EP0451274A1 - Hydraulische steuerungseinheit - Google Patents

Hydraulische steuerungseinheit Download PDF

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Publication number
EP0451274A1
EP0451274A1 EP90901035A EP90901035A EP0451274A1 EP 0451274 A1 EP0451274 A1 EP 0451274A1 EP 90901035 A EP90901035 A EP 90901035A EP 90901035 A EP90901035 A EP 90901035A EP 0451274 A1 EP0451274 A1 EP 0451274A1
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EP
European Patent Office
Prior art keywords
opening
extent
solenoid valve
hydraulic
actuating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP90901035A
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English (en)
French (fr)
Other versions
EP0451274A4 (en
Inventor
Sadao C/O K.K. Komatsu Seisakusho Nunotani
Toshiro C/O K.K. Komatsu Seisakusho Takano
Naoki K.K. Komatsu Seisakusho Ishizaki
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Komatsu Ltd
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Komatsu Ltd
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Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of EP0451274A1 publication Critical patent/EP0451274A1/de
Publication of EP0451274A4 publication Critical patent/EP0451274A4/en
Withdrawn legal-status Critical Current

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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
    • 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
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • 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
    • F15B2211/321—Directional control characterised by the type of actuation mechanically
    • F15B2211/324—Directional control characterised by the type of actuation mechanically manually, e.g. by using a lever or pedal
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/40—Flow control
    • F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow 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
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in control
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/634—Electronic controllers using input signals representing a state of a 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • 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
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output 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
    • 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
    • F15B2211/75—Control of speed of the output member

