WO2022176653A1 - 作業機械のブーム制御システム - Google Patents
作業機械のブーム制御システム Download PDFInfo
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- WO2022176653A1 WO2022176653A1 PCT/JP2022/004521 JP2022004521W WO2022176653A1 WO 2022176653 A1 WO2022176653 A1 WO 2022176653A1 JP 2022004521 W JP2022004521 W JP 2022004521W WO 2022176653 A1 WO2022176653 A1 WO 2022176653A1
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- Prior art keywords
- opening
- boom
- valve
- mode
- work
- Prior art date
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- 238000009412 basement excavation Methods 0.000 claims description 23
- 238000007599 discharging Methods 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 91
- 239000010720 hydraulic oil Substances 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
Images
Classifications
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/963—Arrangements on backhoes for alternate use of different tools
-
- 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
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- 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
- F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
- F15B2211/3127—Floating position connecting the working ports and the return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41527—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41581—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—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
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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
- F15B2211/665—Methods of control using electronic components
- F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
Definitions
- the present disclosure relates to a boom control system for work machines.
- Patent Document 1 discloses a working machine such as a hydraulic excavator equipped with a boom float function.
- the boom float function enables the boom to swing freely by communicating the head side oil chamber and the bottom side oil chamber of the boom cylinder with the oil tank without discharging hydraulic oil from the hydraulic pump to the boom cylinder. is.
- an object of the present disclosure is to provide a boom control system for a work machine that can adjust the boom float function according to the application.
- a work machine boom control system of the present disclosure is a work machine boom control system that includes a boom, a boom cylinder, a hydraulic pump, an oil tank, a first valve, and a second valve.
- a boom cylinder drives the boom and has a head side oil chamber and a bottom side oil chamber.
- the first valve supplies oil from the hydraulic pump to the head-side oil chamber and discharges it to the oil tank.
- the second valve supplies oil from the hydraulic pump to the bottom side oil chamber and discharges it to the oil tank.
- the first valve has a first opening through which oil in the head-side oil chamber is discharged to the oil tank.
- the second valve has a second opening through which the oil in the bottom-side oil chamber is discharged to the oil tank.
- the boom control system for the work machine further includes a controller that individually controls the degree of opening of the first opening and the degree of opening of the second opening during work including operation of the boom.
- FIG. 1 is a perspective view schematically showing the configuration of a working machine according to an embodiment of the present disclosure
- FIG. 2 is a diagram showing the configuration of a boom control system of the work machine shown in FIG. 1
- FIG. 3 is a diagram showing an example of functional blocks of the boom control system shown in FIG. 2
- FIG. FIG. 4 is a flow chart showing an example of a boom control method for a work machine according to an embodiment of the present disclosure
- FIG. 4 is a diagram showing states of the first valve and the second valve in the clearance mode; It is a figure which shows the state of a 1st valve
- FIG. 10 is a diagram showing states of the first valve and the second valve in the excavation assist mode;
- FIG. 10 is a diagram showing states of the first valve and the second valve in the excavation assist mode
- FIG. 10 is a diagram showing the relationship (A) between the boom lowering operation amount and the opening degree of the first valve in the clearance mode, and the relationship (B) between the boom lowering operation amount and the opening degree of the second valve.
- FIG. 10 is a diagram showing the relationship (A) between the boom lowering operation amount and the opening degree of the first valve in the breaker mode, and the relationship (B) between the boom lowering operation amount and the opening degree of the second valve.
- FIG. 9 is a diagram showing the relationship (A) between the boom raising operation amount and the opening degree of the first valve in the excavation assist mode, and the relationship (B) between the boom raising operation amount and the opening degree of the second valve.
- 1 is a side view showing the construction of a working machine having a breaker as an attachment; FIG.
- the present disclosure can be applied to any working machine that has a boom and a boom cylinder that drives the boom, and can be applied to a working machine that operates a boom such as a wheel loader.
