JP6893894B2 - Work vehicle flood control circuit - Google Patents

Work vehicle flood control circuit Download PDF

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Publication number
JP6893894B2
JP6893894B2 JP2018060461A JP2018060461A JP6893894B2 JP 6893894 B2 JP6893894 B2 JP 6893894B2 JP 2018060461 A JP2018060461 A JP 2018060461A JP 2018060461 A JP2018060461 A JP 2018060461A JP 6893894 B2 JP6893894 B2 JP 6893894B2
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Japan
Prior art keywords
pressure
switching valve
actuator
command
hydraulic
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Application number
JP2018060461A
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Japanese (ja)
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JP2019173803A (en
Inventor
松山　博志
博志 松山
崇之 白水
崇之 白水
和央 青山
和央 青山
拓郎 藤原
拓郎 藤原
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Yanmar Co Ltd
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Yanmar Co Ltd
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Publication date
Application filed by Yanmar Co Ltd filed Critical Yanmar Co Ltd
Priority to JP2018060461A priority Critical patent/JP6893894B2/en
Priority to KR1020207007942A priority patent/KR102642076B1/en
Priority to EP19778403.6A priority patent/EP3779212A4/en
Priority to PCT/JP2019/008773 priority patent/WO2019188061A1/en
Priority to AU2019246449A priority patent/AU2019246449A1/en
Publication of JP2019173803A publication Critical patent/JP2019173803A/en
Application granted granted Critical
Publication of JP6893894B2 publication Critical patent/JP6893894B2/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
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/166—Controlling a pilot pressure in response to the load, i.e. supply to at least one user is regulated by adjusting either the system pilot pressure or one or more of the individual pilot command pressures
    • 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
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • 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
    • E02F9/2282—Systems using center bypass type changeover 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
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/167—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load using pilot pressure to sense the demand
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple 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
    • F15B2211/30—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
    • F15B2211/30—Directional control
    • F15B2211/355—Pilot pressure 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
    • F15B2211/30—Directional control
    • F15B2211/36—Pilot pressure sensing
    • 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
    • F15B2211/50554—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure downstream of the pressure control means, e.g. pressure reducing 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
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure 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
    • F15B2211/50—Pressure control
    • F15B2211/575—Pilot pressure 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot 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
    • F15B2211/635—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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure 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
    • F15B2211/7053—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
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary 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
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
    • 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
    • F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
    • 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)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Description

本発明は、作業車両の油圧回路に関する。 The present invention relates to a hydraulic circuit of a work vehicle.

下記特許文献１には、走行用アクチュエータを含む複数の油圧アクチュエータを駆動するための油圧制御回路を備える建設機械において、走行用アクチュエータの単独動作から走行用アクチュエータと別のアクチュエータとの複合動作への移行時に油圧ポンプから走行用アクチュエータに供給される圧油の流量の低下による走行速度の急激な低下を防止する技術として、走行用アクチュエータが動作している状態で別のアクチュエータとの複合動作を行う時に、流量制御弁により、方向切換弁の戻り側のパイロット圧受圧部に作用するパイロット圧油の戻り油を絞ることで、方向切換弁の入り側のパイロット圧受圧部にパイロット圧が作用した際、スプールの開放速度を遅らせ、別のアクチュエータの圧油量をなだらかに増加させることにより、走行用アクチュエータに供給される圧油の流量の急激な低下を防止する技術が開示されている。 The following Patent Document 1 describes, in a construction machine provided with a hydraulic control circuit for driving a plurality of hydraulic actuators including a traveling actuator, from a single operation of the traveling actuator to a combined operation of the traveling actuator and another actuator. As a technology to prevent a sudden decrease in the traveling speed due to a decrease in the flow rate of the pressure oil supplied from the hydraulic pump to the traveling actuator at the time of transition, a combined operation with another actuator is performed while the traveling actuator is operating. Occasionally, when the flow control valve throttles the return oil of the pilot pressure oil that acts on the pilot pressure receiving part on the return side of the direction switching valve, the pilot pressure acts on the pilot pressure receiving part on the entry side of the direction switching valve. , A technique is disclosed in which the opening speed of the spool is slowed down and the amount of pressure oil of another actuator is gently increased to prevent a sudden decrease in the flow rate of the pressure oil supplied to the traveling actuator.

下記特許文献２には、急操作時の緩衝作用を確保しながら、操作性悪化等の弊害を防止する技術として、操作量に応じた２次圧をパイロット圧としてコントロールバルブのパイロットポートに導くパイロットラインに供給する減圧弁と、この減圧弁の１次圧源としてのパイロット油圧源とを備えた建設機械の油圧回路において、減圧弁の１次側に、第１絞りと、パイロットラインをタンクに連通させるブリードオフラインを設け、ブリードオフラインに第２絞りを設置する技術が開示されている。 The following Patent Document 2 describes a pilot that guides a secondary pressure according to the amount of operation as a pilot pressure to a pilot port of a control valve as a technique for preventing adverse effects such as deterioration of operability while ensuring a buffering action during sudden operation. In a hydraulic circuit of a construction machine equipped with a pressure reducing valve supplied to a line and a pilot hydraulic source as a primary pressure source of the pressure reducing valve, a first throttle and a pilot line are placed on a tank on the primary side of the pressure reducing valve. A technique for providing a bleed-off line for communication and installing a second throttle in the bleed-off line is disclosed.

特開２００５−１２１１５５号公報Japanese Unexamined Patent Publication No. 2005-121155 特開２００６−１２５６２７号公報Japanese Unexamined Patent Publication No. 2006-125627

しかしながら、特許文献１では、方向切換弁の戻り側のパイロット圧受圧部に作用するパイロット圧油の戻り油路に流量制御弁を設置して戻り油を絞るため、複合動作時に流量を制御したいアクチュエータを制御するリモコン弁ごとに流量制御弁を設置する必要がありコストが上昇するという問題がある。また、特許文献２では、パイロット圧の絶対値を抑えるための、第１絞りを減圧弁の１次側に配置していることから、方向切換弁の受圧部ごとにパイロット圧油を絞るための手段を配置する必要がないが、パイロット圧の立ち上がりを緩やかにするための第２絞りを備えるブリードオフラインを減圧弁の２次側に配置しているため、ブリードオフラインを方向切換弁の受圧部ごとに配置する必要があることからコストが上昇するという問題がある。 However, in Patent Document 1, since a flow rate control valve is installed in the return oil passage of the pilot pressure oil acting on the pilot pressure receiving portion on the return side of the directional control valve to throttle the return oil, an actuator that wants to control the flow rate during combined operation. It is necessary to install a flow rate control valve for each remote control valve that controls the operation, which causes a problem that the cost increases. Further, in Patent Document 2, since the first throttle is arranged on the primary side of the pressure reducing valve in order to suppress the absolute value of the pilot pressure, the pilot pressure oil is throttled for each pressure receiving portion of the directional control valve. It is not necessary to arrange the means, but since the bleed offline equipped with the second throttle for slowing the rise of the pilot pressure is arranged on the secondary side of the pressure reducing valve, the bleed offline is set for each pressure receiving part of the directional control valve. There is a problem that the cost increases because it needs to be placed in.

そこで、本発明は上記課題に鑑み、複数の油圧アクチュエータを備える作業車両において、一つの油圧アクチュエータを駆動する単独動作から、複数の油圧アクチュエータを駆動する複合動作に移行する際に発生する油量の急激な低下によるショックを防止することができる作業車両の油圧回路を安価な構成にて提供することを目的とする。 Therefore, in view of the above problems, the present invention considers the amount of oil generated when shifting from a single operation for driving one hydraulic actuator to a combined operation for driving a plurality of hydraulic actuators in a work vehicle provided with a plurality of hydraulic actuators. It is an object of the present invention to provide a hydraulic circuit of a work vehicle capable of preventing a shock due to a sudden drop in an inexpensive configuration.

