Hydraulic control device of a working machine

Information

  • Patent Grant
  • 6378303
  • Patent Number
    6,378,303
  • Date Filed
    Tuesday, March 7, 2000
    24 years ago
  • Date Issued
    Tuesday, April 30, 2002
    22 years ago
Abstract
A hydraulic control apparatus for a working machine in which a flow rate and a direction of pressure oil discharged from a hydraulic pump are controlled by a control valve to supply it to a swing motor, comprising: a bleed-off oil path for bleeding off a part of the pressure oil supplied to the swing motor, a cut valve provided on the bleed-off oil path to adjust a bleed-off amount, a controller for controlling the cut valve through a solenoid proportional valve, and pressure sensors for detecting an operating amount of a remote control valve for swing, characterized in that the controller sets the bleed-off amount according to the operating amount detected by the pressure sensors, controls an opening area of the cut valve on the basis of the bleed-off amount set, and suppresses the shock when sudden swinging operation takes place.
Description




BACKGROUND OF THE INVENTION




1. Field of the Invention




The present invention relates to a hydraulic control device of controlling an actuator provided on a working machine such as a hydraulic excavator, and particularly to a hydraulic control device of a working machine suitable for controlling a swinging operation.




2. Description of the Related Art




Conventionally, in the hydraulic excavator as the working machine, when attachments such as a swing motor, a travel motor, a boom cylinder, an arm cylinder, a bucket cylinder and so on are operated, an operating lever is operated to a full lever at a stretch, a lever operating amount is held constant, or the operating amount is somewhat changed while operating the actuator in a constant amount.




When the response of the actuator to the lever operation is excessively sensitive, there involves inconveniences such that when in operation, the actuator is actuated with the shock; it is difficult to hold the lever operating amount constant; or when the lever operation is changed in slight amount, the actuator sensitively reacts therewith to bring forth hunting. It is difficult for an unskilled operator to handle such a sensitively operating actuator as described. Then, an attempt has been made wherein a bleed-off passage of a control valve designed so that when the full lever operation is made, it is normally fully closed is made in a slightly open state even at the full lever operation, thereby improving the operativeness.




For example, in Japanese Patent Application Laid-Open No. 9-165791 Publication, there is shown a constitution in which in the full lever operation, a predetermined flow rate is discharged to a tank from a hydraulic pump, as shown in FIG.


10


. In

FIG. 10

, reference numeral


60


designates an engine;


61


and


62


a first hydraulic pump and a second hydraulic pump driven by the engine


60


;


63


a cylinder for an earth-discharge plate;


64


a swing motor;


65


an arm cylinder;


66


a left travel motor;


67


a bucket cylinder;


68


a swing cylinder;


69


a boom cylinder; and


70


a right travel motor. Direction control valves are disposed on a center bypass line


71


connected to the first hydraulic pump


61


, and a direction control valve


73


for an arm is connected in tandem at the downstream side of a direction control valve


72


for swing. The direction control valve


72


for swing is provided with a throttle


72




a


forming a bleed-off opening.




According to this constitution, in the full lever operation, the direction control valve


72


for swing bleeds off a part of pressure oil, and where single driving of the swing motor


64


is switched to composite driving of the swing motor


64


and the arm cylinder


65


, the flow rate discharged from the throttle


72




a


is supplied to the arm cylinder


65


through a direction control valve


73


for an arm positioned at the downstream of the direction control valve


72


for swing. At this time, the flow rate substantially equal to that at the swing single driving is supplied to the swing motor


64


. Accordingly, it is possible to prevent rapid swing operation in the swing single driving, and in the composite driving, it is possible to prevent the swing speed from being lowered rapidly.




However, since in the aforementioned conventional hydraulic circuit, the bleed-off passage (the throttle


72




a


) is in a normally open state, when the engine is increased in rotation to discharge a predetermined flow rate of pressure oil from the first hydraulic pump


61


, no problem occurs, but since a predetermined flow rate of pressure oil is subject to the bleeding-off, when the rotational frequency of the engine lowers, the flow rate flowing into the swing motor


64


reduces, so that the swing speed lowers.




The concrete work is taken as an example and explained. Where the swing work is carried out on the inclined ground and where an upper swing body is swung toward the upper side of the inclined surface, load applied to the swing motor


54


increases. When the bleed-off passage (the throttle


72




a


) is opened, the bleed-off flow rate discharged from the bleed-off passage naturally increases, so that the swing speed lowers. Moreover, normally, in the inclined ground, an operator lowers the rotational frequency of the engine for operation in consideration of the stability of the hydraulic excavator. Accordingly, under the conditions as described, it is sometimes that pressure oil necessary for swinging is not sufficiently supplied to the swing motor


64


to stop the swing operation.




