WO2014192481A1 - 作業車両、及び作業車両の制御方法 - Google Patents
作業車両、及び作業車両の制御方法 Download PDFInfo
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- WO2014192481A1 WO2014192481A1 PCT/JP2014/061828 JP2014061828W WO2014192481A1 WO 2014192481 A1 WO2014192481 A1 WO 2014192481A1 JP 2014061828 W JP2014061828 W JP 2014061828W WO 2014192481 A1 WO2014192481 A1 WO 2014192481A1
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- current value
- pressure
- electromagnetic proportional
- value information
- valve
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- 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
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- 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
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- 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
- E02F9/14—Booms only for booms with cable suspension arrangements; Cable suspensions
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
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- 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
- E02F9/2292—Systems with two or more pumps
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/0401—Valve members; Fluid interconnections therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
- F16K31/42—Actuating devices; Operating means; Releasing devices actuated by fluid by means of electrically-actuated members in the supply or discharge conduits of the fluid motor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
- G05D7/0641—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means using a plurality of throttling means
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/575—Pilot pressure control
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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
- 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
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/67—Methods for controlling pilot pressure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/0318—Processes
- Y10T137/0324—With control of flow by a condition or characteristic of a fluid
- Y10T137/0379—By fluid pressure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/87096—Valves with separate, correlated, actuators
- Y10T137/87113—Interlocked
Definitions
- the present invention relates to a work vehicle and a work vehicle control method.
- the work vehicle drives a work machine and performs a desired work.
- a working machine for a hydraulic excavator includes an arm, a boom, and a bucket.
- Each of the arm, boom, and bucket is driven by a hydraulic cylinder.
- each cylinder drives an arm, boom, or bucket.
- each cylinder is connected to a switching valve, and the switching direction of the hydraulic oil to each cylinder is switched by each switching valve.
- each cylinder expands and contracts to drive the arm, boom, or bucket.
- Each switching valve is driven by a pilot pressure controlled by a pilot pressure control valve.
- the pilot pressure control valve controls the pilot pressure according to the operation amount of the operation lever.
- An electromagnetic proportional valve is installed between the pilot pressure control valve and each pilot port of each switching valve.
- a control part controls an electromagnetic proportional valve based on the pilot pressure applied from a pilot pressure control valve, and automatic control of each cylinder is attained (refer to patent documents 1).
- the control unit controls the current value of the current output to the electromagnetic proportional valve to open and close the electromagnetic proportional valve, and as a result, each cylinder can be automatically controlled.
- the automatic control is a concept including automatic control including a part of the operator's work.
- a work vehicle includes a work machine, a switching valve, an operation member, a pilot pressure control valve, an electromagnetic proportional valve, an upstream pilot flow path, a pressure sensor, and a control unit.
- the switching valve is configured to switch a supply direction of the first working fluid supplied to the work machine.
- the operation member is configured to operate the work machine.
- the pilot pressure control valve is configured to control the pressure of the second working fluid that drives the switching valve in accordance with the operation amount of the operation member.
- the electromagnetic proportional valve is installed between the switching valve and the pilot pressure control valve.
- the upstream pilot flow path connects the pilot pressure control valve and the electromagnetic proportional valve.
- the pressure sensor is configured to sense the pressure of the second working fluid in the upstream pilot flow path.
- the control unit selects at least one current value information from the plurality of current value information based on the pressure detected by the pressure sensor.
- the control unit is configured to set a current value of a current output to the electromagnetic proportional valve based on the selected current value information.
- the current value information indicates a correspondence relationship between the current value of the current output to the electromagnetic proportional valve and the pressure of the second working fluid output from the electromagnetic proportional valve.
- the control unit selects at least one current value information from a plurality of current value information based on the pressure detected by the pressure sensor. And a control part sets the electric current value of the electric current output to an electromagnetic proportional valve based on the selected electric current value information. For this reason, the electromagnetic proportional valve is driven by a current having a more appropriate current value. As a result, an appropriate pilot pressure is applied by the switching valve, and the work implement is appropriately automatically controlled.
- the pressure (input pressure) of the working fluid input to the electromagnetic proportional valve is not necessarily equal to the pressure of the working fluid (output pressure) output from the electromagnetic proportional valve.
- the output pressure may be different even if a current having the same current value is output to the electromagnetic proportional valve.
- the control unit estimates the operating speed of the work implement based on the input pressure. For this reason, for example, when the input pressure is higher than the output pressure, the operating speed of the work implement estimated by the control unit is faster than the actual operating speed of the work implement.
- the following phenomenon occurs when the excavator performs leveling work on the terrain along the design surface.
- the operator performs the excavation operation of the arm and the lowering operation of the boom so that the blade edge of the bucket moves along the design surface.
- the control unit performs control to raise the boom when it is determined that the cutting edge is likely to move downward from the design surface. If the arm operating speed estimated by the control unit is faster than the actual arm operating speed, the control unit moves the boom higher than necessary, and the cutting edge moves above the design surface. Will occur. For example, such a phenomenon can occur particularly when the pilot pressure increases when the arm operation lever is further tilted to increase the working speed.
- the control unit sets the current value of the current output to the electromagnetic proportional valve based on appropriate current value information corresponding to the input pressure. For this reason, for example, the pressure of the second working fluid input to the electromagnetic proportional valve can be made substantially equal to the pressure of the second working fluid output from the electromagnetic proportional valve. As a result, the operating speed of the work implement estimated by the control unit is substantially equal to the actual operating speed of the work implement. Therefore, the work vehicle according to the present invention can appropriately automatically control the work machine.
- control unit is based on the at least one selected current value information so that the pressure of the second working fluid output from the electromagnetic proportional valve is equal to the pressure detected by the pressure sensor. Is configured to set a current value to be output to.
- the plurality of current value information is information set for each of a plurality of specific pressures input to the electromagnetic proportional valve.
- the control unit selects at least one piece of current value information of a specific pressure close to the pressure detected by the pressure sensor from the plurality of pieces of current value information.
- the control unit sets the current value of the current output to the electromagnetic proportional valve based on the selected at least one current value information.
- control unit is configured to select the first current value information from the plurality of current value information when the pressure detected by the pressure sensor is the first pressure. Further, when the pressure detected by the pressure sensor is the second pressure, the control unit is configured to select the second current value information from the plurality of current value information. When the pressure detected by the pressure sensor is between the first pressure and the second pressure, the control unit sets the current value of the current output to the electromagnetic proportional valve by interpolation.
- the control unit sets the current value of the current output to the electromagnetic proportional valve by linear interpolation.
- the control unit selects the first and second current value information from the plurality of current value information. And a control part sets the electric current value of the electric current output to an electromagnetic proportional valve using the interpolation of the electric current value set based on 1st electric current value information, and the electric current value set based on 2nd electric current value information To do.
