JP3059378B2 - Hydraulic excavator control circuit - Google Patents
Hydraulic excavator control circuitInfo
- Publication number
- JP3059378B2 JP3059378B2 JP8095536A JP9553696A JP3059378B2 JP 3059378 B2 JP3059378 B2 JP 3059378B2 JP 8095536 A JP8095536 A JP 8095536A JP 9553696 A JP9553696 A JP 9553696A JP 3059378 B2 JP3059378 B2 JP 3059378B2
- Authority
- JP
- Japan
- Prior art keywords
- control valve
- boom
- directional control
- oil passage
- pilot signal
- 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.)
- Expired - Fee Related
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は油圧ショベルの制御
回路に関するものであり、特に、複数の油圧ポンプに夫
々センタバイパス油路とパラレル油路を設けて各方向制
御弁を適宜配設した油圧ショベルの制御回路に関するも
のである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control circuit for a hydraulic shovel, and more particularly, to a hydraulic shovel in which a plurality of hydraulic pumps are provided with a center bypass oil passage and a parallel oil passage, and directional control valves are appropriately disposed. In the control circuit.
【０００２】[0002]
【従来の技術】従来の油圧ショベルの制御回路の一例を
図５に示す。第１及び第２の油圧ポンプ１，２に夫々セ
ンタバイパス油路３，４とパラレル油路５，６とを平行
に設け、第１の油圧ポンプ１側のセンタバイパス油路３
に旋回モータ７用の方向制御弁８並びにアームシリンダ
９用の方向制御弁１０をポンプ下流に向けてタンデム接
続するとともに、パラレル油路５を介して前記旋回モー
タ用の方向制御弁８及びアームシリンダ用の方向制御弁
１０をパラレル接続する。一方、第２の油圧ポンプ２側
にはブームシリンダ１１用の方向制御弁１２や他のアク
チュエータ（例えばバケットシリンダ）用の方向制御弁
１３等を適宜配設する。2. Description of the Related Art FIG. 5 shows an example of a control circuit of a conventional hydraulic shovel. Center bypass oil passages 3 and 4 and parallel oil passages 5 and 6 are provided in parallel with the first and second hydraulic pumps 1 and 2 respectively, and the center bypass oil passage 3 on the first hydraulic pump 1 side is provided.
A directional control valve 8 for the turning motor 7 and a directional control valve 10 for the arm cylinder 9 are connected in tandem to the downstream of the pump, and the directional control valve 8 for the turning motor and the arm cylinder Directional control valves 10 are connected in parallel. On the other hand, on the second hydraulic pump 2 side, a direction control valve 12 for a boom cylinder 11, a direction control valve 13 for another actuator (for example, a bucket cylinder), and the like are appropriately disposed.
【０００３】また、押し付け掘削時に旋回モータ７の押
し付け力を確保するため、パラレル油路５には、旋回モ
ータ用の方向制御弁８の下流且つアームシリンダ用の方
向制御弁１０の上流位置に絞り１４を設けてある。更
に、ダンプ積み作業時にサイクルタイムを短縮するた
め、センタバイパス油路３には、旋回モータ用の方向制
御弁８の上流位置にブーム速度切替弁１５を設けてあ
る。In order to secure the pressing force of the swing motor 7 during pushing excavation, the parallel oil passage 5 is throttled to a position downstream of the direction control valve 8 for the swing motor and upstream of the direction control valve 10 for the arm cylinder. 14 are provided. Further, a boom speed switching valve 15 is provided in the center bypass oil passage 3 at a position upstream of the directional control valve 8 for the swing motor in order to shorten the cycle time during dumping work.
【０００４】即ち、センタバイパス油路３によりブーム
速度切替弁１５と旋回モータ用の方向制御弁８並びにア
ームシリンダ用の方向制御弁１０がタンデム接続される
とともに、パラレル油路５を介して前記ブーム速度切替
弁１５と旋回モータ用の方向制御弁８並びにアームシリ
ンダ用の方向制御弁１０がパラレル接続された状態にな
っている。That is, the boom speed switching valve 15, the directional control valve 8 for the swing motor and the directional control valve 10 for the arm cylinder are connected in tandem by the center bypass oil passage 3, and the boom is connected via the parallel oil passage 5. The speed switching valve 15, the directional control valve 8 for the swing motor, and the directional control valve 10 for the arm cylinder are in a state of being connected in parallel.
【０００５】そして、ブームシリンダ用の方向制御弁１
２に作用するブーム上げパイロット信号圧Ｐ1 に応じて
該ブーム速度切替弁１５を１５ｂの位置へ切り替え、第
１の油圧ポンプ１の圧力油を分岐して油路１６からブー
ムシリンダ用の方向制御弁１２へ合流させることによ
り、ブーム上げ速度が上昇するように構成されている。A directional control valve 1 for a boom cylinder is provided.
The boom speed switching valve 15 switched to the position of 15b in accordance with the boom raising pilot signal pressure P 1 acting on the 2 direction control for the boom cylinder from the first oil passage 16 branches the pressure oil of the hydraulic pump 1 The boom raising speed is configured to increase by merging with the valve 12.