- a working machine that operates a boom
- "upper”, “lower”, “front”, “rear”, “left”, and “right” refer to the operator seated in the operator's seat 4S in the operator's cab 4 shown in FIG. direction.
- FIG. 1 is a perspective view schematically showing the configuration of a work machine according to one embodiment of the present disclosure.
- a hydraulic excavator 100 has a main body 1 and a working machine 2 that operates hydraulically.
- the main body 1 has a revolving body 3 and a traveling body 5 .
- the traveling body 5 has a pair of crawler belts 5Cr and a traveling motor 5M.
- the hydraulic excavator 100 can travel by rotating the crawler belts 5Cr.
- the traveling motor 5M is provided as a drive source for the traveling body 5.
- the traveling motor 5M is a hydraulic motor operated by hydraulic pressure. Note that the traveling body 5 may have wheels (tires).
- the revolving body 3 is arranged on the running body 5 and supported by the running body 5 .
- the revolving body 3 can revolve with respect to the traveling body 5 about the revolving axis RX.
- the revolving body 3 has an operator's cab 4 (cab).
- a driver's seat 4S on which an operator sits is provided in the driver's cab 4 .
- the revolving body 3 has an engine cover 9 and a counterweight provided at the rear of the revolving body 3 .
- the engine cover 9 covers the engine room.
- An engine unit (engine, exhaust treatment structure, etc.) is arranged in the engine room.
- the work machine 2 is supported by the revolving body 3.
- the work implement 2 has a boom 6 , an arm 7 and a bucket 8 .
- Work implement 2 further includes boom cylinder 10 , arm cylinder 11 , and bucket cylinder 12 .
- the boom 6 is rotatably connected to the main body 1 (the traveling body 5 and the revolving body 3). Specifically, the base end of the boom 6 is rotatably connected to the revolving body 3 with the boom foot pin 13 as a fulcrum.
- the arm 7 is rotatably connected to the boom 6. Specifically, the base end of the arm 7 is rotatably connected to the tip of the boom 6 with the boom top pin 14 as a fulcrum.
- Bucket 8 is rotatably connected to arm 7 . Specifically, the base end of the bucket 8 is rotatably connected to the tip of the arm 7 with the arm top pin 15 as a fulcrum.
- boom cylinder 10 One end of the boom cylinder 10 is connected to the revolving body 3, and the other end is connected to the boom 6.
- a boom 6 can be driven relative to the main body 1 by a boom cylinder 10 . By this driving, the boom 6 can be vertically rotated with respect to the revolving body 3 with the boom foot pin 13 as a fulcrum.
- One end of the arm cylinder 11 is connected to the boom 6, and the other end is connected to the arm 7.
- Arm 7 can be driven with respect to boom 6 by arm cylinder 11 . By this driving, the arm 7 can rotate vertically or longitudinally with respect to the boom 6 with the boom top pin 14 as a fulcrum.
- a bucket 8 can be driven with respect to the arm 7 by a bucket cylinder 12 . By this driving, the bucket 8 can rotate vertically with respect to the arm 7 with the arm top pin 15 as a fulcrum.
- FIG. 2 is a diagram showing the configuration of the boom control system of the working machine shown in FIG.
- the control system for the boom 6 in the work machine 100 includes a boom cylinder 10, a hydraulic pump 20, a first valve 21, a second valve 22, check valves 23 and 24, an oil tank 25, a controller (control section) 30, operating devices 16a to 16c, a work mode setting section 17, and a float switching section .
- the boom cylinder 10 has a head side oil chamber 10h and a bottom side oil chamber 10b.
- the hydraulic pump 20 supplies working oil to each of the head side oil chamber 10h and the bottom side oil chamber 10b of the boom cylinder 10 .
- the first valve 21 has openings 21a and 21b and a first opening 21c.
- the opening 21 a is a port connected to the hydraulic pump 20 .
- the opening 21b is a port connected to the head-side oil chamber 10h.
