Rotary construction machinery

Abstract

The confluence control unit (51) of the rotary engineering machinery of the present invention controls the confluence switching valve, so that when the rotary boom raising operation is desired, the confluence switching valve is switched to a blocking state. The pump capacity control unit (52) of the rotary engineering machinery performs capacity control including the following control: when the rotary boom raising operation is performed, as the working pressure difference, which is the value obtained by subtracting the swing working pressure from the boom working pressure, increases, the first pump capacity and the second pump capacity are respectively adjusted so that the first pump capacity increases and the second pump capacity decreases; as the working pressure difference decreases, the first pump capacity and the second pump capacity are respectively adjusted so that the first pump capacity decreases and the second pump capacity increases.

Description

Technical Field

[0001] The present invention relates to rotary and revolving engineering machinery such as hydraulic excavators. Background Art

[0002] Typically, in a rotary engineering machine such as a hydraulic excavator, as disclosed in Patent Document 1, the machine includes: a lower traveling body; an upper rotary body rotatably mounted on the lower traveling body; a working device including a boom connected to the upper rotary body in a manner such that it can rise and fall; a boom cylinder that receives the supply of working oil ejected from a first hydraulic pump and operates to cause the boom to rise and fall; a rotary motor that receives the supply of working oil ejected from a second hydraulic pump and operates to cause the upper rotary body to rotate; and a confluence switching valve (boom speed-increasing control valve) that allows a portion of the working oil ejected from the second pump to merge with the working oil supplied to the boom cylinder by the first hydraulic pump to increase the speed of the boom lifting action.

[0003] In the construction machinery of Patent Document 1, when a swing and boom raising operation is performed simultaneously, the merging switching valve is switched to allow a portion of the working oil discharged from the second pump to merge with the working oil supplied to the boom cylinder by the first hydraulic pump.

[0004] In the hydraulic control circuit of the construction machinery of Patent Document 2, when the flow distribution control unit detects the combined operation of lifting and rotating the boom using the boom lifting detection unit and the rotation detection unit, the regulator is controlled so that the discharge flow of the first pump is higher than the discharge flow of the second pump by a certain amount when the combined operation starts. When the rotation action becomes stable and the difference between the discharge pressures of each pump detected by the first pump pressure detection unit and the second pump pressure detection unit becomes larger, the regulator is controlled to reduce the injection flow difference.

[0005] In addition, the working device in the above-mentioned rotary construction machine generally includes a remote attachment selectively mounted from a plurality of remote attachments such as a bucket, a grab, a crusher, a breaker hammer, a fork, etc. That is, these remote attachments can be replaced according to the content of the work.

[0006] In the above-mentioned conventional rotary construction machine, when the remote attachment of the working device is replaced with another remote attachment of a weight different from that of the remote attachment, the weight of the working device changes, and therefore, when the rotary boom raising operation is performed, the balance between the action of the boom cylinder and the action of the rotary motor changes. A specific example is as follows.

[0007] For example, when the remote attachment of the working device is replaced with another remote attachment heavier than the remote attachment, the weight of the working device increases, and therefore, the working pressure of the boom cylinder increases compared to before the remote attachment is replaced. As a result, the working pressure of the swing motor also increases when the swing boom raising operation is performed. Therefore, when the working pressure of the swing motor increases, the acceleration of the swing motor increases. That is, in the existing swing-type construction machinery, the action of the swing motor when the swing boom raising operation is performed is greatly affected by the working pressure of the boom cylinder increased due to the increase in the weight of the working device.

[0008] Prior art literature

[0009] Patent Literature

[0010] Patent Document 1: Japanese Patent Application Publication No. 62-253825

[0011] Patent Document 2: Japanese Patent Application Publication No. 2005-83427 Summary of the invention

[0012] An object of the present invention is to provide a rotary engineering machine capable of suppressing changes in the balance between the movement of a rotary motor and the movement of a boom cylinder during a rotary boom lift operation, regardless of changes in the weight of a working device caused by replacement of a distal attachment.

[0013] The rotary engineering machinery provided comprises: a base; an upper rotary body rotatably mounted on the base; a working device comprising a boom and a remote attachment connected to the upper rotary body in a manner that the boom can be raised and lowered, wherein the remote attachment is a remote attachment selectively mounted from a plurality of remote attachments having different weights; a first hydraulic pump, which is a variable capacity hydraulic pump, which ejects working oil; a second hydraulic pump, which is a variable capacity hydraulic pump, which ejects working oil; a boom cylinder, which receives the supply of working oil ejected from the first hydraulic pump to cause the boom to rise and fall; and a boom control device, which receives a control device for causing the boom to rise and fall in a vertical direction. The boom raising operation controls the flow rate of the working oil supplied from the first hydraulic pump to the boom cylinder; the slewing motor receives the supply of the working oil ejected from the second hydraulic pump to rotate the upper slewing body; the slewing control device receives the slewing operation for rotating the upper slewing body and controls the direction and flow rate of the working oil supplied from the second hydraulic pump to the slewing motor; the merging switching valve can be switched between an enabling state and a blocking state, in which the enabling state allows at least a portion of the working oil ejected from the second hydraulic pump to merge with the working oil supplied from the first hydraulic pump to the boom cylinder , in the blocking state, the confluence of the working oil is prevented; a boom working pressure detection unit, detecting the boom working pressure corresponding to the working pressure of the boom cylinder; a swing working pressure detection unit, detecting the swing working pressure corresponding to the working pressure of the swing motor; a confluence control unit, controlling the confluence switching valve, when a non-swinging boom raising operation in which the boom control device is subjected to the boom raising operation and the swing control device is not subjected to the swing operation, switches the confluence switching valve to the allowing state, and when a swinging operation in which the boom control device is subjected to the boom raising operation and the swing control device is subjected to the swing operation When the boom is turned and raised, the confluence switching valve is switched to the blocking state; and the pump capacity control unit performs capacity control including the following control: when the boom is turned and raised, as the working pressure difference, which is the value obtained by subtracting the turning working pressure from the boom working pressure, increases, the pump capacity of the first hydraulic pump, i.e., the first pump capacity, and the pump capacity of the second hydraulic pump, i.e., the second pump capacity, are adjusted respectively, so that the first pump capacity increases and the second pump capacity decreases; as the working pressure difference decreases, the first pump capacity and the second pump capacity are adjusted respectively, so that the first pump capacity decreases and the second pump capacity increases. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view showing a rotary construction machine according to an embodiment, on which a bucket is mounted as a distal attachment.

[0015] Figure 2It is a diagram showing another example of the distal attachment device.

[0016] Figure 3 It is a diagram showing a hydraulic circuit mounted on the rotary construction machine.

[0017] Figure 4 This is a block diagram showing the structure of a controller connected to the hydraulic circuit.

[0018] Figure 5 is a graph showing an example of a graph stored in the storage unit of the controller.

[0019] Figure 6 A flow chart showing the calculation and control actions performed by the controller.

[0020] Figure 7 This is a block diagram showing the configuration of a controller connected to a hydraulic circuit in a rotary construction machine according to a modified example of the embodiment.

[0021] Figure 8 is a graph showing another example of the graph stored in the storage unit of the controller according to the modification. DETAILED DESCRIPTION

[0022] Preferred embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 It is a side view of a hydraulic excavator 100 which is an example of the swing-type construction machine according to the above-mentioned embodiment.

[0023] The hydraulic excavator 100 includes a lower traveling body 1 that can travel on the ground, an upper rotating body 2 that is mounted on the lower traveling body 1 and can rotate around a longitudinal axis Z, and a working device 3 that is mounted on the upper rotating body 2. A cab is provided at the front side portion of the upper rotating body 2 in the front-rear direction, and the working device 3 is mounted thereon, and an engine room is provided at the rear side portion and a counterweight is mounted thereon.

[0024] The working device 3 includes a boom 4, an arm 5, and a remote attachment selectively mounted from a plurality of remote attachments. The hydraulic excavator 100 further includes a boom cylinder 7, an arm cylinder 8, and a remote attachment cylinder 9.

