JPH06129405A - Variable method for actuator relative speed - Google Patents
Variable method for actuator relative speedInfo
- Publication number
- JPH06129405A JPH06129405A JP5520993A JP5520993A JPH06129405A JP H06129405 A JPH06129405 A JP H06129405A JP 5520993 A JP5520993 A JP 5520993A JP 5520993 A JP5520993 A JP 5520993A JP H06129405 A JPH06129405 A JP H06129405A
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic
- pilot
- pressure
- switching valve
- oil
- 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.)
- Pending
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えば油圧ショベル
のブーム上昇と旋回のアクチュエータの如く、並列回路
接続の同一油圧切換弁に属する油圧切換弁を操作して作
動時負荷圧力の異なるアクチュエータを同時に作動せし
めるときに、両者の関係速度を良好に、選択、調整する
方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention operates hydraulic switching valves belonging to the same hydraulic switching valve connected in parallel circuit, such as an actuator for raising and turning a boom of a hydraulic excavator, to simultaneously operate actuators having different load pressures during operation. The present invention relates to a method for satisfactorily selecting and adjusting the relationship speed between the two when they are operated.
【０００２】[0002]
【従来の技術】従来の一般的な油圧回路として、油圧シ
ョベルの場合を例にとり説明すると、同一油圧切換弁群
内の油圧切換弁は、並列回路構成となっており、この切
換弁によりそれぞれのアクチュエータへ、所望の量の圧
油を分配するには油圧切換弁のスプール移動量を人為的
に加減しながら運転していた。以下、従来技術の実施例
を図５に示す油圧ショベルの油圧回路図により、ブーム
上昇第２速（実施例において詳述する）と旋回とを同時
に作動せしめた場合について説明する。2. Description of the Related Art As a conventional general hydraulic circuit, a hydraulic excavator will be described as an example. The hydraulic switching valves in the same hydraulic switching valve group have a parallel circuit configuration. In order to distribute a desired amount of pressure oil to the actuator, the operation was performed while artificially adjusting the spool movement amount of the hydraulic switching valve. Hereinafter, an embodiment of the prior art will be described with reference to the hydraulic circuit diagram of the hydraulic excavator shown in FIG. 5, in which the boom second speed (described in detail in the embodiment) and the turning are simultaneously actuated.
【０００３】図５のブーム用操作レバ３８を操作して、
パイロット弁１５を最大に作動させると、パイロット油
圧信号は、パイロット油路３０、３１を経て油圧切換弁
９のパイロット油室に達し、該油圧切換弁９のスプール
をＤ位置に移動させると同時に、パイロット油路３０の
延長油路は油圧切換弁６のパイロット油室にも通じてい
るので、該油圧切換弁６のスプールをもＤ位置に移動さ
せる。この結果、第２油圧ポンプ３の吐出油は油路２
４、油圧切換弁９のＤ位置通路、油路３９、４０を通
り、ブームシリンダ１３の伸長側油室へ、また第１油圧
ポンプ２の吐出油は油路２３、油圧切換弁６のＤ位置通
路、油路４１を通り上述の油路４０に合流してブームシ
リンダ１３へと流入する。この状態で、操作レバ３８’
を操作してパイロット弁１６または１６’の作用により
油圧切換弁６と同一油圧切換弁群Ａに属する油圧切換弁
１４を切換え、そのスプール位置がＤまたはＥに移動す
ると、油路２３の圧油は油路３４に分流し、油圧切換弁
１４のＤまたはＥ位置通路を通って旋回モータ１２に流
入する。このとき、油圧切換弁６、１４は共に油路２３
に並列的に配置されているので、第１油圧ポンプ２の圧
油は、ブームシリンダ１３、旋回モータ１２の何れか負
荷圧力の低い方へ大量に流入し、そのアクチュエータを
主として作動させる。従って、ブーム上昇速度と旋回速
度との関係速度を好ましい状態にするには、回路設計時
点においてブームシリダン１３の負荷圧力と旋回モータ
１２の負荷圧力特性を予め算出し、或る一定の作業負荷
と作業条件とを勘案して油圧回路を構成するが、このこ
とは、あくまでも標準作業条件の下において稼働せしめ
る場合にのみ有効となるだけであり、しかも一般的には
回路効率の低下をきたすものである。By operating the boom operation lever 38 shown in FIG.
When the pilot valve 15 is actuated to the maximum, the pilot oil pressure signal reaches the pilot oil chamber of the oil pressure switching valve 9 via the pilot oil passages 30 and 31, and at the same time moves the spool of the oil pressure switching valve 9 to the D position. Since the extension oil passage of the pilot oil passage 30 also communicates with the pilot oil chamber of the hydraulic pressure switching valve 6, the spool of the hydraulic pressure switching valve 6 is also moved to the D position. As a result, the oil discharged from the second hydraulic pump 3 is transferred to the oil passage 2
4, through the D position passage of the hydraulic switching valve 9 and the oil passages 39 and 40 to the extension side oil chamber of the boom cylinder 13, and the oil discharged from the first hydraulic pump 2 is the oil passage 23 and the D position of the hydraulic switching valve 6. It passes through the passage and the oil passage 41, merges with the above-mentioned oil passage 40, and flows into the boom cylinder 13. In this state, the operating lever 38 '
Is operated to switch the hydraulic pressure switching valve 14 belonging to the same hydraulic pressure switching valve group A as the hydraulic pressure switching valve 6 by the action of the pilot valve 16 or 16 ', and when the spool position moves to D or E, the pressure oil in the oil passage 23 is changed. Flows into the oil passage 34 and flows into the turning motor 12 through the D or E position passage of the hydraulic pressure switching valve 14. At this time, the hydraulic pressure switching valves 6 and 14 are both in the oil passage 23.