【０００６】ここで、油圧ショベルにて床掘り作業をす
る場合、図６に示すように、アーム１７の閉じ操作とブ
ーム１８の上げ操作とを同時に行ってバケット１９を矢
印方向へ水平引きする。このとき、アーム１７は自重で
落下する方向へ付勢されるのでアーム閉じ速度が速くな
るとともに、ブーム１８は持ち上げられるためブーム上
げ速度が遅くなる傾向がある。Here, when floor excavation work is performed with a hydraulic excavator, as shown in FIG. 6, the closing operation of the arm 17 and the raising operation of the boom 18 are simultaneously performed to pull the bucket 19 horizontally in the direction of the arrow. At this time, the arm 17 is urged in a direction of falling by its own weight, so that the arm closing speed increases, and the boom 18 is lifted, so that the boom raising speed tends to decrease.
【０００７】図５に示した従来の制御回路では、床掘り
作業に於いてブーム上げ操作を行うと、ブーム上げパイ
ロット信号圧Ｐ1 によりブームシリンダ用の方向制御弁
１２が１２ｂの位置に切り替わるとともにブーム速度切
替弁１５が１５ｂの位置に切り替わり、ブームシリンダ
１１へ供給される圧力油の流量が増加する。また、第１
の油圧ポンプ１の圧力油はパラレル油路５を経てアーム
シリンダ用の方向制御弁１０にも供給されるが、パラレ
ル油路５に絞り弁１４を介装してあるため、アームシリ
ンダ９へ供給される圧力油の流量が制限される。[0007] In the conventional control circuit shown in FIG. 5, when the boom raising operation at the floor digging, by the boom-raising pilot signal pressure P 1 with the directional control valve 12 for the boom cylinder is switched to the position of 12b The boom speed switching valve 15 switches to the position 15b, and the flow rate of the pressure oil supplied to the boom cylinder 11 increases. Also, the first
Is supplied to the arm cylinder direction control valve 10 through the parallel oil passage 5, but is supplied to the arm cylinder 9 because the throttle valve 14 is interposed in the parallel oil passage 5. The flow rate of the pressure oil is limited.
【０００８】従って、ブーム上げ操作中は、ブーム上げ
速度が上昇するとともにアーム閉じ速度が低下するよう
に制御され、アーム１７の落ち込みによるバケット１９
の食い込みを防止している。Therefore, during the boom raising operation, the boom raising speed is increased and the arm closing speed is controlled to be reduced.
To prevent digging.
【０００９】[0009]
【発明が解決しようとする課題】従来、図６に示すよう
な床掘り作業をする場合は、前述したように、ブーム上
げ操作中は、ブーム上げ速度を上昇させるとともにアー
ム閉じ速度を低下させるように制御している。そして、
オペーレータはバケット１９が機体に近づくに従ってブ
ーム１８の上げ操作を遅くし、図７の姿勢に至った後に
は、ブーム１８を下げ操作する。Conventionally, when a floor excavation operation as shown in FIG. 6 is performed, as described above, during the boom raising operation, the boom raising speed is increased and the arm closing speed is reduced. Is controlled. And
The operator delays the raising operation of the boom 18 as the bucket 19 approaches the airframe, and lowers the boom 18 after reaching the posture of FIG.
【００１０】ブーム１８を上げ操作から下げ操作へ切り
替えたときは、図５に示した前記ブーム速度切替弁１５
が１５ｂから１５ａの位置に復帰し、センタバイパス油
路３が開放されるため、アームシリンダ９へ供給される
圧力油の流量が急増する。従って、アーム閉じ速度が急
激に上昇することになり、それに対応してブーム下げ操
作を調整しなければならず、オペーレータには高度の技
術と労力が必要とされていた。When the boom 18 is switched from the raising operation to the lowering operation, the boom speed switching valve 15 shown in FIG.
Is returned from the position 15b to the position 15a and the center bypass oil passage 3 is opened, so that the flow rate of the pressure oil supplied to the arm cylinder 9 increases rapidly. Therefore, the arm closing speed rapidly increases, and the boom lowering operation must be adjusted accordingly, and the operator requires a high level of skill and labor.
【００１１】そこで、油圧ショベルにて床掘り作業を行
う場合に、ブーム上げ操作及び下げ操作に対応して最適
なアーム閉じ速度が得られるようにするために解決すべ
き技術的課題が生じてくるのであり、本発明はこの課題
を解決することを目的とする。Therefore, when a floor excavation operation is performed by a hydraulic excavator, there arises a technical problem to be solved in order to obtain an optimum arm closing speed corresponding to a boom raising operation and a boom raising operation. Therefore, an object of the present invention is to solve this problem.