[0025] The boom 4 has a base end and a distal end on the opposite side, and the base end is supported at the front end of the upper rotating body 2 and can rise and fall, that is, can rotate in the vertical direction around the horizontal axis. The arm 5 has a base end and a distal end on the opposite side, and the base end is connected to the distal end of the boom 4 and can rotate around the horizontal axis.

[0026] The plurality of distal attachment devices include, for example Figure 1The bucket 6 shown, Figure 2 The grab bucket 6A, crusher 6B, breaker hammer 6C, and fork 6D are shown. These remote attachments 6, 6A, 6B, 6C, and 6D are configured to be replaceable, and any of these remote attachments 6, 6A, 6B, 6C, and 6D can be selectively mounted on the working device 3. The multiple remote attachments 6, 6A, 6B, 6C, and 6D have different working purposes, so their structures are also greatly different, and thus their weights are also different.

[0027] Figure 1 The bucket 6 shown is a remote attachment for performing excavation work at a work site. The bucket 6 is rotatably mounted on the remote end of the arm 5 .

[0028] Figure 2 The grab bucket 6A shown is a distal attachment for grabbing and transporting waste materials at a waste dump, etc. The grab bucket 6A includes a bracket 61A mounted on the distal end of the bucket arm 5, a grab bucket body 62A supported by the bracket 61A, and a plurality of claws 63A ( Figure 2 There are 4 claws 63A).

[0029] The crusher 6B is a distal attachment for dismantling concrete structures, etc. The crusher 6B includes a bracket 61B mounted on the distal end of the arm 5, a crusher body 62B supported by the bracket 61B, and a pair of crusher arms 63B supported by the crusher body 62B.

[0030] The breaker 6C is a distal attachment for rock excavation, rock splitting, concrete crushing, etc. The breaker 6C includes a bracket 61C mounted on the distal end of the arm 5, a breaker body 62C supported by the bracket 61C, and a chisel 63C supported by the breaker body 62C and capable of reciprocating along the axial direction thereof.

[0031] The fork 6D is, for example, a distal attachment for holding a transported object and includes a bracket 61D mounted on the distal end of the arm 5, a fork body 62D supported by the bracket 61D, and a pair of opening and closing arms 63D supported by the fork body 62D.

[0032] Figure 3 1 is a diagram showing a hydraulic circuit mounted on the hydraulic excavator 100 . Figure 4 is a block diagram showing the structure of the controller 50 connected to the hydraulic circuit. Figure 3 and Figure 4As shown, the hydraulic excavator 100 also includes a first hydraulic pump 11, a second hydraulic pump 12, a pilot pump 13, a first regulator 11A, a second regulator 12A, a boom control device 20, a swing motor 10, a swing control device 30, a confluence switching valve 40, a confluence pilot valve 80, a boom control device, a remote attachment control device 70, a boom working pressure detection unit 41, a swing working pressure detection unit 42, a boom raising operation detection unit 43, a swing operation detection unit 44, a remote attachment operation detection unit 45, and a controller 50.

[0033] The first hydraulic pump 11 and the second hydraulic pump 12 are variable capacity hydraulic pumps whose pump capacities are adjustable. When the first regulator 11A receives an input of a capacity command signal as an electrical signal from the controller 50, it adjusts the pump capacity of the first hydraulic pump 11, i.e., the first pump capacity, to a capacity corresponding to the capacity command signal. Similarly, when the second regulator 12A receives an input of a capacity command signal as an electrical signal from the controller 50, it adjusts the pump capacity of the second hydraulic pump 12, i.e., the second pump capacity, to a capacity corresponding to the capacity command signal. The first hydraulic pump 11, the second hydraulic pump 12, and the pilot pump 13 are driven by an engine not shown in the figure, so as to eject the working oil in the tank respectively.

[0034] The boom cylinder 7 is a hydraulic actuator that receives the supply of the working oil ejected from the first hydraulic pump 11 and operates to raise and lower the boom 4. The boom cylinder 7 includes a cylinder bottom chamber 7a and a piston rod chamber 7b on the opposite side. The boom cylinder 7 extends when the working oil is supplied to the cylinder bottom chamber 7a, thereby moving the boom 4 in the boom raising direction and discharging the working oil from the piston rod chamber 7b, and contracts when the working oil is supplied to the piston rod chamber 7b, thereby moving the boom 4 in the boom lowering direction and discharging the working oil from the cylinder bottom chamber 7a.

[0035] The boom control device 20 receives one of a boom raising operation for operating the boom 4 in an erecting direction and a boom lowering operation for operating the boom 4 in a lowering direction, and controls the direction and flow rate of the working oil supplied from the first hydraulic pump 11 to the boom cylinder 7. The boom control device 20 includes a boom control valve 21 and a boom operator 22.

[0036] The boom control valve 21 is located between the first hydraulic pump 11 and the boom cylinder 7, and performs an opening and closing action to change the direction and flow rate of the working oil supplied by the first hydraulic pump 11 to the boom cylinder 7. Specifically, the boom control valve 21 is composed of a pilot-operated three-position directional switching valve having a boom raising pilot port 21a and a boom lowering pilot port 21b.

[0037] The boom control valve 21 is maintained in a neutral position when no pilot pressure is input to the boom raising pilot port 21a and the boom lowering pilot port 21b, thereby blocking the flow of the working oil in the oil circuit between the first hydraulic pump 11 and the boom cylinder 7. In addition, a relief valve (not shown) is provided in the oil circuit between the first hydraulic pump 11 and the boom control valve 21.

[0038] When the boom raising pilot pressure is input to the boom raising pilot port 21a, the boom control valve 21 is switched from the neutral position to the boom raising position with a stroke corresponding to the magnitude of the boom raising pilot pressure. Thus, the valve is opened, allowing the first hydraulic pump 11 to supply the working oil of the flow rate corresponding to the stroke to the cylinder bottom chamber 7a of the boom cylinder 7, and allowing the working oil to be discharged from the piston rod chamber 7b of the boom cylinder 7. As a result, the boom cylinder 7 is driven in the boom raising direction at a speed corresponding to the boom raising pilot pressure.

[0039] When the boom lowering pilot pressure is input to the boom lowering pilot port 21b, the boom control valve 21 is switched from the neutral position to the boom lowering position with a stroke corresponding to the magnitude of the boom lowering pilot pressure. The valve is thereby opened, allowing the first hydraulic pump 11 to supply hydraulic oil at a flow rate corresponding to the stroke to the piston rod chamber 7b of the boom cylinder 7, and allowing hydraulic oil to be discharged from the cylinder bottom chamber 7a of the boom cylinder 7. As a result, the boom cylinder 7 is driven in the boom lowering direction at a speed corresponding to the boom lowering pilot pressure.

[0040] The boom operator 22 operates in response to one of a boom raising operation for causing the boom 4 to work in an erecting direction and a boom lowering operation for causing the boom 4 to work in a lowering direction, thereby allowing a pilot pressure corresponding to the operation to be input from the pilot pump 13 to the boom control valve 21 .

[0041] Specifically, the boom operator 22 includes a boom operating lever 23 and a boom remote control valve 24 .

[0042] The boom operating lever 23 is a member that can be rotated in response to one of the boom raising operation and the boom lowering operation performed by the operator. The boom raising operation and the boom lowering operation are operations that rotate the boom operating lever 23 in opposite directions to each other.

[0043] The boom remote control valve 24 is a pilot valve located between the pilot pump 13 and the pair of pilot ports 21a, 21b. Figure 3 The oil passage connecting the pilot pump 13 and the boom remote control valve 24 is omitted in the figure.

[0044] The boom remote control valve 24 is closed when the boom operating lever 23 is not operated and is in a neutral position, thereby blocking the flow of the working oil in the oil path between the pilot pump 13 and the pair of pilot ports 21a, 21b. On the other hand, when the boom operating lever 23 is subjected to one of the boom raising operation and the boom lowering operation, the boom remote control valve 24 is opened to allow a pilot pressure corresponding to the operation amount of the one of the operations to be input from the pilot pump 13 to the pilot port corresponding to the direction of the one of the operations in the pair of pilot ports 21a, 21b of the boom control valve 21.

