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1. 发明公开

EP0667451A1 HYDRAULIC PUMP CONTROL DEVICE FOR CONSTRUCTION MACHINERY 失效
标题翻译： REGELUNGSANORDNUNG EINER液压泵FÜRBAUMASCHINEN。
公开(公告)号：EP0667451A1
公开(公告)日：1995-08-16
申请号：EP90910897.9
申请日：1990-07-27
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , KINOSHITA, Shigeru , ONODA, Takumi , YOKOYAMA, Toshio
IPC分类号： F04B49/00 , F15B11/02 , E02F9/20 , E02F9/22 , F04B49/06
CPC分类号： E02F9/2235 , E02F9/2292 , E02F9/2296 , F04B49/065 , F04B2203/0209 , F04B2205/05 , F04B2207/041
摘要： A hydraulic pump control device to be used for construction machinery, which is provided with first and second hydraulic pumps driven by the engine, and hydraulic actuators connected to said first and second hydraulic pumps through first and second operation valves. The values of surplus horse power ΔHP 1 and AHP 2 are calculated on the basis of values of standard allowable suction horse power set for the first and second hydraulic pumps and the values of actual suction horse power (HP 1 (HP2) of these pumps, and allowable discharge quantities (V 1P ), (Vp) are calculated on the basis of the number (N) of revolutions of the engine, the values of discharge pressure (P 1 (P2) of hydraulic pumps, the values of the surplus horse power, and the values of the standard allowable suction horse power. The smaller one out of the target discharge quantity and allowable discharge quantity is selected as minimum target discharge quantities (V 1 (V2) and angles of swash plates of the hydraulic pumps are controlled so that these quantities are set at every hydraulic pump. Accordingly, the values of the suction horse power of the hydraulic pumps are properly controlled in a state wherein the sum of values of the standard allowable suction horse power is kept constant.
摘要翻译：一种用于工程机械的液压泵控制装置，其具有由发动机驱动的第一和第二液压泵，以及通过第一和第二操作阀连接到所述第一和第二液压泵的液压致动器。剩余马力DELTA HP1和DELTA HP2的值基于第一和第二液压泵的标准允许吸力马力值和这些泵的实际吸马力（HP1），（HP2）的值计算，根据发动机的转数（N），液压泵的排出压力（P1），（P2）的值，剩余量的值，计算出允许排放量（V1P），（VP）马力，以及标准允许吸力马力的值。选择目标排放量和允许排放量中较小的一个作为最小目标排放量（V1），（V2），并且控制液压泵的斜盘角度，使得这些量被设置在每个液压泵处。因此，在标准允许吸力马力的值的总和保持恒定的状态下，适当地控制液压泵的抽吸马力的值。

2. 发明授权

EP0667451B1 HYDRAULIC PUMP CONTROL DEVICE FOR CONSTRUCTION MACHINERY 失效
标题翻译：控制安排一个液压泵建设
公开(公告)号：EP0667451B1
公开(公告)日：1997-09-17
申请号：EP90910897.9
申请日：1990-07-27
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , KINOSHITA, Shigeru , ONODA, Takumi , YOKOYAMA, Toshio
IPC分类号： F04B49/00 , F15B11/02 , E02F9/20 , E02F9/22 , F04B49/06
CPC分类号： E02F9/2235 , E02F9/2292 , E02F9/2296 , F04B49/065 , F04B2203/0209 , F04B2205/05 , F04B2207/041
摘要： A hydraulic pump control device to be used for construction machinery, which is provided with first and second hydraulic pumps driven by the engine, and hydraulic actuators connected to said first and second hydraulic pumps through first and second operation valves. The values of surplus horse power ΔHP1 and ΔHP2 are calculated on the basis of values of standard allowable suction horse power set for the first and second hydraulic pumps and the values of actual suction horse power (HP1), (HP2) of these pumps, and allowable discharge quantities (V1P), (VP) are calculated on the basis of the number (N) of revolutions of the engine, the values of discharge pressure (P1), (P2) of hydraulic pumps, the values of the surplus horse power, and the values of the standard allowable suction horse power. The smaller one out of the target discharge quantity and allowable discharge quantity is selected as minimum target discharge quantities (V1), (V2) and angles of swash plates of the hydraulic pumps are controlled so that these quantities are set at every hydraulic pump. Accordingly, the values of the suction horse power of the hydraulic pumps are properly controlled in a state wherein the sum of values of the standard allowable suction horse power is kept constant.

