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WO2017061220A1 - Machines de construction - Google Patents

Machines de construction Download PDF

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Publication number
WO2017061220A1
WO2017061220A1 PCT/JP2016/076165 JP2016076165W WO2017061220A1 WO 2017061220 A1 WO2017061220 A1 WO 2017061220A1 JP 2016076165 W JP2016076165 W JP 2016076165W WO 2017061220 A1 WO2017061220 A1 WO 2017061220A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
pressure
variable throttle
control valve
oil chamber
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/076165
Other languages
English (en)
Japanese (ja)
Inventor
頼人 清水
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of WO2017061220A1 publication Critical patent/WO2017061220A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor

Definitions

  • the present invention relates to a construction machine such as a hydraulic excavator.
  • a hydraulic excavator which is a typical example of a construction machine, is a self-propelled lower traveling body, an upper revolving body that is turnable on the lower traveling body, and a front part of the upper revolving body. And a work device (front) attached to the machine.
  • the upper swing body and the lower traveling body constitute a base of the construction machine.
  • the working device is, for example, a boom that is rotatably attached to the front part of the upper swing body, an arm that is rotatably attached to the tip side of the boom, and a pivotally attached to the tip side of the arm.
  • a boom cylinder, an arm cylinder, and a bucket cylinder (work tool cylinder) that drive these buckets.
  • Pressure oil is supplied to these boom cylinder, arm cylinder, and bucket cylinder from a hydraulic pump that constitutes a hydraulic pressure source together with a tank via a direction control valve.
  • the flow path area of the center bypass pipe is made variable downstream of the directional control valve for the boom in the middle of the center bypass pipe connecting the discharge side of the hydraulic pump to the tank.
  • a variable throttle (center bypass switching valve) for throttle is provided.
  • the flow passage area of the variable throttle is reduced (squeezed). That is, by reducing the opening area of the variable throttle, the flow rate of the center bypass pipe is reduced, and the pressure oil that is diverted from the hydraulic pump to the rod side oil chamber of the boom cylinder is increased. Thereby, the boom lowering force (force for pressing the bucket against the ground) necessary for lifting the vehicle body can be ensured.
  • the variable throttle Increase the flow path area. That is, by increasing the opening area of the variable throttle, the pressure loss (pressure loss) of the center bypass pipe is lowered, and the flow rate of the center bypass pipe is increased. As a result, the pressure oil flowing from the hydraulic pump into the rod side oil chamber of the boom cylinder is reduced, and the pressure oil can easily flow through the regeneration circuit leading from the bottom side oil chamber of the boom cylinder to the rod side oil chamber. As a result, the reproduction efficiency of the boom lowering operation is improved.
  • the variable throttle of the center bypass pipe is a boom lowering operation signal of a boom operating device operated by an operator to operate the boom, specifically, a boom supplied from the boom operating device to the boom direction control valve. Controlled by lowered pilot pressure oil. That is, pilot pressure oil for lowering the boom is supplied from the boom operating device to the variable throttle.
  • the variable throttle has a smaller flow path area as the pilot pressure for lowering the boom increases. On the other hand, the variable throttle has a larger flow path area as the pilot pressure for lowering the boom decreases.
  • a meter-in switching valve (jack-up switching valve) that is switched by the pressure (bottom pressure) of the bottom oil chamber of the boom cylinder is provided between the boom operating device and the variable throttle.
  • the meter-in switching valve has a closed position (blocking position) for preventing the boom lowering pilot pressure oil from being supplied to the variable throttle, and an open position for supplying the boom lowering pilot pressure oil to the variable throttle. (Communication position).
  • the pressure in the bottom oil chamber of the boom cylinder increases.
  • the meter-in switching valve is in the cutoff position.
  • the pilot pressure oil for lowering the boom is not supplied to the variable throttle, the flow passage area of the variable throttle is increased, and the flow rate of the center bypass pipe is increased.
  • pressure oil flows from the bottom side oil chamber of the boom cylinder to the rod side oil chamber through the regeneration circuit, and the regeneration efficiency of the boom cylinder pressure oil is improved.
  • Patent Document 1 uses the hydraulic signal as it is for switching the spool of the meter-in switching valve and for controlling the variable throttle (adjusting the flow path area). That is, the meter-in switching valve is directly switched by the pressure oil in the bottom oil chamber of the boom cylinder.
  • the variable throttle is directly controlled by pilot pressure oil from the boom operating device. In such a configuration, the lifting speed may fluctuate (hunting) at the start of the lifting operation of the vehicle body.
  • the spool of the meter-in switching valve may vibrate (hunting) with the switching impact.
  • the vibration of the boom lowering pilot pressure oil supplied from the operating device for the boom supplied to the variable throttle pulsates, and the flow passage area of the variable throttle may change. There is.
  • the lifting speed may fluctuate, and the smooth lifting operation of the vehicle body may be hindered.
  • An object of the present invention is to provide a construction machine that can smoothly lift a vehicle body (base).
  • a construction machine constitutes a hydraulic pressure source together with a base, a boom rotatably attached to the base, a boom cylinder attached between the base and the boom, and a tank mounted on the base.
  • a hydraulic pump that supplies pressure oil to the boom cylinder and a center bypass pipe that connects the discharge side of the hydraulic pump to the tank, and switches the pressure oil that is supplied from the hydraulic pump to the boom cylinder.
  • a boom direction control valve to be controlled, and a boom operation device for performing an operation of switching the boom direction control valve in order to raise or lower the boom.
  • the configuration adopted by the present invention is characterized in that a variable throttle that is provided in the middle of the center bypass pipe and that squeezes the flow passage area variably on the downstream side of the boom direction control valve;
  • a pressure detector for detecting pressure of pressure oil in a bottom oil chamber of the boom cylinder, an operation detector for detecting a boom lowering operation of the boom operation device, and detection of the pressure output from the pressure detector;
  • a control device that controls a variable operation of the flow passage area of the variable throttle based on a signal and a detection signal of the boom lowering operation output from the operation detector.