本発明の作業車両の油圧回路は、第１アクチュエータと、第２アクチュエータと、前記第１アクチュエータ及び前記第２アクチュエータに圧油を供給する油圧ポンプと、前記第１アクチュエータに供給される圧油の向きを切り換え流量を調節する第１方向切換弁と、前記第２アクチュエータに供給される圧油の向きを切り換え流量を調節する第２方向切換弁と、前記第１方向切換弁及び前記第２方向切換弁にパイロット圧油を供給するパイロットポンプと、前記第１方向切換弁に供給されるパイロット圧油の向きと圧力を操作に応じて切り換え調節可能な第１操作装置と、前記第２方向切換弁に供給されるパイロット圧油の向きと圧力を操作に応じて切り換え調節可能な第２操作装置と、前記第２操作装置と前記パイロットポンプとの間の油路に設けられ、前記第２操作装置に供給されるパイロット圧油の１次圧力を制御する圧力制御装置と、前記圧力制御装置に制御指令を発信する制御指令発信装置と、を備え、
前記制御指令発信装置は、前記第１操作装置が操作されている間は、前記圧力制御装置に対して前記１次圧力を基準圧から第１指令圧に減圧して保持する第１指令を発信し、
前記第１操作装置が操作された状態から前記第２操作装置が操作されると、前記圧力制御装置に対して前記１次圧力を前記第１指令圧から第２指令圧に漸増させる第２指令を発信するものである。 The hydraulic circuit of the work vehicle of the present invention comprises a first actuator, a second actuator, a hydraulic pump that supplies pressure oil to the first actuator and the second actuator, and pressure oil supplied to the first actuator. A first-direction switching valve that switches the direction and adjusts the flow rate, a second-direction switching valve that switches the direction of the pressure oil supplied to the second actuator and adjusts the flow rate, the first-direction switching valve, and the second direction. A pilot pump that supplies pilot pressure oil to the switching valve, a first operating device that can switch and adjust the direction and pressure of the pilot pressure oil supplied to the first direction switching valve according to the operation, and the second direction switching. A second operating device capable of switching and adjusting the direction and pressure of the pilot pressure oil supplied to the valve according to the operation, and the oil passage between the second operating device and the pilot pump are provided in the second operating device. A pressure control device for controlling the primary pressure of the pilot pressure oil supplied to the device and a control command transmission device for transmitting a control command to the pressure control device are provided.
The control command transmitting device transmits a first command for holding the primary pressure reduced from a reference pressure to a first command pressure to the pressure control device while the first operating device is being operated. And
When the second operating device is operated from the state in which the first operating device is operated, a second command for gradually increasing the primary pressure from the first command pressure to the second command pressure with respect to the pressure control device. Is to send.

本発明において、前記制御指令発信装置は、前記第１操作装置が操作された状態のまま前記第２操作装置が操作されなくなると、前記圧力制御装置に対して前記１次圧力を前記第２指令圧から前記第１指令圧に漸減させる指令を発信するものでもよい。 In the present invention, when the second operating device is not operated while the first operating device is being operated, the control command transmitting device applies the primary pressure to the pressure control device to the second command. A command for gradually reducing the pressure to the first command pressure may be transmitted.

本発明において、前記第１アクチュエータは第１走行用油圧モータであり、前記第２アクチュエータは作業用油圧アクチュエータであってもよい。 In the present invention, the first actuator may be a first traveling hydraulic motor, and the second actuator may be a working hydraulic actuator.

本発明において、前記第１走行用油圧モータ及び前記第１走行用油圧モータに圧油を供給する第１油圧ポンプを含む第１回路系統と、前記作業用油圧アクチュエータ、第２走行用油圧モータ、並びに前記作業用油圧アクチュエータ及び前記第２走行用油圧モータに圧油を供給する第２油圧ポンプを含む第２回路系統と、前記第１回路系統の圧油と前記第２回路系統の圧油を合流させる合流切換弁と、を備えるものでもよい。 In the present invention, the first circuit system including the first traveling hydraulic motor and the first hydraulic pump for supplying pressure oil to the first traveling hydraulic motor, the working hydraulic actuator, the second traveling hydraulic motor, and the like. In addition, a second circuit system including a second hydraulic pump that supplies pressure oil to the work hydraulic actuator and the second traveling hydraulic motor, and pressure oil of the first circuit system and pressure oil of the second circuit system are used. It may be provided with a merging switching valve for merging.

本発明によれば、第１アクチュエータのみを駆動する単独動作から、第１アクチュエータと第２アクチュエータを同時に駆動する複合動作に移行する際、第２アクチュエータに対応する第２操作装置に供給されるパイロット圧油の圧力を第１指令圧から第２指令圧に漸増させるため、第１アクチュエータに供給される圧油の油量の急激な低下によるショックを防止することができる。また、圧力制御装置の下流側に複数の操作装置に至る分岐路を設置するだけで、複数のアクチュエータに本発明の制御を入れることができるため、油圧回路を安価な構成にて提供することができる。 According to the present invention, the pilot supplied to the second operating device corresponding to the second actuator when shifting from the single operation of driving only the first actuator to the combined operation of driving the first actuator and the second actuator at the same time. Since the pressure of the pressure oil is gradually increased from the first command pressure to the second command pressure, it is possible to prevent a shock due to a sudden decrease in the amount of pressure oil supplied to the first actuator. Further, since the control of the present invention can be applied to a plurality of actuators only by installing branch paths leading to a plurality of operating devices on the downstream side of the pressure control device, it is possible to provide a hydraulic circuit in an inexpensive configuration. it can.

第１実施形態に係る作業車両の油圧回路を示す図である。It is a figure which shows the hydraulic circuit of the work vehicle which concerns on 1st Embodiment. 第２リモコン弁に供給されるパイロット圧油の１次圧力を制御する様子を示す図である。It is a figure which shows the state of controlling the primary pressure of the pilot pressure oil supplied to the 2nd remote control valve. 第２実施形態に係る作業車両を示す側面図である。It is a side view which shows the work vehicle which concerns on 2nd Embodiment. 第２実施形態に係る作業車両の油圧回路を示す図である。It is a figure which shows the hydraulic circuit of the work vehicle which concerns on 2nd Embodiment.

以下に、本発明の実施形態について図面を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

＜第１実施形態＞
図１は、第１実施形態に係る油圧回路１００を示している。油圧回路１００は、第１アクチュエータ１１と、第２アクチュエータ１２と、油圧ポンプ１３と、パイロットポンプ１４と、第１方向切換弁１５と、第２方向切換弁１６と、第１操作装置１７と、第２操作装置１８と、を備えている。 <First Embodiment>
FIG. 1 shows a hydraulic circuit 100 according to the first embodiment. The hydraulic circuit 100 includes a first actuator 11, a second actuator 12, a hydraulic pump 13, a pilot pump 14, a first direction switching valve 15, a second direction switching valve 16, a first operating device 17, and the like. A second operating device 18 and the like are provided.

第１アクチュエータ１１は、油圧ポンプ１３から供給された圧油により駆動される油圧モータである。第２アクチュエータ１２は、油圧ポンプ１３から供給された圧油により駆動される油圧シリンダである。ただし、第１アクチュエータ１１は油圧シリンダでもよく、また、第２アクチュエータ１２は油圧モータでもよい。 The first actuator 11 is a hydraulic motor driven by the pressure oil supplied from the hydraulic pump 13. The second actuator 12 is a hydraulic cylinder driven by the pressure oil supplied from the hydraulic pump 13. However, the first actuator 11 may be a hydraulic cylinder, and the second actuator 12 may be a hydraulic motor.

油圧ポンプ１３は、不図示のエンジンによって駆動され、圧油を吐出する。油圧ポンプ１３から吐出された圧油は、油路１３ａ、油路１３ｂを介して第１方向切換弁１５及び第２方向切換弁１６へと供給される。なお、図１では、油圧ポンプ１３から第１アクチュエータ１１及び第２アクチュエータ１２に供給される圧油の油路を実線で示している。 The hydraulic pump 13 is driven by an engine (not shown) to discharge pressure oil. The pressure oil discharged from the hydraulic pump 13 is supplied to the first direction switching valve 15 and the second direction switching valve 16 via the oil passages 13a and 13b. In FIG. 1, the oil passage of the pressure oil supplied from the hydraulic pump 13 to the first actuator 11 and the second actuator 12 is shown by a solid line.

第１方向切換弁１５は、第１アクチュエータ１１に供給される圧油の向きを切り換え流量を調節することが可能なパイロット式の方向切換弁である。第２方向切換弁１６は、第２アクチュエータ１２に供給される圧油の向きを切り換え流量を調節することが可能なパイロット式の方向切換弁である。 The first direction switching valve 15 is a pilot type direction switching valve capable of switching the direction of the pressure oil supplied to the first actuator 11 and adjusting the flow rate. The second direction switching valve 16 is a pilot type direction switching valve capable of switching the direction of the pressure oil supplied to the second actuator 12 and adjusting the flow rate.