3. 发明授权

EP0301096B1 OPERATION CONTROLLER 失效
标题翻译：控制单元。
公开(公告)号：EP0301096B1
公开(公告)日：1994-03-02
申请号：EP87907991.1
申请日：1987-12-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： NISHIDA, Kimio , YOKOYAMA, Toshio , MORIYA, Yukio , KOBAYASHI, Takeshi
IPC分类号： G05B24/00 , E02F9/20 , E02F9/22 , E02F3/32
CPC分类号： E02F9/2242 , E02F9/2004 , E02F9/2235 , E02F9/2292 , E02F9/2296 , F15B11/165 , F15B11/17 , F15B21/087 , F15B2211/20553 , F15B2211/20576 , F15B2211/30505 , F15B2211/327 , F15B2211/40507 , F15B2211/41572 , F15B2211/426 , F15B2211/428 , F15B2211/45 , F15B2211/50563 , F15B2211/5159 , F15B2211/528 , F15B2211/6323 , F15B2211/6326 , F15B2211/633 , F15B2211/6333 , F15B2211/6346 , F15B2211/6652 , F15B2211/7135 , G05B19/40 , G05B2219/35438 , G05B2219/41309 , G05B2219/45012
摘要： The controller controls drive quantities of actuators (BMS, AMS, BKS, LDM, RDM, TNM) that follows drive quantity command values generated depending upon the manipulated variables of a plurality of operation means (11, 12, 13, 14, 15, 16). For this purpose, the ratio of said operation quantities to said drive quantity command values is changed depending upon an operation mode flow rate data (41), the drive quantity command values are individually weighted for the same quantity of said manipulated variable depending upon a priority mode weight data (42), at least two energy sources (FR, RP) are provided as an energy source for driving the actuators, and the timing and the amount for supplying energy from the energy source are separately controlled depending upon a pump utilization data (43) and a tilted pump plate control data (44). These control data are suitably calculated and determined (inclusive of look-up table processing) each time depending upon the operation mode of said operation means, and the selection mode of operation mode selecting switch (21) and priority mode selecting switch (22).

4. 发明授权

EP0344311B1 HYDRAULIC APPARATUS FOR CONSTRUCTION MACHINES 失效
标题翻译：液压装置用于建筑机械
公开(公告)号：EP0344311B1
公开(公告)日：1991-10-09
申请号：EP88900588.0
申请日：1987-12-25
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： NISHIDA, Kimio , YOKOYAMA, Toshio , MORIYA, Yukio , KOBAYASHI, Takeshi
IPC分类号： F04B49/06
CPC分类号： F04B49/20 , F04B49/065 , F04B2203/0605 , F04B2205/05
摘要： A hydraulic apparatus for a construction machine, which is adapted to prevent the speed of rotation of an engine from increasing when a discharge flow of oil from a variable-capacity hydraulic pump driven by the engine is cut off. The hydraulic apparatus is provided with a proportional solenoid (11) connected to a fuel control lever (13) so as to vary the horsepower characteristics of the engine, which are set by an operation of a governor (12) based on the quantity of movement of the fuel supply control lever (13), when a discharge flow of oil from the pump is cut off, and a controller (10) for use in controlling the proportional solenoid (11). In this apparatus, a quantity of decrease (DELTANr) in a target number of revolutions per minute (Nr) of the engine, which can be obtained by subtracting a target number of revolutions per minute (Nrb) of the engine represented by the desired engine horsepower characteristics (l2) from a target number of revolutions per minute (Nra) of the engine represented by the initial engine horsepower characteristics (l1), is determined, and the proportional solenoid (11) is operated in accordance with this quantity of decrease.