  • a boom operation determining unit that determines whether the base is being lifted based on a lifting operation; and when the boom operation determining unit determines that the boom is in the base lifting operation, And a variable throttle channel area changing unit that performs control to reduce the channel area of the variable throttle so that the pressure oil supplied to the rod-side oil chamber increases.
  • the lifting operation of the base body can be performed smoothly.
  • FIG. 4 is a hydraulic circuit diagram corresponding to a freely lowering operation in which the boom direction control valve in FIG. 3 is switched.
  • FIG. 4 is a hydraulic circuit diagram corresponding to the vehicle body lifting operation with the boom direction control valve in FIG. 3 switched.
  • the flowchart which shows the process performed in the boom operation
  • the block diagram which shows the structure of the variable throttle flow path area change part in FIG. 3 thru
  • a hydraulic excavator 1 which is a typical example of a construction machine, is used for excavation work of earth and sand.
  • the hydraulic excavator 1 according to the embodiment is an ultra-large backhoe hydraulic excavator.
  • the excavator 1 includes a self-propelled crawler-type lower traveling body 2, an upper revolving body 3 provided on the lower traveling body 2 so as to be able to swivel, and a front side in the front and rear direction of the upper revolving body 3. It is comprised including the working device (front) 11 attached so that rotation (claw up-and-down movement is possible) is possible.
  • the lower traveling body 2 and the upper swing body 3 constitute a base body of the hydraulic excavator 1.
  • the upper swing body 3 is attached to the lower traveling body 2 via a swing device 4 including a swing hydraulic motor, a speed reduction mechanism, a swing bearing and the like.
  • the upper turning body 3 is driven to turn relative to the lower traveling body 2 by a turning device.
  • the upper swing body 3 includes a swing frame 5, a cab 6, a building cover 7, and a counterweight 8.
  • the revolving frame 5 forms a support structure, and a work device 11 is attached to the front side in the front and rear directions.
  • the cab 6 is mounted on the left front side of the revolving frame 5 and forms a cab.
  • the building cover 7 is located on the rear side of the cab 6, and includes an engine 22, a hydraulic pump 23, a pilot pump 25, and a boom direction control valve 31 mounted on the revolving frame 5 (see FIGS. 3 to 5). Etc. are accommodated.
  • the counterweight 8 balances the weight with the work device 11 and is attached to the rear portion of the turning frame 5.
  • Left and right working lever devices as operating devices operated by an operator are provided on the left and right sides of the driver's seat of the cab 6. 3 to 5 described later show a boom lever device 35 as the left and right working lever devices.
  • the boom lever device 35 performs an operation of switching the boom direction control valve 31 in order to raise or lower the boom 12 of the work device 11 (extend or reduce the boom cylinder 16). Specifically, the lever of the boom lever device 35 is operated, for example, forward and backward.
  • the working device 11 includes a boom 12, an arm 13, a bucket 14 as a work tool, and a bucket link 15.
  • the boom 12 is attached (connected) to the front portion of the turning frame 5 constituting the upper turning body 3 so as to be rotatable (can be moved up and down).
  • the arm 13 is attached to the distal end side of the boom 12 so as to be rotatable (can be moved up and down).
  • the bucket 14 is rotatably attached to the distal end side of the arm 13.
  • the bucket link 15 is attached to the tip of the arm 13, the bucket 14 and the bucket cylinder 18.
  • Boom cylinder 16 is attached between revolving frame 5 and boom 12.
  • An arm cylinder 17 is attached between the boom 12 and the arm 13, and a bucket cylinder 18 is provided between the arm 13 and the bucket link 15.
  • the boom cylinder 16 rotates the boom 12 with respect to the revolving frame 5.
  • the arm cylinder 17 rotates the arm 13 with respect to the boom 12.
  • the bucket cylinder 18 rotates the bucket 14 with respect to the arm 13.
  • the bucket 14 is operated while moving. Thereby, earth and sand etc. can be excavated by the front end side of the bucket 14.
  • the boom cylinder 16 includes a tube 16A, a piston 16B, and a rod 16E.
  • the piston 16B is slidably inserted into the tube 16A, and defines the inside of the tube 16A into a bottom side oil chamber 16C and a rod side oil chamber 16D.
  • the rod 16E has a proximal end fixed to the piston 16B and a distal end protruding outside the tube 16A.
  • the hydraulic circuit 21 is for driving the boom cylinder 16.
  • the hydraulic circuit 21 includes an engine 22, a hydraulic pump 23, a tank 24, a pilot pump 25, a boom direction control valve 31, a boom lever device 35, a variable throttle 43, a variable throttle control valve 46, and a controller 47. Etc. are configured.
  • the engine 22 is provided on the turning frame 5 between the cab 6 and the counterweight 8.
  • the engine 22 is constituted by a diesel engine, for example, and serves as a prime mover (rotation source) for rotationally driving the hydraulic pump 23, the pilot pump 25, and the like.
  • the assist power generation motor is also rotationally driven by the engine 22 in addition to the hydraulic pump 23 and the like.
  • the hydraulic pump 23 is mounted on the swing frame 5 of the upper swing body 3 and is driven to rotate by the engine 22.
  • the hydraulic pump 23 constitutes a main hydraulic source together with a tank 24 that stores hydraulic oil.
  • the pilot pump 25 is also rotationally driven by the engine 22.
  • the pilot pump 25 constitutes a pilot hydraulic pressure source together with the tank 24.
  • the hydraulic pump 23 discharges pressure oil to the discharge pipe 26.
  • the discharge line 26 branches into a center bypass line 27 and a branch line 28 on the upstream side of the boom direction control valve 31.
