Patent Grant
11499296
The present invention relates to a construction machine such as a hydraulic excavator.
In the field of construction machines such as hydraulic excavators, the majority of construction machines uses hydraulic circuits (hereinafter, referred to as “open circuits”) that cause a return oil from hydraulic actuators such as hydraulic cylinders to return to a hydraulic operating fluid tank. However, in recent years, for reduction of fuel consumption amounts, circuits (hereinafter, referred to as “closed circuits”) in which the number of restricting elements in hydraulic circuits of hydraulic cylinders (hereinafter, referred to as “cylinders”) or pumps, and a hydraulic motor is reduced, a return oil from the cylinders or the hydraulic motor is caused to return to a bidirectionally tiltable pump (hereinafter, referred to as a “pump”), and the pumps and the cylinders, or the pumps and the hydraulic motor are connected to each other such that closed circuits are formed are under development. In addition, a hydraulic circuit in which open circuits and closed circuits are provided in combination has been proposed also (e.g. Patent Document 1).
Patent Document 1 describes a driving device for a work machine, the driving device including: a plurality of closed circuits including at least one closed-circuit hydraulic operating fluid outflow/inflow control section having two outflow/inflow ports enabling the outflow/inflow of hydraulic operating fluid in both directions and at least one single rod hydraulic cylinder having a first hydraulic operating fluid chamber and a second hydraulic operating fluid chamber, the two outflow/inflow ports of the closed-circuit hydraulic operating fluid outflow/inflow control section being connected to the first hydraulic operating fluid chamber and the second hydraulic operating fluid chamber such that the closed circuits are formed; a plurality of open circuits including at least one open-circuit hydraulic operating fluid outflow/inflow control section having an inflow port through which the hydraulic operating fluid flows from a hydraulic operating fluid tank, and an outflow port through which the hydraulic operating fluid flows out, and an open-circuit selecting section that selects supply destinations of the hydraulic operating fluid flowing out from the open-circuit hydraulic operating fluid outflow/inflow control section; and a controller that controls the closed-circuit hydraulic operating fluid outflow/inflow control section, the open-circuit hydraulic operating fluid outflow/inflow control section and the open-circuit selecting section, and the driving device includes a connection line connected to a side from which the hydraulic operating fluid flows out, of the at least one open-circuit selecting section of the plurality of open circuits, and to any of the plurality of closed circuits.
In Patent Document 1, by arranging, as a pair, a closed-circuit pump, and an open-circuit pump and a proportional valve, when a hydraulic cylinder is driven in the extending direction by the closed-circuit pump, the hydraulic cylinder can be supplemented by the open-circuit pump with an amount of the hydraulic operating fluid corresponding to a deficiency generated by a pressure-receiving area difference of the hydraulic cylinder, and when the hydraulic cylinder is driven in the contracting direction by the closed-circuit pump, an amount of the hydraulic operating fluid corresponding to a surplus generated by the pressure-receiving area difference of the hydraulic cylinder can be discharged to a tank via the proportional valve. On the other hand, since a hydraulic motor does not have a pressure-receiving area difference unlike the hydraulic cylinder, when the hydraulic motor is driven, only the closed-circuit pump is used, and the open-circuit pump and the proportional valve, which form a pair with the closed-circuit pump, are left unused. However, when the speed of the hydraulic cylinder is desired to be accelerated at the time of combined operation in which the hydraulic cylinder and the hydraulic motor are driven simultaneously, the open-circuit pump and the proportional valve cannot be used despite the fact that there are those unused open-circuit pump and proportional valve.
The present invention has been made in view of the problem described above, and an object of the present invention is to provide a construction machine that has a hydraulic system mounted thereon in which a closed-circuit pump, and an open-circuit pump and a proportional valve are arranged as a pair, and that can use an unused open-circuit pump or proportional valve to accelerate the speed of a hydraulic cylinder when the hydraulic cylinder and a hydraulic motor are driven simultaneously.
In order to achieve the object described above, the present invention provides a construction machine including: a tank that stores hydraulic operating fluid; a plurality of closed-circuit pumps including bidirectionally-tiltable hydraulic pumps; a plurality of open-circuit pumps including unidirectionally-tiltable hydraulic pumps, the number of the unidirectionally-tiltable hydraulic pumps being the same as the number of the plurality of closed-circuit pumps; a plurality of hydraulic actuators including at least one single rod hydraulic cylinder, and at least one hydraulic motor; an operation device for giving an instruction about operation of the plurality of hydraulic actuators; a plurality of closed-circuit selector valves that connect the plurality of closed-circuit pumps to the plurality of hydraulic actuators such that closed circuits are formed; a plurality of cap-side selector valves that connect delivery ports of the plurality of open-circuit pumps to a cap chamber of the single rod hydraulic cylinder; a plurality of proportional valves that are provided on flow lines that connect the delivery ports of the plurality of open-circuit pumps to the tank; a cap pressure sensor that senses a pressure in the cap chamber; a rod pressure sensor that senses a pressure in a rod chamber of the single rod hydraulic cylinder; and a controller that controls the plurality of closed-circuit selector valves, and the plurality of cap-side selector valves, and controls a delivery flow rate of each of the plurality of closed-circuit pumps and the plurality of open-circuit pumps, and opening areas of the plurality of proportional valves, on the basis of inputs from the operation device, the cap pressure sensor and the rod pressure sensor. In the construction machine, the construction machines includes a plurality of rod-side selector valves that connect the delivery ports of the plurality of open-circuit pumps to the rod chamber, and the controller controls the plurality of cap-side selector valves and the plurality of rod-side selector valves such that a particular open-circuit pump in the plurality of open-circuit pumps that is not connected to the single rod hydraulic cylinder is connected to the single rod hydraulic cylinder, and controls an opening area of a particular proportional valve provided on a flow line that connects a delivery port of the particular open-circuit pump to the tank, when the single rod hydraulic cylinder and the hydraulic motor are driven simultaneously.