Definitions

  • the present invention relates to a hydraulic controlling apparatus for controlling a plurality of hydraulic actuators mounted on a construction machine or the like industrial machine.
  • a construction machine such as a power shovel, a bulldozer, a loading shovel or the like machine is usually equipped with a plurality of hydraulic actuators.
  • the power shovel is equipped with a plurality of hydraulic actuators such a boom cylinder, an arm cylinder, a bucket cylinder, a hydraulic motor for turning movement and a hydraulic motor for forward/rearward movement of the power shovel.
  • a conventional hydraulic controlling apparatus for controlling such plural hydraulic actuators as mentioned above has a plurality of actuating valves interposed between a common hydraulic power supply source and a plurality of hydraulic actuators to control a flow rate of hydraulic oil to be fed to the respective hydraulic actuators, whereby pressurized hydraulic oil is fed to the respective hydraulic actuators with a flow rate which is properly controlled by the corresponding actuating valve.
  • a conventional hydraulic controlling apparatus for controlling a hydraulic cylinder 1 employable for light load and a hydraulic cylinder 2 employable for heavy load as shown in Fig. 5 has actuating valves 4 and 5 interposed between the hydraulic cylinders 1 and 2 and a common hydraulic pump 1 to control a flow rate of hydraulic oil.
  • actuating valves 4 and 5 interposed between the hydraulic cylinders 1 and 2 and a common hydraulic pump 1 to control a flow rate of hydraulic oil.
  • Each of the actuating valves 4 and 5 has a pump port a , a tank port b , a first actuator port c , a second actuator port d and a drain passage e .
  • characteristics representative of a relationship between a quantity of actuation of the actuating valve 4 and an extent of opening of the actuating valve 4 are set such that an extent of opening (i.e., an opening area) of a hydraulic passage extending between the port a and the port c as well as an extent of opening of a hydraulic passage extending between the port a and the port d relative to a quantity of actuation of the actuating valve 4 vary in conformity with a characteristic curve A1 in Fig.
  • an extent of opening of a hydraulic passage extending between the port b and the port c as well as an extent of opening of a hydraulic passage extending between the port b and the port d vary in conformity with a characteristic curve A2 in the drawing and an extent of opening of the hydraulic passage e varies in conformity with a characteristic curve A3 in the drawing.
  • characteristics representative of a relationship between a quantity of actuation of the actuating valve 5 and an extent of opening of the actuating valve 5 are set such that an extent of opening (i.e., an opening area) of a hydraulic passage extending between the port a and the port c as well as an extent of opening of a hydraulic passage between the port a and the port d relative to a quantity of actuation of the actuating valve 5 vary in conformity with a characteristic curve B1 in Fig.
  • an extent of opening of a hydraulic passage extending between the port b and the port c as well as an extent of opening of a hydraulic passage extending between the port b and the port d vary in conformity with a characteristic curve B2 in the drawing and an extent of opening of the hydraulic passage e varies in conformity with a characteristic curve B3 in the drawing.
  • the actuating valve 5 is designed such that a rate of reduction of the extent of opening of the hydraulic passage e is set larger than that of the actuating valve 4 for the following reason.
  • the actuating valve 5 serves to feed pressurized hydraulic oil to the hydraulic cylinder 2 employable for heavy load, there is a need that a flow rate of hydraulic oil to be drained through the hydraulic passage e is quickly reduced, after an actuating operation of the actuating valve 5 starts, so that a torque to be absorbed by the hydraulic pump 3 is increased.
  • the actuating valve 5 is constructed such that the extent of opening of the hydraulic passage e varies depending on the characteristic curve B3 having a high rate of reduction of the extent of opening of each hydraulic passage.
  • the actuating valve 4 alone is to be actuated.
  • the hydraulic passage extending between the port a and the port c or the hydraulic passage extending between the port a and the port d in the actuating valve 4 serves as a variable throttle having the characteristic curve A1
  • the drain passage e serves as a variable throttle having the characteristic curve A3.
  • the former variable throttle is represented by reference numeral 6 and the latter variable throttle is represented by reference numeral 7 in Fig. 8.
  • a quantity of hydraulic oil to be introduced into a hydraulic cylinder 1 in Fig. 8 is determined depending on a ratio of an extent of opening of the throttle 6 to an extent of opening of the throttle 7 as well as a magnitude of load exerted on the hydraulic cylinder 1.
