nd command value according to regenerant flow Qg, capacity of returns Qc and formula (10)
Outflow.
In addition, in order to derive the 2nd command value, controller 54 not necessarily will be derived and for swing arm rod pressure Pr is set to mesh every time
Swing arm base pressure Pb in the case of mark pressure Ptg, regenerant flow Qg, capacity of returns Qc etc..For example controller 54 may be referred to
Corresponding table, this correspondence table is previously stored with pilot pressure signal about swing arm action bars, swing arm base pressure signal and swing arm
Corresponding relation between the combination of rod pressure signal and the 2nd command value.Should in the case of, controller 54 is with reference to being pre-stored within ROM
Deng in described corresponding table, directly derive and current swing arm step-down operation amount, swing arm rod pressure Pr and swing arm base pressure Pb
Corresponding 2nd command value of combination.
Afterwards, controller 54 exports the 2nd command value to pump control mechanism 40R, and is controlled, so that hydraulic pump 10R's tells
Outflow Qp becomes the discharge flow (step ST6) corresponding to the 2nd command value.
Thus, the discharge flow Qp of hydraulic pump 10R is optimized in the range of air pocket not producing by controller 54, so that
Regenerant flow Qg becomes maximum.
Then, the various parameters in the case of executing discharge flow optimization processing with reference to Fig. 8 to controller 54 are in time
Change illustrates.In addition, Fig. 8 is the figure representing various parameters when individually carrying out swing arm step-down operation over time
Table.Specifically, Fig. 8 (A) represents that swing arm rod pressure Pr and swing arm base pressure Pb change over.And, Fig. 8 (B) represents
Discharge flow command value changes over, and Fig. 8 (C) represents that swing arm decrease speed changes over.In addition, in Fig. 8 (A)～Fig. 8
(C), in, the transverse axis as time shaft is identical.
Specifically, till individually carrying out swing arm step-down operation in moment t1, such as shown in Fig. 8 (A), swing arm bottom is pressed
Power Pb and swing arm rod pressure Pr are with the less state change of amplitude of fluctuation.And, if individually carrying out swing arm in moment t1 to decline behaviour
Make, then the amplitude of fluctuation of swing arm base pressure Pb and swing arm rod pressure Pr becomes big.For example, swing arm base pressure Pb because working oil from
Bottom side grease chamber flows out and temporarily reduces, and swing arm rod pressure Pr temporarily increases because working oil is flowed into bar side grease chamber.Afterwards, swing arm
Base pressure Pb and swing arm rod pressure Pr tend to stable respectively, and in moment t2, respective amplitude of fluctuation is less than setting.
With regard to discharge flow command value, if individually carrying out swing arm step-down operation in moment t1, controller 54 is derived and is born
Corresponding 1st command value d1 of governor pressure, and set the 1st command value d1 as discharge flow command value.Therefore, as Fig. 8 (B) institute
Show, in moment t1, discharge flow command value increases to the 1st command value d1.Afterwards, controller 54 is used the 1st command value d1 conduct
Discharge flow command value, until be judged to that swing arm base pressure Pb and the respective amplitude of fluctuation of swing arm rod pressure Pr are less than regulation
Value.Therefore, discharge flow command value presses the 1st command value d1 change.Afterwards, in moment t2, if it is determined that being swing arm base pressure Pb
And the respective amplitude of fluctuation of swing arm rod pressure Pr is less than setting, then controller 54 is derived and thrust F pair acting on swing arm cylinder 7
The 2nd command value d2 answered.Now, controller 54 determines discharge flow command value, so that after stipulated time T1, hydraulic pressure
The actual discharge flow Qp of pump 10R becomes the discharge flow corresponding to the 2nd command value.This is rapid in order to avoid discharge flow Qp
Become.Specifically, controller 54 is to the 1st command value d1 as current discharge flow command value and as through stipulated time T1
Carry out linear interpolation between 2nd command value d2 of discharge flow command value afterwards and derive intermediate command value.And, controlling pump
Adjuster 40R, so that actual discharge flow Qp is consistent with the discharge flow corresponding to intermediate command value.Therefore, as Fig. 8 (B) institute
Show, the 1st command value d1 from moment t2 for the discharge flow command value declines than relatively slowly, after stipulated time T1
Moment t3 reaches the 2nd command value d2.