According to the thus-configured present invention, when the single rod hydraulic cylinder and the hydraulic motor are driven simultaneously, the particular open-circuit pump not connected to the single rod hydraulic cylinder, and the particular proportional valve are connected to the single rod hydraulic cylinder, and the opening area of the particular proportional valve (unused proportional valve) provided on the flow line that connects the delivery port of the particular open-circuit pump to the tank is controlled. Thereby, when the single rod hydraulic cylinder and the hydraulic motor are driven simultaneously, it becomes possible to use the unused open-circuit pump or the unused proportional valve to accelerate the speed of the single rod hydraulic cylinder.
According to the present invention, in a construction machine that has a hydraulic system mounted thereon in which a closed-circuit pump, and an open-circuit pump and a proportional valve are arranged as a pair, it becomes possible to use an unused open-circuit pump or an unused proportional valve to accelerate the speed of a single rod hydraulic cylinder when the single rod hydraulic cylinder and a hydraulic motor are driven simultaneously.
In the following, a hydraulic excavator as an example of a construction machine according to embodiments of the present invention is explained with reference to the figures. Note that equivalent members in the figures are given identical reference characters, and overlapping explanations are omitted as appropriate.
A hydraulic excavator according to a first embodiment of the present invention is explained by using
In
On the front side of the upper swing structure 102, a base end section of a front work implement 104, which is a work device for performing excavation work and the like, for example, is attached pivotably. The front work implement 104 includes: a boom 2 coupled on the front side of the upper swing structure 102 so as to be pivotable upward and downward; an arm 4 coupled at a tip section of the boom 2 so as to be pivotable upward, downward, forward and backward; and a bucket 6 coupled at a tip section of the arm 4 so as to be pivotable upward, downward, forward and backward. The boom 2, the arm 4 and the bucket 6 are driven by a boom cylinder 1, an arm cylinder 3 and a bucket cylinder 5, respectively, which are single rod hydraulic cylinders.
A cab 101, which an operator gets on, is provided on the upper swing structure 102. A lever 52 (illustrated in
In
The engine 9, which is a motive power source, is connected to the power transmission device 10 that distributes motive power. The power transmission device 10 is connected with the charge pump 11, the closed-circuit pumps 12 and 13, and the open-circuit pumps 14 and 15.
The closed-circuit pumps 12 and 13 include: bidirectionally-tiltable swash plate mechanisms each having a pair of input/output ports; and regulators 12a and 13a that adjust the tilting angles of bidirectionally-tiltable swash plates. The regulators 12a and 13a adjust the tilting angles of the bidirectionally-tiltable swash plates of the closed-circuit pumps 12 and 13 according to signals from the controller 51. The closed-circuit pumps 12 and 13 can control the delivery directions and delivery flow rates of hydraulic operating fluid from the pairs of input/output ports by adjusting the tilting angles of the swash plates. The closed-circuit pumps 12 and 13 function also as hydraulic motors when supplied with the hydraulic fluid.
The open-circuit pumps 14 and 15 include: unidirectionally-tiltable swash plate mechanisms having delivery ports and suction ports; and regulators 14a and 15a that adjust tilting angles of unidirectionally-tiltable swash plates. The regulators 14a and 15a adjust the tilting angles of the unidirectionally-tiltable swash plates of the open-circuit pumps 14 and 15 according to signals from the controller 51. The open-circuit pumps 14 and 15 can control the delivery flow rates of the hydraulic operating fluid from the delivery ports by adjusting the tilting angles of the unidirectionally-tiltable swash plates.
The charge pump 11 supplements a flow line 212 as a charge line with the hydraulic fluid.
The pair of input/output ports of the closed-circuit pump 12 are connected with flow lines 200 and 201, and the flow lines 200 and 201 are connected with the selector valves 40 and 41. The selector valves 40 and 41 select communication or interruption of the flow lines according to signals from the controller 51. When there are no signals from the controller 51, the selector valves 40 and 41 are in the interruption state.
The selector valve 40 is connected to a cap chamber 3a of the arm cylinder 3 via a flow line 210, and is connected to a rod chamber 3b of the arm cylinder 3 via a flow line 211. When the selector valve 40 is in the communication state according to a signal from the controller 51, the closed-circuit pump 12 is connected with the arm cylinder 3 via the flow lines 200 and 201, the selector valve 40, and the flow lines 210 and 211, to thereby form a closed circuit.
The selector valve 41 is connected to one input/output port of the swing motor 7 via a flow line 213, and is connected to the other input/output port of the swing motor 7 via a flow line 214. When the selector valve 41 is in the communication state in accordance with a signal from the controller 51, the closed-circuit pump 12 is connected with the swing motor 7 via the flow lines 200 and 201, the selector valve 41, and the flow lines 213 and 214, to thereby form a closed circuit.
The pair of input/output ports of the closed-circuit pump 13 are connected with flow lines 202 and 203, and the flow lines 202 and 203 are connected with the selector valves 42 and 43. The selector valves 42 and 43 select communication or interruption of the flow lines according to signals from the controller 51. When there are no signals from the controller 51, the selector valves 42 and 43 are in the interruption state.
The selector valve 42 is connected to the cap chamber 3a of the arm cylinder 3 via the flow line 210, and is connected to the rod chamber 3b of the arm cylinder 3 via the flow line 211. When the selector valve 42 is in the communication state according to a signal from the controller 51, the closed-circuit pump 13 is connected with the arm cylinder 3 via the flow lines 202 and 203, the selector valve 42, and the flow lines 210 and 211, to thereby form a closed circuit.
