CN1157515C - Oil pressure type digging vehicle - Google Patents
Oil pressure type digging vehicle Download PDFInfo
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- CN1157515C CN1157515C CNB011246529A CN01124652A CN1157515C CN 1157515 C CN1157515 C CN 1157515C CN B011246529 A CNB011246529 A CN B011246529A CN 01124652 A CN01124652 A CN 01124652A CN 1157515 C CN1157515 C CN 1157515C
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- aforementioned
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- oil pressure
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/965—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of metal-cutting or concrete-crushing implements
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- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a hydraulic excavating vehicle which carries out desired work by controlling composite operation activated by a plurality of actuators without requiring a mastery degree of the operator, in response to selection of an operation mode by the operator under his hand. The hydraulic excavating vehicle is comprised of an operating machine and pressure compensating valves. The operating machine is driven by activation of at least two portions by means of the respective hydraulic actuators. The pressure compensating valves are arranged across pressure oil feeding circuits at respective locations between control valves connected to operating levers, and the actuators. According to the hydraulic excavating vehicle thus constructed, when the operator selects the operation mode by using an operation mode selecting means arranged in an operator's cab, the pressure compensating valves are activated in response to signals from a controller having a variable pressure compensating value function storage means, whereby pressure oil feeding amounts to the actuators are controlled.
Description
Technical field
The present invention relates to the such oil pressure type digging vehicle of hydraulic excavator with excavating machine.
Background technology
In the prior art, as shown in Figure 6, among the various operations of carrying out with hydraulic excavator, for the operation along the ground grading shown in the arrow A (be commonly referred to as and take operation) of adopting scraper bowl 101 to carry out, because the dredge operation (arrow C) of the lifting of boom 102 operation (arrow B) and cantilever 103 must be carried out simultaneously, each action of operating hydraulic cylinder 104,105 must be united and carried out.In this case, because cantilever 103 is to gravity direction motion, so the scraper bowl track that begins from operation starting point a digs the horizontal downside as target shown in dotted line b the figure.For this digging do not taken place,, therefore require running operation very skilled to operating personnel's technical requirements height.
And, working rig is being used under the situation of heavy accessory, shown in Fig. 7 (a), (adopt identical label) with foregoing same area, machinery, when the crushing engine 106 that adopts disassembling operation to use carries out operation, it is heavy to be installed in the general scraper bowl of the weight ratio of crushing engine 106 of cantilever 103 front ends, and is raised to eminence mostly and operates.And, deep-cutting under the situation of operation, shown in Fig. 7 (b), the rate of climb in order to ensure working rig, for the relation between boom 102 and the cantilever 103, must slow down throttling, improve the responsiveness of the operation hydraulic cylinder 104 of boom 102 1 sides the pressure-compensated valve (not shown) that makes the side that boom 102 rises.Under aforementioned any situation, in the time of the operation of last lift operations that carries out boom 102 and cantilever 103, during composition operation,, just can not successfully implement the purpose operation if do not grasp the main points of both operation hydraulic cylinder 104,105 action controls.When this operation, also be that the technology by the operator solves, in other words, its present situation is the qualification that depends on the operator.
And as prior art related to the present invention, for the pressure-compensated valve that is adopted when the oil pressure that a plurality of actuators are moved is simultaneously controlled, the applicant opens in the flat 11-316611 communique open the spy of first to file.This pressure-compensated valve is owing to the size according to controlled pressure causes the pressure compensation characteristic variations, so can obtain required pressure compensation characteristic by changing controlled pressure.
But, as previously described, fail to be solved for making a plurality of actuator teamworks carry out effective operation, still rely on operating personnel's qualification during joint operation carrying out aforementioned while, when carrying out this operation, the problem that exists the not high operating personnel of proficiency can not carry out effective operation.
The present invention proposes in light of this situation, its objective is that providing a kind of manually selects work pattern by the operator, can not require the teamwork of a plurality of actuators of proficiency ground control, the oil pressure type digging vehicle that carries out required operation.