Since they are arranged in parallel with each other, a large amount of pressure oil of the first hydraulic pump 2 flows into one of the boom cylinder 13 and the swing motor 12, whichever has a lower load pressure, and mainly operates its actuator. Therefore, in order to make the relationship speed between the boom rising speed and the turning speed into a preferable state, the load pressure characteristics of the boom silidan 13 and the turning motor 12 are calculated in advance at the time of circuit design, and a certain work load and work The hydraulic circuit is configured in consideration of the conditions, but this is only effective only when the hydraulic circuit is operated under the standard working conditions, and generally, the circuit efficiency is lowered. .
【０００４】例えば、標準バックホウアタッチメントを
装備した標準機のフロントアタッチメントを取かえて図
６に示すように自重の大なる特殊クラムシェルを装備し
たときには、当然ブームシリンダ１３に加わる定常的な
負荷圧力は増大し、上述のブーム上昇、旋回の同時操作
をすると、第１油圧ポンプ２の圧油の殆んどは旋回モー
タ１２にのみ流入する。For example, when the front attachment of a standard machine equipped with a standard backhoe attachment is replaced with a special clamshell having a large self-weight as shown in FIG. 6, the steady load pressure naturally applied to the boom cylinder 13 is If the boom is increased and the above-described boom raising and turning operations are simultaneously performed, most of the pressure oil of the first hydraulic pump 2 flows into only the turning motor 12.
【０００５】また図７はブーム上昇、旋回同時の操作に
よりバケット４９に満載した作業対象物を、運搬車Ｔｘ
またはＴｙまで移動させるときのブーム上昇高さＨと旋
回の展開角度θの関係を示す図であり、掘削終了点Ｏを
原点とすると、作業対象物を運搬車ＴｘまたはＴｙまで
移動させる最短距離は、ブームを上昇させながら旋回を
し、バケット４９の移動軌跡が直線ｘまたはｙとなる必
要があり、最終的にはブーム上昇高さＨｘのとき旋回角
度はθｘ，或いはそれぞれＨｙ，θｙとならなければ作
業能率の向上とはならないが、図において明らかなよう
に、バケット４９の移動軌跡が直線ｘ，ｙとなるために
は、同じ旋回角度θｘに対してブーム上昇高さは、直線
ｘではＨｘ，直線ｙ上ではＨ’ｙとなり、また同じブー
ム上昇高さＨｙに対して旋回の所要角度は、直線ｙ上で
はθｙとなるが直線ｘではθ’ｘでよいこととなる。Further, FIG. 7 shows that the work object loaded in the bucket 49 is operated by the truck Tx when the boom is raised and turned simultaneously.
It is a diagram showing the relationship between the boom rising height H and the turning deployment angle θ when moving to Ty, and when the excavation end point O is the origin, the shortest distance to move the work object to the transport vehicle Tx or Ty is , It is necessary to turn while raising the boom, and the movement path of the bucket 49 should be a straight line x or y. Finally, when the boom rise height is Hx, the turning angle must be θx, or Hy and θy, respectively. Although the work efficiency is not improved, as is clear from the figure, in order for the movement trajectory of the bucket 49 to be the straight lines x and y, the boom rising height is Hx on the straight line x for the same turning angle θx. , H'y on the straight line y, and the required turning angle for the same boom rise height Hy is θy on the straight line y, but θ'x for the straight line x.
【０００６】[0006]
【発明が解決しようとする課題】実作業をするにあた
り、バケット４９に加わる作業対象物の重量は一定作業
の反復であり、大きい変化はないが、作業条件、作業機
の立地条件、運搬車Ｔｘ，Ｔｙの配置条件は多様であ
り、従来機では、運転者がこれに対応するためには、長
期間の熟練と感によりブーム上昇用操作レバ、旋回操作
レバを交互に、微妙に調整し、効率を向上させることが
要求させていた。また、前記のブーム上昇、旋回の関係
速度を改善する目的で図５の油路３４または４１を固定
的な絞り油路とすることを従来機で樹脂したものもある
が、前述の如く単独作動時の回路効率の低下をもたらす
原因となっていた。本発明では、上記ブーム上昇、旋回
の如き同時操作時においても、作業条件に最も適した両
者の関係速度を、不馴れな運転者にも容易に得られるよ
うにし、能率のよい作業を実現し、しかも単独作動時の
効率低下のない油圧回路を実現することを課題とするも
のである。In actual work, the weight of the work object added to the bucket 49 is a constant repetition of work, and although there is no great change, the work conditions, the location conditions of the work machine, and the transport vehicle Tx. , Ty have various arrangement conditions. In the conventional machine, in order for the driver to cope with this, the boom raising operation lever and the turning operation lever are alternately and subtly adjusted depending on long-term skill and feeling. It demanded to improve efficiency. Further, there is a resin in which the oil passage 34 or 41 shown in FIG. 5 is made to be a fixed throttle oil passage by a conventional machine for the purpose of improving the above-mentioned boom-raising and turning-related speed. This was a cause of a decrease in circuit efficiency. In the present invention, even at the time of simultaneous operations such as boom raising and turning, the relational speed of the two that is most suitable for the working conditions can be easily obtained by an unfamiliar driver, and efficient work is realized. Moreover, it is an object of the present invention to realize a hydraulic circuit in which the efficiency does not decrease when operated independently.