  • the pilot pump 25 discharges pilot pressure oil to the pilot pipe line 29.
  • the pilot line 29 branches upstream of the boom lever device 35 and the throttle pilot line 30 for supplying pilot pressure oil to the variable throttle control valve 46 side.
  • the hydraulic pump 23 supplies pressure oil to the boom cylinder 16, the arm cylinder 17, the bucket cylinder 18, the traveling hydraulic motor of the lower traveling body 2, and the swing hydraulic motor of the swing device 4. That is, the hydraulic pump 23 is driven by the engine 22 to suck hydraulic oil from the tank 24 and supply the sucked hydraulic oil to the control valve device as pressure oil.
  • 3 to 5 show only the boom direction control valve 31 for controlling the supply and discharge of the pressure oil to the boom cylinder 16 among the plurality of direction control valves constituting the control valve device.
  • the hydraulic pump 23 is configured as, for example, a swash plate type, radial piston type or oblique axis type variable displacement hydraulic pump. That is, the hydraulic pump 23 includes a capacity control unit that variably adjusts the displacement volume.
  • the capacity control unit includes a capacity variable part 23A and a capacity variable mechanism 23B.
  • the hydraulic pump 23 includes a variable capacity portion 23A made of a swash plate or a slanted shaft, and a variable capacity mechanism (tilt actuator) 23B that drives (tilts and drives) the variable capacity portion 23A.
  • the capacity variable mechanism 23 ⁇ / b> B drives the capacity variable unit 23 ⁇ / b> A based on a command from the controller 47.
  • the pilot pump 25 is configured as a fixed displacement hydraulic pump.
  • the boom direction control valve 31 is provided between the hydraulic pump 23 and the boom cylinder 16. In other words, the boom direction control valve 31 is provided in the middle of the center bypass conduit 27 that connects the discharge conduit 26 on the discharge side of the hydraulic pump 23 to the tank 24.
  • the boom direction control valve 31 switches and controls the pressure oil supplied from the hydraulic pump 23 to the boom cylinder 16. That is, the boom direction control valve 31 controls the supply and discharge of pressure oil to the boom cylinder 16.
  • the boom direction control valve 31 constitutes a control valve device together with various direction control valves (not shown). That is, the boom direction control valve 31 is an arm direction control valve that controls supply and discharge of pressure oil to the arm cylinder 17, a bucket direction control valve that controls supply and discharge of pressure oil to the bucket cylinder 18, and traveling hydraulic pressure.
  • a control valve device is configured with a directional control valve for driving that controls the supply and discharge of pressure oil to the motor, and a directional control valve for rotation that controls the supply and discharge of pressure oil to and from the swing hydraulic motor (both not shown). is doing.
  • the boom direction control valve 31 is constituted by, for example, a 6-port 3-position hydraulic pilot type direction control valve.
  • the boom direction control valve 31 is connected to the hydraulic pump 23 via the discharge line 26, and is connected to the tank 24 via the center bypass line 27 and the return line 32. Further, the boom direction control valve 31 is connected to the bottom side oil chamber 16C of the boom cylinder 16 via the bottom side conduit 33, and connected to the rod side oil chamber 16D of the boom cylinder 16 via the rod side conduit 34.
  • the boom direction control valve 31 is constituted by, for example, a 6-port 3-position hydraulic pilot type direction control valve.
  • the boom direction control valve 31 is connected to the hydraulic pump 23 via the discharge line 26, and is connected to the tank 24 via the center bypass line 27 and the return line 32. Further, the boom direction control valve 31 is connected to the bottom side oil chamber 16C of the boom cylinder 16 via the bottom side conduit 33, and connected to the rod side oil chamber 16D of the boom cylinder 16 via the rod side conduit 34.
  • the boom direction control valve 31 is switched by a boom lever device 35.
  • a pair of hydraulic pilot portions 31 ⁇ / b> A and 31 ⁇ / b> B are provided at both ends of the boom direction control valve 31. Pilot pressure (switching signal) based on the operation of the boom lever device 35 is supplied to the hydraulic pilot portions 31A and 31B.
  • the excavator 1 also includes a direction control valve other than the boom direction control valve 31 and the boom lever device 35 and an operation device for operating the direction control valve. .
  • the boom lever device 35 as a boom operation device is operated by an operator to raise or lower the boom 12 (that is, to extend or reduce the boom cylinder 16).
  • the boom lever device 35 is configured as a pilot operation valve composed of a pressure reducing valve type pilot valve, and has an operation lever 35A operated by an operator.
  • a pilot pressure proportional to the operation amount is supplied from the boom lever device 35 to the hydraulic pilot portions 31A and 31B of the boom direction control valve 31. Thereby, the boom lever device 35 performs an operation of switching the boom direction control valve 31.
  • the branch line 28 is connected to the bottom side line 33 and the rod side line 34 is connected to the return line 32.
  • the pressure oil discharged from the hydraulic pump 23 is supplied to the bottom side oil chamber 16 ⁇ / b> C of the boom cylinder 16 via the discharge line 26, the branch line 28, and the bottom side line 33.
  • the pressure oil in the rod side oil chamber 16 ⁇ / b> D is discharged as return oil to the tank 24 through the rod side pipe line 34 and the return pipe line 32.
  • the boom cylinder 16 extends.
  • the branch line 28 is connected to the rod side line 34, and the bottom side line 33 is connected to the return line 32.
  • the pressure oil in the bottom side oil chamber 16C is located between the bottom side oil chamber 16C of the boom cylinder 16 and the rod side oil chamber 16D.
  • a regeneration circuit 38 that leads to the side oil chamber 16D is provided. That is, the return path 39 that connects the bottom side pipe line 33 and the return pipe line 32, the branch pipe line 28, and the rod side pipe line 34 are connected to the switching position (C) of the boom direction control valve 31.
