CN114293617A - Construction machine - Google Patents
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- CN114293617A CN114293617A CN202111675819.4A CN202111675819A CN114293617A CN 114293617 A CN114293617 A CN 114293617A CN 202111675819 A CN202111675819 A CN 202111675819A CN 114293617 A CN114293617 A CN 114293617A
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Abstract
The invention relates to an engineering machine, comprising: a frame; a rotating platform mounted on the frame and configured to rotate with respect to the frame about a vertical axis of rotation; the movable arm is arranged on the rotary platform in a pitching and swinging manner; the hydraulic system comprises a hydraulic pump, a variable motor and a boom hydraulic cylinder, wherein the variable motor is configured to drive the rotary platform to rotate relative to the frame, the boom hydraulic cylinder is configured to drive the boom to swing in a pitching mode, the variable motor and the boom hydraulic cylinder are respectively communicated with the hydraulic pump, and the variable motor and the boom hydraulic cylinder are connected in parallel; a manipulation handle rotatably provided and configured such that a rotation amount of the manipulation handle is positively correlated with a rotation speed of the variable displacement motor; and the controller is in signal connection with the variable motor and the control handle respectively and is configured to increase and decrease the displacement of the variable motor correspondingly according to the increase and decrease of the rotation amount of the control handle relative to the initial position.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to engineering machinery.
Background
The excavator of the related art includes a frame, a swing platform rotatable with respect to the frame with a vertical rotation axis, a boom mounted on the swing platform swingably in pitch, a boom cylinder driving the boom to swing in pitch with respect to the swing platform, an arm mounted at an end of the boom remote from the swing platform and swingable in a vertical plane, an arm cylinder driving the arm to swing with respect to the boom, a bucket rotatably mounted at an end of the arm remote from the boom, and a bucket cylinder driving the bucket to rotate with respect to an arm 5.
The excavator further comprises a hydraulic motor for driving the rotary platform to rotate on the frame. The hydraulic system of the excavator includes a hydraulic pump that supplies hydraulic fluid to a hydraulic motor, a boom cylinder, an arm cylinder, and a bucket cylinder. The hydraulic system also includes valves for controlling the operation of the various hydraulic actuators (including hydraulic cylinders and hydraulic motors).
The current excavator mainly adopts a hydraulic control switch valve to control the opening/closing of the action of each hydraulic executing element, the speed control mainly depends on the opening degree of a hydraulic pump, and the opening degree of the hydraulic pump is mainly subjected to double functions of a control signal and a feedback signal (positive/negative). Because all valves of the excavator are connected in parallel, the flow ratio of all valves is inversely proportional to the self load and the opening degree of the valve port. In order to ensure the coordination of each composite action, the opening degree of the valve port is often controlled by adding a logic valve to realize throttling of light-load action, so that a large pressure loss is generated at the valve port, and energy waste is caused.
The hydraulic actuating element of the current excavator is mainly controlled by a hydraulic control switch valve, the opening of the switch valve cannot be adjusted, a hydraulic system of the excavator is controlled by a parallel oil way, in the parallel hydraulic system, the flow direction of hydraulic oil depends on the load pressure of the parallel oil way, namely, the pressure difference of a small load is large, the flow speed is high, the speed of the large load is slow, and the action speeds of compound actions are in inverse proportional relation with the sizes of respective loads, so that the consistency of the actions of a movable arm, an arm, a bucket and a rotary platform cannot be effectively guaranteed. However, the working devices (such as a bucket) of the current excavator often adopt a combination of multiple machines, and the working conditions (density and hardness of working media, etc.) are also complex. The valve core combination is difficult to meet the special requirements of all working conditions, and the relative position of a truck and an excavator in actual work is often influenced by natural conditions and has unpredictability. The single valve core opening combination is difficult to meet the complex working condition requirement, so that the compound action of the excavator is caused by the rotating speed, the movable arm, the bucket rod and the bucket, and the continuity of the whole operation is not strong due to the fact that the rotating speed is too high (too low) to cause waiting.
A rotary logic valve is additionally arranged for adjusting the rotary action of part of the excavator, the rotary logic valve adopts an adjustable throttling hole to adjust the rotary speed, and a manual logic valve is extremely complex to adjust, needs to be tried for many times, is only used for factory setting, and cannot provide help for the composite action adjustment of complex working conditions.
Disclosure of Invention
The invention aims to provide an engineering machine to solve the problem that the rotating speed of a rotating platform is low in composite action in the related art.