【００１２】[0012]
【課題を解決するための手段】本発明は上記目的を達成
するために提案されたものであり、第１の油圧ポンプ側
のセンタバイパス油路にブーム速度切替弁と旋回モータ
用の方向制御弁並びにアームシリンダ用の方向制御弁を
ポンプ下流に向けてタンデム接続するとともに、該セン
タバイパス油路から平行に分岐されたパラレル油路を介
して前記ブーム速度切替弁と旋回モータ用の方向制御弁
並びにアームシリンダ用の方向制御弁をパラレル接続
し、更に、第２の油圧ポンプ側にブームシリンダ用の方
向制御弁をはじめとする他の制御弁を適宜配設し、ブー
ム上げパイロット信号圧に応じて前記ブーム速度切替弁
から第１の油圧ポンプの圧力油を分岐してブームシリン
ダ用の方向制御弁へ合流させる油路を設けた油圧ショベ
ルの制御回路に於いて、電磁比例流量制御弁を前記旋回
モータ用の方向制御弁とブームシリンダ用の方向制御弁
との間に介在しないようにして、前記第１の油圧ポンプ
のパラレル油路の下流であって、該旋回モータ用の方向
制御弁の下流且つアームシリンダ用の方向制御弁の上流
位置に介装し、更に、ブームシリンダ用の方向制御弁に
作用するブーム上げパイロット信号圧を検出する手段を
設け、該ブーム上げパイロット信号圧が上昇傾向にある
ときは、コントローラにより前記電磁比例流量制御弁の
開口面積を最小にし、該ブーム上げパイロット信号圧が
下降傾向にあるときは、コントローラにより前記電磁比
例流量制御弁の開口面積を該ブーム上げパイロット信号
圧に応じて拡開する油圧ショベルの制御回路、及び、第
１の油圧ポンプ側のセンタバイパス油路にブーム速度切
替弁と旋回モータ用の方向制御弁並びにアームシリンダ
用の方向制御弁をポンプ下流に向けてタンデム接続する
とともに、該センタバイパス油路から平行に分岐された
パラレル油路を介して前記ブーム速度切替弁と旋回モー
タ用の方向制御弁並びにアームシリンダ用の方向制御弁
をパラレル接続し、更に、第２の油圧ポンプ側にブーム
シリンダ用の方向制御弁をはじめとする他の制御弁を適
宜配設し、ブーム上げパイロット信号圧に応じて前記ブ
ーム速度切替弁から第１の油圧ポンプの圧力油を分岐し
てブームシリンダ用の方向制御弁へ合流させる油路を設
けた油圧ショベルの制御回路に於いて、前記第１の油圧
ポンプのパラレル油路の下流であって、旋回モータ用の
方向制御弁の下流且つアームシリンダ用の方向制御弁の
上流位置に電磁比例流量制御弁を介装し、更に、旋回モ
ータ用の方向制御弁に作用する旋回パイロット信号圧を
検出する手段を設け、該旋回パイロット信号圧を検出し
たときは、コントローラにより前記電磁比例流量制御弁
の開口面積を最小にする油圧ショベルの制御回路を提供
するものである。SUMMARY OF THE INVENTION The present invention has been proposed to achieve the above-mentioned object, and a boom speed switching valve and a directional control valve for a swing motor are provided in a center bypass oil passage on a first hydraulic pump side. A directional control valve for the arm cylinder is connected in tandem to the downstream of the pump, and the boom speed switching valve and the directional control valve for the swing motor are connected through a parallel oil passage branched in parallel from the center bypass oil passage. A directional control valve for the arm cylinder is connected in parallel, and other control valves such as a directional control valve for the boom cylinder are appropriately disposed on the second hydraulic pump side according to the boom raising pilot signal pressure. In a control circuit of a hydraulic shovel provided with an oil passage for branching the pressure oil of a first hydraulic pump from the boom speed switching valve and joining the branch to a directional control valve for a boom cylinder. The turning an electromagnetic proportional flow rate control valve
Directional control valve for motor and directional control valve for boom cylinder
So as not interposed between the, a downstream parallel fluid path of the first hydraulic pump, instrumentation via the upstream position of the directional control valve for the downstream and the arm cylinder directional control valve for the revolving motor Further, a means for detecting a boom raising pilot signal pressure acting on the directional control valve for the boom cylinder is provided, and when the boom raising pilot signal pressure tends to increase, the controller controls the opening of the electromagnetic proportional flow control valve. When the area is minimized and the boom raising pilot signal pressure is in a downward trend, the controller of the hydraulic shovel that expands the opening area of the electromagnetic proportional flow control valve by the controller according to the boom raising pilot signal pressure; and A boom speed switching valve, a directional control valve for a swing motor, and a directional control valve for an arm cylinder in the center bypass oil passage on the first hydraulic pump side. A tandem connection is made toward the pump downstream, and the boom speed switching valve and the directional control valve for the swing motor and the directional control valve for the arm cylinder are connected in parallel via a parallel oil passage branched in parallel from the center bypass oil passage. Connected to the second hydraulic pump side, and other control valves such as a directional control valve for a boom cylinder are appropriately disposed, and the first boom speed switching valve is connected to the first boom speed switching valve in accordance with a boom raising pilot signal pressure. In a control circuit of a hydraulic shovel provided with an oil passage for branching the pressure oil of a hydraulic pump and joining the directional control valve for a boom cylinder, the hydraulic circuit is turned downstream of a parallel oil passage of the first hydraulic pump. An electromagnetic proportional flow control valve is interposed at a position downstream of the direction control valve for the motor and upstream of the direction control valve for the arm cylinder, and further, a swing acting on the direction control valve for the swing motor. A means for detecting the pilots signal pressure, when it detects a revolving pilot signal pressure is to provide a control circuit of a hydraulic excavator to minimize the opening area of the solenoid proportional flow control valve by a controller.
【００１３】[0013]
【発明の実施の形態】以下、本発明の実施の形態を図面
に従って詳述する。尚、説明の都合上、従来と同一構成
部分には同一符号を付してその説明を省略する。Embodiments of the present invention will be described below in detail with reference to the drawings. For convenience of explanation, the same reference numerals are given to the same components as in the related art, and the description thereof will be omitted.