The selector valve 43 is connected to the one input/output port of the swing motor 7 via the flow line 213, and is connected to the other input/output port of the swing motor 7 via the flow line 214. When the selector valve 43 is in the communication state according to a signal from the controller 51, the closed-circuit pump 13 is connected with the swing motor 7 via the flow lines 202 and 203, the selector valve 43, and the flow lines 213 and 214, to thereby form a closed circuit.
The delivery port of the open-circuit pump 14 is connected to the selector valves 44 and 45 and a relief valve 21 via a flow line 204. The proportional valve 48 is provided on a flow line 215 that connects the delivery port of the open-circuit pump 14 to a tank 25. The suction port of the open-circuit pump 14 is connected to the tank 25.
When a flow-line pressure becomes a predetermined pressure or higher, the relief valve 21 vents the hydraulic operating fluid to the tank 25, and protects the circuit.
The selector valves 44 and 45 select communication or interruption of the flow lines according to signals from the controller 51. When there are no signals from the controller 51, the selector valves 44 and 45 are in the interruption state.
The selector valve 44 is connected to the cap chamber 3a of the arm cylinder 3 via the flow line 210.
The selector valve 45 is connected to the rod chamber 3b of the arm cylinder 3 via the flow line 211.
The proportional valve 48 changes the opening area and controls the passing flow rate according to a signal from the controller 51. When there are no signals from the controller 51, the proportional valve 48 is kept at the maximum opening area. In addition, when the selector valves 44 and 45 are in the interruption state, the controller 51 controls the delivery flow rate of the open-circuit pump 14 such that it becomes the minimum flow rate, and opens the proportional valve 49 minutely such that the hydraulic operating fluid is discharged to the tank 25 at that minimum flow rate.
The delivery port of the open-circuit pump 15 is connected to the selector valves 46 and 47 and a relief valve 22 via a flow line 205. The proportional valve 49 is provided on a flow line 216 that connects the delivery port of the open-circuit pump 15 to the tank 25. The suction port of the open-circuit pump 15 is connected to the tank 25.
The relief valve 22 vents the hydraulic operating fluid to the tank 25 and protects the circuit when a flow-line pressure becomes a predetermined pressure or higher.
The selector valves 46 and 47 select communication or interruption of the flow lines according to signals from the controller 51. When there are no signals from the controller 51, the selector valves 46 and 47 are in the interruption state.
The selector valve 46 is connected to the cap chamber 3a of the arm cylinder 3 via the flow line 210.
The selector valve 47 is connected to the rod chamber 3b of the arm cylinder 3 via the flow line 213.
The proportional valve 49 changes the opening area and controls the passing flow rate according to a signal from the controller 51. When there are no signals from the controller 51, the proportional valve 49 is kept at the maximum opening area. In addition, when the selector valves 46 and 47 are in the interruption state, the controller 51 controls the delivery flow rate of the open-circuit pump 15 such that it becomes the minimum flow rate, and opens the proportional valve 49 minutely such that the hydraulic operating fluid is discharged to the tank 25 at that minimum flow rate.
The delivery port of the charge pump 11 is connected to a charge relief valve 20, and charge check valves 26, 27, 28a, 28b, 29a, and 29b via the charge line 212.
The suction port of the charge pump 11 is connected to the tank 25.
The charge relief valve 20 sets a charge pressure of the charge check valves 26, 27, 28a, 28b, 29a, and 29b.
The charge check valve 26 opens and supplements the flow lines 200 and 201 with the hydraulic fluid in the charge pump 11 when the pressures in the flow lines 200 and 201 fall below the charge pressure set at the charge relief valve 20.
The charge check valve 27 opens and supplements the flow lines 202 and 203 with the hydraulic fluid in the charge pump 11 when the pressures in the flow lines 202 and 203 fall below the charge pressure set at the charge relief valve 20.
The charge check valves 28a and 28b open and supplement the flow lines 210 and 211 with the hydraulic fluid in the charge pump 11 when the pressures in the flow lines 210 and 211 fall below the charge pressure set at the charge relief valve 20.
The charge check valves 29a and 29b open and supplement the flow lines 213 and 214 with the hydraulic fluid in the charge pump 11 when the pressures in the flow lines 213 and 214 fall below the charge pressure set at the charge relief valve 20.
Relief valves 30a and 30b provided on the flow lines 200 and 201 vent the hydraulic operating fluid to the charge line 212 and protect the circuit when a flow-line pressure becomes a predetermined pressure or higher.
Relief valves 31a and 31b provided on the flow lines 202 and 203 vent the hydraulic operating fluid to the charge line 212 and protect the circuit when a flow-line pressure becomes a predetermined pressure or higher.
The arm cylinder 3 is a single rod hydraulic cylinder that performs extension/contraction operation by being supplied with the hydraulic operating fluid. The extension/contracting direction of the arm cylinder 3 depends on the direction of supply of the hydraulic operating fluid.
Relief valves 32a and 32b provided on the flow lines 210 and 211 vent the hydraulic operating fluid to the charge line 212 and protect the circuit when a flow-line pressure becomes a predetermined pressure or higher.
A flushing valve 34 provided on the flow lines 210 and 211 discharges a surplus oil in the flow lines to the charge line 212.
The swing motor 7 is a hydraulic motor that is pivoted by being supplied with the hydraulic operating fluid. The pivot direction of the swing motor 7 depends on the direction of supply of the hydraulic operating fluid.
Relief valves 33a and 33b provided on the flow lines 213 and 214 vent the hydraulic operating fluid to the charge line 212 and protect the circuit when a flow-line pressure becomes a predetermined pressure or higher.
A flushing valve 35 provided on the flow lines 210 and 211 discharges a surplus oil in the flow lines to the charge line 212.
A pressure sensor 60a connected to the flow line 210 senses the pressure in the flow line 210 and inputs the sensed pressure to the controller 51. The pressure sensor 60a senses the pressure in the cap chamber 3a of the arm cylinder 3 by sensing the pressure in the flow line 210.
