CN102792031A - Hybrid system of construction machine - Google Patents

Hybrid system of construction machine Download PDF

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Publication number
CN102792031A
CN102792031A CN201180012529XA CN201180012529A CN102792031A CN 102792031 A CN102792031 A CN 102792031A CN 201180012529X A CN201180012529X A CN 201180012529XA CN 201180012529 A CN201180012529 A CN 201180012529A CN 102792031 A CN102792031 A CN 102792031A
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China
Prior art keywords
mentioned
oil
hydraulic
driving torque
rotary fluid
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Pending
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CN201180012529XA
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Chinese (zh)
Inventor
钓贺靖贵
高桥究
石井元
吉田肇
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of CN102792031A publication Critical patent/CN102792031A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20569—Type of pump capable of working as pump and motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve
    • F15B2211/41518—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve being connected to multiple pressure sources
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor

Abstract

On the basis of a drive torque of a hydraulic pump (3) which is detected by a torque sensor (34), in the case where an actuator drive torque is smaller than a switch torque [tau]0, a controller (35) closes an electromagnetic switch valve (17), causes a rotating electrical machine device (8) to function as a generator, and controls a flow rate control valve (13) with a pressure compensation function so that pressure oil supplied from the hydraulic pump (3) to a rotating hydraulic device (9) is decreased as the actuator drive torque increases, and in the case where the actuator drive torque is larger than the switch torque, the controller (35) opens the electromagnetic switch valve (17), causes the rotating electrical machine device (8) to function as an electrical motor, and controls the flow rate control valve (13); with a pressure compensation function so that discharged oil of the hydraulic pump (3) is not supplied to the rotating hydraulic device (9). As a result, a shock due to a flow rate variation is prevented when the operation state of the rotating hydraulic device and the rotating electrical machine device during the rotation of a construction machine.

Description

The mixed power system of engineering machinery
Technical field
The present invention relates to possess motor and have electric motor and the mixed power system of the engineering machinery of the electric rotating machinery apparatus of generator both sides function.
Background technique
As the mixed power system of engineering machinery, the system of record in the patent documentation 1 is for example arranged.This system is following structure: motor is set and has electric motor and the electric rotating machinery apparatus of generator both sides function, electric rotating machinery apparatus is directly connected to the output shaft of motor, with engine-driving electric rotating machine and oil hydraulic pump both sides.In addition; When the load of hydraulic actuator is light, drive oil hydraulic pump with engine revolution, drive hydraulic actuator; And the excess power rotary driving electric machine with motor makes electric rotating machinery apparatus play a role as generator, and the electric power that produces is stored in the storage battery; When the load of hydraulic actuator is big, electric rotating machinery apparatus is played a role as electric motor, drive oil hydraulic pump with motor and electric rotating machinery apparatus both sides, driving execution mechanism.
As other mixed power system, the system of record in the patent documentation 2 is arranged also.This system is following structure: electric rotating machinery apparatus is separated from motor, on this electric rotating machinery apparatus, connect rotary fluid pressure device, oil hydraulic pump and rotary fluid pressure device are connected to hydraulic actuator through control valve parallelly connectedly.In addition; When the load of hydraulic actuator is light; The part that the ejection of oil hydraulic pump is oily is supplied with to rotary fluid pressure device; Rotary fluid pressure device is played a role as oil hydraulic motor, electric rotating machinery apparatus is played a role as generator, the electric power that produces is stored in the storage battery with this oil hydraulic motor (rotary fluid pressure device) rotary driving electric machine; When the load of hydraulic actuator is big; Electric rotating machinery apparatus is played a role and the rotary driving hydraulic pressure installation as electric motor; Rotary fluid pressure device is played a role as oil hydraulic pump, will use engine-driven oil hydraulic pump and rotary fluid pressure device both sides' ejection oil to supply with to hydraulic actuator.
Patent documentation 1: TOHKEMY 2001-173024 communique
Patent documentation 2: No. 3875900 communique of Japan Patent
Summary of the invention
The problem that invention will solve
In the mixed power system of patent documentation 1 record, constitute integratedly as electric rotating machinery apparatus and the engine main body of motor component, so need seek to be used to protect it not receive the heating of motor, the countermeasure of influence of vibration for electric rotating machinery apparatus.To this; The mixed power system of record is compared with the mixed power system of record in the patent documentation 1 in the patent documentation 2; Can improve through electric rotating machinery apparatus is separated the degrees of freedom that makes configuration from motor, make as the electric rotating machinery apparatus of electric component and heating, the vibration of motor and isolate.