【００１４】図１は油圧ショベルの制御回路の一例を示
し、第１の油圧ポンプ１のパラレル油路５には、旋回モ
ータ用の方向制御弁８の下流且つアームシリンダ用の方
向制御弁１０の上流位置に電磁比例流量制御弁２０を介
装する。該電磁比例流量制御弁２０のソレノイドにはコ
ントローラ２１からの信号線２２が接続され、コントロ
ーラ２１の指令信号により電磁比例流量制御弁２０の開
口面積が変化する。FIG. 1 shows an example of a control circuit of a hydraulic shovel. A parallel hydraulic passage 5 of a first hydraulic pump 1 has a directional control valve 10 for an arm cylinder downstream of a directional control valve 8 for a swing motor. An electromagnetic proportional flow control valve 20 is interposed at the upstream position. A signal line 22 from a controller 21 is connected to the solenoid of the electromagnetic proportional flow control valve 20, and the opening area of the electromagnetic proportional flow control valve 20 changes according to a command signal from the controller 21.
【００１５】また、旋回モータ用の方向制御弁８に作用
する左右の旋回パイロット信号圧をシャトル弁２３で高
圧選択するとともに、該シャトル弁２３で選択された旋
回パイロット信号圧Ｐ2 の有無を検出する圧力スイッチ
２４を設ける。この圧力スイッチ２４の検出信号は信号
線２５により前記コントローラ２１へ送られる。The shuttle valve 23 selects the left and right swing pilot signal pressures acting on the direction control valve 8 for the swing motor, and detects the presence or absence of the swing pilot signal pressure P 2 selected by the shuttle valve 23. A pressure switch 24 is provided. The detection signal of the pressure switch 24 is sent to the controller 21 via a signal line 25.
【００１６】更に、ブームシリンダ用の方向制御弁１２
に作用するブーム上げパイロット信号圧Ｐ1 を検出する
圧力センサ２６を設け、この圧力センサ２６の検出信号
は信号線２７により前記コントローラ２１へ送られる。Further, a directional control valve 12 for a boom cylinder is provided.
A pressure sensor 26 for detecting a boom raising pilot signal pressure P 1 acting on the provided detection signals of the pressure sensor 26 is sent through a signal line 27 to the controller 21.
【００１７】而して、当該油圧ショベルにて床掘り作業
をする場合、図６に示したように、アーム１７の閉じ操
作とブーム１８の上げ操作とを同時に行ってバケット１
９を矢印方向へ水平引きする。このとき、図２に示すよ
うに、ブーム上げパイロット信号圧Ｐ1 によりブームシ
リンダ用の方向制御弁１２が１２ｂの位置に切り替わる
とともにブーム速度切替弁１５が１５ｂの位置に切り替
わり、第１の油圧ポンプ１の圧力油が油路１６からブー
ムシリンダ用の方向制御弁１２へ合流し、ブームシリン
ダ１１への流量が増加してブーム上げ速度が上昇する。When floor excavation work is performed by the hydraulic excavator, the closing operation of the arm 17 and the raising operation of the boom 18 are simultaneously performed as shown in FIG.
9 is pulled horizontally in the direction of the arrow. At this time, as shown in FIG. 2, the boom speed switching valve 15 with the boom raising pilot signal pressure P 1 direction control valve 12 for the boom cylinder is switched to the position of 12b is switched to the position of 15b, a first hydraulic pump The first pressure oil merges from the oil passage 16 into the directional control valve 12 for the boom cylinder, the flow rate to the boom cylinder 11 increases, and the boom raising speed increases.
【００１８】また、前記圧力センサ２６によりブーム上
げパイロット信号圧Ｐ1 が検出されてコントローラ２１
へ送られる。コントローラ２１はブーム上げパイロット
信号圧Ｐ1 の変化の傾向を読み取り、ブーム上げパイロ
ット信号圧Ｐ1 が上昇傾向にあるときは、電磁比例流量
制御弁２０の開口面積を最小にすべく、コントローラ２
１から信号線２２を介して電磁比例流量制御弁２０へ指
令信号を送る。The boom raising pilot signal pressure P 1 is detected by the pressure sensor 26 and the controller
Sent to The controller 21 reads the trend of change in the boom raising pilot signal pressure P 1, when the boom raising pilot signal pressure P 1 tends to increase, in order to the opening area of solenoid proportional flow control valve 20 to a minimum, the controller 2
1 sends a command signal to the electromagnetic proportional flow control valve 20 via a signal line 22.
【００１９】このため、第１の油圧ポンプ１からパラレ
ル油路５へ導出された圧力油は、該電磁比例流量制御弁
２０により流量が制限される。従って、ブーム上げ操作
の初期には、従来と同様にブーム上げ速度が上昇すると
ともにアーム閉じ速度が低下するように制御される。For this reason, the flow rate of the pressure oil led from the first hydraulic pump 1 to the parallel oil passage 5 is restricted by the electromagnetic proportional flow control valve 20. Therefore, at the beginning of the boom raising operation, control is performed so that the boom raising speed increases and the arm closing speed decreases as in the conventional case.