A pressure sensor 60b connected to the flow line 211 senses the pressure in the flow line 211 and inputs the sensed pressure to the controller 51. The pressure sensor 60b senses the pressure in the rod chamber 3b of the arm cylinder 3 by sensing the pressure in the flow line 211.
A pressure sensor 61a connected to the flow line 213 senses the pressure in the flow line 213 and inputs the sensed pressure to the controller 51. The pressure sensor 61a senses the pressure in the one input/output port of the swing motor 7 by sensing the pressure in the flow line 213.
A pressure sensor 61b connected to the flow line 214 senses the pressure in the flow line 214 and inputs the sensed pressure to the controller 51. The pressure sensor 61b senses the pressure in the other input/output port of the swing motor 7 by sensing the pressure in the flow line 214.
The lever 52 inputs an amount of lever operation by an operator to the controller 51.
The demanded-speed calculating section 51a calculates, from an input of the lever 52, operation directions and demanded speeds of actuators, and inputs a control signal to the actuator-allocated-flow-rate calculating section 51c.
The charge-pressure calculating section 51b calculates a charge pressure on the basis of values of inputs from the pressure sensors 60a, 60b, 61a, and 61b, and inputs a control signal to the actuator-allocated-flow-rate calculating section 51c.
The actuator-allocated-flow-rate calculating section 51c calculates the number of pumps necessary for the driving of each actuator on the basis of the control signal from the demanded-speed calculating section 51a, the values of inputs from the pressure sensors 60a, 60b, 61a, and 61b, and the control signal from the charge-pressure calculating section 51b, and inputs a control signal to the pump-signal output section 51d. Simultaneously, in order to form a flow line for driving each actuator, the actuator-allocated-flow-rate calculating section 51c inputs control signals to the selector-valve-signal output section 51e, the proportional-valve-signal output section 51f, and the meter-out-valve-signal output section 51g.
The pump-signal output section 51d outputs signals to the regulators 12a to 15a on the basis of the control signal from the actuator-allocated-flow-rate calculating section 51c.
The selector-valve-signal output section 51e outputs signals to the selector valves 40 to 47 on the basis of the control signal from the actuator-allocated-flow-rate calculating section 51c.
The proportional-valve-signal output section 51f outputs signals to the proportional valves 48 and 49 on the basis of the control signal from the actuator-allocated-flow-rate calculating section 51c.
The meter-out-valve-signal output section 51g outputs a signal to a meter-out valve 50 on the basis of the control signal from the actuator-allocated-flow-rate calculating section 51c.
When input of operation through the lever 52 is started, it is determined whether or not the operation is single operation at Step 111. When the operation is single operation, it is determined whether or not the operation is arm operation at Step 112. When the operation is arm operation, it is determined whether or not the operation is arm-extending operation at Step 113. When the operation is arm-extending operation, at Step 114, the delivery flow rates of the closed-circuit pumps 12 and 13, and the open-circuit pumps 14 and 15 are controlled. At Step 115, the selector valves 40, 42, 44, and 46 are opened, and the selector valves 41, 43, 45, and 47 are closed. At Step 116, the proportional valves 48 and 49 are closed, and the flow ends at Step 117.
As a result of Steps 114 to 116, the hydraulic operating fluid delivered from the closed-circuit pumps 12 and 13 and the open-circuit pumps 14 and 15 is supplied to the cap chamber 3a of the arm cylinder 3, the hydraulic operating fluid discharged from the rod chamber 3b of the arm cylinder 3 is absorbed by the closed-circuit pumps 12 and 13, and the arm cylinder 3 performs extending operation.
When it is determined at Step 113 that the operation is not arm-extending operation (i.e. the operation is arm-contracting operation), at Step 118, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 119, the selector valves 40, 42, 44, and 46 are opened, and the selector valves 41, 43, 45, and 47 are closed. At Step 120, the opening areas of the proportional valves 48 and 49 are controlled, and the flow ends at Step 117.
As a result of Steps 118 to 120, the hydraulic operating fluid delivered from the closed-circuit pumps 12 and 13 is supplied to the rod chamber 3b of the arm cylinder 3, part of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3 is absorbed by the closed-circuit pumps 12 and 13, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valves 48 and 49, and the arm cylinder 3 performs contracting operation.
When it is determined at Step 112 that the operation is not arm operation (i.e. the operation is swing single operation), at Step 121, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 122, the selector valves 41 and 43 are opened, and the selector valves 40, 42, 44, 45, 46, and 47 are closed. At Step 123, the proportional valves 48 and 49 are opened minutely, and the flow ends at Step 117.
As a result of Steps 121 to 123, the hydraulic operating fluid delivered from the closed-circuit pumps 12 and 13 is supplied to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pumps 12 and 13, and the swing motor 7 performs rotational operation.
When it is determined at Step 111 that the operation is not single operation (i.e. the operation is combined operation), it is determined whether or not the operation includes arm-extending operation at Step 124. When the operation includes arm-extending operation, it is determined whether or not the charge pressure is higher than a predetermined pressure P at Step 125. Here, the predetermined pressure P is a lower limit value of the charge pressure that can be set to any value. The predetermined pressure P is set to a value larger than zero, and smaller than the set pressure of the charge relief valve 20. More specifically, the predetermined pressure P is desirably set to such a pressure (e.g. 60% to 90% of the set pressure of the charge relief valve 20) that cavitation does not occur when the flow lines 200 to 203, 210, 211, 213, and 214 are supplemented with the hydraulic fluid via the charge check valves 26, 27, 28a, 28b, 29a, and 29b. When the charge pressure is higher than the predetermined pressure P, it is determined whether or not the pressure in the rod chamber 3b of the arm cylinder 3 is higher than the pressure in the cap chamber 3a. When it is determined that the pressure in the rod chamber 3b is higher, at Step 127, the delivery flow rates of the closed-circuit pumps 12 and 13 and the open-circuit pump 14 are controlled, and the delivery flow rate of the open-circuit pump 15 is controlled such that the tilting amount is minimized. At Step 128, the selector valves 40, 43, 44, and 47 are opened, and the selector valves 41, 42, 45, and 46 are closed. At Step 129, the proportional valve 48 is closed, and the opening area of the proportional valve 49 is controlled, and the flow ends at Step 117.
