SYSTEM FOR CHANGING OVER RUNNING SPEED OF HYDRAULIC EXCAVATOR

Abstract: The present invention relates to a system for changing over a running speed of a hydraulic excavator, wherein a running speed of a running motor is set at a speed most suitable for the road conditions and the concurrent controllability is not lowered even if a working machine is operated during the running of the excavator. For this purpose, there is provided a spring setting force adjusting device consisting of a running speed change-over switch (5), a controller (7) operation-processing a setting signal thereof, an electromagnetically controlled pressure change-over valve (6) operable in response to a command of the controller and a spring force adjusting cylinder (9) for adjusting a setting force of a differential pressure setting spring (11a) of a load sensing valve (11) in response to an operation of the electro magnetically controlled pressure change-over valve, to thereby change over the setting force of the differential setting spring in a plurality of stages. A running motor capacity switching device comprising a running motor capacity switching valve (13a, 13b) and a running motor capacity control cylinder (15a, 15b) is also provided to change over a running motor (4a, 4b) capacity in two stages by the change over valve (6).

Description: The present invention relates to a traveling speed change-over device for a hydraulic excavator and, more particularly, to a traveling speed change-over device for a hydraulic excavator capable of changing the traveling speed over three or more stages to provide an optimum traveling speed according to the condition of the work while improving simultaneous operation characteristic during fine control of the working machine. Conventionally, and as described in SEBM 004100 Shop Manual Komatsu, PC 60-7, Machine Model PC 60-7, Serial Number 45001 and up, traveling speed of a hydraulic excavator is controlled by supplying hydraulic pressure from a hydraulic pump 51 to left and right traveling motor 54a, 54b via swivel joint 53, after controlling the hydraulic pressure by left and right travel operation valves 52a, 52b, as shown in Fig. 3. When a traveling speed change-over switch 55 is set to first speed, the solenoid of a control pressure change-over valve 56 is de-energized so that the control pressure change-over valve 56 is set to a position a . Therefore, pilot cylinders 59a, 59b of the traveling speed change-over valves 58a, 58b for the left and right traveling motors 54a, 54b are connected to a tank 66 via the swivel joint 53 and the control pressure change-over valve 56, so that the traveling speed change-over valves 58a, 58b also are set to positions a . Consequently, a traveling motor capacity control cylinders 60a, 60b are connected to the tank 66, so that the capacities of the left and right traveling motors 54a, 54b are increased to a value corresponding to the first stage of the traveling speed. Subsequently, a traveling operation lever which is not shown is operated to set the traveling operation valves 52a, 52b to positions a , so that the hydraulic oil discharged from the hydraulic pump 51 is supplied to the left and right traveling motors 54a, 54b through associated driving lines 61a, 61b, and is discharged from the left and right traveling motors 54a, 54b into discharge lines 62a, 62b. In this state, counter-balance valves 63a, 63b have been set to positions a by the operating hydraulic pressure existing in the driving lines 61a, 61b, so that the oil discharged to the discharge lines 62a, 62b is returned to the tank 66 via a return line which is not shown, past the counter balance valves 63a, 63b, swivel joint 53 and the running operation valves 52a, 52b. Therefore, the left and right traveling motors 54a, 54b, which have been set to first speed, are operated at a speed corresponding to the amount of operation of the above-mentioned traveling operation lever, whereby the excavator travels forward or backward at the corresponding speed. The positions a of the travel operation valves 52a, 52b are assumed to correspond to the forward traveling of the excavator. Thus, the positions b of the same correspond to backward traveling. The operation for the backward traveling is not described because it is substantially the same as that for the forward traveling. Numeral 64 designates a load sensing valve which has a first pilot chamber 64b for receiving oil discharged from the hydraulic pump 51 and a second pilot chamber 61c for receiving higher one of the load pressures existing in the driving lines 61a, 61b of the traveling motors 54a, 54b, via the traveling operation valves 52a, 52b and check valves 65a, 65b. The discharge pressure of the hydraulic pump 51 is so reduced as to maintain a balance of force and counter force produced by the pressures in the first and second pilot chambers 64b and 64c and the force produced by a spring 64a, thereby controlling the capacity control cylinder 51a of the hydraulic pump 51. That is, a pressure differential corresponding to the force of the spring 64a always exists across each travel operation valve 52a,52b, so that