But; In the system of patent documentation 2 records; Adopt following structure: for the ejection of switching next free engine-driven oil hydraulic pump oily stream and the oily stream of the ejection of the rotary fluid pressure device that comes free electric rotating machinery apparatus to drive; Control valve has: first switching valve of the passage opening/closing that the ejection of free engine-driven oil hydraulic pump in the future is oily; With these two switching valves of second switching valve of the passage opening/closing of the ejection oil that rotates freely in the future the rotary fluid pressure device that electric machine drives,, the operating state of rotary fluid pressure device and electric rotating machinery apparatus (plays a role the state that electric rotating machinery apparatus plays a role as generator as oil hydraulic motor from rotary fluid pressure device when switching; Play a role as electric motor to electric rotating machinery apparatus; The switching of the state that rotary fluid pressure device plays a role as oil hydraulic pump, or the switching opposite with it) time, first and second switching valve ON/OFF ground is switched.Therefore; Have following problem: (in the working procedure) carries out under the situation of operating state of above-mentioned switching rotary fluid pressure device and electric rotating machinery apparatus in the operation process of engineering machinery; The flow change of hydraulic oil of flowing through stream is very big, produces and impacts, and the running of engineering machinery can be broken down.
The mixed power system that the purpose of this invention is to provide a kind of engineering machinery; This mixed power system can make heating, the vibration configuration isolator of electric rotating machinery apparatus and motor; And do not produce the impact that the flow change causes in the time of can being implemented in the operating state that switches rotary fluid pressure device and electric rotating machinery apparatus in the operation process of engineering machinery, switch the operating state of rotary fluid pressure device and electric rotating machinery apparatus reposefully.
Solve the method for problem
(1) to achieve these goals, the mixed power system of engineering machinery of the present invention has: motor; By this engine-driven Main Hydraulic Pump; A plurality of actuators; Control valve, it is supplied with oil circuit through first hydraulic oil and is connected with above-mentioned Main Hydraulic Pump, and control is mobile to the hydraulic oil of above-mentioned a plurality of actuators supply; Electric rotating machinery apparatus with electric motor and generator both sides function; Rotary fluid pressure device; It is connected with this electric rotating machinery apparatus, and when above-mentioned electric rotating machinery apparatus played a role as electric motor, this rotary fluid pressure device was driven by above-mentioned electric rotating machinery apparatus; Play a role as oil hydraulic pump; When above-mentioned electric rotating machinery apparatus played a role as generator, this rotary fluid pressure device played a role as oil hydraulic motor, drove above-mentioned electric rotating machinery apparatus; Above-mentioned rotary fluid pressure device and above-mentioned first hydraulic oil are supplied with second hydraulic oil supply oil circuit that oil circuit is connected; Electric accumulator; Bidirectional transducer; Be connected between above-mentioned electric accumulator and the above-mentioned electric rotating machinery apparatus; Control the handing-over of the electric power between above-mentioned electric accumulator and the above-mentioned electric rotating machinery apparatus; In the mixed power system of this project machinery, have: flow control valve assembly, it is disposed at, and above-mentioned first hydraulic oil is supplied with oil circuit and above-mentioned second hydraulic oil is supplied with oil circuit; When the ejection of above-mentioned Main Hydraulic Pump oil is supplied with oil circuit when above-mentioned rotary fluid pressure device is supplied with through second hydraulic oil, the ratio of flow that this flow control valve assembly control is supplied with to above-mentioned control valve and the flow supplied with to above-mentioned rotary fluid pressure device; Above-mentioned rotary fluid pressure device is supplied with the 3rd hydraulic oil supply oil circuit that oil circuit is connected in the downstream side of above-mentioned control valve for fluids device with above-mentioned first hydraulic oil; Be arranged at above-mentioned the 3rd hydraulic oil and supply with first switching valve to be opened/closed of oil circuit; Detect the driving torque detection device of the driving torque of above-mentioned oil hydraulic pump; Control gear; It is according to the driving torque by the detected above-mentioned oil hydraulic pump of above-mentioned driving torque detection device; Judge whether the actuator's driving torque be used to drive above-mentioned a plurality of actuators is bigger than predefined switching torque; Above-mentioned actuator driving torque than the little situation of above-mentioned switching torque under; Above-mentioned first switching valve is switched to closed position; Control above-mentioned bidirectional transducer above-mentioned electric rotating machinery apparatus played a role as generator, and control above-mentioned flow control valve assembly with the mode that the flow that makes the hydraulic oil of supplying with to above-mentioned rotary fluid pressure device from above-mentioned Main Hydraulic Pump along with the increase of above-mentioned actuator driving torque reduces, above-mentioned actuator driving torque than the big situation of above-mentioned switching torque under; Above-mentioned first switching valve is switched to open position; So that the mode that above-mentioned electric rotating machinery apparatus plays a role as electric motor is controlled above-mentioned bidirectional transducer, above-mentioned rotary fluid pressure device is played a role as oil hydraulic pump, and control above-mentioned flow control valve assembly with the mode that the ejection oil of above-mentioned Main Hydraulic Pump is not supplied with above-mentioned rotary fluid pressure device.
