Working machine and control method therefor
AssigneeKubota Corporation
InventorShinji Ohara
Life of this patent
Estimating the term…
Abstract
A working machine includes a driver, a control valve, and a controller. The driver includes a hydraulic actuator and a driven body to be driven by the hydraulic actuator. The control valve regulates a hydraulic fluid to operate the hydraulic actuator. The controller is configured or programmed to control the control valve. Before starting to execute drive control for the driven body, the controller is configured or programmed to perform preliminary control to open the control valve by an opening amount that is less than an opening amount during the drive control.
Claims11
A working machine comprising:
- a driver including a hydraulic actuator and a driven body to be driven by the hydraulic actuator;
- a control valve to regulate a hydraulic fluid to operate the hydraulic actuator;
- and
- a controller programmed to control the control valve;
- wherein
- before starting to execute drive control for the driven body, the controller is programmed to perform preliminary control to open the control valve by an opening amount that is less than an opening amount during the drive control;
- the preliminary control includes:
- control to limit a flow rate of the hydraulic fluid to be supplied from the control valve to the hydraulic actuator to a second flow rate, which is smaller than a first flow rate, the first flow rate being a target flow rate to execute the drive control;
- and
- inching flow rate maintaining control to control the control valve to maintain the flow rate of the hydraulic fluid to be supplied from the control valve to the hydraulic actuator to the second flow rate, and the inching flow rate maintaining control includes control to make a maintaining period to maintain the second flow rate longer as a temperature of the hydraulic fluid is lower;
- and
- the inching flow rate maintaining control includes control to:
- when the temperature of the hydraulic fluid is a first temperature lower than a prescribed temperature, set the maintaining period to be a first period;
- and
- when the temperature of the hydraulic fluid is a second temperature which is lower than the first temperature, set the maintaining period to be a second period which is longer than the first period.
A control method for a working machine which includes a driver, a control valve, and a controller, the driver including a hydraulic actuator and a driven body to be driven by the hydraulic actuator, the control valve being usable to regulate a hydraulic fluid to operate the hydraulic actuator, the controller being or programmed to control the control valve, the method comprising:
- before starting to execute drive control for the driven body, performing preliminary control by the controller to open the control valve by an opening amount that is less than an opening amount during the drive control;
- wherein
- the preliminary control includes:
- control to limit a flow rate of the hydraulic fluid to be supplied from the control valve to the hydraulic actuator to a second flow rate, which is smaller than a first flow rate, the first flow rate being a target flow rate to execute the drive control;
- and
- inching flow rate maintaining control to control the control valve to maintain the flow rate of the hydraulic fluid to be supplied from the control valve to the hydraulic actuator to the second flow rate, and the inching flow rate maintaining control includes control to make a maintaining period to maintain the second flow rate longer as a temperature of the hydraulic fluid is lower;
- and
- the inching flow rate maintaining control includes control to:
- when the temperature of the hydraulic fluid is a first temperature lower than a prescribed temperature, set the maintaining period to be a first period;
- and
- when the temperature of the hydraulic fluid is a second temperature which is lower than the first temperature, set the maintaining period to be a second period which is longer than the first period.
Dependencies are inferred from the claim text.