the rate of discharge of oil from the hydraulic pump 51 is increased and decreased in accordance with the amounts of operation of the travel operation valves 52a, 52b. For attaining the second speed stage, the traveling speed change-over switch 55 is set to the second speed so that the solenoid 56a of the control pressure change-over valve 56 is energized to set the control pressure change-over valve 56 to the position b . As a result, the traveling speed change-over valves 58a, 58b of the left and right traveling motors 54a, 54b are set to the positions b . Consequently, driving hydraulic pressures in the left and right traveling motors 54a, 54b are introduced into the traveling motor capacity control cylinders 60a, 60b, whereby the capacity of the left and right traveling motors 54a, 54b is decreased to establish the second speed stage. The effect produced by the operation of the traveling operation valves 52a, 52b is not described because it is materially the same as that in the traveling at the first speed stage. In this conventional system, the speed of the traveling motors 54a, 54b are controllable only in two stages. This causes a too abrupt change in the traveling speed when the speed stage is switched from one to the other to attain the traveling condition optimum for the instant state of work and the road condition. In addition, if one of the high- and low-speed stages is set to an optimum level, the speed obtained with the other speed stage is often too high or too low, which makes it difficult for the operator to select the optimum speed stage according to the state of work and road conditions. In general, the conventional traveling system is so designed that the discharge rate from the hydraulic pump 51 is maximized when the excavator is traveling. Therefore, if the working machine is operated during traveling, the excavator may be suddenly decelerated to oscillate even when the amount of operation of the working machine is very small. Thus, the conventional arrangement is not suitable for simultaneous operation of the traveling system and the working system. In view of the above-described shortcomings of the known art, the present invention aims at providing a traveling speed change-over device for a hydraulic excavator, wherein a set force adjusting means is provided to enable adjustment of the set differential pressure so as to make it possible to change the speed of the traveling motors over a plural stages, thus optimizing the traveling speed for instant road conditions, while eliminating deterioration of simultaneous operability which hitherto has occurred when the working machine is operated during traveling. Disclosure of the Invention According to the present invention, there is provided a traveling speed change-over device for a hydraulic excavator of the type in which oil discharged from a hydraulic pump is supplied to left and right traveling motors via left and right travel operation valves, and the pressure of oil discharged from the hydraulic pump is introduced into a first pilot valve of a load sensing valve which controls the capacity control cylinder of the hydraulic pump, while a second pilot chamber of the load sensing valve receives driving pressure existing in the traveling motors, so that the capacity control cylinder of the hydraulic pump is controlled in accordance with the balance of the thrust forces produced in the first and second pilot chambers and the force of a differential pressure setting spring, the traveling speed change-over device comprising: a spring set force adjusting device capable of changing the set force of the differential pressure setting spring over a plurality of stages. The spring set force adjusting device includes: a traveling speed change-over switch; a controller for computing a signal set by the traveling speed change-over switch; a solenoid-actuated control pressure change-over valve which operates in accordance with a command given by the controller; and a spring force adjusting cylinder for adjusting the set force of the differential pressure setting spring of the load sensing valve in accordance with the operation of the solenoid-actuate control pressure change-over valve. The traveling speed change-over device of the present invention can have a motor capacity change-over device for changing the capacity of the traveling motors, the motor capacity change-over device including: a traveling speed change-over switch; a controller for computing the signal set by the traveling speed change-over switch; a solenoid-actuated control pressure change-over valve which operates in accordance with a command given by the controller; and traveling motor capacity change-over valves and traveling motor capacity control cylinders for changing the capacities of the traveling motors over two stages in accordance with the operation of the solenoid-actuated control pressure change-over valve. It is possible to arrange such that the spring set force adjusting device or the capacity change-over device of the traveling motors is selectively connected to a source of the control hydraulic pressure or to a tank by the operation of