Technical Field
[0001] The present invention relates to a work vehicle capable of driving an actuator while
traveling.
Background Art
[0002] There has been known a work vehicle that includes two traveling motors for driving
left and right traveling units, two hydraulic pumps, and two actuators and that is
capable of driving the actuators while traveling. Patent Literatures 1 and 2 (hereinafter,
referred to as PTLs 1 and 2) disclose this type of work vehicle.
[0003] PTL 1 discloses a work machine including: a hydraulic actuator group including work
actuators for actuating work attachments and left and right traveling motors, the
hydraulic actuator group being divided into a first group including one of the left
and right traveling motors and a second group including the other of the left and
right traveling motors; a first pump and a second pump functioning as hydraulic pressure
sources; and a straight traveling valve for switching a passage of oil ejected from
a pump. When a manipulation for traveling and a manipulation for a work are not performed
simultaneously, the straight traveling valve supplies streams of oil ejected from
different pumps to the two groups, respectively. When a manipulation for traveling
and a manipulation for a work are performed in combination, oil ejected from a certain
one of the pumps is supplied to the two traveling motors, and oil ejected from the
other of the pumps is supplied to the work actuator(s). The straight traveling valve
has a communication path via which both pump lines communicate with each other and
a control valve for opening and closing the communication path. During a large traveling
manipulation period in which an amount of manipulation for traveling is large, if
a pressure for work is higher than a pressure for traveling, the control valve opens
the communication path. Meanwhile, if the pressure for work is lower than the pressure
for traveling, the control valve closes the communication path.
[0004] PTL 1 states that the above configuration provides the following effects. That is,
in a case where a manipulation for a work is performed during high-speed traveling,
if a pressure for the work is higher than a pressure for traveling, oil in the work
side is supplied to the traveling side through the communication path, thereby making
it possible to prevent sudden deceleration. Conversely, if a pressure for traveling
is higher than a pressure for the work, the communication path is closed, thereby
making it possible to prevent very sudden deceleration that might otherwise be caused
by a phenomenon that oil moves from the traveling side to the work side.
[0005] PTL 2 discloses a work vehicle including: a work-purpose hydraulic actuator and left
and right paired travel-purpose hydraulic motors; pilot-type direction selector valves
respectively provided to the work-purpose hydraulic actuator and the left and right
travel-purpose hydraulic actuators; and two hydraulic pumps for supplying operating
oil to the work-purpose hydraulic actuator and the left and right travel-purpose hydraulic
actuators via the pilot-type direction selector valves. The work vehicle includes
a confluent valve. In order to supply operating oil to the work-purpose hydraulic
actuator and the travel-purpose hydraulic motors simultaneously, the confluent valve
causes streams of operating oil ejected from the two hydraulic pumps to converge into
one stream. The direction selector valve for the work-purpose actuator is subjected
to a pilot pressure that is reduced according to the amount of manipulation on a traveling
manipulation tool.
[0006] PTL 2 states that the above configuration provides the following effects. That is,
while the work vehicle is driven to travel by the left and right travel-purpose hydraulic
motors in a state where streams of operating oil from the two hydraulic pumps are
caused to converge into one stream, reducing a pilot pressure given to the direction
selector valve at the time when the work-purpose hydraulic actuator is driven limits
the flow rate of operating oil supplied to the work-purpose hydraulic actuator. This
inhibits a sudden reduction in the amount of operating oil supplied to the travel-purpose
hydraulic motors. Consequently, a sudden deceleration of the traveling work vehicle
hardly occurs.
Citation List
Patent Literature
[0007]
PTL 1: Japanese Patent Application Laid-Open No. 2006-329341
PTL 2: Japanese Patent Application Laid-Open No. 2011-196436
Summary of Invention
Technical Problem
[0008] However, with the configuration of PTL 1, it is necessary to compare the pressure
for work with the pressure for traveling. This makes the hydraulic control circuit
complicated.
[0009] Meanwhile, with the configuration of PTL 2, in a case where the work-purpose hydraulic
actuator is driven while a steering manipulation is performed, the following phenomenon
may occur. That is, even if unevenness occurs between pressures of the two traveling
motors, the confluent valve causes streams of operating oil ejected from the two hydraulic
pumps to converge into one stream, and consequently the flow rates of the two hydraulic
pumps are limited by a so-called pump horsepower control. This reduces the flow rates
of both of the two hydraulic pumps, thereby reducing the traveling speed and the work
speed of the work-purpose hydraulic actuator. In addition, with the configuration
of PTL 2, the flow rate of the operating oil supplied to the work-purpose hydraulic
actuator is limited according to the amount of manipulation of the traveling manipulation
tool. Therefore, when the work speed is reduced, it is sometimes difficult to enhance
the work efficiency.
[0010] In view of the above circumstances, some aspects of the present invention were made.
An object of an aspect of the present invention is to provide a work vehicle whose
work speed is hardly reduced even when a manipulation for causing a work machine to
perform a work and a manipulation for causing left and right traveling units to travel
at a speed equal to or close to a maximum speed are performed in combination.