- the first opening 21 c is a port for discharging the working oil in the head-side oil chamber 10 h to the oil tank 25 by being connected to the oil tank 25 .
- the second valve 22 has openings 22a, 22b and a second opening 22c.
- the opening 22 a is a port connected to the hydraulic pump 20 .
- the opening 22b is a port connected to the bottom side oil chamber 10b.
- the second opening 22 c is a port for discharging the hydraulic oil in the bottom side oil chamber 10 b to the oil tank 25 by being connected to the oil tank 25 .
- Each of the first valve 21 and the second valve 22 has a spool.
- the spool of the first valve 21 and the spool of the second valve 22 are designed with the same dimensions.
- a first valve 21 is connected between the head-side oil chamber 10 h and the hydraulic pump 20 . As a result, hydraulic oil can be supplied from the hydraulic pump 20 through the first valve 21 to the head-side oil chamber 10h.
- An oil tank 25 is connected through a first valve 21 to the head-side oil chamber 10h.
- the hydraulic oil in the head-side oil chamber 10 h can be discharged to the oil tank 25 through the first valve 21 .
- the head-side oil chamber 10h is connected to an oil tank 25 via a check valve 23.
- the oil in the oil tank 25 can be supplied through the check valve 23 into the head side oil chamber 10h.
- a second valve 22 is connected between the bottom side oil chamber 10 b and the hydraulic pump 20 . As a result, hydraulic oil can be supplied from the hydraulic pump 20 through the second valve 22 to the bottom side oil chamber 10b.
- An oil tank 25 is connected through a second valve 22 to the bottom side oil chamber 10b. As a result, the hydraulic oil in the bottom side oil chamber 10 b can be discharged to the oil tank 25 through the second valve 22 .
- the bottom-side oil chamber 10b is connected to an oil tank 25 via a check valve 24.
- the oil in the oil tank 25 can be supplied through the check valve 24 into the bottom side oil chamber 10b.
- the operation device 16a is, for example, an operation lever for the operator to operate the boom 6.
- the operation device 16b is, for example, an operation lever for operating the arm 7 by an operator.
- the operation device 16c is, for example, an operation lever for operating the bucket 8 by an operator.
- An operation amount in each of the operation devices 16a to 16c is detected by, for example, a potentiometer, a Hall IC (Integrated Circuit), etc., and input to the controller 30 as a control signal.
- the work mode setting unit 17 is, for example, an input device operated by an operator.
- the work mode setting unit 17 may be a display device such as a touch panel.
- a plurality of work modes of work machine 2 are displayed in work mode setting section 17 .
- the work modes of work machine 2 include, for example, clearance mode, breaker mode, excavation assist mode, and the like.
- the operator selects and touches one of the plurality of work modes displayed on the work mode setting section 17 .
- a signal indicating the work mode selected by the operator is input to the controller 30 as a control signal.
- Clearing work is the work of scraping and leveling the surface of the ground.
- Breaker work is the work of breaking rocks or hard formations.
- the float switching unit 18 is, for example, a changeover switch. The operator can selectively switch between execution and non-execution of the boom float function by operating the float switching unit 18 .
- a switching signal for execution or non-execution selected by the operator is input to the controller 30 as a control signal.
- the controller 30 receives control signals for each of the operating devices 16a to 16c, the work mode setting section 17 and the float switching section 18. Controller 30 individually controls the operation of the spool in each of first valve 21 and second valve 22 based on the input control signal during work including operation of boom 6 . As a result, the degree of opening of the first opening 21c and the degree of opening of the second opening 22c are individually controlled by the controller 30 during work including the operation of the boom 6 . The controller 30 individually controls the degree of opening of each of the first opening 21 c and the second opening 22 c based on the work mode selected by the work mode setting unit 17 .
- FIG. 3 is a diagram showing an example of functional blocks of the boom control system shown in FIG.
- the controller 30 includes a work mode determination section 31, a float switching determination section 32, a float operation start determination section 33, a first valve control section 34, and a second valve control section 35. have.