the solenoid-actuated control pressure change-over valve. In general, the flow rate Q of oil passing through an operation valve is given as follows in accordance with the pressure differential P p - P t between the pressure P p upstream of the operation valve and the pressure P t downstream of the operation valve and the opening degree A of the operation valve: Q∝A·√(P p - P) In the present invention, the pressure Pp at the upstream side of the travel operation valve is the discharge pressure of the hydraulic pump, while the pressure Pt at the downstream side of the travel operation valve is the driving pressure acting on the traveling motors. The pressure differential Pp - Pt is determined by the spring force F of the differential pressure setting spring of the load sensing valve, so that the following relationship is established: Q ∝ A·√(F) Therefore, by changing the spring force F over a plurality of stages, it is possible to obtain a plurality of stages of the displacement Q of the hydraulic pump, i.e., a plurality of stages of the traveling speed, for a given amount of operation (opening )A of the travel operation valve. By providing a traveling motor capacity change-over device which can change the capacity of the traveling motors in two stages, it is possible to obtain speed stages of a number which is double the above-mentioned plurality of speed stages. The traveling speed can be changed over a plurality of stages by selectively connecting the spring set force adjusting device or the traveling motor capacity change-over device to a tank, through the operation of the solenoid-actuated control pressure change-over valve. Brief Description of the Drawings Fig. 1 is a hydraulic circuit diagram showing a hydraulic circuit of traveling speed control device for a hydraulic excavator in accordance with an embodiment of the present invention. Fig. 2 is a diagram showing the relationship between the displacement and discharge pressure observed with a hydraulic pump employed in the embodiment, in comparison with that observed with a hydraulic pump employed in a conventional system. Fig. 3 is hydraulic circuit diagram showing a hydraulic circuit of a conventional traveling speed control device. The Best Mode for Carrying Out the Invention A detailed description will be given of an embodiment of the present invention, with reference to Figs. 1 and 2. The traveling speed of a hydraulic excavator is controlled by supplying the hydraulic pressure from a hydraulic pump 1 to left and right traveling motor 4a, 4b via swivel joint 3, after controlling the hydraulic pressure by left and right travel operation valves 2a, 2b, as shown in Fig. 1. When a traveling speed change-over switch 5 is set to select the first speed stage, the solenoid 6a of a control pressure change-over valve 6 is de-energized so that the control pressure change-over valve 6 is set to a position a , whereby a spring force adjusting cylinder 9 is connected to the tank 10. As a result, the piston rod 9b is moved to the left by the force of the spring 9a in the spring force adjusting cylinder 9, so that the set force F of the pressure differential setting spring 11a of the load sensing valve 11 is reduced. Therefore, referring to the formula (2) mentioned before, the displacement Q of the hydraulic pump 1 is reduced by an amount corresponding to the amount of reduction of the set force F of the differential pressure setting valve 11, even when the amount of operation (opening degree) of the traveling operation valves 2a and 2b is unchanged, with the result that the traveling speed is decreased correspondingly. Meanwhile, the signal set by the aforementioned traveling speed change-over switch 5 serves to de-energize the solenoid 12a of the control pressure change-over valve 12 via the controller 7, so that the control pressure change-over valve 12 is set to the position a , thus bringing the pilot cylinders 14a,14b of the traveling motor capacity control valves 13a, 13b into communication with the tank 10. Consequently, the traveling motor capacity control valve 13a, 13b are set to the position a, so as to allow the traveling motor capacity control cylinder 15a, 15b to communicate with the tank, whereby the left and right traveling motors 4a, 4b are set to greater capacity for attaining first traveling speed stage. Then, as the traveling speed change-over switch 5 is set to the second speed stage, the signal set by the traveling speed change-over switch 5 serves to de-energize the solenoid 6a of the control pressure change-over valve 6 via the controller 7, so that the control pressure change-over valve 6 is set to the position a, with the result that the spring force adjusting cylinder 9 is connected to the tank 10. Consequently, the piston rod 9b in the spring force adjusting cylinder 9 is moved to the left by the force of the spring 9a so as to reduce the set force F of the differential pressure setting spring 11a of the load sensing valve 11. Consequently, referring to Fig. 2, the displacement Q of the hydraulic pump 1 is reduced by an amount corresponding to the amount of reduction of the set force F, even when the