Summary of the invention
In order to realize aforementioned purpose, according to the oil pressure type digging vehicle of first invention be a kind of possess at least two positions be by each oil pressure actuator operation working rig, on the pressure oil feed path of aforementioned each oil pressure actuator, be provided with respectively in the oil pressure type digging vehicle of directional control valve and pressure-compensated valve, it is characterized by, be equipped with:
(a) can select the work pattern selecting arrangement of the various work patterns of aforementioned working rig,
(b) electromagnetic control valve of the amount of restriction of aforementioned each pressure-compensated valve of control,
(c) storage is used to set variable pressure offset function memory storage from the variable pressure offset function of ratio to the pressure oil of aforementioned each oil pressure actuator that supply,
(d) utilize the work pattern of selecting by aforementioned work pattern selecting arrangement,, make the control device of aforementioned each Electromagnetically-operating valve events with the pressure oil supply of controlling aforementioned each oil pressure actuator with reference to aforementioned variable pressure offset function storage device.
In the present invention, in variable pressure offset function storage device, preestablish pressure oil supply ratio value to a plurality of oil pressure actuators, when the operator utilizes the work pattern selecting arrangement to select work pattern, the amount of restriction of the pressure-compensated valve in the pressure oil feed path of a plurality of oil pressure actuators is controlled, with the pressure compensation degree be controlled at the matched state of operation under.Thereby, when operator's running operation bar, operate connected electromagnetic control valve, keep and control the compensativity of the operating pressure oil supplying amount that is supplied to each oil pressure actuator.In brief, adopt the present invention,, then under selected condition, for example, can set two working positions for different duty if select work pattern by the work pattern selecting arrangement, can be earlier by a position, the mode behind position is controlled.Thereby, can carry out joint operation to a plurality of oil pressure actuators with the order that irrespectively sets with operator's technology.
In the present invention, aforementioned two positions are respectively by the first oil pressure actuator and the operation of the second oil pressure actuator, in aforementioned variable pressure offset function storage device, storage increases the big strong offset function of pressure oil supply ratio of the aforementioned second oil pressure actuator for the pressure oil supply ratio of the aforementioned first oil pressure actuator.And, also can store for the pressure oil supply ratio of the aforementioned first oil pressure actuator, reduce the weak offset function of the pressure oil supply ratio of the aforementioned second oil pressure actuator.Like this, in the cantilever operation, use the strong penalty function storage device of front, on the contrary, in the boom operation, use weak offset function storage device to carry out the fixed pressure compensation, in the integration of operation of following the working rig of being furnished with cantilever and boom, have the operating condition that can stipulate both, carry out the advantage of reasonable operation.
And, in the present invention, in aforementioned work pattern selecting arrangement, be provided with work pattern selector switch and variable pitch by-pass cock simultaneously, preferably can change the pressure compensation degree of the pressure-compensated valve that utilizes aforementioned variable pressure offset function storage device by this variable pitch by-pass cock.Therefore, have except that initial setting, can regulate the advantage of the operating state setting of a plurality of actuators according to operating condition.
Secondly, according to the oil pressure type digging vehicle of second invention is that a kind of to have at least two positions be by the working rig of each oil pressure actuator operation, at the oil pressure type digging vehicle that directional control valve and pressure-compensated valve are set respectively on the pressure oil supply passageway of aforementioned each oil pressure actuator, it is characterized by, be equipped with:
(a) can select the work pattern selecting arrangement of the various work patterns of aforementioned working rig,
(b) electromagnetic control valve of the amount of restriction of aforementioned each pressure-compensated valve of control,
(c) make aforementioned each Electromagnetically-operating valve events according to the signal of telecommunication that sends from aforementioned work pattern selecting arrangement, control is to the resistor of the pressure oil quantity delivered of aforementioned each oil pressure actuator.
Adopt the present invention, when selecting work pattern with the operation mode selector, utilize the selected signal of telecommunication to make the resistor action, simultaneously, make connected Electromagnetically-operating valve events, convert fuel injection pressure signal to by this electromagnetic control valve, and in operation, the pressure compensation degree of pressure-compensated valve is controlled under the equilibrium state.So, for example, can carry out the pressure compensation different with utilizing imposing a condition of another pressure-compensated valve for a pressure-compensated valve, can change the operating state of the oil pressure actuator of a selected side with respect to another oil pressure actuator.Thereby joint operation can move according to setting by making a plurality of oil pressure actuators when relying on operator's technology in the past, can improve operating efficiency.
Description of drawings
Fig. 1 is the oil pressure control loop figure of representative first embodiment of the present invention.
Fig. 2 is the flow chart that is illustrated in the duty in the oil pressure type digging vehicle of present embodiment.
Fig. 3 is the oil pressure control loop figure of the major part of representative second embodiment of the present invention.