  • a supply path 40 is provided.
  • the regeneration circuit 38 is configured as an oil path connecting the return path 39 and the supply path 40 between the return path 39 and the supply path 40.
  • the regeneration circuit 38 permits (opens) the flow of pressure oil from the return path 39 side to the supply path 40 side, and blocks (closes) the flow of pressure oil from the supply path 40 side to the return path 39 side.
  • a check valve 41 is provided.
  • a throttle 42 is provided in the middle of the return path 39 downstream of the branch with the regeneration circuit 38.
  • the boom direction control valve 31 when the boom direction control valve 31 is in the switching position (C), the pressure oil discharged from the hydraulic pump 23 is divided into the center bypass pipe 27 and the branch pipe 28. Then, the pressure oil branched to the branch pipe 28 and / or the pressure oil that has flowed from the bottom side oil chamber 16C to the regeneration circuit 38 side via the rod side pipe 34 is connected to the rod side oil chamber 16D of the boom cylinder 16. To be supplied. On the other hand, of the pressure oil in the bottom side oil chamber 16 ⁇ / b> C, the pressure oil that has passed through the throttle 42 without flowing to the regeneration circuit 38 side is discharged as return oil to the tank 24 via the return line 32. As a result, the boom cylinder 16 is reduced (the amount of protrusion of the rod 16E from the tube 16A is reduced).
  • the variable throttle 43 is provided downstream of the boom direction control valve 31 in the middle of the center bypass conduit 27.
  • the variable restrictor 43 variably restricts the flow passage area of the center bypass conduit 27 on the downstream side of the boom direction control valve 31.
  • the variable throttle 43 is controlled by a pilot pressure supplied from the variable throttle control valve 46 (a pilot pressure in a direction to throttle the variable throttle 43).
  • the variable throttle 43 has a smaller flow path area (opening area of the variable throttle 43) as the pilot pressure of the variable throttle control valve 46 increases.
  • the variable throttle 43 has a larger channel area as the pilot pressure decreases.
  • the pilot pressure of the variable throttle control valve 46 is variably controlled by the controller 47.
  • the pilot pressure of the variable throttle control valve 46 is reduced (minimized) based on a command from the controller 47.
  • the flow area of the variable throttle 43 is increased (maximum), and the flow rate of the center bypass pipe 27 is increased.
  • the pressure oil flowing from the hydraulic pump 23 into the rod side oil chamber 16D of the boom cylinder 16 is reduced, and the pressure oil easily flows through the regeneration circuit 38. That is, the regeneration circuit 38 supplies the pressure oil in the bottom side oil chamber 16C of the boom cylinder 16 to the rod side oil chamber 16D, thereby improving the regeneration efficiency of the boom lowering operation.
  • Patent Document 1 uses the hydraulic signal as it is for switching the spool of the meter-in switching valve and controlling the variable throttle (adjusting the flow passage area). Such a configuration may cause the lifting speed to fluctuate at the start of the lifting operation of the vehicle body.
  • the pressure of the pressure oil in the bottom side oil chamber 16C of the boom cylinder 16 may be detected, and the variable throttle 43 may be controlled based on the detected pressure. That is, whether the free lowering operation or the vehicle body lifting operation is being performed is determined based on the pressure in the bottom side oil chamber 16C of the boom cylinder 16 being reduced by the grounding of the bucket 14 of the work device 11 including the boom 12. can do. Therefore, for example, when the pressure in the bottom side oil chamber 16C is smaller than a preset threshold value, it can be determined that the vehicle body is being lifted. However, the pressure in the bottom side oil chamber 16C may fluctuate when shifting from the free lowering operation to the vehicle body lifting operation.
  • the pressure oil that has flowed out of the bottom side oil chamber 16C of the boom cylinder 16 during the free lowering operation passes through the regeneration circuit 38 that flows into the rod side oil chamber 16D and the return line that passes through the throttle 42 and flows into the tank 24. Divide into 32.
  • the pressure loss at the bottom side oil chamber 16C may rise momentarily at the start of the vehicle body lifting operation due to an increase in the pipeline pressure loss caused by the throttle 42. For this reason, if the determination is made only with the pressure in the bottom side oil chamber 16C (the determination is made only by comparing the pressure in the bottom side oil chamber 16C with the threshold value), there is a risk of erroneous determination.
  • the threshold value is set low, the pressure in the bottom side oil chamber 16C rises at the start of the vehicle body lifting operation, so that it may be erroneously determined that the free lowering operation is being performed despite the vehicle body lifting operation. is there.
  • the threshold value is set high, there is a possibility that the pressure in the bottom side oil chamber 16C does not exceed the threshold value when the lifting operation of the vehicle body is finished and the bucket 14 of the work device 11 including the boom 12 is separated from the ground. There is. In this case, there is a possibility of erroneous determination that the vehicle body lifting operation is being performed even though the vehicle body lifting operation has been completed.
  • the boom lowering operation of the boom lever device 35 is also detected. Based on the detected pressure and the boom lowering operation, The flow rate control and the discharge amount control of the hydraulic pump 23 are performed. Then, next, the structure for performing the flow control of the variable throttle 43 and the discharge amount control of the hydraulic pump 23 will be described.
  • the bottom pressure sensor 44 as a pressure detector detects the pressure of the pressure oil in the bottom side oil chamber 16C of the boom cylinder 16.
  • the bottom pressure sensor 44 is configured as, for example, a pressure sensor that detects the pressure in the bottom side oil chamber 16C or the bottom side conduit 33.
  • the bottom pressure sensor 44 is connected to the controller 47 via a signal line, and outputs a detection signal (bottom pressure signal) corresponding to the detected pressure (bottom pressure) in the bottom side oil chamber 16C to the controller 47.
  • the operation pressure sensor 45 as an operation detector detects the boom lowering operation amount of the boom lever device 35.