amount of operation (opening degree) of the traveling operation valves 2a, 2b is unchanged, with the result that the traveling speed is reduced correspondingly. At the same time, the signal set by the traveling speed change-over switch 5 serves to exdite the solenoid 12a of the control pressure change-over valve 12 via the operation of the controller 7, so that the control pressure change-over valve 12 is set to the position b , whereby the pilot cylinders 14a, 14b of the traveling motor capacity change-over valves 13a, 13b are connected to the control pump 8. Consequently, the traveling motor capacity change-over valves 13a, 13b are set to the position b , so that the traveling motor capacity control cylinders 15a, 15b are supplied with the driving pressure of the traveling motors, whereby the left and right traveling motors 4a, 4b are set to small capacities, whereby the excavator runs at the second speed stage. Subsequently, as the traveling speed change-over switch 5 is set to the third speed stage, the signal set by the traveling speed change-over switch 5 serves to excite the solenoid 6a of the control pressure change-over valve 6, whereby the control pressure change-over valve 6 is set to the position b , with the result that the spring force adjusting cylinder 9 is connected to the control pump 8. As a result, the piston rod 9b in the spring force adjusting cylinder 9 is moved to the right overcoming the force of the spring 9a, so as to increase the set force F of the differential pressure setting spring 11a of the load sensing valve 11. Consequently, referring to the formula (2), the displacement Q of the hydraulic pump 1 is increased by an amount corresponding to the increase in the set force F of the differential pressure setting spring lla, even when the amounts of operation (opening degree) of the travel operation valves 2a, 2b are unchanged, with the result that the traveling speed is increased correspondingly. At the same time, the signal set by the traveling speed change-over switch 5 serves to excite the solenoid 12a of the control pressure change-over valve 12 via the controller 7, so that the control pressure change-over valve 12 is set to the position b , whereby the pilot cylinders 14a, 14b of the traveling motor capacity change-over valves 13a, 13b are connected to the control pump 8. Consequently, the traveling motor capacity change-over valves 13a, 13b are set to the position b , so that the driving pressure in the traveling motors is supplied to the traveling motor capacity control cylinders 15a, 15b, whereby the left and right traveling motors 4a, 4b are set to small capacity to enable the excavator to run at the third speed stage. A description will now be given of the operation during running at the first speed stage shown in Fig. 1. Travel operation valves 2a, 2b are respectively set to the position a by manipulation of traveling operation levers which are not shown, so that the oil discharged from the hydraulic pump 1 at a rate corresponding to the amount of operation of the travel operation valves 2a, 2b is supplied to the left and right traveling motors 4a, 4b via driving lines 16a, 16b and is discharged therefrom to the discharge lines 18a, 18b. In this state, since the counter-balance valves 20a, 20b have been set to the position a by the driving pressure existing in the driving lines 16a, 16b, so that the working oil discharged to the discharge lines 18a, 18b is returned to the tank 10 via the return line (not shown), past the counter-balance valves 20a, 20b, swivel joint 3 and the traveling speed change-over valves 2a, 2b. Thus, the left and right traveling motors 4a, 4b rotate at speeds corresponding to the amounts of operations of the aforesaid traveling operation levers, so as to drive the excavator forward or backward at the speed corresponding to the speed of rotation. Assuming that the positions a of the travel operation valves 2a, 2b correspond to forward running of the excavator, the positions b obviously correspond to the backward traveling of the excavator. The operation for the backward traveling is not described because it is materially the same as that for the forward traveling. The oil discharged from the hydraulic pump 1 is introduced into the first pilot chamber 11b of the load sensing valve 11, while the second pilot chamber 11c is supplied with the higher one of the driving pressures existing in the driving lines 16a, 16b, via the travel operation valves 2a, 2b and the check valves 21a, 21b. Consequently, the discharge pressure of the hydraulic pump 1 is reduced by an amount corresponding to the pressure differential between the first pilot chamber 11b and the second pilot chamber 11c, i.e., the set force F of the differential pressure setting spring 11a, so as to control the capacity control cylinder la of the hydraulic pump 1. That is, a pressure differential corresponding to the spring force of the spring 11a of the load sensing valve 11 always exists between the upstream and downstream sides of the traveling operation valves 2a, 2b so that the rate of discharge from the hydraulic pump 1 is always controlled in accordance