CN1333435A - Actuator controller fro hydraulic driving machinery - Google Patents

Actuator controller fro hydraulic driving machinery Download PDF

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Publication number
CN1333435A
CN1333435A CN01120088A CN01120088A CN1333435A CN 1333435 A CN1333435 A CN 1333435A CN 01120088 A CN01120088 A CN 01120088A CN 01120088 A CN01120088 A CN 01120088A CN 1333435 A CN1333435 A CN 1333435A
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CN
China
Prior art keywords
valve
pressure
arm
scraper bowl
hydraulic
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Granted
Application number
CN01120088A
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Chinese (zh)
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CN1237285C (en
Inventor
高圭介
丸山纯
石崎直树
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Komatsu Ltd
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Komatsu Ltd
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Publication of CN1237285C publication Critical patent/CN1237285C/en
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    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • 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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
    • 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
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • 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
    • 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
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • 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
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50563—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/57—Control of a differential pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/605—Load sensing circuits
    • F15B2211/6051—Load sensing circuits having valve means between output member and the load sensing circuit
    • F15B2211/6054—Load sensing circuits having valve means between output member and the load sensing circuit using shuttle valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/78—Control of multiple output members

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

An actuator controller of hydraulic driving machine processes suitable controlling by switching between the shunt circuit and sum string. If load pressure on a hydraulic cylinder for a bucket used for loading a skip lorry is smaller than a set level, a regenerative return motion valve is set at 'closed'. This has the effect that hydraulic oil delivered from a hydraulic cylinder operating an arm is only partially released into a tank. A defined proportion of this discharged oil is fed to the hydraulic cylinder for the bucket via an arm-control valve, returning oilway, fixed reproducibility valve, returning oilway, uni-directional valve, returning oilway, operating valve using for bucket, hydraulic-actuating cylinder provided for bucket. Opposite to this, if load pressure on a hydraulic cylinder for a bucket used for loading a skip lorry exceeds a set level, a regenerative return motion valve is set at 'open'. Hence, the oil expellent from the arm support using the hydraulic-actuating cylinder through the returning oilway, fixed reproducibility valve, expellent tank, the expellent oil of the hydraulic pump passing through oilway, pressure compensated valve, operating valve for bucket, providing to bucket with hydraulic-actuating cylinder.

Description

The actuator controller of fro hydraulic driving machinery
Technical field
The present invention relates to the device of 2 hydraulic actuators of drive controlling.
Background technique
As shown in Figure 8, in the building machinery of hydraulic loader, the manipulation loader that slides etc., be provided with arm 10 and scraper bowl 11 as working machine.This arm 10, scraper bowl 11 respectively with arm with hydraulic drive cylinder 2, scraper bowl connects with hydraulic drive cylinder 3.
Such as, in hydraulic loader, after excavating the soil bodys, arm 10 is risen by scraper bowl 11, carry out the soil bodys in the scraper bowl 11 are stacked into operation on the dump truck.In this operation,, must make scraper bowl 11 actions towards dumping direction, so that make the posture of scraper bowl 11 keep certain posture of the level on relative ground in order to make arm 10 towards the ascent direction action.This action is called " leveling control ".The control of this leveling is absolutely necessary for preventing that the soil body etc. in the scraper bowl 11 from dropping.
But, correct control iff manually-operable by operator, then as shown in Figure 7, must carry out arm is used operating stem 5 with operating stem 4 and scraper bowl composition operation.Such composition operation causes bigger burden to operator, and needs skilled.For this reason, can operator not caused burden, also need not skilled in addition and the invention of correcting control in the past for known to the public.That is, following invention is known to the public in the past, in this invention, only by the operation of arm with operating stem 4, not only makes arm 10 actions, but also makes scraper bowl 11 actions simultaneously, carries out horizontal retentive control.
To press oil to feed to a plurality of hydraulic actuators, and use in the oil hydraulic circuit of final controlling element with hydraulic actuator and scraper bowl such as arm, people know series loop and shunt circuit.
Fig. 9 (a) and (b) are represented the structure of series loop and shunt circuit in a schematic way.Shown in Fig. 9 (a), above-mentioned series loop is by the 1st Pressure oil feeder path 24a, will be from the pressure oil of oil hydraulic pump 1 discharge, feed to the arm hydraulic drive cylinder 2 of front, to feed to scraper bowl with hydraulic drive cylinder 3 from the pressure oil that returns that arm is discharged with hydraulic drive cylinder 2 by returning Pressure oil feeder path 40, two hydraulic drive cylinders 2,3 will be driven.Relative therewith, shown in Fig. 9 (b), the shunt circuit is respectively by the 1st Pressure oil feeder path 24a, the 2nd Pressure oil feeder path 24b, to feed to arm from the pressure oil that oil hydraulic pump 1 is discharged with hydraulic drive cylinder 2, scraper bowl hydraulic drive cylinder 3, drive two hydraulic drive cylinders 2,3.
Series loop has when carrying out composition operation, and the arm of front does not reduce with the actuating speed of hydraulic drive cylinder 2, i.e. the advantage that do not reduce of the movement speed of the arm 10 of front.Thus, this series loop is suitable for correcting the occasion of control.But in series loop, the driving pressure of the pressure oil of discharging from oil hydraulic pump 1 is that the arm of front is cut apart with hydraulic drive cylinder 3 with the scraper bowl of hydraulic drive cylinder 2 and back segment and reduced.Thus,, have following problems, promptly can not drive hydraulic actuator by the driving pressure of the load that reduces corresponding to driving pressure in the scraper bowl of back segment the bigger occasion of load with hydraulic drive cylinder 3.
Relative therewith, the shunt circuit has following shortcoming, promptly when carrying out composition operation, compares with independent operation, and the movement speed of arm 10 reduces, and still, parallel circuit has the advantage that scraper bowl does not reduce with the driving pressure of hydraulic drive cylinder 3.Thus, the shunt circuit is suitable for scraper bowl and needs operation than high thrust with hydraulic drive cylinder 3, arm simultaneously with hydraulic drive cylinder 2 when carrying out composition operation.
Open in the flat 10-219730 document the spy, a kind of invention is disclosed, in this invention, form oil hydraulic circuit by series loop, when when the arm ascent direction is operated with operating stem 4 arm, mode according to the posture maintenance level that makes scraper bowl 11, by pressure controlled valve the pressure oil that returns of discharging with hydraulic drive cylinder 2 from arm is shunted, make it feed to scraper bowl hydraulic drive cylinder 3, and in the load of scraper bowl 11 occasion greater than certain value, under the state of shunt circuit,, will press oil to be communicated to fuel tank with returning of hydraulic drive cylinder 2 from arm by the arm operating valve.
According to the disclosed invention of above-mentioned document, the size of scraper bowl 11 loads no matter, all under the state of series loop, driving arm is with hydraulic drive cylinder 2.Thus, even reach extreme limit of travel at scraper bowl with hydraulic drive cylinder 3, under the situation that the load of scraper bowl 11 increases, arm, moves still under the state that can't obtain enough driving forces continuously with hydraulic drive cylinder 2.Under to the bigger occasion of the load of arm, just be a problem like this.
So solution problem of the present invention is corresponding to load condition, carries out the switching of series loop and shunt circuit, the driving pressure of working machine is reduced, or the speed of working machine reduce.
Summary of the invention
In order to realize above-mentioned solution problem, the 1st invention of the present invention relates to the actuator controller of fro hydraulic driving machinery, this device comprises oil hydraulic pump (1), and the 1st and the 2nd hydraulic actuator (2,3), the the 1st and the 2nd hydraulic actuator drives by following manner, this mode is: oil is pressed in the discharge of supplying with this oil hydraulic pump (1) by the 1st and the 2nd Pressure oil feeder path (24a, 24b), it is characterized in that this device comprises:
Pressure oil feeder path (35,35a, 35d, 48,51), this Pressure oil feeder path will be pressed oil from the discharge that above-mentioned the 1st hydraulic actuator (2) is discharged, and feed to above-mentioned the 2nd hydraulic actuator (3);
Control mechanism (54,55), this control mechanism is controlled in the following manner, this mode is: corresponding to the induced pressure of above-mentioned the 2nd hydraulic actuator (3), make by above-mentioned and return the pressure oil that Pressure oil feeder path (35,35a, 35d, 48,51) feeds to above-mentioned the 2nd hydraulic actuator (3) and be communicated with fuel tank (14).
Below with reference to Fig. 1, the 1st invention specifically described.
According to the 1st invention, in load pressure the occasion certain value below of scraper bowl with hydraulic drive cylinder 3, regeneration relief valve 54 is positioned at closes side.Thus, do not discharge from whole pressure oil that arm is discharged with hydraulic drive cylinder 2 to fuel tank 14, the pressure oil of the regulation ratio in the pressure oil of being discharged by arm with operating valve 6, return oil circuit 35 and 35a, fixedly regeneration rate valve 43, return oil circuit 35d, one-way valve 48, return oil circuit 51, scraper bowl is with operating valve 7, feeds to scraper bowl with hydraulic drive cylinder 3.That is, in the load less occasion of scraper bowl with hydraulic drive cylinder 3, form series loop, arm presses oil to feed to scraper bowl hydraulic drive cylinder 3 with returning of hydraulic drive cylinder 2.
Relative therewith, use the induced pressure of hydraulic drive cylinder 3 to surpass the occasion of certain value at scraper bowl, regeneration relief valve 54 is positioned at opens side.Thus, the pressure of the control oil channel 53 that is connected with pressure controlled valve 55 forms tank pressure, pressure controlled valve 55 is positioned at and is communicated with position 55c, and whole pressure oil of discharging with hydraulic drive cylinder 2 from arm are by returning oil circuit 35 and 35b, fixedly regeneration rate valve 43, pressure controlled valve 55, to fuel tank 14 discharges.