  • the operation pressure sensor 45 is provided in the lowered pilot line 37.
  • the operation pressure sensor 45 is configured as a pressure sensor that detects the hydraulic pressure of the lower pilot line 37, that is, the pilot pressure for lowering the boom.
  • the operation pressure sensor 45 is connected to the controller 47 via a signal line, and detects the boom lowering pilot pressure corresponding to the boom lowering operation amount.
  • the operation pressure sensor 45 outputs a detection signal (boom lowering operation pressure signal) corresponding to the pilot pressure for lowering the boom to the controller 47.
  • the variable throttle control valve 46 variably adjusts the flow passage area of the variable throttle 43 based on the command current output from the controller 47.
  • the variable throttle control valve 46 can be constituted by, for example, an electromagnetic proportional valve.
  • the variable throttle control valve 46 is connected to the controller 47. Based on a command (current value) from the controller 47, the variable throttle control valve 46 variably adjusts the pilot pressure for the variable throttle 43 so as to become a pressure corresponding to the current value. For example, the pilot pressure supplied to the variable throttle 43 increases as the command current from the controller 47 increases.
  • the flow passage area of the variable throttle 43 decreases and the pilot pressure increases according to the pilot pressure supplied to the variable throttle 43, the amount of oil returned to the tank 24 can be suppressed to zero.
  • the controller 47 as a control device controls the variable operation of the flow passage area of the variable throttle 43 via the variable throttle control valve 46. Further, the controller 47 controls the variable capacity mechanism 23B of the hydraulic pump 23 to variably adjust the displacement volume of the hydraulic pump 23.
  • the controller 47 includes, for example, a microcomputer and the input side thereof is connected to the bottom pressure sensor 44 and the operation pressure sensor 45. The output side of the controller 47 is connected to the variable throttle control valve 46 and the variable capacity mechanism 23 ⁇ / b> B of the hydraulic pump 23.
  • the controller 47 controls the variable throttle 43 and the hydraulic pump 23 based on the detection signal of the bottom pressure output from the bottom pressure sensor 44 and the detection signal of the pilot pressure for the boom lowering operation output from the operation pressure sensor 45.
  • the controller 47 includes a boom operation determination unit 48, a variable throttle channel area change unit 49, and a pump capacity command unit 50.
  • the boom operation determination unit 48 receives a bottom pressure detection signal from the bottom pressure sensor 44 and a pilot pressure detection signal from the operation pressure sensor 45. When the boom 12 is performing the lowering operation, the boom operation determination unit 48 determines that the lowering operation of the boom 12 is based on the free fall based on the bottom pressure of the bottom oil chamber 16C and the pilot pressure of the boom lever device 35. Based on the lowering operation of the boom 12, it is determined whether the vehicle is lifting the vehicle based on the lowering operation of the boom 12 (that is, from the start to the end of the vehicle lifting operation). The boom operation determination unit 48 outputs the determination result to the variable throttle channel area changing unit 49 and the pump capacity command unit 50.
  • the processing program for determining the boom lowering operation shown in FIG. 6 is stored in the memory (not shown) of the controller 47.
  • the boom operation determination unit 48 determines whether the lowering operation of the boom 12 is a free lowering operation or a vehicle body lifting operation by the processing of FIG.
  • the determination process of FIG. 6 is repeatedly executed at a predetermined control period while the controller 47 is energized, for example.
  • steps in the flowchart are indicated by “S”. For example, “S1” corresponds to step 1.
  • the process proceeds to S3, the vehicle body lifting flag and the free lowering flag are turned OFF, and the process returns.
  • the boom operation determining unit 48 determines that the boom 12 is not being lowered (the vehicle is not being lifted and is not being freely lowered), and that is the effect of the variable throttle channel area changing unit 49 and the pump capacity. Output to the command unit 50.
  • the process proceeds to S4.
  • a preset vehicle body lifting determination threshold for example, 3 MPa, preferably 1 MPa.
  • the vehicle body lifting determination threshold value can be set as a value corresponding to the bottom pressure when the bucket 14 of the work device 11 is grounded, for example.
  • the vehicle body lifting determination threshold value is obtained in advance by experiment, simulation, calculation, or the like so as to be a value that can appropriately determine that the bucket 14 is grounded.
  • S7 it is determined whether or not the boom lever device 35 is operated to be lowered, that is, whether or not the boom lowering operation is being continued. If “YES” in S7, that is, if it is determined that there is a boom lowering operation (continuing the lowering operation), the process returns. In other words, the vehicle body lifting flag is kept ON, and the processes after S1 are repeated. In this case, the boom operation determination unit 48 determines that the boom 12 is in the vehicle body lifting operation, and outputs that effect to the variable throttle flow path area changing unit 49 and the pump capacity command unit 50.
  • the variable throttle channel area changing unit 49 of the controller 47 receives a determination result of the boom operation determination unit 48 (that is, ON / OFF of the vehicle body lifting flag) and a pilot pressure detection signal from the operation pressure sensor 45. Entered.
  • the variable throttle channel area changing unit 49 determines that the boom cylinder 16 Control is performed to reduce the flow passage area of the variable throttle 43 so that the pressure oil supplied to the rod side oil chamber 16D increases.
  • the variable throttle channel area changing unit 49 determines the channel area of the variable throttle 43.
  • the variable throttle control valve 46 is controlled so as to throttle.
  • the variable throttle channel area changing unit 49 includes a vehicle body lifting operation characteristic unit 49A, a free lowering operation characteristic unit 49B, and a command selection unit 49C.
  • the pilot pressure (boom lowering operation amount) from the operation pressure sensor 45 is input to the vehicle body lifting operation characteristic portion 49A.
  • the vehicle lifting operation characteristic unit 49A calculates a throttle command value (current value) corresponding to the pilot pressure (operation amount) at that time based on the vehicle lifting characteristic indicated by the characteristic line 49A1 in the block, and the calculation The aperture command value thus output is output to the command selector 49C.