with the amount of operation of the traveling operation valves 2a, 2b. A description will now be given with specific reference to Fig. 2. Fig. 2(a) is a graph showing the relationship between the displacement Q of the hydraulic pump and the load pressure P as obtained in the present invention. As will be seen from Table 1, during running at the first and second speed stages, the displacement of the hydraulic pump 1 is set to 80 % at the maximum (with the travel operation valves 2a, 2b set to full opening). Therefore, there is a margin amounting to 20 % of the full power of the hydraulic pump 1 for the operation of the working machine during the traveling. Therefore, the pump displacement can be increased up to 20 % when such an increase is necessary for the operation of the working machine, so that the working machine can be operated without causing any reduction in the traveling speed, whereby the simultaneous operation characteristic can be improved. Figs. 2(b) and 2(c) illustrate conventional arts for the purpose of comparison. More specifically, Fig. 2(b) shows the state in which traveling system operates alone. In this state, the hydraulic pump 1 delivers oil at 100 % displacement to the left and right traveling motors 4a,4b. (with the travel operation valves 2a, 2b fully opened). Fig. 2(c) shows the state in which the working machine is operated during the traveling by being supplied with 20 % of the full displacement of the hydraulic pump 1. Consequently, the left and right traveling motors are supplied only with 80 % of the full displacement, with the result that the traveling speed is reduced correspondingly, thus impairing the simultaneous operation characteristic. Speed stage 1st 2nd 3rd Hydraulic pump displacement 80% 80% 100% Control press. change-over valve 6 OFF OFF ON Control press. change-over valve 12 OFF ON ON Max. vehicle speed ratio 50 80 100 Industrial Applicability The present invention provides a traveling speed change-over device for a hydraulic excavator, capable of changing the traveling speed over three or more speed stages so as to facilitate selection of traveling speed according to the conditions of the road and the state of the work, while improving the simultaneous operation characteristic to enable fine control of the working machine during traveling of the excavator.

Claims: A traveling speed change-over device for a hydraulic excavator of the type in which oil discharged from a hydraulic pump is supplied to left and right traveling motors via left and right travel operation valves, and the pressure of oil discharged from said hydraulic pump is introduced into a first pilot chamber of a load sensing valve (11) which controls the capacity control cylinder of said hydraulic pump, while a second pilot chamber of said load sensing valve receives driving pressure existing in said traveling motors, so that the capacity control cylinder of said hydraulic pump is controlled in accordance with the balance of the thrust forces produced in the first and second pilot chambers and the force of a differential pressure setting spring, said traveling speed change-over device comprising: a spring set force adjusting device (9) capable of changing the set force of said differential pressure setting spring over a plurality of stages, and said spring set force adjusting device including: a traveling speed change-over switch (5); a controller (7) for computing a signal set by said traveling speed change-over switch; a solenoid-actuated (6) control pressure change-over valve which operates in accordance with a command given by said controller; and a spring force adjusting cylinder for adjusting the set force of said differential pressure setting spring of said load sensing valve in accordance with the operation of said solenoid-actuated control pressure change-over valve. A traveling speed change-over device for a hydraulic excavator according to Claim 1, further comprising a traveling motor capacity change-over device (15) for changing the capacity of said traveling motors, said motor capacity change-over device including: a traveling speed change-over switch (5); a controller (7) for computing a signal set by said traveling speed change-over switch; a solenoid-actuated control pressure change-over valve (6) which operates in accordance with a command given by said controller; and traveling motor capacity change-over valves (14) and traveling motor capacity control cylinders (15) for changing the capacities of said traveling motors over two stages in accordance with the operation of said solenoid-actuated control pressure change-over valve. A traveling speed change-over device for a hydraulic excavator according to Claim 1 or 2, wherein said spring set force adjusting device or said traveling motor capacity change-over device is selectively connected to a source of control hydraulic pressure or to a tank by said solenoid-actuated control pressure change-over valve (14).

Inventors: IMAI HIROSHI, IMAI, HIROSHI
Applicants: KOMATSU MFG CO LTD, KABUSHIKI KAISHA KOMATSU SEISAKUSHO
Application year: 1991
Main classification: E02F9
IPC codes: F16H61, F15B11, E02F9