【００２０】そして、バケット１９が機体に近づくに従
ってブーム上げ操作を遅くすると、ブーム上げパイロッ
ト信号圧Ｐ1 が減少していく。このとき、コントローラ
２１では、前記圧力センサ２６の検出値によりブーム上
げパイロット信号圧Ｐ1 が下降傾向にあることがわか
る。ブーム上げパイロット信号圧Ｐ1 が下降傾向にある
ときは、コントローラ２１は電磁比例流量制御弁２０の
開口面積をブーム上げパイロット信号圧Ｐ1 に応じて拡
開すべく、信号線２２を介して電磁比例流量制御弁２０
へ指令信号を送る。When the boom raising operation is delayed as the bucket 19 approaches the airframe, the boom raising pilot signal pressure P 1 decreases. At this time, the controller 21, the boom-raising pilot signal pressure P 1 by the detection value of the pressure sensor 26 is seen to be in the downward trend. When the boom raising pilot signal pressure P 1 tends to decrease, the controller 21 controls the electromagnetic proportional flow rate control valve 20 via the signal line 22 to expand the opening area of the electromagnetic proportional flow control valve 20 in accordance with the boom raising pilot signal pressure P 1. Proportional flow control valve 20
To send a command signal.
【００２１】従って、電磁比例流量制御弁２０の開口面
積が徐々に大となるが、従来のように、アームシリンダ
９へ供給される圧力油の流量が急増しないので、アーム
１７の閉じ速度は徐々に上昇していき、ブーム上げ操作
の調整が容易となってオペレータの負担を軽減できる。Accordingly, although the opening area of the electromagnetic proportional flow control valve 20 gradually increases, the closing speed of the arm 17 gradually increases because the flow rate of the pressure oil supplied to the arm cylinder 9 does not increase rapidly as in the conventional case. , The adjustment of the boom raising operation is facilitated, and the burden on the operator can be reduced.
【００２２】更に、図７の姿勢に至った後にはブーム１
８を下げ操作するので、図３に示すように、ブームシリ
ンダ用の方向制御弁１２が１２ａの位置に切り替わると
ともに、ブーム上げパイロット信号圧Ｐ1 がなくなって
ブーム速度切替弁１５が１５ａの位置に復帰する。ま
た、コントローラ２１はブーム上げパイロット信号圧Ｐ
1 がなくなったときは、電磁比例流量制御弁２０の開口
面積を最大にすべく、信号線２２を介して電磁比例流量
制御弁２０へ指令信号を送る。Further, after reaching the posture shown in FIG.
8, the boom series is operated as shown in FIG.
When the directional control valve 12 for the cylinder switches to the position 12a
In both cases, the boom raising pilot signal pressure P1Is gone
The boom speed switching valve 15 returns to the position 15a. Ma
Further, the controller 21 controls the boom raising pilot signal pressure P
1When there is no longer, the opening of the electromagnetic proportional flow control valve 20
Electromagnetic proportional flow through signal line 22 to maximize area
A command signal is sent to the control valve 20.
【００２３】従って、前記電磁比例流量制御弁２０が全
開状態となるが、前述したように、電磁比例流量制御弁
２０の開口面積は徐々に拡開されているので、アーム１
７の閉じ速度が急激に変化することはなく、ブーム下げ
操作の調整も容易となる。Accordingly, the electromagnetic proportional flow control valve 20 is fully opened. However, as described above, the opening area of the electromagnetic proportional flow control valve 20 is gradually expanded, so that the arm 1
7, the closing speed does not suddenly change, and the adjustment of the boom lowering operation is facilitated.
【００２４】一方、押し付け掘削作業をする場合は、バ
ケット１９による掘削操作と同時に旋回モータ７を駆動
して機体を旋回操作する。図４に示すように、ブーム上
げ操作とアーム閉じ操作を行いつつ旋回操作を開始すれ
ば、旋回モータ用の方向制御弁８に作用する左右の旋回
パイロット信号圧がシャトル弁２３で高圧選択され、こ
の高圧選択された旋回パイロット信号圧Ｐ2 が圧力スイ
ッチ２４により検出されてコントローラ２１へ送られ
る。On the other hand, when performing the pressing excavation work, the turning motor 7 is driven and the body is turned simultaneously with the excavation operation by the bucket 19. As shown in FIG. 4, if the turning operation is started while performing the boom raising operation and the arm closing operation, the left and right turning pilot signal pressures acting on the directional control valve 8 for the turning motor are selected to be high pressure by the shuttle valve 23, This high-pressure selected turning pilot signal pressure P 2 is detected by the pressure switch 24 and sent to the controller 21.
【００２５】コントローラ２１は旋回パイロット信号圧
Ｐ2 が検出されたときは、前記電磁比例流量制御弁２０
の開口面積を最小にすべく、コントローラ２１から信号
線２２を介して電磁比例流量制御弁２０へ指令信号を送
る。従って、旋回モータ用の方向制御弁８及びブームシ
リンダ用の方向制御弁１２への流量が多くなり、旋回モ
ータ７の押し付け力及びブーム１８の上げ速度が確保さ
れて、押し付け掘削作業を円滑に行うことができる。When the swing pilot signal pressure P 2 is detected, the controller 21 controls the electromagnetic proportional flow control valve 20
A command signal is sent from the controller 21 to the electromagnetic proportional flow control valve 20 via the signal line 22 in order to minimize the opening area. Accordingly, the flow rate to the directional control valve 8 for the turning motor and the directional control valve 12 for the boom cylinder increases, and the pressing force of the turning motor 7 and the raising speed of the boom 18 are secured, so that the pressing excavation work is performed smoothly. be able to.