As the present invention of above-mentioned formation in; Motor and electric rotating machinery apparatus need not be one; The degrees of freedom that can realize the configuration of electric rotating machinery apparatus uprises; Dispose electric rotating machinery apparatus isolator with the thermal vibration of engine producing, the raising according to the lift-launch environment of electrical system can realize the mixed power system of high reliability more.
In addition; The present invention; Actuator's driving torque than the little situation of predefined switching torque under; First switching valve is switched to closed position, and the control bidirectional transducer makes electric rotating machinery apparatus play a role as generator, and to make along with the increase of actuator's driving torque from the mode control flow rate control valve device of Main Hydraulic Pump to the flow minimizing of the hydraulic oil of rotary fluid pressure device supply; Switch under the big situation of torque at actuator's driving torque ratio; First switching valve is switched to open position; So that electric rotating machinery apparatus is controlled bidirectional transducer as the mode that electric motor plays a role; Rotary fluid pressure device is played a role as oil hydraulic pump, and do not supply with the mode control flow rate control valve device of rotary fluid pressure device with the ejection oil of Main Hydraulic Pump.Therefore; Play a role as oil hydraulic motor from rotary fluid pressure device, electric rotating machinery apparatus plays a role as electric motor to electric rotating machinery apparatus as the state that generator plays a role; The switching of the state that rotary fluid pressure device plays a role as oil hydraulic pump; Or the switching opposite with it, carry out with the almost nil state of flow of the hydraulic oil supplied with to rotary fluid pressure device from Main Hydraulic Pump, and before can variable control switching or the flow after switching.As a result, do not produce the impact that causes by the flow change in the time of can being implemented in the operating state that switches rotary fluid pressure device and electric rotating machinery apparatus in the operation process of engineering machinery, switch the operating state of rotary fluid pressure device and electric rotating machinery apparatus reposefully.
(2) be preferably, in the mixed power system of above-mentioned (1), above-mentioned flow control valve assembly has: be arranged at the restriction that above-mentioned second hydraulic oil is supplied with oil circuit; And the flow control valve that has pressure compensation; It is disposed at, and above-mentioned first hydraulic oil is supplied with oil circuit and above-mentioned second hydraulic oil is supplied with oil circuit; And the ejection oil that has when above-mentioned Main Hydraulic Pump passes through above-mentioned second hydraulic oil supply oil circuit when above-mentioned rotary fluid pressure device is supplied with; The pressure compensation of the flow of the hydraulic oil that the front and back pressure reduction, control of controlling above-mentioned restriction is supplied with to above-mentioned rotary fluid pressure device; And when the above-mentioned control valve of operation; Preferentially supply with based on the flow that requires flow than above-mentioned restriction to above-mentioned control valve, above-mentioned control gear with when above-mentioned actuator driving torque than above-mentioned switching torque hour, along with the increase of above-mentioned actuator driving torque; The front and back pressure reduction of above-mentioned restriction reduces, and the mode that the flow of the hydraulic oil of supplying with to above-mentioned rotary fluid pressure device reduces is controlled the above-mentioned flow control valve that has pressure compensation.