【０００７】[0007]
【課題を解決するための手段】パイロット弁からの油圧
信号の大小に比例するスプールの移動ストロークで切換
わり、並列回路で接続される複数の油圧切換弁から構成
した油圧切換弁群内の各切換弁に連なるアクチュエータ
を作動させる如くした油圧作動回路において、同時に作
動させようとするアクチュエータのうち、負荷圧力の低
いアクチュエータ用のパイロット圧油信号を発生させる
操作系管路上に、外部から任意に調整可能の可変電流ス
イッチの如き調整手段からの信号と、負荷圧力の高いア
クチュエータ用油圧切換弁の操作を検出する検出手段か
らの信号とが受信部に入力されると、電磁比例減圧弁の
如く上記調整手段からの信号に比例する圧油を下流側へ
流出するストローク制限手段を設ける。Each switching in a hydraulic switching valve group composed of a plurality of hydraulic switching valves which are switched by a stroke of movement of a spool proportional to the magnitude of a hydraulic signal from a pilot valve and which are connected in a parallel circuit. In the hydraulic circuit that operates the actuators connected to the valve, among the actuators that are to be operated at the same time, it is possible to externally adjust the operation system pipeline that generates the pilot pressure oil signal for the actuator with a low load pressure. When the signal from the adjusting means such as the variable current switch and the signal from the detecting means for detecting the operation of the hydraulic pressure switching valve for the actuator having a high load pressure are input to the receiving portion, the above-mentioned adjustment is performed like an electromagnetic proportional pressure reducing valve. Stroke limiting means is provided for discharging the pressure oil proportional to the signal from the means to the downstream side.
【０００８】[0008]
【作用】運転に際して、調整手段である可変電流スイッ
チを所望の位置に設定し、負荷圧力の高いアクチュエー
タ用と低いアクチュエータ用の操作レバを同時に操作す
ると、負荷圧力の低いアクチュエータ用油圧切換弁のパ
イロット油室には最大値がストローク制限手段で減圧さ
れたパイロット圧が作用するので、その油圧切換弁は中
間開度となり、両方のアクチュエータにそれぞれ適量の
圧油が供給される。また、アクチュエータの相対速度を
変更するとき、または負荷変動のあるときは、上記可変
電流スイッチを調整して電磁比例減圧弁からの制限圧力
を変更する。In operation, when the variable current switch, which is the adjusting means, is set to a desired position and the operating levers for the actuator with high load pressure and the actuator for low load pressure are operated simultaneously, the pilot of the hydraulic switching valve for the actuator with low load pressure is operated. Since the pilot pressure whose maximum value has been reduced by the stroke limiting means acts on the oil chamber, the hydraulic switching valve has an intermediate opening, and an appropriate amount of pressure oil is supplied to both actuators. Further, when the relative speed of the actuator is changed, or when there is a load change, the variable current switch is adjusted to change the limiting pressure from the electromagnetic proportional pressure reducing valve.
【０００９】[0009]
【実施例】この発明の実施例を、図面を参照しながら説
明する。図１は、この発明を油圧リモートコントロール
方式の油圧ショベルに適用したときの電気・油圧回路図
を一部省略して示す。１は第１油圧ポンプ２、第２油圧
ポンプ３、パイロットポンプ４を駆動するエンジンで、
第１油圧ポンプ２はタンク２１からサクションストレー
ナ１９を経て油を吸入し、吐出油はリリーフ弁１８で調
圧され油路２３を通って左走行用の油圧切換弁７、ブー
ム上昇第２速用の油圧切換弁６、アーム第１速用の油圧
切換弁５、旋回モータ１２用の油圧切換弁１４などから
構成される第１油圧切換弁群Ａに流入してゆき、第２油
圧ポンプ３の吐出油はリリーフ弁２０で調圧され油路２
４を通り右走行用の油圧切換弁８、ブーム上昇、下降第
１速用の油圧切換弁９、バケット用の油圧切換弁１０、
アーム第２速用の油圧切換弁１１から構成される第２油
圧切換弁群Ｂへと流入する。第１、第２油圧切換弁群
Ａ，Ｂに属する各油圧切換弁は、各群毎に並列油圧回路
となっており、それぞれの油圧切換弁が中立位置、すな
わち、操作されないときには、各アクチュエータへの油
路は閉止されるが、油路２３または２４を通って送油さ
れる圧油は、内部の中立時バイパス油路を通って、それ
ぞれ油路３５，３６に入り、合流油路２５となり、オイ
ルクーラ２６、リターンフィルタ２７を経てタンク２１
に戻る。Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a partially omitted electric / hydraulic circuit diagram when the present invention is applied to a hydraulic excavator of a hydraulic remote control system. Reference numeral 1 denotes an engine that drives a first hydraulic pump 2, a second hydraulic pump 3, and a pilot pump 4,
The first hydraulic pump 2 sucks oil from the tank 21 through the suction strainer 19, and the discharge oil is regulated by the relief valve 18 and passes through the oil passage 23 to the hydraulic switching valve 7 for left traveling, the boom ascending second speed. Of the second hydraulic pump 3 and the first hydraulic pressure switching valve 6 for the first arm, the hydraulic pressure switching valve 14 for the swing motor 12, and the like. The discharge oil is regulated by the relief valve 20 and the oil passage 2
4, a hydraulic switching valve 8 for right traveling, a boom up / down hydraulic switching valve 9 for first speed, a hydraulic switching valve 10 for bucket,
It flows into the second hydraulic pressure switching valve group B including the hydraulic pressure switching valve 11 for the second arm. The hydraulic pressure switching valves belonging to the first and second hydraulic pressure switching valve groups A and B are parallel hydraulic circuits for each group, and when the respective hydraulic pressure switching valves are in the neutral position, that is, when they are not operated, they are connected to the respective actuators. However, the pressure oil sent through the oil passages 23 or 24 enters the oil passages 35 and 36 through the internal neutral bypass oil passages to become the confluent oil passage 25. After passing through the oil cooler 26 and the return filter 27, the tank 21
Return to.