【００２６】また、従来の制御回路では絞り１４で圧力
損失が生じ、この圧力損失による発熱でエネルギーロス
が大きかったが、本発明の制御回路では電磁比例流量制
御弁２０を設けたことにより、ブーム上げ下げの操作量
に応じて開口面積が調整され、ここでの圧力損失が解消
されてエネルギーを効率よく消費できる。In the conventional control circuit, a pressure loss occurs in the throttle 14 and heat loss due to the pressure loss causes a large energy loss. However, in the control circuit of the present invention, the boom The opening area is adjusted according to the operation amount of raising and lowering, the pressure loss here is eliminated, and energy can be efficiently consumed.
【００２７】尚、本発明は、本発明の精神を逸脱しない
限り種々の改変を為すことができ、そして、本発明が該
改変されたものに及ぶことは当然である。The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.
【００２８】[0028]
【発明の効果】本発明は、電磁比例流量制御弁を旋回モ
ータ用の方向制御弁とブームシリンダ用の方向制御弁と
の間に介在しないようにして、第１の油圧ポンプのパラ
レル油路の下流であって、前記旋回モータ用の方向制御
弁の下流且つアームシリンダ用の方向制御弁の上流位置
に介装し、更に、ブームシリンダ用の方向制御弁に作用
するブーム上げパイロット信号圧を検出する手段を設
け、該ブーム上げパイロット信号圧が上昇傾向にあると
きは、コントローラにより前記流量制御弁の開口面積を
最小にし、該ブーム上げパイロット信号圧が下降傾向に
あるときは、前記コントローラにより前記電磁比例流量
制御弁の開口面積を該ブーム上げパイロット信号圧に応
じて拡開するように構成されているので、ブーム上げ操
作及び下げ操作に対応して最適なアーム閉じ速度が得ら
れる。 According to the present invention, the electromagnetic proportional flow control valve is turned
Data directional control valve and boom cylinder directional control valve
Between the first hydraulic pump
Direction control for the swing motor downstream of the rel oil passage
Downstream of the valve and upstream of the directional control valve for the arm cylinder
And act on the directional control valve for the boom cylinder.
To detect the boom raising pilot signal pressure
If the boom raising pilot signal pressure is on the rise
The opening area of the flow control valve is adjusted by the controller.
Minimize, the boom raising pilot signal pressure tends to decrease
When there is, the controller sets the electromagnetic proportional flow rate
Adjust the opening area of the control valve according to the pilot signal pressure by raising the boom.
The arm is configured to be opened first, so that an optimum arm closing speed can be obtained corresponding to the boom raising operation and the boom lowering operation.
【００２９】依って、油圧ショベルでの床掘り作業の操
作性が著しく向上し、オペレータの負担を軽減すること
が可能となる。Therefore, the operability of the floor excavation work with the hydraulic excavator is remarkably improved, and the burden on the operator can be reduced.
【図１】本発明の実施の形態を示し、ブーム操作を行っ
ていないときの油圧ショベルの制御回路図。FIG. 1 shows an embodiment of the present invention, and is a control circuit diagram of a hydraulic shovel when a boom operation is not performed.
【図２】床掘り作業でブーム上げ操作中の油圧ショベル
の制御回路図。FIG. 2 is a control circuit diagram of a hydraulic excavator during a boom raising operation in floor excavation work.
【図３】床掘り作業でブーム下げ操作中の油圧ショベル
の制御回路図。FIG. 3 is a control circuit diagram of a hydraulic excavator during a boom lowering operation in floor excavation work.
【図４】押し付け掘削作業でブーム下げ操作中の油圧シ
ョベルの制御回路図。FIG. 4 is a control circuit diagram of the hydraulic excavator during a boom lowering operation in a pressing excavation operation.
【図５】従来の油圧ショベルの制御回路図。FIG. 5 is a control circuit diagram of a conventional hydraulic excavator.
【図６】床掘り作業初期段階の油圧ショベルの側面図。FIG. 6 is a side view of the hydraulic excavator at an early stage of floor excavation work.
【図７】床掘り作業中間段階の油圧ショベルの側面図。FIG. 7 is a side view of the hydraulic excavator at an intermediate stage of the floor digging operation.