Fig. 4 is the oil pressure control loop figure of representative the 3rd embodiment of the present invention.
Fig. 5 is the flow chart that is illustrated in the duty in the oil pressure type digging vehicle of the 3rd embodiment.
Fig. 6 is the diagram of explanation in the problem of utilizing hydraulic excavator to take to exist in the operation.
Fig. 7 is the diagram that expression utilizes the existing operating type of hydraulic excavator, (a) is the situation of being furnished with the working rig of the big accessory of weight, and the diagram of an example under the operation situation is deep-cut in expression (b).
The specific embodiment
Below, with reference to the specific embodiment of description of drawings according to oil pressure type digging vehicle of the present invention.
Fig. 1 represents to represent the oil pressure control loop figure of first embodiment of the invention.
This embodiment is the example that expression is applicable to hydraulic excavator, be provided with the oil pressure pump 1 that utilizes the engine (ENG) be installed on the body to drive, be provided with from this oil pressure pump 1 and operate the oily supply circuit 4,5 of operating pressure with oil hydraulic cylinder 2 (being equivalent to the oil pressure actuator in the present invention) and cantilever with each bottom side supply pressure oil of oil hydraulic cylinder 3 (being equivalent to the oil pressure actuator in the present invention) to the boom operation.Be respectively equipped with pressure- control valve 6,7 in this working oil oil hydraulic circuit 4,5, between pressure- control valve 6,7 and oil hydraulic cylinder 2,3, pressure-compensated valve 10,10a be set respectively.
Left and right sides running operation bar 11,12 is connected respectively on the aforementioned pressure control valve 6,7, and is electrically connected on the controller 14 by pressure switch 13,13a.And, in the operating pressure oil supply circuit 4,5 of aforementioned two oil hydraulic cylinders 2,3, from the outlet side oil circuit 4 of pressure-compensated valve 10,10a ', 5 ' respectively press to hydraulic control circuit 15,15a output services load, hydraulic control circuit 15,15a link to each other with shuttle valve 16.
On aforementioned each pressure-compensated valve 10,10a, be connected with electromagnetic control valve 17, the 17a of the hydraulic control pressure oil that acceptance comes with oil pressure pump 8 from hydraulic control respectively, by accepting electromagnetic control valve 17, the 17a of the control signal that slave controller 14 comes, connect signal of telecommunication loop 30,31 respectively in the mode of operating pressure recuperation valve 10,10a respectively.
The known control device of in aforementioned controller 14, packing into, simultaneously, in variable pressure offset function storage device, import, store the command value of using the operating pressure oil supply ratio of oil hydraulic cylinder 3 when setting integration of operation to the boom operation with oil hydraulic cylinder 2 and cantilever operation in advance, and, import, store the value of the contingent condition of setting aforementioned operating pressure oil supply ratio.Aforementioned operating pressure oil supply ratio operating pressure oil supply ratio to two oil hydraulic cylinders 2,3 in common operation is 1: 1.Relative therewith, for example under the situation of digging operation, the supply ratio of operating the oil hydraulic cylinder 3 of usefulness to the oil hydraulic cylinder 2 and the cantilever of boom operation usefulness is set to,
The boom operation is used: the cantilever operation is with=1: 0.8
And, adopting the big accessory of weight to carry out operation or digging deeply under the situation such as operation,
The boom operation is used: the cantilever operation is with=0.9: 1.
And, for these values and unrestricted.
For sort controller 14, be provided with in the unshowned in the drawings driver's cabin and be furnished with as for example two selection console switch (action button) 18a of work pattern selecting arrangement, the watch-dog 18 of 18b corresponding to the operation form.This watch-dog 18 is connected with aforementioned watch-dog 14 by signal circuit, when the operator follows the operation of teamwork in driver's cabin, can select the condition of work corresponding to the boom and the cantilever of operation form by aforementioned selection console switch 18a, 18b.And, in this watch-dog 18, set up variable pitch by-pass cock 19 (structure of similar volume switch), can make fixedly controlled quentity controlled variable more fine change, move by aforementioned selection console switch 18a, 18b.