According to an aspect of an embodiment of the present invention, there is provided a construction machine including:
a frame;
a rotating platform mounted on the frame and configured to rotate with respect to the frame about a vertical axis of rotation;
the movable arm is arranged on the rotary platform in a pitching and swinging manner;
the hydraulic system comprises a hydraulic pump, a variable motor and a boom hydraulic cylinder, wherein the variable motor is configured to drive the rotary platform to rotate relative to the frame, the boom hydraulic cylinder is configured to drive the boom to swing in a pitching mode, the variable motor and the boom hydraulic cylinder are respectively communicated with the hydraulic pump, and the variable motor and the boom hydraulic cylinder are connected in parallel;
a manipulation handle rotatably provided and configured such that a rotation amount of the manipulation handle is positively correlated with a rotation speed of the variable displacement motor;
and the controller is in signal connection with the variable motor and the control handle respectively and is configured to increase and decrease the displacement of the variable motor correspondingly according to the increase and decrease of the rotation amount of the control handle relative to the initial position.
In some embodiments, the amount of rotation of the joystick relative to the home position is positively correlated with the target rotational speed of the variable motor.
In some embodiments, the work machine further comprises a speed sensor for detecting a speed of the variable displacement motor, the controller is in signal connection with the speed sensor, and the controller is configured to adjust a displacement of the variable displacement motor according to the speed detected by the speed sensor so that the speed of the variable displacement motor matches a target speed.
In some embodiments, the controller is in signal communication with the hydraulic pump to increase or decrease the displacement of the hydraulic pump in response to an increase or decrease in the displacement of the variable displacement motor.
In some embodiments, the work machine further comprises a control valve comprising a first valve comprising an inlet port in communication with the hydraulic pump, a return port for communication with a hydraulic fluid tank, a first working port in communication with the inlet port of the variable displacement motor, and a second working port in communication with the outlet port of the variable displacement motor, the controller being in signal connection with the control valve and configured to increase or decrease the opening of the first valve accordingly in response to an increase or decrease in the amount of rotation of the joystick relative to the home position.
In some embodiments, the work machine further comprises:
a first pressure drop detecting section configured to detect a first pressure difference upstream and downstream of a first valve of the controlled variable motor;
a second pressure drop detecting part configured to detect a second pressure difference upstream and downstream of a second valve controlling the boom cylinder;
the controller is in signal connection with the first pressure drop detection part and the second pressure drop detection part respectively, so as to increase and decrease the acceleration increased and decreased by the variable motor according to the difference value of the first pressure difference and the second pressure difference, and the difference value is positively correlated with the acceleration.
In some embodiments, the work machine further comprises:
the bucket rod is arranged at one end of the movable arm, which is far away from the rotary platform, and can swing in a vertical plane;
a boom cylinder configured to swing the boom, the boom cylinder being in communication with the hydraulic pump and connected in parallel with the variable displacement motor;
a third pressure drop detecting section configured to detect a third pressure difference that controls third upstream and downstream of the arm cylinder;
the controller is in signal connection with the third pressure drop detection part and is configured to increase or decrease the acceleration of the motor according to the increase or decrease variable corresponding to the magnitude of the difference between the first pressure difference and the reference object with the larger of the third pressure difference and the second pressure difference as the reference object, and the difference is positively correlated with the acceleration.
In some embodiments, the work machine further includes a first pressure sensing component in signal communication with the controller, the first pressure sensing component including a first shuttle valve and a first pressure sensor, the first shuttle valve including a first inlet in communication with the rod chamber of the stick hydraulic cylinder, a second inlet in communication with the rodless chamber of the stick hydraulic cylinder, and an outlet in communication with the first pressure sensor.
In some embodiments, the work machine further includes a second pressure detecting part in signal connection with the controller, the second pressure detecting part including a second shuttle valve including a first inlet port in communication with the rod chamber of the boom cylinder, a second inlet port in communication with the rodless chamber of the boom cylinder, and an outlet port in communication with the second pressure sensor, and a second pressure sensor.
In some embodiments, the work machine comprises an excavator.
By applying the technical scheme of the invention, the displacement of the variable motor can be adjusted by the control handle, and the displacement of the variable motor is required to be increased, so that the pressure of a branch where the variable motor is located is reduced, the flow of the branch where the variable motor is located is increased, the rotating speed of the variable motor is increased, and the problem of inconsistent action caused by slow rotating speed of a rotating platform in composite action in the related art is solved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 illustrates a schematic structural view of a work machine according to an embodiment of the present disclosure; and
fig. 2 shows a schematic configuration of a hydraulic system of a working machine according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the construction machine of the present embodiment includes a frame 1, a revolving platform 2, a boom 3, a hydraulic system, a manipulation handle 12, and a controller 13.