[0045] The swing motor 10 is a hydraulic motor that receives the supply of the working oil ejected from the second hydraulic pump 12 and operates to rotate the upper swing body 2. The swing motor 10 has an output shaft (not shown) that rotates by receiving the supply of the working oil ejected from the second hydraulic pump 12, and the output shaft is connected to the upper swing body 2 so that the upper swing body 2 rotates in both directions. Specifically, the swing motor 10 has a first port 10a and a second port 10b, and when one of the ports receives the supply of working oil, the output shaft rotates in the direction corresponding to the one port, and the working oil is discharged from the other port.

[0046] The swing control device 30 receives a swing operation for swinging the upper swing body 2, and controls the direction and flow rate of the hydraulic oil supplied from the second hydraulic pump 12 to the swing motor 10. The swing control device 30 includes a swing control valve 31 and a swing operator 32.

[0047] The swing control valve 31 is located between the second hydraulic pump 12 and the swing motor 10. The swing control valve 31 selectively introduces the hydraulic oil for driving the swing motor 10 from the second hydraulic pump 12 to either the first port 10a or the second port 10b of the swing motor 10, and controls the flow rate of the hydraulic oil supplied to the swing motor 10, that is, the swing flow rate. The swing control valve 31 is a three-position pilot switching valve having a pair of swing pilot ports 31a and 31b.

[0048] The swing control valve 31 is maintained in a neutral position when the pilot pressures supplied to the pair of swing pilot ports 31a and 31b are both 0 or very small, and the flow of the working oil in the oil path between the second hydraulic pump 12 and the swing motor 10 is blocked. In addition, a relief valve (not shown) is provided in the oil path between the second hydraulic pump 12 and the swing control valve 31.

[0049] When a pilot pressure of a certain value or more is supplied to any one of the pair of swing pilot ports 31a, 31b, the swing control valve 31 is displaced from the neutral position in a direction corresponding to the swing pilot pressure with a stroke corresponding to the magnitude of the pilot pressure, thereby causing the swing motor 10 to operate in a direction and at a speed corresponding to the stroke.

[0050] The swing operator 32 receives a swing operation for swinging the upper swing body 2 and operates to allow the pilot pump 13 to selectively supply a pilot pressure corresponding to the swing operation to either of the pair of swing pilot ports 31 a and 31 b of the swing control valve 31 .

[0051] Specifically, the swing operator 32 includes a swing operating lever 33 and a swing remote control valve 34 .

[0052] The rotation operation lever 33 is a member that is rotatable in response to the rotation operation by the operator.

[0053] The swing remote control valve 34 is a pilot valve located between the pilot pump 13 and the pair of swing pilot ports 31 a and 31 b . Figure 3 The oil passage connecting the pilot pump 13 and the swing remote control valve 34 is omitted in the figure.

[0054] The swing remote control valve 34 is closed when the swing operating lever 33 is not operated and is in a neutral position, and the flow of the working oil in the oil path between the pilot pump 13 and the pair of swing pilot ports 31a, 31b is blocked. On the other hand, when the swing operating lever 33 is subjected to the swing operation, the swing remote control valve 34 is opened to allow the pilot pressure corresponding to the swing operation to be input from the pilot pump 13 to the swing pilot port of the pair of swing pilot ports 31a, 31b of the swing control valve 31 corresponding to the direction of the swing operation.

[0055] The confluence switching valve 40 is configured to be switchable between an allowing state and a preventing state, wherein the allowing state allows at least a portion of the working oil ejected from the second hydraulic pump 12 to merge with the working oil supplied from the first hydraulic pump 11 to the cylinder bottom chamber 7a of the boom cylinder 7, and the preventing state prevents the working oil ejected from the second hydraulic pump 12 from merging with the working oil supplied from the first hydraulic pump 11 to the cylinder bottom chamber 7a of the boom cylinder 7.

[0056] The confluence switching valve 40 is constructed to not only supply the working oil from the first hydraulic pump 11 to the cylinder bottom chamber 7a of the boom cylinder 7, but also introduce the working oil used to increase the speed of the boom 4 when working in the uprighting direction from the second hydraulic pump 12 into the cylinder bottom chamber 7a of the boom cylinder 7, and adjust the flow rate of the working oil.

[0057] The confluence switching valve 40 is a two-position pilot switching valve having a single speed-increasing pilot port 40a. The confluence switching valve 40 is maintained in a neutral position when the pilot pressure supplied to the speed-increasing pilot port 40a is 0 or very small, and the flow of the working oil in the oil path between the second hydraulic pump 12 and the boom cylinder 7 is blocked. When a pilot pressure of a certain value or more is supplied to the speed-increasing pilot port 40a, the confluence switching valve 40 is shifted from the neutral position to the boom raising speed-increasing position by a stroke corresponding to the magnitude of the pilot pressure, so that at least a part of the working oil from the second hydraulic pump 12 is combined with the working oil supplied to the cylinder bottom chamber 7a from the first hydraulic pump 11 at a flow rate corresponding to the stroke, and then supplied to the cylinder bottom chamber 7a of the boom cylinder 7. As a result, the driving of the boom cylinder 7 in the boom raising direction (erecting direction) is accelerated at a degree corresponding to the stroke.

[0058] The confluence pilot valve 80 is, for example, composed of an electromagnetic valve (such as a proportional pressure reducing valve or an inverse proportional pressure reducing valve) having a solenoid 80a, which reduces the pressure of the working oil ejected from the pilot pump 13 to a pressure corresponding to the command signal (electrical signal) input to the solenoid 80a, and inputs it to the speed increasing pilot port 40a of the confluence switching valve 40.

[0059] Figure 1 The arm cylinder 8 shown is a hydraulic actuator that is operated by receiving the hydraulic oil discharged from the second hydraulic pump 12 to raise and lower the arm 5 . Figure 1 and Figure 3 The remote attachment cylinder 9 shown is a hydraulic actuator that is operated by receiving the hydraulic oil discharged from the first hydraulic pump 11 to rotate the remote attachment.

[0060] The arm control device is a device for operating the arm 5 . Figure 3 The illustration of the boom control device is omitted.

[0061] The remote attachment control device 70 is a device for operating the remote attachment such as the bucket 6. The remote attachment control device 70 receives a remote attachment operation for rotating the remote attachment mounted on the working device 3, and controls the direction and flow rate of the hydraulic oil supplied from the first hydraulic pump 11 to the remote attachment cylinder 9. The remote attachment control device 70 includes a remote attachment control valve 71 and a remote attachment operator 72.

[0062] The remote attachment control valve 71 is located between the first hydraulic pump 11 and the remote attachment cylinder 9, and performs an opening and closing operation to change the direction and flow rate of the hydraulic oil supplied by the first hydraulic pump 11 to the remote attachment cylinder 9. Specifically, the remote attachment control valve 71 is composed of a pilot-operated three-position directional switching valve having a pair of pilot ports 71a and 71b.

[0063] The remote attachment control valve 71 is held in a neutral position when no pilot pressure is input to the pair of pilot ports 71a, 71b, and blocks the flow of hydraulic oil in the oil passage between the first hydraulic pump 11 and the remote attachment cylinder 9. In addition, a relief valve (not shown) is provided in the oil passage between the first hydraulic pump 11 and the remote attachment control valve 71.

[0064] When a pilot pressure is input to one of the pair of pilot ports 71a, 71b, the remote attachment control valve 71 moves from the neutral position with a stroke corresponding to the magnitude of the pilot pressure and opens to allow the first hydraulic pump 11 to supply hydraulic oil at a flow rate corresponding to the stroke to one of the cylinder bottom chamber 9a and the piston rod chamber 9b of the remote attachment cylinder 9, and to allow hydraulic oil to be discharged from the other of the cylinder bottom chamber 9a and the piston rod chamber 9b of the remote attachment cylinder 9. As a result, the remote attachment cylinder 9 is driven at a speed corresponding to the pilot pressure.

