Patent Grant
10400797
The present invention relates to a hydraulic control system for a working machine, such as a hydraulic excavator and the like, equipped with a plurality of actuators and being capable of performing combined control of the plurality of actuators.
As hydraulic control systems for a working machine, such as construction machinery, typified by a hydraulic excavator and the like, a hydraulic control system is known which is configured to have a plurality of hydraulic pumps and a plurality of actuators connected to each other via a plurality of directional control valves (valve commonly called control valves and having the function of changing the direction of hydraulic oil flow and the function of narrowing the flow passage). For such hydraulic control systems, various techniques with which operability is improved for operators are developed, and examples of this kind of art include one described in Patent Literature 1. In Patent Literature 1, a plurality of pumps and a plurality of actuators are connected via a plurality of parallel-connected directional control valves. According to the technique described in Patent Literature 1, during normal operation of a hydraulic excavator, typified by excavation work and the like, in particular, the operability can be ensured while higher fuel efficiency can be realized.
According to the technique described in Patent Literature 1, it is possible to enhance the operability of a hydraulic excavator, the performance for fuel efficiency and the like, particularly, in normal operation such as typified by excavation work. However, the invention described in Patent Literature 1 depends on the configuration itself of hydraulic circuitry and/or hardware such as hydraulic equipment and/or the like, as a result of which it is difficult to provide satisfied performance for, for example, a combination of actuators to be operated, that is, for various combined operations, and further, since improvements aimed at further enhancing the performance involves making modifications to the hardware, such improvements are not easy in terms of time and costs. Further, there is a necessity to make modifications to hardware in order to maintain or enhance the performance for different works, such as, e.g., excavation work and leveling work, to be ready for an attachment (e.g., a grapple or the like) used in special application, and the like.
The present invention has been made in light of the above circumstances in the related art, and an object of the present invention is to provide a hydraulic control system for a working machine, the hydraulic control system having ability to meet performance requirements related to operability, fuel efficiency and the like even in various combined operations, and also the hydraulic control system having versatility to be easily adaptable for improvements to enhance the performance, variously different works or use of a special attachments without modifications to hardware.
To achieve this object, the present invention provides a hydraulic control system for a working machine which includes: a prime mover; a plurality of hydraulic pumps driven by the prime mover; a plurality of directional control valves, more than one of which is connected in parallel to each of the plurality of hydraulic pumps, the directional control valves directing hydraulic oil discharged from the hydraulic pumps to a predetermined actuator of a plurality of actuators; the plurality of actuators that are driven with hydraulic oil which is directed by the plurality of directional control valves after being discharged from the plurality of hydraulic pumps; a plurality of working members that are each operated by the plurality of actuators; a plurality of operating devices that are manipulated by an operator to drive the plurality of actuators, and output operation signals representing manipulated variables thus obtained in the manipulation; and a control device that receives the operation signals from the plurality of operating devices, then calculates pump control signals for the plurality of hydraulic pumps and valve drive signals for the plurality of directional control valves on the basis of a plurality of operation signals, and then outputs the pump control signals to the plurality of hydraulic pumps, and also outputs the valve drive signals to the plurality of directional control valves. The control device has a storage unit storing, as a map, a precedence order for supplies of hydraulic oil discharged by the plurality of hydraulic pumps to the plurality of actuators. The control device makes a comparison of the operation signals received from the plurality of operating devices and the map stored in the storage unit to determine which actuator of the plurality of actuators the hydraulic oil discharged by each of the plurality of hydraulic pumps is supplied to.
In the present invention configured as described above, the operation signals received from the operating devices are checked against the map stored in the storage unit of the control device, as a result of which a combination of a hydraulic pump from which hydraulic oil is supplied and an actuator to be driven with the hydraulic oil is determined. Based on this combination, a pump control signal for each hydraulic pump and a valve drive signal for each directional control valve are calculated. By the signals, each hydraulic pump and each directional control valve are driven to operate the corresponding actuator.
Here, in the map, a precedence order of the actuators to which the hydraulic oil is to be supplied from each hydraulic pump can be set as desired by considering a maximum discharge pressure and/or maximum discharge rate of each of the hydraulic pumps used, a required flow rate based on a shape and/or a maximum operation speed of each actuator and/or the like, and/or the like.
