公开(公告)号：WO1997007296A1

公开(公告)日：1997-02-27

申请号：PCT/JP1996002251

申请日：1996-08-08

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  WATANABE, Hiroshi ,  HIRATA, Toichi ,  HAGA, Masakazu ,  FUJISHIMA, Kazuo

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: E02F03/43

CPC classification number: E02F3/437 ,  E02F3/32 ,  E02F9/2285 ,  E02F9/2296 ,  E02F9/26

Abstract: In an excavation region setting apparatus for controlling the region limited excavation by a construction machine, which is adapted to calculate a target speed vector Vc for use in controlling a front unit (1A), on the basis of a vehicle body (1B), restrict when the front unit approaches a boundary of a preset excavation region the moving speed thereof in the direction approaching the same boundary, by correcting the target speed vector, and move the front unit along the mentioned boundary, an outer reference 80 is set first in the horizontal direction in a position outside a hydraulic shovel body, and a depth hr between the outer reference and the boundary of the excavation region is then set by using a setter (7), for the purpose of setting the excavation region. The front unit (1A) is then moved, and, when the position of a front reference 70 agrees with that of the outer reference, an outer reference setting switch (71) is pressed. Consequently, a control unit (9) computes a height hf between a vehicle body reference point O and the outer reference, and then a height hs of a boundary surface of the excavation region with respect to the vehicle body reference point O on the basis of this depth hr by using the height hf as a correction value, and set the excavation region based on the vehicle body (1B), on the basis of which the target speed vector Vc is calculated. This enables the setting of an excavation region suitable for an excavation control operation in which computation is carried out on the basis of the vehicle reference to be done, and a highly reliable control operation to be carried out.

Abstract translation: 在用于基于车体（1B）计算用于计算用于控制前单元（1A）的目标速度向量Vc的建筑机械的区域限制挖掘控制的挖掘区域设定装置中，限制 当前单元通过校正目标速度向量接近预设挖掘区域的边界移动速度，并且沿着所述边界移动前单元时，首先将外参考点80设置在 为了设定挖掘区域，通过使用设定器（7）来设定在液压挖掘机体外侧的位置的水平方向和外部基准与挖掘区域的边界之间的深度hr。 然后，前部单元（1A）移动，并且当前部基准70的位置与外部基准的位置一致时，按下外部基准设定开关（71）。 因此，控制单元（9）计算车体参考点o0和外部基准之间的高度hf，然后计算挖掘区域相对于车体的边界面的高度hs 基于该深度hr，通过使用高度hf作为校正值，并且基于车身（1B）设定挖掘区域，基于该目标速度矢量 计算Vc。 由此，能够基于要完成的车辆基准来设定适合于进行计算的挖掘控制动作的挖掘区域，以及要进行高可靠性的控制动作。

公开(公告)号：WO1994027052A1

公开(公告)日：1994-11-24

申请号：PCT/JP1994000744

申请日：1994-05-06

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  SUNAMURA, Kazuhiro ,  TAKEGAHARA, Hidefumi ,  HIRATA, Toichi

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F15B20/00

CPC classification number: F15B20/00 ,  E02F9/22 ,  E02F9/2285 ,  F15B21/087 ,  Y10T137/87209

Abstract: When a solenoid proportional valve (91A) of a direction control valve (8A) is left open due to failure and an operator makes a reverse lever operation for operating an operation lever (4A) in an x2 direction, a low level signal is outputted from an operation position sensor (30A2) and a high level signal is outputted from operation position sensors (30A1, 30B1, 30B2). Since the output of an AND circuit (6b2) becomes a low level signal and the output of an AND circuit (6b1) becomes a high level signal, a change-over signal is outputted from an amplification circuit (6h) to a solenoid change-over valve (121), so that the solenoid change-over valve (121) is switched to a right side position in the figure to allow a pilot line (51) to keep communicating with a tank (97). The change-over signal is not outputted from the amplification circuit (6h) to a solenoid change-over valve (122), and the solenoid change-over valve (122) is kept at a left side position in the figure. Accordingly, the pilot line (52) keeps communicating with a pilot pump (96). At this time, a driving signal from a metering calculation portion (6a) is inputted to a solenoid proportional valve (92A) of a direction control valve and the solenoid proportional valve (92A) is excited, so that a secondary pilot pressure is given from the solenoid proportional valve (92A) to a pilot operation portion (22A) of the direction control valve (8A). Because a primary pilot pressure to the solenoid proportional valve (91A) is reduced by the solenoid change-over valve (121) to the tank pressure, the direction control valve (8A), that has existed at the left side position in the figure, is switched to the left and can be easily returned to a neutral position.