SUMMARY OF THE INVENTION




A first object of the present invention is to provide a hydraulic control device of a hydraulic working machine, in which for example, in a swing operation, even if full lever operation is carried out, no shock caused by rapid swinging occurs, and a second object thereof is to provide said device, in which for example, in a swing operation, even if the rotational frequency of the engine is lowered, the flow rate necessary for swinging can be supplied to a swing motor to carry out a stable swing operation.




The present invention relates to a hydraulic control device of a working machine having a hydraulic pump driven by a power source, an actuator operated by pressure oil discharged from the hydraulic pump, a control valve for controlling a flow rate and a direction of the pressure oil discharged from the hydraulic pump, and an operating member for switching and operating the control valve, said hydraulic control device of a working machine comprising a bleed-off oil path for bleeding off a part of pressure oil supplied to a specific actuator out of the actuator, a bleed-off amount adjusting means for adjusting a bleed-off amount provided in the bleed-off oil path, an operating amount detecting means for detecting an operating amount of the operating member, and a control means for setting a bleed-off amount according to the operating amount detected by the operating amount detecting means and controlling the bleed-off amount set.




The bleed-off oil path can be constituted by a bypass oil path for communication between an upstream side of the oil path and a downstream side of the oil path of the control valve connected to the specific actuator.




Further, the control valve connected to the specific actuator can be formed with a meter-in passage, a meter-out passage, and said bleed-off oil path as a third passage.




Further, the bleed-off oil path can be constituted by a branch path branched from an oil path which connects the hydraulic pump and the control valve connected the specific actuator.




Further, the bleed-of amount adjusting means can be constituted specifically by a pilot switching valve for opening and closing the bleed-off oil path, and a solenoid proportional valve for exerting a pilot pressure according to the set bleed-off amount on the pilot switching valve.




The control means according to the present invention is possible to control the bleed-off amount adjusting means so that the bleed-off oil path is closed according to the operating amount of the operating member, and when the operating amount reaches a full stroke, the bleed-off oil path is not fully closed.




In the present invention provided with the bypass oil path, if the control valve connected to the specific actuator is designed to intercept the center bypass at the time of switching operation, the control means can be constituted such that the bypass oil path is switched from a full open position to a full closed position with delay for a predetermined time when switching operation is carried out. Further, the control means can be designed so that when the operating amount of the operating member exceeds a first set operating amount, the bypass oil path is gradually closed with delay of time, and when the operating amount of the operating member lowers than a second set operating amount, the closed bypass oil path is released.




In the present invention, where the rotational frequency detecting means for detecting rotational frequency of the power source is present, the control means is possible to control so that when the detected value of the rotational frequency detecting means lowers than a predetermined rotational frequency, the bleed-off oil path is closed.




The control means in the present invention selects a higher degree between the bleed-off amount based on the operating amount detected by the operating amount detecting means and the bleed-off amount based n the rotational frequency detected by the rotational frequency detecting means and control the bleed-off amount adjusting means with the selected bleed-off amount. Further, the control means can control the bleed-off amount adjusting means so that as the rotational frequency of the power source, the bleed-of amount is reduced.




In the present invention, as a concrete example of the specific actuator, a swing motor is shown, and as a control valve connected to the specific actuator, a control valve for swing is shown.




In accordance with the present invention, when the operating member is fully operated, the bleed-off amount adjusting means opens the bleed-off oil path, and bleed-off a part of pressure oil supplied to the specific actuator.




In accordance with the present invention provided with the bypass oil path, when the bleed-off amount adjusting means or the control means fails so that the bleed-off oil path is closed, the pressure oil does not flow into the bypass oil path but the pressure oil flows into the control valve connected to the specific actuator, whereby the specific actuator can be operated continuously. Even in the severe environment for the mechatrosystem working machine involving high temperature, much humidity or much dust, the working machine can be operated stably.




In accordance with the present invention provided with the bleed-off oil path in the control valve, since a part of pressure oil is bled off from the bleed-off oil path formed in the control valve connected to the specific actuator, the circuit constitution is simple.




In accordance with the present invention provided with the branch path at the upstream side of the control valve, since a part of pressure oil supplied to the control valve connected to the specific actuator is bled off on this side of the control valve, the circuit constitution is simple.




In accordance with the present invention in which the bleed-off amount adjusting means comprises a pilot switching valve and a solenoid proportional valve, it is possible to adjust the flow rate of pressure oil flowing in the bleed-off oil path following the operating amount of the operating member.