パイロットポンプ１４は、第１方向切換弁１５及び第２方向切換弁１６へ入力される指令としてのパイロット圧油を吐出する。なお、図１では、パイロットポンプ１４から第１方向切換弁１５及び第２方向切換弁１６に供給されるパイロット圧油の油路を破線で示している。パイロットポンプ１４は、第１方向切換弁１５及び第２方向切換弁１６に付与されるパイロット圧を発生させる。パイロットポンプ１４は、不図示のエンジンによって駆動され、圧油を吐出することにより、油路１４ａ内にパイロット圧を発生させる。油路１４ａは、油路１４ｂ，１４ｃ，１４ｄ，１４ｅに分岐されている。 The pilot pump 14 discharges pilot pressure oil as a command input to the first direction switching valve 15 and the second direction switching valve 16. In FIG. 1, the oil passage of the pilot pressure oil supplied from the pilot pump 14 to the first direction switching valve 15 and the second direction switching valve 16 is shown by a broken line. The pilot pump 14 generates the pilot pressure applied to the first direction switching valve 15 and the second direction switching valve 16. The pilot pump 14 is driven by an engine (not shown) and discharges pressure oil to generate a pilot pressure in the oil passage 14a. The oil passage 14a is branched into oil passages 14b, 14c, 14d, 14e.

第１方向切換弁１５は、スプールを摺動させることにより複数のポジションに切り換えることが可能である。第１方向切換弁１５のパイロットポート１５ａ及びパイロットポート１５ｂのいずれにもパイロット圧が付与されない場合、スプリングの付勢力により、第１方向切換弁１５は中立位置に保持される。第１方向切換弁１５が中立位置にある場合、圧油は、油路１３ｂから第１アクチュエータ１１に供給されない。 The first direction switching valve 15 can be switched to a plurality of positions by sliding the spool. When no pilot pressure is applied to either the pilot port 15a or the pilot port 15b of the first direction switching valve 15, the first direction switching valve 15 is held in the neutral position by the urging force of the spring. When the first direction switching valve 15 is in the neutral position, the pressure oil is not supplied from the oil passage 13b to the first actuator 11.

一方、第１方向切換弁１５のパイロットポート１５ａ又はパイロットポート１５ｂにパイロット圧が付与された場合、第１方向切換弁１５が中立位置から他のポジションに切り換えられて、圧油は、油路１１ａ又は油路１１ｂを介して第１アクチュエータ１１に供給される。油路１１ａ又は油路１１ｂを介して供給される圧油によって、第１アクチュエータ１１は正方向又は逆方向に回転駆動する。 On the other hand, when a pilot pressure is applied to the pilot port 15a or the pilot port 15b of the first direction switching valve 15, the first direction switching valve 15 is switched from the neutral position to another position, and the pressure oil is supplied to the oil passage 11a. Alternatively, it is supplied to the first actuator 11 via the oil passage 11b. The first actuator 11 is rotationally driven in the forward direction or the reverse direction by the pressure oil supplied through the oil passage 11a or the oil passage 11b.

第２方向切換弁１６は、スプールを摺動させることにより複数のポジションに切り換えることが可能である。第２方向切換弁１６のパイロットポート１６ａ及びパイロットポート１６ｂのいずれにもパイロット圧が付与されない場合、スプリングの付勢力により、第２方向切換弁１６は中立位置に保持される。第２方向切換弁１６が中立位置にある場合、圧油は、油路１３ａから第２アクチュエータ１２に供給されない。 The second direction switching valve 16 can be switched to a plurality of positions by sliding the spool. When no pilot pressure is applied to either the pilot port 16a or the pilot port 16b of the second direction switching valve 16, the second direction switching valve 16 is held in the neutral position by the urging force of the spring. When the second direction switching valve 16 is in the neutral position, the pressure oil is not supplied from the oil passage 13a to the second actuator 12.

一方、第２方向切換弁１６のパイロットポート１６ａ又はパイロットポート１６ｂにパイロット圧が付与された場合、第２方向切換弁１６が中立位置から他のポジションに切り換えられて、圧油は、油路１２ａ又は油路１２ｂを介して第２アクチュエータ１２に供給される。油路１２ａ又は油路１２ｂを介して供給される圧油によって、第２アクチュエータ１２は伸縮する。 On the other hand, when a pilot pressure is applied to the pilot port 16a or the pilot port 16b of the second direction switching valve 16, the second direction switching valve 16 is switched from the neutral position to another position, and the pressure oil is supplied to the oil passage 12a. Alternatively, it is supplied to the second actuator 12 via the oil passage 12b. The second actuator 12 expands and contracts due to the pressure oil supplied through the oil passage 12a or the oil passage 12b.

第１方向切換弁１５には、第１検出用方向切換弁１５ｃが内装されている。第１検出用方向切換弁１５ｃは、スプールを摺動させることにより複数のポジションに切り換えることが可能である。第１方向切換弁１５が中立位置に保持されている場合、第１検出用方向切換弁１５ｃも中立位置に保持される。第１方向切換弁１５が中立位置から他のポジションに切り換えられた場合、これに連動して第１検出用方向切換弁１５ｃも中立位置から他のポジションに切り換えられる。 The first direction switching valve 15 includes a first detection direction switching valve 15c. The first detection direction switching valve 15c can be switched to a plurality of positions by sliding the spool. When the first direction switching valve 15 is held in the neutral position, the first detection direction switching valve 15c is also held in the neutral position. When the first direction switching valve 15 is switched from the neutral position to another position, the first detection direction switching valve 15c is also switched from the neutral position to another position in conjunction with this.

第１検出用方向切換弁１５ｃが中立位置にある場合、第１検出用方向切換弁１５ｃは、油路１４ｂを閉塞することがない。そのため、圧油は、油路１４ｂを第１検出用方向切換弁１５ｃを介して流通することができる。一方、第１検出用方向切換弁１５ｃが中立位置以外のポジションにある場合、第１検出用方向切換弁１５ｃは、油路１４ｂを閉塞する。 When the first detection direction switching valve 15c is in the neutral position, the first detection direction switching valve 15c does not block the oil passage 14b. Therefore, the pressure oil can flow through the oil passage 14b via the first detection direction switching valve 15c. On the other hand, when the first detection direction switching valve 15c is in a position other than the neutral position, the first detection direction switching valve 15c closes the oil passage 14b.

油路１４ｂには、第１圧力スイッチ１４１が接続されている。第１操作装置１７が操作され、第１検出用方向切換弁１５ｃが中立位置から中立位置以外のポジションとなることにより、油路１４ｂが閉塞されて油路１４ｂの絞り下流部に圧が立ち、この圧が第１圧力スイッチ１４１によって検出されるように構成されている。第１圧力スイッチ１４１は、第１操作装置１７が操作されたことを検出し、この検出信号を後述のＥＣＵ１０に出力する。 A first pressure switch 141 is connected to the oil passage 14b. When the first operating device 17 is operated and the first detection direction switching valve 15c changes from the neutral position to a position other than the neutral position, the oil passage 14b is closed and pressure is applied to the downstream portion of the throttle of the oil passage 14b. This pressure is configured to be detected by the first pressure switch 141. The first pressure switch 141 detects that the first operating device 17 has been operated, and outputs this detection signal to the ECU 10 described later.

第２方向切換弁１６には、第２検出用方向切換弁１６ｃが内装されている。第２検出用方向切換弁１６ｃは、スプールを摺動させることにより複数のポジションに切り換えることが可能である。第２方向切換弁１６が中立位置に保持されている場合、第２検出用方向切換弁１６ｃも中立位置に保持される。第２方向切換弁１６が中立位置から他のポジションに切り換えられた場合、これに連動して第２検出用方向切換弁１６ｃも中立位置から他のポジションに切り換えられる。 The second direction switching valve 16 includes a second detection direction switching valve 16c. The second detection direction switching valve 16c can be switched to a plurality of positions by sliding the spool. When the second direction switching valve 16 is held in the neutral position, the second detection direction switching valve 16c is also held in the neutral position. When the second direction switching valve 16 is switched from the neutral position to another position, the second detection direction switching valve 16c is also switched from the neutral position to another position in conjunction with this.

第２検出用方向切換弁１６ｃが中立位置にある場合、第２検出用方向切換弁１６ｃは、油路１４ｃを閉塞することがない。そのため、圧油は、油路１４ｃを第２検出用方向切換弁１６ｃを介して流通することができる。一方、第２検出用方向切換弁１６ｃが中立位置以外のポジションにある場合、第２検出用方向切換弁１６ｃは、油路１４ｃを閉塞する。 When the second detection direction switching valve 16c is in the neutral position, the second detection direction switching valve 16c does not block the oil passage 14c. Therefore, the pressure oil can flow through the oil passage 14c via the second detection direction switching valve 16c. On the other hand, when the second detection direction switching valve 16c is in a position other than the neutral position, the second detection direction switching valve 16c closes the oil passage 14c.