Because a combination of an actuator and a hydraulic pump selected from a map is selected in response to an operation signal, the performance related to operability, fuel efficiency and the like can be ensured irrespective of operation of a single actuator or combined operation of a plurality of actuators. Further, even if the specifications of hydraulic equipment such as a hydraulic pump, a directional control valve, an actuator and the like are changed, or even if design changes are made to a travel base, a revolving upperstructure, a front working member such as a boom, an arm and/or the like which form a working machine, and/or the like, or even if main work details are changed, or even if a special attachment is used, the performance can be maintained or enhanced only by modifying the setting of the map.
The hydraulic control system for a working machine according to the present invention can meet performance related to operability, fuel efficiency and the like even when being operated in various combined operations, and also can be easily adaptable for improvements to enhance the performance, variously different works or use of a special attachments without modifications to hardware.
Embodiments of a hydraulic control device for a working machine according to the present invention will now be described with reference to the drawings.
A working machine in which a hydraulic control device according to a first embodiment of the present invention is installed is, for example, a hydraulic excavator.
A hydraulic control system according to the first embodiment, which is installed in the hydraulic excavator shown in
In the first embodiment, further, a first boom directional control valve 21, a second arm directional control valve 32 and a bucket directional control valve 41 are each connected in parallel to the first hydraulic pump 11 through a pipe 16, and a first boom pressure control valve 26, a second arm pressure control valve 36 and a bucket pressure control valve 46 are connected to the upstream sides of the respective directional control valves.
Also, a second boom directional control valve 22, a first arm directional control valve 31 and an auxiliary directional control valve 61 are each connected in parallel to the second hydraulic pump 12 through a pipe 17, and a second boom pressure control valve 27, a first arm pressure control valve 37 and an auxiliary pressure control valve 66 are connected to the upstream sides of the respective directional control valves.
Also, a third boom directional control valve 23, a third arm directional control valve 33 and a swing motor directional control valve 51 are each connected in parallel to the third hydraulic pump 13 through a pipe 18, and a third boom pressure control valve 28, a third arm pressure control valve 38 and a swing motor pressure control valve 56 are connected to the upstream sides of the respective directional control valves.
The first embodiment further includes a boom operating device 110 for operation of the boom cylinder 7, an arm operating device 120 for operation of the arm cylinder 8, a bucket operating device 130 for operation of the bucket cylinder 9, a swing operating device 140 for operation of the swing motor 50 and a controller 100 into which each of signals of the control devices is input.
Further, the first boom directional control valve 21, the second boom directional control valve 22 and the third boom directional control valve 23 are connected to the boom cylinder 7 through pipes 24 and 25. The first arm directional control valve 31, the second arm directional control valve 32 and the third arm directional control valve 33 are connected to the arm cylinder 8 through pipes 34 and 35. The swing directional control valve 51 is connected to the swing motor 50 through pipes 54 and 55, and the bucket directional control valve 41 is connected to the bucket cylinder 9 through pipes 44 and 45.
As shown in
The connection map 102 described above represents a precedence order set for each connection between each actuator 7, 8, 9, 50 and each hydraulic pump 11, 12, 13 on the basis of pre-obtained information such as usage of the hydraulic excavator, the frequency of operation, and/or the like.
Further, reference signs (1) to (3) provided in the table denote a precedence order used when the priorities indicated by P1 to P3 are the same, that is, denote a precedence order of the hydraulic pumps for a specific actuator (hereinafter referred to as a “second precedence order”). For example, in
The following is the description of computing processing and operation of each of equipment according to the first embodiment as configured in this manner.
Boom-Swing Combined Control
Initially, combined control for the boom and swing is described as an example.
Upon an operator operating the boom operating device 110 and the swing operating device 140 shown in
Further, in the boom-swing combined control, as shown by square brackets in a connection map(a) in
Then, from the target flow rate QBm2 for the boom cylinder 7 and an actual speed, i.e., a real speed, of the boom cylinder 7 detected by a not-shown speed sensor, the boom target pressure calculator 113 shown in
Also, from the target flow rate QSw for the swing motor 50 and an actual speed, i.e., a real speed, of the swing motor 50 detected by a not-shown speed sensor, the swing target pressure calculator 143 shown in
Meanwhile, the second boom pressure control valve 27 and the swing motor pressure control valve 56 are controlled based on the target drive pressures PBm2, PSw calculated by the boom target pressure calculator 113 and the swing target pressure calculator 143. Further, based on the target flow rates QBm2, QSw which have been calculated by the boom target flow-rate calculator 112 and the swing target flow-rate calculator 142, the boom directional-control-valve control variable calculator 114 and the swing directional-control-valve control variable calculator 144 calculate opening areas of the second boom directional control valve 22 and the swing directional control valve 51, and then spool drive signals based on this calculation are output to the second boom directional control valve 22 and the swing directional control valve 51 to control the action of each spool so that the targeted opening area can be reached.