Flow control valve assembly can be supplied with oil circuit when rotary fluid pressure device is supplied with through second hydraulic oil at the ejection oil of Main Hydraulic Pump thus, the ratio of flow that control is supplied with to control valve and the flow supplied with to rotary fluid pressure device.And, control gear can with when actuator's driving torque than above-mentioned switching torque hour, along with the increase of actuator's driving torque, the mode control flow rate control valve device that the flow of the hydraulic oil of supplying with to rotary fluid pressure device from Main Hydraulic Pump reduces.
(3) in addition; Be preferably; In the mixed power system of above-mentioned (2); The above-mentioned flow control valve that has pressure compensation has: when above-mentioned rotary fluid pressure device plays a role as oil hydraulic motor, the hydraulic pressure of the upstream side of above-mentioned restriction through the first signal hydraulic oil circuit import to first compression zone of opening the direction action; And the hydraulic pressure in the downstream side of above-mentioned restriction is through second compression zone to the action of throttling direction of secondary signal hydraulic circuit importing; Above-mentioned control gear has second switching valve that is disposed at above-mentioned secondary signal hydraulic circuit; With the controller of input from the signal of above-mentioned driving torque detection device; Above-mentioned controller in above-mentioned actuator driving torque than above-mentioned switching torque hour; Second switching valve is switched to the primary importance of hydraulic pressure that imports the downstream side of above-mentioned restriction to above-mentioned second compression zone; Make the pressure compensation of the above-mentioned flow control valve that has a pressure compensation effective; When above-mentioned actuator driving torque is bigger than above-mentioned switching torque, second switching valve is switched to the second place that above-mentioned second compression zone is communicated with fuel tank, make the pressure compensation of the above-mentioned flow control valve that has a pressure compensation invalid.
Control gear can be in actuator's driving torque than switching under the little situation of torque thus; With increase along with actuator's driving torque; From the mode control flow rate control valve device of Main Hydraulic Pump to the flow minimizing of the hydraulic oil of rotary fluid pressure device supply; Than switching under the big situation of torque, do not supply with the mode control flow rate control valve device of rotary fluid pressure device in actuator's driving torque with the ejection oil of Main Hydraulic Pump.
(4) have again; Be preferably; In the mixed power system of above-mentioned (2); The above-mentioned flow control valve that has pressure compensation comprises: when above-mentioned rotary fluid pressure device plays a role as oil hydraulic motor, the hydraulic pressure of the upstream side of above-mentioned restriction through the first signal hydraulic oil circuit import to first compression zone of opening the direction action; Second compression zone that the hydraulic pressure in the downstream side of above-mentioned restriction imports through the secondary signal hydraulic circuit to the action of throttling direction; And based on the 3rd compression zone of pilot pressure target setting compensation pressure reduction; Above-mentioned control gear has solenoid-operated proportional reduction valve from above-mentioned pilot pressure to above-mentioned the 3rd compression zone that export; And input is from the controller of the signal of above-mentioned driving torque detection device; Above-mentioned controller computing diminishes along with the increase of above-mentioned actuator driving torque, the target compensation pressure reduction of vanishing when above-mentioned actuator driving torque surpasses above-mentioned switching torque, and controls above-mentioned solenoid-operated proportional reduction valve to obtain this target compensation pressure reduction.
Control gear control flow rate control valve device as follows thus: in actuator's driving torque than switching under the little situation of torque; The flow of the hydraulic oil of supplying with to rotary fluid pressure device from Main Hydraulic Pump along with the increase of actuator's driving torque reduces; When actuator's driving torque becomes and switches torque when equating, from the flow almost vanishing of Main Hydraulic Pump to the hydraulic oil of rotary fluid pressure device supply.
(5) in addition; Be preferably; In the mixed power system of above-mentioned (1); Above-mentioned control gear obtain from the generating torque by the driving torque of the detected above-mentioned oil hydraulic pump of above-mentioned driving torque detection device, when deducting the above-mentioned electric rotating machinery apparatus that obtains by above-mentioned bidirectional transducer and playing a role as generator and torque value, make this torque value as above-mentioned actuator driving torque.
Even thus actuator is not provided with special sensor, also can obtain actuator's driving torque.
(6) in addition, be preferably, in the mixed power system of above-mentioned (1)～(5), above-mentioned driving torque detection device is the torque sensor of driving force on the running shaft that above-mentioned oil hydraulic pump transmits that is arranged at above-mentioned motor.