油路１４ｃには、第２圧力スイッチ１４２が接続されている。第２操作装置１８が操作され、第２検出用方向切換弁１６ｃが中立位置から中立位置以外のポジションとなることにより、油路１４ｃが閉塞されて油路１４ｃの絞り下流部に圧が立ち、この圧が第２圧力スイッチ１４２によって検出されるように構成されている。第２圧力スイッチ１４２は、第２操作装置１８が操作されたことを検出し、この検出信号を後述のＥＣＵ１０に出力する。 A second pressure switch 142 is connected to the oil passage 14c. When the second operating device 18 is operated and the second detection direction switching valve 16c changes from the neutral position to a position other than the neutral position, the oil passage 14c is closed and pressure is applied to the downstream portion of the throttle of the oil passage 14c. This pressure is configured to be detected by the second pressure switch 142. The second pressure switch 142 detects that the second operating device 18 has been operated, and outputs this detection signal to the ECU 10 described later.

第１操作装置１７は、第１方向切換弁１５に供給されるパイロット圧油の向きと圧力を切り換えるための第１リモコン弁１７０を有する。第１リモコン弁１７０は、油路１４ｄに接続される。また、第１リモコン弁１７０は、油路１７ａ及び油路１７ｂを介して第１方向切換弁１５のパイロットポート１５ａ及びパイロットポート１５ｂにそれぞれ接続される。第１リモコン弁１７０は、油路１４ｄを介してパイロットポンプ１４から供給される圧油を、パイロット用の圧油として第１方向切換弁１５に供給する。第１操作装置１７を操作することにより、第１方向切換弁１５を切り換え、第１アクチュエータ１１に供給される圧油の向きを切り換え流量を調節することができる。 The first operating device 17 has a first remote control valve 170 for switching the direction and pressure of the pilot pressure oil supplied to the first direction switching valve 15. The first remote control valve 170 is connected to the oil passage 14d. Further, the first remote control valve 170 is connected to the pilot port 15a and the pilot port 15b of the first direction switching valve 15 via the oil passage 17a and the oil passage 17b, respectively. The first remote control valve 170 supplies the pressure oil supplied from the pilot pump 14 via the oil passage 14d to the first direction switching valve 15 as pressure oil for the pilot. By operating the first operating device 17, the first direction switching valve 15 can be switched, the direction of the pressure oil supplied to the first actuator 11 can be switched, and the flow rate can be adjusted.

第２操作装置１８は、第２方向切換弁１６に供給されるパイロット圧油の向きと圧力を切り換えるための第２リモコン弁１８０を有する。第２リモコン弁１８０は、油路１４ｅに接続される。また、第２リモコン弁１８０は、油路１８ａ及び油路１８ｂを介して第２方向切換弁１６のパイロットポート１６ａ及びパイロットポート１６ｂにそれぞれ接続される。第２リモコン弁１８０は、油路１４ｅを介してパイロットポンプ１４から供給される圧油を、パイロット用の圧油として第２方向切換弁１６に供給する。第２操作装置１８を操作することにより、第２方向切換弁１６を切り換え、第２アクチュエータ１２に供給される圧油の向きを切り換え流量を調節することができる。 The second operating device 18 has a second remote control valve 180 for switching the direction and pressure of the pilot pressure oil supplied to the second direction switching valve 16. The second remote control valve 180 is connected to the oil passage 14e. Further, the second remote control valve 180 is connected to the pilot port 16a and the pilot port 16b of the second direction switching valve 16 via the oil passage 18a and the oil passage 18b, respectively. The second remote control valve 180 supplies the pressure oil supplied from the pilot pump 14 via the oil passage 14e to the second direction switching valve 16 as pressure oil for the pilot. By operating the second operating device 18, the second direction switching valve 16 can be switched, the direction of the pressure oil supplied to the second actuator 12 can be switched, and the flow rate can be adjusted.

第２リモコン弁１８０とパイロットポンプ１４との間の油路１４ｅには、電磁式減圧弁１９（圧力制御装置の一例）が設けられている。電磁式減圧弁１９は、パイロットポンプ１４から吐出されて第２リモコン弁１８０に供給されるパイロット圧油の１次圧力を制御することができる。電磁式減圧弁１９は、入力される電流の大きさに応じて圧力を制御することができる。 An electromagnetic pressure reducing valve 19 (an example of a pressure control device) is provided in the oil passage 14e between the second remote control valve 180 and the pilot pump 14. The electromagnetic pressure reducing valve 19 can control the primary pressure of the pilot pressure oil discharged from the pilot pump 14 and supplied to the second remote control valve 180. The electromagnetic pressure reducing valve 19 can control the pressure according to the magnitude of the input current.

油圧回路１００は、電磁式減圧弁１９に制御指令を発信するＥＣＵ１０（制御指令発信装置の一例）を備えている。ＥＣＵ１０は、第１操作装置１７及び第２操作装置１８の操作に応じて制御指令を発信する。ＥＣＵ１０は、第１圧力スイッチ１４１からの検出信号を受信することで第１操作装置１７が操作されていると判定し、第２圧力スイッチ１４２からの検出信号を受信することで第２操作装置１８が操作されていると判定することができる。 The hydraulic circuit 100 includes an ECU 10 (an example of a control command transmitting device) that transmits a control command to the electromagnetic pressure reducing valve 19. The ECU 10 transmits a control command in response to the operation of the first operating device 17 and the second operating device 18. The ECU 10 determines that the first operating device 17 is being operated by receiving the detection signal from the first pressure switch 141, and receives the detection signal from the second pressure switch 142 to determine that the second operating device 18 is being operated. Can be determined to be operated.

次に、ＥＣＵ１０による電磁式減圧弁１９の制御について、図２を用いて説明する。図２は、第２リモコン弁１８０に供給されるパイロット圧油の１次圧力を制御する様子を示している。 Next, the control of the electromagnetic pressure reducing valve 19 by the ECU 10 will be described with reference to FIG. FIG. 2 shows how to control the primary pressure of the pilot pressure oil supplied to the second remote control valve 180.

ＥＣＵ１０は、第１操作装置１７が操作されると（図２の時間Ａ）、電磁式減圧弁１９に対してパイロット圧油の１次圧力を基準圧から第１指令圧に減圧し、第１操作装置１７が操作されている間（図２の時間Ａ〜Ｂ）は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧に保持する第１指令を発信する。なお、基準圧とは、パイロットポンプ１４から吐出される圧油の圧力である。 When the first operating device 17 is operated (time A in FIG. 2), the ECU 10 reduces the primary pressure of the pilot pressure oil from the reference pressure to the first command pressure with respect to the electromagnetic pressure reducing valve 19, and the first operation device 17 is operated. While the operating device 17 is being operated (time A to B in FIG. 2), a first command for holding the primary pressure of the pilot pressure oil at the first command pressure is transmitted to the electromagnetic pressure reducing valve 19. The reference pressure is the pressure of the pressure oil discharged from the pilot pump 14.

次いで、ＥＣＵ１０は、第１操作装置１７が操作された状態から第２操作装置１８が操作されると（図２の時間Ｂ）、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧から第２指令圧に漸増させる第２指令を発信する。第２指令圧は、第１指令圧よりも高く、基準圧よりも低い。基準圧、第１指令圧、第２指令圧の比率は適宜設定される。また、第１指令圧から第２指令圧に漸増させる時間（図２の時間Ｂ〜Ｃ）も適宜設定される。 Next, when the second operating device 18 is operated from the state in which the first operating device 17 is operated (time B in FIG. 2), the ECU 10 applies the primary pressure of the pilot pressure oil to the electromagnetic pressure reducing valve 19. The second command to gradually increase from the first command pressure to the second command pressure is transmitted. The second command pressure is higher than the first command pressure and lower than the reference pressure. The ratio of the reference pressure, the first command pressure, and the second command pressure is appropriately set. Further, the time for gradually increasing from the first command pressure to the second command pressure (time B to C in FIG. 2) is also set as appropriate.

その後、第１操作装置１７及び第２操作装置１８が操作されている間（図２の時間Ｃ〜Ｄ）は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第２指令圧に保持する指令を発信する。これにより、第１アクチュエータ１１のみを駆動する単独動作から、第１アクチュエータ１１と第２アクチュエータ１２を同時に駆動する複合動作に移行する際、第２リモコン弁１８０を介して第２方向切換弁１６に付与されるパイロット圧を第１指令圧から第２指令圧に漸増させるため、油圧ポンプ１３からの圧油が第２アクチュエータ１２に急激に供給されることがなく、第１アクチュエータ１１に供給される圧油の油量の急激な低下によるショックを防止することができる。 After that, while the first operating device 17 and the second operating device 18 are being operated (time C to D in FIG. 2), the primary pressure of the pilot pressure oil is applied to the electromagnetic pressure reducing valve 19 as the second command pressure. Send a command to hold in. As a result, when shifting from the single operation of driving only the first actuator 11 to the combined operation of driving the first actuator 11 and the second actuator 12 at the same time, the second direction switching valve 16 is moved via the second remote control valve 180. Since the applied pilot pressure is gradually increased from the first command pressure to the second command pressure, the pressure oil from the hydraulic pump 13 is supplied to the first actuator 11 without being suddenly supplied to the second actuator 12. It is possible to prevent a shock due to a sudden decrease in the amount of pressure oil.