[0065] The remote attachment operator 72 receives an attachment operation for operating the remote attachment and operates to allow a pilot pressure corresponding to the attachment operation to be input from the pilot pump 13 to the remote attachment control valve 71 .

[0066] Specifically, the remote attachment device operator 72 includes a remote attachment device operating rod 73 and a remote attachment device remote control valve 74 .

[0067] The remote attachment operating lever 73 is a member that is rotatable in response to the remote attachment operation by the operator.

[0068] The remote attachment remote control valve 74 is a pilot valve located between the pilot pump 13 and the pair of pilot ports 71a, 71b. Figure 3 The oil circuit connecting the pilot pump 13 and the remote control valve 74 of the remote attachment device is omitted.

[0069] The remote attachment remote control valve 74 is closed when the remote attachment operating lever 73 is not operated and is in a neutral position, and the flow of the working oil in the oil path between the pilot pump 13 and the pair of pilot ports 71a, 71b is blocked. On the other hand, when the remote attachment operating lever 73 is subjected to the attachment operation, the remote attachment remote control valve 74 is opened to allow the pilot pressure corresponding to the operation amount of the attachment operation to be input from the pilot pump 13 to the pilot port corresponding to the direction of the attachment operation among the pair of pilot ports 71a, 71b of the remote attachment control valve 71.

[0070] The boom working pressure detection unit 41 detects the boom working pressure corresponding to the working pressure of the boom cylinder 7. In the present embodiment, the boom working pressure detection unit 41 is composed of a pressure sensor 41 capable of detecting the pressure of the cylinder bottom chamber 7a of the boom cylinder 7. The boom working pressure detection unit 41 detects the pressure in the oil circuit between the boom control valve 21 and the cylinder bottom chamber 7a of the boom cylinder 7. Specifically, the boom working pressure detection unit 41 can, for example, detect the pressure of the portion between the portion of the oil circuit connected to the secondary side oil circuit of the confluence switching valve 40 and the cylinder bottom chamber 7a. The boom working pressure detection unit 41 generates a boom working pressure detection signal corresponding to the pressure of the cylinder bottom chamber 7a of the boom cylinder 7, and inputs the boom working pressure detection signal to the controller 50.

[0071] In addition, the boom operating pressure detection unit 41 may be composed of, for example, a pressure sensor 46 capable of detecting the discharge pressure of the first hydraulic pump 11. The pressure sensor 46 may detect, for example, the pressure of a portion between the first hydraulic pump 11 and a portion of the oil circuit connecting the first hydraulic pump 11 and the boom control valve 21 to which the primary side oil circuit of the remote attachment control valve 71 is connected, and the first hydraulic pump 11.

[0072] The swing working pressure detection unit 42 detects the swing working pressure corresponding to the working pressure of the swing motor 10. In the present embodiment, the swing working pressure detection unit 42 is composed of a pressure sensor 42 capable of detecting the swing working pressure. Specifically, the swing working pressure detection unit 42 is provided in the hydraulic circuit at a position capable of detecting the discharge pressure of the second hydraulic pump 12, for example. The swing working pressure detection unit 42 can also detect the pressure in the oil circuit between the second hydraulic pump 12 and the swing control valve 31, for example. More specifically, the swing working pressure detection unit 42 can detect the pressure of the portion between the portion of the oil circuit connected to the primary side oil circuit of the confluence switching valve 40 and the second hydraulic pump 12. The swing working pressure detection unit 42 generates a swing working pressure detection signal corresponding to the swing working pressure, and inputs the swing working pressure detection signal to the controller 50.

[0073] In addition, the swing operating pressure detection unit 42 may be composed of, for example, a pair of pressure sensors capable of detecting the motor pressure difference of the swing motor 10. In this case, one of the pair of pressure sensors detects, for example, the pressure in the oil path connecting the first port 10a of the swing motor 10 and the swing control valve 31, and the other of the pair of pressure sensors detects, for example, the pressure in the oil path connecting the second port 10b of the swing motor 10 and the swing control valve 31.

[0074] The boom raising operation detection unit 43 may be, for example, a sensor for detecting that the boom raising operation is applied to the boom control device 20. In the present embodiment, the boom raising operation detection unit 43 is, for example, composed of a pressure sensor for detecting the pilot pressure (boom raising pilot pressure) input from the boom remote control valve 24 to the pilot port 21a of the boom control valve 21. The boom raising operation detection unit 43 generates a boom raising pilot pressure detection signal corresponding to the boom raising pilot pressure, and inputs the boom raising pilot pressure detection signal to the controller 50.

[0075] The swing operation detection unit 44 may be, for example, a sensor for detecting that the swing operation is applied to the swing control device 30. In the present embodiment, the swing operation detection unit 44 is, for example, composed of a pair of pressure sensors 44A and 44B for detecting the pilot pressure (swing pilot pressure) respectively input from the swing remote control valve 34 to the pair of swing pilot ports 31a and 31b of the swing control valve 31. The pair of pressure sensors 44A and 44B respectively generate swing pilot pressure detection signals corresponding to the swing pilot pressures, and input the swing pilot pressure detection signals to the controller 50.

[0076] The remote attachment operation detection unit 45 may be, for example, a sensor for detecting that the remote attachment control device 70 has been subjected to the attachment operation. In the present embodiment, the remote attachment operation detection unit 45 is, for example, composed of a pair of pressure sensors 45A and 45B for detecting the pilot pressure (remote attachment pilot pressure) respectively input from the remote attachment remote control valve 74 to the pair of pilot ports 71a and 71b of the remote attachment control valve 71. The pair of pressure sensors 45A and 45B respectively generate remote attachment pilot pressure detection signals corresponding to the remote attachment pilot pressures, and input the remote attachment pilot pressure detection signals to the controller 50.

[0077] The controller 50 is constituted by, for example, a computer including a CPU, a memory, etc. The controller 50 includes a confluence control unit 51 , a pump capacity control unit 52 , and a storage unit 53 .

[0078] The confluence control unit 51 controls the confluence switching valve 40, so that when a non-rotating boom-raising operation is performed in which the boom control device 20 is subjected to the boom raising operation and the rotation control device 30 is not subjected to the rotation operation, the confluence switching valve 40 is switched to the allowing state; and when a rotating boom-raising operation is performed in which the boom control device 20 is subjected to the boom raising operation and the rotation control device 30 is subjected to the rotation operation, the confluence switching valve 40 is switched to the blocking state.

[0079] The non-rotating boom raising operation may include, for example, a boom-only operation of only performing the boom raising operation, a composite operation of simultaneously performing the boom raising operation and an operation for operating the boom 5, a composite operation of simultaneously performing the boom raising operation and an operation for operating the remote attachment, and a composite operation of simultaneously performing the boom raising operation and an operation for operating the traveling device of the lower traveling body 1. However, the non-rotating boom raising operation does not necessarily include all of the single operations and these composite operations, and may include only some of these operations.

[0080] In the present embodiment, when the non-swinging boom operation is performed, the boom raising operation detection unit 43 inputs the boom raising pilot pressure detection signal to the controller 50, while the swing operation detection unit 44 does not input the swing pilot pressure detection signal to the controller 50. In this case, the confluence control unit 51 controls the confluence switching valve 40 so that the confluence switching valve 40 switches to the permitted state. Specifically, the confluence control unit 51 outputs the command signal corresponding to the boom raising pilot pressure detection signal, and the command signal is input to the solenoid 80a of the confluence pilot valve 80. As a result, the pressure of the working oil ejected from the pilot pump 13 is reduced in the confluence pilot valve 80 to the pilot pressure corresponding to the boom raising pilot pressure detection signal, and the pilot pressure is input to the speed increasing pilot port 40a of the confluence switching valve 40. When the pilot pressure is input, the confluence switching valve 40 is displaced from the neutral position to the boom raising speed increasing position with a stroke corresponding to the magnitude of the pilot pressure. Thus, at least a portion of the working oil from the second hydraulic pump 12 is supplied to the cylinder bottom chamber 7a of the boom cylinder 7 with a flow rate corresponding to the stroke, and is confluenced with the working oil supplied to the cylinder bottom chamber 7a from the first hydraulic pump 11.