Abstract translation: 当方向控制阀（8A）的电磁比例阀（91A）由于故障而打开，并且操作者进行用于在x2方向上操作操作杆（4A）的反转杆操作时，从 从操作位置传感器（30A1,30B1,30B2）输出操作位置传感器（30A2）和高电平信号。 由于AND电路（6b2）的输出变为低电平信号，AND电路（6b1）的输出变为高电平信号，所以转换信号从放大电路（6h）输出到电磁变换信号 （121），使得电磁转换阀（121）切换到图中的右侧位置，以允许先导管线（51）与罐（97）保持连通。 转换信号不从放大电路（6h）输出到电磁转换阀（122），电磁转换阀（122）保持在图中的左侧位置。 因此，先导管路52与导向泵（96）保持连通。 此时，来自计量计算部（6a）的驱动信号被输入到方向控制阀的电磁比例阀（92A），电磁比例阀（92A）被激励，从而从 电磁比例阀（92A）连接到方向控制阀（8A）的先导操作部分（22A）。 由于电磁比例阀（91A）的初级先导压力被电磁转换阀（121）减小到油箱压力，所以在图中左侧位置存在的方向控制阀（8A） 被切换到左侧并且可以容易地返回到中立位置。

公开(公告)号：WO1994021925A1

公开(公告)日：1994-09-29

申请号：PCT/JP1994000464

申请日：1994-03-23

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  ISHIKAWA, Koji ,  HIRATA, Toichi ,  SUGIYAMA, Genroku

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F15B11/00

CPC classification number: E02F9/2285 ,  E02F9/2225 ,  E02F9/2235 ,  E02F9/2282 ,  E02F9/2296 ,  F15B11/04 ,  F15B11/05 ,  F15B2211/20553 ,  F15B2211/255 ,  F15B2211/30505 ,  F15B2211/3116 ,  F15B2211/329 ,  F15B2211/351 ,  F15B2211/353 ,  F15B2211/615 ,  F15B2211/6309 ,  F15B2211/6313 ,  F15B2211/6316 ,  F15B2211/6326 ,  F15B2211/633 ,  F15B2211/6333 ,  F15B2211/6355 ,  F15B2211/7053 ,  F15B2211/71

Abstract: When a control lever (8) is operated to leftward under a heavy load, a pressure sensor (11) detects a pressure to a direction switching valve (1), pressure sensors (9, 10) detect pressures on upstream and downstream and sides of a throttle valve (4), and an inclination angle sensor (15) and a revolution counter (16) detect an inclination angle of a swash plate and the number of revolutions of a pump (2), the detected pressures, angle and rotations being input to a controller (12). A target flow rate setting unit for lifting of a boom determines a target flow rate for lifting of a boom on the basis of signals from the pressure sensor (11) and the revolution counter (16), a detecting unit of a discharge flow rate of a pump determines a discharge flow rate of a pump on the basis of signals from the inclination angle sensor (15) and the revolution counter (16), and a differential pressure detecting unit and a center bypass flow rate computing unit determine a center bypass flow rate on the basis of signals from the pressure sensors (9, 10). A computing unit of a flow rate for a boom cylinder determines a flow rate for a boom cylinder on the basis of a discharge flow rate of a pump and a center bypass flow rate, and a first computing unit of a target displacement of a pump calculates a first target inclination angle theta 1 of a pump based on a differential flow rate between a target flow rate for lifting of a boom and a flow rate for a boom cylinder. At this time, the first target inclination angle theta 1 becomes larger than a second target inclination angle theta 2 of a pump for negative control to be selected by a maximum value selecting unit, and a smaller one of the first target inclination angle theta 1 and a maximum inclination angle theta max by horse power control is selected by a minimum value selecting unit, so that a corresponding target electric current is output to a solenoid proportional valve (13) from a drive signal generating unit to cause a piston (6a) of a regulator (6) to be driven to rightward in Fig. 4. Accordingly, a flow rate of a hydraulic pump (2) is gradually increased whereby a constantly favorable metering characteristics is obtained irrespective of magnitute of load.