次いで、ＥＣＵ１０は、第１操作装置１７が操作された状態のまま第２操作装置１８が操作されなくなると（図２の時間Ｄ）、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第２指令圧から第１指令圧に漸減させる指令を発信する。その後、第１操作装置１７のみが操作されている間（図２の時間Ｅ〜Ｆ）は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧に保持する指令を発信する。 Next, when the second operating device 18 is not operated while the first operating device 17 is being operated (time D in FIG. 2), the ECU 10 applies the primary pressure of the pilot pressure oil to the electromagnetic pressure reducing valve 19. Is transmitted from the second command pressure to the first command pressure. After that, while only the first operating device 17 is being operated (time E to F in FIG. 2), a command is given to the electromagnetic pressure reducing valve 19 to hold the primary pressure of the pilot pressure oil at the first command pressure. send.

さらに、ＥＣＵ１０は、第１操作装置１７が操作されなくなると（図２の時間Ｆ）、電磁式減圧弁１９に対してパイロットポンプ１４からの１次圧力を第１指令値から基準値に増圧し保持する指令を発信する。 Further, when the first operating device 17 is not operated (time F in FIG. 2), the ECU 10 increases the primary pressure from the pilot pump 14 to the electromagnetic pressure reducing valve 19 from the first command value to the reference value. Send a command to hold.

＜第２実施形態＞
［作業車両の構造］
まず、図３を参照しながら、作業車両の一例としての油圧ショベル１の概略構造について説明する。ただし、作業車両としては、油圧ショベル１に限定されず、ホイルローダ等の他の車両でもよい。油圧ショベル１は、走行装置２と、作業装置３と、旋回装置４とを備える。 <Second Embodiment>
[Structure of work vehicle]
First, the schematic structure of the hydraulic excavator 1 as an example of the work vehicle will be described with reference to FIG. However, the work vehicle is not limited to the hydraulic excavator 1, and other vehicles such as a wheel loader may be used. The hydraulic excavator 1 includes a traveling device 2, a working device 3, and a swivel device 4.

走行装置２は、エンジン４２からの動力を受けて駆動し、油圧ショベル１を走行させる。走行装置２は、左右一対のクローラ２１，２１及び左右一対の走行モータ２２Ｌ，２２Ｒを備える。油圧モータである左右の走行モータ２２Ｌ，２２Ｒが左右のクローラ２１，２１をそれぞれ駆動することで油圧ショベル１の前後進を可能としている。また、走行装置２には、ブレード２３、及びブレード２３を上下方向に回動させるための油圧アクチュエータであるブレードシリンダ２４が設けられている。 The traveling device 2 is driven by receiving power from the engine 42 to drive the hydraulic excavator 1. The traveling device 2 includes a pair of left and right crawlers 21 and 21 and a pair of left and right traveling motors 22L and 22R. The left and right traveling motors 22L and 22R, which are hydraulic motors, drive the left and right crawlers 21 and 21, respectively, to enable the hydraulic excavator 1 to move forward and backward. Further, the traveling device 2 is provided with a blade 23 and a blade cylinder 24 which is a hydraulic actuator for rotating the blade 23 in the vertical direction.

作業装置３は、エンジン４２からの動力を受けて駆動し、土砂等の掘削作業を行うものである。作業装置３は、ブーム３１、アーム３２、及びバケット３３を備え、これらを独立して駆動することによって掘削作業を可能としている。ブーム３１、アーム３２、及びバケット３３は、それぞれ作業部に相当し、油圧ショベル１は、複数の作業部を有する。 The work device 3 is driven by receiving power from the engine 42 to perform excavation work such as earth and sand. The work device 3 includes a boom 31, an arm 32, and a bucket 33, and by driving these independently, excavation work is possible. The boom 31, arm 32, and bucket 33 correspond to working portions, respectively, and the hydraulic excavator 1 has a plurality of working portions.

ブーム３１は、一端部が旋回装置４の前部に支持されて、伸縮自在に可動するブームシリンダ３１ａによって回動される。また、アーム３２は、一端部がブーム３１の他端部に支持されて、伸縮自在に可動するアームシリンダ３２ａによって回動される。そして、バケット３３は、一端部がアーム３２の他端部に支持されて、伸縮自在に可動するバケットシリンダ３３ａによって回動される。ブームシリンダ３１ａ、アームシリンダ３２ａ、及びバケットシリンダ３３ａは、作業部を駆動する油圧アクチュエータに相当する。 One end of the boom 31 is supported by the front portion of the swivel device 4, and the boom 31 is rotated by a boom cylinder 31a that can move freely. Further, one end of the arm 32 is supported by the other end of the boom 31, and the arm 32 is rotated by an arm cylinder 32a that can be expanded and contracted. Then, one end of the bucket 33 is supported by the other end of the arm 32, and the bucket 33 is rotated by a bucket cylinder 33a that can be expanded and contracted. The boom cylinder 31a, arm cylinder 32a, and bucket cylinder 33a correspond to a hydraulic actuator that drives a working unit.

旋回装置４は、作業装置３を旋回させるものである。旋回装置４には、操縦部４１、エンジン４２、旋回台４３、旋回モータ４４等が配置されている。油圧モータである旋回モータ４４が旋回台４３を駆動することによって作業装置３を旋回させる。また、旋回装置４には、エンジン４２により駆動される複数の油圧ポンプ（図３に図示していない）が配設される。これらの油圧ポンプが、ブームシリンダ３１ａ、アームシリンダ３２ａ、及びバケットシリンダ３３ａ等に圧油を供給する。 The swivel device 4 swivels the working device 3. A control unit 41, an engine 42, a swivel base 43, a swivel motor 44, and the like are arranged in the swivel device 4. The swivel motor 44, which is a hydraulic motor, drives the swivel base 43 to swivel the work device 3. Further, the swivel device 4 is provided with a plurality of hydraulic pumps (not shown in FIG. 3) driven by the engine 42. These hydraulic pumps supply pressure oil to the boom cylinder 31a, the arm cylinder 32a, the bucket cylinder 33a, and the like.

操縦部４１には、操縦席４１１が配置されている。操縦席４１１の左右に一対の作業操作レバー４１２Ｌ，４１２Ｒ、前方に一対の走行レバー４１３Ｌ，４１３Ｒが配置されている。オペレータは、操縦席４１１に着座して作業操作レバー４１２Ｌ，４１２Ｒ、走行レバー４１３Ｌ，４１３Ｒ等を操作することによって、エンジン４２、各油圧モータ、各油圧アクチュエータ等の制御を行い、走行、旋回、作業等を行うことができる。 A cockpit 411 is arranged in the cockpit 41. A pair of work operation levers 412L and 412R are arranged on the left and right sides of the driver's seat 411, and a pair of traveling levers 413L and 413R are arranged in front of the cockpit 411. The operator controls the engine 42, each hydraulic motor, each hydraulic actuator, etc. by operating the work operation levers 412L, 412R, the traveling levers 413L, 413R, etc. while seated in the driver's seat 411, and travels, turns, and works. Etc. can be performed.

［油圧回路の構成］
図４を用いて、油圧ショベル１が有する油圧回路５について説明する。油圧回路５は、第１〜第３油圧アクチュエータ１２１，１２２，１２３（ブームシリンダ３１ａ、アームシリンダ３２ａ、バケットシリンダ３３ａ）、左走行モータ２２Ｌ、右走行モータ２２Ｒ、旋回モータ４４と、第１油圧ポンプ５１と、第２油圧ポンプ５２と、方向切換弁５３と、パイロットポンプ５４と、リモコン弁５５と、を有する。なお、図４では、説明の便宜のため、ブレードシリンダ２４等に関する回路を省略している。 [Flood circuit configuration]
The hydraulic circuit 5 included in the hydraulic excavator 1 will be described with reference to FIG. The hydraulic circuit 5 includes first to third hydraulic actuators 121, 122, 123 (boom cylinder 31a, arm cylinder 32a, bucket cylinder 33a), a left traveling motor 22L, a right traveling motor 22R, a swivel motor 44, and a first hydraulic pump. It has a 51, a second hydraulic pump 52, a direction switching valve 53, a pilot pump 54, and a remote control valve 55. In FIG. 4, for convenience of explanation, the circuit related to the blade cylinder 24 and the like is omitted.