- the work machine has a cylinder driven by the first working fluid.
- the switching valve is configured to switch the supply direction of the first working fluid supplied to the cylinder.
- the work machine further includes a vehicle body.
- the work machine includes a boom, an arm, a boom cylinder, and an arm cylinder.
- the boom is rotatably attached to the vehicle body.
- the arm is rotatably attached to the boom.
- the boom cylinder is configured to drive the boom.
- the arm cylinder is configured to drive the arm.
- the switching valve is configured to switch the supply direction of the first working fluid supplied to the arm cylinder.
- a work vehicle includes a work implement, a switching valve, an operation member, a pilot pressure control valve, an electromagnetic proportional valve, an upstream pilot flow path, a pressure sensor, and a control unit.
- the switching valve is configured to switch a supply direction of the first working fluid supplied to the work machine.
- the operation member is configured to operate the work machine.
- the pilot pressure control valve is configured to control the pressure of the second working fluid that drives the switching valve in accordance with the operation amount of the operation member.
- the electromagnetic proportional valve is installed between the switching valve and the pilot pressure control valve.
- the upstream pilot flow path connects the pilot pressure control valve and the electromagnetic proportional valve.
- the pressure sensor is configured to sense the pressure of the second working fluid in the upstream pilot flow path.
- the control unit selects at least one current value information from the plurality of current value information based on the pressure detected by the pressure sensor.
- the control unit is configured to set the current value of the current output to the electromagnetic proportional valve based on the selected current value information.
- the current value information indicates a correspondence relationship between the current value of the current input to the electromagnetic proportional valve and the pressure of the second working fluid output from the electromagnetic proportional valve.
- the control method is a method for controlling a work machine of a work vehicle.
- This control method includes steps (a) to (c).
- Step (a) obtains a pressure signal indicating the pressure of the second working fluid supplied from the pilot pressure control valve to the electromagnetic proportional valve.
- Step (b) selects at least one piece of current value information from a plurality of pieces of current value information based on the pressure obtained in step (a).
- the current value information indicates a correspondence relationship between the current value of the current output to the electromagnetic proportional valve and the pressure of the second working fluid output from the electromagnetic proportional valve.
- Step (c) sets the current value of the current output to the electromagnetic proportional valve based on the current value information selected in step (b).
- control method further includes steps (d) to (f).
- step (d) the current value set in step (c) is output to the electromagnetic proportional valve to control the electromagnetic proportional valve.
- step (e) a pilot pressure is applied to the switching valve by the second working fluid output from the electromagnetic proportional valve controlled in step (d).
- step (f) the supply direction of the first working fluid supplied to the work implement is switched based on the pilot pressure applied in step (e).
- the work implement can be automatically controlled appropriately.
- the perspective view of a hydraulic excavator The perspective view inside a cab. Schematic of the structure which transmits / receives information to a hydraulic excavator. Schematic which shows the operation
- FIG. 1 is a perspective view of a hydraulic excavator 100.
- front and rear mean the front and rear of the vehicle body 101.
- right”, “left”, “upper”, and “lower” in the following description indicate directions based on a state of looking forward from the driver's seat.
- Vehicle width direction and “left-right direction” are synonymous.
- the excavator 100 includes a vehicle main body 101 and a work implement 10.
- the excavator 100 performs a desired work using the work machine 10.
- the vehicle body 101 includes a traveling body 102 and a turning body 103.
- the traveling body 102 includes a pair of traveling devices 104 and 105.
- the traveling device 104 has a crawler belt 106, and the traveling device 105 has a crawler belt 107.
- the traveling devices 104 and 105 travel the hydraulic excavator 100 by obtaining driving force from the engine 30 and driving the crawler belts 106 and 107.
- the turning body 103 is placed on the traveling body 102 and is provided so as to be able to turn with respect to the traveling body 102.
- the swivel body 103 includes a cab 108, a fuel tank 109, a hydraulic oil tank 110, and an engine room 111.
- the fuel tank 109 stores fuel for driving the engine 30 (see FIG. 5).
- the fuel tank 109 is disposed in front of the hydraulic oil tank 110.
- the hydraulic oil tank 110 stores hydraulic oil.
- the hydraulic oil tank 110 is arranged side by side with the fuel tank 109 in the front-rear direction.
- the engine room 111 houses the engine 30, the first to third hydraulic pumps 31 to 33, and the like.
- the engine room 111 is disposed behind the cab 108, the fuel tank 109, and the hydraulic oil tank 110.
- the work machine 10 is attached to the front part of the revolving structure 103.
- the work machine 10 is driven by hydraulic oil.
- the work machine 10 includes a boom 11, an arm 12, a bucket 13, a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16.
- the working machine 10 according to the present embodiment includes a pair of boom cylinders 14.
- the base end portion of the boom 11 is rotatably connected to the swing body 103. Further, the base end portion of the arm 12 is rotatably connected to the tip end portion of the boom 11. Bucket 13 is rotatably connected to the tip of arm 12.
- Each boom cylinder 14, arm cylinder 15 and bucket cylinder 16 are hydraulic cylinders and are driven by hydraulic oil. Each cylinder 14 to 16 is driven by hydraulic oil discharged from a first hydraulic pump 31 described later.
- Each boom cylinder 14 operates the boom 11.
- the arm cylinder 15 operates the arm 12.
- the bucket cylinder 16 operates the bucket 13.
- the work machine 10 is driven by driving these cylinders 14-16.
- FIG. 2 is a perspective view showing the inside of the cab 108.
- a driver's seat 112 is installed inside the cab 108.
- a front window is formed in the front portion of the cab 108.
- the front window is transparent. For this reason, the operator sitting in the driver's seat 112 can visually recognize the outside of the cab 108 through the front window. For example, the operator can check the bucket 13 through the front window.
- a monitor device 116 is installed at the front of the cab 108.
- the monitor device 116 is disposed in the right front part or the left front part in the cab 108.
- the monitor device 116 according to the present embodiment is disposed in the right front portion.
- the monitor device 116 is attached to the front pillar. For this reason, the operator can easily see both the work machine 10 and the monitor device 116.
- a traveling operation unit 113 is installed in front of the driver's seat 112.
- the travel operation unit 113 includes a right travel operation lever 114 and a left travel operation lever 115.
- the right traveling operation lever 114 operates the right traveling device 104
- the left traveling operation lever 115 operates the left traveling device 105.
- a first operating lever 117 is installed on the right side of the driver's seat 112. The operator drives the boom 11 and the bucket 13 of the work machine 10 by operating the first operation lever 117.
- a second operation lever 118 is installed on the left side of the driver's seat 112. The operator operates the second operation lever 118 to drive the arm 12 of the work machine 10 or to turn the swing body 103.