【００１０】また、操作レバ３８により作動するパイロ
ット弁１５の二次側であるパイロット圧出口ポートに接
続したパイロット油路３０およびその分岐パイロット油
路３１は油圧切換弁６、９のスプールを、ブームシリン
ダ１３が伸長する側に移動させるパイロット油室に通
じ、パイロット弁１５’のパイロット圧出口ポートに接
続したパイロット油路３３は油圧切換弁９のスプール
を、ブームシリンダ１３が縮小する側に移動させるパイ
ロット油室に通じ、操作レバ３８’により作動するパイ
ロット弁１６、１６’の二次側ポートであるパイロット
圧出口ポートに接続したパイロット油路４６、４７は旋
回用油圧切換弁１４のパイロット油室に通じている。そ
の他の油圧切換弁、すなわち、第１油圧切換弁群Ａに属
する油圧切換弁５、７および第２油圧切換弁群Ｂに属す
る油圧切換弁８、１０、１１などは従来の油圧ショベル
における切換弁と同様、それぞれ専用のパイロット弁
（図示せず）からの油圧信号により、第１油圧ポンプ
２、第２油圧ポンプ３の圧油を切換えて、各アクチュエ
ータに供給し、作動させる。また、パイロットポンプ４
の吐出油は、油圧切換弁５、６、７、８、９、１０、１
１、１４など操作系の油圧源となるものであり、ライン
フィルタ２８を通り、リリーフ弁２２により調圧され、
操作系の油圧源管路である油路２９を通ってパイロット
弁１５、１５’、１６、１６’およびその他の油圧切換
弁用パイロット弁などへの一次側の油圧源として供給さ
れる。そうして、同一油圧切換弁群Ａに属し、同時に操
作される機会が多く、また負荷圧力の低い方のアクチュ
エータ用の油圧切換弁例えば旋回用油圧切換弁１４を操
作するパイロット弁１６、１６’の二次側から前記切換
弁のパイロット油室へと通じる操作系管であるパイロッ
ト油路４６，４７の途中に電磁比例減圧弁３２、３２を
設け、該電磁比例減圧弁３２、３２の励磁部には、任意
に調整可能の調整手段である可変電流スイッチ４４、ス
イッチ４５を介して、電源４８が通じるように信号回路
が設けてある。また、上記スイッチ４５は、その受信部
にパイロット弁１５、すなわち、負荷圧力の高いアクチ
ュエータ用油圧切換弁の切換操作をするパイロット弁の
パイロット油圧信号が作用すると閉路して電源４８が信
号回路を経て可変電流スイッチ４４に通ずる機能を有す
る切換操作の検出手段となっている。The pilot oil passage 30 connected to the pilot pressure outlet port on the secondary side of the pilot valve 15 operated by the operation lever 38 and its branch pilot oil passage 31 connect the spools of the hydraulic pressure switching valves 6 and 9 to the boom. The pilot oil passage 33, which communicates with the pilot oil chamber for moving the cylinder 13 to the extending side and is connected to the pilot pressure outlet port of the pilot valve 15 ′, moves the spool of the hydraulic pressure switching valve 9 to the side where the boom cylinder 13 contracts. Pilot oil passages 46 and 47 connected to the pilot pressure outlet port, which is the secondary side port of the pilot valves 16 and 16 ′ that communicates with the pilot oil chamber and is operated by the operation lever 38 ′, are pilot oil chambers of the turning hydraulic switching valve 14. It leads to. The other hydraulic switching valves, that is, the hydraulic switching valves 5, 7 belonging to the first hydraulic switching valve group A and the hydraulic switching valves 8, 10, 11 belonging to the second hydraulic switching valve group B are the switching valves in the conventional hydraulic excavator. In the same manner as above, the pressure oils of the first hydraulic pump 2 and the second hydraulic pump 3 are switched by hydraulic signals from respective dedicated pilot valves (not shown) to supply and operate each actuator. In addition, pilot pump 4
The discharge oil of is the oil pressure switching valve 5, 6, 7, 8, 9, 10, 1.
1, 14 and the like serve as a hydraulic pressure source for the operation system, pass through the line filter 28, and are regulated by the relief valve 22.
It is supplied as a primary hydraulic power source to the pilot valves 15, 15 ', 16, 16' and other pilot valves for hydraulic pressure switching valves through an oil passage 29 which is a hydraulic pressure source pipeline of the operation system. Then, pilot valves 16 and 16 'for operating the hydraulic switching valves for the actuators belonging to the same hydraulic switching valve group A, which are often operated at the same time and have a lower load pressure, for example, the swing hydraulic switching valve 14. Electromagnetic proportional pressure reducing valves 32, 32 are provided in the middle of pilot oil passages 46, 47, which are operation system pipes leading from the secondary side to the pilot oil chamber of the switching valve, and the exciting portions of the electromagnetic proportional pressure reducing valves 32, 32 are provided. Is provided with a signal circuit so that a power source 48 is connected through a variable current switch 44 and a switch 45, which are adjusting means that can be arbitrarily adjusted. Further, the switch 45 is closed when a pilot hydraulic pressure signal of the pilot valve 15, that is, a pilot valve for switching the hydraulic pressure switching valve for an actuator having a high load pressure, acts on its receiving portion, and the power source 48 passes through a signal circuit. It is a switching operation detecting means having a function of communicating with the variable current switch 44.