In this manner, in the boom-swing combined control, the second hydraulic pump 12 is used to drive the boom cylinder 7 and the third hydraulic pump 13 is used to drive the swing motor 50, in which the second boom directional control valve 22 is actuated in response to the drive signal from the spool drive control element 114 to supply hydraulic oil to the boom cylinder 7, and also the swing directional control valve 51 is actuated in response to the drive signal from the spool drive control element 144 to supply hydraulic oil to the swing motor 50. Incidentally, the other directional control valves are held in their spool neutral positions.
As described above, in the operation of a combination of the swinging operation and the boom raising operation, the amounts of hydraulic oil corresponding to the operation signals Pi from the boom operating device 110 and the swing swinging device 140 are discharged from the second hydraulic pump 12 and the third hydraulic pump 13. During the supply of the discharged hydraulic oil from the second hydraulic pump 12 and the third hydraulic pump 13 to the boom cylinder 7 and the swing motor 50, there is no loss produced by oil returning to a tank without being supplied in effect to the actuator for flow-rate control, that is, produced by surplus oil (bleed-off loss) and/or no loss caused by a pressure drop produced at a flow dividing valve and/or the like when the hydraulic oil is supplied from a single hydraulic pump to a plurality of actuators, and the like (meter-in loss), enabling the driving of the hydraulic excavator with a high degree of energy transfer efficiency.
Boom-Arm Combined Control
Next, combined control for the boom and the arm is described.
Upon an operator operating the boom operating device 110 and the arm operating device 120 shown in
In the boom-arm combined control, as illustrated in the connection map(b) described in
Based on the connection information and the required flow rates Q, the controller 100 causes the boom target flow-rate calculator 112 and the arm target flow-rate calculator 122, which are shown in
Then, from the target flow rate QBm2 for the boom cylinder 7 and an actual speed, i.e., a real speed, of the boom cylinder 7 detected by a not-shown speed sensor, the boom target pressure calculator 113 shown in
Also, from the target flow rates QAm1, QAm3 for the arm cylinder 8 and an actual speed, i.e., a real speed, of the arm cylinder 8 detected by a not-shown speed sensor, the arm target pressure calculator 123 shown in
Meanwhile, the second boom pressure control valve 27, the second arm pressure control valve 36 and the third arm pressure control valve 38 are controlled based on the target drive pressures PBm2, PAm1, PAm3 thus calculated by the boom target pressure calculator 113 and the arm target pressure calculator 123. Further, based on the target flow rates QBm2, QAm1, QAm3 thus calculated by the boom target flow-rate calculator 112 and the arm target flow-rate calculator 122, the directional-control-valve control variable calculators 114, 124 calculate opening areas which are targets of the second boom directional control valve 22, the first arm directional control valve 31 and the third arm directional control valve 33, and spool drive signals based on this calculation are output.
As a result, in the boom-arm combined operation, the amounts of hydraulic oil corresponding to the operation signals Pi from the boom operating device 110 and the arm operating device 120 are supplied from the first hydraulic pump 11, the second hydraulic pump 12 and the third hydraulic pump 13 to the boom cylinder 7 and the arm cylinder 8. During this supply, there is no loss produced by oil returning to a tank without being supplied in effect to the actuator for flow-rate control, that is, produced by surplus oil (bleed-off loss) and/or no loss produced by flow diversion caused when the hydraulic oil is supplied from a single pump to a plurality of actuators (meter-in loss), enabling the driving of the hydraulic excavator with a high degree of energy transfer efficiency.
Boom-Arm-Bucket Combined Control
Next, combined control for the boom, the arm and the bucket is described.