If adopt the 1st invention in the manner described above, with the less occasion of load of hydraulic drive cylinder 3, form series loop at scraper bowl, press oil by arm with returning of hydraulic drive cylinder 2, drive scraper bowl hydraulic drive cylinder 3.Thus, when correcting control, the problem that the movement speed of the arm 10 of front descends does not take place.In addition, in the load bigger occasion of scraper bowl with hydraulic drive cylinder 3, owing to switch to parallel circuit, arm presses oil to be communicated with fuel tank 14 with returning of hydraulic drive cylinder 2, so can make arm hydraulic drive cylinder 2 actions by enough driving forces.
If adopt the present invention in the manner described above, owing to, switch to the shunt circuit corresponding to load condition, can make arm press oil to be communicated with fuel tank 14 with returning of hydraulic drive cylinder 2, even event under the situation of the load increase of scraper bowl 11, still can make arm move with drive cylinder 2 by enough driving forces.
In addition, the 2nd invention relates to the actuator controller of following fro hydraulic driving machinery, and this device comprises: oil hydraulic pump 1; The the 1st and the 2nd hydraulic actuator 2,3, the 1 and the 2nd hydraulic actuators drive by following manner, and this mode is: oil is pressed in the discharge of supplying with this oil hydraulic pump 1 by the 1st and the 2nd Pressure oil feeder path 24a, 24b; The the 1st and the 2nd operating device 4,5, the 1 and the 2nd operating devices correspond respectively to the above-mentioned the 1st and the 2nd hydraulic actuator 2,3 and are provided with, and it is characterized in that this device comprises:
Pressure oil feeder path 35,35a, 35d, 48,51, this Pressure oil feeder path will be pressed oil from the discharge that above-mentioned the 1st hydraulic actuator 2 is discharged, and feed to above-mentioned the 2nd hydraulic actuator 3;
Control mechanism 36,54,55, this control mechanism is in the induced pressure of above-mentioned the 2nd hydraulic actuator 3 occasion less than certain value, towards specific direction of operating to the above-mentioned the 1st and the 2nd operating device 4, under 5 situations of operating, ratio according to the rules, press oil to shunt to the discharge of discharging from above-mentioned the 1st hydraulic actuator 2, by the above-mentioned Pressure oil feeder path 35 that returns, 35,35d, 48,51, to feed to above-mentioned the 2nd hydraulic actuator (3) through the pressure oil of proportional diverting according to the rules, and the variation corresponding to the operation amount of above-mentioned the 2nd operating device 5 makes by the above-mentioned Pressure oil feeder path 35 that returns, 35a, 35d, 48,51 and the ratio of flow that feeds to the pressure oil of above-mentioned the 2nd hydraulic actuator 3 changes.
Below with reference to Fig. 1, the 2nd invention specifically described.
According to the 2nd invention, in the scraper bowl occasion of the induced pressure of hydraulic drive cylinder 3 less than certain value, regeneration relief valve 54 is positioned at the closed position side.In addition, in the occasion of arm being operated with operating stem 4 towards specific direction of operating (arm ascent direction), the pressure oil of discharging with hydraulic drive cylinder 2 from arm passes through fixedly regeneration rate valve 43, pressure controlled valve 55, with the proportional diverting of regulation.According to the pressure oil of the proportional diverting of this regulation by arm with operating valve 6, return oil circuit 35 and 35a, fixedly regeneration rate valve 43, return oil circuit 35d, one-way valve 48, return oil circuit 51, scraper bowl is with operating valve 7, feeds to scraper bowl usefulness hydraulic drive cylinder 3.Promptly, under the less situation of the load of scraper bowl usefulness hydraulic drive cylinder 3, in the occasion of arm being operated with operating stem 4 towards specific direction of operating (arm ascent direction), form series loop, press the oily pressure oil of proportional diverting according to the rules to feed to scraper bowl hydraulic drive cylinder 3 with returning of hydraulic drive cylinder 2 arm.Thus, carry out following rectification control, this is corrected the control confession under directions and uses the flow of hydraulic drive cylinder 2 and the ratio of the flow that scraper bowl is used hydraulic drive cylinder 3 to keep certain relation to arm, makes the certain control of posture maintenance of scraper bowl 11.
Relative therewith, if towards specific direction of operating (scraper bowl dumps direction) arm is operated with operating stem 5, then regeneration rate rising threshold 36 actions corresponding to operation amount, make to feed to the ratio increase of scraper bowl with the flow of the pressure oil of hydraulic drive cylinder 3.
If according to adopt the 2nd invention with upper type, under the less situation of the load of scraper bowl usefulness hydraulic drive cylinder 3, in the occasion of arm being operated with operating stem 4 towards specific direction of operating (arm ascent direction), by arm is pressed the oil pressure oil of proportional diverting according to the rules with returning of hydraulic drive cylinder 2, scraper bowl is driven with hydraulic drive cylinder 3.In addition, if arm is operated with operating stem 5 towards specific direction of operating (scraper bowl dumps direction), then regeneration rate rising threshold 36 actions, corresponding to operation amount, make to feed to the ratio increase of scraper bowl, thus, can increase the movement speed of scraper bowl 11 with the flow of the pressure oil of hydraulic drive cylinder 3.Therefore, according to the 2nd invention, when correcting control,, scraper bowl is increased with the actuating speed of hydraulic drive cylinder 3 by scraper bowl is operated with operating stem 5.
In addition, the 3rd invention is characterised in that above-mentioned control mechanism is in following occasion, carry out by above-mentioned the 2nd Pressure oil feeder path 24b, to press oil to feed to the control of above-mentioned the 2nd hydraulic drive cylinder 3, in this occasion, from the state of the above-mentioned the 1st and the 2nd operating device 4,5 being operated towards above-mentioned specific direction of operating, become the state of the above-mentioned the 1st and the 2nd operating device 4,5 being operated towards above-mentioned specific direction of operating direction of operating in addition.
Below with reference to Fig. 1, the 3rd invention specifically described.
When towards specific direction of operating (arm ascent direction, scraper bowl dumps direction) when arm is operated with operating stem 5 with operating stem 4, arm, the pressure oil of discharging with hydraulic drive cylinder 2 from arm by arm with operating valve 6, return oil circuit 35 and 35a, fixedly regeneration rate valve 43, return oil circuit 35d, one-way valve 48, return oil circuit 51, scraper bowl is with operating valve 7, feeds to scraper bowl with hydraulic drive cylinder 3.Here, when switching to arm with operating stem 4, scraper bowl with operating stem 5 towards the state of specific direction of operating (arm ascent direction, scraper bowl dump direction) direction of operating (arm ascent direction, bucket tilt direction) operation in addition, iff passing through from the pressure oil of arm with hydraulic drive cylinder 2, drive scraper bowl hydraulic drive cylinder 3, then as aforementioned, can't obtain enough thrust by arm with hydraulic drive cylinder 2.
Rise if switch to arm, the operation of bucket tilt then switches to the shunt circuit, by the 2nd Pressure oil feeder path 24b, presses oil to feed to scraper bowl hydraulic drive cylinder 3 discharge of oil hydraulic pump 1.At this moment, if scraper bowl uses the induced pressure of hydraulic drive cylinder 3 greater than certain value, then arm presses oil to be communicated with fuel tank 14 with returning of hydraulic drive cylinder 2, forms tank pressure, with hydraulic drive cylinder 2, obtains enough thrust by arm.
That is,, travel limits control valve 58,59 is set in the arm of Fig. 1 both sides with the valve rod of operating valve 7.If arm is operated with operating stem 4 towards the arm ascent direction, then the trip restriction control valve 58 is positioned at valve position 58a, the stroke of scraper bowl with the valve rod of operating valve 7 limited, so that the 2nd Pressure oil feeder path 24b is communicated with hydraulic drive cylinder 3 with scraper bowl.Thus, returning oil circuit 51 and the state that jib is communicated with hydraulic drive cylinder 3, form series loop.
If the pilot pressure of bucket tilt direction then switches to valve position 58b with travel limits control valve 58 greater than the pilot pressure of arm ascent direction at this moment.So oil circuit 18c is communicated with fuel tank 14,, acts on scraper bowl and become tank pressure with the pilot pressure on the operating valve 7 by throttle orifice 18d.
Thus, under the effect of the pilot pressure of bucket tilt direction, scraper bowl moves to valve position 7e place with operating valve 7.If scraper bowl moves to valve position 7e place with operating valve 7, then the discharge of oil hydraulic pump 1 presses oil by oil circuit 24,24b, and pressure-compensated valve 9, scraper bowl feed to scraper bowl hydraulic drive cylinder 3 with operating valve 7.
Thus, by the pressure oil of discharging, scraper bowl is driven with hydraulic drive cylinder 3 from oil hydraulic pump 1.If scraper bowl uses the induced pressure of hydraulic drive cylinder 3 greater than certain value, then arm presses oil to become tank pressure with returning of hydraulic drive cylinder 2, with enough thrust, and driving arm hydraulic drive cylinder 2.
