JP2007010064A - Hydraulic controller of construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hydraulic controller of a construction machine which is improved in bursting out and awkward feeling in a small turning attitude. <P>SOLUTION: Besides a path in which pressure oil fed from a branch discharge line PML2 into a pressure compensation valve 26 extends from a line L1 through ports A and A, and a line L2, i.e., a pressure feed passage via a center bypass line BL to a tank T. A path further extends from the line L2 also through a line L3, a bleed valve BVL, a line L4 and a tank line TL to the tank. An electric signal in which an external signal FS, i.e., actuating signal pressure to the bleed valve BVL is related to values of all inertia loads in the working system is calculated by an external signal formation means 50. In the small turning attitude and the fine operation, large starting torque is not required for a hydraulic motor MTR for turning, but smooth operability can be obtained rather than bleeding part of pressure oil from a variable displacement discharge pump 10 without sharp operational feeling such as hunting, etc. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a hydraulic control device for a construction machine, and in particular, when operating an actuator having a large change in inertia load such as a hydraulic excavator, the operability of the entire machine is improved by effectively adjusting the bleed amount. The present invention also relates to a hydraulic control device for a construction machine that can improve work efficiency.

  As a conventional example according to the present invention, an example of using an open center type switching valve is presented as an improvement example for a problem with a known load sensing type switching valve when driving an actuator having a large inertia load, particularly a turning system. .

  That is, in a hydraulic excavator, a load sensing type is desired to avoid a change in the operation amount of the switching valve depending on a load pressure of a working system (for example, a boom, an arm, etc.) hydraulic actuator. The sudden acceleration / deceleration feeling at the time of starting / stopping due to the constant pressure compensation is a cause of discomfort for the operator, and an open center type is desired to obtain fine operability. The above conventional example is a solution to the problem as long as it is. (Patent Document 1)

  FIG. 7 exemplarily shows a part of Patent Document 1 related to the present invention. In FIG. 7, the discharge line PML of the discharge amount variable pump 10 is branched from a branch point Q to branch discharge lines PML1 and PML2, respectively. The branch discharge lines PML1 and PML2 are provided with closed center type switching valves 14 and 18 via pressure compensation valves 16 and 20 respectively above, and hydraulic actuators AC1 and AC2 are connected to these switching valves. AC1 and AC2 are, for example, a boom driving hydraulic cylinder and an arm driving hydraulic cylinder of a construction machine. It is assumed that a bucket drive hydraulic cylinder (AC3), a corresponding switching valve, and a pressure compensation valve are arranged on the right side of the hydraulic actuator AC2 in the figure, although not shown.

  Reference numeral 12 denotes a discharge flow rate adjusting mechanism of the pump 10. The discharge flow rate adjusting mechanism 10 receives a differential pressure generated by a throttle formed inside each switching valve 14, 18 via a check valve. It is detected and given by a line indicated by a broken line FBL.

  Reference sign MTR is a turning drive hydraulic motor that rotationally drives the turntable of the construction machine. Reference numeral 22 is an open center type switching valve having a center bypass line BL. Reference numeral 24 is a flow rate adjusting valve, and 26 is a pressure compensating valve. The larger one of the operation signal pressures SG1 and SG2 of the switching valve 22 is selected and given to the flow rate adjusting valve 24 by the shuttle valve 28. FIG. 8 is obtained by adding states PH1 and PH2 during switching of the switching valve 22 shown in FIG.

  7 and 8, when the swivel base is activated by the hydraulic motor MTR, the inertial load due to the boom, arm, bucket, etc. mounted on the swivel base is maximum (FIG. 2 (a)). ) And the minimum (FIG. 2B), the pressure oil flowing through the center bypass line BL is the same. In other words, even at the minimum inertia load, it starts only slowly as in the case of the maximum inertia load.

  In the above-described conventional example, the hydraulic actuator of the work system (boom, arm, etc.) is held in the maximum work range state (hereinafter referred to as maximum reach), and the minimum work range state (hereinafter referred to as small turning posture) is maintained. However, since each inertia load with respect to the turning operation is greatly different, a sudden jumping out in a small turning posture and a feeling of jerkyness are not improved, and further improvement in operability is desired.