- the work mode determination unit 31 receives a control signal indicating the work mode from the work mode setting unit 17.
- the work mode determination section 31 determines the work mode selected by the operator based on the control signal input from the work mode setting section 17 .
- This work mode includes, for example, clearance mode, breaker mode, and excavation assist mode.
- the clearing mode is a setting in which the boom 6 is in a floating state so that the bucket 8 moves along the irregularities of the ground during clearing work.
- the breaker mode is a setting for reducing vibration of the working machine due to the breaker 8a when the breaker 8a is used as an attachment as shown in FIG.
- the excavation assist mode is a setting in which the boom 6 is in a floating state so as to relieve the load applied to the bucket 8 during excavation.
- the work mode determination unit 31 determines whether the work mode selected by the operator is, for example, clearance mode, breaker mode, or excavation assist mode.
- the work mode determination section 31 outputs a determination signal to the float switching determination section 32 .
- the float switching determination section 32 receives a switching signal for execution or non-execution of the boom float function from the float switching section 18 . Upon receiving the determination signal from the work mode determination unit 31, the float switching determination unit 32 determines whether execution or non-execution of the boom float function is selected based on the switching signal input from the float switching unit 18. do. The float switching determination section 32 outputs a determination signal to the float operation start determination section 33 .
- the float operation start determination unit 33 determines whether or not to start the boom float operation based on the operation of the operation device 16a by the operator. For example, when the work mode is the clearance mode or the breaker mode, the float operation start determination unit 33 determines to start the boom float operation based on the operation signal for lowering the boom. Further, for example, when the work mode is the excavation assist mode, the float operation start determination unit 33 determines to start the boom float operation based on the operation signal for raising the boom.
- the float operation start determination unit 33 determines to start the boom float operation, it outputs a control signal based on the operation amount of the operation device 16a to each of the first valve control unit 34 and the second valve control unit 35. As a result, the boom float operation is started with the input of the operation signal from the operation device 16a to the float operation start determination unit 33 as a trigger.
- the first valve control section 34 controls the operation of the first valve 21 based on the control signal from the float operation start determination section 33 .
- the second valve control section 35 also controls the operation of the second valve 22 based on the control signal from the float operation start determination section 33 .
- FIG. 4 is a flow chart showing an example of a boom control method for a work machine according to an embodiment of the present disclosure.
- 5, 6 and 7 are diagrams showing states of the first valve and the second valve in clearance mode, breaker mode and excavation assist mode, respectively.
- 8, 9 and 10 respectively show the relationship (A) between the boom operation amount and the degree of opening of the first valve in the clearance mode, the breaker mode and the excavation assist mode, and the boom operation amount and the opening of the second valve. It is a figure which shows the relationship (B) with a degree.
- the operator performs a work mode input operation in the work mode setting unit 17.
- FIG. the operator touches any one of the plurality of work modes displayed on the work mode setting section 17, for example. As a result, one work mode is selected in the work mode setting section 17 .
- the plurality of work modes include, for example, clearance mode, breaker mode, and excavation assist mode, as described above.
- clearance mode for example, any one of clearance mode, breaker mode and excavation assist mode is selected by the operator's input operation.
- a signal indicating the work mode selected by the operator is input as a control signal to the work mode determination section 31 of the controller 30 (step S1: FIG. 4).
- the work mode determination section 31 determines the work mode selected by the operator based on the control signal (step S2). For example, the work mode determination unit 31 determines which of the clearance mode, the breaker mode, and the excavation assist mode is the work mode selected by the operator.
- the float switching determination unit 32 determines whether or not the boom float function is effective based on the switching signal from the float switching unit 18 ( Step S3a: FIG. 4).
- step S4a When the float switching determination unit 32 determines that the boom float function is disabled, normal control is performed (step S4a: FIG. 4). In normal control, the boom 6, arm 7 and bucket 8 (FIG. 1) are driven according to the amount of operation of the operating devices 16a-16c (FIG. 2).