Upon an operator operating the boom operating device 110, the arm operating device 120 and the bucket operating device 130 shown in
In the boom-arm-bucket combined control, as illustrated in the connection map(c) illustrated in
Then, from the target flow rate QBm2 for the boom cylinder 7 and an actual speed, i.e., a real speed, of the boom cylinder 7 detected by a not-shown speed sensor, the boom target pressure calculator 113 shown in
Also, from the target flow rate QAm3 for the arm cylinder 8 and an actual speed, i.e., a real speed, of the arm cylinder 8 detected by a not-shown speed sensor, the arm target pressure calculator 123 shown in
Also, from the target flow rate QBk for the bucket cylinder 9 and an actual speed, i.e., a real speed, of the bucket cylinder 9 detected by a not-shown speed sensor, the bucket target pressure calculator 133 shown in
Meanwhile, the second boom pressure control valve 27, the third arm pressure control valve 38 and the bucket pressure control valve 46 are controlled based on the target drive pressures PBm2, PAm3, PBk thus calculated by the boom target pressure calculator 113, the arm target pressure calculator 123 and the bucket target pressure calculator 133. Further, based on the target flow rates QBm2, QAm3, QBk thus calculated by the boom target flow-rate calculator 112, the arm target flow-rate calculator 122 and the bucket target flow-rate calculator 132, the boom directional-control-valve control variable calculator 114, the arm directional-control-valve control variable calculator 124 and the bucket directional-control-valve control variable calculator 134 calculate opening areas acting as targets for the second boom directional control valve 22, the third arm directional control valve 33 and the bucket directional control valve 41, and then spool drive signals are output to the second boom directional control valve 22, the third arm directional control valve 33 and the bucket directional control valve 41 to control them so that the targeted opening areas can be reached.
As described above, in the boom, arm and bucket combined operation, the hydraulic oil corresponding to the operation signals Pi from the respective operating devices 110, 120, 130 is discharged from the first hydraulic pump 11, the second hydraulic pump 12 and the third hydraulic pump 13. While the discharged hydraulic oil is supplied to each of the bucket cylinder 9, the boom cylinder 7 and the arm cylinder 8, there is no loss produced by oil returning to a tank without being supplied in effect to the actuator for flow-rate control, that is, produced by surplus oil (bleed-off loss) and/or no loss produced by flow diversion of the hydraulic oil caused when the hydraulic oil is supplied from a single pump to a plurality of actuators (meter-in loss), enabling the driving of the hydraulic excavator with a high degree of energy transfer efficiency.
Boom-Arm-Bucket-Swing Combined Control
Next, combined control for the boom, the arm, the bucket and the swinging is described.
Upon an operator operating the boom operating device 110, the arm operating device 120, the bucket operating device 130 and the swing operating device 140, the controller 100 receives operation signals Pi as commands to operate the boom, arm, bucket and swing.
In the controller 100, based on the incoming manipulated variable signals Pi and the information stored in the connection map 102, the boom required flow-rate calculator 111, the arm required flow-rate calculator 121, the bucket required flow-rate calculator 131 and the swing required flow-rate calculator 141 calculate required flow rates Q for the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9 and the swing motor 50.
In the boom-arm-bucket-swing combined control, as illustrated in the connection map(d) illustrated in
Based on the connection information and the required flow rates Q, the controller 100 causes the boom target flow-rate calculator 112, the arm target flow-rate calculator 122, the bucket target flow-rate calculator 132 and the swing target flow-rate calculator 142 to calculate a flow rate QBm2 to be supplied from the second hydraulic pump 12 to the boom cylinder 7, a flow rate QAm3 to be supplied from the third hydraulic pump 13 to the arm cylinder 8, a flow rate QBk to be supplied from the first hydraulic pump 11 to the bucket cylinder 9 and a flow rate QSw to be supplied from the third hydraulic pump 13 to the swing motor 50.
Then, from the target flow rate QBm2 for the boom cylinder 7 and an actual speed, i.e., a real speed, of the boom cylinder 7 detected by a not-shown speed sensor, the boom target pressure calculator 113 shown in
Also, from the target flow rates QAm3, QSw for the arm cylinder 8 and the swing motor 50 as well as from actual speeds, i.e., real speeds, of the arm cylinder 8 and the swing motor 50 which are detected by not-shown speed sensors, the arm target pressure calculator 123 and the swing target pressure calculator 143, which are shown in
Further, from the target flow rate QBk for the bucket cylinder 9 and an actual speed, i.e., a real speed, of the bucket cylinder 9 detected by a not-shown speed sensor, the bucket target pressure calculator 133 shown in
Meanwhile, the second boom pressure control valve 27, the third arm pressure control valve 38, the bucket pressure control valve 46 and the swing motor pressure control valve 56 are controlled based on the target drive pressures PBm2, PAm3, PBk, PSw which have been calculated by the boom target pressure calculator 113, the arm target pressure calculator 123, the bucket target pressure calculator 133 and the swing target pressure calculator 143.