As shown in Fig. 8 (C), swing arm decrease speed is gradually increased after moment t1 has carried out swing arm step-down operation, when
Carve t2, reach speed Vt corresponding to swing arm step-down operation amount.And, in moment t2, discharge flow command value starts to reduce,
After actual discharge flow Qp starts to reduce, also maintain described speed Vt.In addition, in moment t3, discharge flow command value becomes
2nd command value d2, after actual discharge flow Qp becomes the discharge flow corresponding to the 2nd command value d2, also maintains described speed
Degree Vt.This is because regenerant flow Qg increases the amount being equivalent to discharge flow Qp minimizing.
By above structure, in the case of having carried out swing arm step-down operation, controller 54 is according to acting on swing arm cylinder 7
Thrust F and determine discharge flow Qp, by swing arm rod pressure Pr be set to specify goal pressure Ptg more than, while making regeneration
Flow Qg becomes maximum.Therefore, it is possible to while preventing the generation of air pocket, improve regeneration efficiency during swing arm step-down operation.
And, discharge flow Qp is reduced to required Min., therefore, it is possible to realize energy-saving.
And, after just carrying out swing arm step-down operation, controller 54 is according to negative governor pressure or swing arm step-down operation amount
Determine the 1st command value d1.Then control pump control mechanism 40R so that the actual discharge flow Qp of hydraulic pump 10R with corresponding to the 1st
The discharge flow of command value d1 is consistent.And, after the pressure stability of the working oil in swing arm cylinder 7, according to acting on swing arm
The flow path area Ac of thrust F of cylinder 7, the flow path area Ag of regenerative circuit 33 and oil return line 34 and determine the 2nd command value d2.Then
Control pump control mechanism 40R, so that the actual discharge flow Qp of hydraulic pump 10R and the discharge flow one corresponding to the 2nd command value d2
Cause.Specifically, in the case that the amplitude of fluctuation in the pressure of the working oil in swing arm cylinder 7 is less than setting, controller 54 is true
Fixed 2nd command value.Therefore, swing arm rod pressure Pr, on the basis of accurately deriving thrust F, can be set by controller 54
For regulation goal pressure Ptg more than, derive with can make regenerant flow Qg become maximum discharge flow Qp corresponding
2nd command value d2.
In addition, acting on thrust F of swing arm cylinder 7 according to swing arm base pressure Pb and compression area Ab and swing arm rod pressure Pr
And compression area Ar and derive.Therefore, controller 54 can accurately derive thrust F with simple structure.
And, the flow path area Ac of the flow path area Ag of regenerative circuit 33 and oil return line 34 is according to swing arm step-down operation amount
Derive.Therefore, controller 54 is prevented from the generation of air pocket, and can improve regeneration efficiency during swing arm step-down operation,
While realizing the swing arm decrease speed corresponding to swing arm step-down operation amount.
And, controller 54 derives intermediate command value to entering row interpolation between the 1st command value d1 and the 2nd command value d2.
Then control pump control mechanism 40R, to become right in the actual discharge flow Qp after the stipulated time, making hydraulic pump 10R
The discharge flow of Ying Yu 2 command value d2, and make actual discharge flow Qp and the discharge flow corresponding to described intermediate command value
Unanimously.Therefore, controller 54 is prevented from the cataclysm of discharge flow Qp, the cataclysm of regenerant flow Qg and swing arm cylinder and flows into flow Qs
The cataclysm of (swing arm decrease speed), and the generation of air pocket can be prevented, while improving revival during swing arm step-down operation
Rate.
More than, have been described in detail with regard to embodiments of the invention, but the present invention is not limited to specific embodiment, in note
It is loaded in the range of the spirit of the invention in right and can carry out various modifications and change.
For example, in the above-described embodiments, controller 54 is detecting what swing arm action bars was individually operated by full bar downward
In the case of be judged to carry out swing arm step-down operation.However, the present invention is not limited to this structure.For example, controller 54
Can be judged to carry out swing arm step-down operation in the case of individually being operated by half bar downward swing arm action bars is detected.
In addition, " half bar operation " refers to the bar operation carrying out with the operational ton less than the operation of full bar.
And, in the above-described embodiments, regenerative circuit 33 is formed at the inside of control valve 14R but it is also possible to be formed at control
The outside of valve 14R processed.