[0081] In addition, when the swing boom operation is performed, the boom raising operation detection unit 43 inputs the boom raising pilot pressure detection signal to the controller 50, and the swing operation detection unit 44 inputs the swing pilot pressure detection signal to the controller 50. In this case, the confluence control unit 51 controls the confluence switching valve 40 so that the confluence switching valve 40 is switched to the blocking state. Specifically, the confluence control unit 51 controls the confluence pilot valve 80 to prevent the speed-increasing pilot port 40a of the confluence switching valve 40 from being supplied with a pilot pressure exceeding a certain value. More specifically, when the confluence pilot valve 80 is an inverse proportional valve, the confluence control unit 51 inputs a command signal to prevent the speed-increasing pilot port 40a from being supplied with a pilot pressure exceeding a certain value to the solenoid 80a of the confluence pilot valve 80. Therefore, the hydraulic oil ejected from the pilot pump 13 is not input to the speed-increasing pilot port 40a of the merging switching valve 40, and therefore the merging switching valve 40 is set to the neutral position (the blocking state). As a result, the hydraulic oil ejected from the second hydraulic pump 12 does not merge with the hydraulic oil supplied from the first hydraulic pump 11 to the cylinder bottom chamber 7a, and is not supplied to the cylinder bottom chamber 7a of the boom cylinder 7.

[0082] As described above, in the present embodiment, when the non-swinging boom raising operation is performed, the merging switching valve 40 is set to the allowing state, so that at least a part of the hydraulic oil discharged from the second hydraulic pump 12 merges with the hydraulic oil supplied from the first hydraulic pump 11 to the boom cylinder 7, and thus the boom raising operation is accelerated. On the other hand, when the swinging boom raising operation is performed, the merging switching valve 40 is set to the blocking state, so that the hydraulic oil discharged from the second hydraulic pump 12 is blocked from merging with the hydraulic oil supplied from the first hydraulic pump 11 to the boom cylinder 7. That is, when the swinging boom raising operation is performed, the circuit connecting the second hydraulic pump 12 and the swing motor 10 is disconnected from the circuit connecting the first hydraulic pump 11 and the boom cylinder 7. Therefore, even when the remote attachment is replaced with a remote attachment of a different weight from the remote attachment, when the swinging boom raising operation is performed, the influence of the working pressure of the boom cylinder 7 on the operation of the swing motor 10 can be reduced.

[0083] When the swing boom raising operation is performed, the pump capacity control unit 52 performs the following capacity control based on the working pressure difference, which is a value obtained by subtracting the swing working pressure detected by the swing working pressure detection unit 42 from the boom working pressure detected by the boom working pressure detection unit 41. The capacity control includes the following control: as the working pressure difference increases, the pump capacity of the first hydraulic pump 11 (the first pump capacity) and the pump capacity of the second hydraulic pump 12 (the second pump capacity) are respectively adjusted so that the first pump capacity increases and the second pump capacity decreases, and as the working pressure difference decreases, the first pump capacity and the second pump capacity are respectively adjusted so that the first pump capacity decreases and the second pump capacity increases.

[0084] Therefore, in the present embodiment, when the swing boom raising operation is performed, it is easy for the first hydraulic pump 11 and the second hydraulic pump 12 to supply working oil with a flow rate corresponding to the loads respectively applied to the boom cylinder 7 and the swing motor 10, respectively. As a result, when the swing boom raising operation is performed, the movement of the boom cylinder 7 and the movement of the swing motor 10 are easily balanced.

[0085] The storage unit 53 stores a map in which the relationship between the operating pressure difference and the first pump capacity and the second pump capacity is preset. Figure 5 : is a graph showing an example of a graph stored in the storage unit 53 .

[0086] When performing the capacity control, the pump capacity control unit 52 outputs a first capacity instruction signal as an electrical signal to set the first pump capacity to, for example, Figure 5The pump capacity corresponding to the working pressure difference in the graph shown in the figure is outputted, and a second capacity instruction signal as an electrical signal is outputted to set the second pump capacity to the pump capacity corresponding to the working pressure difference in the graph. The first capacity instruction signal outputted from the pump capacity control unit 52 is inputted to the first regulator 11A, thereby adjusting the first pump capacity to the capacity corresponding to the first capacity instruction signal. Similarly, the second capacity instruction signal outputted from the pump capacity control unit 52 is inputted to the second regulator 12A, thereby adjusting the second pump capacity to the capacity corresponding to the second capacity instruction signal.

[0087] As described above, in this embodiment, when the swing boom raising operation is performed, the first pump capacity and the second pump capacity are adjusted based on the map as the operating pressure difference increases or decreases, so the capacity control is stably performed according to the map.

[0088] In this embodiment, Figure 5 In the graph shown, within the range where the working pressure difference is below the preset value Pc, the first pump capacity q1 and the second pump capacity q2 are set to fixed values. On the other hand, in the graph, within the range where the working pressure difference is greater than the preset value Pc, as the working pressure difference increases, the first pump capacity q1 increases and the second pump capacity q2 decreases. Therefore, the pump capacity control unit 52 performs the following control during the swing boom operation: when the working pressure difference is greater than Pc, as the working pressure difference increases, the first pump capacity q1 and the second pump capacity q2 are adjusted respectively so that the first pump capacity q1 increases and the second pump capacity q2 decreases, and as the working pressure difference decreases, the first pump capacity q1 and the second pump capacity q2 are adjusted respectively so that the first pump capacity q1 decreases and the second pump capacity q2 increases. On the other hand, when the operating differential pressure is below Pc during the swing and boom raising operation, the pump capacity control unit 52 does not perform the above control even if the operating differential pressure increases or decreases, but maintains the first pump capacity q1 and the second pump capacity q2 at fixed values. Figure 5 The advantages of the diagram shown are described below.

[0089] Figure 5The value Pc in the graph shown may also be roughly determined by the following value, for example. When the swing boom operation is performed, the value Pc may be determined in the following manner, so that the range in which the working pressure difference is below the value Pc roughly corresponds to the state in which the swing action of the upper swing body 2 is accelerating, i.e., the swing acceleration state, and the range in which the working pressure difference is greater than the value Pc roughly corresponds to the state in which the swing action of the upper swing body 2 is out of the swing acceleration state, i.e., the swing stability state (or the state close to the swing stability state). In this case, in the time period from the moment when the swing boom operation starts to the moment when the swing boom operation ends, when the upper swing body 2 is in the swing acceleration state (swing acceleration time period), the working pressure difference is mostly below the value Pc. Therefore, by using Figure 5 As shown in the graph, the first pump capacity q1 can be prevented from being too small during the swing acceleration period. As a result, the boom cylinder can be prevented from being delayed too long during the swing acceleration period.

[0090] Figure 6 A flowchart showing the calculation control operation performed by the controller 50 is shown.

[0091] When the controller 50 receives a signal input corresponding to, for example, an operator turning on a start button in the cab of the hydraulic excavator 100 , the hydraulic excavator 100 starts (step S1 ).

[0092] Next, the controller 50 reads various signals from a plurality of sensors input to the controller 50 (step S2 ).

[0093] Then, the controller 50 outputs various command signals for operating the hydraulic excavator 100 based on the various signals read (step S3 ). Thus, the hydraulic excavator 100 performs various operations.

[0094] Next, the confluence control unit 51 of the controller 50 determines whether the boom raising operation is applied to the boom control device 20 (step S4). Specifically, when the boom raising operation detection unit 43 does not input the boom raising pilot pressure detection signal to the controller 50, the confluence control unit 51 determines that the boom raising operation is not applied (step S4: No), and outputs a command signal not to supply the pilot pressure to the speed-increasing pilot port 40a to the solenoid 80a of the confluence pilot valve 80. As a result, the working oil ejected from the pilot pump 13 is not input to the speed-increasing pilot port 40a of the confluence switching valve 40, and therefore, the confluence switching valve 40 is set to the neutral position, that is, the blocking state (step S9).