【００１１】次に、以上の電気・油圧回路における作動
について説明する。最初に、ブームシリンダ１３の伸縮
動作のみの単独操作をしたときを説明する。一般に油圧
ショベルのブームには大きい負荷が加わり、強大な力が
要求されると共に、上昇時の作動速度も要求されるの
で、上昇時には２個の油圧ポンプの吐出油を同時にブー
ムシリンダの伸長側油室に供給し、下降時には縮小側油
室に１個の油圧ポンプの吐出油を導く方式がとられてい
る。図１における操作レバ３８をブーム上昇側に操作す
ると、パイロット弁１５のパイロット油圧信号は、操作
系管路であるパイロット油路３０、３１を通り、油圧切
換弁９のパイロット油室に作用し、スプール位置をＣ位
置からＤ位置に移動させるので油路２４の圧油は、該油
圧切換弁９のＤ位置通路、油路３９、４０を通ってブー
ムシリンダ１３の伸長側油室に流入し、ブームを上昇せ
しめると同時に、パイロット油路３０は油圧切換弁６の
パイロット油室にも通じているので、該切換弁６のスプ
ールをＣ位置からＤ位置に切換えようとするが、一般的
には、ブームシリンダ１３の伸長速度を第１速と第２速
と使い分けする目的でパイロット圧が比較的低圧のと
き、油圧切換弁９側のスプールが先行移動し、更にパイ
ロット圧が上昇すると油圧切換弁９のスプール位置はＤ
に移動したまま、油圧切換弁６のスプールがＤ位置に移
動するようにしてあるので、操作レバ３８を全操作して
パイロット弁１５からより高圧のパイロット油圧信号が
油路３０に送り込まれなければ油圧切換弁６は作動しな
い。高圧のパイロット油圧信号により、やがて、切換弁
６のスプールもＤ位置に移動すると、油路２３からの圧
油は該切換弁６のＤ位置通路、油路４１を通り、該油路
４１に設けた圧油逆流防止用のチェック弁１７を押開
き、油路３９に合流し、油路４０を通ってブームシリン
ダ１３の伸長側油室に流入する。従って、ブームシリン
ダ１３の伸長側油室へは、操作レバ３８の操作初期では
第２油圧ポンプ３からの圧油のみが、また操作後期では
第１油圧ポンプ２と第２油圧ポンプ３との圧油が合流し
て流入する。Next, the operation of the above electric / hydraulic circuit will be described. First, a case will be described in which the boom cylinder 13 is independently operated by only expanding and contracting. Generally, a large load is applied to the boom of a hydraulic excavator, a large force is required, and an operating speed at the time of ascent is also required. Therefore, at the time of ascent, the discharge oil of two hydraulic pumps is simultaneously supplied to the oil on the extension side of the boom cylinder. A system is adopted in which the oil is supplied to the chamber and the discharge oil of one hydraulic pump is guided to the reduction-side oil chamber when descending. When the operation lever 38 in FIG. 1 is operated to the boom raising side, the pilot hydraulic pressure signal of the pilot valve 15 passes through the pilot oil passages 30 and 31 which are the operation system pipelines, and acts on the pilot oil chamber of the hydraulic pressure switching valve 9. Since the spool position is moved from the C position to the D position, the pressure oil in the oil passage 24 flows into the extension side oil chamber of the boom cylinder 13 through the D position passage of the hydraulic switching valve 9 and the oil passages 39 and 40. At the same time when the boom is raised, the pilot oil passage 30 also communicates with the pilot oil chamber of the hydraulic pressure switching valve 6, so the spool of the switching valve 6 is tried to be switched from the C position to the D position. When the pilot pressure is relatively low for the purpose of selectively using the extension speed of the boom cylinder 13 between the first speed and the second speed, the spool on the hydraulic pressure switching valve 9 side moves forward, and when the pilot pressure further increases, the oil pressure increases. Spool position of the switching valve 9 D
Since the spool of the hydraulic pressure switching valve 6 is moved to the D position while still moving to, the operating lever 38 must be fully operated to send a higher pilot hydraulic pressure signal from the pilot valve 15 to the oil passage 30. The hydraulic pressure switching valve 6 does not operate. When the spool of the switching valve 6 is also moved to the D position due to the high pilot hydraulic pressure signal, the pressure oil from the oil passage 23 passes through the D position passage of the switching valve 6 and the oil passage 41, and is provided in the oil passage 41. The check valve 17 for preventing pressure oil backflow is pushed open, merges with the oil passage 39, and flows into the extension side oil chamber of the boom cylinder 13 through the oil passage 40. Therefore, only the pressure oil from the second hydraulic pump 3 is supplied to the extension side oil chamber of the boom cylinder 13 in the initial operation of the operation lever 38, and the pressure of the first hydraulic pump 2 and the second hydraulic pump 3 is increased in the latter operation. The oil merges and flows in.
【００１２】次いで操作レバ３８を逆方向に操作し、パ
イロット弁１５’の二次側のパイロット圧出口ポートに
接続された操作系管路であるパイロット油路３３の油圧
信号が上昇し、油圧切換弁９のブームシリンダ１３縮小
側のパイロット油室に流入すると、該油圧切換弁９のス
プールはＥ位置に移動し、油路２４の圧油は該油圧切換
弁９のＥ位置通路、油路４２、４３を通り、ブームシリ
ンダ１３の縮小側油室へ流入しブームを下降せしめる。Next, the operating lever 38 is operated in the reverse direction, the hydraulic signal of the pilot oil passage 33, which is the operation system conduit connected to the pilot pressure outlet port on the secondary side of the pilot valve 15 ', rises, and the hydraulic pressure is switched. When the spool of the hydraulic pressure switching valve 9 moves to the E position when it flows into the pilot oil chamber on the contraction side of the boom cylinder 13 of the valve 9, the pressure oil in the oil passage 24 moves to the E position passage of the hydraulic switching valve 9, the oil passage 42. , 43 into the reduction-side oil chamber of the boom cylinder 13 to lower the boom.