In above-mentioned present embodiment, for example taking under the situation of operation, when the operator utilizes the selection console switch 18a, the 18b that are arranged in the operation office for train receiving departure to press (side's) action button of purpose operation, send command signal from selecteed selection console switch to controller 14, the command value slave controller 14 that takes operation that is suitable in this case sends signal to electromagnetic control valve 17 (17a).Promptly, the electromagnetic control valve 17a of pressure-compensated valve 10a in the operating pressure oil supply circuit 5 that the boom operation is used oil hydraulic cylinder 3 with the electromagnetic control valve 17 and the cantilever operation of the pressure-compensated valve 10 in the operating pressure oil supply circuit 4 of oil hydraulic cylinder 2 sends the signal of regulation, with respect to oil supply from the oil hydraulic cylinder 2 of usefulness to boom that utilize these electromagnetic control valves 17,17a operates, the oil supply of operating with oil hydraulic cylinder 3 to cantilever is to operate two pressure-compensated valves 10,10a to scale in the mode of throttling.Specifically, the big mode of throttle degree of excavating the pressure-compensated valve 10a of side with cantilever is operated.
Thereby, the responsiveness of cantilever is slow with respect to the responsiveness of boom, in other words, when digging operation, when the scraper bowl that utilization is installed in the cantilever front end carries out the operation of ground grading, carrying out scraper bowl traction in the operation of party of one's own, operating (with reference to Fig. 6) greater than the state of the hauling speed of cantilever slightly with the rate of climb of boom.Thereby, when carrying out the operation of ground grading, in the prior art, scraper bowl digs the process of carrying out finishing from ground surface, control the action of cantilever and boom by the technology relevant, and in the present invention, do not need special technology with operator's experience, setting after scraper bowl draws together straight angle degree, only needing the operator to operate boom and cantilever and just can carry out correct smooth.
And, carry out in the mode of the big load of cantilever one side effect (deep-cutting the operation of the big accessory of operation and operating weight under the situation of operation, with reference to Fig. 7 (a) and (b)), in pressing watch-dog 18 during, utilize the signal that sends from this console switch to select to be suitable for to adopt the command value of the operation task of the big accessory of weight by watch-dog 14 with aforementioned different action button.And, its corresponding command signal is fed to each electromagnetic control valve 17,17a, operating pressure recuperation valve 10,10a, with aforementioned described opposite, compare with the operating pressure oil supply of operating to cantilever with oil hydraulic cylinder 3, supply with the operating pressure oil of oil hydraulic cylinder 2 with the operation of regulation ratio subtend boom and carry out throttling.Particularly, reduce the throttle degree of the pressure-compensated valve 10a of boom uplifted side.So, after the operation condition of setting corresponding to the cantilever of operation situation and boom, by operator's operating operation bar 11,12, because it is fast slightly with the responsiveness of oil hydraulic cylinder 3 with respect to boom operation cantilever operation for the responsiveness of oil hydraulic cylinder 2, so, for example under the situation of dark pick operation, in promote the operating process of excavating soil with scraper bowl, keep on one side the state of cantilever traction to self side, reasonably upgrade the operation of weighing arm on one side, can effectively utilize scraper bowl sand is sleeked.
And, when the big accessory of the weight that resembles the disintegration crushing engine being installed at the front end of cantilever and carrying out disassembling operation, can prevent that the speed of cantilever is lower than the rate of climb of boom.And then, clamping object on one side with crushing engine upgrades under the situation of weighing arm on one side, past, in order to clamp object under the situation that remains on the crushing engine decompression, improve pump pressure, thereby, the discharge pressure drop of pump is low, and, for being promoted, boom carries out the flow adjustment with pressure-compensated valve, reduce the rate of climb of boom.And under the situation of present embodiment, the area by reducing the compensation of boom unlifting pressure is than reducing pump pressure, and the boom rising has precedence over the adjustment of flow-rate ratio, can improve the rate of climb of boom.
And, when one of boom or cantilever are moved on one's own initiative, be necessary to adjust under the situation of its action according to job status, if the variable pitch by-pass cock 19 that operation is attached on the watch-dog 18 carries out the degree adjusting, then can revise the control instruction value according to the initial setting value by controller 14 corresponding to its setting value, change is carried out required action to the supply ratio of the operating pressure oil of two oil hydraulic cylinders.And when the supply ratio set to the operating pressure oil of above-mentioned two oil hydraulic cylinders 2,3, if either party supply conditions to oil hydraulic cylinder is certain, the supply conditions that then can only control to the opposing party's oil hydraulic cylinder just can achieve the goal.
