Work machine
A work machine includes: a hydraulic actuator; a closed-circuit pump that is connected to the hydraulic actuator in a closed circuit, and supplies and discharges a hydraulic working fluid to and from the hydraulic actuator; an open-circuit pump that is connected to the hydraulic actuator in an open circuit, and supplies the hydraulic working fluid to the hydraulic actuator; a charge pump; a charge flow path that introduces the hydraulic working fluid delivered from the charge pump to the closed circuit; an excess fluid discharging device that discharges an excess hydraulic working fluid of the closed circuit to the charge flow path; and a controller that controls a delivery capacity of the closed-circuit pump and a delivery capacity of the open-circuit pump. The controller increases the delivery capacity of the open-circuit pump, or reduces the delivery capacity of the closed-circuit pump when a state of a pressure of the charge flow path has transited to be lower than a predetermined pressure threshold from equal to or higher than the predetermined pressure threshold, or when a state of the work device has transited to a state of performing the excavation work from a state of not-performing the excavation work.
1. A work machine comprising:
an articulated work device that has a hydraulic actuator, and performs an excavation work;
a closed-circuit pump that is connected to the hydraulic actuator in a closed circuit, and supplies and discharges a hydraulic working fluid to and from the hydraulic actuator;
an open-circuit pump that is connected to the hydraulic actuator in an open circuit, and supplies the hydraulic working fluid to the hydraulic actuator;
a charge pump;
a charge flow path that introduces the hydraulic working fluid delivered from the charge pump to the closed circuit; and
a controller that controls a delivery capacity of the closed-circuit pump and a delivery capacity of the open-circuit pump, wherein
the work machine includes an excess fluid discharging device that discharges an excess hydraulic working fluid of the closed circuit to the charge flow path, and a pressure sensor that senses a pressure of the charge flow path, and
the controller is configured to increase the delivery capacity of the open-circuit pump when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than a predetermined pressure threshold from equal to or higher than the pressure threshold.
2. The work machine according to claim 1 , wherein
the controller is configured to increase the delivery capacity of the open-circuit pump while maintaining the delivery capacity of the closed-circuit pump when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than the pressure threshold from equal to or higher than the pressure threshold.
3. The work machine according to claim 1 , wherein
the controller is configured to
compute, as a target value of a delivery flow rate of the open-circuit pump, a value obtained by subtracting a delivery flow rate of the charge pump from a target value of a delivery flow rate of the closed-circuit pump, when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than the pressure threshold from equal to or higher than the pressure threshold, and
control the delivery capacity of the open-circuit pump on a basis of the computed target value of the delivery flow rate of the open-circuit pump.
4. The work machine according to claim 1 , wherein
the controller is configured to increase the delivery capacity of the open-circuit pump, and also reduce the delivery capacity of the closed-circuit pump, when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than the pressure threshold from equal to or higher than the pressure threshold.
5. The work machine according to claim 4 , wherein
the controller is configured to increase the delivery capacity of the open-circuit pump, and also reduce the delivery capacity of the closed-circuit pump such that a total value of a delivery flow rate of the closed-circuit pump and a delivery flow rate of the open-circuit pump is maintained, when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than the pressure threshold from equal to or higher than the pressure threshold.
6. The work machine according to claim 4 , wherein
the controller is configured to
compute, as a target value of a delivery flow rate of the closed-circuit pump, a value obtained by adding a delivery flow rate of the charge pump to a target value of a delivery flow rate of the open-circuit pump, when the pressure of the charge flow path sensed by the pressure sensor has lowered to be lower than the pressure threshold from equal to or higher than the pressure threshold, and
control the delivery capacity of the closed-circuit pump on a basis of the computed target value of the delivery flow rate of the closed-circuit pump.
7. A work machine comprising:
an articulated work device that has a hydraulic actuator, and performs an excavation work;
a closed-circuit pump that is connected to the hydraulic actuator in a closed circuit, and supplies and discharges a hydraulic working fluid to and from the hydraulic actuator;
an open-circuit pump that is connected to the hydraulic actuator in an open circuit, and supplies the hydraulic working fluid to the hydraulic actuator;
a charge pump;
a charge flow path that introduces the hydraulic working fluid delivered from the charge pump to the closed circuit; and
a controller that controls a delivery capacity of the closed-circuit pump and a delivery capacity of the open-circuit pump, wherein
the work machine includes an excess fluid discharging device that discharges an excess hydraulic working fluid of the closed circuit to the charge flow path, a posture sensor that senses a posture of the work device, and an operation device for operating the work device, and
the controller is configured to:
determine the posture of the work device or a height of a leading end of the work device on a basis of a signal from the posture sensor,
determine whether or not the excavation work is being performed by the work device, on a basis of a signal from the operation device in a state where the posture of the work device or the height of the leading end of the work device satisfies a predetermined condition, and,
when a state of the excavation work not being performed by the work device has transited to a state of the excavation work being performed by the work device, increase the delivery capacity of the open-circuit pump, and reduce the delivery capacity of the closed-circuit pump.
8. The work machine according to claim 7 , wherein
the controller is configured to
determine whether or not an excavating operation is being performed, on a basis of a signal from the operation device,
also determine whether or not the leading end of the work device is positioned below a ground, on a basis of a signal from the posture sensor, and
determine that the excavation work is being performed by the work device, when the leading end of the work device is positioned below the ground and the relevant excavating operation is being performed.
9. The work machine according to claim 7 , wherein
the controller is configured to increase the delivery capacity of the open-circuit pump, and also reduce the delivery capacity of the closed-circuit pump such that a total value of a delivery flow rate of the closed-circuit pump and a delivery flow rate of the open-circuit pump is maintained, when the state of the excavation work not being performed by the work device has transited to the state of the excavation work being performed by the work device.
10. The work machine according to claim 7 , wherein
the controller is configured to
determine whether or not the excavating operation is being performed, on a basis of a signal from the operation device,
also determine whether or not the posture of the work device is an excavation posture on a basis of a signal from the posture sensor, and
determine that the excavation work is being performed by the work device when the posture of the work device is the excavation posture, and the relevant excavating operation is being performed.