- the float operation start determination unit 33 determines whether or not to start the float operation. A determination as to whether or not to start the float operation is made based on whether or not the operator has performed a boom lowering operation (step S5a: FIG. 4). The float operation start determination unit 33 determines whether or not the operator has performed a boom lowering operation based on an operation signal input from the operation device 16a.
- step S4a When the float operation start determination unit 33 determines that the boom lowering operation has not been performed, normal control is performed (step S4a: FIG. 4).
- the first valve control unit 34 controls the operation of the first valve 21, and the second valve control unit 35 controls the operation of the second valve 22. do.
- the first valve 21 and the second valve 22 are operated such that the first opening 21c of the first valve 21 and the second opening 22c of the second valve 22 are opened. controlled (step S6a: FIG. 4).
- the first valve 21 has a spool 21s that controls opening and closing of each of the openings 21a, 21b and the first opening 21c.
- the second valve 22 has a spool 22s that controls opening and closing of each of the openings 22a, 22b and the second opening 22c.
- Each of first valve 21 and second valve 22 has, for example, a solenoid (not shown).
- the controller 30 drives and controls the spool 21 s of the first valve 21 by inputting an electric signal to the solenoid of the first valve 21 . Thereby, the operation of the spool 21s is controlled so that the opening 21b and the first opening 21c of the first valve 21 are each opened. As a result, the hydraulic oil in the head-side oil chamber 10h of the boom cylinder 10 can be discharged to the oil tank 25 through the opening 21b and the first opening 21c.
- the controller 30 drives and controls the spool 22 s of the second valve 22 by inputting an electric signal to the solenoid of the second valve 22 . Thereby, the operation of the spool 22s is controlled so that the opening 22b and the second opening 22c of the second valve 22 are each opened. As a result, the hydraulic oil in the bottom side oil chamber 10b of the boom cylinder 10 can be discharged to the oil tank 25 through the opening 22b and the second opening 22c.
- the hydraulic oil in the head side oil chamber 10h is discharged to the oil tank 25 through the first valve 21, and the bottom side oil chamber is discharged.
- the oil in the oil tank 25 is supplied through the check valve 24 to 10b.
- the hydraulic oil in the bottom side oil chamber 10b is discharged to the oil tank 25 via the second valve 22, and the oil tank 25 is discharged to the head side oil chamber 10h.
- the oil inside is supplied through the check valve 23 .
- the degree of opening D1, D2 of each of the first opening 21c and the second opening 22c is controlled according to the amount of operation for lowering the boom 6 by the operating device 16a. Specifically, as shown in FIG. 8(A), the controller 30 sets the first opening so that the degree of opening D1 of the first opening 21c increases as the operating amount of the boom 6 lowered by the operating device 16a increases. Control valve 21 . Further, as shown in FIG. 8B, the controller 30 controls the second valve 22 so that the degree of opening D2 of the second opening 22c increases as the operation amount of lowering the boom 6 by the operating device 16a increases. do.
- the opening degree D1 of the first opening 21c and the opening degree D2 of the second opening 22c with respect to the boom lowering operation amount may be substantially the same. .
- the float switching determination unit 32 determines whether or not the boom float function is enabled (step S3b: Figure 4). The float switching determination section 32 determines whether or not the boom float function is valid based on the switching signal from the float switching section 18 .
- step S4b normal control is performed (step S4b: FIG. 4).
- the float operation start determination unit 33 determines whether or not to start the float operation. A determination as to whether or not to start the float operation is made based on whether or not the operator has performed a boom lowering operation (step S5b: FIG. 4). The float operation start determination unit 33 determines whether or not the operator has performed a boom lowering operation based on an operation signal input from the operation device 16a.
- step S4b When the float operation start determination unit 33 determines that the boom lowering operation has not been performed, normal control is performed (step S4b: FIG. 4).
- the first valve control unit 34 controls the operation of the first valve 21, and the second valve control unit 35 operates the second valve 22. Control.