  • the vehicle body lifting characteristic (characteristic line 49A1) is the relationship between the pilot pressure when the vehicle body is lifted and the command current value for the variable throttle control valve 46. For example, the command current value increases as the pilot pressure increases ( For example, it can be a proportional relationship).
  • the pilot pressure (boom lowering operation amount) from the operation pressure sensor 45 is input to the free lowering operation characteristic unit 49B, as in the vehicle body lifting operation characteristic unit 49A.
  • the free lowering operation characteristic unit 49B calculates a throttle command value (current value) corresponding to the pilot pressure from the operation pressure sensor 45 at that time based on the free lowering characteristic indicated by the characteristic line 49B1 in the block,
  • the calculated aperture command value is output to the command selection unit 49C.
  • the characteristic at the time of free lowering (characteristic line 49B1) is the relationship between the pilot pressure at the time of free lowering and the command current value for the variable throttle control valve 46.
  • the command current value is constant regardless of the pilot pressure (for example, 0 mA, (Command value 0, minimum value).
  • the command selection unit 49C receives the throttle command value from the vehicle lifting operation characteristic unit 49A, the throttle command value from the free lowering characteristic unit 49B, and the determination result of the boom operation determination unit 48.
  • the command selection unit 49C outputs the throttle command value (current value) from the vehicle body lifting operation characteristic unit 49A to the variable throttle control valve 46.
  • the command selection unit 49C outputs the throttle command value from the free lowering operation characteristic unit 49B to the variable throttle control valve 46 when the determination result of the boom operation determination unit 48 is during the free lowering operation.
  • the command current value for the variable throttle control valve 46 is constant (for example, 0 mA, command value 0, minimum value) regardless of the pilot pressure, and the flow path area of the variable throttle 43 is large ( Maximum).
  • the pressure oil easily flows through the regeneration circuit 38, and the regeneration efficiency of the boom lowering operation is improved.
  • the pump displacement command unit 50 of the controller 47 is supplied with a determination result signal from the boom operation determination unit 48 and a pilot pressure detection signal from the operation pressure sensor 45.
  • the pump displacement command unit 50 variably adjusts the displacement volume of the hydraulic pump 23 by controlling the displacement variable mechanism 23 ⁇ / b> B of the hydraulic pump 23.
  • the pump displacement command unit 50 detects the pilot pressure (boom detected by the operation pressure sensor 45 when the boom operation determination unit 48 determines that the boom 12 is in the vehicle lifting operation (vehicle lifting flag ON). The larger the lowering operation amount), the larger the displacement volume of the hydraulic pump 23, and the more the pressure oil discharge amount is increased.
  • the pump displacement command unit 50 includes a vehicle body lifting operation characteristic unit 50A, a free lowering operation characteristic unit 50B, a command selection unit 50C, and a command conversion unit 50D.
  • the pilot pressure from the operation pressure sensor 45 is input to the body lifting operation characteristic unit 50A.
  • the vehicle lifting operation characteristic unit 50A calculates a target displacement corresponding to the pilot pressure at that time based on the characteristics of the vehicle lifting indicated by the characteristic line 50A1 in the block, and commands the calculated target displacement.
  • the data is output to the selection unit 50C.
  • the characteristic at the time of lifting the vehicle body (characteristic line 50A1) is the relationship between the pilot pressure at the time of lifting the vehicle body and the target displacement of the hydraulic pump 23. For example, if the pilot pressure exceeds a predetermined value, the target displacement is increased with respect to the increase in pilot pressure.
  • a relationship in which the volume also increases can be employed.
  • the pilot pressure from the operation pressure sensor 45 is input to the characteristic unit 50B during the free lowering operation.
  • the free lowering action characteristic unit 50B calculates a target displacement corresponding to the pilot pressure at that time based on the characteristic during free lowering indicated by a characteristic line 50B1 in the block, and commands the calculated target displacement.
  • the data is output to the selection unit 50C.
  • the characteristic at the time of free lowering (characteristic line 50B1) is the relationship between the pilot pressure at the time of free lowering and the target displacement of the hydraulic pump 23.
  • the target displacement is constant regardless of the pilot pressure (minimum target value, minimum inclination). ).
  • the command selection unit 50C receives the target displacement from the body lifting operation characteristic unit 50A, the target displacement from the free lowering operation characteristic unit 50B, and the determination result of the boom operation determination unit 48.
  • the command selection unit 50C outputs the target displacement volume from the vehicle body lifting operation time characteristic unit 50A to the command conversion unit 50D.
  • the command selection unit 50C outputs the target displacement volume from the free lowering operation time characteristic unit 50B to the command conversion unit 50D.
  • the target displacement volume is input to the command conversion unit 50D from the command selection unit 50C.
  • the command conversion unit 50D calculates a command (command current value) corresponding to the target displacement at that time based on the command characteristic indicated by the characteristic line 50D1 in the block.
  • the command conversion unit 50D outputs the calculated command (command current value) to the displacement variable mechanism 23B of the hydraulic pump 23.
  • the command characteristic (characteristic line 50D1) is the relationship between the target displacement volume and the command current value for the variable capacity mechanism 23B. For example, when the target displacement volume exceeds a predetermined value, the command current value is increased with respect to the increase in the target displacement volume. Can also be increased (for example, a proportional relationship).
  • the hydraulic excavator 1 has the above-described configuration, and the operation thereof will be described next.
  • the operator can move the lower traveling body 2 forward or backward by boarding the cab 6 and operating the left and right traveling lever / pedal devices.
  • the operator in the cab 6 can perform the excavation work of earth and sand by operating the left and right working lever devices to turn the working device 11 (up and down).
  • the boom 12 can be moved up and down.