Solution to Problem and Advantageous Effects of Invention
[0011] The problem to be solved by some aspects of the present invention has been described
above. Next, the following will describe solutions to this problem and effects achieved
by the solutions.
[0012] According to an aspect of the present invention, a work vehicle including the following
features is provided. That is, the work vehicle includes a first traveling unit, a
first traveling motor, a first actuator, a first hydraulic pump, a first hydraulic
circuit, a first manipulation member, a second traveling unit, a second traveling
motor, a second actuator, a second hydraulic pump, a second hydraulic circuit, a second
manipulation member, and a switching valve. The first traveling motor is configured
to drive the first traveling unit. The first hydraulic circuit is configured to introduce
operating oil from the first hydraulic pump to the first traveling motor and the first
actuator. The first manipulation member is configured to give an instruction on a
traveling speed of the first traveling unit. The second traveling unit is disposed
opposite to the first traveling unit in a left-right direction. The second traveling
motor is configured to drive the second traveling unit. The second hydraulic circuit
is configured to introduce operating oil from the second hydraulic pump to the second
traveling motor and the second actuator. The second manipulation member is configured
to give an instruction on a traveling speed of the second traveling unit. The switching
valve is configured to be switched between a first state where the switching valve
connects the first hydraulic circuit and the second hydraulic circuit to each other
and a second state where the switching valve interrupts connection between the first
hydraulic circuit and the second hydraulic circuit. In a case where both of a first
instruction value and a second instruction value are equal to or higher than a threshold,
the switching valve is brought into the first state, and in cases other than this,
the switching valve is brought into the second state, where the first instruction
value corresponds to a value of an instruction signal for the traveling speed of the
first traveling unit designated by the instruction given with the first manipulation
member and the second instruction value corresponds to a value of an instruction signal
for the traveling speed of the second traveling unit designated by the instruction
given with the second manipulation member.
[0013] With this configuration, when a steering manipulation is performed by designating
different speeds with the two manipulation members, the switching valve is brought
into the second state, thereby interrupting connection between the two hydraulic circuits.
This makes it possible to achieve favorable steering performance. Meanwhile, if a
manipulation for straight traveling, e.g., at a speed equal to or close to a maximum
speed is performed with the two manipulation members, the switching valve is brought
into the first state, thereby connecting the two hydraulic circuits to each other.
Thus, for example, even in a case where such a manipulation for straight traveling
and a manipulation for driving an actuator are performed simultaneously and the hydraulic
pump in the hydraulic circuit including the actuator provides an ejection flow rate
insufficient for the request given by the combined manipulations, the above configuration
can reduce or prevent a reduction in the work speed of the actuator while maintaining
a balance between speeds of the left and right traveling units, since the above configuration
distributes operating oil to the two hydraulic circuits.
[0014] In the above-described work vehicle, the switching valve is preferably switched between
the first state and the second state based on a switching signal that varies according
to the values of the instruction signals.
[0015] With this configuration, it is possible to achieve a simple control.
[0016] The work vehicle described above preferably includes the following features. That
is, a load sensing control is performed on each of the first traveling motor, the
first actuator, the second traveling motor, and the second actuator.
[0017] Consequently, even in a case where unevenness occurs between the loads of the traveling
motors and the actuators, it is possible to achieve the speeds of the traveling units
and the work speeds favorably reflecting the amounts of manipulations for traveling
and the work. Thus, either in a case where the switching valve is in the first state
or in a case where the switching valve is in the second state, a favorable balance
can be attained between the speeds of the traveling units and the work speeds of the
actuators, thereby making it possible to achieve improvement in comprehensive operability.
Brief Description of Drawings
[0018]
[FIG. 1] A side view illustrating an overall structure of a revolving work vehicle
according to one embodiment of the present invention.
[FIG. 2] A view schematically illustrating a hydraulic circuit of the revolving work
vehicle.
[FIG. 3] A conceptual diagram for explaining a configuration relating to load sensing.
[FIG. 4] A view schematically illustrating a hydraulic circuit according to another
embodiment.
Description of Embodiments
[0019] The following will describe embodiments of the present invention with reference to
the drawings. FIG. 1 is a side view illustrating an overall structure of a revolving
work vehicle 1 according to one embodiment of the present invention.
[0020] The revolving work vehicle (work vehicle) 1 shown in FIG. 1 includes a lower traveling
body 11 and an upper revolving body 12.
[0021] The lower traveling body 11 includes crawler traveling devices 21 and hydraulic motors
22. As the crawler traveling devices, the left and right paired crawler traveling
devices 21 are provided. As the hydraulic motors, the left and right hydraulic motors
22 are provided.
[0022] Each crawler traveling device 21 includes an endless crawler made of rubber, for
example. The crawler is wound around a sprocket, which is connected to an output shaft
of one of the hydraulic motors 22 disposed on the side on which its corresponding
crawler traveling device 21 is disposed.
[0023] The hydraulic motors 22 are configured to be rotatable in forward and reverse directions
so as to enable the revolving work vehicle 1 to travel forward and backward. The left
and right hydraulic motors 22 are configured to be capable of being driven individually.