The driving torque of Main Hydraulic Pump can detect in driving torque feeler mechanism thus.
The invention effect
According to the present invention; Motor and electric rotating machinery apparatus need not be one; The degrees of freedom that can realize the configuration of electric rotating machinery apparatus uprises; Dispose electric rotating machinery apparatus isolator with the thermal vibration of engine producing, the raising of the lift-launch environment through electrical system can realize the mixed power system that reliability is higher.
In addition; According to the present invention, play a role the state that electric rotating machinery apparatus plays a role as generator as oil hydraulic motor from rotary fluid pressure device; Play a role as electric motor to electric rotating machinery apparatus; The switching of the state that rotary fluid pressure device plays a role as oil hydraulic pump, or the switching opposite with it are carried out with the almost nil state of flow of the hydraulic oil supplied with to rotary fluid pressure device from Main Hydraulic Pump; And can be variable control switch before or switch after flow; Therefore, do not produce the impact that causes by the flow change in the time of can being implemented in the operating state that switches rotary fluid pressure device and electric rotating machinery apparatus in the operation process of engineering machinery, switch the operating state of rotary fluid pressure device and electric rotating machinery apparatus reposefully.Can bring into play better runnability thus.
Description of drawings
[Fig. 1] is the figure of the machine construction of the mixed power system of engineering machinery in the expression mode of execution of the present invention.
[Fig. 2] is the figure of opening area characteristic of the first variable restrictor portion and the second variable restrictor portion of the expression flow control valve that has pressure compensation.
[Fig. 3] is the figure of outward appearance of the hydraulic shovel of the expression mixed power system that is equipped with this mode of execution.
[Fig. 4] is the flow chart of the processing capacity of expression controller.
[Fig. 5] is the figure that is illustrated in relation between the target control pressure (target compensation pressure reduction) of the subtraction torque value stored on the memory table of controller and solenoid-operated proportional reduction valve.
[Fig. 6] is expression based on the figure of the variation of the generating driving torque of the variation of actuator's driving torque and main main pump driving torque.
Embodiment
Below, use accompanying drawing that mode of execution of the present invention is described.
Fig. 1 is the figure of the machine construction of the mixed power system of engineering machinery in the expression mode of execution of the present invention.
In Fig. 1, the mixed power system of this mode of execution has: motor 1; Be connected with this motor 1 through running shaft 2, by the Main Hydraulic Pump 3 of motor 1 driving; A plurality of 5a～5g of actuator; Control valve 7, it is supplied with oil circuit 6 through first hydraulic oil and is connected to oil hydraulic pump 3, the flowing of the hydraulic oil that control is supplied with to a plurality of 5a of actuator～5g from oil hydraulic pump 3; Electric rotating machinery apparatus 8 with electric motor and generator both sides function; Rotary fluid pressure device 9; It is connected with this electric rotating machinery apparatus 8, and when electric rotating machinery apparatus 8 played a role as electric motor, this rotary fluid pressure device 9 was driven by electric rotating machinery apparatus 8; Play a role as oil hydraulic pump (auxiliary pump); When electric rotating machinery apparatus 8 played a role as generator, these rotary fluid pressure device 9 rotary driving electric machines 8 played a role as oil hydraulic motor; Rotary fluid pressure device 9 is connected to second hydraulic oil supply oil circuit 11 that first hydraulic oil is supplied with oil circuit 6; Be arranged at second hydraulic oil and supply with the fixed restriction portion 12 of oil circuit 11; The flow control valve 13 that has pressure compensation; It is disposed at, and first hydraulic oil is supplied with oil circuit 6 and second hydraulic oil is supplied with oil circuit 11; This flow control valve 13 has following pressure compensation: when the ejection oil of Main Hydraulic Pump 3 is supplied with oil circuit when rotary fluid pressure device is supplied with through second hydraulic oil; The front and back pressure reduction of control restriction 12; The flow of the hydraulic oil that control is supplied with to rotary fluid pressure device, and when operation control valve 7, than restriction 12 preferentially to control valve 7 supplies based on the flow that requires flow; The solenoid-operated proportional reduction valve 14 of output hydraulic pressure signal, this hydraulic pressure signal are used to set the target compensation pressure reduction of the flow control valve 13 that has pressure compensation; Switch effective, the invalid electromagnetic switching valve 15 of the pressure compensation of the flow control valve 13 that has pressure compensation; Rotary fluid pressure device 9 is connected to the 3rd hydraulic oil supply oil circuit 16 that first hydraulic oil is supplied with oil circuit 6 in the downstream side of the flow control valve that has pressure compensation 13; And the electromagnetic switching valve to be opened/closed 17 that is arranged at the 3rd hydraulic oil supply oil circuit 16.