  • the hydraulic passage extending between the port a and the port c or the hydraulic passage extending between the port a and the port d serves as a variable throttle having the characteristic curve B1
  • the drain passage e in the actuating valve 5 serves as a variable throttle having the characteristic curve B3.
  • the former variable throttle is represented by reference numeral 8 and the latter variable throttle is represented by reference numeral 9 in Fig. 9.
  • variable throttles 7 and 9 are arranged in series, as shown in Fig. 9.
  • the extent of opening of the hydraulic passage e in the actuating valve 4 substantially varies in conformity with a characteristic curve A4 which is represented by a dotted line in Fig. 6.
  • the characteristic curve A4 suggests that a quantity of hydraulic oil to be drained through the hydraulic passage e in the actuating valve 4 is remarkably reduced when the both actuating valves 4 and 5 are simultaneously actuated.
  • a delivery pressure of hydraulic oil from the hydraulic pump 3 is unavoidably raised up above a necessary level of pressure.
  • the conventional hydraulic controlling apparatus has a drawback that when the both actuating valves 4 and 5 are simultaneously actuated, an excessive quantity of hydraulic oil is introduced into the hydraulic cylinder 1 employable for light load and thereby the hydraulic cylinder 1 can not be controlled smoothly.
  • the present invention has been made with the foregoing background in mind and its object resides in providing a hydraulic controlling apparatus which assures that when a plurality of actuating valves are simultaneously actuated, a quantity of hydraulic oil corresponding to the simultaneous actuation of the actuating valves is drained through the discharge passage of a hydraulic pump and thereby a plurality of actuators can be controlled smoothly.
  • the present invention provides a hydraulic controlling apparatus having a plurality of actuating valves interposed between a hydraulic pump and a plurality of hydraulic actuators, wherein the hydraulic controlling apparatus comprises; a solenoid valve arranged in parallel with the hydraulic pump to control a flow rate of hydraulic oil, presetting means for presetting characteristics representative of an extent of opening of the solenoid valve to be used for one of the actuating valves to be singly actuated and characteristics representative of an extent of opening of the solenoid valve to be used for the plural actuating valves to be simultaneously actuated as typical characteristics representative of an extent of opening of the solenoid valve, detecting means for detecting a quantity of actuation of each of the respective actuating valves, and controlling means for controlling an extent of opening of the solenoid valve based on the characteristics representative of an extent of opening of the solenoid valve to be used for one of the actuating valves to be singly actuated in a case where the one actuating valve is singly actuated based on
  • an extent of opening of the solenoid valve is properly controlled in conformity with the characteristics representative of an extent of opening of the solenoid valve to be used for the one actuating valve to be singly actuated.
  • an extent of opening of the solenoid valve is properly controlled in conformity with the characteristics representative of an extent of opening of the solenoid valve to be used for the respective actuating valve to be simultaneously actuated.
  • the characteristics representative of an extent of opening of the solenoid valve to be used for one of the actuating valves to be singly actuated are set such that they are well adapted to a load exerted on each of the hydraulic actuators, controlling of one of the hydraulic actuators can be controlled smoothly.
  • the characteristics representative of an opening of the solenoid valve to be used for the respective actuating valves to be simultaneously actuated are set such that they are well adapted to a load when the respective actuating valve are simultaneously actuated, simultaneous controlling of the respective actuating valves can be controlled smoothly.
  • Fig. 1 is a hydraulic circuit diagram which illustrates by way of example hydraulic circuits required for operating a hydraulic controlling apparatus in accordance with an embodiment of the present invention
  • Fig. 2 is a block diagram which schematically illustrates controlling means for controlling a solenoid valve adapted to for control a flow rate of hydraulic oil
  • Fig. 3 is a graph which illustrates by way of example characteristics indicative of an extent of opening of the solenoid valve for controlling a flow rate of hydraulic oil
  • Fig. 4 is a flowchart which illustrates by way of example a procedure of processings to be executed by a controller as shown in Fig. 2