5. 发明授权

EP0448716B1 TEACHING/PLAYBACK METHOD OF WORKING MACHINE 失效
标题翻译：教学或播放方法土方机械。
公开(公告)号：EP0448716B1
公开(公告)日：1995-10-18
申请号：EP90900989.6
申请日：1989-12-18
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , YOKOYAMA, Toshio , TAKAMURA, Fujitoshi , ONODA, Takumi
IPC分类号： E02F9/20
CPC分类号： E02F3/438 , E02F9/2296
摘要： The teaching/playback method of a working machine in accordance with the present invention is the method which is used for automating the operations of a hydraulic excavator and other construction equipment. The operations of a working machine actuator by an operator are stored and are played back in order to carry out automatically the same operation. Particularly, the present method makes it possible to carry out the same operation as the operation at the time of teaching even when a load condition to the working machine actuator at the time of teaching changes at the time of playback. To this end, a pump delivery quantity at the time of teaching and a feed flow rate to each working machine actuator are stored. When the pump delivery quantity changes due to the change of the load at the time of playback, an output control of an engine is conducted so that the pump delivery quantity is in conformity with the delivery quantity at the time of teaching. When the feed flow rate to the working machine actuator changes, a flow rate regulating valve disposed in its inflow circuit is controlled so that the pump delivery quantity is also in conformity with the flow rate at the time of teaching.

6. 发明公开

EP0344311A1 HYDRAULIC APPARATUS FOR CONSTRUCTION MACHINES 失效
标题翻译：液压油GERÄTFÜRBAUMASCHINEN。
公开(公告)号：EP0344311A1
公开(公告)日：1989-12-06
申请号：EP88900588.0
申请日：1987-12-25
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： NISHIDA, Kimio , YOKOYAMA, Toshio , MORIYA, Yukio , KOBAYASHI, Takeshi
IPC分类号： F04B49/06
CPC分类号： F04B49/20 , F04B49/065 , F04B2203/0605 , F04B2205/05
摘要： A hydraulic apparatus for a construction machine, which is adapted to prevent the speed of rotation of an engine from increasing when a discharge flow of oil from a variable- capacity hydraulic pump driven by the engine is cut off. The hydraulic apparatus is provided with a proportional solenoid (11) connected to a fuel control lever (13) so as to vary the horsepower characteristics of the engine, which are set by an operation of a governor (12) based on the quantity of movement of the fuel supply control lever (13), when a discharge flow of oil from the pump is cut off, and a controller (10) for use in controlling the proportional solenoid (11). In this apparatus, a quantity of decrease (ANr) in a target number of revolutions per minute (Nr) of the engine, which can be obtained by subtracting a target number of revolutions per minute (Nrb) of the engine represented by the desired engine horsepower characteristics (I 2 ) from a target number of revolutions per minute (Nra) of the engine represented by the initial engine horsepower characteristics (I 1 ), is determined, and the proportional solenoid (11) is operated in accordance with this quantity of decrease.
摘要翻译：比例螺线管（11）连接到燃料控制杆（13），以便改变通过调节器（12）的操作基于燃料供给控制器的运动量来设定的发动机的马力特性当来自泵的油的排放流被切断时，杠杆（13）。通过从发动机的每分钟的目标转数中减去由期望的发动机功率特性表示的发动机的每分钟的目标转速可以获得的发动机的每分钟目标转数的减少量由初始发动机功率特性表示，并且根据该减小量操作比例螺线管（11）。

