Hydraulic machine

1. A hydraulic machine comprising:

a controller;

a tank;

a working device comprising a boom;

a boom cylinder actuating the boom and comprising a large chamber and a small chamber;

a floating hydraulic circuit connected to the large chamber, the small chamber, and the tank to perform a floating function enabling the large chamber, the small chamber, and the tank to communicate with each other; and

an operator input device coupled to the controller, the operator input device receiving a request to activate or deactivate the floating hydraulic circuit, input by an operator,

wherein, in a boom-down operation in which the boom is lowered, the controller determines whether or not the working device is hanging in the air, and when the working device is determined to be hanging in the air, deactivates the floating hydraulic circuit even when the request to activate the floating hydraulic circuit is input to the operator input device.

2. The hydraulic machine of claim 1 , further comprising a pressure sensor measuring a pressure in the large chamber and a pressure in the small chamber,

wherein the controller determines whether or not the working device is hanging in the air based on the pressure in the large chamber and the pressure in the small chamber.

3. The hydraulic machine of claim 2 , wherein, when the pressure in the large chamber−the pressure in the small chamber/(an effective area on which the pressure in the large chamber acts/an effective area on which pressure of small chamber acts) is higher than a predetermined value, the working device is determined to be hanging in the air.

4. The hydraulic machine of claim 2 , wherein, when the pressure in the large chamber is higher than a predetermined value, the working device is determined to be hanging in the air.

5. The hydraulic machine of claim 1 , wherein the floating hydraulic circuit comprises:

a first valve connecting the large chamber and the small chamber to allow or block a flow of fluid from the large chamber to the small chamber;

a second valve connecting the small chamber and the large chamber to allow or block a flow of fluid from the small chamber to the large chamber;

a third valve provided between the large chamber and the tank to allow or block a flow of fluid from the large chamber to the tank,

wherein, when the floating hydraulic circuit is activated, the first valve allows the flow of fluid from the large chamber to the small chamber, the second valve allows the flow of fluid from the small chamber to the large chamber, and the third valve allows the flow of fluid from the large chamber to the tank, thereby allowing the large chamber, the small chamber, and the tank to communicate with each other.

6. The hydraulic machine of claim 5 , wherein the floating hydraulic circuit comprises:

a first line connecting the large chamber and the tank; and

a second line connected to the small chamber,

wherein the third valve is provided on the first line,

the first valve is connected to the first line at a location between the large chamber and the third valve, and connected to the second line to allow or block a flow of fluid from the first line to the second line,

the second valve connects the second line and the first line to allow or block a flow of fluid from the second line to the first line, and

when the floating hydraulic circuit is activated, the first valve allows the flow of fluid from the first line to the second line, the second valve allows the flow of fluid from the second line to the first line, and the third valve allows a flow of fluid to the tank through the first line.

7. The hydraulic machine of claim 5 , wherein the hydraulic machine further comprises:

a recovery unit recovering power; and

a fourth valve provided between the large chamber and the recovery unit to allow or block a flow of fluid from the large chamber to the recovery unit,

wherein, in the boom down operation, when the working device is determined to be hanging in the air, the first valve is operated to allow the flow of fluid from the large chamber to the small chamber, the second valve is operated to block the flow of fluid from the small chamber to the large chamber, the third valve is operated to block the flow of fluid from the large chamber to the tank, and the fourth valve is operated to allow the flow of fluid from the large chamber to the recovery unit.

8. The hydraulic machine of claim 7 , wherein the floating hydraulic circuit further comprises:

a first line provided between the large chamber and the tank; and

a second line connected to the small chamber,

wherein the third valve is provided on the first line,

the first valve is connected to the first line in a location between the large chamber and the third valve, and connected to the second line to allow or block a flow of fluid from the first line to the second line,

the second valve is connected to the second line and connected to the first line at a location between the large chamber and the third valve, to allow or block a flow of fluid from the second line to the first line,

the hydraulic machine further comprising:

a recovery line connected to the first line in a location between the large chamber and the third valve, and connected to the recovery unit; and

a fourth valve configured to allow or block a flow of fluid through the recovery line,

wherein, in the boom down operation, when the working device is determined to be hanging in the air, the first valve is operated to allow the flow of fluid from the first line to the second line, the second valve is operated to block the flow of fluid from the second line to the first line, the third valve is operated to block a flow of fluid to the tank through the first line, and the fourth valve is operated to allow a flow of fluid from the first line to the recovery unit through the recovery line.