第２実施形態では、第１油圧ポンプ５１は、主に、右走行モータ２２Ｒ、第３油圧アクチュエータ１２３、及び旋回モータ４４に圧油を供給する。第２油圧ポンプ５２は、主に、第１油圧アクチュエータ１２１、第２油圧アクチュエータ１２２、及び左走行モータ２２Ｌに圧油を供給する。 In the second embodiment, the first hydraulic pump 51 mainly supplies pressure oil to the right traveling motor 22R, the third hydraulic actuator 123, and the swivel motor 44. The second hydraulic pump 52 mainly supplies pressure oil to the first hydraulic actuator 121, the second hydraulic actuator 122, and the left traveling motor 22L.

方向切換弁５３は、各々の油圧アクチュエータに対応して設けられており、第１油圧ポンプ５１及び第２油圧ポンプ５２から油圧アクチュエータへ供給される圧油の向き及び流量を切り換え可能に構成されている。複数の方向切換弁５３は、まとめてコントロールバルブと呼ばれる。具体的に、第２実施形態においては、第１油圧アクチュエータ１２１に対応する第１油圧アクチュエータ用方向切換弁５３ａと、第２油圧アクチュエータ１２２に対応する第２油圧アクチュエータ用方向切換弁５３ｂと、左走行モータ２２Ｌに対応する左走行モータ用方向切換弁５３ｃと、右走行モータ２２Ｒに対応する右走行モータ用方向切換弁５３ｄと、第３油圧アクチュエータ１２３に対応する第３油圧アクチュエータ用方向切換弁５３ｅと、旋回モータ４４に対応する旋回用方向切換弁５３ｆと、が設けられている。方向切換弁５３の構造は、第１実施形態の第１方向切換弁１５及び第２方向切換弁１６と同様のため、詳細な説明は省略する。 The direction switching valve 53 is provided corresponding to each hydraulic actuator, and is configured to be able to switch the direction and flow rate of the pressure oil supplied from the first hydraulic pump 51 and the second hydraulic pump 52 to the hydraulic actuator. There is. The plurality of directional control valves 53 are collectively referred to as control valves. Specifically, in the second embodiment, the direction switching valve 53a for the first hydraulic actuator corresponding to the first hydraulic actuator 121, the direction switching valve 53b for the second hydraulic actuator corresponding to the second hydraulic actuator 122, and the left. The left traveling motor direction switching valve 53c corresponding to the traveling motor 22L, the right traveling motor direction switching valve 53d corresponding to the right traveling motor 22R, and the third hydraulic actuator direction switching valve 53e corresponding to the third hydraulic actuator 123. And a swivel direction switching valve 53f corresponding to the swivel motor 44 are provided. Since the structure of the direction switching valve 53 is the same as that of the first direction switching valve 15 and the second direction switching valve 16 of the first embodiment, detailed description thereof will be omitted.

方向切換弁５３には、検出用方向切換弁が内装されている。左走行モータ用方向切換弁５３ｃ及び右走行モータ用方向切換弁５３ｄにそれぞれ設けられた検出用方向切換弁は、パイロットポンプ５４からの油路５４ａを閉塞又は開放する。また、第１油圧アクチュエータ用方向切換弁５３ａ、第２油圧アクチュエータ用方向切換弁５３ｂ、第３油圧アクチュエータ用方向切換弁５３ｅ、及び旋回用方向切換弁５３ｆにそれぞれ設けられた検出用方向切換弁は、パイロットポンプ５４からの油路５４ｂを閉塞又は開放する。検出用方向切換弁の構造は、第１実施形態の第１検出用方向切換弁１５ｃ及び第２検出用方向切換弁１６ｃと同様のため、詳細な説明は省略する。 The direction switching valve 53 includes a detection direction switching valve. The detection directional switching valves provided in the left traveling motor directional switching valve 53c and the right traveling motor directional switching valve 53d block or open the oil passage 54a from the pilot pump 54, respectively. Further, the detection directional switching valves provided in the first hydraulic actuator directional switching valve 53a, the second hydraulic actuator directional switching valve 53b, the third hydraulic actuator directional switching valve 53e, and the swivel directional switching valve 53f are , The oil passage 54b from the pilot pump 54 is closed or opened. Since the structure of the detection direction switching valve is the same as that of the first detection direction switching valve 15c and the second detection direction switching valve 16c of the first embodiment, detailed description thereof will be omitted.

油路５４ａには、第１圧力スイッチ１４１が接続されている。走行レバー４１３Ｌ，４１３Ｒが操作され、左走行モータ用方向切換弁５３ｃ又は右走行モータ用方向切換弁５３ｄの検出用方向切換弁が中立位置から中立位置以外のポジションとなることにより、油路５４ａが閉塞されて油路５４ａの絞り下流部に圧が立ち、この圧が第１圧力スイッチ１４１によって検出されるように構成されている。第１圧力スイッチ１４１は、走行レバー４１３Ｌ，４１３Ｒが操作されたことを検出し、この検出信号をＥＣＵ１０に出力する。 A first pressure switch 141 is connected to the oil passage 54a. The traveling levers 413L and 413R are operated, and the detection directional switching valve of the left traveling motor directional switching valve 53c or the right traveling motor directional switching valve 53d is changed from the neutral position to a position other than the neutral position, so that the oil passage 54a is opened. A pressure is applied to the downstream portion of the throttle of the oil passage 54a when the oil passage 54a is closed, and this pressure is detected by the first pressure switch 141. The first pressure switch 141 detects that the traveling levers 413L and 413R have been operated, and outputs this detection signal to the ECU 10.

油路５４ｂには、第２圧力スイッチ１４２が接続されている。作業操作レバー４１２Ｒが操作され、第１油圧アクチュエータ用方向切換弁５３ａの検出用方向切換弁が中立位置から中立位置以外のポジションとなることにより、油路５４ｂが閉塞されて油路５４ｂの絞り下流部に圧が立ち、この圧が第２圧力スイッチ１４２によって検出されるように構成されている。第２圧力スイッチ１４２は、作業操作レバー４１２Ｒが操作されたことを検出し、この検出信号をＥＣＵ１０に出力する。 A second pressure switch 142 is connected to the oil passage 54b. When the work operation lever 412R is operated and the detection direction switching valve of the first hydraulic actuator direction switching valve 53a changes from the neutral position to a position other than the neutral position, the oil passage 54b is blocked and the throttle downstream of the oil passage 54b is closed. A pressure is applied to the portion, and this pressure is detected by the second pressure switch 142. The second pressure switch 142 detects that the work operation lever 412R has been operated, and outputs this detection signal to the ECU 10.

パイロットポンプ５４は、方向切換弁５３（５３ａ，５３ｂ，５３ｃ，５３ｄ，５３ｅ，５３ｆ）へ入力される指令としてのパイロット圧油を吐出する。なお、図４では、パイロットポンプ５４と方向切換弁５３との間の油路は一部省略している。 The pilot pump 54 discharges pilot pressure oil as a command input to the directional control valves 53 (53a, 53b, 53c, 53d, 53e, 53f). In FIG. 4, a part of the oil passage between the pilot pump 54 and the direction switching valve 53 is omitted.

リモコン弁５５は、作業操作レバー４１２Ｌ，４１２Ｒ、走行レバー４１３Ｌ，４１３Ｒに対する操作に応じて方向切換弁５３に入力されるパイロット圧油の向きを切り換え調節可能に構成されている。リモコン弁５５は、各々の油圧アクチュエータ及び対応する方向切換弁５３毎に設けられている。例えば、図４に示すように、第１油圧アクチュエータ１２１を伸縮させるための作業操作レバー４１２Ｒに対応する第１油圧アクチュエータ用リモコン弁５５ａが設けられており、第１油圧アクチュエータ用リモコン弁５５ａは、第１油圧アクチュエータ用方向切換弁５３ａへ供給する指令としてのパイロット圧油の向きを切り換える。また、左走行モータ２２Ｌを回転させるための走行レバー４１３Ｌに対応する左走行モータ用リモコン弁５５ｂが設けられており、左走行モータ用リモコン弁５５ｂは、左走行モータ用方向切換弁５３ｃへと供給する指令としてのパイロット圧油の向きを切り換える。同様に、右走行モータ２２Ｒを回転させるための走行レバー４１３Ｒに対応する右走行モータ用リモコン弁５５ｃが設けられており、右走行モータ用リモコン弁５５ｃは、右走行モータ用方向切換弁５３ｄへと供給する指令としてのパイロット圧油の向きを切り換える。図４では図示していないが、その他の方向切換弁５３ｂ，５３ｅ，５３ｆに対応するリモコン弁５５が設けられている。 The remote control valve 55 is configured to be able to switch and adjust the direction of the pilot pressure oil input to the direction switching valve 53 according to the operation of the work operation levers 412L and 412R and the traveling levers 413L and 413R. The remote control valve 55 is provided for each hydraulic actuator and the corresponding directional control valve 53. For example, as shown in FIG. 4, the remote control valve 55a for the first hydraulic actuator corresponding to the work operation lever 412R for expanding and contracting the first hydraulic actuator 121 is provided, and the remote control valve 55a for the first hydraulic actuator is provided. The direction of the pilot pressure oil as a command to be supplied to the direction switching valve 53a for the first hydraulic actuator is switched. Further, a remote control valve 55b for the left travel motor corresponding to the travel lever 413L for rotating the left travel motor 22L is provided, and the remote control valve 55b for the left travel motor is supplied to the direction switching valve 53c for the left travel motor. Switch the direction of the pilot pressure oil as a command to do. Similarly, a remote control valve 55c for the right traveling motor corresponding to the traveling lever 413R for rotating the right traveling motor 22R is provided, and the remote control valve 55c for the right traveling motor becomes a direction switching valve 53d for the right traveling motor. The direction of the pilot pressure oil as a supply command is switched. Although not shown in FIG. 4, a remote control valve 55 corresponding to other direction switching valves 53b, 53e, 53f is provided.