１，２ 油圧ポンプ ３，４ センタバイパス油路 ５，６ パラレル油路 ７ 旋回モータ ８ 方向制御弁 ９ アームシリンダ １０ 方向制御弁 １１ ブームシリンダ １２ 方向制御弁 １５ ブーム速度切替弁 １６ 油路 ２０ 電磁比例流量制御弁 ２１ コントローラ ２４ 圧力スイッチ ２６ 圧力センサ Ｐ1 ブーム上げパイロット信号圧 Ｐ2 旋回パイロット信号圧1, 2 hydraulic pump 3, 4 center bypass oil path 5, 6 parallel oil path 7 swing motor 8 directional control valve 9 arm cylinder 10 directional control valve 11 boom cylinder 12 directional control valve 15 boom speed switching valve 16 oil path 20 electromagnetic proportional flow control valve 21 controller 24 pressure switch 26 pressure sensor P 1 boom raising pilot signal pressure P 2 swivel pilot signal pressure
Claims (2)
路にブーム速度切替弁と旋回モータ用の方向制御弁並び
にアームシリンダ用の方向制御弁をポンプ下流に向けて
タンデム接続するとともに、該センタバイパス油路から
平行に分岐されたパラレル油路を介して前記ブーム速度
切替弁と旋回モータ用の方向制御弁並びにアームシリン
ダ用の方向制御弁をパラレル接続し、更に、第２の油圧
ポンプ側にブームシリンダ用の方向制御弁をはじめとす
る他の制御弁を適宜配設し、ブーム上げパイロット信号
圧に応じて前記ブーム速度切替弁から第１の油圧ポンプ
の圧力油を分岐してブームシリンダ用の方向制御弁へ合
流させる油路を設けた油圧ショベルの制御回路に於い
て、電磁比例流量制御弁を前記旋回モータ用の方向制御
弁とブームシリンダ用の方向制御弁との間に介在しない
ようにして、前記第１の油圧ポンプのパラレル油路の下
流であって、該旋回モータ用の方向制御弁の下流且つア
ームシリンダ用の方向制御弁の上流位置に介装し、更
に、ブームシリンダ用の方向制御弁に作用するブーム上
げパイロット信号圧を検出する手段を設け、該ブーム上
げパイロット信号圧が上昇傾向にあるときは、コントロ
ーラにより前記電磁比例流量制御弁の開口面積を最小に
し、該ブーム上げパイロット信号圧が下降傾向にあると
きは、コントローラにより前記電磁比例流量制御弁の開
口面積を該ブーム上げパイロット信号圧に応じて拡開す
ることを特徴とする油圧ショベルの制御回路。1. A boom speed switching valve, a directional control valve for a swing motor, and a directional control valve for an arm cylinder are tandem-connected to a center bypass oil passage on a first hydraulic pump side toward a downstream side of the pump. The boom speed switching valve and the directional control valve for the swing motor and the directional control valve for the arm cylinder are connected in parallel via a parallel oil passage branched in parallel from the bypass oil passage, and further connected to the second hydraulic pump side. Other control valves such as a directional control valve for a boom cylinder are appropriately disposed, and the pressure oil of a first hydraulic pump is branched from the boom speed switching valve in accordance with a boom raising pilot signal pressure. In a control circuit of a hydraulic shovel provided with an oil passage for merging with a directional control valve, the electromagnetic proportional flow control valve is controlled by the directional control for the swing motor.
No interposition between valve and directional control valve for boom cylinder
And so, the first a downstream parallel oil passage of the hydraulic pump, and instrumentation through the upstream position of the directional control valve for the downstream and the arm cylinder directional control valve for the revolving motor, further, the boom cylinder Means for detecting the boom raising pilot signal pressure acting on the directional control valve for use, when the boom raising pilot signal pressure tends to increase, the controller minimizes the opening area of the electromagnetic proportional flow control valve, A control circuit for a hydraulic shovel, wherein when a boom raising pilot signal pressure tends to decrease, an opening area of the electromagnetic proportional flow control valve is expanded by a controller in accordance with the boom raising pilot signal pressure.
路にブーム速度切替弁と旋回モータ用の方向制御弁並び
にアームシリンダ用の方向制御弁をポンプ下流に向けて
タンデム接続するとともに、該センタバイパス油路から
平行に分岐されたパラレル油路を介して前記ブーム速度
切替弁と旋回モータ用の方向制御弁並びにアームシリン
ダ用の方向制御弁をパラレル接続し、更に、第２の油圧
ポンプ側にブームシリンダ用の方向制御弁をはじめとす
る他の制御弁を適宜配設し、ブーム上げパイロット信号
圧に応じて前記ブーム速度切替弁から第１の油圧ポンプ
の圧力油を分岐してブームシリンダ用の方向制御弁へ合
流させる油路を設けた油圧ショベルの制御回路に於い
て、前記第１の油圧ポンプのパラレル油路の下流であっ
て、旋回モータ用の方向制御弁の下流且つアームシリン
ダ用の方向制御弁の上流位置に電磁比例流量制御弁を介
装し、更に、旋回モータ用の方向制御弁に作用する旋回
パイロット信号圧を検出する手段を設け、該旋回パイロ
ット信号圧を検出したときは、コントローラにより前記
電磁比例流量制御弁の開口面積を最小にすることを特徴
とする油圧ショベルの制御回路。2. A boom speed switching valve, a directional control valve for a swing motor, and a directional control valve for an arm cylinder are tandem-connected to a center bypass oil passage on a first hydraulic pump side toward a downstream of the pump. The boom speed switching valve and the directional control valve for the swing motor and the directional control valve for the arm cylinder are connected in parallel via a parallel oil passage branched in parallel from the bypass oil passage, and further connected to the second hydraulic pump side. Other control valves such as a directional control valve for a boom cylinder are appropriately disposed, and the pressure oil of a first hydraulic pump is branched from the boom speed switching valve in accordance with a boom raising pilot signal pressure. In a control circuit of a hydraulic shovel provided with an oil passage to be joined to the directional control valve of the first hydraulic pump, downstream of the parallel oil passage of the first hydraulic pump, An electromagnetic proportional flow control valve is interposed downstream of the direction control valve and upstream of the direction control valve for the arm cylinder, and further, means for detecting a swing pilot signal pressure acting on the direction control valve for the swing motor is provided, A control circuit for a hydraulic shovel, wherein when the turning pilot signal pressure is detected, an opening area of the electromagnetic proportional flow control valve is minimized by a controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8095536A JP3059378B2 (en) | 1996-04-17 | 1996-04-17 | Hydraulic excavator control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8095536A JP3059378B2 (en) | 1996-04-17 | 1996-04-17 | Hydraulic excavator control circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09279638A JPH09279638A (en) | 1997-10-28 |