The revolving platform 2 is mounted on the frame 1 and is configured to be rotatable with respect to the frame 1 with a vertical axis of rotation. The boom 3 is attached to the revolving platform 2 so as to be swingable in pitch.
The hydraulic system includes a hydraulic pump 11, a variable displacement motor 9 configured to drive the swing platform 2 to rotate relative to the frame 1, and a boom cylinder 4 configured to drive the boom 3 to swing in pitch, the variable displacement motor 9 and the boom cylinder 4 are respectively communicated with the hydraulic pump 11, and the variable displacement motor 9 and the boom cylinder 4 are connected in parallel.
The manipulation handle 12 is rotatably provided and configured such that the amount of rotation of the manipulation handle 12 is positively correlated with the rotational speed of the variable motor 9. The controller 13 is in signal connection with the variable displacement motor 9 and the joystick 12, respectively, and is configured to increase or decrease the displacement of the variable displacement motor 9 in accordance with an increase or decrease in the amount of rotation of the joystick 12 with respect to the home position.
In this embodiment, the displacement of the variable motor 9 can be adjusted by the control handle 12, and when the displacement of the variable motor 9 needs to be increased, the pressure of the branch where the variable motor 9 is located is reduced, and the flow of the branch where the variable motor 9 is located is increased, so that the rotating speed of the variable motor 9 is increased, thereby solving the problem that the rotation speed of the rotary platform is slow in the compound motion in the related art, which causes the inconsistent motion.
In the present embodiment, the rotation amount of the manipulation handle 12 with respect to the start position is positively correlated with the target rotation speed of the variable motor 9, and the operator can adjust the rotation amount of the rotational manipulation handle 12 according to the situation of the site, and when the relative rotation speed of the swing platform 2 with respect to the boom 3, the arm 5, or the bucket 7 is required to be higher, the rotation amount of the rotational manipulation handle 12 is larger, and the flow rate of the branch where the variable motor 9 is located is larger, and the rotation speed of the variable motor 9 is also larger.
In some embodiments, the rotation amount of the manipulation handle 12 with respect to the start position is divided into a plurality of shift positions according to the magnitude of the ratio of the movement speed of the swing platform 2 with respect to the boom 3, and optionally, the greater the shift position, the greater the movement speed of the variable motor 9 with respect to the movement speed of the boom cylinder 4.
The working machine further comprises a rotation speed sensor 14 for detecting the rotation speed of the variable motor 9, the controller 13 is in signal connection with the rotation speed sensor 14, and the controller 13 is configured to adjust the displacement of the variable motor 9 according to the rotation speed detected by the rotation speed sensor 14 so that the rotation speed of the variable motor 9 matches the target rotation speed.
The controller 13 is in signal connection with the hydraulic pump 11 to increase or decrease the displacement of the hydraulic pump 11 according to the increase or decrease of the displacement of the variable displacement motor 9, so as to meet the flow demand of the hydraulic system.
The working machine further comprises a control valve 10, the control valve 10 comprising a first valve comprising an inlet in communication with the hydraulic pump 11, a return port for communication with a hydraulic fluid tank, a first working port in communication with the inlet of the variable displacement motor 11 and a second working port in communication with the outlet of the variable displacement motor 11, and a controller 13 in signal connection with the control valve 10 and configured to increase or decrease the opening of the first valve in response to an increase or decrease in the amount of rotation of the joystick 12 relative to the home position.
The control valve further includes a second valve including an inlet port communicating with the hydraulic pump 11, a return port communicating with a hydraulic fluid tank, a first working port communicating with the rod chamber of the boom cylinder 3, and a second working port communicating with the rodless chamber of the boom cylinder 3.
In this embodiment, the first and second valves are integrated together to form a unitary control valve 10.
The working machine further comprises first and second pressure drop detection means configured to detect a first pressure difference upstream and downstream of the first valve of the controlled variable motor 9; the second pressure drop detecting means is configured to detect a second pressure difference upstream and downstream of a second valve that controls the boom cylinder 4; the controller 13 is signal-connected to the first pressure drop detecting means and the second pressure drop detecting means 15, respectively, to increase or decrease the acceleration of the variable motor 9 in accordance with the magnitude of the difference between the second pressure difference and the first pressure difference, the difference being positively correlated with the acceleration.