This makes it possible for the revolving work vehicle 1 to travel straight or to be
steered, for example.
[0024] The upper revolving body 12 includes a revolving frame 31, a revolving motor 32,
an engine 33, a hydraulic pump unit 34, a steering unit 35, and a work device 13.
[0025] The revolving frame 31 is disposed above the lower traveling body 11. The revolving
frame 31 is supported by the lower traveling body 11 such that the revolving frame
31 is turnable about a vertical axis. The revolving motor 32 can cause the revolving
frame 31 to turn relative to the lower traveling body 11. The engine 33 is a diesel
engine, for example. The hydraulic pump unit 34 is driven by the engine 33 so that
the hydraulic pump unit 34 generates a hydraulic force that the revolving work vehicle
1 requires to travel and to perform work.
[0026] The steering unit 35 includes various manipulation members. The manipulation members
include left and right paired traveling manipulation levers 36 and left and right
paired work manipulation levers 37, for example. An operator can manipulate these
manipulation members to give various instructions to the revolving work vehicle 1.
[0027] The work device 13 includes a boom 41, an arm 42, a bucket 43, a boom cylinder 44,
an arm cylinder 45, and a bucket cylinder 46.
[0028] The boom 41 is an elongated member having an end turnably supported by a front portion
of the revolving frame 31. To the boom 41, the boom cylinder 44 is attached. Expansion
and contraction of the boom cylinder 44 can turn the boom 41.
[0029] The arm 42 is an elongated member having an end turnably supported by a distal end
of the boom 41. To the arm 42, the arm cylinder 45 is attached. Expansion and contraction
of the arm cylinder 45 can turn the arm 42.
[0030] The bucket 43 is a container-shaped member having an end turnably supported by a
distal end of the arm 42. To the bucket 43, the bucket cylinder 46 is attached. Expansion
and contraction of the bucket cylinder 46 can turn the bucket 43 to perform a scooping
motion or a damping motion.
[0031] Next, the following will describe a hydraulic circuit included in the revolving work
vehicle 1. FIG. 2 is a view schematically illustrating the hydraulic circuit of the
revolving work vehicle 1.
[0032] In the following explanation, the reference signs 21L, 21R, 22L, 22R, 36L, and 36R
may be used to identify the left and right crawler traveling devices 21, the left
and right hydraulic motors 22, and the left and right traveling manipulation levers
36. In the following explanation, each of a first work machine 86, a second work machine
87, a third work machine 88, and a fourth work machine 89 refers to any of the boom
cylinder 44, the arm cylinder 45, the bucket cylinder 46, and a boom swing cylinder
(not illustrated).
[0033] In the revolving work vehicle 1 of the present embodiment, the crawler traveling
device 21L corresponds to a first traveling unit, and the crawler traveling device
21R corresponds to a second traveling unit. The hydraulic motor 22L corresponds to
a first traveling motor, and the hydraulic motor 22R corresponds to a second traveling
motor.
[0034] The above-described hydraulic pump unit 34 includes two variable displacement hydraulic
pumps 34a and 34b. The revolving work vehicle 1 includes a first hydraulic circuit
50a and a second hydraulic circuit 50b. In cases other than a case where a confluent
valve 70 (described later) is in a confluent state, the first hydraulic circuit 50a
is supplied with operating oil from the hydraulic pump (first hydraulic pump) 34a
disposed on a first side and the second hydraulic circuit 50b is supplied with operating
oil from the hydraulic pump (second hydraulic pump) 34b disposed on a second side.
[0035] The first hydraulic circuit 50a is connected to the left hydraulic motor 22L, the
first work machine 86, and the second work machine 87. The first work machine 86 and
the second work machine 87 correspond to a first actuator. A direction selector valve
51L is disposed at a location between an ejection port of the hydraulic pump 34a and
the hydraulic motor 22L, a direction selector valve 52 is disposed at a location between
the ejection port of the hydraulic pump 34a and the first work machine 86, and a direction
selector valve 53 is disposed at a location between the ejection port of the hydraulic
pump 34a and the second work machine 87.
[0036] The second hydraulic circuit 50b is connected to the right hydraulic motor 22R, the
third work machine 88, the revolving motor 32, and the fourth work machine 89. The
third work machine 88, the revolving motor 32, and the fourth work machine 89 correspond
to a second actuator. A direction selector valve 51R is disposed at a location between
an ejection port of the hydraulic pump 34b and the hydraulic motor 22R, a direction
selector valve 54 is disposed at a location between the ejection port of the hydraulic
pump 34b and the third work machine 88, a direction selector valve 55 is disposed
at a location between the ejection port of the hydraulic pump 34b and the revolving
motor 32, and a direction selector valve 56 is disposed at a location between the
ejection port of the hydraulic pump 34b and the fourth work machine 89.
[0037] The direction selector valves 51L and 51R, which are respectively connected to the
left and right hydraulic motors 22L and 22R, each include a spool. When the spool
moves from a neutral position, where pressure oil is not supplied, toward one side,
a corresponding one of the hydraulic motors 22L and 22R rotates in a forward direction.