Abstract translation: 当控制杆（8）在重负载下向左操作时，压力传感器（11）检测到方向切换阀（1）的压力，压力传感器（9,10）检测上游侧和下游侧的压力 节流阀（4）和倾斜角度传感器（15）和旋转计数器（16）检测斜盘的倾斜角度和泵（2）的转数，检测到的压力，角度和转速为 输入到控制器（12）。 用于提升起重臂的目标流量设定单元基于来自压力传感器（11）和转数计数器（16）的信号，确定用于起重吊臂的目标流量，将排气流量的检测单元 泵根据来自倾斜角传感器（15）和转数计数器（16）的信号确定泵的排出流量，差压检测单元和中心旁通流量计算单元确定中心旁路流量 基于来自压力传感器（9,10）的信号的速率。 动臂缸的流量的计算单元基于泵的排出流量和中心旁通流量来确定动臂缸的流量，并且泵的目标排量的第一计算单元计算 基于用于提升动臂的目标流量与动臂缸的流量之间的差分流量的泵的第一目标倾斜角度θ1。 此时，第一目标倾斜角度θ1变得大于用于由最大值选择单元选择的负控制的泵的第二目标倾斜角θ2，并且第一目标倾斜角θ1和 通过最小值选择单元选择马力控制的最大倾角θmax，使得相应的目标电流从驱动信号发生单元输出到电磁比例阀（13），以使活塞（6a） 图6中向右驱动的调节器（6）。 因此，液压泵（2）的流量逐渐增加，从而获得恒定的计量特性，而不管负载的大小如何。

公开(公告)号：WO1994004828A1

公开(公告)日：1994-03-03

申请号：PCT/JP1993001188

申请日：1993-08-25

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  HIRATA, Toichi ,  SUGIYAMA, Genroku ,  ISHIKAWA, Koji ,  OCHIAI, Masami

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F15B11/00

CPC classification number: B01D53/28 ,  B01D53/40 ,  B01D53/46 ,  E02F9/2235 ,  E02F9/2282 ,  E02F9/2296 ,  F15B11/055 ,  F15B11/165 ,  F15B21/087 ,  F15B2211/20553 ,  F15B2211/253 ,  F15B2211/30505 ,  F15B2211/3116 ,  F15B2211/351 ,  F15B2211/40507 ,  F15B2211/41554 ,  F15B2211/6058 ,  F15B2211/63 ,  F15B2211/6309 ,  F15B2211/6316 ,  F15B2211/6333 ,  F15B2211/6355 ,  F15B2211/6652 ,  F15B2211/7053 ,  F15B2211/71

Abstract: A hydraulic drive unit of a hydraulic working machine comprising: a hydraulic pump (2) of a variable capacity; at least one actuator (3) driven by pressure oil discharged from said hydraulic pump; a center bypass type direction changeover valve (1) for controlling the flow of the pressure oil supplied from said hydraulic pump to the actuator; a center bypass line (20) for connecting the center bypass path of said direction changeover valve to a tank; a first signal generating means having a fixed throttle (4) provided on the center bypass line, for generating a first control signal for determining a first target capacity of said hydraulic pump by use of pressure generated by said fixed throttle; and a pump regulator (6) for controlling a displacement capacity of said hydraulic pump on the basis of the first control signal, which unit further comprises: a second signal generating means (32 - 26) for generating a second control signal for determining a second target capacity of said hydraulic pump; and a selecting means for selecting one control signal larger in target capacity out of the first and the second control signals as a third control signal to send it to said pump regulator (6). With this arrangement, satisfactory metering characteristics similar to those in the past can be obtained under a light load and satisfactory metering characteristics can be also obtained under a heavy load.

Abstract translation: 一种液压工程机械的液压驱动装置，包括：具有可变容量的液压泵（2）; 由所述液压泵排出的压力油驱动的至少一个致动器（3）; 中心旁路式方向切换阀（1），用于控制从所述液压泵向致动器供给的压力油的流量; 用于将所述方向切换阀的中心旁路连接到罐的中心旁通管线（20） 第一信号发生装置，具有设置在中心旁路管线上的固定节气门（4），用于通过使用由所述固定节流阀产生的压力产生用于确定所述液压泵的第一目标容量的第一控制信号; 以及泵调节器（6），用于根据第一控制信号控制所述液压泵的排量，该单元还包括：第二信号发生装置（32-26），用于产生用于确定第二控制信号的第二控制信号 所述液压泵的目标容量; 以及选择装置，用于从第一和第二控制信号中选出一个目标容量较大的一个控制信号作为第三控制信号，以将其发送到所述泵调节器（6）。 通过这种布置，可以在轻负载下获得与过去类似的令人满意的计量特性，并且在重负载下也可以获得令人满意的计量特性。

公开(公告)号：WO1993013271A1

公开(公告)日：1993-07-08

申请号：PCT/JP1992001676

申请日：1992-12-22

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  HIRATA, Toichi ,  SUGIYAMA, Genroku ,  OCHIAI, Masami