When the end of job that the composite move by this boom and cantilever carries out, if remove the selection that work pattern is selected by the selection action button in the aforementioned watch-dog 18, the then instruction of being removed pressure-compensated valve 10,10a by controller 14 recovers to run well.And, after this detect the load of the oil hydraulic cylinder in the operating pressure supply circuit 4,5 that leads to two oil hydraulic cylinders 2,3 and press, carry out the pressure adjustment by rib valve 16.
Below, according to the duty of the oil pressure type digging vehicle of flowchart text present embodiment shown in Figure 2.
S1: judge whether the selection console switch 18a of the selection work pattern on the watch-dog 18 that is arranged in the driver's cabin, the button of 18b are pressed.Pressing under the situation of selecting console switch 18a, 18b, entering as the step S2 that carries out the situation of special operation (for example control operation).Not pressing under the situation of selecting console switch 18a, 18b (NO), enter step S8 as normal operation.
S2: judge whether to carry out boom, cantilever joint operation as special operation.If joint operation (YES) then enters step S3.If operation (NO) then enters step S6 separately.
S3: under the situation of selecting joint operation, select pressure compensation degree with the corresponding regulation of operation.In brief, if aforementionedly take operation, then in controller 14, select its corresponding pressure compensation degree.
S4: slave controller 14 makes this electromagnetic control valve 17a action to the command signal of cantilever side electromagnetic control valve 17a transmission corresponding to the pressure selected degree of compensation.
S5: according to utilizing electromagnetic control valve 17,17a operating pressure recuperation valve 10,10a by the operation signal amount of the action bars 11,12 of joint operation, by the supply of this pressure compensation control, make working rig teamwork carry out the purpose operation to the operating pressure oil of oil hydraulic cylinder 2,3.When this joint operation finishes, return step S1 once more.
S6: in the judgement of step S2, be under the situation of operation separately, from pressure- control valve 6,7 outputs and the corresponding fuel injection pressure signal of operation signal amount by action bars 11,12 at boom and cantilever.
S7: the operation signal amount according to action bars 11,12 when operating separately makes the working rig action.When this independent EO, return S1 once more
S8: in the judgement of step S1, under the situation for normal operation, during as general job, from the fuel injection pressure signal of pressure- control valve 6,7 outputs corresponding to the operation signal amount of each action bars 11,12.
S9: the operation signal amount according to the joint operation of each action bars 11,12 makes the working rig action.When carrying out the working rig EO of normal running, return step S1.
Like this, in the present embodiment, utilization is arranged on selection console switch 18a, 18b in the driver's cabin and selects work pattern corresponding to the purpose operation, utilize pressure-compensated valve 10,10a control by the ratio (compensativity) of the predefined work to working rig of controller 14 then, can finish the purpose operation by the operating operation bar then with the quantity delivered of the operating pressure oil of oil hydraulic cylinders (boom operation with, cantilever operation with) 2,3.Therefore,, also can make working rig action smoothly rationally, reach its intended purposes even reduce operator's proficiency.
Secondly, with reference to Fig. 3 second embodiment of the present invention is illustrated.In aforementioned first embodiment, adopt by controller 14, utilize the structure of the throttling of electromagnetic control valve 17,17a operating pressure recuperation valve 10,10a, but in the present embodiment, employing is carried out the structure that electricity is operated to the electromagnetic control valve 17 that is used for operating pressure recuperation valve 10,10a, the signal of 17a.In addition, as broad as long basically with first embodiment.Therefore, the part common with first embodiment adopts identical meeting, and omits its detailed description.
In the present embodiment, send command signal to electromagnetic control valve 17,17a, pressure-compensated valve 10,10a are sent fuel injection pressure signal by electromagnetic control valve 17,17a from being located in the middle of selection console switch 18a, the 18b on the watch-dog 18 through resistor 21,22.And,, both can be that fixed resister also can be a variable resistance for aforementioned resistor 21,22.
In the present embodiment that constitutes in the above described manner, the same with the action of first embodiment when the teamwork of working rig, according to the work pattern control boom operation of selecting with and cantilever operate the action of using oil hydraulic cylinder 2,3.Therefore, the same with first embodiment, have and need not the effect that the operator has very high technology just can fulfil assignment at an easy rate.
Figure 4 shows that the oil hydraulic circuit figure of expression the 3rd embodiment.This embodiment is the example of the situation of use electric action bars.In addition, in the present embodiment, because its basic structure is identical with first embodiment, thus part employing identical meet common with first embodiment, and omit its explanation.