Meanwhile, when the spool moves from the neutral position toward the other side, the
corresponding one of the hydraulic motors 22L and 22R rotates in a reverse direction.
Each of the hydraulic motors 22L and 22R rotates at a speed that varies according
to the amount by which the spool is displaced from the neutral position.
[0038] The paired traveling manipulation levers 36L and 36R can be used to individually
give, to the left and right crawler traveling devices 21, an instruction to travel
forward, to travel backward, or to stop. The traveling manipulation lever 36L corresponds
to a first manipulation member, and the traveling manipulation lever 36R corresponds
to a second manipulation member. The operator may tilt the traveling manipulation
levers 36L and 36R forward from the neutral positions to give an instruction to travel
forward. Meanwhile, the operator may tilt the traveling manipulation levers 36L and
36R rearward from the neutral positions to give an instruction to travel backward.
A maximum traveling speed that can be designated by tilting the traveling manipulation
levers 36L and 36R in the direction for forward traveling coincides with a maximum
traveling speed that can be designated by tilting the traveling manipulation levers
36L and 36R in the direction for backward traveling.
[0039] The revolving work vehicle 1 includes remote control valves 61L and 61R, which are
respectively disposed for the paired traveling manipulation levers 36L and 36R. Each
of the remote controlling valves 61L and 61R has two output ports. Each of the remote
control valves 61L and 61R is configured to feed, to one of the two ports corresponding
to a direction (forward traveling/backward traveling) in which a corresponding one
of the traveling manipulation levers 36L and 36R is manipulated, operating oil at
a pressure corresponding to the manipulation amount of the corresponding one of the
traveling manipulation levers 36L and 36R. Pilot ports of the direction selector valves
51L and 51R receive pilot pressures directed thereto from the remote control valves
61L and 61R. In other words, each of the remote control valves 61L and 61R transmits
operating oil as an instruction signal according to the manipulation of the corresponding
one of the traveling manipulation levers 36L and 36R, and the pressure (pilot pressure)
of the operating oil corresponds to the value of the instruction signal. Consequently,
the spool of each of the direction selector valves 51L and 51R is displaced in the
direction and the amount corresponding to the traveling direction and the traveling
speed designated by the instruction given with the corresponding one of the traveling
manipulation levers 36L and 36R. This can cause a corresponding one of the hydraulic
motors 22L and 22R to rotate in the direction and at the speed designated by the operator's
instruction.
[0040] Although not illustrated, the other direction selector valves, i.e., the direction
selector valves 52 to 56 are connected to their respective remote control valves in
similar manners to the above-described direction selector valves 51L and 51R. When
the operator manipulates a manipulation member such as the above-described work manipulation
lever 37, pilot pressures outputted from the remote control valves change. Thereby,
the spools of the direction selector valves 52 to 56 are displaced to permit or inhibit
supply of the operating oil. In this manner, it is possible to drive the first work
machine 86, the second work machine 87, the third work machine 88, the revolving motor
32, and the fourth work machine 89 according to an instruction given by the operator.
[0041] The first hydraulic circuit 50a and the second hydraulic circuit 50b are connected
to each other via the confluent valve (switching valve) 70. The confluent valve 70
is configured to be switched between a confluent state (first state) where the confluent
valve 70 connects the first hydraulic circuit 50a and the second hydraulic circuit
50b to each other to allow streams of operating oil to converge into one and an interruption
state (second state) where the confluent valve 70 interrupts connection between the
first hydraulic circuit 50a and the second hydraulic circuit 50b.
[0042] The remote control valves 61L and 61R, which are disposed for the traveling manipulation
levers 36L and 36R, are connected with shuttle valves 62L and 62R, respectively. Each
of the shuttle valves 62L and 62R allows one of the two output ports of a corresponding
one of the remote control valves 61L and 61R to be connected to the pilot port of
the confluent valve 70, the one of the two output ports having a higher pressure than
that of the other.
[0043] The confluent valve 70 has a spool movable between a confluent position, which corresponds
to the confluent state, and an interruption position, which corresponds to the interruption
state. From the two remote control valves 61L and 61R, streams of operating oil are
directed to the confluent valve 70, and then push the spool of the confluent valve
70 toward the confluent position. Against this, the confluent valve 70 is provided
with a spring (biasing member) for biasing the spool toward the interruption position.
[0044] Thus, the configuration described above can be considered as below. That is, in a
case where both of the pilot pressures for the traveling speeds designated by the
left and right traveling manipulation levers 36L and 36R are equal to or higher than
a predetermined threshold Pt, which is determined based on the spring, the confluent
valve 70 is brought into the confluent state. Meanwhile, in cases other than this
case, the confluent valve 70 is brought into the interruption state. The threshold
Pt is set to have a value that is lower than but close to a pilot pressure generated
when one of the left and right traveling manipulation levers 36L and 36R is solely
manipulated to a manipulation limit in the direction for forward traveling or backward
traveling.