[0095] On the other hand, when the boom raising operation detection unit 43 inputs the boom raising pilot pressure detection signal to the controller 50 , the merging control unit 51 determines that the boom raising operation has been performed (step S4 : Yes).

[0096] Next, the merging control unit 51 determines whether the slewing operation is applied to the slewing control device 30 (step S5). Specifically, when the slewing operation detection unit 44 does not input the slewing pilot pressure detection signal to the controller 50, the merging control unit 51 determines that the slewing operation is not applied (step S5: No).

[0097] In the case of No in step S5, the operator has performed the non-rotating boom raising operation in which the boom raising operation is applied but the rotating operation is not applied. In this case, the confluence control unit 51 outputs the command signal corresponding to the boom raising pilot pressure detection signal, and the command signal is input to the solenoid 80a of the confluence pilot valve 80. As a result, the pressure of the working oil ejected from the pilot pump 13 is reduced in the confluence pilot valve 80 to the pilot pressure corresponding to the boom raising pilot pressure detection signal, and the pilot pressure is input to the speed-increasing pilot port 40a of the confluence switching valve 40. When the pilot pressure is input, the confluence switching valve 40 shifts from the neutral position to the boom raising speed-increasing position with a stroke corresponding to the magnitude of the pilot pressure. That is, the confluence switching valve 40 switches to the permitted state (step S8).

[0098] On the other hand, when the swing operation detection unit 44 inputs the swing pilot pressure detection signal to the controller 50 , the merging control unit 51 determines that the swing operation has been applied (step S5 : Yes).

[0099] In the case of YES in step S5, the operator performs the swing boom raising operation by applying the swing operation while applying the boom raising operation. In this case, the confluence control unit 51 outputs a command signal not to supply the pilot pressure to the speed-increasing pilot port 40a to the solenoid 80a of the confluence pilot valve 80. As a result, the hydraulic oil ejected from the pilot pump 13 is not input to the speed-increasing pilot port 40a of the confluence switching valve 40, and therefore, the confluence switching valve 40 is set to the neutral position, i.e., the blocking state (step S6).

[0100] Next, the pump capacity control unit 52 of the controller 50 performs the capacity control based on the working pressure difference, that is, the value obtained by subtracting the swing working pressure detected by the swing working pressure detection unit 42 from the boom working pressure detected by the boom working pressure detection unit 41. Specifically, the pump capacity control unit 52 outputs a first capacity instruction signal to set the first pump capacity to Figure 5 The first pump capacity is adjusted to the capacity corresponding to the first capacity command signal, and the second pump capacity is adjusted to the capacity corresponding to the second capacity command.

[0101] Figure 7 It is a block diagram showing the configuration of a controller 50 connected to a hydraulic circuit in a hydraulic excavator according to a modified example of the above-described embodiment. Figure 8 : is a graph showing an example of a graph stored in the storage unit 53 of the controller 50 according to the modification.

[0102] The hydraulic excavator according to this modification is different from the hydraulic excavator according to the reference Figure 1 to Figure 6 The hydraulic excavator 100 according to the above-described embodiment is different in that Figure 7 As shown in FIG. 1 , the remote attachment determination unit is further provided with a camera 47 and an image determination unit 54. The hydraulic excavator according to this modification is different from the hydraulic excavator according to the reference Figure 1 to Figure 6 The hydraulic excavator 100 according to the above-described embodiment is different in that: Figure 8 As shown in FIG. 1 , the storage unit 53 stores a plurality of graphs. The following mainly describes the above-mentioned differences. In addition, the structure of the hydraulic excavator involved in this modification example is the same as that of the hydraulic excavator except for the above-mentioned differences. Figure 1 to Figure 6 The same is true for the hydraulic excavator 100 according to the embodiment.

[0103] The camera 47 acquires an image of the work site where the hydraulic excavator 100 is working, that is, a site image. The site image is an image including at least the remote attachment (the remote attachment actually mounted on the working device 3). Data of the image acquired by the camera 47 is input to the controller 50.

[0104] The image determination unit 54 determines which of the multiple remote attachments 6, 6A, 6B, 6C, and 6D is actually mounted on the working device 3 based on the data of the image input to the controller 50. The image determination unit 54 can detect the remote attachment included in the image by, for example, template matching to determine the remote attachment mounted on the working device 3. In addition, the image determination unit 54 can also input the data of the image into a multi-layered neural network that has been machine-learned by deep learning, so as to determine which of the multiple remote attachments 6, 6A, 6B, 6C, and 6D the remote attachment included in the scene image is. In addition, the image determination unit 54 can also determine the remote attachment mounted on the working device 3 based on, for example, identification marks pre-set on the multiple remote attachments.

[0105] In this variation, if Figure 8 As shown, the plurality of remote attachment devices 6, 6A, 6B, 6C, 6D are individually pre-set to the graph. Figure 8 In the specific example shown, for example, the plurality of graphs corresponding to the plurality of remote attachments 6, 6A, 6B, 6C, and 6D are set such that the slope of the straight line representing the relationship between the operating pressure difference and the first pump capacity q1 is smaller as the weight of the remote attachment is larger. The plurality of graphs are also set such that the slope of the straight line representing the relationship between the operating pressure difference and the second pump capacity q2 is larger (that is, the absolute value of the negative slope is smaller) as the weight of the remote attachment is larger.

[0106] When the upper slewing body 2 enters the slewing stable state during the slewing boom raising operation, the slewing working pressure decreases. Therefore, when a heavy remote attachment is mounted on the working device 3, the working pressure difference tends to increase. Figure 8 In the modification shown in the multiple graphs, when a heavy distal attachment is mounted among the multiple distal attachments, even if the upper slewing body 2 is in a slewing stable state and the operating pressure difference increases, the second pump capacity can be prevented from being too small.

[0107] In addition, multiple charts are not limited to Figure 8The specific example shown can be set arbitrarily as long as it can suppress the balance between the action of the swing motor and the action of the boom cylinder due to the weight change of the working device when the swing and lifting boom operation is performed. For example, when the upper swing body 2 is in a stable swing state and the swing working pressure drops, it is mostly not restricted by power control (power limit control), and the setting freedom of the chart can be increased. In addition, the work content also varies depending on the type of remote attachment. Therefore, multiple charts can be set in consideration of the above points.

[0108] In this modification, the pump capacity control unit 52 outputs the capacity instruction signal for setting the first pump capacity and the second pump capacity to pump capacities corresponding to the operating pressure difference, based on the map corresponding to the remote attachment device determined by the image determination unit 54 among the plurality of maps.

[0109] In this modification, the map is set for each of the plurality of remote attachments of different weights, so that the capacity control can be performed more finely according to the weight of each of the plurality of remote attachments. In addition, in this modification, the remote attachment actually mounted on the working device 3 is determined by the remote attachment determination unit, so that, for example, even if the operator of the hydraulic excavator 100 does not perform an input operation for determining the remote attachment mounted on the working device 3, the remote attachment can be determined by the determination of the remote attachment determination unit. As a result, the burden on the operator can be reduced.

[0110] The present invention is not limited to the above-described embodiment, and the present invention may include the following aspects, for example.

[0111] (A) Rotary construction machinery

[0112] In the above embodiment, the rotary engineering machine is the hydraulic excavator 100, but the invention is not limited thereto and can be widely applied to engineering machines having an upper rotary body rotatably mounted on a base and operating with hydraulic pressure as the main power. The base is not limited to a freely movable base like the lower walking body of the hydraulic excavator 100, but can also be a member fixed to the ground or a structure.

[0113] (B) Chart

[0114] In the embodiment described, Figure 5As shown in the diagram, in the range where the working differential pressure is less than the preset value Pc, the first pump capacity q1 and the second pump capacity q2 are set to fixed values, but the present invention is not limited to this mode. In the diagram, in the range where the working differential pressure is less than the preset value Pc, it can also be set that as the working differential pressure increases, the first pump capacity q1 increases and the second pump capacity q2 decreases.