In the present embodiment, set up the potentiometer (not shown) that is useful on the operation of transmitting electric action bars 25,26, the voltage that is produced by the operation of action bars utilizes potentiometer to the controller 14 output signals of telecommunication (usually, at upper limit 5V, lower limit 0V, scope about 2.5V is provided with neutral band, and the action bars operation initial stage that begins from the neutral position is induction not.), its corresponding control signal is transmitted fuel injection pressure signal by the operating portion of electromagnetic proportional valve 27, the pressure- control valve 6,7 of 27a in the operating pressure oil supply circuit 4,5 that is arranged on each oil hydraulic cylinder 2,3.And, the same with aforementioned first embodiment, from electromagnetic control valve 17,17a pressure-compensated valve 10, the 10a output oil pressure signal between the input side of the outlet side that is located at aforementioned each pressure- control valve 6,7 and each oil hydraulic cylinder 2,3, the mode of transmitting command signal with slave controller 14 is connected to signal of telecommunication loop 30,31 on electromagnetic control valve 17, the 17a.
In the present embodiment,, utilize selection console switch 18a, 18b (action button) on the watch-dog 18 that is located in the driver's cabin, when when at the needs joint operation, selecting work pattern, with the operation signal input controller of selecting 14 with previous embodiments.Utilize this controller 14 to pass to electromagnetic control valve 17,17a corresponding to the operation instruction signal of selecting work pattern, make with it corresponding pressure-compensated valve 10,10a throttling or weaken, control is to the operating pressure oil supply amount of corresponding operation with oil hydraulic cylinder 2,3.Therefore, the operation that makes the opposing party with respect to a side operation with oil hydraulic cylinder is with the quantity delivered throttling of the operating pressure oil of oil hydraulic cylinder or weaken, and makes the supply ratio difference of the operating pressure oil of two oil hydraulic cylinders 2,3.Thereby, make the operating rate of cantilever and boom produce difference, make it to move according to selected operation, can reach required purpose easily.
Secondly, according to flowchart text shown in Figure 5 duty according to the oil pressure type digging vehicle of the 3rd embodiment.
T1: judge the selection console switch 18a of the work pattern on the selection watch-dog 18 that is arranged in the driver's cabin, whether the button of 18b is pressed.Selecting console switch 18a.Under the situation that 18b is pressed, enter as the step T2 that carries out the situation of special operation (for example taking operation).Under the situation of selecting console switch 18a, 18b not to be pressed (NO), enter step T8 as normal operation.
T2: judge whether to carry out boom, cantilever joint operation as special operation.Then enter step 3 if carry out joint operation (YES).Then enter step 6 if carry out separate operaton (NO).
T3: under the situation of selecting integration of operation, select pressure compensation degree corresponding to the regulation of operation situation.In brief, if carry out the aforementioned operation that takes, then in controller 14, select its corresponding pressure compensation degree.
T4: slave controller 14 makes electromagnetic control valve 17a (electromagnetic control valve 17) action to the command signal of cantilever side electromagnetic control valve 17a (boom side electromagnetic control valve 17) transmission corresponding to the pressure selected degree of compensation.
T5: the fuel injection pressure signal operating pressure recuperation valve 10a (pressure-compensated valve 10) that is produced according to electromagnetic control valve 17a (electromagnetic control valve 17), utilize this pressure compensation control to supply with, make the purpose operation of working rig teamwork to the operating pressure oil of oil hydraulic cylinder 3 (oil hydraulic cylinder 2).Operation signal amount according to the action bars 25,26 of joint operation is exported to electromagnetic proportional valve 27,27a by controller 14, utilizes this electromagnetic proportional valve 27,27a, and pressure- control valve 6,7 is kept the aforementioned pressure degree of compensation and controlled the action of oil hydraulic cylinder 2,3.When finishing, this joint operation returns step T1 once more.
T6: in the judgement of step T2, be under the situation of operation separately, to the signal of telecommunication of controller 14 outputs corresponding to the operation signal amount of action bars 25,26 in the motion action of boom and cantilever.
T7: the operation signal amount that slave controller 14 is produced by the action bars 25,26 of independent operation to electromagnetic proportional valve 27,27a output makes working rig corresponding to the aforementioned operation signalizing activity according to electromagnetic proportional valve 27, fuel injection pressure signal that 27a produced.When this independent EO, return step T1 once more.