The application advocate based on May 19th, 2014 in Japanese publication Japanese patent application 2014-103710 excellent
First weigh, and by the full content of these Japanese patent applications by reference to and be applied in the application.
Symbol description
1- excavator, 2- lower running body, 3- upper rotation, 4- swing arm, 5- dipper, 6- scraper bowl, 7- swing arm cylinder, 8- struggles against
Bar cylinder, 9- scraper bowl cylinder, 10L, 10R- hydraulic pump, 11L, 11R, 12L, 12R, 13L, 13R, 14L, 14R, 15L, 15R- control valve,
20L, 20R- bear control choke valve, 22- service tank, 30L, 30R- middle position bleed off circuit, the parallel oil circuit of 31L, 31R-, and 33- regenerates
Oil circuit, 34- oil return line, 40L, 40R- pump control mechanism, 42L, 42R- walking hydraulic motor, 44- revolution hydraulic motor, 54-
Controller, S1～S6- pressure sensor.
Claims (10)
1. a kind of excavator, possesses：
Swing arm cylinder, at least a portion accepting the working oil of hydraulic pump discharge supplies oil supply as pump；
Regenerative circuit is so that a part for the working oil flowing out from the contraction side grease chamber of described swing arm cylinder is flowed into as reclaimed oil
Stretch side grease chamber；And
Control device, controls the discharge flow of working oil of described hydraulic pump discharge to adjust the supply stream that described pump supplies oil supply
Amount,
In the case of having carried out swing arm step-down operation, described control device determines according to the thrust acting on described swing arm cylinder
Described discharge flow, and the pressure of described stretching, extension side grease chamber is set to more than authorized pressure, while making described reclaimed oil
Regenerant flow becomes maximum.
2. excavator according to claim 1, wherein,
Described control device determines the 1st command value of described discharge flow according to swing arm step-down operation amount, and tells described in controlling
Outflow, so that the actual discharge flow of described hydraulic pump is consistent with the discharge flow corresponding to the 1st command value,
Afterwards, according to acting on the thrust of described swing arm cylinder, the flow path area of described regenerative circuit and by described swing arm cylinder and work
The flow path area of the oil return line being connected as oil tank to determine the 2nd command value of described discharge flow, and controls described discharge
Flow, so that the actual discharge flow of described hydraulic pump is consistent with the discharge flow corresponding to the 2nd command value.
3. excavator according to claim 2, wherein,
In the case that the amplitude of fluctuation of the pressure of the working oil in described swing arm cylinder is less than setting, described control device determines
Described 2nd command value.
4. the excavator according to Claims 2 or 3, wherein,
Described control device derives intermediate command value to entering row interpolation between described 1st command value and described 2nd command value, and
Control described discharge flow, so that after the stipulated time, the actual discharge flow of described hydraulic pump becomes corresponding to institute
State the discharge flow of the 2nd command value, and make actual discharge flow and the discharge corresponding to this intermediate command value of described hydraulic pump
Flow is consistent.
5. the excavator according to Claims 2 or 3, wherein,
Described control device according to the pressure of the pressure of described contraction side grease chamber and compression area and described stretching, extension side grease chamber and is subject to
Pressure surface amasss derivative ac-tion in the thrust of described swing arm cylinder.
6. the excavator according to Claims 2 or 3, wherein,
Described control device derives the stream of the described regenerative circuit corresponding to current swing arm step-down operation amount with reference to corresponding table
Road surface amass and described oil return line flow path area, described corresponding table is previously stored with the flow path area of described regenerative circuit and described
The flow path area of the oil return line corresponding relation with swing arm step-down operation amount respectively.
7. a kind of control method of excavator, described excavator possesses：Swing arm cylinder, accepts the working oil of hydraulic pump discharge at least
A part supplies oil supply as pump；Regenerative circuit is so that a part for the working oil flowing out from the contraction side grease chamber of described swing arm cylinder
It is flowed into stretching, extension side grease chamber as reclaimed oil；And control device, control the discharge flow of working oil that described hydraulic pump spues and
Adjust the supply flow rate that described pump supplies oil supply, wherein,
In the case of having carried out swing arm step-down operation, described control device determines according to the thrust acting on described swing arm cylinder
Described discharge flow, the pressure of described stretching, extension side grease chamber is set to more than authorized pressure by described control device, while making institute
The regenerant flow stating reclaimed oil becomes maximum.