In accordance with the present invention, when the operating amount of the operating member reaches a full stroke, the bleed-off oil path is not fully closed, whereby the shock caused by the sudden operation can be suppressed.




In accordance with the present invention in which the bypass oil path is closed with delay of time, even if the operating member is operated, the actuator is actuated with delay of predetermined time, whereby the shock caused by the sudden operation can be suppressed.




In accordance with the present invention provided with the rotational frequency detecting means, when the rotational frequency of the engine lowers in a predetermined rotational frequency, the bleed-off oil path is closed, and pressure oil in amount necessary for operation of the actuator is supplied.




In accordance with the present invention in which the rotational frequency of the engine is detected, the bleed-off amount based on the operating amount and the bleed-off amount based on the rotational amount of the engine are selected in high degree, and the bleed-off amount adjusting means is controlled on the basis of the selected bleed-off amount.




Further, since the bleed-off amount can be lowered as the rotational frequency of the engine lowers, the actuator can be operated stably.




In accordance with the present invention in which the specific actuator comprises a swing motor, if the swing operation is carried out suddenly, the shock is suppressed, and other actuators are not affected in operation.











BRIEF DESCRIPTION OF THE DRAWINGS





FIG. 1

is a side view of a hydraulic excavator provided with a hydraulic control apparatus according to the present invention;





FIG. 2

is a main part hydraulic circuit showing a first embodiment of a hydraulic control apparatus according to the present invention;





FIG. 3

is a flowchart showing operation of the hydraulic control apparatus shown in

FIG. 2

;





FIG. 4

is a graph showing cut-valve instructions by a controller shown in

FIG. 2

;





FIG. 5

is a main part hydraulic circuit showing a second embodiment of a hydraulic control apparatus according to the present invention;





FIG. 6

is a graph showing cut valve instructions by a controller shown in

FIG. 5

;





FIG. 7

is a graph showing an opening area characteristic of the cut-valve shown in

FIG. 5

;





FIG. 8

is a main part hydraulic circuit showing a third embodiment of a hydraulic control apparatus according to the present invention;





FIG. 9

is a main part hydraulic circuit showing a fourth embodiment of a hydraulic control apparatus according to the present invention; and





FIG. 10

is a hydraulic circuit view showing a constitution of a conventional hydraulic control apparatus.











DESCRIPTION OF PREFERRED EMBODIMENTS





FIG. 1

shows a side view of a working machine provided with a hydraulic control device according to the present invention, concretely, a hydraulic excavator. In

FIG. 1

, reference numeral


1


denotes a lower travel body of the hydraulic excavator;


1


L,


1


R a pair of left and right travel driving travel motors;


2


an upper swing body mounted for swing on the lower travel body


1


;


3


an engine as a power source provided on the upper swing body


2


;


4


a swing motor for swinging the upper swing body


2


;


5


a work attachment provided for rising and falling on the upper swing body


2


;


6


a boom for the work attachment


5


;


7


an arm connected for vertical rocking to an extreme end of the arm


6


; and


8


a bucket as a working tool mounted on an extreme end of the arm


7


. Numerals


9


,


10


and


11


denote a boom cylinder, an arm cylinder and a bucket cylinder, respectively, as hydraulic actuators for driving the work attachment


5


.





FIGS. 2

to


4


show a first embodiment of a hydraulic control device provided on the hydraulic excavator shown in FIG.


1


. In

FIG. 2

, reference numerals


20


,


21


denote first and second hydraulic pumps for discharging main pressure oil driven by the engine


3


, and


23


,


24


denote regulators for adjusting a slant-plate tilting amount of the hydraulic pumps


20


,


21


.




Reference numeral


25


denotes a pilot pump;


26


a control valve for travel for controlling the travel motor


1


L;


27


a control valve for swing (a control valve connected to a specific actuator) for controlling the swing motor (a specific actuator)


4


;


28


a control valve for arm for controlling the arm cylinder


10


; and


29


a center bypass oil path for flowing pressure oil from the first hydraulic pump


20


passing through neutral positions of the control valves


26


,


27


and


28


, respectively.




Reference numeral


30


denotes an outlet side flowpassage of the center bypass oil path


29


; and


31


a cut valve for return oil provided in the outlet side flowpassage


30


to pass or cut-off return oil to an oil tank


32


. Reference numeral


33


denotes an upstream side supply oil path for supplying pressure oil from the hydraulic pump


20


to the control valve for swing


27


and the control valve for arm


28


from the upstream side of the oil path, and


34


a downstream side center bypass oil path at the downstream side of the control valve for swing


27


of the center bypass oil path


29


. Reference numerals


35




a


to


35




b


denote bypass oil paths for short circuit for communication between the upstream side supply oil path


33


and the downstream side center bypass oil path


34


, and


36


a cut valve for short circuit passage (a pilot switching valve) disposed in the bypass oil paths for short circuit


35




a-




35




b.