Further, based on the target flow rates QBm2, QAm3, QBk, QSw which have been calculated by the boom target flow-rate calculator 112, the arm target flow-rate calculator 122, the bucket target flow-rate calculator 132 and the swing target flow-rate calculator 142, the boom directional-control-valve control variable calculator 114, the arm directional-control-valve control variable calculator 124, the bucket directional-control-valve control variable calculator 134 and the swing directional-control-valve control variable calculator 144 calculate opening areas acting as targets for the second boom directional control valve 22, the third arm directional control valve 33, the bucket directional control valve 41 and swing directional control valve 51, and then spool drive signals are output to the second boom directional control valve 22, the third arm directional control valve 33, the bucket directional control valve 41 and the swing directional control valve 51 to control them so that the targeted opening areas can be reached.
In the boom-arm-bucket-swing combined control, here, because the third hydraulic pump 13 is used to drive the swing and to drive the arm, the target flow rates QAm3, QSw, which are respectively supplied from the third hydraulic pump 13 to the arm cylinder 8 and the swing motor 50, are calculated by proportionally dividing the target flow rate of the third hydraulic pump 13 on the basis of the manipulated variable of the arm operating device 120 and the swing operating device 140. When the target discharge pressure P3 of the third hydraulic pump 13 is calculated by the third pump target pressure calculator 153, either the target drive pressure PAm3 calculated by the arm target pressure calculator 123 or the target drive pressure PSw calculated by the swing target pressure calculator 143, whichever is higher, is chosen and determined as the target discharge pressure P3.
As described above, for the boom, arm, bucket and swing combined operation, that is, for driving a larger number of actuators than the number of pumps, the connection relationship between the pumps and the actuators is set, in consideration of the discharge flow rate of each pump and a required supply flow rate for each actuator, such that a specific actuator is intensively supplied with hydraulic oil from a single pump and a plurality of other actuators are supplied with a required flow rate from a single pump. Because of this, while a required amount of hydraulic oil is discharged from the pump and then is supplied to each actuator, there is no loss produced by the hydraulic oil returning to a tank without being supplied in effect to the actuator for flow-rate control, that is, produced by surplus oil (bleed-off loss) and/or no loss produced by flow diversion of the hydraulic oil caused when the hydraulic oil is supplied from a single pump to a plurality of actuators (meter-in loss), enabling the driving of the hydraulic excavator with a high degree of energy transfer efficiency.
In the controller 100A, the information on pumps preferentially used for driving each actuator is stored as a connection map 182. Operation signals Pi received from the operating devices and the connection stored in the connection map 182 are input to the target flow-rate calculation unit 180. The target flow-rate calculation unit 180 outputs a pump target flow rate of each hydraulic pumps. Based on the pump target flow rates, the processing described in the above first embodiment is performed in the pump control unit 190, the directional-control-valve control unit 191 and the pressure-control-valve control unit 192 to control, respectively, the tilting angle of each of the hydraulic pump 11, 12, 13, the opening area of each of the corresponding directional control valves, and each of the pressure control valves.
In the second embodiment, the controller 100A receives the mode switch signal from the mode selector 190 and selects a connection relationship of each hydraulic pump and each actuator from A or B shown in the connection map 182. The configuration of other components is the same as that in the first embodiment.
The hydraulic excavator is used for various types of works, so that a flow rate and/or pressure of hydraulic oil required by the actuator are varied from work to work. Further, the attachments are changed for each work. In this case, a required oil flow rate and/or pressure are varied due to variations in weight and/or operation from attachment to attachment, and the like. In the second embodiment of the present invention, as illustrated as “A” and “B” of the connection map 182, connection relationship maps tailored for work details or types of attachments to be used are created, so that a plurality of connection maps can be selectively switched according to work performed by the hydraulic excavator. Accordingly, in addition to the same advantageous effects of the first embodiment, the second embodiment can provide a hydraulic control device for a working machine capable of supplying a target flow rate to each actuator with reliability and offering excellent operability.