- FIG. 3 is a schematic diagram of a configuration for transmitting and receiving information to and from the excavator 100.
- the excavator 100 includes a control unit 20, a communication terminal 91, and an antenna 92.
- the control unit 20 controls the operation of the work machine 10, the turning of the turning body 103, the running of the traveling body 102, and the like.
- the control unit 20 and the monitor device 116 are connected via a bidirectional network communication cable 97.
- the control unit 20 and the monitor device 116 can transmit and receive information to and from each other via the network communication cable 97.
- Each of the control unit 20 and the monitor device 116 is mainly configured by a computer device such as a microcomputer.
- control unit 20 and the external monitoring station 96 communicate via satellite communication.
- a communication terminal 91 having a satellite communication antenna 92 is connected to the control unit 20.
- the satellite communication antenna 92 is installed on the revolving structure 103.
- a network control station 95 is connected to the ground monitoring station 96 via the Internet or the like.
- the network control station 95 is connected to a communication earth station 94 that communicates with the communication satellite 93 via a dedicated communication line via a dedicated line. Thereby, data is transmitted and received between the control unit 20 and the predetermined monitoring station 96 via the communication terminal 91, the communication satellite 93, the communication earth station 94, and the network control station 95.
- the control unit 20 stores construction design data created by three-dimensional CAD (Computer Aided Design).
- the monitor device 116 displays the position of the excavator 100 received from the outside on the screen in real time. For this reason, the operator can always check the working state of the excavator 100 by the monitor device 116.
- the control unit 20 compares the construction design data with the position and orientation of the work machine 10 in real time. And the control part 20 controls the working machine 10 by driving a hydraulic circuit based on the comparison result. Specifically, as illustrated in FIG. 4, the control unit 20 compares the design surface S with the position of the bucket 13. And the control part 20 controls the working machine 10 so that the blade edge
- the design surface S means the surface formed by constructing according to construction design data.
- FIG. 5 is a hydraulic circuit diagram of the excavator 100.
- the excavator 100 includes an engine 30, a plurality of hydraulic pumps 31 to 33, a plurality of cylinders 14 to 16, travel motors 17 and 18, a plurality of switching valves 36 to 40, and a plurality of pilot pressure control valves. 41 to 48, a control unit 20, a plurality of hydraulic sensors (an example of pressure sensors) 61 to 66, and a plurality of electromagnetic proportional valves 71 to 77.
- the excavator 100 includes first to third hydraulic pumps 31 to 33 as a plurality of hydraulic pumps.
- the excavator 100 includes the above-described boom cylinder 14, arm cylinder 15, and bucket cylinder 16 as a plurality of cylinders.
- the excavator 100 includes an arm switching valve 36, a boom switching valve 37, a bucket switching valve 38, a right traveling switching valve 39, and a left traveling switching valve 40 as a plurality of switching valves.
- the excavator 100 includes first to eighth pilot pressure control valves 41 to 48 as a plurality of pilot pressure control valves.
- the excavator 100 includes first to sixth hydraulic sensors 61 to 66 as a plurality of hydraulic sensors.
- the excavator 100 includes first to seventh electromagnetic proportional valves 71 to 77 as a plurality of electromagnetic proportional valves.
- the first to third hydraulic pumps 31 to 33 are driven by the engine 30.
- the first and second hydraulic pumps 31 and 32 drive hydraulic actuators such as the boom cylinder 14, the arm cylinder 15, the bucket cylinder 16, and the traveling motors 17 and 18.
- the hydraulic oil (an example of the first hydraulic fluid) discharged by the first and second hydraulic pumps 31 and 32 is supplied to each hydraulic actuator via each switching valve 36-40. Thereby, each hydraulic actuator is driven.
- the hydraulic oil discharged from each hydraulic actuator is discharged to the tank 35 via the switching valves 36 to 40.
- the hydraulic oil supplied to each hydraulic actuator is referred to as a first hydraulic oil.
- the third hydraulic pump 33 discharges hydraulic oil (an example of the second hydraulic fluid) for applying a pilot pressure to the switching valves 36 to 40.
- hydraulic oil discharged by the third hydraulic pump 33 is depressurized by the pilot pressure control valves 41 to 46.
- the reduced hydraulic fluid applies pilot pressure to the pilot ports p1, p2 of the switching valves 36-40.
- the hydraulic oil that applies the pilot pressure to the switching valves 36 to 40 is referred to as a second hydraulic oil.
- the switching valves 36 to 40 are configured to switch the supply direction of the first hydraulic oil supplied to the hydraulic actuators. Specifically, each of the switching valves 36 to 40 has first and second pilot ports p1 and p2. When the pilot pressure is applied to the first or second pilot port p1, p2, the switching valves 36 to 40 are driven.
- the arm switching valve 36 is configured to switch the supply direction of the first hydraulic oil supplied to the arm cylinder 15.
- the arm switching valve 36 switches the supply direction of the first hydraulic oil
- the first hydraulic oil is supplied to either the bottom side oil chamber 151 of the arm cylinder 15 or the head side oil chamber 152 of the arm cylinder 15. Is done.
- the arm cylinder 15 expands and contracts.
- the arm switching valve 36 can select a neutral state in which the first hydraulic oil is not supplied to either the bottom side oil chamber 151 or the head side oil chamber 152.
- the arm switching valve 36 when a pilot pressure is applied to the first pilot port p 1 of the arm switching valve 36, the arm switching valve 36 causes the first hydraulic oil from the second hydraulic pump 32 to flow into the head side oil chamber 152 of the arm cylinder 15. The supply direction of the first hydraulic oil is switched so as to be supplied to When the pilot pressure is applied to the second pilot port p2 of the arm switching valve 36, the arm switching valve 36 causes the first hydraulic oil from the second hydraulic pump 32 to flow into the bottom side oil chamber 151 of the arm cylinder 15. The supply direction of the first hydraulic oil is switched so as to be supplied to
- the boom switching valve 37 is configured to switch the supply direction of the first hydraulic oil supplied to the boom cylinder 14.
- the boom switching valve 37 switches the supply direction of the first hydraulic oil
- the first hydraulic oil is supplied to either the bottom side oil chamber 141 of the boom cylinder 14 or the head side oil chamber 142 of the boom cylinder 14.
- the boom cylinder 14 expands and contracts.
- the boom switching valve 37 can also select a neutral state in which the first hydraulic oil is not supplied to either the bottom side oil chamber 141 or the head side oil chamber 142.
- the boom switching valve 37 causes the first hydraulic oil from the first hydraulic pump 31 to flow into the bottom side oil chamber 141 of the boom cylinder 14.
- the supply direction of the first hydraulic oil is switched so as to be supplied to
- the boom switching valve 37 causes the first hydraulic oil from the first hydraulic pump 31 to flow into the head side oil chamber 142 of the boom cylinder 14.