T8: in the judgement of step T1, under the situation of normal operation, during as general job, slave controller 14 outputs are corresponding to the signal of telecommunication of the operation signal amount of each action bars 25,26.
T9: make the action bars operation signal amount action of working rig according to each action bars 25,26 joint operation that produced.When the working rig EO of normal running, return step T1.
Like this, in the 3rd embodiment, if utilize selection console switch 18a, the 18b be located in the driver's cabin to select work pattern corresponding to the purpose operation, then utilize pressure-compensated valve 10,10a control by the ratio (compensativity) of the predefined work to working rig of controller 14, can finish the purpose operation by operating electric action bars afterwards with the quantity delivered of the operating pressure oil of oil hydraulic cylinders (boom operation with, cantilever operation with).Therefore, when operator's proficiency hangs down, also can make working rig action successfully rationally, reach its intended purposes.
In the above description, be example with oil hydraulic cylinder as the control actuator, but the present invention is also applicable to the situation of the oil pressure Work machine that adopts other form.
Claims (5)
1, a kind of oil pressure type digging vehicle, possessing at least two positions is by the working rig of each oil pressure actuator operation, on the pressure oil feed path of aforementioned each oil pressure actuator directional control valve and pressure-compensated valve being set respectively, it is characterized by, and is equipped with:
(a) can select the work pattern selecting arrangement of the various work patterns of aforementioned working rig,
(b) electromagnetic control valve of the amount of restriction of aforementioned each pressure-compensated valve of control,
(c) storage is used to set variable pressure offset function memory storage from the variable pressure offset function of ratio to the pressure oil of aforementioned each oil pressure actuator that supply,
(d) utilize the work pattern of selecting by aforementioned work pattern selecting arrangement,, make the control device of aforementioned each Electromagnetically-operating valve events with the pressure oil supply of controlling aforementioned each oil pressure actuator with reference to aforementioned variable pressure offset function storage device.
2, oil pressure type digging vehicle as claimed in claim 1, it is characterized by, aforementioned two positions are respectively by the first oil pressure actuator and the operation of the second oil pressure actuator, in aforementioned variable pressure offset function storage device, storage increases the strong offset function of the pressure oil supply ratio of the aforementioned second oil pressure actuator for the pressure oil supply ratio of the aforementioned first oil pressure actuator.
3, oil pressure type digging vehicle as claimed in claim 1, it is characterized by, aforementioned two positions are respectively by the first oil pressure actuator and the operation of the second oil pressure actuator, in aforementioned variable pressure offset function storage device, storage reduces the weak offset function of the pressure oil supply ratio of the aforementioned second oil pressure actuator for the pressure oil supply ratio of the aforementioned first oil pressure actuator.
4, oil pressure type digging vehicle as claimed in claim 1, it is characterized by, in aforementioned work pattern selecting arrangement, be provided with work pattern selector switch and variable pitch by-pass cock simultaneously, change the pressure compensation degree of the pressure-compensated valve of aforementioned variable pressure offset function storage device generation by this variable pitch by-pass cock.