【００１３】次に、旋回モータ１２を単独に作動させる
場合について述べる。旋回用操作レバ３８’を操作する
と、これに連動するパイロット弁１６または１６’の油
圧信号が操作系管路の１つであるパイロット油路４６ま
たは４７を通って油圧切換弁１４のパイロット油室に作
用し、スプールをＤまたはＥ位置に切換えるので、油路
２３の分岐油路からの圧油は、該油圧切換弁１４のＤま
たはＥ位置通路を経て、ブレーキバルブ３７の保護の下
に、旋回モータ１２を正転または逆転させる。従って旋
回モータ１２を単独で作動せしめるときは、第１ポンプ
２の吐出油が全量旋回モータ１２に流入することとな
る。Next, the case where the turning motor 12 is independently operated will be described. When the turning operation lever 38 ′ is operated, the hydraulic signal of the pilot valve 16 or 16 ′ interlocked with the turning operation lever 38 ′ passes through the pilot oil passage 46 or 47 which is one of the operation system pipelines and the pilot oil chamber of the hydraulic pressure switching valve 14. And the spool is switched to the D or E position, the pressure oil from the branch oil passage of the oil passage 23 passes through the D or E position passage of the hydraulic switching valve 14 and under the protection of the brake valve 37. The turning motor 12 is rotated normally or reversely. Therefore, when the swing motor 12 is operated independently, all the discharge oil of the first pump 2 flows into the swing motor 12.
【００１４】次に、図１の油圧回路の油圧ショベルにお
いて、図６の如くブームシリンダ１３に大きな負荷が常
時加わっているときや、図７の如く旋回作動角度が僅か
の間にブーム上昇作動を大きく得る必要があるとき、し
かも旋回動作、ブーム上昇動作を同時に行う場合につい
て説明する。ブームを上昇せしめるため、操作レバ３８
を全傾し、パイロット弁１５からの高いパイロット油圧
信号がパイロット油路３０に流入すると、上述の如く、
油圧切換弁９、６のスプールは共にＤ位置に移動し，第
１ポンプ２、第２ポンプ３の圧油は共にブームシリンダ
１３に流入しようとするが、同時に、旋回モータ作動用
操作レバ３８’を操作していると、油圧切換弁１４のス
プールもＤまたはＥ位置に移動しているので、第１ポン
プ２の圧油は油圧切換弁６、１４のそれぞれに連なるア
クチュエータの負荷圧力に逆比例して分散、流入する筈
であるが、本発明では、回路図に示す如く、パイロット
油路３０に油圧信号が発生すると、スイッチ４５の回路
は閉じ、電源４８から可変電流スイッチ４４に通電され
る。従って、予め該可変電流スイッチ４４を調整してお
くことにより、その設定値が、パイロット油路４６，４
７上に設けた電磁比例減圧弁３２、３２の受信部に作用
し、その二次側ポートに発生する油圧信号、すなわち、
油圧切換弁１４のパイロット油室に通じるパイロット油
路側の油圧信号の大きさは、パイロット弁１６，１６’
の二次側ポートに発生するパイロット圧に左右されるこ
となく、上記電磁比例減圧弁３２、３２で制限されるか
ら、該油圧切換弁１４のスプールの移動ストロークは制
限されることから、上述の如く、パイロット油室に通じ
る操作系油路に電磁比例減圧弁を設けることにより、ス
プールの移動量を制限するストローク制限手段が構成さ
れる。Next, in the hydraulic excavator of the hydraulic circuit of FIG. 1, when a large load is constantly applied to the boom cylinder 13 as shown in FIG. 6 or when the swing operation angle is slightly small as shown in FIG. A case will be described where it is necessary to obtain a large amount, and moreover, the turning operation and the boom raising operation are simultaneously performed. In order to raise the boom, the operation lever 38
And the high pilot hydraulic pressure signal from the pilot valve 15 flows into the pilot oil passage 30, as described above,
The spools of the hydraulic pressure switching valves 9 and 6 both move to the D position, and the pressure oils of the first pump 2 and the second pump 3 both try to flow into the boom cylinder 13, but at the same time, the operating lever 38 'for operating the swing motor. Is operated, the spool of the hydraulic switching valve 14 is also moved to the D or E position. Therefore, the pressure oil of the first pump 2 is inversely proportional to the load pressure of the actuators connected to the hydraulic switching valves 6 and 14, respectively. However, in the present invention, as shown in the circuit diagram, when a hydraulic signal is generated in the pilot oil passage 30, the circuit of the switch 45 is closed and the variable current switch 44 is energized from the power source 48. . Therefore, by adjusting the variable current switch 44 in advance, the set value is set to the pilot oil passages 46, 4
7, a hydraulic signal that acts on the receiving portion of the electromagnetic proportional pressure reducing valves 32, 32 provided on the secondary side port, that is,
The magnitude of the hydraulic signal on the pilot oil passage side communicating with the pilot oil chamber of the hydraulic switching valve 14 is determined by the pilot valves 16 and 16 ′.
Since it is limited by the electromagnetic proportional pressure reducing valves 32, 32 without being influenced by the pilot pressure generated in the secondary side port of the hydraulic pressure switching valve 14, the moving stroke of the spool of the hydraulic pressure switching valve 14 is limited. As described above, by providing the electromagnetic proportional pressure reducing valve in the operation system oil passage leading to the pilot oil chamber, the stroke limiting means for limiting the movement amount of the spool is configured.