- the supply direction of the first hydraulic oil is switched so as to be supplied to
- the bucket switching valve 38 is configured to switch the supply direction of the first hydraulic oil supplied to the bucket cylinder 16.
- the bucket switching valve 38 switches the supply direction of the first hydraulic oil
- the first hydraulic oil is supplied to either the bottom side oil chamber 161 of the bucket cylinder 16 or the head side oil chamber 162 of the bucket cylinder 16.
- the bucket cylinder 16 expands and contracts.
- the bucket switching valve 38 can select a neutral state in which the first hydraulic oil is not supplied to either the bottom side oil chamber 161 or the head side oil chamber 162.
- the bucket switching valve 38 when a pilot pressure is applied to the first pilot port p ⁇ b> 1 of the bucket switching valve 38, the bucket switching valve 38 causes the first hydraulic oil from the first hydraulic pump 31 to flow into the head side oil chamber 162 of the bucket cylinder 16. The supply direction of the first hydraulic oil is switched so as to be supplied to When the pilot pressure is applied to the second pilot port p2 of the bucket switching valve 38, the bucket switching valve 38 causes the first hydraulic oil from the first hydraulic pump 31 to flow into the bottom side oil chamber 161 of the bucket cylinder 16. The supply direction of the first hydraulic oil is switched so as to be supplied to
- the left travel switching valve 40 is configured to switch the supply direction of the first hydraulic oil supplied to the travel motor 18.
- the right travel switching valve 39 is configured to switch the supply direction of the first hydraulic oil supplied to the travel motor 17.
- the pilot pressure control valves 41 to 48 are configured to control pilot pressures for driving the switching valves 36 to 40.
- the first pilot pressure control valve 41 controls the pilot pressure applied to the second pilot port p2 of the boom switching valve 37.
- the second pilot pressure control valve 42 controls the pilot pressure applied to the first pilot port p 1 of the boom switching valve 37.
- the third pilot pressure control valve 43 controls the pilot pressure applied to the second pilot port p2 of the bucket switching valve 38.
- the fourth pilot pressure control valve 44 controls the pilot pressure applied to the first pilot port p1 of the bucket switching valve 38.
- the fifth pilot pressure control valve 45 controls the pilot pressure applied to the first pilot port p1 of the arm switching valve 36.
- the sixth pilot pressure control valve 46 controls the pilot pressure applied to the second pilot port p2 of the arm switching valve 36.
- the seventh pilot pressure control valve 47 controls the pilot pressure applied to the first pilot port of the motor switching valve (not shown).
- the eighth pilot pressure control valve 48 controls the pilot pressure applied to the second pilot port of the motor switching valve (not shown).
- Each pilot pressure control valve 41 to 48 has a pump port p3, a tank port p4, and a supply port p5.
- Each pump port p ⁇ b> 3 is connected to the pump flow path 21.
- Each tank port p4 is connected to the tank flow path 22.
- Each supply port p5 is connected to each upstream pilot channel 51 to 58 described later.
- the pump flow path 21 and the tank flow path 22 are connected to the tank 35.
- a third hydraulic pump 33 is installed in the pump passage 21.
- the third hydraulic pump 33 discharges the second hydraulic oil to the pilot pressure control valves 41 to 48 via the pump passage 21.
- the third hydraulic pump 33 is a pump separate from the first hydraulic pump 31 and the second hydraulic pump 32 described above. However, the first hydraulic pump 31 or the second hydraulic pump 32 may be used instead of the third hydraulic pump 33.
- Each pilot pressure control valve 41 to 48 can be switched between an output state and a discharge state.
- the pump port p3 and the supply port p5 communicate with each other.
- the tank port p4 and the supply port p5 communicate with each other.
- the upstream pilot channels 51 to 56 are channels that connect the pilot pressure control valves 41 to 46 and the electromagnetic proportional valves 71 to 76, respectively.
- Each upstream pilot flow path 51 to 56 is connected to a supply port p5 of each pilot pressure control valve 41 to 46.
- the downstream pilot channels 81 to 86 are channels that connect the electromagnetic proportional valves 71 to 76 and the switching valves 36 to 40, respectively.
- the downstream pilot channels 81 to 86 are connected to the first or second pilot ports p1 and p2 of the switching valves 36 to 40, respectively.
- the first upstream pilot flow path 51 connects the supply port p5 of the first pilot pressure control valve 41 and the first electromagnetic proportional valve 71.
- the first downstream pilot flow path 81 connects the first electromagnetic proportional valve 71 and the second pilot port p ⁇ b> 2 of the boom switching valve 37.
- the second upstream pilot flow path 52 connects the supply port p5 of the second pilot pressure control valve 42 and the second electromagnetic proportional valve 72.
- the second downstream pilot flow path 82 connects the second electromagnetic proportional valve 72 and the first pilot port p1 of the boom switching valve 37.
- the third upstream pilot flow path 53 connects the supply port p5 of the third pilot pressure control valve 43 and the third electromagnetic proportional valve 73.
- the third downstream pilot flow path 83 connects the third electromagnetic proportional valve 73 and the second pilot port p ⁇ b> 2 of the bucket switching valve 38.
- the fourth upstream pilot flow path 54 connects the supply port p5 of the fourth pilot pressure control valve 44 and the fourth electromagnetic proportional valve 74.
- the fourth downstream pilot flow path 84 connects the fourth electromagnetic proportional valve 74 and the first pilot port p1 of the bucket switching valve 38.
- the fifth upstream pilot flow path 55 connects the supply port p5 of the fifth pilot pressure control valve 45 and the fifth electromagnetic proportional valve 75.
- the fifth downstream pilot flow path 85 connects the fifth electromagnetic proportional valve 75 and the first pilot port p1 of the arm switching valve 36.
- the sixth upstream pilot flow path 56 connects the supply port p5 of the sixth pilot pressure control valve 46 and the sixth electromagnetic proportional valve 76.
- the sixth downstream pilot flow path 86 connects the sixth electromagnetic proportional valve 76 and the second pilot port p ⁇ b> 2 of the arm switching valve 36.
- the seventh upstream pilot flow path 57 connects the supply port p5 of the seventh pilot pressure control valve 47 and the first pilot port of the motor switching valve.
- the eighth upstream pilot flow path 58 connects the supply port p5 of the eighth pilot pressure control valve 48 and the second pilot port of the motor switching valve.
- the ninth upstream pilot flow path 59 is connected to the third hydraulic pump 33 and the seventh electromagnetic proportional valve 77.
- the ninth downstream pilot flow path 89 connects the seventh electromagnetic proportional valve 77 and the second downstream pilot flow path 82.
- the ninth downstream pilot channel 89 is connected to the second downstream pilot channel 82 via the shuttle valve 80.