For example, in the case of using another attachment, generally called a grapple, instead of the bucket 6 connected to the bucket cylinder 9, unlike the bucket 6, the grapple is structured to make grasping movement and rotating movement. Because of this, another actuator is added as compared with the first embodiment of the present invention. Then, the mode selector 190 is operated to switch the pump-actuator connection relationship from “A” of the connection maps 182 to “B” of the connection maps 182 with the added actuator, as a result of which, even when the attachment is changed to the grapple, the target flow rate corresponding to the operation signal Pi is discharged from each of the hydraulic pumps 11, 12, 13, enabling a reduction of a bleed-off loss and/or a meter-in loss as described above.
In the second embodiment, the mode selector 190 is provided for inputting work details and kinds of attachments, but, for example, the work details and kinds of attachments may be displayed on a control panel to be input to the controller 100A by being selected on a so-called touch panel.
The controller 100B configured in the third embodiment of the present invention includes a connection map 183 in which a plurality of pump-actuator connection relationships is stored to correspond to which operating devices of all the operating devices such as the boom operating device 110, the arm operating device 120, the bucket operating device 130, the swing operating device 140, a travel operating device 150 and the like are operated, in short, to correspond to an operation combination. Based on a kind and a signal amount Pi represented by the signal received from the operating device and on the information of the connection map 183, a pump-actuator connection relationship is selected. The remainder is the same as the above second embodiment.
In the third embodiment, for example, when, in the hydraulic excavator, the travel operating device 150 is activated for travel operation of a travel motor which is not shown, the front mechanisms such as the boom, arm, bucket and the like are less likely to be moved concurrently. Because of this, upon reception of the operation signal Pi from the travel operating device 150, the first hydraulic pump 11 is selected for the travel motor (TR-R, TR-L) in preference to the boom, the arm and the bucket as shown in “D” of the connection map 183.
Such combined control for travel and the front mechanisms as described above is less likely to be performed. However, for example, when the travel-bucket combined control is instructed and hydraulic oil is supplied from the first hydraulic pump 11 to the travel motor and the bucket cylinder 9 according to “D” in connection map 183, even if the discharge flow rate of the first hydraulic pump 11 is not enough, there is no extreme reduction in speed, because the maximum required flow rate of the bucket cylinder 9 is lower than those of the boom cylinder 7 and the arm cylinder 8. Further, if the travel-boom or travel-arm combined operation is instructed, the first hydraulic pump 11 is selected for travel, the second hydraulic pump 12 is selected for the boom and the third hydraulic pump 13 is selected for the arm. Therefore, the pump discharge flow rate corresponding to the operation signal Pi can be ensured with reliability. Accordingly, the same advantageous effects as the above first embodiment can be provided. Further, instead of the signal of the travel operating device 150 shown in
And, if the need to use a single hydraulic pump to drive a plurality of actuators arises, in other words, if the need to divide the oil of the hydraulic pump arises, a comparison of load pressure among the actuators is made and the connection map 185 is changed for use such that the discharge oil is divided and supplied from the single hydraulic pump to the actuators with pressure values closer to each other. The configuration of other components is the same as the first, second and third embodiments.
In the fourth embodiment, for example, as illustrated in
For example, if the pressure of the swing motor 50 is closest to that of the arm cylinder 8, the third hydraulic pump 13 is selected for the arm cylinder 8, or, alternatively, if the pressure of the boom cylinder 7 is closest to that of the arm cylinder 8, the second hydraulic pump 12 is selected as illustrated in
Note that the pressure of the actuator may be an actual load pressure measured by a pressure gauge not shown and installed in each oil passage for a supply of hydraulic oil to the actuator, or may be a target drive pressure calculated by the controller 100D.
And, if the need to use a single hydraulic pump to drive a plurality of actuators arises, in other words, if the need to divide the oil discharged from the hydraulic pump arises, a comparison of flow rates supplied to the respective actuators is made and a combination of some of the actuators is determined such that the total flow rate of the combination is no more than the maximum possible flow rate of the single pump. Within the combination of the actuators, a comparison of load pressure between the actuators is made, and from the connection map 186, it is determined that discharge oil is supplied from the same hydraulic pump to the two actuators with the load pressures closest to each other. Note that if the connection relationships are changed, a target flow-rate calculation unit 180E calculates a target flow rate of the pump on the basis of the changed connection relationship.