Description of drawings
Fig. 1 is embodiment 1 a hydraulic circuit diagram;
Fig. 2 is embodiment 2 a hydraulic circuit diagram;
Fig. 3 is embodiment 3 a hydraulic circuit diagram;
Fig. 4 is embodiment 4 a hydraulic circuit diagram;
Fig. 5 is embodiment 5 a hydraulic circuit diagram;
Fig. 6 is embodiment 6 hydraulic circuit figure;
Fig. 7 is the figure of the structure of expression function lever apparatus;
Fig. 8 is the figure of the working machine structure of expression embodiment's building machinery;
Fig. 9 (a) and (b) are for representing the figure of series loop and shunt circuit in a schematic way.
In above-mentioned accompanying drawing, 1-oil hydraulic pump, 2-arm hydraulic drive cylinder, 3-scraper bowl hydraulic drive cylinder, 4-arm operating stem, 5-scraper bowl operating stem, 6-arm operating valve, 7-scraper bowl operating valve, 8, the 9-pressure-compensated valve, the 10-arm, 11-scraper bowl, 35,35a, 35b, 35c, 35d, 51-return oil circuit, 36-regeneration rate rising threshold, 37-is the regeneration rate valve fixedly, the 54-relief valve of regenerating, the 55-pressure controlled valve, 40-function lever apparatus, 49, the 50-reciprocable valve.
The specific embodiment
With reference to the accompanying drawings, to the embodiment of the actuator controller of fro hydraulic driving machinery of the present invention Describe.
In addition, in this embodiment, be assumed to and be loaded into hydraulic loader, slide and handle loading machine etc. Building machinery on hydraulic circuit. Suppose and in these building machineries, as Work machine, establish Be equipped with arm 10 and scraper bowl 11.
Fig. 1 represents the hydraulic circuit of embodiment 1.
Hydraulic drive cylinder 1 shown in Figure 1 will be by not shown engine-driven force feed row Go out. This discharges force feed according to the described mode in back, feeds to arm with operating valve 6, scraper bowl operating valve 7. In addition, not shown control hydraulic pump will be controlled force feed also by above-mentioned motor driven Discharge. This control force feed feeds to the function lever apparatus 40 of fluid pressure type shown in Figure 8. This action bars dress Put 40 and comprise arm action bars 4, scraper bowl action bars 5. Arm is used behaviour with action bars 4 corresponding to arm Make valve 6 and arrange. In addition, scraper bowl arranges with operating valve 7 corresponding to scraper bowl with action bars 5.
From function lever apparatus 40, discharge the controlled pressure corresponding with the operational ton of arm usefulness action bars 4 The control force feed, and the control of the controlled pressure corresponding with the operational ton of scraper bowl action bars 5 is pressed Oil.
That is, if towards " arm uplifted side " arm is operated with action bars 4, then its size with behaviour The control force feed of the corresponding pressure of work amount (below be called " arm unlifting pressure ") is exported to control Oil circuit 18.
Equally, if towards " arm decline side " arm is operated with action bars 4, then its size with The control force feed of the corresponding pressure of operational ton (below be called " arm falling pressure ") is exported to control Liquefaction road 19.
Equally, if towards " dumping side " scraper bowl is operated with action bars 5, then its size with The control force feed of the corresponding pressure of operational ton (below be called " scraper bowl dumps pressure ") is exported to Oil circuit control 20.
Equally, if towards " inclined side " scraper bowl is operated with action bars 5, then its size with The control force feed of the corresponding pressure of operational ton (below be called " bucket tilt pressure ") is exported to Oil circuit control 21.
By the discharge force feed by arm usefulness operating valve 6, scraper bowl usefulness operating valve 7 supply hydraulic pumps 1, Difference actuating arm hydraulic drive cylinder 2, scraper bowl hydraulic drive cylinder 3.
Dump pressure, bucket tilt pressure phase with above-mentioned each arm unlifting pressure, arm falling pressure, scraper bowl Correspondence, arm moves with the valve position of operating valve 7 with operating valve 6, scraper bowl.
Fig. 8 represents the structure of the building machinery working rig of present embodiment.
As shown in Figure 8, correspond respectively to arm 10, scraper bowl 11, be provided with arm with hydraulic drive cylinder 2, Scraper bowl hydraulic drive cylinder 3. This arm is corresponding with operating valve 6 with arm with hydraulic drive cylinder 2. In addition, This scraper bowl is corresponding with operating valve 7 with scraper bowl with hydraulic drive cylinder 3. Arm hydraulic drive cylinder 2, shovel The bucket respectively pressure by supplying with operating valve 7 with operating valve 6, scraper bowl by arm of hydraulic drive cylinder 3 Oil and drive.
Arm with the piston rod in the hydraulic drive cylinder 2, scraper bowl with the piston rod in the hydraulic drive cylinder 3 respectively With arm 10, scraper bowl 11 connects. This scraper bowl 11 is connected with arm 10.
Arm comprises cavity of resorption 2a and epicoele 2b with hydraulic drive cylinder 2. If force feed is passed through oil circuit 28, from Arm feeds to arm with the cavity of resorption 2a in the hydraulic drive cylinder 2 with operating valve 6, then makes the arm hydraulic drive cylinder Piston rod in 2 stretches out, and arm 10 is moved towards " arm uplifted side ". In addition, if force feed is logical Cross oil circuit 29, feed to arm with the epicoele 2b the hydraulic drive cylinder 2 from arm with operating valve 6, then make arm Regain with the piston rod in the hydraulic drive cylinder 2, arm 10 is moved towards " arm decline side ".
Scraper bowl comprises cavity of resorption 3a and epicoele 3b with hydraulic drive cylinder 3. If force feed is passed through oil circuit 31, Supply with to the cavity of resorption 3a of scraper bowl with hydraulic drive cylinder 3 with operating valve 7 from scraper bowl, then make scraper bowl liquid Press the piston rod in the driving cylinder 3 to stretch out, scraper bowl 11 is moved towards " dumping side ". In addition, as The fruit force feed is supplied with to scraper bowl the upper of hydraulic drive cylinder 3 with operating valve 7 from scraper bowl by oil circuit 32 Chamber 3b then makes scraper bowl regain with the piston rod in the hydraulic drive cylinder 3, makes scraper bowl 11 towards " tilting Side " action.
Below to function lever apparatus 40 (action bars 4,5) and each operating valve 6,7 and each hydraulic-driven Annexation between the cylinder 2,3, and each operating valve 6,7 with hydraulic pump 1 between be connected the pass System is described.
Function lever apparatus 40 is by reciprocable valve 49,50, with the control mouth connection of each operating valve 6,7.
That is, the oil circuit control 18 of output arm unlifting pressure is divided into oil circuit control 18a and oil circuit control 18b. In addition, the oil circuit control 19 of output arm falling pressure is divided into oil circuit control 19a and oil circuit control 19b.
Oil circuit control 18b, and the output scraper bowl oil circuit control 20 that dumps pressure and reciprocable valve 50 Each input port is communicated with. The delivery outlet of reciprocable valve 50 is communicated with oil circuit control 22. Equally, control oil Road 19b, and each input port of the oil circuit control 21 of output bucket tilt pressure and reciprocable valve 49 is even Logical. The delivery outlet of reciprocable valve 49 is communicated with oil circuit control 23.
Thus, arm unlifting pressure, the control force feed of dumping the bigger controlled pressure in the pressure with scraper bowl From the outlet of reciprocable valve 50, export to oil circuit control 22, feed to the control mouth that scraper bowl is used operating valve 6 7g.
Equally, the control of the bigger controlled pressure in arm falling pressure and the bucket tilt pressure is pressed Oil is exported to oil circuit control 23 from the outlet of reciprocable valve 49, feeds to scraper bowl and uses the opposite of operating valve 6 The control mouth 7h of side.
In addition, the arm unlifting pressure is exported to oil circuit control 18a, feeds to the control mouth that arm is used operating valve 6 6g. In addition, the arm falling pressure is exported to oil circuit control 19a, feeds to opposite with in the operating valve 6 of arm The control mouth 6h of side.
Arm is controlled for flow and direction to the force feed of discharging from hydraulic pump 1 with operating valve 6, will Above-mentioned force feed feeds to the control valve that arm is used hydraulic drive cylinder 2.
That is, pass through oil circuit 24 and the oil circuit 24a of its branch from the force feed that hydraulic pump 1 is discharged, flow into arm With operating valve 6. Pass through oil circuit 28 from arm with the force feed that operating valve 6 flows out, or 29, feed to arm and use Hydraulic drive cylinder 2.
Arm comprises 3 valve position 6c (neutral position), 6a (arm lifting position) with operating valve 6, 6e (arm down position). If unlifting pressure, feeds to arm operating valve 6 by oil circuit control 18a An arm uplifted side control mouthful 6g, then corresponding to the arm unlifting pressure, make arm with the opening surface of operating valve 6 Long-pending (opening amount) changes, and makes arm be positioned at arm lifting position 6a one side with operating valve 6. If make arm Be positioned at position 6a with operating valve 6, then the force feed of the flow corresponding with aperture area is used behaviour by arm Make valve 6, oil circuit 28, feed to the cavity of resorption 2a that arm is used hydraulic drive cylinder 2. Consequently, make arm 10 Move towards the arm uplifted side.
In addition, if, feeding to arm by oil circuit control 19a, falling pressure use the arm of operating valve 6 to descend Side control mouthful 6h then corresponding to the arm falling pressure, makes the arm aperture area (opening of operating valve 6 Amount) changes, make arm be positioned at arm down position 6e one side with operating valve 6. If make the arm operating valve 6 are positioned at position 6e, and then the force feed of the flow corresponding with aperture area is by arm operating valve 6, oil Road 29 feeds to the epicoele 2b that arm is used hydraulic drive cylinder 2. Consequently, make arm 10 under arm The side action is fallen.