The flow control valve 13 that has pressure compensation has: be used to control through first hydraulic oil and supply with the first variable restrictor portion 13x of oil circuit 6 to the flow of the hydraulic oil of control valve 7 supplies; And be used to control through second 13y of variable restrictor portion of second hydraulic oil supply oil circuit 11 to the flow of the hydraulic oil of rotary fluid pressure device 9 supplies.
Fig. 2 is the figure of opening area characteristic of first 13x of variable restrictor portion and second 13y of variable restrictor portion of the expression flow control valve 13 that has pressure compensation.Transverse axis is a spool stroke, will see that guiding valve is positioned at the stroke of diagram during leftward position as zero from Fig. 1.Among the figure, solid line is the opening area characteristic of first 13x of variable restrictor portion, and single-point is scribed ss the opening area characteristic of second 13y of variable restrictor portion.
First 13x of variable restrictor portion; (when guiding valve is positioned at the diagram leftward position) opening area is maximum when spool stroke is zero;, spool stroke reduces (when guiding valve moves to the diagram right positions) opening area vanishing when spool stroke is maximum along with increasing (guiding valve moves to the diagram right positions from the diagram leftward position) opening area.Second 13y of variable restrictor portion is opposite; (when guiding valve is positioned at the diagram leftward position) opening area is zero when spool stroke is zero; Increase along with spool stroke increases (guiding valve moves to the diagram right positions from the diagram leftward position) opening area, (when guiding valve moves to the diagram right positions) opening area becomes maximum when spool stroke is maximum.
Get back to Fig. 1, the flow control valve 13 that has pressure compensation comprises: be imported into the hydraulic pressure of the upstream side of fixed restriction portion 12 through the first signal hydraulic oil circuit 21a, to the first compression zone 13a of the closing direction action of second 13y of variable restrictor portion; Be imported into the hydraulic pressure in the downstream side of fixed restriction portion 12 through secondary signal hydraulic circuit 21b, to the second compression zone 13b that opens the direction action of second 13y of variable restrictor portion; And the pilot pressure (hydraulic pressure signal) that is imported into 14 outputs of solenoid-operated proportional reduction valve, based on the 3rd compression zone 13c of this pilot pressure target setting compensation pressure reduction.The flow control valve 13 that has pressure compensation thus; Have at the ejection oil of Main Hydraulic Pump 3 and supply with oil circuit 11 when rotary fluid pressure device 9 is supplied with through second hydraulic oil; The pressure compensation of the flow of the hydraulic oil that the front and back pressure reduction of control fixed restriction portion 12, control are supplied with to rotary fluid pressure device 9; And when operation control valve 7, preferentially supply with based on the flow that requires flow to control valve 7 than fixed restriction portion 12.
Here; Fixed restriction portion 12 constitutes flow control valve assembly with the flow control valve that has pressure compensation 13; This flow control valve assembly is disposed at first hydraulic oil and supplies with oil circuit 6 and second hydraulic oil supply oil circuit 11; When the ejection of Main Hydraulic Pump 3 oil is supplied with oil circuit 11 when rotary fluid pressure device 9 is supplied with through second hydraulic oil, the ratio of flow that this flow control valve assembly control is supplied with to control valve 7 and the flow supplied with to rotary fluid pressure device 9.
Electromagnetic switching valve 15 is disposed at secondary signal hydraulic circuit 21b; When the electrical control signal of the solenoid 15a that imposes on electromagnetic switching valve 15 is OFF; Electromagnetic switching valve 15 is positioned at the primary importance in diagram left side, when control signal becomes ON, switches to the second place on diagram right side.Electromagnetic switching valve 15 is when being positioned at the primary importance in diagram left side; Secondary signal hydraulic circuit 21b is communicated with; Import the hydraulic pressure in the downstream side of fixed restriction portion 12 to the second compression zone 13b, make the pressure compensation of the flow control valve 13 that has pressure compensation effective.In addition, electromagnetic switching valve 15 cuts off secondary signal hydraulic circuit 21b when switching to the second place on diagram right side, make the second compression zone 13b be communicated to fuel tank, makes the pressure compensation of the flow control valve 13 that has pressure compensation invalid.When electromagnetic switching valve 15 made the pressure compensation of the flow control valve 13 that has pressure compensation invalid, the flow control valve 13 that has a pressure compensation was to move whole modes to control valve 7 supplies of the ejection oil of oil hydraulic pump 3.