8. control method according to claim 7, wherein,
Described control device determines the 1st command value of described discharge flow according to swing arm step-down operation amount, and tells described in controlling
Outflow, so that the actual discharge flow of described hydraulic pump is consistent with the discharge flow corresponding to the 1st command value, then described
Control device is according to acting on the thrust of described swing arm cylinder, the flow path area of described regenerative circuit and by described swing arm cylinder and work
The flow path area of the oil return line that oil tank is connected is determining the 2nd command value of described discharge flow, and controls the described stream that spues
Amount, so that the actual discharge flow of described hydraulic pump is consistent with the discharge flow corresponding to the 2nd command value.
9. control method according to claim 8, wherein,
In the case that the amplitude of fluctuation of the pressure of the working oil in described swing arm cylinder is less than setting, described control device determines
Described 2nd command value.
10. control method according to claim 8 or claim 9, wherein,
Described control device derives intermediate command value to entering row interpolation between described 1st command value and described 2nd command value, and
Control described discharge flow, so that after the stipulated time, the actual discharge flow of described hydraulic pump becomes corresponding to institute
State the discharge flow of the 2nd command value, and make actual discharge flow and the discharge corresponding to this intermediate command value of described hydraulic pump
Flow is consistent.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-103710 | 2014-05-19 | ||
| JP2014103710 | 2014-05-19 | ||
| PCT/JP2015/064091 WO2015178316A1 (en) | 2014-05-19 | 2015-05-15 | Shovel and control method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106460888A true CN106460888A (en) | 2017-02-22 |
| CN106460888B CN106460888B (en) | 2019-05-10 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580025526.8A Expired - Fee Related CN106460888B (en) | 2014-05-19 | 2015-05-15 | Excavator and its control method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6629189B2 (en) |
| CN (1) | CN106460888B (en) |
| WO (1) | WO2015178316A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7171475B2 (en) * | 2019-03-11 | 2022-11-15 | 日立建機株式会社 | working machine |
| JP2022001769A (en) * | 2020-06-19 | 2022-01-06 | 川崎重工業株式会社 | Hydraulic drive system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006070970A (en) * | 2004-09-01 | 2006-03-16 | Shin Caterpillar Mitsubishi Ltd | Hydraulic control circuit for construction machine |
| JP3901058B2 (en) * | 2002-08-21 | 2007-04-04 | コベルコ建機株式会社 | Hydraulic cylinder controller for construction machinery |
| JP2010286074A (en) * | 2009-06-12 | 2010-12-24 | Kobe Steel Ltd | Hydraulic control device of working machine and working machine having the same |
| CN103261709A (en) * | 2010-12-15 | 2013-08-21 | 卡特彼勒公司 | Hydraulic control system having energy recovery |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4184410A (en) * | 1978-03-15 | 1980-01-22 | Caterpillar Tractor Co. | Low pressure signal driven flow control system |
| JP4354300B2 (en) * | 2004-02-27 | 2009-10-28 | 三菱重工業株式会社 | Fluid pressure actuator, operating method thereof, and aircraft steering system |
| JP2010078035A (en) * | 2008-09-25 | 2010-04-08 | Caterpillar Japan Ltd | Hydraulic cylinder control circuit of utility machine |
-
2015
- 2015-05-15 JP JP2016521079A patent/JP6629189B2/en active Active
- 2015-05-15 WO PCT/JP2015/064091 patent/WO2015178316A1/en active Application Filing
- 2015-05-15 CN CN201580025526.8A patent/CN106460888B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3901058B2 (en) * | 2002-08-21 | 2007-04-04 | コベルコ建機株式会社 | Hydraulic cylinder controller for construction machinery |
| JP2006070970A (en) * | 2004-09-01 | 2006-03-16 | Shin Caterpillar Mitsubishi Ltd | Hydraulic control circuit for construction machine |
| JP2010286074A (en) * | 2009-06-12 | 2010-12-24 | Kobe Steel Ltd | Hydraulic control device of working machine and working machine having the same |
| CN103261709A (en) * | 2010-12-15 | 2013-08-21 | 卡特彼勒公司 | Hydraulic control system having energy recovery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106460888B (en) | 2019-05-10 |
| WO2015178316A1 (en) | 2015-11-26 |
| JPWO2015178316A1 (en) | 2017-04-20 |
| JP6629189B2 (en) | 2020-01-15 |
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