第１油圧アクチュエータ用リモコン弁５５ａとパイロットポンプ５４との間の油路には、電磁式減圧弁１９が設けられている。電磁式減圧弁１９は、パイロットポンプ１４から吐出されて第１油圧アクチュエータ用リモコン弁５５ａに供給されるパイロット圧油の１次圧力を制御することができる。 An electromagnetic pressure reducing valve 19 is provided in an oil passage between the remote control valve 55a for the first hydraulic actuator and the pilot pump 54. The electromagnetic pressure reducing valve 19 can control the primary pressure of the pilot pressure oil discharged from the pilot pump 14 and supplied to the remote control valve 55a for the first hydraulic actuator.

油圧回路５は、電磁式減圧弁１９に制御指令を発信するＥＣＵ１０を備えている。ＥＣＵ１０は、作業操作レバー４１２Ｌ，４１２Ｒ、及び走行レバー４１３Ｌ，４１３Ｒの操作に応じて制御指令を発信する。 The hydraulic circuit 5 includes an ECU 10 that sends a control command to the electromagnetic pressure reducing valve 19. The ECU 10 transmits a control command in response to the operation of the work operation levers 412L and 412R and the traveling levers 413L and 413R.

油圧回路５は、合流切換弁５６を備えている。合流切換弁５６は、第１油圧ポンプ５１及び第２油圧ポンプ５２から吐出された圧油を合流させることが可能なパイロット式の方向切換弁である。合流切換弁５６は、スプールを摺動させることによりポジション５６Ｘ又はポジション５６Ｙに切り換えることが可能である。合流切換弁５６のパイロットポート５６ａ及びパイロットポート５６ｂにパイロット圧が付与された場合、合流切換弁５６はポジション５６Ｙに切り換えられる。合流切換弁５６のパイロットポート５６ａ又はパイロットポート５６ｂにパイロット圧が付与されない場合、スプリングの付勢力により、合流切換弁５６はポジション５６Ｘに保持される。パイロットポート５６ａには、右走行モータ用リモコン弁５５ｃからの油路が接続され、パイロットポート５６ｂには、左走行モータ用リモコン弁５５ｂからの油路が接続されている。これにより、左右の走行レバー４１３Ｌ，４１３Ｒが同時に操作された際、すなわち走行操作をされた際、合流切換弁５６はポジション５６Ｙに切り換えられる。 The hydraulic circuit 5 includes a merging switching valve 56. The merging switching valve 56 is a pilot-type directional switching valve capable of merging the pressure oil discharged from the first hydraulic pump 51 and the second hydraulic pump 52. The merging switching valve 56 can be switched to the position 56X or the position 56Y by sliding the spool. When the pilot pressure is applied to the pilot port 56a and the pilot port 56b of the merging switching valve 56, the merging switching valve 56 is switched to the position 56Y. When no pilot pressure is applied to the pilot port 56a or the pilot port 56b of the merging switching valve 56, the merging switching valve 56 is held at the position 56X by the urging force of the spring. The oil passage from the remote control valve 55c for the right traveling motor is connected to the pilot port 56a, and the oil passage from the remote control valve 55b for the left traveling motor is connected to the pilot port 56b. As a result, when the left and right traveling levers 413L and 413R are operated at the same time, that is, when the traveling operation is performed, the merging switching valve 56 is switched to the position 56Y.

合流切換弁５６がポジション５６Ｘにある場合、第１油圧ポンプ５１及び第２油圧ポンプ５２から吐出された圧油は合流されずに分かれて流れ、第１油圧ポンプ５１から吐出された圧油は、右走行モータ用方向切換弁５３ｄと、第３油圧アクチュエータ用方向切換弁５３ｅと、旋回用方向切換弁５３ｆとへ供給され、第２油圧ポンプ５２から吐出された圧油は、第１油圧アクチュエータ用方向切換弁５３ａと、第２油圧アクチュエータ用方向切換弁５３ｂと、左走行モータ用方向切換弁５３ｃとへ供給される。 When the merging switching valve 56 is in the position 56X, the pressure oil discharged from the first hydraulic pump 51 and the second hydraulic pump 52 flows separately without merging, and the pressure oil discharged from the first hydraulic pump 51 is discharged. The pressure oil supplied to the direction switching valve 53d for the right traveling motor, the direction switching valve 53e for the third hydraulic actuator, and the direction switching valve 53f for turning, and discharged from the second hydraulic pump 52 is for the first hydraulic actuator. It is supplied to the direction switching valve 53a, the direction switching valve 53b for the second hydraulic actuator, and the direction switching valve 53c for the left traveling motor.

合流切換弁５６がポジション５６Ｙにある場合、第１油圧ポンプ５１及び第２油圧ポンプ５２から吐出された圧油は合流される。 When the merging switching valve 56 is in the position 56Y, the pressure oils discharged from the first hydraulic pump 51 and the second hydraulic pump 52 are merged.

ＥＣＵ１０は、走行レバー４１３Ｌ，４１３Ｒが操作されると、電磁式減圧弁１９に対してパイロット圧油の１次圧力を基準圧から第１指令圧に減圧し、走行レバー４１３Ｌ，４１３Ｒが操作されている間は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧に保持する第１指令を発信する。 When the traveling levers 413L and 413R are operated, the ECU 10 reduces the primary pressure of the pilot pressure oil from the reference pressure to the first command pressure with respect to the electromagnetic pressure reducing valve 19, and the traveling levers 413L and 413R are operated. During this period, a first command for holding the primary pressure of the pilot pressure oil at the first command pressure is transmitted to the electromagnetic pressure reducing valve 19.

次いで、ＥＣＵ１０は、走行レバー４１３Ｌ，４１３Ｒが操作された状態から作業操作レバー４１２Ｒが操作されると、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧から第２指令圧に漸増させる第２指令を発信する。その後、走行レバー４１３Ｌ，４１３Ｒ及び作業操作レバー４１２Ｒが操作されている間は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第２指令圧に保持する指令を発信する。これにより、走行時に第１油圧アクチュエータ１２１を駆動させた際、第１油圧アクチュエータ用方向切換弁５３ａに付与されるパイロット圧を第１指令圧から第２指令圧に漸増させるため、第１油圧ポンプ５１及び第２油圧ポンプ５２からの圧油が第１油圧アクチュエータ１２１に急激に供給されることがなく、走行モータ２２Ｌ，２２Ｒに供給される圧油の油量の急激な低下による走行速度の急激な低下を防止することができる。また、第２実施形態では、走行時に合流切換弁５６により第１油圧ポンプ５１及び第２油圧ポンプ５２から吐出された圧油を合流させるため、走行モータ２２Ｌ，２２Ｒに供給される圧油の油量の急激な低下を効果的に防止できる。 Next, when the work operation lever 412R is operated from the state in which the traveling levers 413L and 413R are operated, the ECU 10 issues a primary pressure of the pilot pressure oil to the electromagnetic pressure reducing valve 19 from the first command pressure to the second command pressure. It sends a second command to gradually increase the pressure. After that, while the traveling levers 413L and 413R and the work operation lever 412R are being operated, a command for holding the primary pressure of the pilot pressure oil at the second command pressure is transmitted to the electromagnetic pressure reducing valve 19. As a result, when the first hydraulic actuator 121 is driven during traveling, the pilot pressure applied to the direction switching valve 53a for the first hydraulic actuator is gradually increased from the first command pressure to the second command pressure, so that the first hydraulic pump The pressure oil from the 51 and the second hydraulic pump 52 is not suddenly supplied to the first hydraulic actuator 121, and the traveling speed is abrupt due to a sudden decrease in the amount of the pressure oil supplied to the traveling motors 22L and 22R. It is possible to prevent such a decrease. Further, in the second embodiment, the pressure oil supplied to the traveling motors 22L and 22R for merging the pressure oil discharged from the first hydraulic pump 51 and the second hydraulic pump 52 by the merging switching valve 56 during traveling. It is possible to effectively prevent a sudden decrease in the amount.