In the fifth embodiment, for example, in the case of shifting from the arm-boom-bucket combined control to the arm-boom-bucket-swing combined control, a combination between the bucket cylinder 9 and the first hydraulic pump 11, a combination between the swing motor 50 and the third hydraulic pump 13, and a combination between the boom cylinder 7 and the second hydraulic pump 12 are determined from the information of the connection map 185, as in the case of the fourth embodiment.
For the arm cylinder 8, from among the supply flow rates of the respective actuators, a combination of actuators is determined such that the maximum possible flow rate of a single pump is not exceeded. Then, from among the combinations of the actuators, load pressures of the respective actuators are compared to select a combination of two actuators with the load pressures closest to each other, and it is determined which hydraulic pump is to be connected to the arm cylinder 8 in the selected combination. For example, if the total flow rate of the arm cylinder 8 and the swing motor 50 does not exceed the maximum possible flow rate of the third hydraulic pump 13 and the load pressures of the arm cylinder 8 and the swing motor 50 are closest to each other, the third hydraulic pump 13 is selected for the arm cylinder 8 as illustrated in “E” of the connection map 186.
Meanwhile, if the total flow rate of the arm cylinder 8 and the swing motor 50 exceeds the maximum possible flow rate of the third hydraulic pump 13, another actuator is selected. If the total flow rate of the arm cylinder 8 and the bucket cylinder 9 does not exceed the maximum possible flow rate of the first hydraulic pump 11 and the load pressures of the arm cylinder 8 and the bucket cylinder 9 are closest to each other, the first hydraulic pump 11 is selected for the arm cylinder 8 as illustrated in “F” of the connection map 186 in
As described above, according to the fifth embodiment, the required flow rate can be supplied to each actuator within the maximum possible flow rate of a hydraulic pump and also two actuators with load pressures closest to each other can be supplied with hydraulic oil from a single hydraulic pump. As a result, the same advantageous effects as those in the fourth embodiment can be obtained. Note that the flow rate of an actuator may be any one of values of: an actual flow rate measured by a flowmeter, not shown, installed in each oil passage through which oil is supplied to the actuator; an estimated flow rate calculated from actuator speed or actuator displacement; and a target flow rate calculated by the target flow-rate calculation unit in the controller 100E.
As described above, in the hydraulic control device for a working machine according to the present invention, for driving of a front working mechanism, swing, travel and the like, there is no so-called bleed-off loss produced by, after a flow rate of hydraulic oil corresponding to an operation signal is discharged from each of the hydraulic pumps, returning the hydraulic oil to a tank on a hydraulic circuit for supply to each actuator without being supplied to the actuator, and/or there is no meter-in loss produced when hydraulic oil is divided and supplied from a single pump to a plurality of actuators. As a result, the hydraulic working machine is able to be driven with a high degree of energy transfer efficiency. Additionally, irrespective of a kind and a combination of actuators to be operated, work details and also a change of attachments for use, the operability can be ensured and also high fuel efficiency can be achieved.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2015/060654 | 4/3/2015 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2016/157531 | 10/6/2016 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20120291427 | Azuma et al. | Nov 2012 | A1 |
| 20140090369 | Nakamura et al. | Apr 2014 | A1 |
| 20160025113 | Hiraku et al. | Jan 2016 | A1 |
| 20160032565 | Shimizu et al. | Feb 2016 | A1 |
| Number | Date | Country |
|---|---|---|
| 2 535 468 | Dec 2012 | EP |
| 57-54635 | Apr 1982 | JP |
| 2012-241803 | Dec 2012 | JP |
| 2013-231464 | Nov 2013 | JP |
| 2015-48899 | Mar 2015 | JP |
| 10-2012-0137343 | Dec 2012 | KR |
| WO 2014168058 | Oct 2014 | WO |
| Entry |
|---|
| International Search Report (PCT/ISA/210) issued in PCT Application No. PCT/JP2015/060654 dated Jun. 20, 2015 with English translation (3 pages). |
| Japanese-language Written Opinion (PCT/ISA/237) issued in PCT Application No. PCT/JP2015/060654 dated Jun. 20, 2015 (4 pages). |
| Number | Date | Country | |
|---|---|---|---|
| 20180073525 A1 | Mar 2018 | US |