  As a countermeasure, the center bypass passage opening is not completely closed when the switching valve is operated, and a partial opening is provided to eliminate the above problem by bleeding part of the pressure oil supplied to the switching valve from the passage. Although the center bypass opening needs to be increased if emphasis is placed on operability in a small turning posture, the center bypass is assumed when the work system is in the maximum reach state or the swing-up turning operation on a sloping ground. The opening causes another problem that the startability of turning and the torque necessary for the swing-up operation cannot be obtained.

Japanese Patent Laid-Open No. 2002-295405 (FIGS. 1, 2, and 3)

  As a result of intensive studies, examinations and efforts to solve the above problems, the present inventors have detected the posture of the working system and adjusted the bleed amount in relation to the inertial load of the working system. It has been found that the above problems can be basically solved.

  Accordingly, it is an object of the present invention to provide a hydraulic control device for a construction machine that improves sudden jumping and jerky feeling in a small turning posture.

In order to achieve the above object, a hydraulic control device for a construction machine according to the present invention comprises:
A swivel base, a hydraulic motor for rotationally driving the swivel base, and a hydraulic control device for a construction machine having one or a plurality of work systems mounted on the swivel base,
A switching valve group for supplying and discharging pressure oil to and from a hydraulic actuator that drives each of the working systems;
A discharge variable pump for supplying pressure oil to the switching valve group;
An open center type switching valve for supplying and discharging pressure oil to and from the hydraulic motor;
A bleed valve connected to the pressure oil supply passage of the open center type switching valve for bypassing part of the pressure oil in the pressure oil supply passage to the tank passage;
An external signal generating means for generating a value of inertial load corresponding to at least one posture of each work system,
The output from the external signal generating means is given as an external signal pressure for adjusting the bypass opening of the bleed valve.

  In that case, the external signal generation means can generate the value of the total inertia load based on the value of the inertia load corresponding to the postures of all the work systems.

  In this case, the pressure oil supply passage of the open center type switching valve is connected to the upstream side of the bleed valve, the opening amount is adjusted according to the operation amount of the open center type switching valve, and the open center type It is possible to provide a pressure compensation valve that compensates the flow rate passing through the opening of the mold switching valve.

In order to achieve the above object, a hydraulic control device for a construction machine according to the present invention comprises:
A variable flow rate pump, a load sensing type first control valve having a plurality of center-closed switching valves connected to a first line branched from a discharge line of the pump and provided with a pressure compensation valve, branched from the discharge line A second control valve having at least one open center type switching valve connected to the second line, and an opening amount is adjusted according to an operation amount of the open center type switching valve; In a hydraulic control device for a construction machine having a pressure compensation valve that compensates the passage flow rate according to the amount,
A bleed valve whose opening can be adjusted by an external signal pressure is provided between the pressure oil supply passage to the open center type switching valve downstream of the pressure compensation valve and the tank passage, and one of the pressure oil supplied to the second control valve. The portion can be bypassed to the tank passage.

  In that case, one of the open center type switching valves may be for turning driving, and one of the load sensing type switching valves may be for boom driving.

  In this case, the external signal pressure for adjusting the opening of the bleed valve can be determined by detecting the posture of the work system and relating it to the inertial load of the work system.

  Further, the external signal pressure is associated with the position of the working system or the value of the inertial load of the working system calculated based on the output of the angle sensor, and the bleed valve is in a small turning posture with a small inertial load. By increasing the opening, the starting torque to the turning drive system can be reduced, and the opening of the bleed valve can be closed or minimized when the inertia load is large or when the starting torque is required as in a swing-up operation on a sloping ground.

  According to the present invention, when the work system posture of the construction machine is a small turning posture with a small inertia load, the bleed valve opening is increased to reduce the starting torque to the turning drive system. When a starting torque is required as in the swing-up operation, the operability can be improved regardless of the posture of the work system by closing or minimizing the bleed valve opening.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 shows a hydraulic control device according to the present invention corresponding to FIG. In FIG. 1, the same reference numerals as those in FIG. 7 indicate the same components in order to avoid complicated explanation, and therefore, the description thereof will be omitted, and the following description will focus on differences.