Reference numeral


37


denotes a solenoid proportional valve for supplying a pilot pressure to a pilot port


36




a


of the cut valve for shirt circuit


36


, and


38


a solenoid proportional valve for supplying a pilot pressure to a pilot port


31




a


of the cut valve for return oil


31


.




Reference numeral


39




a


denotes an operating lever directly connected to a remote control valve for swing


39


, which lever is to operate the swing motor


4


. Reference numerals


40


,


41


denote pressure sensors (operating amount detecting means) for detecting an operating amount of the operating lever


39




a,


which pressure sensors are to detect pilot secondary pressures output from the remote control valve for swing


39


and introduced into both pilot ports


27




a,




27




b


of the control valve for swing


27


.




The secondary pilot pressures detected are applied to a controller (a control means)


42


. A rotational frequency sensor (a rotational frequency detecting means)


43


for detecting rotational frequency of the engine


3


is connected to the controller


42


.




The operation of the hydraulic control device as constructed above will be explained hereinafter. The control of the controller


42


has first to third modes.




1. First Control Mode




When in the swing operation, the operating lever


39




a


is operated, the control valve for swing


27


is switched from a neutral position a to a position b or a position c to cut-off the center bypass, so that pressure oil discharged from the first hydraulic pump


20


is supplied to the swing motor


4


through the control valve for swing


27


.




Operating pressures when the operating lever


39




a


is operated is detected by the pressure sensors


40


,


41


and applied to the controller


42


. Accordingly, the controller


42


applies a flow rate control signal according to the operating amount to the solenoid proportional valve


37


, and controls the cut valve


36


for short circuit passage by control pressure output from the solenoid proportional valve


37


to adjust the flow rate of pressure oil passing through the bypass oil paths for short circuit


35




a-




35




b.






The cut valve for short circuit passage


36


is fully opened in the state where the operating lever


39




a


is not operated, and the controller


42


reduces an opening degree gradually in proportion to the operating amount of the operating lever


39




a.


The controller


42


controls the solenoid proportional valve


37


and the cut valve for short circuit passage


36


so that in the state where the operating lever


39




a


is subjected to full lever operation, the bypass oil paths for short circuit


35




a-




35




b


are not fully closed.




According to the above-described control method, there assumes substantially the same state as that in the full lever operation of the operating lever


39




a,


the control valve for swing


27


is bled off. Accordingly, even if the operating lever


39




a


is suddenly operated, no shock occurs.




Further, in the circuit constitution shown in

FIG. 2

, even the bypass oil paths for short circuit


35




a-




35




b


remain closed due to troubles of the cut valve for short circuit passage


36


, the solenoid proportional valve


37


or the controller


42


, the bleed-off passage of the control valve for swing


27


merely assumes a fully closed state, and though the operativeness is over-sensitive, the swinging operation can be accomplished. Accordingly, the operation can be continued during the waiting of repairs. Moreover, there is a further advantage that the operations of other actuators, for example, the arm cylinder


10


, are not affected.




2. Second Control Mode




The controller


42


in the second control mode is to have a delay of operation in preventing the shock in the sudden operation. For example, the cut valve for short circuit


36


and the solenoid proportional valve


37


are controlled so that after the center bypass passage of the control valve for swing


27


is fully closed, the bypass passages


35




a-




35




b


are closed with a delay of predetermined time (for example, for a few seconds). According to this control mode, it is possible to obtain sufficient working speed and operating force in order to close the cut valve for short circuit


36


after passage of predetermined time so as to avoid the bleed-off while relieving the shock caused by the rapid operation of the swing motor


4


. In making a delay of predetermined time, the passages of the bypass oil paths for short circuit


35




a-




35




b


are closed while gradually drawing them to thereby enable exhibition of the shock relieving function in sudden operation effectively.




3. Third Control Mode




The controller


42


in the third control mode receives rotational frequency of the engine detected from the rotational frequency sensor


43


, and when it is lower than the predetermined rotational frequency of the engine, controls the cut valve for short circuit passage


36


and the solenoid proportional valve


37


so as to close the bypass passages for short circuit


35




a-




36




a.






Where the swinging work is carried out in the inclined ground, when the upper swing body is swung toward the upper side of the inclined surface, a load applied to the swing motor


4


becomes heavy. At that time, when the cut valve for short circuit


36


is open, a part of pressure oil is bled off through the bypass oil paths for short circuit


35




a-




35




b


so that the swing speed lowers. In the inclined ground, an operator normally lowers the rotational frequency of the engine in consideration of possible falling down of the hydraulic excavator. Thereby, it is sometimes that a supply of pressure oil to the swing motor


4


is short so that the swing operation stops.