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: E02F03/43

CPC classification number: E02F9/2239 ,  E02F9/2292

Abstract: A hydraulic driving apparatus for construction machines, wherein a first flow rate control means has first and second flow rate control valves (11a, 11b), and first interlocking means (54, 55) for interlocking the first and second flow rate control valves with a first direction control means (7). The second flow rate control valve has third and fourth flow rate control valves (12a, 12b), and second interlocking means (56, 57) for interlocking the third and fourth flow rate control valves with a second direction control means (9). A first pressure control means has at least a first pressure control valve (13a) adapted to be operated in a closing direction in accordance with a pressure signal, while a second pressure control means has only a second pressure control valve (15b) adapted to be operated in a closing direction in accordance with a pressure signal. A first hydraulic pump (25a) is connected to a first actuator (19) via the first flow rate control valve (11a), first pressure control valve (13a) and first direction control means (7), while a second hydraulic pump (25b) is connected to the first actuator (19) via the second flow rate control valve (11b) and first direction control means (7). The first hydraulic pump (25a) is connected in parallel with first actuator (19) to a second actuator (21) via the third flow rate control valve (12a) and second direction control means (9) but not via the pressure control valve. The second hydraulic pump (25b) is connected in parallel with the first actuator (19) to the second actuator (21) via the fourth flow rate Control valve (12b), second pressure control valve (15b) and second direction control means (9).

公开(公告)号：WO1991005958A1

公开(公告)日：1991-05-02

申请号：PCT/JP1990001310

申请日：1990-10-11

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  HIRATA, Toichi ,  TANAKA, Hideaki ,  SUGIYAMA, Genroku ,  KAJITA, Yusuke ,  NAKAMURA, Kazunori

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F15B11/00

CPC classification number: F15B13/0417 ,  E02F9/2232 ,  E02F9/2296 ,  Y10T137/7858

Abstract: This invention provides a hydraulic driving apparatus of civil engineering/construction equipment including a hydraulic pump (1), an actuator (2) driven by the pressure oil discharged from this hydraulic pump, a flow rate regulation valve (5) disposed between the hydraulic pump and the actuator, pressure compensation valves (8; 8A; 8B) equipped with a valve spool (23; 23A; 23B) for controlling the pressure difference (PZ - PLS) across this flow rate regulation valve and pump flow rate control means (9) for controlling the discharge flow rate of the hydraulic pump in accordance with the pressure difference (Pd - PLS)) between the pump pressure and the load pressure of the actuator, wherein the pressure compensation valves each include a first control chamber (30; 30A) into which the load pressure (PLS) of the actuator is introduced and which biases the valve spool in the valve opening direction by causing this load pressure to act on the first pressure receiving portion (28; 28A) of the valve spool, a second control chamber (29; 29A) into which the inlet pressure (PZ) of the flow rate regulation valve is introduced and which biases the valve spool in the valve closing direction by causing this inlet pressure to act on the second pressure receiving portion (27; 27A) of the valve spool and target pressure difference setting means (31; 50, 51; 31B, 51) for biasing the valve spool in the valve opening direction and setting the target value of the pressure difference across the flow rate regulation valve. In order to provide the actuator (2) with damping performance, the pressure receiving area (AZ) of the second pressure receiving portion (27; 27A) is made greater than the pressure receiving area (ALS) of the first pressure receiving portion (28; 28A).

公开(公告)号：WO1990008910A1

公开(公告)日：1990-08-09

申请号：PCT/JP1990000097

申请日：1990-01-26

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  TANAKA, Hideaki ,  HIRATA, Toichi ,  SUGIYAMA, Genroku ,  KAGIWADA, Hitoshi ,  YASUOKA, Tomohiko ,  WATANABE, Hiroshi ,  IZUMI, Eiki ,  ONOUE, Hiroshi

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F16H61/42

CPC classification number: E02F9/2235 ,  E02F9/2253 ,  E02F9/2296 ,  F16H61/4069 ,  F16H61/4148 ,  F16H61/421 ,  F16H61/425 ,  F16H61/435 ,  F16H61/46 ,  F16H61/47

Abstract: This invention relates to a hydraulic driving running apparatus comprising a hydraulic pump (8, 8A), at least one variable capacity type hydraulic motor (1) driven by the pressure oil discharged from this hydraulic pump, a flow rate regulating valve (11) having a pressure compensation function for controlling the flow rate of the pressure oil supplied to the hydraulic motor in accordance with an operation quantity of an operation lever (11c), the regulation valve (11) being interposed between the hydraulic pump and the hydraulic motor, and a motor controller (13, 17) for switching the hydraulic motor between a first capacity and a second capacity which is smaller than the first capacity. The motor controller includes first means (600A) for detecting a value (Υr) related with a required running speed of the hydraulic motor and second means (601, 602, 603, 17) for controlling the hydraulic motor between the first capacity and the second capacity by use of the value described above.