- the first valve 21 and the second valve 21 are arranged such that the degree of opening D1 of the first opening 21c of the first valve 21 is smaller than the degree of opening D2 of the second opening 22c of the second valve 22.
- the operation of each of the two valves 22 is controlled (step S6b: FIG. 4).
- the spool 21s is controlled by the controller 30 so that the opening 21a is closed and the opening 21b and the first opening 21c are opened.
- the hydraulic oil in the head-side oil chamber 10h of the boom cylinder 10 can be discharged to the oil tank 25 through the opening 21b and the first opening 21c.
- the spool 22s is controlled by the controller 30 so that the opening 22a is closed and the opening 22b and the second opening 22c are opened.
- the hydraulic oil in the bottom side oil chamber 10b of the boom cylinder 10 can be discharged to the oil tank 25 through the opening 22b and the second opening 22c.
- the controller 30 performs control so that the opening degree D1 of the first opening 21c is smaller than the opening degree D2 of the second opening 22c. Therefore, as shown in FIGS. 9A and 9B, both the opening degrees D1 and D2 increase as the boom lowering operation amount increases. Smaller than the rate of increase.
- the first opening 21c may be completely closed by the spool 21s.
- the float switching determination unit 32 determines whether or not the boom float function is valid (step S3c). : Fig. 4). The float switching determination section 32 determines whether or not the boom float function is valid based on the switching signal from the float switching section 18 .
- step S4c normal control is performed (step S4c: FIG. 4).
- the float operation start determination unit 33 determines whether or not to start the float operation. A determination as to whether or not to start the float operation is made depending on whether or not the operator has performed a boom-up operation (step S5c: FIG. 4). The float operation start determination unit 33 determines whether or not the operator has performed a boom raising operation based on an operation signal input from the operation device 16a.
- step S4c When the float operation start determination unit 33 determines that the boom-up operation has not been performed, normal control is performed (step S4c: FIG. 4).
- the first valve control unit 34 controls the operation of the first valve 21, and the second valve control unit 35 operates the second valve 22. Control.
- the opening degree D2 of the second opening 22c is controlled to be smaller than the opening degree D1 of the first opening 21c (step S6c: FIG. 4). At this time, the second opening 22c is closed, for example.
- the spool 21s is controlled by the controller 30 so that the opening 21b and the first opening 21c are opened.
- the hydraulic oil in the head-side oil chamber 10h of the boom cylinder 10 can be discharged to the oil tank 25 through the opening 21b and the first opening 21c.
- the degree of opening D2 of the second opening 22c is smaller than the degree of opening D1 of the first opening 21c, or is set to 0 (closed).
- the second opening 22c is completely closed.
- the degree of opening of each of the first opening 21c and the second opening 22c is controlled according to the operation amount of raising the boom 6 by the operation device 16a. Specifically, as shown in FIG. 10(A), the controller 30 sets the opening degree D1 of the first opening 21c so that the opening degree D1 of the first opening 21c increases as the operating amount of the boom 6 by the operating device 16a increases. Control valve 21 . Further, as shown in FIG. 10B, even if the operation amount of raising the boom 6 by the operation device 16a increases, the opening degree D2 of the second opening 22c hardly increases or the second opening 22c remains closed.
- the controller 30 individually controls the degree of opening D1 of the first opening 21c of the first valve 21 and the degree of opening D2 of the second opening 22c of the second valve 22. do.
- the controller 30 also individually controls the opening degrees D1 and D2 based on the work mode of the work machine 2 (for example, clearance mode, breaker mode, excavation assist mode).
- the controller 30 opens both the first opening 21c and the second opening 22c as shown in FIGS. 5 and 8(A) and (B). to open.
- the controller 30 controls the degree of opening D1 to be smaller than the degree of opening D2 as shown in FIGS. .
- the controller 30 controls the degree of opening D2 to be smaller than the degree of opening D1 as shown in FIGS. do.