Then, according to the third control mode, where the rotational frequency of the engine


3


is low, the flow rate necessary for the swing operation is supplied to the swing motor


4


so that the swing motor


4


may be operated stably. On the other hand, where the rotational frequency of the engine


3


is high, and the operating amount of the operating lever


39




a


is large, the bypass oil paths for short circuit


35




a-




35




b


are not completely closed to bleed off pressure oil, thus making it possible to relieve the shock in operation.





FIG. 3

is a flowchart showing the above-described third control mode.




In

FIG. 3

, the controller


42


, first, judges if the engine rotational frequency is low, concretely, less than 1,500 rpm (Step N


1


), and if NO, judges if the operating lever


39




a


for swing is subjected to full lever operation (Step N


2


). The full lever operation judges if the pilot secondary pressure Pa output from the pressure sensor


40


or


41


exceeds, for example, 30 kg/cm


2


.




In Step N


1


, where the full lever operation is effected, the cut valve for short circuit


36


is controlled in accordance with the control pressure characteristic of Step N


3


. More specifically, when the operating lever


39




a


is in a neutral position, the control pressure P


1


is held at 5 kg/cm


2


; and the control pressure Pi gradually increases from the operation start time of the operating lever


39




a,


reaches 30 kg/cm


2


after passage of 3 seconds, and holds 30 kg/cm


2


by the full lever operation.




When operation is made with the operating amount of the operating lever


39




a


exceeding a first set operating amount (for example, Pa=30 kg/cm


2


), the control pressure, Pi is increased gradually by taking the 3 seconds which is the predetermined time, to close the bypass oil paths for short circuit


35




a-




35




b,


whereas when the operating amount of the operating lever


39




a


lowers than a second set operating amount (for example, Pa=15 kg/cm


2


) (Step N


4


), the control pressure Pi is lowered gradually, after which for example, control pressure Pi=5 kg/cm


2


is held to release the closed state of the bypass oil paths for short circuit


35




a-




35




b


(Step N


5


).




In Step N


1


, if YES, the control pressure Pi with respect to the cut valve for short circuit


36


is held constant at, for example, 30 kg/cm


2


to hold it at a closed position (Step No.


6


). In Step N


4


, if NO, the control pressure Pi with respect to the cut valve for short circuit


36


is likewise held constant at, for example, 30 kg/cm


2


to hold it at a closed position (Step No.


7


).




According to this control, even if the operating lever


39




a


is subjected to full lever operation suddenly, no shock occurs in the operation of the swing motor and the bypass oil paths for short circuit


35




a-




35




b


are closed after passage of a predetermined time, because of which the swing motor


4


can obtain a sufficient swing speed. Thereafter, where operation requiring accuracy is carried out, the operating amount of the operating lever


39




a


lowers than the second set operating amount, so that the bypass oil paths for short circuit


35




a-




35




b


are closed and a shockless smooth operating feeling can be obtained.




While in the hydraulic control device shown in

FIG. 2

, the bleed off amount adjusting means for controlling the flow rate of pressure oil passing through the bypass oil paths for short circuit


35




a


-


35




b


is composed of the cut valve for short circuit passage


36


and the solenoid proportional valve


37


, it is to be noted that the device is not limited thereto, but if the bypass oil paths for short circuit


35




a-




35




b


can be opened when the operating amount by the operating lever


39




a


exceeds a predetermined operating amount, it can be composed merely of an solenoid switching valve.





FIG. 4

shows another control example which controls the cut valve for short circuit passage


36


by changing to the control pressure characteristic shown in Step N


3


in FIG.


3


.




In the graph of

FIG. 4

, a constitution in which when the engine rotational frequency is lowered, the bypass oil paths for short circuit


35




a


-


35




b


are closed is the same as the control content described above, but the controller


42


in this case adjust an opening degree of the cut valve for short circuit passage


36


by comparing (1) a bleed off opening surface (hereinafter called an operating amount opening area) of the cut valve for short circuit passage


36


determined by the operating amount of the operating lever for swing


39




a


with (2) a bleed off opening area (hereinafter called a rotational frequency opening area) determined by the engine rotational frequency), and selecting one which is smaller in opening area so as to have the selected opening area.