  • Fig. 5 is a hydraulic circuit diagram which illustrates by way of examples a conventional hydraulic controlling apparatus
  • Fig. 7 are a graph which represents characteristics representative of an extent of opening of respective actuating valves shown in Fig. 5, respectively, and Fig. 8 and Fig. 9 are a hydraulic circuit diagram which illustrates a function of the respective actuating valves shown in Fig. 5.
  • Fig. 1 is a hydraulic circuit diagram which illustrates by way of example the hydraulic controlling apparatus of the present invention.
  • the hydraulic circuit shown in Fig. 1 includes a hydraulic pump 10 and a solenoid valve 11 for controlling a flow rate of hydraulic oil, and the hydraulic pump 10 and the solenoid valve 11 are arranged in parallel with each other.
  • the solenoid valve 11 is constructed such that an extend of opening of a hydraulic passage extending between an input port a and an output port b is set in inverse proportion to an intensity of input electric current.
  • the solenoid valve 11 is controlled by controlling means which is exemplified in Fig. 2.
  • the hydraulic circuit shown in Fig. 1 includes actuating valves 12 and 13 of which pump ports a are connected to the hydraulic pump 10 and of which tank ports b are connected to a tank 14.
  • the actuating valve 12 has a first actuator port c and a second actuator port d , and the first actuator port c is connected to a hydraulic chamber on the head side of a hydraulic cylinder 15 employable for light load, while the second actuator port d is connected to a hydraulic chamber on the bottom side of the actuator 15.
  • the actuating valve 13 has a first actuator port c and a second actuator port d , and the first actuator port c is connected to a hydraulic chamber on the head side of a hydraulic cylinder 16 employable for heavy load, while the second actuator port d is connected to a hydraulic chamber on the bottom side of the hydraulic cylinder 16.
  • the actuating valve 12 is constructed such that an extent of opening (i.e., an opening area) of a hydraulic passage extending between the port a and the port c as well as an extent of opening of a hydraulic passage extending between the port a and the port d vary in conformity with a characteristic curve A1 in Fig. 6, while an extent of opening of a hydraulic passage extending between the port b and the port c as well as an extent of opening of a hydraulic passage extending the port b and the port d vary in conformity with a characteristic curve A2 in Fig. 6.
  • the actuating valve 13 is constructed such that an extent of opening (i.e., an opening area) of a hydraulic passage extending between the port a and the port c as well as an extent of opening of a hydraulic passage extending between the port a and the port d vary in conformity with a characteristic curve B1 in Fig. 7, while an extent of opening of a hydraulic passage between the port b and the port c as well as an extent of opening of a hydraulic passage extending between the port b and the port d vary in conformity with a characteristic curve B2 in Fig. 7.
  • the hydraulic cylinder 15 is retracted and expanded correspondingly.
  • the hydraulic cylinder 16 is retracted and expanded correspondingly.
  • a potentiometer 17 and a potentiometer 18 operate in operative association with actuating levers 12a and 13a of the actuating valves 12 and 13.
  • a signal S1 and a signal S2 corresponding to a quantity of actuation of the actuating valves 12 and 13 are outputted from the potentiometers 17 and 18 so that the signal S1 and the signal S2 are inputted into a controller 19, respectively.
  • FIG. 3 is a graph which illustrates by way of example characteristics representative of an extent of opening of each of the actuating valves 12 and 13.
  • reference character D represents characteristics representative of an extent of opening of the solenoid valve 11 wherein the characteristics are applicable to a case where the actuating valve 12 is single actuated
  • reference character E represents characteristics representative of an extent of opening of the solenoid valve 11 wherein the characteristics are applicable to a case where the actuating valve 13 is single actuated
  • reference character F represents characteristics indicative of an extent of opening of the solenoid valve 11 wherein the characteristics are applicable to a case where the both actuating valves 12 and 13 are simultaneously actuated.
  • an abscissa represents a quantity of actuation of the actuating valve 12 in conjunction with the characteristic curve D as well as a quantity of actuation of the actuating valve 13 in conjunction with the characteristic curve E.
  • the abscissa represents a quantity of actuation of either of the actuating valves 12 and 13 in conjunction with the characteristic curve F. Specifically, it represents a quantity of actuation of one of the actuators 12 and 13 which is actuated by a longer distance.
  • the actuating valve 12 is actuated when the hydraulic cylinder 15 employable for light load is operated.