5, a kind of oil pressure type digging vehicle, possessing at least two positions is by the working rig of each oil pressure actuator operation, on the pressure oil supply passageway of aforementioned each oil pressure actuator directional control valve and pressure-compensated valve being set respectively, it is characterized by, and is equipped with:
(a) can select the work pattern selecting arrangement of the various work patterns of aforementioned working rig,
(b) electromagnetic control valve of the amount of restriction of aforementioned each pressure-compensated valve of control,
(c) make aforementioned each Electromagnetically-operating valve events according to the signal of telecommunication that sends from aforementioned work pattern selecting arrangement, control is to the resistor of the pressure oil quantity delivered of aforementioned each oil pressure actuator.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000229301A JP4493175B2 (en) | 2000-07-28 | 2000-07-28 | Hydraulic excavation vehicle |
| JP229301/2000 | 2000-07-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1336469A CN1336469A (en) | 2002-02-20 |
| CN1157515C true CN1157515C (en) | 2004-07-14 |
Family
ID=18722445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011246529A Expired - Fee Related CN1157515C (en) | 2000-07-28 | 2001-07-27 | Oil pressure type digging vehicle |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20020011013A1 (en) |
| JP (1) | JP4493175B2 (en) |
| KR (1) | KR100806269B1 (en) |
| CN (1) | CN1157515C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100362247C (en) * | 2004-12-17 | 2008-01-16 | 卢永松 | Double pump confluence type multi-way ratio control valve with load sensitivity information circuit |
| CN101070707B (en) * | 2007-05-29 | 2011-06-15 | 三一重机有限公司 | Digger revolving-control method and system |
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|---|---|---|---|---|
| DE10332120A1 (en) * | 2003-07-15 | 2005-02-03 | Bosch Rexroth Ag | Control arrangement and method for controlling at least two hydraulic consumers |
| GB2417943B (en) * | 2004-09-08 | 2008-10-15 | Bamford Excavators Ltd | Material handling vehicle |
| JP4827789B2 (en) * | 2007-04-18 | 2011-11-30 | カヤバ工業株式会社 | Hydraulic actuator speed controller |
| US9299247B2 (en) * | 2008-01-14 | 2016-03-29 | Caterpillar Inc. | System and method for adjusting machine parameters |
| DE102010023435A1 (en) * | 2010-06-11 | 2011-12-15 | Toni Kiesel | Method for controlling a hydraulically movable arm of a working device and a working device |
| DE102011106307A1 (en) | 2011-07-01 | 2013-01-03 | Robert Bosch Gmbh | Control arrangement and method for controlling a plurality of hydraulic consumers |
| WO2013051737A1 (en) * | 2011-10-05 | 2013-04-11 | 볼보 컨스트럭션 이큅먼트 에이비 | System for controlling land leveling work which uses an excavator |
| JP7264873B2 (en) * | 2018-03-30 | 2023-04-25 | 住友建機株式会社 | Excavator, information processing equipment |
| DE102018206271A1 (en) * | 2018-04-24 | 2019-10-24 | Putzmeister Engineering Gmbh | Method for controlling the movement of a mast and working machine |
| JP7123735B2 (en) * | 2018-10-23 | 2022-08-23 | ヤンマーパワーテクノロジー株式会社 | Construction machinery and control systems for construction machinery |
| CN110230334A (en) * | 2019-06-11 | 2019-09-13 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic crawler excavator intelligence level land device and its control method |
| JP7149917B2 (en) * | 2019-09-30 | 2022-10-07 | 日立建機株式会社 | working machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0437974Y2 (en) * | 1986-01-10 | 1992-09-07 | ||
| JP2615207B2 (en) * | 1988-07-08 | 1997-05-28 | 日立建機株式会社 | Hydraulic drive |
| JP2863599B2 (en) * | 1990-04-09 | 1999-03-03 | 油谷重工株式会社 | Control device for hydraulic working machine |
| JP2948065B2 (en) * | 1993-09-06 | 1999-09-13 | 日立建機株式会社 | Hydraulic drive for construction machinery |
| JPH07190004A (en) * | 1993-12-28 | 1995-07-28 | Hitachi Constr Mach Co Ltd | Oil pressure controller for construction machine |
| JP3394581B2 (en) * | 1994-02-21 | 2003-04-07 | 日立建機株式会社 | Hydraulic control device for construction machinery |
| KR0145446B1 (en) * | 1994-07-07 | 1998-07-15 | 안시환 | Biaxially orieuted polyester film |
| JPH11315806A (en) * | 1998-03-04 | 1999-11-16 | Komatsu Ltd | Hydraulic driving device |
-
2000
- 2000-07-28 JP JP2000229301A patent/JP4493175B2/en not_active Expired - Fee Related
-
2001
- 2001-07-24 US US09/910,851 patent/US20020011013A1/en not_active Abandoned
- 2001-07-26 KR KR1020010045018A patent/KR100806269B1/en not_active IP Right Cessation
- 2001-07-27 CN CNB011246529A patent/CN1157515C/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100362247C (en) * | 2004-12-17 | 2008-01-16 | 卢永松 | Double pump confluence type multi-way ratio control valve with load sensitivity information circuit |
| CN101070707B (en) * | 2007-05-29 | 2011-06-15 | 三一重机有限公司 | Digger revolving-control method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| US20020011013A1 (en) | 2002-01-31 |
| JP2002038533A (en) | 2002-02-06 |
| CN1336469A (en) | 2002-02-20 |
| KR100806269B1 (en) | 2008-02-22 |
| KR20020010515A (en) | 2002-02-04 |
| JP4493175B2 (en) | 2010-06-30 |
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