If arm is positioned at valve position 6a with operating valve 6, then from the epicoele 2b of arm with hydraulic drive cylinder 2 The force feed of discharging (below be called " returning force feed "), is exported to and is returned oil with operating valve 6 by arm Road 35. In addition, if arm is positioned at valve position 6e with operating valve 6, then from arm hydraulic drive cylinder 2 Cavity of resorption 2a discharge return force feed by arm with operating valve 6, export to and return oil circuit 35.
Also have, arm, is connected with fuel tank 14 by oil circuit 25c, oil circuit 25 with operating valve 6.
Equally, by scraper bowl with operating valve 7, to flow and the direction of the force feed of discharging from hydraulic pump 1 Control, will feed to through the force feed of control scraper bowl hydraulic drive cylinder 3.
That is, pass through oil circuit 24 and the oil circuit 24b of its branch from the force feed that hydraulic pump 1 is discharged, send into shovel Bucket operating valve 7. Pass through oil circuit 31 or 32 from scraper bowl with the force feed of operating valve 7 outputs, feed to shovel Bucket hydraulic drive cylinder 3.
Scraper bowl with operating valve 7 comprise 5 position 7c (neutral position), 7b (scraper bowl emptying position), 7a (scraper bowl emptying position), 7d (bucket tilt position), 7e (bucket tilt position). In addition Outward, scraper bowl changes continuously with the valve position of operating valve 7, and aperture area also changes continuously. As The higher controlled pressure that fruit arm unlifting pressure or scraper bowl dump in the pressure passes through oil circuit control 22, supplies Dump side control mouthful 7g to scraper bowl with the scraper bowl in the operating valve 7, then corresponding to controlled pressure, make shovel Bucket changes with the aperture area (opening amount) of operating valve 7, and scraper bowl is positioned at scraper bowl with operating valve 7 and inclines Unload position 7b, the 7a side. If scraper bowl is positioned at position 7a with operating valve 7, the then discharge of hydraulic pump 1 Force feed flows into, corresponding to the force feed of the flow of aperture area by scraper bowl with operating valve 7, oil circuit 31, Feed to the scraper bowl cavity of resorption 3a of hydraulic drive cylinder 3. Consequently, make scraper bowl 11 moving towards dumping side Do.
In addition, if the arbitrary higher controlled pressure in arm falling pressure or the arm oblique pressure passes through control Liquefaction road 23 feeds to scraper bowl with the control of the bucket tilt side in the operating valve 7 mouthful 7h, then corresponding to control Pressing pressure makes scraper bowl change with the aperture area (opening amount) of operating valve 7, makes scraper bowl with operating Valve 7 is positioned at bucket tilt 7d, 7e side. If scraper bowl is positioned at position 7e with operating valve 7, then corresponding In the force feed of the flow of aperture area by scraper bowl with operating valve 7, oil circuit 32, feed to scraper bowl liquid Press the epicoele 3b of driving cylinder 3. Consequently, scraper bowl 11 is moved towards inclined side.
If scraper bowl is positioned at valve position 7b, 7a with operating valve 7, then from scraper bowl hydraulic drive cylinder 3 In the epicoele 3b force feed of discharging by scraper bowl with operating valve 7, export to and return oil circuit 25b. In addition Outward, if scraper bowl is positioned at valve position 7d with operating valve 7,7e is then from scraper bowl hydraulic drive cylinder 3 In the cavity of resorption 3a force feed of discharging by scraper bowl with operating valve 7, export to and return oil circuit 25d. Defeated Go out to the force feed of returning oil circuit 25b, 25d and discharge oil dropping apparatus 14.
Returning oil circuit 51 is connected with operating valve 7 with scraper bowl. Return oil circuit 51 and return oil circuit 35 even Logical.
If scraper bowl is positioned at valve position 7b with operating valve 7, then return oil circuit 51 by the scraper bowl operation Valve 7 is communicated with oil circuit 31. The force feed of returning of discharging with hydraulic drive cylinder 2 from arm thus, is passed through Return oil circuit 35, return oil circuit 51, scraper bowl is with operating valve 7, oil circuit 31, feeds to scraper bowl hydraulic pressure Cavity of resorption 3a in the driving cylinder 3. Equally, if scraper bowl is positioned at valve position 7d with operating valve 7, then return Oil return line 51, is communicated with oil circuit 32 with operating valve 7 by scraper bowl. Thus, from the arm hydraulic-driven Cylinder 2 is discharged return force feed by return oil circuit 35, return oil circuit 51, scraper bowl with operating valve 7, Oil circuit 32 feeds to the epicoele 3b in the scraper bowl usefulness hydraulic drive cylinder 3.
Have, scraper bowl, is connected with fuel tank 14 by oil circuit 26b, oil circuit 25 with operating valve 7 again.
In the present embodiment, respectively for each operating valve 6,7, be respectively arranged with pressure-compensated valve 8, 9.
Pressure-compensated valve 8 is positioned at hydraulic pump 1, the arm upstream side of operating valve 6, and namely hydraulic pump 1 And arm is with on the Pressure oil feeder path between the operating valve 6. Equally, pressure-compensated valve 9 is positioned at hydraulic pressure Pump 1, the arm upstream side of operating valve 7, i.e. hydraulic pump 1 and the arm pressure between the operating valve 7 On the oil supply passageway.
Pressure-compensated valve 8,9 is for the pressure of the force feed that makes operating valve 6,7 upstream side and downstream The valve that pressure differential between the pressure of force feed equates. Following (1) as the general formulae of oil hydraulic circuit Formula is as described below: Q = c · A · ( ΔP ) - - - - ( 1 )
, by making pressure differential deltap P identical, with the operational ton (behaviour of the action bars 4 that operates by operating personnel Make the aperture area A of valve 6) it doesn't matter for the size of proportional flow Q and load. Equally, Operational ton (the aperture area A of operating valve 7) proportional flow Q and load with action bars 5 Size it doesn't matter.
With arm with the corresponding pressure-compensated valve 8 of operating valve 6 by the 8a of flow control valve section and pressure-reducing valve The 8b of section forms. From hydraulic drive cylinder 1 discharged to the force feed of the 8a of flow control valve section by oil circuit 24, The oil circuit 24a of its branch flows into. From hydraulic pump 1 discharged to the force feed of the 8b of pressure-reducing valve section by oil circuit 24, The oil circuit 24c of its branch flows into.
Equally, with arm with the corresponding pressure-compensated valve 9 of operating valve 7 by the 9a of flow control valve section with The 9b of pressure-reducing valve section forms. From hydraulic pump 1 discharged to the force feed of the 9a of flow control valve section by oil circuit 24, The oil circuit 24b of its branch flows into. From hydraulic pump 1 discharged to the force feed of the 9b of pressure-reducing valve section by oil circuit 24, The oil circuit 24d of its branch flows into.
The outlet of the 8b of pressure-reducing valve section is communicated with oil circuit 27,27b by oil circuit 27a. The 9b of pressure-reducing valve section Outlet by oil circuit 27b, be communicated with oil circuit 27.
Thus, in the respective load pressure in the hydraulic drive cylinder 2,3, maximum load pressure is (lower Face is called " maximum load pressure ") by oil circuit 27,27a, close towards the 8b of pressure-reducing valve section Direction acts on the 8b of pressure-reducing valve section.
Oil circuit 27b branches into oil circuit 27c. Oil circuit 27c is communicated with the entrance of reciprocable valve 57. Back and forth Another entrance of valve 57 is communicated with oil circuit 47. Oil circuit 47 is by returning oil circuit 35d, and returns oil Road 35 is communicated with. The outlet of reciprocable valve 57 is communicated with oil circuit 27d. Oil circuit 27d with close pressure-reducing valve The direction of the 9b of section connects.
Thus, by oil circuit 27c, to reciprocable valve 57 input maximum load pressure. In addition, arm is used Returning in the force feed of hydraulic drive cylinder 2 is used for the force feed that scraper bowl is used the driving of hydraulic drive cylinder 3 Pressure (below be called " regeneration pressure ") by oil circuit 47, be input in the reciprocable valve 57. In addition Outward, the implication of " regeneration " refers to be used for the driving that scraper bowl is used hydraulic drive cylinder 3 with returning force feed. From Reciprocable valve 57, the big pressure in output regeneration pressure and the maximum load pressure.
Thus, the big pressure in regeneration pressure and the maximum load pressure is by oil circuit 27d, along subtracting The direction that the 9b of pressure valve section closes acts on the 9b of pressure-reducing valve section.
Because pressure-compensated valve 8,9 actions, each operating valve 6,7 front and back pressure differential deltap P are identical, And constant pressure. Thus, irrelevant with the size of hydraulic drive cylinder 2,3 load, by each The aperture area of operating valve 6,7 is determined flow. That is, according to above-mentioned (1) formula Q = c · A · ( ΔP ) Irrelevant with the variation of load, corresponding to aperture area (opening amount) A of each operating valve 6,7, each Operating valve 6,7 flow Q keep certain.
Feather valve 34 is connected with the discharge oil circuit 24 of hydraulic pump 1. Maximum load pressure passes through oil circuit 27, Towards the direction that feather valve 34 cuts out, act on the feather valve 34.
In feather valve 34, the pressure of the discharge force feed of hydraulic pump 1 is with hydraulic drive cylinder 2,3 Pressure reduction between the maximum load pressure is according to the variation that does not rely on hydraulic drive cylinder 2,3 load In the situation, remain on the certain value corresponding with the setting pressure of feather valve 12.