As a result of Steps 127 to 129, the hydraulic operating fluid is supplied from the closed-circuit pump 12 and the open-circuit pump 14 to the cap chamber 3a of the arm cylinder 3, part of the hydraulic operating fluid discharged from the rod chamber 3b of the arm cylinder 3 is absorbed by the closed-circuit pump 12, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valve 49, and the arm cylinder 3 performs extending operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation. At this time, the hydraulic operating fluid in the high-pressure-side rod chamber 3b of the arm cylinder 3 is discharged to the tank 25 via the particular proportional valve 49 corresponding to the unused open-circuit pump 15, and thus it becomes possible to accelerate the extension speed of the arm cylinder 3.
When it is determined at Step 126 that the pressure in the rod chamber 3b is not higher than the pressure in the cap chamber 3a, or when it is determined at Step 125 that the charge pressure is not higher than the predetermined pressure P, at Step 130, the delivery flow rates of the closed-circuit pumps 12 and 13 and the open-circuit pump 14 are controlled, and the delivery flow rate of the open-circuit pump 15 is controlled such that the tilting amount is minimized. At Step 131, the selector valves 40, 43, and 44 are opened, and the selector valves 41, 42, 45, 46, and 47 are closed. At Step 132, the proportional valve 48 is closed, and the proportional valve 49 is opened minutely, and the flow ends at Step 117. Thereby, the hydraulic operating fluid is supplied from the closed-circuit pump 12 and the open-circuit pump 14 to the low-pressure-side cap chamber 3a of the arm cylinder 3, the hydraulic operating fluid discharged from the rod chamber 3b of the arm cylinder 3 is absorbed by the closed-circuit pump 12, and the arm cylinder 3 performs extending operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation.
When it is determined at Step 124 that the operation does not include arm-extending operation, at Step 133, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 134, the selector valves 40, 43 and 44 are opened, and the selector valves 41, 42, 45, 46, and 47 are closed. At Step 135, the opening area of the proportional valve 48 is controlled, and the proportional valve 49 is opened minutely, and the flow ends at Step 117.
As a result of Steps 133 to 135, the hydraulic operating fluid is supplied from the closed-circuit pump 12 to the rod chamber 3b of the arm cylinder 3, part of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3 is absorbed by the closed-circuit pump 12, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valve 48, and the arm cylinder 3 performs contracting operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation.
At time T1, an operator uses the lever 52 to start operation of extending the arm 4, and operation of pivoting the upper swing structure 102. From the input of the lever 52, a demanded speed is calculated, and in order to perform operation according to the demanded speed, the delivery flow rates of the closed-circuit pumps 12 and 13 increase. In order to introduce the delivery flow rates of the closed-circuit pumps 12 and 13 to the actuators, the selector valves 40 and 43 are opened. In the operation of extending the arm 4, the hydraulic operating fluid is supplied to the cap chamber of the arm cylinder 3, and the hydraulic operating fluid is discharged from the rod chamber. In order to compensate for a decrease in the hydraulic operating fluid due to the pressure-receiving area difference of the hydraulic cylinder, the delivery flow rate of the open-circuit pump 14 is controlled. The tilting angle of the open-circuit pump 15 is kept at the minimum tilting angle. In order to introduce the hydraulic operating fluid delivered by the open-circuit pump 14 to the actuators, the selector valve 44 is opened. The cap-side pressure of the arm cylinder 3 increases along with the supply of the hydraulic operating fluid.
At time T2, the delivery flow rates of the closed-circuit pumps 12 and 13 become the maximum delivery flow rates, but the speed of the arm cylinder 3 is lower than the demanded speed. In order to increase the speed of the arm cylinder 3, the hydraulic operating fluid discharged from the rod chamber of the arm cylinder 3 needs to be increased. Since the pressure in the rod chamber 3b of the arm cylinder 3 is higher than the pressure in the cap chamber 3a at this time, the speed of the arm cylinder 3 can be accelerated if the hydraulic operating fluid in the rod chamber 3b can be discharged to the tank 25.
At time T2, the selector valve 46 is opened, and the opening area of the proportional valve 49 is controlled to discharge the hydraulic operating fluid discharged from the rod chamber of the arm cylinder 3 to the tank 25 via the proportional valve 49. In order to prevent a decrease in the charge pressure caused by an increase in the flow rate discharged from the rod chamber of the arm cylinder 3, the delivery flow rate of the open-circuit pump 14 is increased.
At time T3, the delivery flow rate of the open-circuit pump 14 becomes the maximum delivery flow rate. Since the delivery flow rate cannot be increased by controlling the open-circuit pump 14, the opening area of the proportional valve 49 is controlled to prevent the charge pressure from falling below the charge lower limit pressure P.
At time T4, the opening of the proportional valve 49 is kept constant to perform control to prevent the charge pressure from falling below the lower limit pressure P.
By performing control in the manner mentioned above, the speed of the arm cylinder 3 can be increased, and it is possible to prevent the charge pressure from becoming a negative pressure even when the discharge flow rate of the hydraulic operating fluid in the circuit increases.