  • the boom direction control valve 31 is shown in FIG.
  • the position is switched from the neutral position (A) shown to the switching position (C) shown in FIGS.
  • the boom operation determination unit 48 of the controller 47 can freely lower the boom 12 based on the bottom pressure from the bottom pressure sensor 44 and the pilot pressure from the operation pressure sensor 45 by the determination process of FIG. It is determined whether the vehicle is moving or the vehicle is lifting.
  • variable throttle flow area changing unit 49 of the controller 47 is a variable throttle control valve so as to throttle the flow path area of the variable throttle 43 when the boom operation determining unit 48 determines that the boom 12 is in the vehicle body lifting operation. 46 is controlled.
  • the pump capacity command unit 50 of the controller 47 increases the displacement of the hydraulic pump 23 as the pilot pressure increases. Thereby, the boom lowering force necessary for lifting the vehicle body can be ensured during the vehicle body lifting operation.
  • the variable throttle channel area changing unit 49 of the controller 47 increases (maximizes) the channel area of the variable throttle 43. )
  • the pressure oil can easily flow from the bottom side oil chamber 16C of the boom cylinder 16 to the rod side oil chamber 16D through the regeneration circuit 38, and the regeneration efficiency of the boom lowering operation can be improved.
  • the lifting operation of the vehicle body can be performed smoothly.
  • the boom operation determination unit 48 of the controller 47 detects the pressure detection signal (bottom pressure signal) of the bottom side oil chamber 16C of the boom cylinder 16 and the detection signal of the boom lowering operation of the boom lever device 35. Based on (the boom lowering operation pressure signal), it is determined whether the boom lowering operation is a free lowering operation or a vehicle body lifting operation. For this reason, it is possible to improve the accuracy of the determination as to whether the free lowering operation or the vehicle body lifting operation is being performed, for example, compared with the configuration in which only the pressure in the bottom side oil chamber 16C is used.
  • the determination that the vehicle body lifting operation is in progress can be maintained based on the detection signal of the boom lowering operation. it can. Thereby, erroneous determination can be suppressed.
  • variable throttle channel area changing unit 49 of the controller 47 controls the variable throttle 43 based on the determination result of the boom operation determining unit 48. That is, the variable throttle channel area changing unit 49 performs control to reduce the channel area of the variable throttle 43 to be small when the boom operation determining unit 48 determines that the boom is being lifted. For this reason, when necessary, the flow passage area of the variable throttle 43 can be reduced, and a stable vehicle body lifting operation can be performed. In other words, for example, it is possible to suppress fluctuations in the lifting speed of the vehicle body as compared with the configuration as in Patent Document 1 that uses the hydraulic pressure signal as it is. Thereby, the lifting operation of the vehicle body can be performed smoothly.
  • the regeneration circuit 38 that guides the pressure oil in the bottom side oil chamber 16C to the rod side oil chamber 16D is provided between the bottom side oil chamber 16C and the rod side oil chamber 16D of the boom cylinder 16. .
  • the regeneration circuit 38 supplies the pressure oil in the bottom side oil chamber 16C to the rod side oil chamber 16D.
  • the pressure oil can be stably supplied from the bottom side oil chamber 16C to the rod side oil chamber 16D through the regeneration circuit 38, and the pressure oil in the boom cylinder 16 is regenerated. Efficiency can be improved.
  • variable throttle control valve 46 that variably adjusts the flow path area of the variable throttle 43 is provided.
  • the variable throttle channel area changing unit 49 of the controller 47 adjusts the variable throttle control valve 46 so as to throttle the channel area of the variable throttle 43. It is set as the structure which controls. For this reason, the variable throttle channel area changing unit 49 can stably adjust the channel area of the variable throttle 43 via the variable throttle control valve 46.
  • variable throttle channel area changing unit 49 controls the variable throttle control valve 46 and, in turn, the variable throttle 43 in accordance with the detection signal of the boom lowering operation of the boom lever device 35, so that the boom
  • the pressure oil having the optimum flow rate corresponding to the operation of 12 can be supplied to the rod side oil chamber 16D of the boom cylinder 16.
  • variable throttle control valve 46 can be constituted by an electromagnetic valve, more specifically, an electromagnetic proportional valve. That is, the electric signal (command current) output from the variable throttle flow passage area changing unit 49 is converted into a hydraulic signal (pilot pressure) by the variable throttle control valve 46, and the converted hydraulic signal is input to the variable throttle 43. It can be set as the structure to do. In this case, for example, the change of the characteristic of the variable throttle 43 (control characteristic of the flow path area) can be changed without changing the components (for example, the control program of the variable throttle flow path area changing unit 49 is changed). This can be done only by changing the characteristics 49A1 and 49B1 which are control parameters.
  • the control characteristic of the hydraulic signal is uniquely determined by the hydraulic component, and when changing the characteristic, the hydraulic component needs to be changed.
  • the characteristics can be changed without changing the hydraulic parts, and the versatility and the design freedom can be improved. That is, it is advantageous in terms of replacement part costs and replacement work costs.
  • the hydraulic pump 23 is a variable displacement hydraulic pump including a displacement control unit that variably adjusts the displacement volume.
  • the controller 47 includes a pump capacity command unit 50 that controls the capacity control unit of the hydraulic pump 23.
  • the pump capacity command unit 50 is configured to increase the displacement volume as the operation amount of the boom lowering operation is larger when the boom operation determining unit 48 determines that the boom is in the body lifting operation. For this reason, when the boom 12 is being lifted, the displacement of the hydraulic pump 23 can be increased in addition to reducing the flow passage area of the variable throttle 43.
  • the pressure oil to the rod side oil chamber 16D of the boom cylinder 16 can be increased by increasing the displacement volume of the hydraulic pump 23.
  • the boom lowering force in other words, the force pressing the bucket 14 against the ground
  • the vehicle body lifting speed can be increased.