[0115] In addition, in the embodiment, Figure 5 As shown in the diagram, in the range where the working pressure difference is less than the preset value Pc, the first pump capacity q1 is set to be larger than the second pump capacity q2, but the present invention is not limited to this. In the diagram, in the range where the working pressure difference is less than the preset value Pc, the first pump capacity q1 may be set to be smaller than the second pump capacity q2, and the first pump capacity q1 may also be set to the same value as the second pump capacity q2.

[0116] In addition, in the embodiment, Figure 5 As shown in the figure, in the graph, the relationship (characteristic) between the working pressure difference and the first pump capacity q1 and the second pump capacity q2 is set to be presented by a straight line, but it is not limited to this method and can be set arbitrarily according to the characteristics of the engineering machine as the object. For example, the graph can set the relationship (characteristic) between the working pressure difference and the first pump capacity q1 and the second pump capacity q2 to be presented by a curve, or the relationship (characteristic) can be set to be presented by a combination of a straight line and a curve.

[0117] In addition, Figure 8 In the illustrated modification, the plurality of remote attachments 6, 6A, 6B, 6C, 6D are individually set with graphs, but the present invention is not limited to this. For example, a graph (first graph) indicating the relationship between the operating pressure difference and the first pump capacity and the second pump capacity may be pre-set for any one of the plurality of remote attachments 6, 6A, 6B, 6C, 6D (first remote attachment), and a graph (second graph) indicating the relationship between the operating pressure difference and the first pump capacity and the second pump capacity may be pre-set for another remote attachment (second remote attachment) of the plurality of remote attachments 6, 6A, 6B, 6C, 6D. In this case, for the remaining remote attachments of the plurality of remote attachments 6, 6A, 6B, 6C, 6D, no graph may be particularly set, and the first graph or the second graph may be used.

[0118] (C) Remote Attachment Determination Unit

[0119] In the embodiment, the remote attachment determination unit includes the camera 47 and the image determination unit 54, but the present invention is not limited to this embodiment. The remote attachment determination unit may include, for example: a receiving unit for receiving input from an operator of the construction machine for determining the remote attachment mounted on the working device; and an input information determination unit for determining which remote attachment among the plurality of remote attachments is mounted based on the input information received by the receiving unit.

[0120] (D) Converging pilot valve

[0121] The rotary engineering machine involved in the embodiment is provided with the confluence pilot valve 80 (solenoid valve), but the confluence pilot valve 80 is not essential and may be omitted. In the case where the confluence pilot valve 80 is omitted, it may be configured so that when the boom raising operation is applied to the boom operating lever 23, the pilot pressure from the boom remote control valve 24 is input to the speed-increasing pilot port 40a of the confluence switching valve 40. In this case, a control valve may be provided between the boom remote control valve 24 and the speed-increasing pilot port 40a of the confluence switching valve 40, which can switch between a permitted state for allowing the pilot pressure from the boom remote control valve 24 to be input to the speed-increasing pilot port 40a of the confluence switching valve 40, and a blocked state for blocking the pilot pressure input. The control valve may be configured to be set to the permission state when there is no pilot pressure input from the swing remote control valve 34, that is, when the non-swing boom raising operation is performed, and to be switched to the blocking state when there is a pilot pressure input from the swing remote control valve 34, that is, when the swing boom raising operation is performed. In this modified example, the solenoid valve may be omitted to reduce costs.

[0122] (E) Boom control device and swing control device

[0123] In the above embodiment, the boom control device and the swing control device are composed of a hydraulic control device (hydraulic operating device), but are not limited thereto and may be composed of an electrical control device (electrical operating device). That is, in the above embodiment with a hydraulic control device, when the operating levers 23 and 33 are respectively operated, the primary pilot pressure from the pilot pump 13 is reduced in accordance with the amount of operation of the operating lever, and the reduced pilot pressure is output from the remote control valves 24 and 34, respectively. The output pilot pressure is input to the pilot ports of the control valves 21 and 31. In the electrical control device, the amount of operation of the operating levers 23 and 33 is converted into an electrical signal and input to the controller 50. The controller 50 inputs a command current corresponding to the operation amount to the electromagnetic proportional valve. The electromagnetic proportional valve is located between a pair of pilot ports of the pilot pump 13 and the control valves 21 and 31, respectively. The electromagnetic proportional valve introduces a pilot pressure corresponding to the command current to the pilot port.

[0124] As described above, according to the present disclosure, a swing type construction machine can be provided which can suppress changes in the balance between the swing motor and the boom cylinder during the swing boom raising operation regardless of changes in the weight of the working device due to replacement of the distal attachment.

[0125] The rotary engineering machinery provided comprises: a base; an upper rotary body rotatably mounted on the base; a working device comprising a boom and a remote attachment connected to the upper rotary body in a manner that the boom can be raised and lowered, wherein the remote attachment is a remote attachment selectively mounted from a plurality of remote attachments having different weights; a first hydraulic pump, which is a variable capacity hydraulic pump, which ejects working oil; a second hydraulic pump, which is a variable capacity hydraulic pump, which ejects working oil; a boom cylinder, which receives the supply of working oil ejected from the first hydraulic pump to cause the boom to rise and fall; and a boom control device, which receives a control device for causing the boom to rise and fall in a vertical direction. The boom raising operation controls the flow rate of the working oil supplied from the first hydraulic pump to the boom cylinder; the slewing motor receives the supply of the working oil ejected from the second hydraulic pump to rotate the upper slewing body; the slewing control device receives the slewing operation for rotating the upper slewing body and controls the direction and flow rate of the working oil supplied from the second hydraulic pump to the slewing motor; the merging switching valve can be switched between an enabling state and a blocking state, in which the enabling state allows at least a portion of the working oil ejected from the second hydraulic pump to merge with the working oil supplied from the first hydraulic pump to the boom cylinder , in the blocking state, the confluence of the working oil is prevented; a boom working pressure detection unit, detecting the boom working pressure corresponding to the working pressure of the boom cylinder; a swing working pressure detection unit, detecting the swing working pressure corresponding to the working pressure of the swing motor; a confluence control unit, controlling the confluence switching valve, when a non-swinging boom raising operation in which the boom control device is subjected to the boom raising operation and the swing control device is not subjected to the swing operation, switches the confluence switching valve to the allowing state, and when a swinging operation in which the boom control device is subjected to the boom raising operation and the swing control device is subjected to the swing operation When the boom is turned and raised, the confluence switching valve is switched to the blocking state; and the pump capacity control unit performs capacity control including the following control: when the boom is turned and raised, as the working pressure difference, which is the value obtained by subtracting the turning working pressure from the boom working pressure, increases, the pump capacity of the first hydraulic pump, i.e., the first pump capacity, and the pump capacity of the second hydraulic pump, i.e., the second pump capacity, are adjusted respectively, so that the first pump capacity increases and the second pump capacity decreases; as the working pressure difference decreases, the first pump capacity and the second pump capacity are adjusted respectively, so that the first pump capacity decreases and the second pump capacity increases.

[0126] According to the rotary construction machine, regardless of the weight change of the working device due to the replacement of the distal attachment, the balance between the movement of the rotary motor and the movement of the boom cylinder during the rotary boom raising operation can be suppressed from changing.