【００１５】その結果、ブーム用油圧切換弁９、６が完
全にＤ位置に切換わったときも、旋回用油圧切換弁１４
はＣ位置からＤまたはＥ位置への切換わり中間位置とな
り、絞り通路を経由して旋回モータ１２を作動させるこ
ととなる。このときのパイロット圧と油圧切換弁１４の
スプール移動ストロークとの関係を図によって詳記す
る。図３，４はともに、横軸には油圧切換弁のスプール
が中立のときを原点としてストロークＳをとり、パイロ
ット油室に作用するパイロット圧を縦軸にとった図であ
るが、図３は、パイロット弁に供給されるパイロット圧
が電磁比例減圧弁３２，３２などで減圧されないときの
関係示す図であり、パイロット圧ＰがＯ〜Ｐ1 のときは
スプールは移動しないか、または開口しない、いわゆる
不感帯であり、Ｐ1 からＰ3 に昇圧するにしたがい、ス
トロークＳはＳ1 から最大ストロークＳ3 となり、内部
通路の開度は最大となる。更にパイロット圧がＰ4 まで
昇圧してもストロークＳ3 を保持し続ける。一方図４は
パイロット弁の一次側油路に供給される操作系の油圧源
を減圧弁によりＰ1 とＰ3 の中間圧力Ｐ2 に減圧したと
きの状況を示すが、このときの中間圧力Ｐ2 の最大値は
減圧後の圧力以下であり、ストロークＳの最大値はＳ1
とＳ3 の中間値Ｓ2 となり、油圧切換弁の内部通路の開
度は半開となるので絞り通路を形成し通過抵抗が付加さ
れる。As a result, even when the boom hydraulic pressure switching valves 9 and 6 are completely switched to the D position, the swing hydraulic pressure switching valve 14 is turned on.
Becomes an intermediate position by switching from the C position to the D or E position, and the turning motor 12 is operated via the throttle passage. The relationship between the pilot pressure and the spool movement stroke of the hydraulic pressure switching valve 14 at this time will be described in detail with reference to the drawings. 3 and 4 are diagrams in which the horizontal axis represents the stroke S with the origin of the spool of the hydraulic pressure switching valve as the origin, and the vertical axis represents the pilot pressure acting on the pilot oil chamber. FIG. 3 is a diagram showing a relationship when the pilot pressure supplied to the pilot valve is not reduced by the electromagnetic proportional pressure reducing valves 32, 32, etc. When the pilot pressure P is O to P1, the spool does not move or does not open, that is, It is a dead zone, and as the pressure is increased from P1 to P3, the stroke S changes from S1 to the maximum stroke S3, and the opening of the internal passage becomes maximum. Even if the pilot pressure is increased to P4, the stroke S3 is maintained. On the other hand, FIG. 4 shows the situation when the hydraulic pressure source of the operation system supplied to the primary side oil passage of the pilot valve is reduced to the intermediate pressure P2 between P1 and P3 by the pressure reducing valve. The maximum value of the intermediate pressure P2 at this time is shown. Is less than the pressure after decompression, and the maximum value of stroke S is S1
And S3 have an intermediate value S2, and the opening of the internal passage of the hydraulic switching valve is half open, so that a throttle passage is formed and passage resistance is added.
【００１６】従って、前記油圧切換弁１４のＤまたはＥ
位置通路に絞り抵抗を与えるべく、可変電流スイッチ４
４の設定値を、ブームシリンダ１３に加わる付加圧力や
作業状況に適した旋回角度になるように調整しておくこ
とにより、ブーム上昇、旋回時において操作レバを微調
整することなく計画的な関係速度にすることができる。
なお、ブーム上昇操作以外の操作のときは、スイッチ４
５が作動せず、電磁比例減圧弁３２、３２には通電され
ないので、パイロット弁１６，１６’からのパイロット
油圧信号は減圧されず、通常の油圧ショベルの運転操作
と何等変化はない。Therefore, D or E of the hydraulic switching valve 14
Variable current switch 4 to add throttle resistance to the position passage
By adjusting the set value of 4 so that the turning angle is suitable for the additional pressure applied to the boom cylinder 13 and the working condition, a planned relationship can be achieved without finely adjusting the operating lever when the boom is raised or turned. Can be speed.
In addition, when operating other than boom raising operation, switch 4
Since the solenoid valve 5 does not operate and the electromagnetic proportional pressure reducing valves 32, 32 are not energized, the pilot hydraulic pressure signals from the pilot valves 16, 16 'are not reduced, and there is no change from the normal operation of the hydraulic excavator.
【００１７】図２は本発明の第２実施例を示す油圧・電
気回路図であり、第１実施例では電磁比例減圧弁３２に
より減圧し操作系管路を介して、パイロット弁１６、１
６’への一次側油圧源として供給したが、第２実施例で
は該一次側の油圧源は他のパイロット弁と同一であり、
パイロット弁１６、１６’と油圧切換弁１４のパイロッ
ト油室とを連通するパイロット油路４６、４７の中間に
比例電磁減圧弁３２、３２’を配置したものであるが、
その作用効果は第１実施例と全く同様である。FIG. 2 is a hydraulic / electrical circuit diagram showing a second embodiment of the present invention. In the first embodiment, the pressure is reduced by the electromagnetic proportional pressure reducing valve 32, and the pilot valves 16 and 1 are operated via the operation system pipeline.
6'is supplied as the primary hydraulic pressure source, but in the second embodiment, the primary hydraulic pressure source is the same as the other pilot valve,
Proportional electromagnetic pressure reducing valves 32 and 32 'are arranged in the middle of pilot oil passages 46 and 47 that connect the pilot valves 16 and 16' to the pilot oil chamber of the hydraulic pressure switching valve 14.
The function and effect are exactly the same as in the first embodiment.
【００１８】[0018]
【発明の効果】本発明にかかる油圧ならびに電気回路を
有するアクチュエータ相度速度の可変方法を採用してお
くと、例えば油圧ショベルにおけるブーム上昇、旋回の
如く、並列回路で構成された同一の油圧切換弁群内の油
圧切換弁を同時に操作をし所定の複合運転をする場合、
作業対象物やアクチュエータの種類による負荷圧力の変
化、作業条件の変化による作動経路の要求の異なるよう
なときにおいても、予め、可変電流スイッチを調整した
うえで運転をすれば、従来の如く操作レバを微妙に操作
する必要もなく所望の作動が得られるので作業能率が上
り、また初心者にも容易な複合運転操作ができる。EFFECTS OF THE INVENTION When the method of varying the actuator phase speed having the hydraulic and electric circuits according to the present invention is adopted, the same hydraulic switching constituted by parallel circuits, such as boom raising and turning in a hydraulic excavator, is adopted. When operating the hydraulic switching valves in the valve group at the same time to perform the specified combined operation,
Even when the load pressure changes due to the type of work object or actuator, and the demands on the operating path differ due to changes in the working conditions, the variable current switch can be adjusted in advance to start operation, and the operation level will change as before. Since a desired operation can be obtained without the need for delicate operation, work efficiency is improved, and even a beginner can easily perform a combined driving operation.