The larger the load of the hydraulic cylinder or the hydraulic motor is, the smaller the pressure difference between the upstream and downstream of the valve port of the control valve is, and the larger the difference between the second pressure difference and the first pressure difference is, the smaller the load of the boom cylinder 4 is than the load of the variable displacement motor 9, and therefore, the speed of increasing the displacement of the variable displacement motor 9 can be increased to rapidly increase the flow rate of the branch in which the variable displacement motor 9 is located.
The construction machine further includes an arm 5, an arm cylinder 6, and a third pressure drop detection unit. The arm 5 is mounted on an end of the boom 3 remote from the swing platform 2 and is swingable in a vertical plane. The arm cylinder 6 is configured to drive the arm 5 to swing, and the arm cylinder 6 communicates with the hydraulic pump 11 and is connected in parallel to the variable displacement motor 9 and the boom cylinder 4. The third pressure-drop detecting means is configured to detect a third pressure difference upstream and downstream of a third valve that controls the arm cylinder 6.
The controller 13 is in signal connection with the third pressure drop detecting means, and is configured to increase or decrease the acceleration of the variable motor 9 in accordance with the magnitude of the difference between the reference object and the first pressure difference, with the smaller of the third pressure difference and the second pressure difference as the reference object, the difference being positively correlated with the acceleration.
In the present embodiment, the acceleration of the variable motor 9 is adjusted by using one hydraulic cylinder having a large load as a reference object.
The control valve further includes a third valve including an inlet in communication with the hydraulic pump 11, a return port in communication with the hydraulic fluid tank, a first working port in communication with the rod chamber of the arm cylinder 6, and a second working port in communication with the rodless chamber of the arm cylinder 6.
The construction machine further comprises a first pressure detecting part 16, the first pressure detecting part 16 is in signal connection with the controller 13, the first pressure detecting part 16 comprises a first shuttle valve and a first pressure sensor, the first shuttle valve comprises a first inlet communicated with the rod chamber of the arm cylinder 6, a second inlet communicated with the rodless chamber of the arm cylinder 6 and an outlet communicated with the first pressure sensor. The first pressure detecting means 16 detects a load pressure during operation of the arm cylinder.
The construction machine further includes a second pressure detecting part 15, the second pressure detecting part 15 being in signal connection with the controller 13, the second pressure detecting part 15 including a second shuttle valve and a second pressure sensor, the second shuttle valve including a first inlet communicating with the rod chamber of the boom cylinder 4, a second inlet communicating with the rodless chamber of the boom cylinder 4, and an outlet communicating with the second pressure sensor. The second pressure detecting means 15 detects a load pressure at the time of operation of the boom cylinder.
In some embodiments, the work machine comprises an excavator.
In this embodiment, in the hydraulic control system of the original excavator, the original rotation control hydraulic control switch valve, the control valve of the hydraulic cylinder of the rotation control valve, the control valve of the arm hydraulic cylinder and the control valve group of the bucket hydraulic cylinder are still connected in parallel, and the flow formula of the slide valve is used
It can be seen that the flow through the spool valve is proportional to the product of the square root of the differential pressure, the valve diameter, and the valve port opening. Wherein q represents the flow through the spool valve, cdRepresenting the valve port flow coefficient, D representing the valve core diameter, and x representing the slide valve opening length; Δ p represents the valve port pressure difference, and β represents the oil density.
In the present embodiment, the pressure of the swing drive system is controlled by controlling the displacement of the variable displacement motor 9, and the speed of the swing platform 2 is effectively controlled by the pressure balance principle, so that the working pressure of the swing system is always equal to the driving pressure of the working device (including the boom 3, the arm 5, and the bucket 7), and the combined operation of the swing and the working device is controlled, and the pressure loss of the swing system is completely reduced. The system judges the required rotating speed of an operator through the opening position of the control handle, automatically judges the displacement requirement of the variable motor 9, and directly outputs a current signal to drive the variable motor 9 to change the displacement through the controller 13. Namely, the matching of the opening/recovery of the working device and the rotation speed is completed within the set opening degree of the composite action handle. When the combined operation is performed, the pressure of the hydraulic system is determined by the load of each operation of the swing, the boom, the arm, and the bucket, and the flow rate of each system is determined by the valve opening, the differential pressure, and the displacement, so that the working pressure of the combined operation and the flow rate of each working device can be directly changed by changing the displacement of the variable displacement motor 9. This realizes the controllable ratio of flow and working pressure.