  • care should be taken such that an excessive quantity of hydraulic oil is not fed to the hydraulic cylinder 15 employable for light load.
  • the characteristic curve D is set such that as a quantity of actuation of the actuating valve 12 increases, an extent of opening of the solenoid valve 11 is gradually reduced, in other words, when the actuating valve 12 is singly actuated, an adequate quantity of hydraulic oil is fed to the hydraulic cylinder 15 employable for light load.
  • the actuating valve 13 is actuated when the hydraulic cylinder 16 employable for heavy load is actuated.
  • care should be taken such that a quantity of hydraulic oil corresponding to a magnitude of heavy load exerted on the hydraulic cylinder 16 is fed to the hydraulic cylinder 16.
  • the characteristic curve E is set such that the extent of opening of the solenoid valve 11 starts to be reduced eearliestr than in a case where the characteristic curve D is applicable and moreover a gradient of reduction of the extent of opening of the solenoid valve 11 is larger than that in a case where the characteristic curve D is applicable.
  • the characteristic curve E is set such that a gradient of reduction in respect of the extent of opening of the solenoid valve 11 is larger than that in a case where the characteristic curve E is applicable.
  • Fig. 4 is a flowchart which illustrates by way of example a procedure of processings to be executed by the controller 19. Now, operation of the hydraulic controlling apparatus of the present invention will be described below with reference to the flowchart in Fig. 4.
  • the controller 19 determines based on an output signal S1 from the potentiometer 17 whether the actuating valve 12 is actuated or not (step 100). In addition, the controller 19 determines based on an output signal S2 from the potentiometer 17 whether the actuating valve 13 is actuated or not (step 101).
  • controller 19 determines that the both actuating valves 12 and 13 are simultaneously actuated, the controller 19 selects the characteristic curve F shown in Fig. 3 (step 102). Subsequently, the controller 19 compares a magnitude of the output signal S1 with a magnitude of the output signal S2 (step 103).
  • the controller 19 determines at the step 103 that a magnitude of the output signal S1 is equal to or larger than a magnitude of the output signal S2, the controller 19 reads from the memory 20 the present extent of opening of the solenoid valve 11 on the characteristic curve F corresponding to a quantity of actuation of the actuating valve 12 and then outputs a valve controlling signal Sf to an amplifier 21 to indicate the present extent of opening of the solenoid valve 11 (step 104).
  • the controller 19 determines at the step 103 that a magnitude of the output signal S1 is smaller than a magnitude of the output signal S2, the controller 19 reads from the memory 20 the present extent of opening of the solenoid valve 11 on the characteristic curve F corresponding to a quantity of actuation of the actuating valve 13 and then outputs a valve controlling signal Sf to the amplifier 21 to indicate the present extent of opening of the solenoid valve 11 (step 105).
  • the controller 19 controls an extent of opening of the solenoid valve 11 in conformity with the characteristic curve F.
  • the controller 19 determines at the step 101 that the actuating valve 13 is not actuated, in other words, in a case where the controller 19 determined that the actuating valve 12 is single actuated, the controller 19 selects the characteristic curve D shown in Fig. 3 (step 106). Subsequently, the controller 19 reads from the memory 20 the present extent of opening of the solenoid valve 11 on the characteristic curve D corresponding to a quantity of actuation of the actuating valve 12 and then outputs a valve controlling signal Sd to the amplifier 21 to indicate the present extent of opening of the solenoid valve 11 (step 107).
  • the controller 19 controls an extent of opening of the solenoid valve 11 in conformity of the characteristic curve D.
  • the process goes to a step 108 at which the controller 19 determines whether the actuating valve 13 is actuated or not.
  • the process returns. In this case, no actuating signal is transmitted to the solenoid valve 11, whereby the solenoid valve 11 is kept in a opened state.
  • the controller 19 determines at the step 108 that the actuating valve 13 is actuated, in other words, in a case where the controller 19 determines that the actuating the actuating valve 13 alone is actuated, the controller selects the characteristic curve E shown in Fig. 3 (step 109). Subsequently, the controller 19 reads from the memory 20 the present extent of opening of the solenoid valve 11 corresponding to a quantity of actuation of the actuating valve 13 and then outputs a valve controlling signal Se to the amplifier 21 to indicate the present extent of opening of the solenoid valve 11 (step 110).