That is, the elastic force of feather valve 34 by being arranged at the spring in the feather valve 34, maximum load pressure, And the discharge pressure of hydraulic pump 1, realize opening and closing. Feather valve 34 is at elastic force and maximum load pressure Effect under, towards closing side action. Feather valve 34 under the effect of the discharge pressure of hydraulic pump 1, Towards opening the side action. Thus, the pressure between the discharge pressure of hydraulic pump 1 and the maximum load pressure Difference keeps certain corresponding to the setting pressure of feather valve 34.
In addition, safety valve 33 is connected with the discharge oil circuit 24 of hydraulic pump 1. Safety valve 33 will be from liquid The pressure limit of the force feed that press pump 1 is discharged towards oil circuit 24 is below drainage pressure.
Returning oil circuit 35 branches into 3 and returns oil circuit 35a, 35b, 35c.
Return oil circuit 35a, 35b is connected with the fixing corresponding entrance of regeneration rate valve 43. Return oil circuit 35c Be connected with the entrance of regeneration rate rising threshold 36. Return oil circuit 35a with return oil circuit 35c fixing again The corresponding outlet of giving birth to rate valve 43 and regeneration rate rising threshold 36 is confluxed, and returns oil circuit 35d and is communicated with. Returning oil circuit 35d is communicated with the entrance of check valve 48. The outlet of check valve 48 is communicated with oil circuit 51. Check valve 48 allows force feed from returning oil circuit 35d, and only the direction along oil circuit 51 flows. Return oil Road 35d branches into oil circuit 47.
Return oil circuit 35d by the fixedly outlet of regeneration rate valve 43, with the entrance of pressure-control valve 55 Connect. The outlet of pressure-control valve 55 is communicated with fuel tank 14 by oil circuit 25.
Fixedly regeneration rate valve 43 has 3 valve position 43c (neutral position), 43a (raise-position on the arm Put), 43b (arm down position).
Oil circuit control 22 branches into oil circuit control 22a, this oil circuit control 22a and fixing regeneration rate valve 43 In a control mouthful 43d connect. Equally, oil circuit control 23 branches into oil circuit control 23a, should Oil circuit control 23a is connected with another control mouthful 43e in the fixing regeneration rate valve 43.
Therefore, at the identical occasion of the internal pressure of oil circuit control 22a, 23a, fixedly regeneration rate valve 43 are positioned at neutral position 43c. When fixedly regeneration rate valve 43 is positioned at neutral position 43c, return oil The force feed of 35a inside, road is that fixedly regeneration rate valve 43 cuts off, and returns the inside pressure of oil circuit 35b Oil passes through fixedly regeneration rate valve 43, the entrance of feed pressure control valve 55.
At the internal control pressure of oil circuit control 22a greater than the controlled pressure of oil circuit control 23a inside Occasion, fixedly regeneration rate valve 43 is positioned at arm lifting position 43a. When fixing regeneration rate valve 43 is positioned at arm During lifting position 43a, the inside force feed of returning oil circuit 35a is by fixing regeneration rate valve 43 inside Throttle orifice 43f exports to and returns oil circuit 35d, and the inside force feed of returning oil circuit 35b is by solid Decide the throttle orifice 43g of regeneration rate valve 43 inside, the entrance of feed pressure control valve 55. Here, Corresponding to the throttle diameter (aperture area) of the throttle orifice 43f of oil circuit 35a and with return oil circuit 35b The throttle diameter (aperture area) of corresponding throttle orifice 43g is set at setting. These throttlings The value in aperture (aperture area), and is protected scraper bowl 11 when the arm uplifted side moves according to arm 10 Holding the corresponding mode of supply flow rate of the necessary hydraulic drive cylinder 3 of horizontal direction determines.
Equally, in the internal control greater than oil circuit control 22a of the internal control pressure of oil circuit control 23a The occasion of pressure, fixedly regeneration rate valve 43 is positioned at arm down position 43b. When fixing regeneration rate valve 43 When being positioned at arm down position 43b, returning the inside force feed of oil circuit 35a and pass through fixedly regeneration rate valve 43 Inner throttle orifice 43h exports to and returns oil circuit 35d, and returns the inside force feed of oil circuit 35b By the fixing throttle orifice 43i of regeneration rate valve 43 inside, the entrance of feed pressure control valve 55.
Regeneration rate rising threshold 36 comprises 3 valve position 36c (neutral position), and (scraper bowl dumps 36a The position), 36b (bucket tilt position).
Oil circuit control 20 branches into oil circuit control 20a, this oil circuit control 20a and regeneration rate rising threshold 36 In a control mouthful 36d connect. Equally, oil circuit control 21 branches into oil circuit control 21a, should Another control mouthful 36e in oil circuit control 21a and the regeneration rate rising threshold 36 is connected.
Therefore, in the identical occasion of the internal pressure of oil circuit control 20a, 21a, regeneration rate rising threshold 36 are positioned at neutral position 36c. When regeneration rate rising threshold 36 is positioned at neutral position 36c, return oil The inside force feed of road 35c is that regeneration rate rising threshold 36 is cut off.
At the internal control pressure of oil circuit control 20a greater than the internal control pressure of oil circuit control 21a Occasion, regeneration rate rising threshold 36 are positioned at scraper bowl emptying position 36a. When regeneration rate rising threshold 36 is positioned at During scraper bowl emptying position 36a, return the inside force feed of oil circuit 35c by regeneration rate rising threshold 36, Export to and return oil circuit 35d. Equally, oily greater than control at the internal control pressure of oil circuit control 21a The occasion of the internal control pressure of road 20a, regeneration rate rising threshold 36 are positioned at bucket tilt position 36b. When regeneration rate rising threshold 36 is positioned at bucket tilt position 36b, return the inside force feed of oil circuit 35c By regeneration rate rising threshold 36, export to and return oil circuit 35d.
Pressure-control valve 55 comprises two valve position 55a (partition position), 55c (connection position). Along with pressure-control valve 55 from cutting off position 55a, move to and be communicated with position 55c one side, opening surface Long-pending continuously increase. Input port pressure by oil circuit control 55e, acts on pressure as controlled pressure On the control mouthful 55f in the force control valve 55.
Return oil circuit 51 and branch into oil circuit 51a, by throttle orifice 52, be communicated with oil circuit 53. Oil circuit 53 connect with the entrance of regeneration relief valve 54 and another control mouthful 55g in the pressure-control valve 55 respectively Connect.
Therefore, in pressure-control valve 55, in the internal pressure of oil circuit 53 and the oil circuit control 55e Section's pressure keeps balance in the equilbrium position, the upstream side pressure of pressure-control valve 55 and oil circuit 51 Internal pressure equates. Thus, return force feed according to certain from arm with what hydraulic drive cylinder 2 was discharged Proportional diverting is distributed to respectively and is returned oil circuit 35d and return oil circuit 35b. Distribute to and return oil circuit 35d Return force feed by check valve 48, return oil circuit 51, scraper bowl with operating valve 7, supply with scraper bowl and use Hydraulic drive cylinder 3. Distribute to one of them force feed of returning oil circuit 35b by pressure-control valve 55, Oil circuit 25, row's oil dropping apparatus 14.
When pressure-control valve 55 is positioned at neutral position 36c in regeneration rate rising threshold 36, according to fixing again The ratio of the aperture area of the throttle orifice 43f of the rate of giving birth to valve 43 and the aperture area of throttle orifice 43g is right The flow (supply flow rate of hydraulic drive cylinder 3) of the force feed that in returning oil circuit 35d, flows with Returning the flow (towards the delivery flow of fuel tank 14) of the force feed that flows among the oil circuit 35b shunts. This split ratio is set according to the ratio that makes scraper bowl 11 maintenance levels.
In addition, when regeneration rate rising threshold 36 is positioned at scraper bowl emptying position 36a or obliquity 36b, Be accompanied by the increase that scraper bowl dumps pressure or oblique pressure, towards the stream that returns the shunting of oil circuit 35d side Amount increases.
Regeneration relief valve 54 arranges in the following manner, and this mode is: in the inside of returning oil circuit 51 Pressure, namely scraper bowl uses the load pressure of hydraulic drive cylinder 3 greater than the occasion of certain value, returns oil circuit 35 Inner whole flow row oil dropping apparatuses 14.
In the side of closing of regeneration relief valve 54, apply the elastic force of spring 54a. With regeneration relief valve On the relative control mouth 54b of 54 spring 54a, effect has returns oil circuit 51 as controlled pressure Interior load pressure. In addition, as hereinafter described, relative with the spring 54a of regeneration relief valve 54 Control mouth 54c on, by oil circuit control 19g, effect has a controlled pressure.
Therefore, in the power that acts on a control mouthful 54b, 54c side during less than the elastic force of spring 54a, again Living relief valve 54 is positioned at closes side.
Therewith relative, if the power of a control mouthful 54b, 54c side that acts on greater than the elastic force of spring 54a, The relief valve 54 of then regenerating is positioned at opens side. Thus, the inside force feed of returning oil circuit 51 is passed through oil circuit 51a, throttle orifice 52, oil circuit 53, regeneration relief valve 54, oil circuit 25, row's oil dropping apparatus 14. So, The internal pressure of oil circuit 51 reduces by throttle orifice 52, forms tank pressure, and this tank pressure is done Be controlled pressure, act on the control mouth 55g of pressure-control valve 55. Thus, pressure-control valve 55 upstream side pressure initiation tank pressure returns whole flows of force feed by pressure-control valve 55, Row's oil dropping apparatus 14.
