Working machine
A working machine includes a machine body, a first hydraulic actuator mounted on the machine body, a first control valve that controls the first hydraulic actuator, a controller that controls the first control valve, and a second hydraulic actuator that is different from the first hydraulic actuator. When the second hydraulic actuator and the first hydraulic actuator are operated in combination, the controller reduces the amount of change in the flow rate of a hydraulic fluid supplied from the first control valve to the first hydraulic actuator with respect to changes in a manipulation amount to operate the first hydraulic actuator to a value smaller than that when the first hydraulic actuator is solely operated.
1. A working machine comprising:
a machine body;
a boom supported on the machine body in such a manner as to be vertically swingable;
a first hydraulic actuator mounted on the machine body;
a manipulator manipulable to operate the first hydraulic actuator;
a first control valve to change a flow rate of a hydraulic fluid to be supplied to the first hydraulic actuator,
a controller configured or programmed to control operation of the first control valve in accordance with a manipulation amount of the manipulator; and
a second hydraulic actuator that is different from the first hydraulic actuator, wherein
the first hydraulic actuator is a boom cylinder to cause the boom to vertically swing,
the first control valve is a boom control valve to control the boom cylinder,
the second hydraulic actuator is another hydraulic actuator that is different from the boom cylinder;
when the boom cylinder is solely operated without operating the other hydraulic actuator, the controller is configured or programmed to control the operation of the boom control valve in proportion to the manipulation amount of the manipulator to change the flow rate of a hydraulic fluid supplied from the boom control valve to the boom cylinder at a first change rate that is an amount of change in the flow rate relative to a change in the manipulation amount of the manipulator when the boom cylinder is solely operated without operating the other hydraulic actuator, and
when the boom cylinder is operated in the combination with operating the other hydraulic actuator, the controller is configured or programmed to:
control the operation of the boom control valve in proportion to the manipulation amount of the manipulator such that, as the manipulation amount of the manipulator increases from a start-point manipulation amount corresponding to a position of the manipulator to cause the boom control valve to start delivering the hydraulic fluid to the boom cylinder, the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder changes at a second change rate that is an amount of change in the flow rate relative to a change in the manipulation amount of the manipulator when the boom cylinder is operated in combination with operating the other hydraulic actuator; and
set the second change rate to be smaller than the first change rate, assuming that the manipulation amount of the manipulator to solely operate the boom cylinder without operating the other hydraulic actuator is the same as the manipulation amount of the manipulator to operate the boom cylinder in combination with operating the other hydraulic actuator.
2. The working machine according to claim 1 , wherein
the controller includes a boom flow-rate reducing unit configured or programmed to reduce, when the boom cylinder is operated in combination with operating the other hydraulic actuator, the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder with respect to a manipulation amount of the manipulator from a flow rate to solely operate the boom cylinder to another flow rate to operate the boom cylinder in combination with operating the other hydraulic actuator to thereby reduce, from the first change rate to the second change rate, the amount of change in the flow rate relative to change in the manipulation amount, assuming that the manipulation amount of the manipulator to solely operate the boom cylinder is the same as the manipulation amount of the manipulator to operate the boom cylinder in combination with operating the other hydraulic actuator.
3. The working machine according to claim 2 , wherein
the boom control valve is pilot-operated by a pilot control pressure that is controlled by a control signal transmitted by the controller, and
the boom flow-rate reducing unit is configured or programmed, when the boom cylinder is operated while the other hydraulic actuator is operated, to reduces the pilot control pressure to reduced the flow rate of the hydraulic fluid from the boom control valve to the boom cylinder to thereby reduce, from the first change rate to the second change rate, the amount of change in the flow rate relative to change in the manipulation amount.
4. The working machine according to claim 2 , wherein
the boom control valve is controlled in accordance with a current that is supplied to the boom control valve by the controller, and
the boom flow-rate reducing unit is configured or programmed, when the boom cylinder is operated while the other hydraulic actuator is operated, to reduces the current supplied to the boom control valve to reduce the flow rate of the hydraulic fluid from the boom control value to the boom cylinder to thereby reduce, from the first change rate to the second change rate, the amount of change in the flow rate relative to change in the manipulation amount to the second change rate.
5. The working machine according to claim 2 , further comprising:
an arm connected to an end of the boom in such a manner as to be swingable in an arm-crowd direction that is a direction toward the boom and an arm-dump direction that is a direction away from the boom; and
an arm cylinder to cause the arm to swing, wherein
the other hydraulic actuator is the arm cylinder, and
when the boom cylinder is operated in combination with operating the arm cylinder, the boom flow-rate reducing unit is configured or programmed to reduces the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder with respect to the manipulation amount of the manipulator from a flow rate to solely operate the boom cylinder to another flow rate to operate the boom cylinder in combination with operating the arm cylinder to thereby reduce, from the first change rate to the second change rate, the amount of change in the flow rate relative to change in the manipulation amount, assuming that the manipulation amount of the manipulator to solely operate the boom cylinder is the same as the manipulation amount of the manipulator to operate the boom cylinder in combination with operating the arm cylinder.