More specifically, when the rotational frequency opening area characteristic TE changes from TE high to TE low in a range, for example, from high idle (2,200 rpm) to low idle (1,000 rpm), TE<TS results at the full lever time (Pmax) in the full idle, and TS is selected in high level and is output as the instructions value to the cut valve for short circuit passage


36


. However, when the engine rotational frequency lowers to TE′, TE′>TS results, in which case TE′ is selected in high level and is output as the instructions value to the cut valve for short circuit passage


36


. Here, a rising portion (To→T


1


) in each opening area characteristic is a common characteristic.




If the opening areas are always compared as described above, and the cut valve for short circuit passage


36


is controlled by section of high level, even in the case where work is carried out with the engine rotational frequency made low, there provides an advantage that speed and pressure to a certain degree can be secured for an actuator.





FIG. 5

shows a second embodiment of the hydraulic control device according to the present invention. In the following drawing, the same constituent elements as those shown in

FIG. 2

are indicated by the same reference numerals, description of which will be omitted. For simplifying the description, a circuit for singly operating a swing motor is shown.




In

FIG. 5

, the pressure oil discharged from the first hydraulic pump


20


flows into the working oil tank T through the center bypass line


50


, and to the center bypass line


50


are connected the control valve for travel


26


, the control valve for arm


28


, and the control valve for swing (a control valve connected to a specific actuator)


51


.




The control valve for arm


28


is connected in tandem to the downstream of the control valve for travel


26


, and the control valve for arm


28


and the control valve for swing


51


are connected in parallel through a pipe line


52


.




The control valve for swing


51


has three passages, i.e., a meter-in, a meter-out, and a bleed-off (in a neutral position, a center bypass) provided in a single spool, so that even at the full lever operation time, the bleed off passage is held at a predetermined opening degree and is not fully closed.




More specifically, with respect to the lever position/opening area characteristic of he control valve for swing


51


, at the neutral position a, the meter-in and meter-out are minimum, and the bleed off opening area is maximum. As the operating amount of the operating lever increases (b or c position) both opening areas of the meter-in and meter-out increase while the bleed off opening area reduces, but even at the full lever time, they are not completely closed but the bleed off passages


51




a


and


51




b


are held at a predetermined opening degree. That is, the constant bleed off flow rate is secured by the throttle


51




a′


or


51




b′.






To an outlet side of the bleed off passage of the control valve for swing


51


is connected a bleed off oil path


53


for bypassing a part of the flow rate toward the swing motor


4


to the tank T, and the bleed off oil path


53


is provided with a cut valve (a pilot switching valve)


54


. The cut valve


54


has a fully open position d and a fully closed position e, which is switched by pilot pressure introduced from a solenoid proportional valve


56


controlled by a controller


55


. Accordingly, the bleed off flow rate at that time is to be determined by the sum total of an opening area of the throttle


51




a′


or


51




b′


of the control valve for swing


51


, and an opening are of the cut valve


54


. The throttle


51




a′


(or


51




b′


) and the cut valve


54


function as the bleed off amount adjusting means.




Pilot pressures introduced into both pilot ports of the control valve for swing


51


are detected by the pressure sensors


40


and


41


, respectively and applied to the controller


55


. The rotational frequency of the engine


24


is detected by the rotational frequency sensor (rotational frequency detecting means)


43


and likewise applied to the controller


55


.




The controller


55


, as shown in

FIG. 6

, increases the cut valve control pilot pressure as the operating amount of the operating lever


39




a


increases to carry out the valve closing control, but executes a plurality of patterns of the valve closing control according to the engine rotational frequency when operated.




For example, where the engine


3


driven, for example, in a range from 800 to 2,000 rpm, the controller


55


selects the control pattern Pmax on the low rotation side (for example, 1,000 rpm) and selects the control pattern Pmin on the high rotation side (for example, 1,800 rpm), and in the range of Pmin to Pmax (B point to B′ point in the cut valve control pilot pressure), either control pattern out of Pn is selected according to the engine rotational frequency Ns.




On the other hand, in the cut valve


54


, as shown in

FIG. 7

, as the cut valve control pilot pressure increase, the bleed off opening area reduces, and when cut valve control pilot pressure at the B point, it is in a state where a predetermined amount thereof is opened, and at the B′ point, being completely closed. That is, where the engine


3


is driven at the high rotation, the cut valve control pilot pressure merely rises to the B point and accordingly the cut valve


54


holds a predetermined opening degree. However, as the engine rotational frequency Ns lowers, the cut valve control pilot pressure rises, coming closer to the B′ point from the B point. As the result, the bleed off opening area of the cut valve reduces gradually. It is to be noted that the cut valve control pilot pressure characteristic between the B point and B′ point is not limited to linearity shown in the present embodiment but can be non-linearity, for example, such as a hyperbola.