In the present embodiment, in the construction machine 100 including: the tank 25 that stores the hydraulic operating fluid; the plurality of closed-circuit pumps 12 and 13 including bidirectionally-tiltable hydraulic pumps; the plurality of open-circuit pumps 14 and 15 including unidirectionally-tiltable hydraulic pumps, the number of the unidirectionally-tiltable hydraulic pumps being the same as the number of the plurality of closed-circuit pumps 12 and 13; the plurality of hydraulic actuators 3 and 7 including the at least one single rod hydraulic cylinder 3 and the at least one hydraulic motor 7; the operation device 52 for giving instructions about operation of the plurality of hydraulic actuators 3 and 7; the plurality of closed-circuit selector valves 40 to 43 that connect the plurality of closed-circuit pumps 12 and 13 to the plurality of hydraulic actuators 3 and 7 such that closed circuits are formed; the plurality of cap-side selector valves 44 and 46 that connect the delivery ports of the plurality of open-circuit pumps 14 and 15 to the cap chamber 3a of the single rod hydraulic cylinder 3; the plurality of proportional valves 48 and 49 that are provided on the flow lines 215 and 216 that connect the delivery ports of the plurality of open-circuit pumps 14 and 15 to the tank 25; the cap pressure sensor 60a that senses the pressure in the cap chamber 3a; the rod pressure sensor 60b that senses the pressure in the rod chamber 3b of the single rod hydraulic cylinder 3; and the controller 51 that controls the plurality of closed-circuit selector valves 40 to 43, and the plurality of cap-side selector valves 44 and 46, and controls the delivery flow rate of each of the plurality of closed-circuit pumps 12 and 13 and the plurality of open-circuit pumps 14 and 15, and the opening areas of the plurality of proportional valves 48 and 49 on the basis of inputs from the operation device 52, the cap pressure sensor 60a and the rod pressure sensor 60b, the construction machine 100 includes the plurality of rod-side selector valves 45 and 47 that connect the delivery ports of the plurality of open-circuit pumps 14 and 15 to the rod chamber 3b, and the controller 51 controls the cap-side selector valve 46 and the plurality of rod-side selector valves 47 such that the particular open-circuit pump 15 in the plurality of open-circuit pumps 14 and 15 that is not connected to the single rod hydraulic cylinder 3 is connected to the single rod hydraulic cylinder, and controls the opening area of the particular proportional valve 49 provided on the flow line that connects the delivery port of the particular open-circuit pump 15 to the tank 25, when the single rod hydraulic cylinder 3 and the hydraulic motor 7 are driven simultaneously.
According to the thus-configured present embodiment, when the single rod hydraulic cylinder 3 and the hydraulic motor 7 are driven simultaneously, the particular open-circuit pump 15 not connected to the single rod hydraulic cylinder 3 and the particular proportional valve 49 are connected to the single rod hydraulic cylinder 3, and the opening area of the particular proportional valve 49 provided on the flow line that connects the delivery port of the particular open-circuit pump 15 to the tank 25 is controlled. Thereby, when the single rod hydraulic cylinder 3 and the hydraulic motor 7 are driven simultaneously, it becomes possible to use the unused open-circuit pump 15 or the unused proportional valve 49 to accelerate the speed of the single rod hydraulic cylinder 3.
In addition, the hydraulic excavator 100 according to the present embodiment further includes: the charge pump 11; the charge line 212 connected to the delivery port of the charge pump 11; the charge relief valve 20 provided on the charge line 212; and a charge pressure sensor 62 that senses the pressure in the charge line 212, and the controller 51 controls the cap-side selector valve 46 and the rod-side selector valve 47 such that the particular open-circuit pump 15 gets connected to the cap chamber 3a, opens the particular proportional valve 49, and reduces the opening area of the particular proportional valve 49 when the pressure in the charge line 212 falls below the predetermined pressure P set lower than the set pressure of the charge relief valve 20, in a case in which the hydraulic motor 7 is driven at the same time that the single rod hydraulic cylinder 3 is driven toward the extension side in a state in which the pressure in the rod chamber 3b is higher than the pressure in the cap chamber 3a. Thereby, the hydraulic operating fluid is supplied from the open-circuit pump 14 to the low-pressure-side cap chamber 3a of the single rod hydraulic cylinder 3, and, while the pressure in the charge line 212 is kept at the predetermined pressure P or higher, the hydraulic operating fluid in the high-pressure-side rod chamber 3b of the single rod hydraulic cylinder 3 is discharged to the tank 25 via the unused proportional valve 49. Accordingly, it becomes possible to accelerate the extension speed of the single rod hydraulic cylinder 3 while the pressure in the cap chamber 3a is prevented from becoming a negative pressure.
The hydraulic excavator according to the second embodiment of the present invention is explained by using
In
When input of operation through the lever 52 is started, it is determined whether or not the operation is single operation at Step 301. When the operation is single operation, it is determined whether or not the operation is arm operation at Step 302. When the operation is arm operation, it is determined whether or not the operation is arm-contracting operation at Step 303. When the operation is arm-contracting operation, at Step 304, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 305, the selector valves 40, 42, 44, and 46 are opened, and the selector valves 41, 43, 45, and 47 are closed. At Step 306, the opening areas of the proportional valves 48 and 49 are controlled, and the flow ends at Step 307.
As a result of Steps 304 to 306, the hydraulic operating fluid is supplied from the closed-circuit pumps 12 and 13 to the rod chamber 3b of the arm cylinder 3, part of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3 is absorbed by the closed-circuit pumps 12 and 13, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valves 48 and 49, and the arm cylinder 3 performs contracting operation.
When it is determined at Step 303 that the operation is not arm-contracting operation, at Step 308, the delivery flow rates of the closed-circuit pumps 12 and 13, and the open-circuit pumps 14 and 15 are controlled. At Step 309, the selector valves 40, 42, 44, and 46 are opened, and the selector valves 41, 43, 45, and 47 are closed. At Step 310, the proportional valves 48 and 49 are closed, and the flow ends at Step 307.