[0045] With this configuration, in a case where both of the traveling manipulation levers
36L and 36R are manipulated to their manipulation limits in the direction for forward
traveling or backward traveling within their manipulation strokes, the confluent valve
70 is switched to the confluent state. That is, when an instruction for forward traveling
at a maximum speed, an instruction for backward traveling at a maximum speed, or an
instruction for making a spin turn at a maximum speed is given, streams of operating
oil ejected from the two hydraulic pumps 34a and 34b are caused to converge into one
stream at a location between the first hydraulic circuit 50a and the second hydraulic
circuit 50b.
[0046] For example, assume that the operator gives an instruction for forward traveling
at a maximum speed and an additional instruction to drive the third work machine 88
and consequently a total amount of operating oil requested by the hydraulic motor
22R and the third work machine 88 exceeds a maximum ejection flow rate of the hydraulic
pump 34b. Even in such a case, the present embodiment can achieve straight drivability
in traveling, since the present embodiment can make the other hydraulic pump 34a eject
operating oil toward the second hydraulic circuit 50b through the confluent valve
70 having been switched to the confluent state.
[0047] Meanwhile, for example, assume that the operator gives an instruction for steering
by manipulating one of the traveling manipulation levers 36L and 36R to the limit
position of its manipulation stroke in the direction for forward traveling and manipulating
the other of the traveling manipulation levers 36L and 36R to an extent corresponding
to approximately a half of its manipulation stroke in the direction for forward traveling.
In this case, one of the pilot pressures for the two traveling speeds having been
designated is lower than the threshold Pt, and thus the confluent valve 70 is brought
into the interruption state. Consequently, even in a case where a manipulation for
traveling and a manipulation for driving the third work machine 88 are performed simultaneously,
it is possible to achieve straight drivability in traveling.
[0048] Next, for example, assume that the operator manipulates both of the two traveling
manipulation levers 36L and 36R to extents that are equal to each other and that correspond
to approximately halves of their manipulation strokes in the direction for forward
traveling. In this case, both of the pilot pressures for the two traveling speeds
having been designated are lower than the threshold Pt, and thus the confluent valve
70 is brought into the interruption state. Since the traveling speeds having been
designated are low, the flow rates requested by the left and right hydraulic motors
22L and 22R are both low. Thus, for example, even in a case where such a manipulation
for traveling and a manipulation for driving the third work machine 88 are performed
simultaneously, it is possible to deal with the total requested flow rate solely by
the hydraulic pump 34b. Consequently, it is possible to achieve straight drivability
in traveling.
[0049] Next, the following will describe a load sensing control with reference to FIG. 3.
FIG. 3 is a conceptual diagram for explaining a configuration relating to load sensing.
[0050] A hydraulic circuit shown in FIG. 3 corresponds to a part of a hydraulic circuit
included in the revolving work vehicle 1, the part primarily relating to a load sensing
system. This type of load sensing system is publicly known. Since details of the load
sensing system are disclosed in, e.g., PTL 2, the explanation given below is simplified.
[0051] FIG. 3 shows the two hydraulic circuits 50a and 50b in which the direction selector
valves 51L, 51R, and 54 are opened in response to manipulations of the traveling manipulation
levers 36L and 36R, for example. In order to simplify the explanation, FIG. 3 does
not show parts of the two hydraulic circuits 50a and 50b, the parts relating to the
direction selector valves that are closed.
[0052] Each of the direction selector valves 51L, 51R, and 52 to 56 has a meter-in passage
for supplying operating oil to a corresponding one of the hydraulic actuators. The
meter-in passage of each of the direction selector valves 51L, 51R, and 52 to 56 changes
its passage area according to the displacement amount of the spool, thereby changing
the traveling speed or the work speed. In FIG. 3, the phenomenon that the passage
area of the meter-in passage changes in this manner is expressed by a symbol for a
variable throttle valve. Of these variable throttle valves, variable throttle valves
relating to the direction selector valves 51L, 51R, and 54 that are opened are illustrated
in FIG. 3.
[0053] In the first hydraulic circuit 50a, pressure compensation valves 65 are respectively
disposed at locations between the direction selector valve 51L, 52, and 53 and their
corresponding hydraulic actuators (the hydraulic motor 22L, the first work machine
86, and the second work machine 87). Each pressure compensation valve 65 is configured
to compensate a pressure at a location downstream of the variable throttle valve so
that the pressure achieves a predetermined value. In the second hydraulic circuit
50b, pressure compensation valves 65 are disposed at locations between the direction
selector valves 51R, 54, 55, and 56 and their corresponding hydraulic actuators (the
hydraulic motor 22R, the third work machine 88, the revolving motor 32, and the fourth
work machine 89) in a similar manner.
[0054] The hydraulic circuits 50a and 50b respectively include load detection passages 67a
and 67b for detecting loads of the above-described hydraulic actuators. In the first
hydraulic circuit 50a, the pressure compensation valves 65 have downstream sides connected
to the load detection passage 67a via check valves 66. In the second hydraulic circuit
50b, the pressure compensation valves 65 have downstream sides connected to the load
detection passage 67b via check valves 66. The pressure compensation valves 65 in
the first hydraulic circuit 50a are connected to the load detection passage 67a, and
the pressure compensation valves 65 in the second hydraulic circuit 50b are connected
to the load detection passage 67b.