  In FIG. 1, an open center type switching valve 22A has four ports A, B, C, and D on the upstream side and the downstream side, respectively, as shown. The pressure oil supplied from the branch discharge line PML2 to the pressure compensation valve 26 passes from the line L1 through the ports A and A to the tank T via the bypass line BL, ports D and D from the line L2 which is the pressure oil supply passage. In addition, a path extending from the line L2 to the tank T through the line L3, the bleed valve BVL, the line L4, and the tank line TL is formed. The external signal FS, which is the operation signal pressure to the bleed valve BVL, is calculated by the electric signal associated with all the inertial load values of the work system such as the boom and the arm described above by the external signal generating means 50. Is provided by being converted into a pressure oil signal by the electro-oil converting unit 52. The reference symbol SNR is a sensor signal generator provided to the external signal generator 50. As the sensor, for example, potentiometers PT1, PT2, and PT3 attached in association with the respective swing shafts of the working system are shown. (See Fig. 2 (a))

  As can be seen from FIG. 1, when the inertia load of the work system is maximum and a large starting torque is required, for example, in the case of maximum reach (see FIG. 2A), the bleed valve BVL is in a closed state. Therefore, the pressure oil does not bleed through the line L4 and the tank line TL. Therefore, when the turning drive is activated by the operation signal SG1 or SG2, the center bypass passage between the ports D and D is opened. Gradually transition from full open to shut off.

  A pressure compensation valve 26 is provided upstream of the open center type switching valve 22A, and a flow rate corresponding to the supply amount control opening in the switching valve is supplied from the variable displacement discharge pump 10 without being affected by the operating pressure. The A part of the supplied pressure oil is supplied to the tank T through the center bypass passage BL at the switching position of the switching valve 22A, and the rest is supplied to the turning hydraulic motor MTR via the switching valve 22A. In this state, the operation is the same as that of a normal open center type switching valve, and in terms of the operability of turning, it is possible to ensure smooth startability by appropriately setting each opening characteristic of the switching valve 22A.

  On the other hand, during the small turning posture and fine operation, the turning hydraulic motor MTR does not require a large starting torque, but rather smooth operation is achieved by partially bleeding the pressure oil from the variable displacement discharge pump 10. It is done. In this case, by applying the external signal pressure FS, the bleed valve BVL is opened and a part of the pressurized oil is bypassed to the tank T via the line L4 and the tank line TL, thereby effectively relieving a sudden operational feeling such as hunting. It becomes possible. In this case, the operability is further improved by applying an appropriate external signal pressure FS formed in association with the posture of the work system, that is, the inertia load of the work system to be turned, and adjusting the opening of the bleed valve BVL. Can be done.

  FIG. 2 shows an overall outline of a hydraulic excavator (excavator). FIG. 2A shows the maximum working range of each work system, that is, the maximum reach state, and FIG. Reach, that is, a state of a small turning posture. In FIG. 6A, the base portion on the left end side of the boom BM is attached to the rotation center axis CL of the swivel base so as to be swingable via the axis P1, and is driven in the vertical direction by driving the hydraulic cylinder AC1. From the angle θ. Similarly, the base portion of the arm ARM is attached to the right end portion of the boom BM so as to be swingable by the hydraulic cylinder AC2 via the shaft P2. Further, similarly, the bucket BKT is attached so as to be swingable by the hydraulic cylinder AC3 via the shaft P3. Potentiometers PT1, PT2, and PT3 for detecting the posture of each work system are attached in the vicinity of the shafts P1, P2, and P3.

  FIG. 3 is a block diagram illustrating a functional configuration of the external signal generation unit 50 of FIG. 1, in which FIG. 3A is a detailed block diagram of the configuration, and FIG. 3B is a block diagram in FIG. The type of determination method of the determination calculation unit is shown.

  In FIG. 5A, an external signal generating means 50 calculates and calculates an A / D converter 50A for analog-digital conversion of electrical signals from each sensor of the sensor group SNR and an inertia load IM of the entire work system. An inertial load calculation unit 50C, a determination calculation unit 50D for forming an external signal FS of an electric signal from the inertial load IM, a D / A conversion unit 50E for digital-analog conversion of the external signal FS, and the inertial load The calculation unit 50C includes a parameter storage unit 50B that stores parameter data that is referred to in the calculation in the determination calculation unit 50D for forming the external signal FS of the electric signal from the inertia load IM. (The CPU for calculation is not shown.)

  In the inertial load calculation unit 50C, the total inertial load IM is calculated in the order from step STP1 to step 4.

  The parameter storage unit 50B includes, for example, mathematical formulas used in the calculations of steps STP1 to STP4, length and weight data of the boom BM, arm ARM, etc., detected posture (θ) data of each work system, The set values α and β and the constants k and K for the determination calculation are stored as fixed data or temporary data.