  • the controller 19 controls an extent of opening of the solenoid valve 11 in conformity with the characteristic curve E.
  • the controller 19 determines a quantity of hydraulic oil to be fed to each of the hydraulic cylinders 15 and 16 depending on the present extent of opening of the solenoid valve 11. Therefore, a quantity of hydraulic oil corresponding to a magnitude of load can be fed to the hydraulic cylinders 15 and 16 by properly controlling an extent of opening of the solenoid valve 11 based on the characteristic curve F which is preferably employable in the case where the both actuating valves 12 and 13 are simultaneously actuated, as mentioned above. Consequently, the hydraulic cylinders 15 and 16 have an improved controllability, respectively.
  • the characteristics representative of the present extent of opening of the solenoid valve 11 when the both actuating valves 12 and 13 are simultaneously actuated should not be limited only to the aforementioned characteristic curve F.
  • the characteristic curve E may be employed without any particular practical inconvenience as typical characteristics representative of an extent of opening of the solenoid valve 11 at the time when the both actuating valves 12 and 13 are simultaneously actuated.
  • two manual type actuating valves are employed for the actuating valves 12 and 13.
  • solenoid type actuating valves may be employed for the actuating valves 12 and 13. In this case, it is required that the actuating valves 12 and 13 are controlled based on an output from each of the potentiometers 17 and 18.
  • one hydraulic cylinder 15 employable for light weight and one hydraulic cylinder 16 employable for heavy load are used as hydraulic actuators for carrying out the present invention.
  • the present invention may be applied to a case where three or more hydraulic actuators each having a different magnitude of load to be borne thereby are properly controlled by the hydraulic controlling apparatus of the present invention.
  • the respective hydraulic actuators are hydraulically connected to a common hydraulic pump via the respective actuating valves, and a solenoid valve for controlling a flow rate of hydraulic oil (corresponding to the solenoid valve 11 in the aforementioned embodiment) is arranged in parallel with the hydraulic pump in the same manner as in the aforementioned embodiment of the present invention.
  • characteristics representative of an extent of opening of a solenoid valve to be used for one actuating valve to be singly actuated are set in the same manner as in the aforementioned embodiment of the present invention.
  • characteristics representative of an extent of opening of a solenoid valve to used for a plurality of actuating valves to be simultaneously actuated are likewise set in the same manner as in the aforementioned embodiment of the present invention.
  • characteristics representative of an extent of opening of the solenoid valve to be used for a single actuating operation are employed, and the extent of opening of the solenoid valve to be actuated is set based on the characteristics representative of an extent of opening of the solenoid valve and a quantity of actuation of the actuating valve to be singly actuated.
  • the characteristics representative of an extent of opening of the solenoid valve to be singly actuated are preset in the same manner as in the aforementioned embodiment of the present invention such that they are well adapted to a magnitude of load exerted on each hydraulic actuator.
  • the characteristics representative of an extent of opening of the solenoid valve for the respective actuating valves to be simultaneously actuated are employable.
  • the extent of opening of the solenoid valve is set based on a maximum magnitude of actuation of the respective actuating valves to be simultaneously actuated and the characteristics representative of an extent of opening of the solenoid valve to be used for the respective actuating valves to be simultaneously actuated.
  • characteristics representative of a smallest extent of opening of the solenoid valve to be used for one actuating valve to be singly actuated may be substituted for the characteristics representative of an extent of opening of the solenoid valve to be used for a plurality of actuating valves to be simultaneously actuated.
  • the hydraulic controlling apparatus of the present invention is advantageously employable for a case where a plurality of actuating valves are simultaneously actuated in an adequate way, it can be concluded that the hydraulic controlling apparatus effectively serves as hydraulic controlling means for properly controlling a variety of machines, particularly, a construction machine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
EP19900901035 1988-12-27 1989-12-27 Hydraulic controller Withdrawn EP0451274A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP167789/88U 1988-12-27
JP1988167789U JPH0288005U (de) 1988-12-27 1988-12-27