[0055] While the confluent valve 70 is in the interruption state, the pressure compensation
valves 65 in the first hydraulic circuit 50a are subjected to the largest load pressure
(hereinafter, sometimes referred to as the maximum load pressure in the first hydraulic
circuit 50a) among the load pressures of the hydraulic motor 22L, the first work machine
86, and the second work machine 87 via the load detection passage 67a. Meanwhile,
the pressure compensation valves 65 in the second hydraulic circuit 50b are subjected
to the largest load pressure (hereinafter, sometimes referred to as the maximum load
pressure in the second hydraulic circuit 50b) among the load pressures of the hydraulic
motor 22R, the third work machine 88, the revolving motor 32, and the fourth work
machine 89 via the load detection passage 67b.
[0056] When the confluent valve 70 comes into the confluent state, the two hydraulic circuits
50a and 50b are connected to each other and at the same time the two load detection
passages 67a and 67b are connected to each other. Thus, in this case, the pressure
compensation valves 65 in the hydraulic circuits 50a and 50b are subjected to the
largest load pressure in the two hydraulic circuits 50a and 50b, i.e., the largest
load pressure among the load pressures of the hydraulic motors 22L and 22R, the first
work machine 86, the second work machine 87, the third work machine 88, the revolving
motor 32, and the fourth work machine 89.
[0057] Each of the two hydraulic pumps 34a and 34b is configured as a load sensing pump.
While the confluent valve 70 is in the interruption state, an ejection pressure of
the hydraulic pump 34a is regulated to be higher than the maximum load pressure in
the first hydraulic circuit 50a by a predetermined pressure difference. Also, an ejection
pressure of the hydraulic pump 34b is regulated to be higher than the maximum load
pressure in the second hydraulic circuit 50b by the predetermined pressure difference.
Meanwhile, while the confluent valve 70 is in the confluent state, the ejection pressures
of the two hydraulic pumps 34a and 34b are regulated to be higher than a higher one
of the maximum load pressure in the first hydraulic circuit 50a and the maximum load
pressure in the second hydraulic circuit 50b by the predetermined pressure difference.
[0058] The load sensing pump may be configured in various ways. One example of the configuration
of the load sensing pump can be achieved in a manner disclosed in PTL 2. That is,
the load sensing pump is configured as a movable-swash-plate-type variable displacement
pump having a movable swash plate whose inclination angle is controlled by an appropriate
actuator. In addition, the actuator is subjected to a pressure of the pump and a maximum
load pressure introduced thereto, and the actuator is provided with a spring based
on which the above-described pressure difference is determined.
[0059] The load sensing control can be achieved in the above-described manner. Thus, the
amounts of operating oil supplied to the hydraulic motors 22L and 22R, the first work
machine 86, the second work machine 87, the third work machine 88, the revolving motor
32, and the fourth work machine 89 are determined by the displacement amounts of the
spools of the direction selector valves 51L, 51R, and 52 to 56, and thus each of these
elements can be free from being affected by the magnitudes of the loads of the other
ones of the elements. As a result, while the confluent valve 70 is in the interruption
state, it is possible to reliably enhance the steering operability. In addition, while
the confluent valve 70 is in the confluent state, even if unevenness occurs between
the load given by traveling and the load given by operation of the arm 42 when a manipulation
for forward traveling, e.g., at a maximum speed and a manipulation of the arm 42 are
performed simultaneously, it is possible to achieve a traveling speed and a work speed
favorably reflecting the amounts of the manipulations. Consequently, it is possible
to operate the work machine while maintaining a favorable balance between the traveling
speeds of the crawler traveling devices 21L and 21R and the operation speed of the
arm 42.
[0060] As described above, the revolving work vehicle 1 of the present embodiment includes
the crawler traveling device 21L, the hydraulic motor 22L, the first actuator (e.g.,
the first work machine 86), the hydraulic pump 34a, the first hydraulic circuit 50a,
the traveling manipulation lever 36L, the crawler traveling device 21R, the hydraulic
motor 22R, the second actuator (e.g., the third work machine 88), the hydraulic pump
34b, the second hydraulic circuit 50b, the traveling manipulation lever 36R, and the
confluent valve 70. The hydraulic motor 22L drives the crawler traveling device 21L.
The first hydraulic circuit 50a introduces operating oil from the hydraulic pump 34a
to the hydraulic motor 22L and the first actuator. The traveling manipulation lever
36L gives an instruction on a traveling speed of the crawler traveling device 21L.