In the present embodiment, at the scraper bowl emptying position 7a of scraper bowl with operating valve 7, be provided with back pressure Valve 39. If scraper bowl moves with the valve rod in the operating valve 7, then the internal pressure of oil circuit 31 acts on A side relative with the side that is provided with spring in the counterbalance valve 39. This counterbalance valve 39 comprises partition The valve position 39a that is communicated with oil circuit 32 and oil circuit 25, and oil circuit 32 and oil circuit 25 are communicated with Valve position 39b.
If the pressure of oil circuit 31 is greater than certain value, then counterbalance valve 39 switches to valve position 39b. By This passes through oil circuit 25b from the force feed of returning of oil circuit 32, discharged to fuel tank 14. In addition, if oil The pressure on road 31 then under the effect of elastic force, switches to counterbalance valve 39 less than above-mentioned certain value Valve position 39a. Thus, will cut off from the force feed of returning of oil circuit 32, not towards fuel tank 14 Return the discharge rate of force feed.
In addition, equally at the scraper bowl emptying position 7b of scraper bowl with operating valve 7, be provided with its function with The counterbalance valve 41 that counterbalance valve 39 is identical.
Equally, identical with counterbalance valve 39 at bucket tilt position 7e, the 7d of scraper bowl with operating valve 7, Be provided with respectively following counterbalance valve 42,65, in this counterbalance valve 42,65, if oil circuit 32 Pressure greater than certain value, then from oil circuit 31 return force feed by oil circuit 25d, discharged to fuel tank 14, if, then will returning force feed less than above-mentioned certain pressure, the pressure of oil circuit 32 cuts off, there is not court The discharge rate of returning force feed to fuel tank 14.
With in the operating valve 6, be provided with the travel limits control of the travel position of restriction valve rod at scraper bowl Valve 58 and 59. The trip restriction control valve 58 is controlled the movement of valve rod in the following manner System, this mode is: when making scraper bowl move to scraper bowl emptying position 7b, 7a side with operating valve 7, It is limited in scraper bowl emptying position 7b, and is not positioned at scraper bowl emptying position 7a place.
That is, above-mentioned travel limits control valve 58 comprises piston 58c, and this piston 58c can use with scraper bowl The side end contact of the control mouth 7h of operating valve 7. In addition, the trip restriction control valve 58 has 2 Individual valve position 58a (partition position), 58b (drain position).
Oil circuit control 18b branches into oil circuit control 18c, this oil circuit control 18c and above-mentioned travel limits A control mouthful 58d in the control valve 58 connects. Equally, oil circuit control 23 and above line degree The control mouth 58e of the piston 58c side in the control valve 58 processed connects.
Oil circuit control 18c branches into oil circuit 18d, with the entrance in the above-mentioned travel limits control valve 58 Connect. Outlet in this above-mentioned travel limits control valve 58 is connected with oil circuit 18e. Oil circuit 18e is logical Cross oil circuit 25, be communicated with fuel tank 14.
Therefore, under the internal control pressure-acting of oil circuit control 18c, above-mentioned travel limits control valve 58 are positioned at partition position 58a. Thus, even will dump the position at scraper bowl towards scraper bowl with operating valve 7 Put in the situation of 7b, 7a side shifting, still can it be limited in the scraper bowl emptying position by piston 58c 7b, and do not move to scraper bowl emptying position 7a.
At the internal control pressure of scraper bowl oil circuit 23 greater than the internal control pressure of oil circuit control 18c Occasion, above-mentioned travel limits control valve 58 is positioned at by position 58b.
In addition, the internal control force feed of oil circuit control 18c is by oil circuit control 18d, travel limits control Valve 58 processed, oil circuit 18e, 25 are discharged to fuel tank 14. Thus, the inside of oil circuit control 18c, 18b Controlled pressure becomes tank pressure.
In addition, scraper bowl with the travel limits control valve 59 of the control mouth 7g side of operating valve 7 also with stroke Restriction control valve 58 is identical. In this occasion, the oil circuit control 19c in formation control oil circuit 19b branch The effect of internal control pressure under, travel limits control valve 59 is positioned at and cuts off the position, will control usefulness The shift position of operating valve 7 is limited in bucket tilt position 7d.
In the present embodiment, be provided with the floating control circuit. Here, " floating control " refers at arm 10 occasions towards the action of arm decline side make arm two cylinder chamber 2a of hydraulic drive cylinder 2, and 2b is Tank pressure, arm 10 is in can freely rise according to arm corresponding to external force, two of arm decline The control of the state that the mode of kind is moved.
The instruction that realizes floating control provides by following manner, and this mode is: such as under arm Direction is fallen, when arm is operated with action bars 4, to being arranged at the knob of action bars 4 Deng on floating control carry out opening operation with switch. If floating control is opened with switch Operation then from the floating control switch, is sent the signal of telecommunication.
The floating control circuit forms according to the mode centered by transfer valve 60,61,62.
Transfer valve 60 is electromagnetic switching valve, and it comprises 2 valve position 60a, 60b. Oil circuit control 19 Be connected with the entrance of transfer valve 60. The outlet of transfer valve 60 is connected with oil circuit 19f, 19g. Expression Floating control is supplied with the o 60c of transfer valve 60 with the signal of telecommunication of the opening operation of switch. When the o 60c of transfer valve 60 was in non-power status, transfer valve 60 was positioned at valve position Put 60a, the internal control force feed of oil circuit control 19 is exported to oil circuit 19g by transfer valve 60. If the o 60c to transfer valve 60 connects the signal of telecommunication, then transfer valve 60 is positioned at valve position Put 60b, the internal control force feed of oil circuit control 19 is exported to oil circuit 19f by transfer valve 60.
Transfer valve 61 comprises 2 valve position 61a (partition position), 61b (passing through the position). Joint The downstream of discharge orifice 63 is connected with the import and export of transfer valve 61. Another of transfer valve 61 import and export with Oil circuit 29b connects. Oil circuit 29b is communicated with fuel tank 14 by oil circuit 25. By oil circuit 19f's The control mouth 61c of control Pressure oil feeder transfer valve 61. If controlled pressure acts on transfer valve 61 On the control mouthful 61c, then transfer valve 61 is positioned at by position 61b, and the downstream of throttle orifice 63 is passed through Transfer valve 61, oil circuit 29b, 25 are communicated with fuel tank 14.
Oil circuit 29 branches into oil circuit 29a. Oil circuit 29a is communicated with the upstream side of throttle orifice 63.
Transfer valve 62 comprises 2 valve position 62a (partition position), 62b (passing through the position). Oil Road 29a is connected with the import and export of transfer valve 62. Another of transfer valve 61 imported and exported and oil circuit 29b Connect. The controlled pressure in the downstream of throttle orifice 63 acts on the control mouth 62c of transfer valve 62. Side relative with control mouthful 62c in transfer valve 62, effect has the upstream of throttle orifice 63 to press Power. Therefore, if the downstream of throttle orifice 63 is low pressure, then transfer valve 62 is positioned at by position 62b, Oil circuit 29a is communicated with fuel tank 14 by transfer valve 62, oil circuit 29b, 25.
Action to the oil hydraulic circuit of the embodiment 1 of Fig. 1 describes below.
This moment, operating personnel are towards the arm uplifted side, and the arm of function lever apparatus 40 is advanced with action bars 4 Line operate. At this moment, not from the neutral position, scraper bowl is carried out tilt operation with action bars 5.
Thus, export to oil circuit control with arm with the corresponding arm unlifting pressure of the operational ton of action bars 4 18a. This arm unlifting pressure passes through oil circuit control 18a, the supply arm arm uplifted side control of operating valve 6 Donsole 6g.
In addition, export to oil circuit control with arm with the corresponding arm unlifting pressure of the operational ton of action bars 4 18b acts on the entrance in the reciprocable valve 50. At this moment, because 5 of action bars of scraper bowl In the neutral position, so the pressure of oil circuit control 20, the i.e. pressure of another entrance in the reciprocable valve 50 Form the pressure of fuel tank 14 inside. Thus, on the arm corresponding with the operational ton of arm usefulness action bars 4 The power of boosting is exported to oil circuit control 22 by reciprocable valve 50. This arm unlifting pressure passes through oil circuit control 22, feed to scraper bowl and control a mouthful 7g with the side of dumping of operating valve 7.
Thus, corresponding with the arm unlifting pressure on acting on each operating valve 6,7, make arm with operating Valve 6 is positioned at arm lifting position 6a side, makes simultaneously scraper bowl be positioned at emptying position 7b side with operating valve 7.
If arm is positioned at arm lifting position 6a with operating valve 6, the force feed of then discharging from hydraulic pump 1 is led to Cross oil circuit 24,24a, pressure-compensated valve 8 flows into arm with the entrance of operating valve 6, with aperture area The force feed of corresponding flow flows out, and by oil circuit 28, feeds to the cavity of resorption that arm is used hydraulic drive cylinder 2 2a. Consequently, arm 10 is moved towards the arm uplifted side.
When making arm be positioned at arm lifting position 6a with operating valve 6, from arm the upper of hydraulic drive cylinder 2 What chamber 2b discharged returns force feed by oil circuit 29, arm operating valve 6, exports to and returns oil circuit 35.
Because this moment, scraper bowl is in the neutral position with action bars 5, so bucket tilt pressure, scraper bowl incline Unloading pressure is identical tank pressure. Thus, the internal control pressure of each oil circuit control 20a, 21a Be tank pressure, act on the corresponding control of controlling on mouthful 36d, the 36e of regeneration rate rising threshold 36 Pressure is tank pressure. Thus, regeneration rate rising threshold 36 is positioned at cuts off position 36c, returns oil circuit 35 inside force feed is that regeneration rate rising threshold 36 is cut off. Therefore, returning force feed only flows through and returns oil Road 35a, 35b.