- the high-pressure channel supplies the second hydraulic oil to the first pilot port p 1 of the boom switching valve 37 via the shuttle valve 80. Supply.
- the first and second operation levers 117 and 118 are members for operating the pilot pressure control valves 41 to 48.
- the first operating lever 117 is connected to the first to fourth pilot pressure control valves 41 to 44.
- First to fourth pilot pressure control valves 41 to 44 are arranged so as to correspond to the front / rear and left / right movements of the first operating lever 117.
- the second operation lever 118 is connected to the fifth to eighth pilot pressure control valves 45 to 48.
- the fifth to eighth pilot pressure control valves 45 to 48 are arranged so as to correspond to the front / rear and left / right movements of the second operation lever 118.
- the first to fourth pilot pressure control valves 41 to 44 are switched to the output state or the discharge state. Further, when the operator operates the second operation lever 118, the fifth to eighth pilot pressure control valves 45 to 48 are switched to the output state or the discharge state.
- each pilot pressure control valve 41 to 48 When each pilot pressure control valve 41 to 48 is in a discharge state, the second hydraulic oil in each upstream pilot flow path 51 to 58 passes through each supply port p5, tank port p4, and tank flow path 22 to the tank. To 35.
- first pilot pressure control valve 41 and the second pilot pressure control valve 42 are paired.
- the first pilot pressure control valve 41 and the second pilot pressure control valve 42 correspond to the operation directions of the first operation lever 117 opposite to each other.
- the third pilot pressure control valve 43 and the fourth pilot pressure control valve 44 are paired.
- the third pilot pressure control valve 43 and the fourth pilot pressure control valve 44 correspond to the operation directions of the first operation lever 117 opposite to each other.
- the first pilot pressure control valve 41 when the first operating lever 117 is tilted forward, the first pilot pressure control valve 41 is in the output state, and when the first operating lever 117 is tilted backward, the second pilot pressure control valve 42 is in the output state. .
- the output state of the first pilot pressure control valve 41 and the output state of the second pilot pressure control valve 42 are alternatively selected by the first operation lever 117.
- the first pilot pressure control valve 41 is in the output state
- the second pilot pressure control valve 42 When the first pilot pressure control valve 41 is in the output state, the second pilot pressure control valve 42 is in the discharge state.
- the third pilot pressure control valve 43 is in the output state
- the fourth pilot pressure control valve 44 is in the output state.
- the output state of the third pilot pressure control valve 43 and the output state of the fourth pilot pressure control valve 44 are alternatively selected by the first operating lever 117.
- the third pilot pressure control valve 43 is in the output state
- the fourth pilot pressure control valve 44 is in the discharge state.
- the third pilot pressure control valve 43 is in the discharge state.
- the fifth pilot pressure control valve 45 and the sixth pilot pressure control valve 46 are paired.
- the fifth pilot pressure control valve 45 and the sixth pilot pressure control valve 46 correspond to the operation directions of the second operation lever 118 opposite to each other.
- the seventh pilot pressure control valve 47 and the eighth pilot pressure control valve 48 are paired.
- the seventh pilot pressure control valve 47 and the eighth pilot pressure control valve 48 correspond to the operation directions of the second operation lever 118 opposite to each other.
- the fifth pilot pressure control valve 45 when the second operation lever 118 is tilted to the left, the fifth pilot pressure control valve 45 is in the output state, and when the second operation lever 118 is tilted to the right, the sixth pilot pressure control valve 46 is in the output state.
- the output state of the fifth pilot pressure control valve 45 and the output state of the sixth pilot pressure control valve 46 are alternatively selected by the second operation lever 118.
- the sixth pilot pressure control valve 46 When the fifth pilot pressure control valve 45 is in the output state, the sixth pilot pressure control valve 46 is in the discharge state. Further, when the sixth pilot pressure control valve 46 is in the output state, the fifth pilot pressure control valve 45 is in the discharge state.
- the seventh pilot pressure control valve 47 is in the output state
- the eighth pilot pressure control valve 48 is in the output state.
- the output state of the seventh pilot pressure control valve 47 and the output state of the eighth pilot pressure control valve 48 are alternatively selected by the second operation lever 118.
- the electromagnetic proportional valves 71 to 76 are installed between the switching valves 36 to 38 and the pilot pressure control valves 41 to 46, respectively.
- the electromagnetic proportional valves 71 to 76 are connected to the pilot pressure control valves 41 to 46 via the upstream pilot flow paths 51 to 56, respectively. Further, the electromagnetic proportional valves 71 to 76 are connected to the switching valves 36 to 38 via the downstream pilot flow paths 81 to 86, respectively.
- the electromagnetic proportional valves 71 to 76 are controlled by the current output from the control unit 20. Specifically, the opening degree of each of the electromagnetic proportional valves 71 to 76 is controlled according to the current value of the current output from the control unit 20. For this reason, the hydraulic pressure of the second hydraulic fluid output from each of the electromagnetic proportional valves 71 to 76 is controlled by a command from the control unit 20.
- the seventh electromagnetic proportional valve 77 is installed between the third hydraulic pump 33 and the boom switching valve 37.
- the seventh electromagnetic proportional valve 77 is connected to the third hydraulic pump 33 via the ninth upstream pilot flow path 59.
- the seventh electromagnetic proportional valve 77 is connected to the second downstream pilot flow path 82 via the ninth downstream pilot flow path 89.
- the seventh electromagnetic proportional valve 77 is controlled by the current output from the control unit 20. Specifically, the opening degree of the seventh electromagnetic proportional valve 77 is controlled according to the current value of the current output from the control unit 20.
- the hydraulic pressure sensors 61 to 66 are configured to detect the hydraulic pressure of the second hydraulic oil in the upstream pilot channels 51 to 56. That is, the hydraulic pressure sensors 61 to 66 are configured to detect the hydraulic pressure of the second hydraulic fluid discharged from the pilot pressure control valves 41 to 46 to the electromagnetic proportional valves 71 to 76, respectively.
- the first hydraulic pressure sensor 61 is installed in the first upstream pilot flow path 51 and is configured to detect the hydraulic pressure of the second hydraulic oil in the first upstream pilot flow path 51.
- the second hydraulic pressure sensor 62 is installed in the second upstream pilot flow path 52 and is configured to detect the hydraulic pressure of the second hydraulic oil in the second upstream pilot flow path 52.
- the third hydraulic pressure sensor 63 is installed in the third upstream pilot flow path 53 and is configured to detect the hydraulic pressure of the second hydraulic oil in the third upstream pilot flow path 53.
- the fourth hydraulic pressure sensor 64 is installed in the fourth upstream pilot flow path 54 and is configured to detect the hydraulic pressure of the second hydraulic oil in the fourth upstream pilot flow path 54.