7. 发明授权

EP0436740B1 LINEAR EXCAVATION CONTROL APPARATUS IN HYDRAULIC EXCAVATOR 失效
标题翻译：方法控制线性挖掘机A型液压装袋机。
公开(公告)号：EP0436740B1
公开(公告)日：1995-11-02
申请号：EP90911699.8
申请日：1990-08-02
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , KINOSHITA, Shigeru , ONODA, Takumi , YOKOYAMA, Toshio
IPC分类号： E02F3/43 , E02F9/20
CPC分类号： E02F3/437
摘要： This invention relates to linear excavation by a hydraulic excavator, such as a power shovel, having three service machines, a boom, an arm and a bucket. An oil pressure in an oil chamber on the boom-down side of a boom cylinder is introduced into a tank while kept at a predetermined set pressure at the time of linear excavation and the oil pressure on the boom-up side is led to the tank through a check valve for inhibiting the outflow of the oil so as to keep the boom under a so-called 'float state' and to execute linear excavation by the operation of only the arm and the bucket. The present invention disposes also an automatic bucket driving system for driving and controlling automatically the bucket to a set bucket angle and operation this automatic bucket driving system at the time of linear excavation so as to further reduce the load on the operator.

8. 发明公开

EP0448716A1 TEACHING/PLAYBACK METHOD OF WORKING MACHINE 失效
标题翻译： LEHR-ODER ABSPIELMETHODEFÜRERDBEWEGUNGSMASCHINE。
公开(公告)号：EP0448716A1
公开(公告)日：1991-10-02
申请号：EP90900989.6
申请日：1989-12-18
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , YOKOYAMA, Toshio , TAKAMURA, Fujitoshi , ONODA, Takumi
IPC分类号： E02F9/20
CPC分类号： E02F3/438 , E02F9/2296
摘要： The teaching/playback method of a working machine in accordance with the present invention is the method which is used for automating the operations of a hydraulic excavator and other construction equipment. The operations of a working machine actuator by an operator are stored and are played back in order to carry out automatically the same operation. Particularly, the present method makes it possible to carry out the same operation as the operation at the time of teaching even when a load condition to the working machine actuator at the time of teaching changes at the time of playback. To this end, a pump delivery quantity at the time of teaching and a feed flow rate to each working machine actuator are stored. When the pump delivery quantity changes due to the change of the load at the time of playback, an output control of an engine is conducted so that the pump delivery quantity is in conformity with the delivery quantity at the time of teaching. When the feed flow rate to the working machine actuator changes, a flow rate regulating valve disposed in its inflow circuit is controlled so that the pump delivery quantity is also in conformity with the flow rate at the time of teaching.
摘要翻译：根据本发明的加工机的教学/播放方法是用于使液压挖掘机和其他施工设备的操作自动化的方法。存储操作者的作业机械执行器的操作并进行重放，以便自动执行相同的操作。特别地，本方法能够执行与教导时的操作时相同的操作，即使当在重放时教学时变化时对工作机械致动器的负载状态。为此，存储了教导时的泵输送量和向各个作业机械致动器的供给流量。当由于重放时的负载变化导致泵输送量变化时，进行发动机的输出控制，使得泵输送量与教导时的输送量一致。当对作业机械致动器的供给流量变化时，控制设置在其流入回路中的流量调节阀，使得泵输送量也与教导时的流量一致。