  • operability and workability can be improved.
  • the change of the characteristic of the hydraulic pump 23 (the control characteristic of the displacement volume) can be made by changing the software without changing the components (for example, changing the control program of the pump capacity command unit 50, the characteristic 50A1, which is a control parameter). 50B1 and 50D1 can be changed only. For this reason, also from this aspect, versatility and design freedom can be improved.
  • the regeneration circuit 38 is provided integrally with the boom direction control valve 31 has been described as an example.
  • the present invention is not limited to this.
  • the regeneration circuit may be provided separately from the boom direction control valve.
  • the boom operation determination unit 48 is configured to use two flags, a vehicle body lifting flag and a free lowering flag, has been described as an example.
  • the present invention is not limited to this.
  • a configuration in which only the vehicle body lifting flag is used (a vehicle body lifting operation when the vehicle body lifting flag is ON and a free lowering operation when it is OFF) may be used.
  • the pilot pressure based on the operation of the boom lever device 35 is supplied to the hydraulic pilot portions 31A and 31B of the boom direction control valve 31, and the operation pressure sensor 45 detects the pilot pressure of the lowering operation.
  • the operation detector can be configured by a lever sensor (displacement sensor) that directly detects the operation amount of the operation lever of the boom lever device.
  • the boom lever device may be an electric boom operating device, for example. That is, as the operation detector, various sensors can be used as long as they can detect the operation amount of the boom operation device. Also, various operation devices can be used as the boom operation device as long as the boom direction control valve can be switched.
  • the operation detector only needs to be able to detect the operation amount of the boom operation device, and various sensors, switches, etc., depending on the configuration of the boom operation device and the boom direction control valve. Can be used. Further, for example, when a signal corresponding to the operation amount is input / output from / to the controller from the boom operation device without using the detector, the controller calculates (detects) the operation amount from the signal. It can also be. In other words, the controller can also serve as an operation detector.
  • the hydraulic pump 23 is driven by the engine 22 as a prime mover has been described as an example.
  • the present invention is not limited thereto, and for example, the hydraulic pump may be driven by an electric motor.
  • the super large hydraulic excavator 1 is described as an example of the construction machine, but the present invention is not limited to this, and the present invention may be applied to hydraulic excavators of various sizes (large, medium, and small).
  • the crawler excavator 1 has been described as an example, but the present invention is not limited thereto, and may be applied to, for example, a wheel excavator.
  • the bucket 14 was attached as a working tool was described as an example, for example, a configuration in which a working tool (attachment) other than the bucket such as a gripping tool may be attached.
  • hydraulic excavator 1 using a backhoe bucket as a bucket has been described as an example, it may be applied to, for example, a hydraulic excavator using a loader bucket. That is, the present invention is not limited to the hydraulic excavator 1 of the embodiment, and can be widely applied to various construction machines.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un dispositif levier de flèche (35) actionné par un opérateur et commutant une soupape de régulation de direction de flèche (31). Un étranglement variable (43) est prévu au milieu d'une conduite de dérivation centrale (27) et rétrécit de manière variable l'aire de canal d'écoulement de la conduite de dérivation centrale (27). Une unité de détermination d'actionnement de flèche (48) d'un organe de commande (47) détermine si une action d'abaissement d'une flèche (12) est une chute libre ou est une action d'élévation de carrosserie de voiture pour élever une carrosserie de voiture sur la base de la pression inférieure d'un capteur de pression inférieure (44) et de la pression pilote d'actionnement d'abaissement de flèche d'un capteur de pression d'actionnement (45). Lorsque l'unité de détermination d'actionnement de flèche (48) détermine que la flèche (12) réalise une action d'élévation de carrosserie de voiture, une unité de modification d'aire de canal d'écoulement d'étranglement variable (49) de l'organe de commande (47) commande une soupape de régulation d'étranglement variable (46) de manière à rétrécir l'aire de canal d'écoulement de l'étranglement variable (43).
PCT/JP2016/076165 2015-10-06 2016-09-06 Machines de construction Ceased WO2017061220A1 (fr)

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CN110352303A (zh) * 2017-09-14 2019-10-18 日立建机株式会社 工程机械的驱动装置
CN113195904A (zh) * 2019-01-28 2021-07-30 神钢建机株式会社 工程机械中的液压缸的驱动装置

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US11408147B2 (en) * 2017-07-14 2022-08-09 Nordhydraulic Ab Dynamic open center hydraulic system control
JP7005416B2 (ja) * 2018-04-11 2022-01-21 株式会社加藤製作所 建設機械の油圧回路
JP7208701B2 (ja) * 2018-12-13 2023-01-19 キャタピラー エス エー アール エル 建設機械の油圧制御回路

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JP2011127727A (ja) * 2009-12-21 2011-06-30 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械の油圧回路
WO2014073338A1 (fr) * 2012-11-07 2014-05-15 日立建機株式会社 Dispositif d'entraînement hydraulique destiné à un engin de construction

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JP2006292068A (ja) * 2005-04-11 2006-10-26 Hitachi Constr Mach Co Ltd 油圧作業機
JP2011127727A (ja) * 2009-12-21 2011-06-30 Sumitomo (Shi) Construction Machinery Co Ltd 建設機械の油圧回路
WO2014073338A1 (fr) * 2012-11-07 2014-05-15 日立建機株式会社 Dispositif d'entraînement hydraulique destiné à un engin de construction

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CN110352303A (zh) * 2017-09-14 2019-10-18 日立建机株式会社 工程机械的驱动装置
CN113195904A (zh) * 2019-01-28 2021-07-30 神钢建机株式会社 工程机械中的液压缸的驱动装置
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CN113195904B (zh) * 2019-01-28 2023-08-29 神钢建机株式会社 工程机械中的液压缸的驱动装置

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