- the fifth hydraulic pressure sensor 65 is installed in the fifth upstream pilot flow path 55 and is configured to detect the hydraulic pressure of the second hydraulic oil in the fifth upstream pilot flow path 55.
- the sixth hydraulic pressure sensor 66 is installed in the sixth upstream pilot flow path 56 and is configured to detect the hydraulic pressure of the second hydraulic oil in the sixth upstream pilot flow path 56.
- Each hydraulic sensor 61 to 66 outputs the detection result to the control unit 20 as a hydraulic signal.
- the hydraulic pressure signal is an electrical signal corresponding to the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66.
- the control unit 20 is configured to select at least one piece of current value information from a plurality of pieces of current value information based on the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66.
- the control unit 20 is configured to set the current value of the current output to each of the electromagnetic proportional valves 71 to 76 based on the selected at least one current value information.
- the current value information includes the current value of the current output to each of the electromagnetic proportional valves 71 to 76, and the hydraulic pressure of the second hydraulic oil output from each of the electromagnetic proportional valves 71 to 76. The correspondence relationship is shown.
- the control unit 20 determines at least one of the plurality of current value information based on the hydraulic pressure detected by the first hydraulic pressure sensor 61. Select current value information.
- the control unit 20 obtains at least one current value information from a plurality of current value information based on the hydraulic pressure detected by the second hydraulic pressure sensor 62. select.
- the control unit 20 obtains at least one current value information from a plurality of current value information based on the hydraulic pressure detected by the third hydraulic pressure sensor 63. select.
- the control unit 20 When setting the current value of the current output to the fourth electromagnetic proportional valve 74, the control unit 20 obtains at least one current value information from a plurality of current value information based on the hydraulic pressure detected by the fourth hydraulic pressure sensor 64. select.
- the control unit 20 When setting the current value of the current output to the fifth electromagnetic proportional valve 75, the control unit 20 obtains at least one current value information from a plurality of current value information based on the hydraulic pressure detected by the fifth hydraulic pressure sensor 65. select.
- the control unit 20 When setting the current value of the current output to the sixth electromagnetic proportional valve 76, the control unit 20 obtains at least one current value information from a plurality of current value information based on the hydraulic pressure detected by the sixth hydraulic pressure sensor 66. select.
- the control unit 20 stores a plurality of pieces of current value information as shown in FIG. Each current value information is set for each hydraulic pressure of the second hydraulic oil input to each of the electromagnetic proportional valves 71 to 76 (an example of the specific pressure of the present invention). For example, the control unit 20 stores first to fifth current value information. The control unit 20 selects at least one current value information from the first to fifth current value information.
- FIG. 6 is a graph showing the first to fifth current value information. The horizontal axis of the graph of FIG. 6 indicates the current value of the current output to each of the electromagnetic proportional valves 71 to 76. In addition, the vertical axis of the graph of FIG. 6 indicates the hydraulic pressure of the second hydraulic oil output from the electromagnetic proportional valves 71 to 76 to the first or second pilot ports p1 and p2.
- a straight line connecting point A and point F in FIG. 6 indicates the first current value information.
- the straight line connecting point A and point E and the straight line connecting point E and point G in FIG. 6 indicate the second current value information.
- the straight line connecting point A and point D and the straight line connecting point D and point H in FIG. 6 indicate the third current value information.
- the straight line connecting point A and point C and the straight line connecting point C and point I in FIG. 6 indicate the fourth current value information.
- the straight line connecting point A and point B and the straight line connecting point B and point J in FIG. 6 indicate the fifth current value information.
- the control unit 20 selects the first current value information when the oil pressure detected by the oil pressure sensors 61 to 66 is the first oil pressure.
- the control unit 20 selects the second current value information when the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66 is the second hydraulic pressure.
- the control unit 20 selects the third current value information when the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66 is the third hydraulic pressure.
- the control unit 20 selects the fourth current value information when the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66 is the fourth hydraulic pressure.
- the control unit 20 selects the fifth current value information when the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66 is the fifth hydraulic pressure.
- the first hydraulic pressure, the second hydraulic pressure, the third hydraulic pressure, the fourth hydraulic pressure, and the fifth hydraulic pressure in descending order of the hydraulic pressure.
- the first current value information is linear from point A to point B
- the second to fifth current value information is a line formed by two straight lines having different slopes. expressed. That is, the second to fifth current value information is bent at a certain point.
- the second current value information is bent at point E
- the third current value information is bent at point D
- the fourth current value information is bent at point C
- the fifth current value information is bent at point B.
- the oil pressure at the bending points B to E decreases in the order of the second current value information, the third current value information, the fourth current value information, and the fifth current value information. That is, as the oil pressure detected by each of the oil pressure sensors 61 to 66 is smaller, the control unit 20 selects current value information in which the oil pressure at the bending point is smaller.
- the control unit 20 sets the current value of the current output to each of the electromagnetic proportional valves 71 to 76 by linear interpolation. To do. For example, when the oil pressure detected by each of the oil pressure sensors 61 to 66 is between the first oil pressure and the second oil pressure, the control unit 20 determines each electromagnetic wave based on the first current value information and the second current value information. The current value of the current output to the proportional valves 71 to 76 is set by linear interpolation.
- the control unit 20 uses the linear interpolation between the current value set based on the first current value information and the current value set based on the second current value information, to each of the electromagnetic proportional valves 71 to 76. Set the output current value.
- the current value information is common to the electromagnetic proportional valves 71 to 76, but is not particularly limited thereto. For example, each current value information may be different for each electromagnetic proportional valve 71-76.
- the control unit 20 is also configured to output a current to the seventh electromagnetic proportional valve 77.
- control unit 20 estimates the operating speed of each hydraulic actuator based on the hydraulic pressure detected by each hydraulic sensor 61-66. For example, the control unit 20 estimates the operating speed of the arm 12 based on the hydraulic pressure detected by the sixth hydraulic sensor 66.
- the operator operates the first operation lever 117 and the second operation lever 118 to lower the boom 11 and cause the arm 12 to perform excavation.
- the blade edge 131 of the bucket 13 draws an arcuate locus. For this reason, when the design surface S is a flat surface, the operator needs to cause the arm 12 to perform excavation and lower the boom 11.
- the operator operates the second operation lever 118 to cause the arm 12 to perform excavation. That is, the operator operates the second operation lever 118 to set the sixth pilot pressure control valve 46 to the output state.
- the second hydraulic oil having a pressure corresponding to the operation amount of the second operation lever 118 is supplied to the arm switching valve 36.
- a pilot pressure is applied to the second pilot port p ⁇ b> 2 of the arm switching valve 36 by the second hydraulic oil supplied to the arm switching valve 36.
- the excavation operation of the arm 12 is performed.
- the operator operates the first operation lever 117 simultaneously with the excavation operation of the arm 12 to lower the boom 11. That is, the operator operates the first operation lever 117 to set the first pilot pressure control valve 41 to the output state.