As a result of Steps 308 to 310, the hydraulic operating fluid delivered from the closed-circuit pumps 12 and 13 and the open-circuit pumps 14 and 15 is supplied to the cap chamber 3a of the arm cylinder 3, the hydraulic operating fluid discharged from the rod chamber 3b of the arm cylinder 3 is absorbed by the closed-circuit pumps 12 and 13, and the arm cylinder 3 performs extending operation.
When it is determined at Step 302 that the operation is not arm operation (i.e. the operation is swing single operation), at Step 311, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 312, the selector valves 41 and 43 are opened, and the selector valves 40, 42, 44, 45, 46, and 47 are closed. At Step 313, the proportional valves 48 and 49 are opened minutely, and the flow ends at Step 307.
As a result of Steps 311 to 313, the hydraulic operating fluid delivered from the closed-circuit pumps 12 and 13 is supplied to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pumps 12 and 13, and the swing motor 7 performs rotational operation.
When it is determined at Step 301 that the operation is not single operation (i.e. the operation is combined operation), it is determined whether or not the operation includes arm-contracting operation at Step 314. When it is determined that the operation includes arm-contracting operation, it is determined whether or not the charge pressure is higher than the predetermined pressure P at Step 315. When it is determined at Step 315 that the charge pressure is higher than the predetermined pressure P, it is determined whether or not the pressure in the cap chamber 3a of the arm cylinder 3 is higher than the pressure in the rod chamber 3b at Step 316. When it is determined that the pressure in the cap chamber 3a is higher, at Step 317, the delivery flow rates of the closed-circuit pumps 12 and 13 and the open-circuit pump 15 are controlled, and the delivery flow rate of the open-circuit pump 14 is controlled such that the tilting amount is minimized. At Step 318, the selector valves 40, 43, 44, and 47 are opened, and the selector valves 41, 42, 45, and 46 are closed. At Step 319, the opening area of the proportional valve 48 is controlled, and the proportional valve 49 is closed. At Step 320, the opening area of the meter-out valve 50 is controlled. At Step 307, the flow ends.
As a result of Steps 317 to 320, the hydraulic operating fluid is supplied from the closed-circuit pump 12 and the open-circuit pump 15 to the rod chamber 3b of the arm cylinder 3, part of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3 is absorbed by the closed-circuit pump 12, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valve 48 and the meter-out valve 50, and the arm cylinder 3 performs contracting operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation. At this time, the hydraulic operating fluid in the high-pressure-side cap chamber 3a of the arm cylinder 3 is discharged to the tank 25 via the proportional valve 48 and the meter-out valve 50, and the low-pressure-side rod chamber 3b is supplemented with the hydraulic operating fluid from the unused open-circuit pump 15. Accordingly, it becomes possible to accelerate the contraction speed of the arm cylinder 3 while the pressure in the rod chamber 3b is prevented from becoming a negative pressure.
When it is determined at Step 316 that the pressure in the cap chamber 3a is not higher than the pressure in the rod chamber 3b, or when it is determined at Step 315 that the charge pressure is not higher than the predetermined pressure P, at Step 322, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 323, the selector valves 40, 43, and 44 are opened, and the selector valves 41, 42, 45, 46, and 47 are closed. At Step 324, the opening area of the proportional valve 48 is controlled, and the proportional valve 49 is opened minutely, and the flow ends at Step 307. Thereby, the hydraulic operating fluid is supplied from the closed-circuit pump 12 to the rod chamber 3b of the arm cylinder 3, part of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3 is absorbed by the closed-circuit pump 12, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valve 48, and the arm cylinder 3 performs contracting operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation.
When it is determined at Step 314 that the operation does not include arm-contracting operation, at Step 325, the delivery flow rates of the closed-circuit pumps 12 and 13 are controlled, and the delivery flow rates of the open-circuit pumps 14 and 15 are controlled such that the tilting amounts are minimized. At Step 326, the selector valves 40, 43 and 45 are opened, and the selector valves 41, 42, 44, 45, 46, and 47 are closed. At Step 327, the opening area of the proportional valve 48 is controlled, and the proportional valve 49 is closed minutely, and the flow ends at Step 307.
As a result of Steps 325 to 327, the hydraulic operating fluid is supplied from the closed-circuit pump 12 to the cap chamber 3a of the arm cylinder 3, part of the hydraulic operating fluid discharged from the rod chamber 3b of the arm cylinder 3 is absorbed by the closed-circuit pump 12, remaining part of the hydraulic operating fluid is discharged to the tank 25 via the proportional valve 48, and the arm cylinder 3 performs extending operation. Simultaneously, the hydraulic operating fluid is supplied from the closed-circuit pump 13 to the one input/output port of the swing motor 7, the hydraulic operating fluid discharged from the other input/output port of the swing motor 7 is absorbed by the closed-circuit pump 13, and the swing motor 7 performs rotational operation.
When operation of the lever 52 is started by an operator at time T1, the delivery flow rates of the closed-circuit pumps 12 and 13 increase according to the input through the lever 52. At this time, the selector valve 40 becomes opened in order to form a flow line to the arm cylinder 3, and the selector valve 43 becomes opened in order to form a flow line to the swing motor 7. The other selector valves 41 and 42 on the side of the closed-circuit pumps are in the closed state. Since the operation is operation to contract the arm cylinder 3, the open-circuit pump 14 is not delivering the hydraulic operating fluid, the selector valve 44 is opened, the opening area of the proportional valve 48 is controlled, and the hydraulic operating fluid discharged from the arm cylinder 3 is being discharged from the proportional valve 48 to the tank 25. Since the open-circuit pump 15 is not used for the swing motor 7, the delivery flow rate is controlled such that the tilting amount is minimized. In order to discharge the hydraulic operating fluid at the minimum delivery flow rate from the open-circuit pump 15 to the tank 25, the proportional valve 49 opens minutely.