| JP3059378B2 true JP3059378B2 (en) | 2000-07-04 |
Family
ID=14140293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8095536A Expired - Fee Related JP3059378B2 (en) | 1996-04-17 | 1996-04-17 | Hydraulic excavator control circuit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3059378B2 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4976213B2 (en) * | 2007-06-21 | 2012-07-18 | ヤンマー株式会社 | Hydraulic circuit of excavation turning work vehicle |
| JP5272211B2 (en) * | 2009-07-07 | 2013-08-28 | 住友建機株式会社 | Hydraulic circuit for construction machinery |
| JP6033708B2 (en) * | 2013-02-28 | 2016-11-30 | 住友建機株式会社 | Hydraulic circuit for construction machine and control method thereof |
| JP6692568B2 (en) * | 2015-01-06 | 2020-05-13 | 住友重機械工業株式会社 | Construction machinery |
| JP6495857B2 (en) * | 2016-03-31 | 2019-04-03 | 日立建機株式会社 | Construction machinery |
| CN107587544B (en) * | 2017-10-30 | 2023-03-31 | 三一重机有限公司 | System for controlling speed of working device of scarifier and speed control method |
| CN108343646B (en) * | 2017-12-29 | 2023-07-18 | 长安大学 | Electro-hydraulic hybrid driving type mechanical arm control system and control method |
| CN110359516A (en) * | 2019-07-24 | 2019-10-22 | 青岛雷沃工程机械有限公司 | Descending movable arm of excavator hydraulic control system and excavator |
| CN110777863A (en) * | 2019-11-01 | 2020-02-11 | 董志强 | Energy-saving excavator control system |
| CN113606203B (en) * | 2021-08-16 | 2023-06-23 | 潍柴动力股份有限公司 | Bucket rod hydraulic system and excavator |
| CN113819105B (en) * | 2021-11-25 | 2022-02-25 | 江苏汇智高端工程机械创新中心有限公司 | Hydraulic system for electrically proportional controlling multi-working-position valve and control method thereof |
| CN114165490B (en) * | 2022-01-17 | 2024-01-19 | 湖南星邦智能装备股份有限公司 | Control method, system, mechanical equipment and storage medium for controlling arm support retraction |
-
1996
- 1996-04-17 JP JP8095536A patent/JP3059378B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09279638A (en) | 1997-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101932304B1 (en) | Hydraulic drive device for working machine | |
| JP3550260B2 (en) | Actuator operating characteristic control device | |
| JP3059378B2 (en) | Hydraulic excavator control circuit | |
| JP3183815B2 (en) | Hydraulic circuit of excavator | |
| KR101144396B1 (en) | Hydraulic control system in the swing combined motion of an excavator | |
| US5813311A (en) | Hydraulic control system for hydraulic working machine | |
| JP2581858Y2 (en) | Split / merge switching device for multiple pumps in load sensing system | |
| JP4155381B2 (en) | Attachment control device for hydraulic excavator | |
| JP3643193B2 (en) | Hydraulic motor control device | |
| JPH09132927A (en) | Hydraulic circuit of hydraulic shovel | |
| JPH08219121A (en) | Hydraulic pressure reproducing device | |
| JP2607258B2 (en) | Hydraulic control circuit of work machine | |
| JP3767874B2 (en) | Hydraulic excavator control device and control method | |
| JP6591370B2 (en) | Hydraulic control equipment for construction machinery | |
| JP3012185B2 (en) | Hydraulic excavator control circuit | |
| JP3786891B2 (en) | Hydraulic circuit of excavator | |
| JP3443918B2 (en) | Hydraulic circuit of construction machinery | |
| JP3012192B2 (en) | Hydraulic circuit of construction machinery | |
| JP5342293B2 (en) | Hydraulic circuit for construction machinery | |
| JP2000213004A (en) | Hydraulic circuit for construction machine | |
| JP2006177402A (en) | Hydraulic circuit of construction machinery | |
| JP2799045B2 (en) | Hydraulic circuit for crane | |
| JP2005195131A (en) | Construction machine | |
| JP3458875B2 (en) | Hydraulic circuit of construction machinery | |
| JP7046024B2 (en) | Work machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090421 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090421 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313111 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313111 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100421 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110421 Year of fee payment: 11 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120421 Year of fee payment: 12 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120421 Year of fee payment: 12 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130421 Year of fee payment: 13 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130421 Year of fee payment: 13 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140421 Year of fee payment: 14 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| LAPS | Cancellation because of no payment of annual fees |