公开(公告)号：WO1990000683A1

公开(公告)日：1990-01-25

申请号：PCT/JP1989000691

申请日：1989-07-07

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD. ,  HIRATA, Toichi ,  SUGIYAMA, Genroku ,  KAJITA, Yusuke ,  AOYAGI, Yukio ,  YASUDA, Tomohiko ,  YASUDA, Gen ,  WATANABE, Hiroshi ,  IZUMI, Eiki ,  TANAKA, Yasuo ,  ONOUE, Hiroshi ,  NAKAMURA, Shigetaka

Inventor： HITACHI CONSTRUCTION MACHINERY CO., LTD.

IPC: F15B11/00

CPC classification number: F15B21/087 ,  E02F9/2228 ,  E02F9/2235 ,  E02F9/2285 ,  E02F9/2292 ,  E02F9/2296 ,  F04B2205/05 ,  F04B2207/01 ,  F15B11/163 ,  F15B2211/20553 ,  F15B2211/25 ,  F15B2211/30535 ,  F15B2211/3111 ,  F15B2211/40515 ,  F15B2211/40569 ,  F15B2211/428 ,  F15B2211/455 ,  F15B2211/6052 ,  F15B2211/6309 ,  F15B2211/6313 ,  F15B2211/6355 ,  F15B2211/65 ,  F15B2211/6653 ,  F15B2211/6654 ,  F15B2211/71 ,  F15B2211/78

Abstract: This invention relates to a hydraulic driving apparatus for construction machines which includes at least first and second hydraulic actuators (23-28) driven by a pressure oil supplied from a hydraulic pump (22), first and second flow rate control valves (29-34) for controlling the flow of the pressure oil supplied to these first and second actuators, respectively, and first and second branch flow compensation valves (35-40) for controlling first pressure differences (ΔPv1-Pv6) occurring between the inlets and outlets of the first and second flow rate control valves respectively. The first and second branch flow compensation valves apply control forces (Fc1-Fc6) based on second pressure differences to the corresponding branch flow compensation valves, respectively. The apparatus of the invention includes also driving means (45-50; 35c-40c) for setting a target value of the first pressure difference. The hydraulic driving apparatus includes further first means (59) for obtaining the second pressure difference (ΔP1s) from the discharge pressure (Ps) of the hydraulic pump (22) and the maximum load pressures (Pamax) of the first and second actuators, second means for calculating individual values (Fc1-Fc6) at least on the basis of the second pressure difference obtained by the first means as the values of the control force to be applied by the respective driving means (45-50; 35c-40c) of the first and second branch flow compensation valves (35-40) and first and second control pressure generation means (62a-62f) disposed so as to correspond to the first and second branch flow compensation valves, respectively, for generating the control pressures (Pc1-Pc6) in accordance with the individual values determined by the second means and outputting them to the driving means (35c-40c) of the first and second branch flow compensation valves, respectively.

公开(公告)号：WO1988002071A1

公开(公告)日：1988-03-24

申请号：PCT/JP1987000662

申请日：1987-09-07

Applicant: HITACHI CONSTRUCTION MACHINARY CO., LTD ,  SATOH, Shinichi ,  HIRATA, Toichi ,  SUGIYAMA, Genroku ,  TANAKA, Hideaki

Inventor： HITACHI CONSTRUCTION MACHINARY CO., LTD

IPC: F15B11/08

CPC classification number: F15B13/0422 ,  Y10T137/86582 ,  Y10T137/86606

Abstract: A valve device (1; 50; 60, 61; 90; 100) having at least one flow rate control valve (21, 22; 63, 76; 101) installed in a valve body block (20; 62, 82), wherein the flow rate control valves are joined to the interior of pilot pipes (6-9) which connect a pilot valve (2), into which a pilot pressure oil of a predetermined pressure set by a relief valve (19) is fed, to a pilot type direction change-over valve (3), which is adapted to be driven in accordance with the operation of the pilot valve, thereby permitting a free flow of the pressure oil from the pilot valve to the direction change-over valve and restricting a flow of the pressure oil from the direction change-over valve to the pilot valve. In the valve body block (20; 62, 82), a first passage (31; 52; 68, 81), which is connected to a return pipe (14; 71, 72, 86) extending to the relief valve (19), is formed.