  FIG. 5B illustrates three cases as a determination method in the determination calculation unit 50D. In the case (1), the external signal FS is a value obtained by multiplying the inertia load, that is, the reciprocal of the total inertia moment IM by the coefficient k. In this case, FS becomes the minimum value when IM is the maximum. That is, in the maximum reach state, the bleed operation of the bleed valve BVL is not performed. When the inertia load IM is the minimum, FS becomes the maximum value. That is, in the small turning posture, the bleed operation of the bleed valve BVL is performed.

  In case (2), the external signal FS becomes zero when the value of 1 / IM is equal to or smaller than the preset value α, and the external signal FS becomes 1 when the value exceeds the preset value α. In this case, the range that can be taken by the reciprocal value (1 / IM) of the inertial load IM is divided into two by the set value α, and the bleed occurs when the entire work system is in the FS zero range. It corresponds to not letting you do.

  In the case (3), the reciprocal value (1 / IM) of the inertial load IM can be divided into three ranges by setting values α and β, and the reciprocal value (1 / IM) is When it is less than α, FS is zero, and when it is more than β, FS is 1. When the inverse value (1 / IM) is between α and β, FS is a value corresponding to K / IM (K is a coefficient). Note that α in cases (2) and (3) need not be the same value.

  4 and 5 show the opening characteristics and flow characteristics of the switching valve 22A with respect to the valve operation amount SG1 (SG2), respectively.

  FIG. 6 is a graph showing an example of the opening characteristic with respect to the external signal pressure (FS) of the bleed valve applied to the present invention.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to these examples, and various modifications and corrections are possible. For example, the detection signal from each sensor can be transmitted wirelessly. Further, although a potentiometer is illustrated as a sensor in FIG. 1, a lift of a cam, for example, an eccentric cam, can be detected as a mechanical position instead, and can be used as a detection signal. In FIG. 3, the determination arithmetic unit 50D uses the reciprocal value (1 / IM) for determination. However, if the left and right switching positions of the bleed valve BVL in FIG. Can also be used.

  1 and 3 exemplify that the external signal generating means 50 is electrically processed. However, the lift of the cam is detected, and a hydraulic signal corresponding to the lift amount is formed as a pressure signal. It is possible to generate an external signal pressure to the bleed valve BVL without going through the electrical processing by providing an appropriate threshold for the pressure signal and discriminating it to form the external signal pressure FS.

  Furthermore, in FIG. 3, the entire work system is the target for calculating the inertia load IM, but only the boom having a relatively large inertia load may be the target. Further, the inertia moment M3 of the bucket portion may be calculated by discriminating between a state in which a heavy object such as a lump of concrete is held in the bucket and an empty state.

  Furthermore, it is also possible to use detection means for detecting the stroke position of the piston rod in the hydraulic cylinder of the actuator that drives each work system as the sensor.

  Although the above-described sensor continuously detects the posture of each work system, it is not always necessary to continuously detect the posture of the work system for the purpose of the present invention. For example, an optical sensor whose light is blocked by the side wall of the boom is attached in the vicinity of the cab, and the external signal FS is generated in accordance with two states, that is, a case where the boom is inclined over a predetermined angle and a case where the boom is not. It may be.

  In the above-described embodiment of the present invention, the excavator machine such as a shovel car has been described as an example. However, a crane-type construction machine that houses a plurality of extendable arms in a base arm and can be swung. In this case, the present invention can be applied. In other words, in this case, the base arm and the other extendable arm are in the same posture, but the inertial load changes corresponding to the expansion / contraction operation, so the expansion / contraction amount may be converted into the inertial load.

  Various modifications and corrections as described above apply the present invention, and those skilled in the art can easily adopt them.