[0127] According to the rotary engineering machine, during the non-swinging boom raising operation in which the boom raising operation is applied but the swinging operation is not applied, the confluence switching valve is set in the permission state, so that at least a part of the working oil ejected from the second hydraulic pump merges with the working oil supplied from the first hydraulic pump to the boom cylinder, thereby accelerating the boom raising operation. On the other hand, during the swinging boom raising operation, the confluence switching valve is set in the blocking state, so that the working oil ejected from the second hydraulic pump is blocked from merging with the working oil supplied from the first hydraulic pump to the boom cylinder. That is, during the swinging boom raising operation, the circuit connecting the second hydraulic pump and the swing motor, i.e., the circuit on the swing motor side, is cut off from the circuit connecting the first pump and the boom cylinder, i.e., the circuit on the boom cylinder side. Thus, even when the remote attachment is replaced with a remote attachment of a different weight from the remote attachment, the influence of the working pressure of the boom cylinder on the movement of the swing motor can be reduced when the swing boom lift operation is performed. In addition, in order to easily balance the movement of the boom cylinder and the movement of the swing motor when the swing boom lift operation is performed, the swing engineering machine performs the following control when the swing boom lift operation is performed: that is, in the swing engineering machine, when the swing boom lift operation is performed, the capacities of the first and second pumps are adjusted based on the working pressure difference. Specifically, as the working pressure difference increases, the capacity of the first pump increases and the capacity of the second pump decreases, and as the working pressure difference decreases, the capacity of the first pump and the capacity of the second pump are adjusted respectively so that the capacity of the first pump decreases and the capacity of the second pump increases. Thus, it is easy to supply working oil of a flow rate corresponding to the loads applied to the boom cylinder and the swing motor from the first pump and the second hydraulic pump to the boom cylinder and the swing motor, respectively, with the result that the movement of the boom cylinder and the movement of the swing motor are easily balanced when the swing boom raising operation is performed. As described above, in the swing-type engineering machinery, when the swing boom raising operation is performed, the circuit on the swing motor side is separated from the circuit on the boom cylinder side, and the capacity of the first pump and the capacity of the second pump are adjusted based on the working pressure difference. Thus, regardless of how the weight of the working device changes due to the replacement of the remote attachment, it is possible to suppress changes in the balance between the movement of the swing motor and the movement of the boom cylinder during the swing boom raising operation.

[0128] The rotary engineering machinery also includes: a storage unit, storing at least one chart that pre-sets the relationship between the working pressure difference and the first pump capacity and the second pump capacity, wherein the pump capacity control unit, when performing the capacity control, uses the at least one chart to adjust the first pump capacity and the second pump capacity respectively, so that the first pump capacity and the second pump capacity reach the pump capacity corresponding to the working pressure difference.

[0129] As described above, in this embodiment, when the swing boom operation is performed, the first pump capacity and the second pump capacity are adjusted based on the at least one preset map as the working pressure difference increases or decreases, thereby enabling the capacity control to be stably performed according to the at least one map.

[0130] In the rotary engineering machine, the plurality of remote attachments may include a first remote attachment and a second remote attachment having weights different from each other, the at least one table may include a first table and a second table, the first table presetting a relationship between the operating pressure difference and the first pump capacity and the second pump capacity for the first remote attachment, and the second table presetting a relationship between the operating pressure difference and the first pump capacity and the second pump capacity for the second remote attachment, and the pump capacity control unit may use the first table to perform the capacity control when the first remote attachment is mounted on the working device, and may use the second table to perform the capacity control when the second remote attachment is mounted on the working device.

[0131] In this structure, the maps are set for the first remote attachment and the second remote attachment of different weights, respectively, so that the capacity control can be performed more finely in accordance with the weights of the first remote attachment and the second remote attachment.

[0132] The rotary engineering machine may further include: a remote attachment determination unit capable of determining which of the first remote attachment and the second remote attachment is mounted on the working device, wherein the pump capacity control unit performs the capacity control using a table in the first chart and the second chart corresponding to the remote attachment mounted on the working device determined by the remote attachment determination unit.

[0133] According to this configuration, the remote attachment actually mounted on the working device is determined by the remote attachment determination unit, so that, for example, even if the operator of the construction machine does not perform an input operation for determining the remote attachment mounted on the working device, the remote attachment can be determined by the determination of the remote attachment determination unit. This can reduce the burden on the operator.

[0134] In the rotary engineering machine, the remote attachment determination unit may also include: a photographing device for photographing an image including the remote attachment mounted on the working device; and an image determination unit for determining which of the first remote attachment and the second remote attachment is mounted based on the image photographed by the photographing device.

[0135] According to this configuration, the image determination unit can determine the remote attachment actually mounted on the working device based on the image captured by the imaging device.

Claims

1. A rotary engineering machine, characterized in that include: matrix; An upper rotating body rotatably mounted on the base body; A working device including a boom connected to the upper rotating body in a manner that allows it to rise and fall, and a remote attachment, wherein the remote attachment is a remote attachment that is selectively mounted from a plurality of remote attachments having different weights; The first hydraulic pump is a variable capacity hydraulic pump that discharges hydraulic oil; The second hydraulic pump is a variable capacity hydraulic pump that discharges hydraulic oil; a boom cylinder which receives the supply of hydraulic oil discharged from the first hydraulic pump to operate the boom in a manner of raising and lowering the boom; a boom control device that receives a boom raising operation for causing the boom to work in an erecting direction and controls the flow rate of the hydraulic oil supplied from the first hydraulic pump to the boom cylinder; a swing motor that receives the supply of hydraulic oil discharged from the second hydraulic pump and operates to swing the upper swing body; a swing control device that receives a swing operation for swinging the upper swing body and controls the direction and flow rate of the hydraulic oil supplied from the second hydraulic pump to the swing motor; a merging switching valve capable of switching between a permission state in which at least a portion of the hydraulic oil discharged from the second hydraulic pump is allowed to merge with the hydraulic oil supplied from the first hydraulic pump to the boom cylinder and a blocking state in which the merging of the hydraulic oil is blocked; A boom working pressure detection unit, which detects the boom working pressure corresponding to the working pressure of the boom cylinder; a swing working pressure detection unit for detecting a swing working pressure corresponding to the working pressure of the swing motor; a merging control unit that controls the merging switching valve to switch the merging switching valve to the allowing state when a non-swinging boom-lifting operation is performed in which the boom control device is subjected to the boom raising operation but the swing control device is not subjected to the swing operation, and to switch the merging switching valve to the preventing state when a swinging boom-lifting operation is performed in which the boom control device is subjected to the boom raising operation and the swing control device is subjected to the swing operation; and The pump capacity control unit performs capacity control including the following control: when performing the swing boom lifting operation, as the working pressure difference, which is a value obtained by subtracting the swing working pressure from the boom working pressure, increases, the pump capacity of the first hydraulic pump, i.e., the first pump capacity, and the pump capacity of the second hydraulic pump, i.e., the second pump capacity, are adjusted respectively, so that the first pump capacity increases and the second pump capacity decreases; as the working pressure difference decreases, the first pump capacity and the second pump capacity are adjusted respectively, so that the first pump capacity decreases and the second pump capacity increases.

2. The rotary engineering machine according to claim 1, characterized in that Also includes: A storage unit stores at least one table in which the relationship between the working pressure difference and the first pump capacity and the second pump capacity is preset, wherein: The pump capacity control unit adjusts the first pump capacity and the second pump capacity respectively using the at least one map when performing the capacity control so that the first pump capacity and the second pump capacity reach pump capacities corresponding to the operating pressure difference.

3. The rotary engineering machine according to claim 2, characterized in that: The plurality of remote attachments include a first remote attachment and a second remote attachment having different weights. The at least one chart includes a first chart and a second chart, wherein the first chart pre-sets the relationship between the operating pressure difference and the first pump capacity and the second pump capacity for the first remote attachment device, and the second chart pre-sets the relationship between the operating pressure difference and the first pump capacity and the second pump capacity for the second remote attachment device, The pump capacity control unit performs the capacity control using the first map when the first remote attachment is mounted on the working device, and performs the capacity control using the second map when the second remote attachment is mounted on the working device.

4. The rotary engineering machine according to claim 3, characterized in that Also includes: The remote attachment determination unit is capable of determining which of the first remote attachment and the second remote attachment is mounted on the working device, wherein: The pump capacity control unit performs the capacity control using a map of the first map and the second map corresponding to the remote attachment mounted on the working device determined by the remote attachment determination unit.

5. The rotary engineering machine according to claim 4, characterized in that: The remote attachment device determination unit comprises: a photographing device for photographing an image including the remote attachment device mounted on the working device; and The image determination unit determines which of the first remote attachment and the second remote attachment is mounted based on the image captured by the image capture device.

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