The crawler traveling device 21R is disposed opposite to the crawler traveling device
21L in a left-right direction. The hydraulic motor 22R drives the crawler traveling
device 21R. The second hydraulic circuit 50b introduces operating oil from the hydraulic
pump 34b to the hydraulic motor 22R and the second actuator. The traveling manipulation
lever 36R gives an instruction on a traveling speed of the crawler traveling device
21R. The confluent valve 70 can be switched between the confluent state where the
confluent valve 70 connects the first hydraulic circuit 50a and the second hydraulic
circuit 50b to each other and the interruption state where the confluent valve 70
interrupts connection between the first hydraulic circuit 50a and the second hydraulic
circuit 50b. In a case where both of a first instruction value and a second instruction
value are equal to or higher than the threshold Pt, the confluent valve 70 is brought
into the confluent state, and in cases other than this, the confluent valve 70 is
brought into the interruption state, where the first instruction value corresponds
to a value of an instruction signal for the traveling speed of the crawler traveling
device 21L designated by the instruction given with the traveling manipulation lever
36L and the second instruction value corresponds to a value of an instruction signal
for the traveling speed of the crawler traveling device 21R designated by the instruction
given with the traveling manipulation lever 36R.
[0061] With this configuration, when a steering manipulation is performed by designating
moderately different speeds with the two traveling manipulation levers 36L and 36R,
an instruction value(s) for at least one of the designated speeds becomes lower than
the threshold Pt and accordingly the confluent valve 70 is brought into the interruption
state. Consequently, connection between the two hydraulic circuits 50a and 50b is
interrupted. As a result, it is possible to achieve favorable steering performance.
Meanwhile, if a manipulation for straight traveling, e.g., at a speed equal to or
close to a maximum speed is performed with the two traveling manipulation levers 36L
and 36R, instruction values for both of the designated speeds become equal to or higher
than the threshold Pt and accordingly the confluent valve 70 is brought into the confluent
state. Consequently, the two hydraulic circuits 50a and 50b are connected to each
other. Thus, for example, even in a case where such a manipulation for straight traveling
and a manipulation for driving an actuator (e.g., the third work machine 88 in the
hydraulic circuit 50b) are performed simultaneously and the hydraulic pump 34b in
the hydraulic circuit 50b including the actuator provides an ejection flow rate insufficient
for the request given by the combined manipulations, the above configuration can reduce
or prevent a reduction in the work speed while maintaining a balance between the speeds
of the left and right crawler traveling devices 21L and 21R, since the above configuration
distributes operating oil to the two hydraulic circuits 50a and 50b.
[0062] In the revolving work vehicle 1 of the present embodiment, the instruction signal
has a value of a pilot pressure.
[0063] With this configuration, it is possible to achieve a simple control based on the
pilot pressure.
[0064] In the revolving work vehicle 1 of the present embodiment, the load sensing control
is performed on each of the hydraulic motor 22L, the first actuator, the hydraulic
motor 22R, and the second actuator.
[0065] Consequently, even in a case where unevenness occurs between the loads of the hydraulic
motors 22L and 22R and the actuators, it is possible to achieve the speeds of the
crawler traveling devices 21L and 21R and the work speed favorably reflecting the
amounts of manipulations for traveling and for the work. Thus, either in a case where
the confluent valve 70 is in the confluent state or in a case where the confluent
valve 70 is in the interruption state, a favorable balance can be attained between
the speeds of the crawler traveling devices 21L and 21R and the work speeds of the
actuators, thereby making it possible to achieve improvement in comprehensive operability.
[0066] Next, another embodiment will be described. FIG. 4 is a view schematically illustrating
a hydraulic circuit according to another embodiment. In the description of the present
embodiment, parts that are identical or similar to those of the above-described embodiment
are given identical reference signs in the drawings, and description of these parts
may be omitted.
[0067] In the embodiment shown in FIG. 4, remote control valves 61L and 61R each have two
output ports respectively provided with pressure sensors 75. The pressure sensors
75 are electrically connected to a controller 76 of a revolving work vehicle 1. Thus,
the pressure sensors 75 transmit electric signals as instruction signals according
to manipulations of traveling manipulation levers 36L and 36R. The instruction signals
correspond to detected pressure values (e.g., voltages) QL and QR from the pressure
sensors 75.
[0068] In the present embodiment, a confluent valve 70 is configured as an electromagnetic
valve, and is electrically connected to the controller 76.
[0069] The controller 76 is a known computer including a CPU, a ROM, and a RAM, for example.
The ROM stores appropriate programs for performing a switching control of the confluent
valve 70.
[0070] The controller 76 monitors values of pressures detected at the forward-traveling-side
output ports of the remote control valves 61L and 61R and values of pressures detected
at the backward-traveling-side output ports of the remote control valves 61L and 61R.
If the detected pressure values at the two forward-traveling-side output ports or
the detected pressure values at the two backward-traveling-side output ports are equal
to or higher than a threshold Qt, the controller 76 outputs a valve open signal to
the confluent valve 70 to open the confluent valve 70. In this manner, the controller
76 controls the confluent valve 70 to switch the confluent valve 70 to the confluent
state. The threshold Qt is set to have a value that is lower than but close to a detected
pressure value obtained when one of the left and right traveling manipulation levers
36L and 36R is solely manipulated to its manipulation limit in a direction for forward
traveling or backward traveling. In the present embodiment, the valve open signal
from the controller 76 corresponds to a switching signal. The switching signal is
switched from one mode to another mode according to the detected pressure value, which
is the value of the instruction signal.