- the second hydraulic oil having a pressure corresponding to the operation amount of the first operation lever 117 is supplied to the boom switching valve 37. Pilot pressure is applied to the second pilot port p ⁇ b> 2 of the boom switching valve 37 by the second hydraulic oil supplied to the boom switching valve 37. As a result, the boom 11 is lowered.
- the control unit 20 can forcibly raise the boom 11. Specifically, when it is determined that the cutting edge 131 of the bucket 13 is likely to move downward from the design surface S, the control unit 20 controls the first electromagnetic proportional valve 71 and the seventh electromagnetic proportional valve 77. That is, the control unit 20 controls the current value of the current output to the first electromagnetic proportional valve 71 to close the first electromagnetic proportional valve 71. Further, the control unit 20 opens the seventh electromagnetic proportional valve 77.
- the hydraulic pressure of the second hydraulic oil discharged from the third hydraulic pump 33 from the third hydraulic pump 33 is applied to the shuttle valve 80.
- the shuttle valve 80 communicates the ninth downstream pilot channel 89 and the second downstream pilot channel 82. Therefore, the hydraulic pressure of the second hydraulic oil discharged from the third hydraulic pump 33 is applied to the first pilot port p1 of the boom switching valve 37. Thus, the boom 11 is raised.
- the control unit 20 can also control the respective electromagnetic proportional valves 72 to 76 other than the first electromagnetic proportional valves 71 and 77.
- the control unit 20 controls the electromagnetic proportional valves 72 to 77, so that the hydraulic actuators can be operated and the operations of the hydraulic actuators can be stopped regardless of the operation of the operator. Further, the control unit 20 controls the electromagnetic proportional valves 71 to 77, whereby the operation speed or the operation range of each hydraulic actuator can be controlled.
- FIG. 7 is a flowchart showing the operation of the control unit 20.
- the operator operates the second operation lever 118 to set the sixth pilot pressure control valve 46 to the output state.
- the second hydraulic oil discharged from the third hydraulic pump 33 is supplied from the sixth pilot pressure control valve 46 to the sixth electromagnetic proportional valve 76.
- the hydraulic pressure of the second hydraulic oil supplied to the sixth upstream pilot flow path 56 corresponds to the operation amount of the second operation lever 118.
- the hydraulic pressure of the second hydraulic oil in the sixth upstream pilot channel 56 is detected by the sixth hydraulic sensor 66.
- the sixth hydraulic sensor 66 outputs the detection result to the control unit 20 as a hydraulic pressure signal.
- the control unit 20 acquires information related to the hydraulic pressure detected by the sixth hydraulic pressure sensor 66 (step S1). Specifically, the control unit 20 acquires the hydraulic signal output by the sixth hydraulic sensor 66.
- the control unit 20 selects at least one piece of current value information from a plurality of pieces of current value information based on the hydraulic pressure signal acquired in Step S1 (Step S2). Specifically, the control unit 20 stores a plurality of pieces of current value information as shown in FIGS. In addition, the control part 20 does not need to memorize
- the control unit 20 sets the current value of the current output to the sixth electromagnetic proportional valve 76 based on the current value information selected in step S2 (step S3). Specifically, the controller 20 outputs at least the second hydraulic oil having a hydraulic pressure substantially equal to the hydraulic pressure detected by the sixth hydraulic pressure sensor 66 so that the sixth electromagnetic proportional valve 76 outputs at least selected in step S2. Based on one piece of current value information, the current value of the current output to the sixth electromagnetic proportional valve 76 is set. More specifically, the hydraulic pressure detected by the sixth hydraulic sensor 66 is regarded as the pressure of the second hydraulic oil output from the sixth electromagnetic proportional valve 76, and based on the selected current value information, the sixth electromagnetic proportional The current value output to the valve 76 is set.
- control unit 20 outputs a current having the current value set in step S3 to the sixth electromagnetic proportional valve 76 (step S4).
- the sixth electromagnetic proportional valve 76 performs the second operation with a hydraulic pressure substantially equal to the hydraulic pressure detected by the sixth hydraulic pressure sensor 66. Oil is output to the arm switching valve 36. That is, the pilot pressure is applied to the second pilot port p2 of the arm switching valve 36. As a result, the arm switching valve 36 switches the supply direction of the first hydraulic oil from the second hydraulic pump 32. Then, the first hydraulic oil from the second hydraulic pump 32 is supplied to the bottom side oil chamber 151 of the arm cylinder 15.
- control unit 20 may control the electromagnetic proportional valves 71 to 75 other than the sixth electromagnetic proportional valve 76 in the same manner. That is, the control unit 20 selects at least one piece of current value information selected from the plurality of pieces of current value information based on the hydraulic pressure detected by each of the hydraulic pressure sensors 61 to 66. Then, the control unit 20 sets the current value of the current output to each of the electromagnetic proportional valves 71 to 75 based on the selected at least one current value information.
- the excavator 100 according to the present embodiment has the following characteristics.
- the control unit 20 sets the current value of the current output to the sixth electromagnetic proportional valve 76 based on the appropriate current value information corresponding to the input hydraulic pressure. For this reason, the hydraulic pressure of the second hydraulic fluid input to the sixth electromagnetic proportional valve 76 and the hydraulic pressure of the second hydraulic fluid output from the sixth electromagnetic proportional valve 76 can be made substantially equal. As a result, the operation speed of the arm 12 estimated by the control unit 20 is substantially equal to the actual operation speed of the arm 12. For this reason, for example, when the control unit 20 performs control to raise the boom 11 according to the operating speed of the arm 12, the control unit 20 can more appropriately control the boom 11.
- control unit 20 selects at least one piece of current value information from the five pieces of current value information, but the number of pieces of current value information is not particularly limited to this.
- the control unit 20 may select at least one current value information from less than five pieces of current value information, or may select at least one current value information from six or more pieces of current value information.
- Modification 2 Although the hydraulic excavator 100 to which the present invention is applied has been described in the above embodiment, the present invention can also be applied to other work vehicles such as a wheel loader or a motor grader.
- the current value information represents the correspondence between the current value of the current output to each of the electromagnetic proportional valves 71 to 76 and the hydraulic pressure of the second hydraulic fluid output from each of the electromagnetic proportional valves 71 to 76. Although shown, it is not limited to this.
- the current value information may indicate a correspondence relationship between the current value of the current input to each of the electromagnetic proportional valves 71 to 76 and the hydraulic pressure of the second hydraulic oil output from each of the electromagnetic proportional valves 71 to 76. Good.