- the controller 30 controls the degree of opening D1 of the first opening 21c of the first valve 21 and the degree of opening D2 of the second opening 22c of the second valve 22. and are individually controlled.
- the hydraulic oil in the head side oil chamber 10h and the bottom side oil chamber 10b of the boom cylinder 10 can be controlled to be discharged to the oil tank 25 separately. Therefore, it is possible to adjust the boom float function according to the application without providing an opening for the boom float in the spool and without preparing a valve for switching the boom float function separately from the main valve.
- the controller 30 individually controls the opening degrees D1 and D2 based on the work mode of the work machine 2 (for example, clearance mode, breaker mode, excavation assist mode).
- the work mode of the work machine 2 for example, clearance mode, breaker mode, excavation assist mode.
- the controller 30 controls the first opening 21c and the second opening 21c based on the determination result that the work mode is the clearance mode. Control is performed to open both of the two openings 22c.
- the bucket 8 can easily move along the unevenness of the ground during clearance work. Further, by executing the boom float function with the bucket 8 positioned in the air, the weight of the work implement 2 allows the boom 6 to be lowered until it touches the ground.
- the controller 30 sets the degree of opening D1 higher than the degree of opening D2 based on the determination result that the work mode is the breaker mode. Control to make it smaller.
- the work machine 2 may be damaged unless the crushing load is released.
- the controller 30 sets the degree of opening D2 higher than the degree of opening D1 based on the determination result that the work mode is the excavation assist mode. is controlled to be small.
- controller 30 shown in FIGS. 2 and 3 in the above embodiment may be mounted on the work machine 100 or may be arranged separately outside the work machine 100 .
- the controller 30 communicates wirelessly with the work mode setting unit 17, the float switching unit 18, the operating devices 16a to 16c, the first valve 21, the second valve 22, and the like.
- the controller 30 is, for example, a processor, and may be a CPU (Central Processing Unit).
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Abstract
Description
明細書および図面において、同一の構成要素または対応する構成要素には、同一の符号を付し、重複する説明を繰り返さない。また、図面では、説明の便宜上、構成を省略または簡略化している場合もある。また、実施の形態と各変形例との少なくとも一部は、互いに任意に組み合わされてもよい。
まず本実施形態の作業機械の構成を図1を用いて説明する。
次に、本実施形態のブーム制御システムの構成について図2を用いて説明する。
次に、図2に示すブーム制御システムの機能ブロックの構成について図3を用いて説明する。
次に、上記ブーム制御システムによるブーム制御方法について図2~図10を用いて説明する。
作業モード判定部31により判定された作業モードがすきとりモードである場合、フロート切替判定部32は、フロート切替部18からの切替信号に基づいて、ブームフロート機能が有効か否かを判定する(ステップS3a:図4)。
図3および図4に示されるように、作業モード判定部31により判定された作業モードがブレーカモードである場合、フロート切替判定部32がブームフロート機能が有効か否かを判定する(ステップS3b:図4)。フロート切替判定部32は、フロート切替部18からの切替信号に基づいて、ブームフロート機能が有効か否かの判定を行う。
図3および図4に示されるように、作業モード判定部31により判定された作業モードが掘削アシストモードである場合、フロート切替判定部32がブームフロート機能が有効か否かを判定する(ステップS3c:図4)。フロート切替判定部32は、フロート切替部18からの切替信号に基づいて、ブームフロート機能が有効か否かの判定を行う。