The compound action control scheme comprises the following steps: the swing composite operation can be outputted as a linear signal (the displacement of the variable displacement motor 9 and the opening degree of the main valve of the working device are automatically determined according to the position of the handle, the position of each control handle 12 corresponds to a swing speed and a swing speed of the working device, the opening/recovery range of the boom and the arm, and a set dead zone.
The position of the handle is automatically controlled by an operator according to own habits and the operation conditions of the excavator, and the compound action control method comprises the following steps: the operator selects the position of the composite action handle, the controller 13 automatically sets the displacement of the hydraulic pump according to the position of the control handle 12 and the working pressure, the machine executes composite action along with the work of the hydraulic pump, the revolution speed sensor 14 reads the revolution speed into the controller 13, and then the revolution speed and the acceleration are calculated. When an operator operates the rotary platform, if the rotary speed needs to be increased in the composite action, the displacement of the variable displacement motor 9 is increased, the rotary torque is further increased, the rotary driving torque is larger than the rotary resistance, the rotary platform 2 is accelerated until the new balance speed is not increased, and the rotary speed can be recorded by the rotary speed sensor 14, so that the control of the rotary speed is realized.
The variable motor 9 can also be identified and adjusted according to the system pressure of the working device, the displacement change slope of the variable motor 9 is controlled according to the height and the variable quantity of the system working pressure, so that the displacement of the variable motor 9 is not jumped and changed, the sudden change of the action of the working device is influenced, the rotary composite action is controlled within a reasonable control range, a pressure signal of the working device is connected with a large cavity and a small cavity through a shuttle valve, the oil cylinder pressure is only used for evaluating the influence of the change of the variable motor 9 on the pressure of the working device, the rotary pressure loss caused by an original rotary logic valve can be effectively changed due to the displacement adjustment of the variable motor 9, the rotary driving energy loss is greatly reduced, and the increase of the heat dissipation requirement of hydraulic oil caused by the energy loss is also reduced. When the pressure of the shuttle valve of the oil cylinder is low and is not required, the rotary displacement is automatically set to the maximum allowable value, so that the starting speed of the rotation is greatly improved, the working pressure of the variable motor 9 cannot be influenced due to the existence of the rotary logic valve, and the driving force of the rotation is greatly improved.
The present invention is not limited to the above exemplary embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A work machine, comprising:
a frame (1);
a revolving platform (2) mounted on said frame (1) and configured to rotate with a vertical axis of rotation with respect to said frame (1);
a boom (3) which is attached to the revolving platform (2) so as to be capable of pitching and swinging;
a hydraulic system comprising a hydraulic pump (11), a variable displacement motor (9) configured to drive the rotary platform (2) to rotate relative to the frame (1), and a boom cylinder (4) configured to drive the boom (3) to swing in pitch, wherein the variable displacement motor (9) and the boom cylinder (4) are respectively communicated with the hydraulic pump (11), and the variable displacement motor (9) and the boom cylinder (4) are connected in parallel;
a manipulation handle (12) rotatably provided and configured such that a rotation amount of the manipulation handle (12) is positively correlated with a rotation speed of the variable motor (9);
and a controller (13) which is in signal connection with the variable motor (9) and the control handle (12) respectively and is configured to increase or decrease the displacement of the variable motor (9) according to increase or decrease of the rotation amount of the control handle (12) relative to the initial position.
2. The working machine according to claim 1, characterized in that the amount of rotation of the steering handle (12) relative to a starting position is positively correlated with a target rotational speed of the variable motor (9).
3. A working machine according to claim 2, further comprising a rotation speed sensor (14) for detecting a rotation speed of the variable motor (9), the controller (13) being in signal connection with the rotation speed sensor (14), the controller (13) being configured to adjust the displacement of the variable motor (9) in accordance with the rotation speed detected by the rotation speed sensor (14) so that the variable motor (9) rotation speed matches the target rotation speed.
4. A working machine according to claim 1, characterized in that the controller (13) is in signal connection with the hydraulic pump (11) to increase or decrease the displacement of the hydraulic pump (11) in accordance with the increase or decrease of the displacement of the variable displacement motor (9).