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Abstract
Description
本実施形態に係る油圧ショベル100は、次の特徴を有する。
以上、本発明の実施形態について説明したが、本発明はこれらに限定されるものではなく、本発明の趣旨を逸脱しない限りにおいて種々の変更が可能である。
上記実施形態では、制御部20は、5つの電流値情報から、少なくとも1つの電流値情報を選択するが、電流値情報の数は特にこれに限定されない。例えば、制御部20は、5つ未満の電流値情報から少なくとも1つの電流値情報を選択してもよいし、6つ以上の電流値情報から少なくとも1つの電流値情報を選択してもよい。
上記実施形態では、本発明を適用した油圧ショベル100を説明したが、本発明は、ホイールローダ、又はモータグレーダなどの他の作業車両にも適用することができる。
上記実施形態では、電流値情報とは、各電磁比例弁71~76に出力される電流の電流値と、各電磁比例弁71~76から出力される第2作動油の油圧との対応関係を示すが、特にこれに限定されない。例えば、電流値情報は、各電磁比例弁71~76に入力される電流の電流値と、各電磁比例弁71~76から出力される第2作動油の油圧との対応関係を示していてもよい。
10 作業機
11 ブーム
12 アーム
14 ブームシリンダ
15 アームシリンダ
20 制御部
41~46 パイロット圧制御弁
61~66 油圧センサ
51~56 上流パイロット流路
71~76 電磁比例弁
100 油圧ショベル
Claims (11)
- 作業機と、
前記作業機へ供給される第1作動流体の供給方向を切り換える切換弁と、
前記作業機を操作するための操作部材と、
前記操作部材の操作量に応じて、前記切換弁を駆動する第2作動流体の圧力を制御するパイロット圧制御弁と、
前記切換弁と前記パイロット圧制御弁との間に設置された電磁比例弁と、
前記パイロット圧制御弁と前記電磁比例弁とを接続する上流パイロット流路と、
前記上流パイロット流路内の第2作動流体の圧力を検知する圧力センサと、
前記電磁比例弁へ出力される電流の電流値と前記電磁比例弁から出力される第2作動流体の圧力との対応関係を示す複数の電流値情報から、前記圧力センサによって検知された圧力に基づき少なくとも1つの前記電流値情報を選択し、選択された少なくとも1つの前記電流値情報に基づき、前記電磁比例弁へ出力される電流の電流値を設定する制御部と、
を備える、作業車両。 - 前記制御部は、前記電磁比例弁から出力される第2作動流体の圧力が、前記圧力センサによって検知された圧力と等しくなるように、選択された少なくとも1つの前記電流値情報に基づき、前記電磁比例弁へ出力される前記電流値を設定する、
請求項1に記載の作業車両。 - 前記複数の電流値情報は、前記電磁比例弁に入力される複数の特定圧力ごとに設定された情報であり、
前記制御部は、前記複数の電流値情報から、前記圧力センサによって検知された圧力に近い特定圧力の電流値情報を少なくとも1つ選択し、選択された少なくとも1つの前記電流値情報に基づき、前記電磁比例弁へ出力される電流の電流値を設定する、
請求項1又は2に記載の作業車両。 - 前記制御部は、前記圧力センサによって検知された前記圧力が第1圧力のときに前記複数の電流値情報から第1電流値情報を選択し、前記圧力センサによって検知された前記圧力が第2圧力のときに前記複数の電流値情報から第2電流値情報を選択するように構成され、
前記圧力センサによって検知された圧力が前記第1圧力と前記第2圧力との間にあるときに、前記制御部は、前記電磁比例弁に出力する電流の電流値を補間によって設定する、
請求項1または2に記載の作業車両。 - 前記圧力センサによって検知された圧力が前記第1圧力と前記第2圧力との間にあるときに、前記制御部は、前記電磁比例弁に出力する電流の電流値を線形補間によって設定する、
請求項4に記載の作業車両。 - 前記圧力センサによって検知された圧力が前記第1圧力と前記第2圧力との間にあるときに、前記制御部は、前記複数の電流値情報から前記第1及び第2電流値情報を選択し、前記第1電流値情報に基づき設定された電流値と前記第2電流値情報に基づき設定された電流値との補間を用いて、前記電磁比例弁に出力する電流の電流値を設定する、
請求項4に記載の作業車両。 - 前記作業機は、前記第1作動流体によって駆動されるシリンダを有し、
前記切換弁は、前記シリンダに供給される前記第1作動流体の供給方向を切り換えるように構成される、
請求項1または2に記載の作業車両。 - 車両本体をさらに備え、
前記作業機は、
前記車両本体に回転可能に取り付けられたブームと、
前記ブームに回転可能に取り付けられたアームと、
前記ブームを駆動するブームシリンダと、
前記アームを駆動するアームシリンダと、
を有し、
前記切換弁は、前記アームシリンダへ供給される前記第1作動流体の供給方向を切り換える、
請求項1または2に記載の作業車両。 - 作業機と、
前記作業機へ供給される第1作動流体の供給方向を切り換える切換弁と、
前記作業機を操作するための操作部材と、
前記操作部材の操作量に応じて、前記切換弁を駆動する第2作動流体の圧力を制御するパイロット圧制御弁と、
前記切換弁と前記パイロット圧制御弁との間に設置された電磁比例弁と、
前記パイロット圧制御弁と前記電磁比例弁とを接続する上流パイロット流路と、
前記上流パイロット流路内の第2作動流体の圧力を検知する圧力センサと、
前記電磁比例弁に入力される電流の電流値と前記電磁比例弁から出力される第2作動流体の圧力との対応関係を示す複数の電流値情報から、前記圧力センサによって検知された圧力に基づき少なくとも1つの前記電流値情報を選択し、前記選択された少なくとも1つの前記電流値情報に基づき、前記電磁比例弁へ出力される電流の電流値を設定する制御部と、
を備える、作業車両。 - 作業車両の作業機を制御する方法であって、
(a)パイロット圧制御弁から電磁比例弁に供給される第2作動流体の圧力を示す圧力信号を取得するステップと、
(b)前記電磁比例弁へ出力される電流の電流値と前記電磁比例弁から出力される第2作動流体の圧力との対応関係を示す複数の電流値情報から、前記ステップ(a)において取得した前記圧力信号に基づき少なくとも1つの前記電流値情報を選択するステップと、
(c)前記ステップ(b)において選択された少なくとも1つの前記電流値情報に基づき、前記電磁比例弁へ出力される電流の電流値を設定するステップと、
を含む、制御方法。 - (d)前記ステップ(c)において設定された電流値を前記電磁比例弁に出力して前記電磁比例弁を制御するステップと、
(e)前記ステップ(d)において制御された前記電磁比例弁から出力される第2作動流体によって、切換弁にパイロット圧を印加するステップと、
(f)前記ステップ(e)において印加されたパイロット圧に基づき、作業機へ供給する第1作動流体の供給方向を切り換えるステップと、
を含む、請求項10に記載の制御方法。
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