Next, the operation of the hydraulic control device shown in

FIG. 5

will be described.




In the swinging operation, when the operating lever


39




a


is operated, the pressure oil discharged from the first hydraulic pump


29


is supplied to the swing motor


4


through the control valve for swing


51


. At this time, the swing speed is determined by the flow rate supplied to the swing motor


4


, but a part of the pressure oil discharged from the first hydraulic pump


20


is discharged to the tank T through the bleed off passage


51




a


(or


51




b


) of the control valve for swing


51


, the bleed off pipeline


53


and the cut valve


54


.




Accordingly, since in this state, in the driving of the swing motor


4


, a part of the pressure oil is bled off, it is possible to suppress the shock caused by sudden operation of the operating lever


39




a.






In the swinging operation, for example, when the hydraulic excavator is in an inclined attitude on the inclined surface, an operator sometimes lowers the engine rotational frequency for the sake of safety.




In this case, since the lowering of the engine rotational frequency Ns is detected by the rotational frequency sensor


43


, the controller


55


selects the cut valve control pilot pressure pattern corresponding to the engine rotational frequency Ns from the cut valve control pilot pressure shown in

FIG. 6

, and controls the cut valve


54


in accordance with the selected pattern.




That is, when the engine rotational frequency Ns is in a low rotational zone, for example, less than 1,000 rpm, the controller


55


selects the control pattern Pmax to output the maximum cut valve control pilot pressure B′ to the cut valve


54


. Thereby, the cut valve


54


is closed (see the cut valve bleed off opening area in FIG.


7


), the bleed off pipeline


53


is cut off, and the bleed off from the bleed off passage


51




a


or


51




b


of the control valve for swing


51


stops.




Thereby, all the pressure oil discharged from the first hydraulic pump


20


is supplied to the swing motor


4


without loss from the bleed off passage


51




a


or


51




b.


Accordingly, even if the engine rotational frequency is lowered, the pressure oil necessary for swing can be supplied to the swing motor


4


, thus making it possible to overcome inconveniences that when swinging is carried out at low speed, the swinging operation stops.




While in the hydraulic control device shown in

FIG. 5

, even if the cut valve


54


is not closed, the bleed off flow rate is controlled to some extent by the throttle


51




a′


or


51




b′


provided on the bleed off passage


51




a


or


51




b


of the control valve for swing


51


, there is an advantage that the swinging work can be carried out safely.





FIG. 8

shows a third embodiment of the hydraulic control device according to the present invention.




In the hydraulic circuit shown in

FIG. 8

, a control valve for swing


58


is provided with passages for a meter-in, a meter-out and a bleed off, but this circuit is different from the circuit constitution shown in

FIG. 5

in that the control of the bleed off flow rate is exclusively carried out by the cut valve


54


.




In case of this constitution, the controller


57


selects the cut valve control pilot pressure pattern shown in

FIG. 6

according to the engine rotational frequency detected by the rotational frequency sensor


43


and control the cut valve


54


in accordance with the selected pattern, but since a throttle is not provided on the bleed off passage of the control valve for swing (a control valve connected to a specific actuator)


58


, the control of the bleed off flow rate is to be carried out by the single operation of the cut valve


54


.




If an arrangement is made such that the bleed off flow rate is controlled by the single operation of the cut valve


54


as described above, there provides an advantage that the circuit constitution and control are simple.




Now,

FIG. 9

shows a fourth embodiment of the hydraulic control device according to the present invention.




In the constitution shown in

FIG. 9

, the flowpassage


50


for supplying pressure oil to the control valve from the first hydraulic pump


20


is provided with a branch path


50




a,


which is brought into communication with the tank T, and the branch path


50




a


is provided with an unload valve (a pilot switching valve)


59


so that an opening area of the unload valve


59


is adjusted through the solenoid proportional valve


56


. In this circuit constitution, the control valve for swing


51


performs the fundamentally same operation as in the second embodiment shown in

FIG. 5

, and when the engine rotational frequency lowers, the unload valve


59


is controlled in a closing direction to reduce the bleed off flow rate. It is noted that the unload valve


59


and the solenoid proportional valve


56


function as bleed off amount adjusting means.




In the second to fourth embodiments, the bleed off amount adjusting means can be also constituted by an solenoid switching valve for opening and closing the bleed off pipeline


53


. In this case, the controller


55


(or


60


) detects that the engine rotational frequency Ns lowers than a predetermined value, and controls so that when the operating lever


39




a


is subjected to full lever operation, the solenoid switching valve is controlled to be closed to suppress the bleed off flow rate.