[0071] With this configuration, when an operator gives an instruction to travel forward
or backward at a speed equal to or close to a maximum speed, the confluent valve 70
is brought into the confluent state. Consequently, it is possible to achieve straight
drivability in forward traveling and backward traveling, in a similar manner to the
embodiment shown in FIG. 2. However, if an instruction to make a spin turn at a speed
equal to or close to a maximum speed is given, the confluent valve 70 is not brought
into the confluent state. In this point, the present embodiment is different from
the embodiment shown in FIG. 2.
[0072] In addition, according to the present embodiment, the threshold Qt for the detected
pressure value set for the controller 76 can be changed by way of software. Thus,
the present embodiment can deal with various situations flexibly.
[0073] As described above, in the revolving work vehicle 1 of the present embodiment, the
confluent valve 70 is switched between the confluent state and the interruption state
based on the switching signal that varies according to the values of the instruction
signals.
[0074] With this configuration, it is possible to achieve a simple control.
[0075] In addition, in the revolving work vehicle 1 of the present embodiment, the traveling
manipulation lever 36L is configured to be capable of giving an instruction on a traveling
speed and a traveling direction (forward traveling/backward traveling) of the crawler
traveling device 21L. The traveling manipulation lever 36R is configured to be capable
of giving an instruction on a traveling speed and a traveling direction (forward traveling/backward
traveling) of the crawler traveling device 21R. In a case where both of a first instruction
value and a second instruction value are equal to or higher than the threshold Qt
and a first instruction direction and a second instruction direction coincide with
each other, the confluent valve 70 is brought into the confluent state, and in cases
other than this, the confluent valve 70 is brought into the interruption state, where
a first instruction speed and the first instruction direction are respectively a traveling
speed and a traveling direction of the crawler traveling device 21L designated by
the instruction given with the traveling manipulation lever 36L, a second instruction
speed and the second instruction direction are respectively a traveling speed and
a traveling direction of the crawler traveling device 21R designated by the instruction
given with the traveling manipulation lever 36R, the first instruction value corresponds
to a value of an instruction signal for the first instruction speed, and the second
instruction value corresponds to a value of an instruction signal for the second instruction
speed.
[0076] With this configuration, when a manipulation for forward traveling/backward traveling,
e.g., at a speed equal to or close to a maximum speed is performed with the two traveling
manipulation levers 36L and 36R, it is possible to achieve straight drivability.
[0077] Although preferred embodiments of the invention have been described above, the above-described
configurations can be modified as below, for example.
[0078] The actuators (the first actuator and the second actuator) that are not the hydraulic
motor 22L or 22R, each of which is driven by the hydraulic pumps 34a and 34b, may
have any configurations, as long as they are usable for the works. Of the hydraulic
circuits 50a and 50b, a hydraulic circuit to which each actuator is to be provided
may also be determined in consideration of a requested flow rate and/or the like.
[0079] In the embodiment shown in FIG. 4, even in a case where an instruction to make a
spin turn, e.g., at a maximum speed is given, the controller 76 may control the confluent
valve 70 to switch the confluent valve 70 to the confluent state. For example, the
controller 76 may perform the control in the following manner. That is, if a greater
one of the detected values obtained by the pressure sensors 75 connected to the output
ports of the one remote control valve 61L and a greater one of the detected values
obtained by the two pressure sensors 75 connected to the output ports of the other
remote control valve 61R are equal to or higher than the threshold Qt, the controller
76 outputs a valve open signal to the confluent valve 70 to open the confluent valve
70.
[0080] In the embodiment shown in FIG. 4, the switching signal is an electric signal for
opening or closing the confluent valve 70, which is an electromagnetic valve. Alternatively,
operating oil may be transmitted as the switching signal.
[0081] The present invention is applicable not only to the revolving work vehicle but also
to work vehicles having other various configurations and other various purposes. For
example, the work vehicle may include, as a traveling unit, a traveling device configured
to travel with wheels, instead of the traveling device configured to travel with the
crawlers.
Reference Signs List
[0082]
- 1
- revolving work vehicle (work vehicle)
- 21L
- crawler traveling device (first traveling unit)
- 21R
- crawler traveling device (second traveling unit)
- 22L
- hydraulic motor (first traveling motor)
- 22R
- hydraulic motor (second traveling motor)
- 32
- revolving motor (example of second actuator)
- 34a
- hydraulic pump (first hydraulic pump)
- 34b
- hydraulic pump (second hydraulic pump)
- 36L
- traveling manipulation lever (first manipulation member)
- 36R
- traveling manipulation lever (second manipulation member)
- 50a
- first hydraulic circuit
- 50b
- second hydraulic circuit
- 70
- confluent valve (switching valve)
- 86
- first work machine (example of first actuator)
- 87
- second work machine (example of first actuator)
- 88
- third work machine (example of second actuator)
- 89
- fourth work machine (example of second actuator)