【図１】本発明の実施例を示す油圧・電気回路図であ
る。FIG. 1 is a hydraulic / electrical circuit diagram showing an embodiment of the present invention.
【図２】本発明の第２の実施例を示す油圧・電気回路図
である。FIG. 2 is a hydraulic / electrical circuit diagram showing a second embodiment of the present invention.
【図３】油圧切換弁のパイロット油室に作用するパイロ
ット圧とスプールの移動ストロークとの関係を示す線図
である。FIG. 3 is a diagram showing a relationship between a pilot pressure acting on a pilot oil chamber of a hydraulic pressure switching valve and a moving stroke of a spool.
【図４】図３のパイロット圧が減圧されたときのスプー
ルの移動ストロークを比較した線図である。FIG. 4 is a diagram comparing spool movement strokes when the pilot pressure in FIG. 3 is reduced.
【図５】従来の油圧ショベルの油圧回路図である。FIG. 5 is a hydraulic circuit diagram of a conventional hydraulic excavator.
【図６】特殊クラムシェル装備時の油圧ショベルの側面
図である。FIG. 6 is a side view of a hydraulic excavator equipped with a special clamshell.
【図７】油圧ショベルのブーム上昇高さと旋回角度の関
係を示す図である。FIG. 7 is a diagram showing a relationship between a boom rising height and a turning angle of the hydraulic excavator.
１２ 旋回モータ １３ ブームシリンダ １５、１５’、１６、１６’ パイロット弁 ３２ 電磁比例減圧弁 ４４ 可変電流スイッチ ４５ スイッチ 12 swing motor 13 boom cylinder 15, 15 ', 16, 16' pilot valve 32 electromagnetic proportional pressure reducing valve 44 variable current switch 45 switch
Claims (1)
小に比例するスプールの移動ストロークで切換わり、並
列回路で接続された複数の油圧切換弁から構成される油
圧切換弁群のそれぞれの油圧切換弁に連なるアクチュエ
ータを作動させる油圧回路において、同一油圧切換弁群
内の負荷圧力の低いアクチュエータに連なる油圧切換弁
のスプールの移動ストロークを、外部からの信号に比例
して制限するストローク制限手段を設け、該ストローク
制限手段の受信部には外部から任意に調整可能の調整手
段と負荷圧力の高いアクチュエータ用油圧切換弁の操作
がなされたことを検出する検出手段からの信号を接続し
たことを特徴とするアクチュエータ相対速度の可変方
法。1. A hydraulic pressure switching valve group, each hydraulic pressure switching valve including a plurality of hydraulic pressure switching valves connected in a parallel circuit is switched by a moving stroke of a spool proportional to the magnitude of a hydraulic pressure signal acting on a pilot oil chamber. In the hydraulic circuit that operates the actuators connected to the valves, a stroke limiting means is provided to limit the moving stroke of the spool of the hydraulic switching valves connected to the actuators with low load pressure in the same hydraulic switching valve group in proportion to the signal from the outside. A signal from an adjusting means that can be arbitrarily adjusted from the outside and a detecting means that detects that the hydraulic pressure switching valve for an actuator having a high load pressure is operated is connected to the receiving portion of the stroke limiting means. Actuator relative speed variable method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5520993A JPH06129405A (en) | 1993-02-18 | 1993-02-18 | Variable method for actuator relative speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5520993A JPH06129405A (en) | 1993-02-18 | 1993-02-18 | Variable method for actuator relative speed |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61042392A Division JPS62200005A (en) | 1986-02-26 | 1986-02-26 | Relative speed varying device for actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06129405A true JPH06129405A (en) | 1994-05-10 |
Family
ID=12992257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5520993A Pending JPH06129405A (en) | 1993-02-18 | 1993-02-18 | Variable method for actuator relative speed |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06129405A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018003285A (en) * | 2016-06-27 | 2018-01-11 | 日立建機株式会社 | Work machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5628302A (en) * | 1979-08-17 | 1981-03-19 | Hitachi Constr Mach Co Ltd | Speed control circuit of crane or the like |
| JPS60237204A (en) * | 1984-05-09 | 1985-11-26 | Toshiba Mach Co Ltd | Oil pressure circuit to a plurality of actuators |
| JPS62165003A (en) * | 1986-01-10 | 1987-07-21 | Tech Res Assoc Openair Coal Min Mach | Working oil distributing device in hydraulic circuit of hydraulic shovel or the like |
-
1993
- 1993-02-18 JP JP5520993A patent/JPH06129405A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5628302A (en) * | 1979-08-17 | 1981-03-19 | Hitachi Constr Mach Co Ltd | Speed control circuit of crane or the like |
| JPS60237204A (en) * | 1984-05-09 | 1985-11-26 | Toshiba Mach Co Ltd | Oil pressure circuit to a plurality of actuators |
| JPS62165003A (en) * | 1986-01-10 | 1987-07-21 | Tech Res Assoc Openair Coal Min Mach | Working oil distributing device in hydraulic circuit of hydraulic shovel or the like |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018003285A (en) * | 2016-06-27 | 2018-01-11 | 日立建機株式会社 | Work machine |
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