At time T2, the delivery flow rates of the closed-circuit pumps 12 and 13 become the maximum delivery flow rates. At this time, the speed of the arm cylinder 3 has not satisfied the demanded speed. Since the pressure in the cap chamber 3a of the arm cylinder 3 is a pressure higher than the pressure in the rod chamber 3b, in order to increase the speed of the arm cylinder 3, it is necessary to increase the flow rate of the hydraulic operating fluid discharged from the cap chamber 3a of the arm cylinder 3.
At time T2, the meter-out valve 50 is opened, a flow line is formed between the cap chamber 3a of the arm cylinder 3 and the tank 25, and the hydraulic operating fluid from the cap chamber 3a is discharged to the tank 25. At this time, in order to prevent the hydraulic operating fluid in the circuit from becoming insufficient, and prevent the charge pressure from lowering, the selector valve 47 is opened, and the hydraulic operating fluid is delivered from the open-circuit pump 15 to the rod chamber 3b of the arm cylinder 3.
The construction machine 100 according to the present embodiment further includes:
the cap-side discharge flow line 217 that connects the cap chamber 3a of the single rod hydraulic cylinder 3 to the tank 25; and the meter-out valve 50 provided on the cap-side discharge flow line 217, and the controller 51 controls the cap-side selector valve 46 and the rod-side selector valve 47 such that the particular open-circuit pump 15 gets connected to the rod chamber 3b, closes the particular proportional valve 49 corresponding to the particular open-circuit pump 15, opens the meter-out valve 50, and reduces the opening area of the meter-out valve 50 or increases the delivery flow rate of the particular open-circuit pump 15 when the pressure in the charge line 212 falls below the predetermined pressure P set lower than the set pressure of the charge relief valve 20, in a case in which swing motor 7 is driven at the same time that the arm cylinder 3 is driven toward the contraction side in a state in which the pressure in the cap chamber 3a is higher than the pressure in the rod chamber 3b.
According to the thus-configured present embodiment, while the pressure in the charge line 212 is kept at the predetermined pressure P or higher, the hydraulic operating fluid in the high-pressure-side cap chamber 3a of the single rod hydraulic cylinder 3 is discharged to the tank 25 via the proportional valve 48 and the meter-out valve 50, and the low-pressure-side rod chamber 3b is supplemented with the hydraulic operating fluid from the unused open-circuit pump 15. Accordingly, it becomes possible to accelerate the contraction speed of the single rod hydraulic cylinder 3 while the pressure in the rod chamber 3b is prevented from becoming a negative pressure.
Note that while the discharge from the cap chamber 3a of the single rod hydraulic cylinder 3 is performed with the meter-out valve 50, and the delivery flow rate of the open-circuit pump 15 is controlled such that the hydraulic operating fluid is introduced to the rod chamber 3b of the single rod hydraulic cylinder 3 in the present embodiment, the following configuration may be adopted when there is not the meter-out valve 50.
The controller 51 controls the cap-side selector valve 46 and the rod-side selector valve 47 such that the particular proportional valve 49 is connected to the cap chamber 3a, opens the particular proportional valve 49, and reduces the opening area of the particular proportional valve 49 when the pressure in the charge line 212 falls below the predetermined pressure P set lower than the set pressure of the charge relief valve 20, in a case in which the hydraulic motor 7 is driven at the same time that the single rod hydraulic cylinder 3 is driven toward the contraction side in a state in which the pressure in the cap chamber 3a is higher than the pressure in the rod chamber 3b. Thereby, while the pressure in the charge line 212 is kept at the predetermined pressure P or higher, the hydraulic operating fluid in the high-pressure-side cap chamber 3a of the single rod hydraulic cylinder 3 is discharged to the tank 25 via the unused proportional valve 49. Accordingly, it becomes possible to accelerate the contraction speed of the single rod hydraulic cylinder 3 while the pressure in the rod chamber 3b is prevented from becoming a negative pressure.
Although embodiments of the present invention are described in detail thus far, the present invention is not limited to the embodiments described above, and includes various modification examples. For example, the embodiments described above are explained in detail for explaining the present invention in an easy-to-understand manner, and are not necessarily limited to those including all the configurations explained. Furthermore, it is also possible to add some of configurations of an embodiment to configurations of another embodiment, and it is also possible to remove some of configurations of an embodiment or to replace some of configurations of an embodiment with part of another embodiment.
| Number | Date | Country | Kind |
|---|---|---|---|
| JP2019-035774 | Feb 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/005263 | 2/12/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/175132 | 9/3/2020 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 6244048 | Tanaka | Jun 2001 | B1 |
| 10184225 | Hiraku | Jan 2019 | B2 |
| 20150066313 | Hirozawa et al. | Mar 2015 | A1 |
| 20160032565 | Shimizu | Feb 2016 | A1 |
| Number | Date | Country |
|---|---|---|
| 3 176 444 | Jun 2017 | EP |
| 2015-48899 | Mar 2015 | JP |
| 2016-145603 | Aug 2016 | JP |
| WO 2013145528 | Oct 2013 | WO |
| Entry |
|---|
| International Preliminary Report on Patentability (PCT/IB/338 & PCT/IB/373) issued in PCT Application No. PCT/JP2020/005263 dated Sep. 10, 2021, including English translation (Japanese-language Written Opinion (PCT/ISA/237) filed on Jun. 24, 2021) (nine (9) pages). |
| International Search Report (PCT/ISA/210) issued in PCT Application No. PCT/JP2020/005263 dated Apr. 21, 2020 with English translation (six (6) pages). |
| Japanese-language Written Opinion (PCT/ISA/237) issued in PCT Application No. PCT/JP2020/005263 dated Apr. 21, 2020 (four (4) pages). |
| Extended European Search Report issued in European Application No. 20762036.0 dated Jun. 28, 2022 (eight (8) pages). |
| Number | Date | Country | |
|---|---|---|---|
| 20220074170 A1 | Mar 2022 | US |