次に、本実施形態の効果について説明する。
Claims (5)
- ブームと、
前記ブームを駆動し、ヘッド側油室およびボトム側油室を有するブームシリンダと、
油圧ポンプと、
油タンクと、
前記油圧ポンプからの油を前記ヘッド側油室に供給し、前記油タンクへ排出する第1バルブと、
前記油圧ポンプからの油を前記ボトム側油室に供給し、前記油タンクへ排出する第2バルブと、を備えた作業機械のブーム制御システムにおいて、
前記第1バルブは前記ヘッド側油室の油を前記油タンクへ排出する第1開口部を有し、
前記第2バルブは前記ボトム側油室の油を前記油タンクへ排出する第2開口部を有し、
前記ブームの操作を含む作業の際に、前記第1開口部の開口度合いと、前記第2開口部の開口度合いとを個別に制御するコントローラをさらに備えることを特徴とする、作業機械のブーム制御システム。 - 前記コントローラは、前記ブームおよび前記ブームシリンダを有する作業機の作業モードに基づいて前記第1開口部の開口度合いと、前記第2開口部の開口度合いとを個別に制御する、請求項1に記載の作業機械のブーム制御システム。
- 前記コントローラは、前記作業モードがすきとりモードであるとの判定結果に基づいて前記第1開口部および前記第2開口部の双方を開くよう制御する、請求項2に記載の作業機械のブーム制御システム。
- 前記コントローラは、前記作業モードがブレーカモードであるとの判定結果に基づいて前記第1開口部の開口度合いを前記第2開口部の開口度合いよりも小さくするよう制御する、請求項2に記載の作業機械のブーム制御システム。
- 前記コントローラは、前記作業モードが掘削アシストモードであるとの判定結果に基づいて前記第2開口部の開口度合いを前記第1開口部の開口度合いよりも小さくするよう制御する、請求項2に記載の作業機械のブーム制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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DE112022000348.0T DE112022000348T5 (de) | 2021-02-16 | 2022-02-04 | Steuersystem für Ausleger von Arbeitsmaschinen |
CN202280013348.7A CN116802362A (zh) | 2021-02-16 | 2022-02-04 | 作业机械的动臂控制*** |
US18/274,798 US20240102261A1 (en) | 2021-02-16 | 2022-02-04 | Boom control system of work machine |
KR1020237026717A KR20230129038A (ko) | 2021-02-16 | 2022-02-04 | 작업 기계의 붐 제어 시스템 |
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JP2021022390A JP2022124642A (ja) | 2021-02-16 | 2021-02-16 | 作業機械のブーム制御システム |
JP2021-022390 | 2021-02-16 |
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US (1) | US20240102261A1 (ja) |
JP (1) | JP2022124642A (ja) |
KR (1) | KR20230129038A (ja) |
CN (1) | CN116802362A (ja) |
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WO (1) | WO2022176653A1 (ja) |
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JP2020153506A (ja) * | 2019-03-22 | 2020-09-24 | コベルコ建機株式会社 | 作業機械の油圧駆動装置 |
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JPH0794737B2 (ja) | 1989-08-02 | 1995-10-11 | 株式会社小松製作所 | 油圧掘削機における直線掘削制御装置 |
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ITTO20020440A1 (it) * | 2002-05-23 | 2003-11-24 | Fiat Ricerche | Circuito elettroidraulico per il controllo di un attuatore a fluido. |
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2021
- 2021-02-16 JP JP2021022390A patent/JP2022124642A/ja active Pending
-
2022
- 2022-02-04 CN CN202280013348.7A patent/CN116802362A/zh active Pending
- 2022-02-04 KR KR1020237026717A patent/KR20230129038A/ko unknown
- 2022-02-04 US US18/274,798 patent/US20240102261A1/en active Pending
- 2022-02-04 WO PCT/JP2022/004521 patent/WO2022176653A1/ja active Application Filing
- 2022-02-04 DE DE112022000348.0T patent/DE112022000348T5/de active Pending
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JPS5238101U (ja) * | 1975-09-10 | 1977-03-17 | ||
JPH10168950A (ja) * | 1996-12-06 | 1998-06-23 | Kobelco Kenki Eng Kk | 油圧シリンダ用フローティング装置のバルブブロック |
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DE112022000348T5 (de) | 2023-10-19 |
US20240102261A1 (en) | 2024-03-28 |
KR20230129038A (ko) | 2023-09-05 |
CN116802362A (zh) | 2023-09-22 |
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