9. 发明公开

EP0436740A1 LINEAR EXCAVATION CONTROL APPARATUS IN HYDRAULIC EXCAVATOR 失效
标题翻译： STEUERUNG EINES HYDRAULISCHEN BAGGERS ZUM LINEAR BAGGERN。
公开(公告)号：EP0436740A1
公开(公告)日：1991-07-17
申请号：EP90911699.8
申请日：1990-08-02
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： MORIYA, Yukio , KINOSHITA, Shigeru , ONODA, Takumi , YOKOYAMA, Toshio
IPC分类号： E02F3/43 , E02F9/20
CPC分类号： E02F3/437
摘要： This invention relates to linear excavation by a hydraulic excavator, such as a power shovel, having three service machines, a boom, an arm and a bucket. An oil pressure in an oil chamber on the boom-down side of a boom cylinder is introduced into a tank while kept at a predetermined set pressure at the time of linear excavation and the oil pressure on the boom-up side is led to the tank through a check valve for inhibiting the outflow of the oil so as to keep the boom under a so-called "float state" and to execute linear excavation by the operation of only the arm and the bucket. The present invention disposes also an automatic bucket driving system for driving and controlling automatically the bucket to a set bucket angle and operation this automatic bucket driving system at the time of linear excavation so as to further reduce the load on the operator.
摘要翻译：作为动力铲的液压挖掘机的线性挖掘，具有三台服务机器，一个起重臂，一个臂和一个铲斗。在动力缸缸体的动臂下降侧的油室中的油压在线性挖掘时保持在预定的设定压力下，并且动臂上升侧的油压被引导到油箱通过用于抑制油的流出的止回阀，以便将动臂保持在所谓的浮动状态，并且仅通过手臂和铲斗的操作进行线性挖掘。该装置还配置有自动铲斗驱动系统，用于在线性挖掘时将铲斗自动地驱动和控制到设定的铲斗角度并对其进行自动铲斗驱动系统的控制，以进一步减少操作员的负担。 @（33pp Dwg.No.3/7）@。

10. 发明公开

EP0301096A1 OPERATION CONTROLLER 失效
标题翻译： STEUERUNGSEINHEIT。
公开(公告)号：EP0301096A1
公开(公告)日：1989-02-01
申请号：EP87907991.1
申请日：1987-12-08
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
发明人： NISHIDA, Kimio , YOKOYAMA, Toshio , MORIYA, Yukio , KOBAYASHI, Takeshi
IPC分类号： G05B24/00 , E02F9/20 , E02F9/22 , E02F3/32
CPC分类号： E02F9/2242 , E02F9/2004 , E02F9/2235 , E02F9/2292 , E02F9/2296 , F15B11/165 , F15B11/17 , F15B21/087 , F15B2211/20553 , F15B2211/20576 , F15B2211/30505 , F15B2211/327 , F15B2211/40507 , F15B2211/41572 , F15B2211/426 , F15B2211/428 , F15B2211/45 , F15B2211/50563 , F15B2211/5159 , F15B2211/528 , F15B2211/6323 , F15B2211/6326 , F15B2211/633 , F15B2211/6333 , F15B2211/6346 , F15B2211/6652 , F15B2211/7135 , G05B19/40 , G05B2219/35438 , G05B2219/41309 , G05B2219/45012
摘要： The controller controls drive quantities of actuators (BMS, AMS, BKS, LDM, RDM. TNM) that follows drive quantity command values generated depending upon the manipulated variables of a plurality of operation means (11, 12,13, 14,15, 16). For this purpose, the ratio of said operation quantities to said drive quantity command values is changed depending upon an operation mode flow rate data (41), the drive quantity command values are individually weighted for the same quantity of said manipulated variable depending upon a priority mode weight data (42), at least two energy sources (FR, RP) are provided as an energy source for driving the actuators, and the timing and the amount for supplying energy from the energy source are separately controlled depending upon a pump utilization data (43) and a tilted pump plate control data (44). These control data are suitably calculated and determined (inclusive of look- up table processing) each time depending upon the operation mode of said operation means, and the selection mode of operation mode selecting switch (21) and priority mode selecting switch (22).
摘要翻译：操作量与驱动量指令值的比例根据操作模式流量数据（41）而变化，并且驱动量指令值根据优先权模式权重数据（对于相同数量的操作变量）被单独加权 42）。提供至少两个能量源（FR，PR）作为用于驱动致动器的能量源，并且根据泵利用数据（43）和倾斜泵（43）分别控制来自能源的能量的定时和量板控制数据（44）。根据操作者的操作模式和操作模式选择开关（21）和优先模式选择开关（22）的选择模式，每次适当地计算并确定这些控制数据（包括查找表处理）。

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