Publications (2)

Publication Number Publication Date
EP0451274A1 true EP0451274A1 (de) 1991-10-16
EP0451274A4 EP0451274A4 (en) 1991-11-13

Family

ID=15856144

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900901035 Withdrawn EP0451274A4 (en) 1988-12-27 1989-12-27 Hydraulic controller

Country Status (4)

Country Link
EP (1) EP0451274A4 (de)
JP (1) JPH0288005U (de)
KR (1) KR910700415A (de)
WO (1) WO1990007651A1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5468126A (en) * 1993-12-23 1995-11-21 Caterpillar Inc. Hydraulic power control system
US5525043A (en) * 1993-12-23 1996-06-11 Caterpillar Inc. Hydraulic power control system
US5701933A (en) * 1996-06-27 1997-12-30 Caterpillar Inc. Hydraulic control system having a bypass valve
CN103032393A (zh) * 2012-12-14 2013-04-10 长春新试验机有限责任公司 一种准静态加载液压泵伺服控制装置
WO2024015025A1 (en) * 2022-07-13 2024-01-18 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Hydraulic circuit of a mobile hydraulic crane

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Publication number Priority date Publication date Assignee Title
JP4532725B2 (ja) * 2000-12-11 2010-08-25 ヤンマー株式会社 掘削旋回作業車のブーム用方向切換弁
JP4585607B2 (ja) * 2009-12-25 2010-11-24 ヤンマー株式会社 作業車の方向切換弁
CN103415709B (zh) * 2011-03-07 2016-01-20 沃尔沃建造设备有限公司 用于管道铺设机的液压回路
JP6726127B2 (ja) * 2017-03-30 2020-07-22 川崎重工業株式会社 油圧システム
US11408147B2 (en) * 2017-07-14 2022-08-09 Nordhydraulic Ab Dynamic open center hydraulic system control
JP7418278B2 (ja) 2020-04-30 2024-01-19 キャタピラー エス エー アール エル 油圧制御回路
CN115875447A (zh) * 2023-01-09 2023-03-31 索特传动设备有限公司 一种液压控制***、换挡机构及工程机械

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DE1807173A1 (de) * 1968-11-06 1970-06-18 Bosch Gmbh Robert Einrichtung zur elektrohydraulischen Fernsteuerung hydraulischer Wegeventile
DE2630468A1 (de) * 1976-07-07 1978-01-12 Bosch Gmbh Robert Hydraulisches steuersystem fuer wenigstens zwei verbraucher
EP0015296A1 (de) * 1978-07-13 1980-09-17 Unic Corporation Vorrichtung zur fernsteuerung hydraulischer kräne
EP0235545A2 (de) * 1986-01-25 1987-09-09 Hitachi Construction Machinery Co., Ltd. Hydraulisches Antriebssystem

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JPS50117296U (de) * 1974-03-08 1975-09-25
JPS5985765U (ja) * 1982-12-02 1984-06-09 内田油圧機器工業株式会社 テ−ルゲ−トリフタ−用油圧回路装置
JPS622805U (de) * 1985-06-20 1987-01-09

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DE1807173A1 (de) * 1968-11-06 1970-06-18 Bosch Gmbh Robert Einrichtung zur elektrohydraulischen Fernsteuerung hydraulischer Wegeventile
DE2630468A1 (de) * 1976-07-07 1978-01-12 Bosch Gmbh Robert Hydraulisches steuersystem fuer wenigstens zwei verbraucher
EP0015296A1 (de) * 1978-07-13 1980-09-17 Unic Corporation Vorrichtung zur fernsteuerung hydraulischer kräne
EP0235545A2 (de) * 1986-01-25 1987-09-09 Hitachi Construction Machinery Co., Ltd. Hydraulisches Antriebssystem

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See also references of WO9007651A1 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5468126A (en) * 1993-12-23 1995-11-21 Caterpillar Inc. Hydraulic power control system
US5525043A (en) * 1993-12-23 1996-06-11 Caterpillar Inc. Hydraulic power control system
US5701933A (en) * 1996-06-27 1997-12-30 Caterpillar Inc. Hydraulic control system having a bypass valve
CN103032393A (zh) * 2012-12-14 2013-04-10 长春新试验机有限责任公司 一种准静态加载液压泵伺服控制装置
WO2024015025A1 (en) * 2022-07-13 2024-01-18 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Hydraulic circuit of a mobile hydraulic crane

Also Published As

Publication number Publication date
JPH0288005U (de) 1990-07-12
WO1990007651A1 (en) 1990-07-12
EP0451274A4 (en) 1991-11-13
KR910700415A (ko) 1991-03-15

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