5. A working machine according to claim 1, further comprising a control valve (10), the control valve (10) comprising a first valve comprising an inlet communicating with the hydraulic pump (11), a return port for communicating with a hydraulic fluid tank, a first working port communicating with an inlet of the variable displacement motor (11) and a second working port communicating with an outlet of the variable displacement motor (11), the controller (13) being in signal connection with the control valve (10) and being configured to increase or decrease the opening of the first valve accordingly in dependence on an increase or decrease of the amount of rotation of the operating handle (12) relative to a starting position.
6. The work machine of claim 1, further comprising:
a first pressure drop detection part configured to detect a first pressure difference upstream and downstream of a first valve controlling the variable motor (9);
a second pressure drop detecting part configured to detect a second pressure difference upstream and downstream of a second valve controlling the boom cylinder (4);
the controller (13) is in signal connection with the first pressure drop detection part and the second pressure drop detection part (15) respectively, so as to increase or decrease the acceleration increased or decreased by the variable displacement motor (9) according to the difference value of the first pressure difference and the second pressure difference, wherein the difference value is positively correlated with the acceleration.
7. The work machine of claim 6, further comprising:
the bucket rod (5) is installed at one end, far away from the rotary platform (2), of the movable arm (3) and can swing in a vertical plane;
a boom cylinder (6) configured to drive the boom (5) to swing, the boom cylinder (6) being in communication with the hydraulic pump (11) and being connected in parallel with the variable displacement motor (9) and the boom cylinder (4);
third pressure drop detecting means configured to detect a third pressure difference upstream and downstream of a third valve that controls the arm cylinder (6);
the controller (13) is in signal connection with the third pressure drop detection means, and is configured to increase or decrease the acceleration of the variable motor (9) in accordance with the magnitude of the difference between the first pressure difference and the reference object, with the larger of the third pressure difference and the second pressure difference as the reference object, the difference being positively correlated with the acceleration.
8. The work machine of claim 7, further comprising a first pressure detecting member (16), said first pressure detecting member (16) being in signal connection with said controller (13), said first pressure detecting member (16) comprising a first shuttle valve and a first pressure sensor, said first shuttle valve comprising a first inlet in communication with the rod chamber of said arm cylinder (6), a second inlet in communication with the rodless chamber of said arm cylinder (6), and an outlet in communication with said first pressure sensor.
9. The working machine according to claim 7, further comprising a second pressure detecting member (15), the second pressure detecting member (15) being in signal connection with the controller (13), the second pressure detecting member (15) comprising a second shuttle valve and a second pressure sensor, the second shuttle valve comprising a first inlet port communicating with the rod chamber of the boom cylinder (4), a second inlet port communicating with the rodless chamber of the boom cylinder (4), and an outlet port communicating with the second pressure sensor.
10. A working machine according to any of claims 1-9, characterized by comprising an excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111675819.4A CN114293617B (en) | 2021-12-31 | 2021-12-31 | Engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111675819.4A CN114293617B (en) | 2021-12-31 | 2021-12-31 | Engineering machinery |
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| CN114293617A true CN114293617A (en) | 2022-04-08 |
| CN114293617B CN114293617B (en) | 2023-05-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115075329A (en) * | 2022-07-07 | 2022-09-20 | 山河智能装备股份有限公司 | Electro-hydraulic traveling system of skid steer loader and control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09235758A (en) * | 1996-02-29 | 1997-09-09 | Hitachi Constr Mach Co Ltd | Controller for gyratory construction machine |
| CN101144491A (en) * | 2007-10-31 | 2008-03-19 | 三一重工股份有限公司 | Hydraulic pressure driving mechanism speed control device |
| CN108049451A (en) * | 2017-12-25 | 2018-05-18 | 柳州柳工挖掘机有限公司 | excavator walking pilot control hydraulic system |
-
2021
- 2021-12-31 CN CN202111675819.4A patent/CN114293617B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09235758A (en) * | 1996-02-29 | 1997-09-09 | Hitachi Constr Mach Co Ltd | Controller for gyratory construction machine |
| CN101144491A (en) * | 2007-10-31 | 2008-03-19 | 三一重工股份有限公司 | Hydraulic pressure driving mechanism speed control device |
| CN108049451A (en) * | 2017-12-25 | 2018-05-18 | 柳州柳工挖掘机有限公司 | excavator walking pilot control hydraulic system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115075329A (en) * | 2022-07-07 | 2022-09-20 | 山河智能装备股份有限公司 | Electro-hydraulic traveling system of skid steer loader and control method |
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| Publication number | Publication date |
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| CN114293617B (en) | 2023-05-02 |
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