It is a figure which shows the hydraulic control apparatus by this invention. FIG. 2 shows the overall outline of a hydraulic excavator to which the present invention is applied. FIG. 4A shows the maximum working range, that is, the state of maximum reach, and FIG. The state of a small turning posture is shown. FIG. 2 is a block diagram illustrating a functional configuration of the external signal generation unit in FIG. 1, where FIG. 1A is a detailed block diagram of the configuration, and FIG. 1B is a diagram of a determination calculation unit in FIG. Indicates the type of determination method. It is a graph which shows the opening characteristic with respect to the valve operation amount of the switching valve for rotation drive. It is a graph which shows the flow volume characteristic with respect to the amount of valve operation of the switching valve for rotation drive. It is a graph which shows the opening characteristic with respect to the external signal pressure of the bleed valve applied to this invention. FIG. 6 is a hydraulic circuit diagram of a conventional hydraulic control device provided with an open center type switching valve for driving a working system. It is a figure which shows the switching valve which added the state in the middle of the switching to the open center type switching valve shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Discharge amount variable pump 12 Discharge flow rate adjustment mechanism 14 Switching valve 16 Pressure compensation valve 18 Switching valve 20 Pressure compensation valve 22 Open center type switching valve 22A Open center type switching valve 24 Flow control valve 26 Pressure compensation valve 28 Shuttle valve 50 External signal Generation means 50A A / D conversion unit 50B Parameter storage unit 50C Inertial load calculation unit 50D Determination calculation unit 50E D / A conversion unit 52 Electro-oil conversion unit AC1 Hydraulic cylinder AC2 Hydraulic cylinder AC3 Hydraulic cylinder ARM Arm BL Center bypass line BM Boom BKT Bucket BVL Bleed valve CL Center axis of swivel base CM Construction machine FS External signal, external signal pressure MTR Hydraulic motor for driving the swivel base P1 axis P2 axis P3 axis PML discharge line PML1 branch discharge line PML2 branch discharge line PT1 poten Potometer PT2 Potentiometer PT3 Potentiometer SNR Sensor group TL Tank line SG1 Operation pressure oil signal SG2 Operation pressure oil signal T Tank

Claims (7)

A swivel base, a hydraulic motor for rotationally driving the swivel base, and a hydraulic control device for a construction machine having one or more work systems mounted on the swivel base,
A switching valve group for supplying and discharging pressure oil to and from a hydraulic actuator that drives each of the working systems;
A discharge variable pump for supplying pressure oil to the switching valve group;
An open center type switching valve for supplying and discharging pressure oil to and from the hydraulic motor;
A bleed valve connected to the pressure oil supply passage of the open center type switching valve for bypassing part of the pressure oil in the pressure oil supply passage to the tank passage;
An external signal generating means for generating a value of inertial load corresponding to at least one posture of each work system,
A hydraulic control device for a construction machine, characterized in that an output from the external signal generating means is provided as an external signal for adjusting a bypass opening of the bleed valve.   2. The hydraulic control apparatus for a construction machine according to claim 1, wherein the external signal generating means generates a value of a total inertia load based on a value of the inertia load corresponding to the posture of all the work systems.   The pressure oil supply passage of the open center type switching valve is connected to the upstream side of the bleed valve, the opening amount is adjusted according to the operation amount of the open center type switching valve, and the open center type switching valve The hydraulic control device for a construction machine according to claim 1 or 2, further comprising a pressure compensation valve that compensates pressure of a flow rate that passes through the opening of the construction machine. A variable flow rate pump, a load sensing type first control valve having a plurality of center-closed switching valves connected to a first line branched from a discharge line of the pump and provided with a pressure compensation valve, branched from the discharge line A second control valve having at least one open center type switching valve connected to the second line, and an opening amount is adjusted according to an operation amount of the open center type switching valve; In a hydraulic control device for a construction machine having a pressure compensation valve that compensates the passage flow rate according to the amount,
A bleed valve whose opening can be adjusted by an external signal pressure is provided between the pressure oil supply passage to the open center type switching valve downstream of the pressure compensation valve and the tank passage, and one of the pressure oil supplied to the second control valve. A hydraulic control device for a construction machine, characterized in that a part can be bypassed to the tank passage.   5. The hydraulic control device for a construction machine according to claim 4, wherein one of the open center type switching valves is for turning driving, and one of the load sensing type switching valves is for boom driving.   The external control pressure for adjusting the opening of the bleed valve detects the attitude of the work system and is related to the inertia load of the work system.   The external signal pressure is related to the position provided in the work system or the value of the inertia load of the work system calculated based on the output of the angle sensor, and the bleed valve opening is set in a small turning posture with a small inertia load. Increasing the torque reduces the starting torque to the turning drive system, and closes or minimizes the bleed valve opening when the inertial load is large or when the starting torque is required as in the swing-up operation on a sloping ground. Item 7. The hydraulic control device for a construction machine according to any one of Items 4 to 6.

Images