6. The working machine according to claim 1 , further comprising:
a variable displacement pump to deliver a hydraulic fluid to actuate a plurality of hydraulic actuators including the first hydraulic actuator and the second hydraulic actuator; and
a load sensing system to control the pump such that a differential pressure obtained by subtracting the highest load pressure among load pressures of the plurality of hydraulic actuators from a delivery pressure of the pump is kept constant.
7. A working machine comprising:
a machine body;
a boom supported on the machine body in such a manner as to be vertically swingable;
a boom cylinder to cause the boom to vertically swing;
a boom control valve to control the boom cylinder;
an arm connected to an end of the boom in such a manner as to be swingable in an arm-crowd direction that is a direction toward the boom and an arm-dump direction that is a direction away from the boom;
an arm cylinder to cause the arm to swing; and
a controller configured or programmed to control the boom control valve, wherein
a controller includes a boom flow-rate reducing unite configured or programmed to when the boom cylinder is operated in combination with operating that arm cylinder, reduce an amount of change in the flow rate relative to change in a manipulation amount to operate the boom cylinder to an amount smaller that that when the boom cylinder is solely operated by reduction a flow rate of a hydraulic fluid supplied from the boom control valve to the boom cylinder; and
the flow-rate reducing unit is configured or programmed to reduce the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder when the boom is raised while swinging the arm in the arm-crowd direction or when the boom is lowered while swinging the arm in the arm-dump direction.
8. A working machine comprising:
a machine body;
a boom supported on the machine body in such a manner as to be vertically swingable,
a boom cylinder to cause the boom to vertically swing;
a boom control valve to control the boom cylinder;
a controller to control the boom control valve; and
another hydraulic actuator that is different from the boom cylinder, wherein
the controller is configured or programmed to, when the boom cylinder is solely operated without operating the other hydraulic actuator, control the boom control valve to change the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder at a first change rate that is an amount of change in the flow rate relative to a change in the manipulation amount when the boom cylinder is solely operated without operating the other hydraulic actuator;
the controller includes a boom flow-rate increasing unit configured or programmed to, when the other hydraulic actuator and the boom cylinder are operated in combination, reduce an amount of change in the flow rate relative to change in a manipulation amount to operate the boom cylinder to an amount smaller than that when the boom cylinder is solely operated by determining the flow rate of the hydraulic fluid supplied from the boom control valve with respect to the manipulation amount to operate the boom cylinder so that, when the manipulation amount to operate the boom cylinder is a manipulation amount adjacent to a pre-operation region to start operating the boom control valve, the flow rate determined by the boom flow-rate increasing unit is higher than the flow rate of the hydraulic fluid supplied from the boom control valve with respect to the manipulation amount to operate the boom cylinder when the boom cylinder is solely operated, and reducing, as the manipulation amount to operate the boom cylinder increases, a difference between the flow rate of the hydraulic fluid with respect to the manipulation amount to operate the boom cylinder when the other hydraulic actuator and the boom cylinder are operated in combination and the flow rate of the hydraulic fluid from the boom control valve with respect to the manipulation amount to operate the boom cylinder when the boom cylinder is solely operated reduces.
9. The working machine according to claim 8 , wherein
the boom control valve is pilot-operated by a pilot control pressure controlled by a control signal transmitted by the controller, and
the boom flow-rate increasing unit increases the pilot control pressure when the other hydraulic actuator and the boom cylinder are operated in combination.
10. The working machine according to claim 8 , wherein
the boom control valve is controlled in accordance with a current supplied to the boom control valve by the controller, and
the boom flow-rate increasing unit increases the current supplied to the boom control valve when the other hydraulic actuator and the boom cylinder are operated in combination.
11. The working machine according to claim 8 , further comprising:
an arm connected to an end of the boom in such a manner as to be swingable in an arm-crowd direction that is a direction toward the boom and an arm-dump direction that is a direction away from the boom; and
an arm cylinder to cause the arm to swing, wherein
the other hydraulic actuator is the arm cylinder, and
when the boom cylinder is operated while the arm cylinder is operated, the boom flow-rate increasing unit increases the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder.
12. The working machine according to claim 11 , wherein
the boom flow-rate increasing unit increases the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder when the boom is raised while swinging the arm in the arm-crowd direction or when the boom is lowered while swinging the arm in the arm-dump direction.
13. The working machine according to claim 8 , further comprising:
a manipulator manipulable to operate the boom cylinder, the manipulation amount being defined as a manipulation amount of the manipulator, wherein
the controller includes a control unit to control the flow rate of the hydraulic fluid supplied from the boom control valve to the boom cylinder in accordance with the manipulation amount of the manipulator when the boom cylinder is solely operated, and
the boom flow-rate increasing unit causes the hydraulic fluid supplied from the boom control valve to the boom cylinder to have a flow rate with respect to the manipulation amount of the manipulator that is higher than a flow rate of the hydraulic fluid controlled by the control unit in accordance with the manipulation amount.
14. The working machine according to claim 8 , wherein
the controller does not allow the boom flow-rate increasing unit to function when the other hydraulic actuator is operated while the boom cylinder is solely operated in a direction in which the boom is raised.