While in the above-described embodiments, the operating amount of the operating lever


39




a


is detected as pressure by the pressure sensors


40


and


41


, it is to be noted, not limiting thereto, that for example, a potentiometer or the like can be used to electrically detect the operating amount of the operating lever


39




a.






Further, while in the above-described embodiments, while the rotational frequency detecting means of the present invention is constituted by the rotational frequency sensor


43


, it is to be noted, not limiting thereto, that the engine rotational frequency can be also indirectly detected on the basis of the control element substantially proportional to the engine rotational frequency from the operating amount of the throttle lever (an accelerator lever) detected by a potentiometer, or instructions value to a stepping motor for controlling an engine governor lever (a fuel supply control lever to the engine).




Further, the cut valve control characteristic for short circuit passage shown in

FIG. 4

can be also applied to the aforementioned second to fourth embodiments.



Claims
  • 1. A hydraulic control device for a working machine comprising:a hydraulic pump driven by a power source; actuators operated by pressure oil discharged from the hydraulic pump, said actuators including a swing motor; a control valve for controlling a flow rate and a direction of the pressure oil discharged from the hydraulic pump; an operating member for switching and operating the control valve; a bleed-off oil path for bleeding off a part of the pressure oil supplied to said swing motor; a bleed-off amount adjusting means for adjusting a bleed-off amount provided in the bleed-off oil path; an operating amount detecting means for detecting an operating amount of the operating member; and a control means for setting the bleed-off amount according to the operating amount detected by the operating amount detecting means and controlling the bleed-off amount adjusting means according to the bleed-off amount set.
  • 2. The hydraulic control device according to claim 1, wherein said bleed-off oil path is constituted by a bypass oil path for communication between an upstream side of an oil path and a downstream side of an oil path of the control valve connected to the swing motor.
  • 3. The hydraulic control device according to claim 1, wherein said control valve connected to the specific actuator is formed with a meter-in passage, a meter-out passage, and said bleed-off oil path.
  • 4. The hydraulic control device for a working machine according to claim 1, wherein said bleed-off oil path is constituted by a branch path branched from an oil path which connects the hydraulic pump and the control valve connected the swing motor.
  • 5. The hydraulic control device for a working machine according to claim 1, wherein said bleed-off amount adjusting means is constituted by a pilot switching valve for opening and closing the bleed-off oil path, and a solenoid proportional valve for exerting a pilot pressure on the pilot switching valve according to the bleed-off amount set.
  • 6. The hydraulic control device according to claim 1, wherein said control valve is a control valve for swing.
  • 7. The hydraulic control device according to claim 2, wherein said control valve connected to the swing motor has a center bypass which is closed at the time of switching operation, and said control means switches said bypass oil path from a full open position to a full closed position with a delay for a predetermined time when switching operation is carried out.
  • 8. The hydraulic control device according to claim 7, wherein said control means is designed so that when the operating amount of the operating member exceeds a first set operating amount, the bypass oil path is gradually closed with delay of time, and when the operating amount of the operating member becomes lower than a second set operating amount, the closed bypass oil path is opened.
  • 9. The hydraulic control device according to claim 1, further comprising a rotational frequency detection means for detecting rotational frequency of said power source, wherein said control means controls so that when the detected value of the rotational frequency detecting means becomes lower than a predetermined rotational frequency, the bleed-off oil path is closed.
  • 10. The hydraulic control device according to claim 9, wherein said control means selects a higher degree between the bleed-off amount based on the operating amount detected by the operating amount detecting means and the bleed-off amount based on the rotational frequency detected by the rotational frequency detecting means and, controls the bleed-off amount adjusting means with the selected bleed-off amount.
  • 11. The hydraulic control device according to claim 9, wherein said control means controls said bleed-off amount adjusting means so that as the rotational frequency of the power source is reduced, the bleed-off amount is reduced.
Priority Claims (3)
Number Date Country Kind
10-191414 Jul 1998 JP
10-292950 Sep 1998 JP
11-180654 Jun 1999 JP
Parent Case Info

This application is a continuation of International application No. PCT/JP99/03636 filed on Jul. 6, 1999.

US Referenced Citations (1)
Number Name Date Kind
5680760 Lunzman Oct 1997 A
Foreign Referenced Citations (9)
Number Date Country
3-73703 Jul 1991 JP
05156668 Jun 1993 JP
05346101 Dec 1993 JP
0612803 Feb 1994 JP
09165791 Jun 1997 JP
10-18359 Jan 1998 JP
1061605 Mar 1998 JP
10-147959 Jun 1998 JP
10-204926 Aug 1998 JP
Continuations (1)
Number Date Country
Parent PCT/JP99/03636 Jul 1999 US
Child 09/521120 US