次いで、ＥＣＵ１０は、走行レバー４１３Ｌ，４１３Ｒが操作された状態のまま作業操作レバー４１２Ｒが操作されなくなると、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第２指令圧から第１指令圧に漸減させる指令を発信する。その後、走行レバー４１３Ｌ，４１３Ｒのみが操作されている間は、電磁式減圧弁１９に対してパイロット圧油の１次圧力を第１指令圧に保持する指令を発信する。 Next, when the work operation lever 412R is not operated while the traveling levers 413L and 413R are operated, the ECU 10 applies the primary pressure of the pilot pressure oil to the electromagnetic pressure reducing valve 19 from the second command pressure to the first. Send a command to gradually reduce the command pressure. After that, while only the traveling levers 413L and 413R are being operated, a command for holding the primary pressure of the pilot pressure oil at the first command pressure is transmitted to the electromagnetic pressure reducing valve 19.

さらに、ＥＣＵ１０は、走行レバー４１３Ｌ，４１３Ｒが操作されなくなると、電磁式減圧弁１９に対してパイロットポンプ５４からの１次圧力を第１指令値から基準値に増圧し保持する指令を発信する。 Further, when the traveling levers 413L and 413R are no longer operated, the ECU 10 sends a command to the electromagnetic pressure reducing valve 19 to increase and hold the primary pressure from the pilot pump 54 from the first command value to the reference value.

第２実施形態では、電磁式減圧弁１９の下流側に複数の操作装置に至る分岐路を設置するだけで、複数の操作装置に対応する複数のアクチェータに本発明の制御を入れることができるため、操作装置の２次圧を制御するような複数の電磁比例弁が不要であり、油圧回路を安価な構成にて提供できる。 In the second embodiment, the control of the present invention can be applied to a plurality of actuators corresponding to a plurality of operating devices only by installing branch paths leading to the plurality of operating devices on the downstream side of the electromagnetic pressure reducing valve 19. , A plurality of electromagnetic proportional valves for controlling the secondary pressure of the operating device are not required, and the hydraulic circuit can be provided in an inexpensive configuration.

以上、本発明の実施形態について図面に基づいて説明したが、具体的な構成は、これらの実施形態に限定されるものでないと考えられるべきである。本発明の範囲は、上記した実施形態の説明だけではなく特許請求の範囲によって示され、さらに特許請求の範囲と均等の意味および範囲内でのすべての変更が含まれる。 Although the embodiments of the present invention have been described above with reference to the drawings, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present invention is shown not only by the description of the above-described embodiment but also by the scope of claims, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

１００ 油圧回路
１０ ＥＣＵ
１１ 第１アクチュエータ
１２ 第２アクチュエータ
１３ 油圧ポンプ
１４ パイロットポンプ
１５ 第１方向切換弁
１６ 第２方向切換弁
１７ 第１操作装置
１８ 第２操作装置
１９ 電磁式減圧弁
５ 油圧回路
５１ 第１油圧ポンプ
５２ 第２油圧ポンプ
５３ 方向切換弁
５４ パイロットポンプ
５５ リモコン弁
５６ 合流切換弁



100 hydraulic circuit 10 ECU
11 1st actuator 12 2nd actuator 13 Hydraulic pump 14 Pilot pump 15 1st direction switching valve 16 2nd direction switching valve 17 1st operating device 18 2nd operating device 19 Electromagnetic pressure reducing valve 5 Hydraulic circuit 51 1st hydraulic pump 52 2nd hydraulic pump 53 Direction switching valve 54 Pilot pump 55 Remote control valve 56 Confluence switching valve

Claims (4)

第１アクチュエータと、第２アクチュエータと、前記第１アクチュエータ及び前記第２アクチュエータに圧油を供給する油圧ポンプと、前記第１アクチュエータに供給される圧油の向きを切り換え流量を調節する第１方向切換弁と、前記第２アクチュエータに供給される圧油の向きを切り換え流量を調節する第２方向切換弁と、前記第１方向切換弁及び前記第２方向切換弁にパイロット圧油を供給するパイロットポンプと、前記第１方向切換弁に供給されるパイロット圧油の向きと圧力を操作に応じて切り換え調節可能な第１操作装置と、前記第２方向切換弁に供給されるパイロット圧油の向きと圧力を操作に応じて切り換え調節可能な第２操作装置と、前記第２操作装置と前記パイロットポンプとの間の油路に設けられ、前記第２操作装置に供給されるパイロット圧油の１次圧力を制御する圧力制御装置と、前記圧力制御装置に制御指令を発信する制御指令発信装置と、を備え、
前記制御指令発信装置は、前記第１操作装置が操作されている間は、前記圧力制御装置に対して前記１次圧力を基準圧から第１指令圧に減圧して保持する第１指令を発信し、
前記第１操作装置が操作された状態から前記第２操作装置が操作されると、前記圧力制御装置に対して前記１次圧力を前記第１指令圧から第２指令圧に漸増させる第２指令を発信し、
前記第２指令圧は、前記基準圧よりも低い、作業車両の油圧回路。 A first direction for adjusting the flow rate by switching the directions of the first actuator, the second actuator, the hydraulic pump that supplies the pressure oil to the first actuator and the second actuator, and the pressure oil supplied to the first actuator. The switching valve, the second direction switching valve that switches the direction of the pressure oil supplied to the second actuator and adjusts the flow rate, and the pilot that supplies the pilot pressure oil to the first direction switching valve and the second direction switching valve. The direction of the pump, the first operating device capable of switching and adjusting the direction and pressure of the pilot pressure oil supplied to the first direction switching valve according to the operation, and the direction of the pilot pressure oil supplied to the second direction switching valve. 1 of the pilot pressure oil provided in the oil passage between the second operating device and the pilot pump and supplied to the second operating device, and the second operating device whose pressure can be switched and adjusted according to the operation. A pressure control device for controlling the next pressure and a control command transmission device for transmitting a control command to the pressure control device are provided.
The control command transmitting device transmits a first command for holding the primary pressure reduced from a reference pressure to a first command pressure to the pressure control device while the first operating device is being operated. And
When the second operating device is operated from the state in which the first operating device is operated, a second command for gradually increasing the primary pressure from the first command pressure to the second command pressure with respect to the pressure control device. And send
The second command pressure is lower than the reference pressure, which is the hydraulic circuit of the work vehicle. 前記制御指令発信装置は、前記第１操作装置が操作された状態のまま前記第２操作装置が操作されなくなると、前記圧力制御装置に対して前記１次圧力を前記第２指令圧から前記第１指令圧に漸減させる指令を発信する、請求項１に記載の作業車両の油圧回路。 When the second operating device is not operated while the first operating device is being operated, the control command transmitting device applies the primary pressure to the pressure control device from the second command pressure to the second. 1 The hydraulic circuit of a work vehicle according to claim 1, which sends a command to gradually reduce the pressure to a command pressure. 前記第１アクチュエータは第１走行用油圧モータであり、前記第２アクチュエータは作業用油圧アクチュエータである、請求項１又は２に記載の作業車両の油圧回路。 The hydraulic circuit of a work vehicle according to claim 1 or 2, wherein the first actuator is a first traveling hydraulic motor, and the second actuator is a work hydraulic actuator. 前記第１走行用油圧モータ及び前記第１走行用油圧モータに圧油を供給する第１油圧ポンプを含む第１回路系統と、
前記作業用油圧アクチュエータ、第２走行用油圧モータ、並びに前記作業用油圧アクチュエータ及び前記第２走行用油圧モータに圧油を供給する第２油圧ポンプを含む第２回路系統と、
前記第１回路系統の圧油と前記第２回路系統の圧油を合流させる合流切換弁と、を備える、請求項３に記載の作業車両の油圧回路。 A first circuit system including a first traveling hydraulic motor and a first hydraulic pump for supplying pressure oil to the first traveling hydraulic motor.
A second circuit system including the work hydraulic actuator, the second traveling hydraulic motor, and the second hydraulic pump for supplying pressure oil to the working hydraulic actuator and the second traveling hydraulic motor.
The hydraulic circuit of a work vehicle according to claim 3, further comprising a merging switching valve for merging the pressure oil of the first circuit system and the pressure oil of the second circuit system.
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