Because the arm unlifting pressure acts on the control mouth 43d in the fixing regeneration rate valve 43, so fix Regeneration rate valve 43 is positioned at arm lifting position 43a. If fixedly regeneration rate valve 43 is positioned at the arm lifting position 43a then returns the inside force feed of oil circuit 35a and passes through the fixedly inside throttle orifice 43f of regeneration rate valve 43, Export to and return oil circuit 35d. In addition, the inside force feed of returning oil circuit 35b is passed through fixedly regeneration rate 43 Inside throttle orifice 43g, the entrance of feed pressure control valve 55.
Pressure-control valve 55 according to by the aperture area of the throttle orifice 43f in the fixing regeneration rate valve 43 with The regulation ratio that the aperture area of throttle orifice 43g is determined is to flowing through the force feed of returning oil circuit 35d Flow carries out with the flow (towards the delivery flow of fuel tank 14) that flows through the force feed of returning oil circuit 35b Shunting. This split ratio is to make scraper bowl 11 keep the split ratio of level.
When scraper bowl is positioned at scraper bowl emptying position 7b with operating valve 7, returns oil circuit 51 and be in by shovel Bucket operating valve 7, the state that is communicated with oil circuit 31. But, be communicated with the outlet of oil pressure pump 1 Oil circuit 24a be in by scraper bowl and cut off with operating valve 7, and the state that is not communicated with oil circuit 31. That is, The hydraulic circuit of Fig. 1 becomes series loop.
Below in the operation that arm is carried out towards the arm ascent direction with action bars 4, towards scraper bowl Dump the occasion that direction operates with action bars 5 scraper bowl, i.e. action during composition operation is carried out Explanation.
If dump direction towards scraper bowl scraper bowl is operated with action bars 5, then oil circuit control 20a Internal control dump pressure greater than the internal control pressure (tank pressure) of oil circuit control 21a. Thus, regeneration rate rising threshold 36 is positioned at scraper bowl emptying position 36a. If 36 of regeneration rate rising thresholds In scraper bowl emptying position 36a, then return the inside force feed of oil circuit 35c by regeneration rate rising threshold 36, In returning oil circuit 35d, converge. Because this effect that converges is by returning the force feed of oil circuit 35d Flow increase. Thus, the rising of following scraper bowl to dump pressure is separated to the pressure among the force feed 35d The oil flow increases.
Therefore, the increase of following scraper bowl to dump pressure feeds to scraper bowl with the force feed of hydraulic drive cylinder 3 Flow increases, and the responsiveness of scraper bowl 11 increases.
At this moment, the arm unlifting pressure acts on the oil circuit control 18c, and travel limits control valve 58 is positioned at Cut off position 58a. If moving to, travel limits control valve 58 cuts off position 58a side, then piston 58c contacts with the valve rod of scraper bowl with operating valve 7. Thus, even dumping direction towards scraper bowl to shovel Bucket operates with action bars 5, and scraper bowl dumps pressure by oil circuit control 22, acts on scraper bowl and uses In the situation on the control mouth 7g in the operating valve 7, scraper bowl with operating valve 7 still by piston 58c and Be limited in scraper bowl emptying position 7bb, and do not move to scraper bowl emptying position 7a.
In the manner described above, carry out dumping direction towards the operation of arm ascent direction and towards scraper bowl The composition operation of operation the time, scraper bowl remains in the state of scraper bowl emptying position 7b with operating valve 7. Such as, even dump at scraper bowl in the situation of pressure rise, scraper bowl does not move to shovel with operating valve 7 Bucket emptying position 7a. That is, being in the oil circuit 24a that is communicated with the outlet of hydraulic pump 1 is that scraper bowl is used Operating valve 7 cuts off, and by oil circuit 31, is communicated with the cavity of resorption 3a of hydraulic drive cylinder 3 with scraper bowl State. In the manner described above, when carrying out composition operation, keep the state of series loop. Therefore, Arm drives with the discharge force feed of hydraulic drive cylinder 2 by hydraulic pump 1, scraper bowl hydraulic drive cylinder 3 Only drive by the force feed of returning of arm with hydraulic drive cylinder 2. Scraper bowl be can't help with hydraulic drive cylinder 3 The discharge force feed of hydraulic pump 1 drives. Consequently, when carrying out composition operation, can according to the edge The arm ascent direction is the identical responsiveness of occasion of operation separately, makes the arm 10 as the working rig of front Action.
But if arm diminishes with the operational ton of action bars 4, the arm unlifting pressure reduces, then with scraper bowl Travel limits status releasing with operating valve 7.
That is, if the internal arms unlifting pressure of oil circuit control 18c reduces, then piston 58c pushes scraper bowl Power with operating valve 7 weakens. Thus, if dump direction to scraper bowl action bars 5 towards scraper bowl Operation, scraper bowl are dumped pressure by oil circuit control 22, act on the control mouth that scraper bowl is used operating valve 7 On the 7g, then scraper bowl is not subjected to the restriction of piston 58c with the stroke of operating valve 7, moves to scraper bowl and inclines Unload position 7a. That is, be in the oil circuit 24a that is communicated with the outlet of hydraulic pump 1 and use behaviour by scraper bowl Make valve 7, oil circuit 31, the state that is communicated with the cavity of resorption 3a of hydraulic drive cylinder 3 with scraper bowl. Thus, Scraper bowl drives with the discharge force feed of hydraulic drive cylinder 3 by hydraulic pump 1.
So series loop has when composition operation, moving as the arm 10 of the working rig of front The advantage that the speed of doing does not reduce, as the scraper bowl 11 of the working rig of back segment then have can't obtain enough The problem of driving force. In the present embodiment, if the load of scraper bowl 11 is bigger, then pass through from string The connection loop switch addresses this problem to the shunt circuit.
In the manner described above, if reduce arm with the operational ton of action bars 4, then be in oil circuit 24a with The state that scraper bowl uses the cavity of resorption 3a of hydraulic drive cylinder 3 to be communicated with. At this state, if scraper bowl hydraulic pressure The load pressure of driving cylinder 3 then acts on the control mouth 54b of regeneration relief valve 54 greater than certain value On power greater than the elastic force of spring 54a. Thus, regeneration relief valve 54 is positioned at and opens side. Thus, Return the inside force feed of oil circuit 51 by oil circuit 51a, throttle orifice 52, oil circuit 53, regeneration relief valve 54, oil circuit 25, discharged to fuel tank 14. Thus, act on pressure-control valve 55 by oil circuit 53 Control mouth 55g on controlled pressure become tank pressure, corresponding, pressure-control valve 55 The pressure of upstream side also become tank pressure, return the whole flow of inside of oil circuit 35 discharged to oil Case 14. Thus, arm becomes tank pressure with the pressure of the cylinder chamber 2b that returns side of hydraulic drive cylinder 2. That is, switch to parallel circuit from series loop.
In addition, in the present embodiment, if towards the operation side of arm ascent direction, bucket tilt direction To arm with action bars 4, scraper bowl operates with action bars 5, then the stroke of scraper bowl usefulness operating valve 7 Be not restricted, by the discharge force feed of hydraulic pump 1, drive scraper bowl hydraulic drive cylinder 3. That is, By parallel circuit, drive scraper bowl hydraulic drive cylinder 3.
If towards the direction of operating of arm ascent direction, bucket tilt direction, to arm with action bars 4, Scraper bowl operates with action bars 5, and then on oil circuit control 22,23, effect has the arm unlifting pressure With bucket tilt pressure. Here, if bucket tilt pressure is greater than arm unlifting pressure, then stroke Restriction control valve 58 switches to by position 58b. Thus, oil circuit control 18c by oil circuit 18d, Travel limits control valve 58, oil circuit 18e, oil circuit 25 are communicated with fuel tank 14. Thus, control oil The internal arms unlifting pressure of road 18c stops by throttle orifice 18d, drops to tank pressure. By This acts on scraper bowl by oil circuit control 22 and rises with the arm on the control mouth 7g of operating valve 7 Pressure decreased. On the relative control mouth 7h in scraper bowl usefulness operating valve 7, the effect bucket tilt is pressed Power.
Thus, scraper bowl moves to bucket tilt position 7e with operating valve 7 by bucket tilt pressure. If scraper bowl is positioned at bucket tilt position 7e with operating valve 7, then the discharge force feed of hydraulic pump 1 is passed through Oil circuit 24 and 24b, pressure-compensated valve 9, scraper bowl feed to scraper bowl and use with operating valve 7, oil circuit 32 The epicoele 3b of hydraulic drive cylinder 3.
Thus, scraper bowl drives by the force feed of discharging from hydraulic pump 1 with hydraulic drive cylinder 3. That is, Form the shunt circuit.
Above for towards the arm ascent direction arm being said with the occasion that action bars 4 operates Bright. Same in the occasion that arm is operated with action bars 4 towards the arm descent direction, also according to phase Move with mode.
So an advantage of series loop is regeneration function. Such as, at arm 10 because of deadweight The occasion that falls, arm can be used for scraper bowl liquid with the maintenance pressure of the cavity of resorption 2a side of hydraulic drive cylinder 2 Press the driving of driving cylinder 3. At this moment, hydraulic pump 1 relatively, makes the pressure rise of force feed, can be only Only by the load pressure that return force feed (maintenance pressure) of arm with hydraulic drive cylinder 2, drive shovel Bucket hydraulic drive cylinder 3.
Present embodiment moves in the following manner, and this mode is: adopt load sensing system, make hydraulic pressure Pressure reduction between pump 1 and hydraulic drive cylinder 2,3 the maximum load pressure is certain value. Therefore, as Fruit maximum load pressure is the load pressure that scraper bowl is used hydraulic drive cylinder 3, and then the discharge of hydraulic pump is pressed Power rises to the pressure that adds certain value at scraper bowl with the basis of the load pressure of hydraulic drive cylinder 3. Do not cause like this energy loss.
According to present embodiment, by oil circuit 27,27c, maximum load pressure inputs to reciprocable valve 57. In addition, by returning oil circuit 35d, oil circuit 47, arm is with the pressure of returning force feed of hydraulic drive cylinder 2 Power (regeneration pressure) inputs to reciprocable valve 57. From this reciprocable valve 57, the output regeneration pressure is with maximum The pressure of the greater in the load pressure. Here, at regeneration pressure greater than maximum load pressure Occasion, from check valve 57 output regeneration pressures, it acts on pressure-compensated valve by oil circuit 27d On 9 the 9b of pressure-reducing valve section. Thus, the 9b of pressure-reducing valve section moves along closing direction, and regeneration pressure is not defeated Go out to load sensing circuit. Owing to corresponding to regeneration pressure, the discharge pressure of hydraulic pump 1 do not rise, So can eliminate energy loss.
Embodiment 1 described above also can suitably change.
Fig. 2～6 represent respectively to have omitted Fig. 1 oil hydraulic circuit a part embodiment 2, implement Example 3, embodiment 4, embodiment 5, embodiment 6.
As shown in Figure 2, in embodiment 2, omitted in the hydraulic circuit of Fig. 1, the restriction scraper bowl Travel limits control valve 58,59 with the valve rod stroke of operating valve 7.
As shown in Figure 3, in embodiment 3, omitted in the hydraulic circuit of Fig. 1, the restriction scraper bowl With the restriction control valve 58,59 of the valve rod stroke of operating valve 7, and the switching of carrying out floating control Valve 60,61,62 etc.
As shown in Figure 4, in embodiment 4, omitted in the hydraulic circuit of Fig. 1, the restriction scraper bowl With hydraulic drive cylinder 3 return force feed towards the back- pressure balance valve 39,41 of the discharge rate of fuel tank 14, 42,65, and omitted the transfer valve 60,61 that carries out floating control, 62 etc., omit in addition The travel limits control valve 58,59 of restriction scraper bowl with the valve rod stroke of operating valve 7.
As shown in Figure 5, in embodiment 5, omitted in the hydraulic circuit of Fig. 1, the restriction scraper bowl With hydraulic drive cylinder 3 return force feed towards the back- pressure balance valve 39,41 of the discharge rate of fuel tank 14, 42,65, also omitted simultaneously the transfer valve 60,61 that carries out floating control, 62 etc., economize in addition Omited the travel limits control valve 58,59 of restriction scraper bowl with the stroke of the valve rod of operating valve 7. In addition, In embodiment 6, omitted in the hydraulic circuit of Fig. 1, corresponding to the operation that arm rises, make Scraper bowl uses operating valve 7 towards the reciprocable valve 50 of scraper bowl emptying position 7b, 7a side shifting, and corresponding In the operation that arm descends, make scraper bowl with operating valve 7 towards bucket tilt position 7d, 7e side shifting Reciprocable valve 49 etc.
As shown in Figure 6, in embodiment 6, omitted in the hydraulic circuit of Fig. 1, the restriction scraper bowl With hydraulic drive cylinder 3 return force feed towards the back- pressure balance valve 39,41 of the discharge rate of fuel tank 14, 42,65 and carry out the transfer valve 60,61,62 etc. of floating control, and the restriction scraper bowl is with operation The travel limits control valve 58,59 of the stroke of the valve rod of valve 7. Also have, in the 7th embodiment, Omitted in the hydraulic circuit of Fig. 1, corresponding to the operation that arm rises, make scraper bowl with operating valve 7 Towards the reciprocable valve 50 of scraper bowl emptying position 7b, 7a side shifting, and the operation that descends corresponding to arm, Make scraper bowl with operating valve 7 towards the reciprocable valve 49 of bucket tilt position 7d, 7e side shifting etc., in addition Outward, also omitted among Fig. 1, that bigger pressure in regeneration pressure and the maximum load pressure is defeated Go out reciprocable valve 57 to pressure-compensated valve 9 etc.
But any occasion among the embodiment 2-6 is all identical with embodiment 1, at scraper bowl liquid Press in the littler situation of the load pressure of driving cylinder 3, can close by regeneration relief valve 54 is positioned at Side switches to series loop, can by the return force feed of arm with hydraulic drive cylinder 2, drive scraper bowl With hydraulic drive cylinder 3. Thus, identical with embodiment 1, when carrying out composition operation, before can not making In the situation that the responsiveness of the arm 10 of head reduces, make the working rig action. In addition, at scraper bowl liquid Press the bigger occasion of load pressure of driving cylinder 3, open side by regeneration relief valve 54 is positioned at, Switch to the shunt circuit, by the discharge force feed of hydraulic pump 1, drive scraper bowl hydraulic drive cylinder 3. Thus, when the scraper bowl of back segment uses the load of hydraulic drive cylinder 3 to increase, can be by relative with load The driving pressure of answering drives scraper bowl hydraulic drive cylinder 3.
If adopt in the manner described above each embodiment, owing to corresponding to load condition, make arm liquid Press the force feed of returning of driving cylinder 2 to feed to scraper bowl with the changes in flow rate of hydraulic drive cylinder 3, carry out parallel connection The switching of circuit and series circuit is not so can cause reduction or the working rig of the driving pressure of working rig The reduction of speed.
Among the above-described embodiment, illustrated that the present invention is suitable for building machinery in supposition Situation. But, as the present invention, can be suitable for having all hydraulic of multiple hydraulic actuator Driving device.

Claims (3)

1. the actuator controller of a fro hydraulic driving machinery, this device comprises oil hydraulic pump (1), and the 1st and the 2nd hydraulic actuator (2,3), the the 1st and the 2nd hydraulic actuator drives by following manner, this mode is: oil is pressed in the discharge of supplying with this oil hydraulic pump (1) by the 1st and the 2nd Pressure oil feeder path (24a, 24b), it is characterized in that this device comprises:
Pressure oil feeder path (35,35a, 35d, 48,51), this Pressure oil feeder path will be pressed oil from the discharge that described the 1st hydraulic actuator (2) is discharged, and feed to described the 2nd hydraulic actuator (3);
Control mechanism (54,55), this control mechanism is controlled in the following manner, this mode is: corresponding to the induced pressure of described the 2nd hydraulic actuator (3), make by described and return the pressure oil that Pressure oil feeder path (35,35a, 35d, 48,51) feeds to described the 2nd hydraulic actuator (3) and be communicated with fuel tank (14).
2. the actuator controller of a fro hydraulic driving machinery, this device comprises oil hydraulic pump (1); The the 1st and the 2nd hydraulic actuator (2,3), the 1st and the 2nd hydraulic actuator drives by following manner, and this mode is: oil is pressed in the discharge of supplying with this oil hydraulic pump (1) by the 1st and the 2nd Pressure oil feeder path (24a, 24b); The the 1st and the 2nd operating device (4,5), the 1st and the 2nd operating device correspond respectively to the described the 1st and the 2nd hydraulic actuator (2,3) and are provided with, and it is characterized in that this device comprises:
Pressure oil feeder path (35,35a, 35d, 48,51), this Pressure oil feeder path will be pressed oil from the discharge that described the 1st hydraulic actuator (2) is discharged, and feed to described the 2nd hydraulic actuator (3);
Control mechanism (36,54,55), this control mechanism is in the induced pressure of above-mentioned the 2nd hydraulic actuator (3) occasion less than certain value, towards specific direction of operating to the described the 1st and the 2nd operating device (4, under the situation of 5) operating, ratio according to the rules, press oil to shunt to the discharge of discharging from described the 1st hydraulic actuator (2), by the described Pressure oil feeder path (35 that returns, 35,35d, 48,51), to feed to described the 2nd hydraulic actuator (3) through the pressure oil of proportional diverting according to the rules, and the variation corresponding to the operation amount of described the 2nd operating device makes by the described Pressure oil feeder path (35 that returns, 35a, 35d, 48,51) flow proportional that feeds to the pressure oil of described the 2nd hydraulic actuator (3) changes.
3. the actuator controller of fro hydraulic driving machinery according to claim 2, it is characterized in that described control mechanism is in following occasion, carry out by described the 2nd Pressure oil feeder path (24b), to press oil to feed to the control of described the 2nd hydraulic drive cylinder (3), in this occasion, from the state of the described the 1st and the 2nd operating device (4,5) being operated towards described specific direction of operating, become the state of the described the 1st and the 2nd operating device (4,5) being operated towards described specific direction of operating direction of operating in addition.
CNB01120088XA 2000-07-14 2001-07-13 Actuator controller fro hydraulic driving machinery Expired - Fee Related CN1237285C (en)

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JP214405/2000 2000-07-14
JP2000214405A JP3923242B2 (en) 2000-07-14 2000-07-14 Actuator control device for hydraulic drive machine

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CN1237285C CN1237285C (en) 2006-01-18

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CN1237285C (en) 2006-01-18
JP3923242B2 (en) 2007-05-30
KR20020006607A (en) 2002-01-23
DE10109510B4 (en) 2011-06-22
KR100797729B1 (en) 2008-01-24
JP2002031104A (en) 2002-01-31
DE10109510A1 (en) 2002-01-31

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