In Fig. 1, the mixed power system of this mode of execution also has: the operating handle 31 of the action of the indication 5a～5g of actuator (only illustrating in order to illustrate conveniently); The key switch 32 of the startup of the ON/OFF of indication mechanism power supply and motor 1/stop; The dynamic mode switch 33 of the setting of indication dynamic mode; Be arranged at the driving force of motor 1 on the running shaft 2 that oil hydraulic pump 3 transmits, detect the torque sensor (driving torque detection device) 34 of the driving torque of oil hydraulic pump 3; Controller 35; Storage battery (electric accumulator) 36; And be connected between storage battery 36 and the electric rotating machinery apparatus 9 bidirectional transducer 37 of the electric power handing-over between control storage battery 36 and the electric rotating machinery apparatus 8.
During from key switch 32 input engine start instructions, controller 35 drives not shown starting drive, ato unit 1.In addition, controller 35 is from operating handle 31 input operation electric signals, the calculation process of stipulating, the electromagnetic proportional valve output indicator current signal in control valve 7.Electromagnetic proportional valve in the control valve 7 switches corresponding main slide valve and drives corresponding actuator according to this indicator current signal work.
Have again; Controller 35; Input is from the operation index signal of dynamic mode switch 33, generating dtc signal when playing a role as generator from the testing signal of torque sensor 34 and from the electric rotating machinery apparatus of bidirectional transducer 37 8; The calculation process of stipulating is to the solenoid 15a of solenoid-operated proportional reduction valve 14 and electromagnetic switching valve 15 output control signal.
Here; Solenoid-operated proportional reduction valve 14, electromagnetic switching valve 15 and controller 35 are constructed as follows control gear: according to the driving torque by torque sensor (driving torque detection device) 34 detected oil hydraulic pumps 3; Judge whether the actuator's driving torque (afterwards stating) be used to drive a plurality of 5a～5g of actuator is bigger than predefined switching torque tau 0 (afterwards stating); In this actuator driving torque than switching under the little situation of torque tau 0; Electromagnetic switching valve 17 (first switching valve) is switched to closed position; Control bidirectional transducer 37 makes electric rotating machinery apparatus 8 play a role as generator; And with the mode that the flow that makes the hydraulic oil of supplying with to rotary fluid pressure device 9 from Main Hydraulic Pump 3 along with the increase of actuator's driving torque reduces, the flow control valve assembly that control is made up of fixed restriction portion 12 and the flow control valve 13 that has pressure compensation; In the actuator driving torque than switching under the big situation of torque tau 0; Electromagnetic switching valve 17 (first switching valve) is switched to open position; Control bidirectional transducer 37 makes electric rotating machinery apparatus 8 play a role as electric motor; Rotary fluid pressure device 9 is played a role as oil hydraulic pump, and do not supply with the mode of rotary fluid pressure device 9, the flow control valve assembly that control is made up of fixed restriction portion 12 and the flow control valve 13 that has pressure compensation with the ejection oil of Main Hydraulic Pump 3.
The engineering machinery that is equipped with the mixed power system of this mode of execution is for example hydraulic shovel; A plurality of 5a～5g of actuator are for example to rotate with oil hydraulic motor 5a, go and use oil hydraulic cylinder 5g with oil hydraulic cylinder 5e, swing with oil hydraulic cylinder 5f and shovel plate with oil hydraulic cylinder 5d, scraper bowl with oil hydraulic cylinder 5c, dipper with oil hydraulic motor 5b, swing arm.
Fig. 3 is the figure of the outward appearance of expression hydraulic shovel.
Hydraulic shovel has: bottom runner 101; The upper rotating body 102 of on this bottom runner 101, rotatably carrying; And can be through shaking post 103 to reaching the preceding working machine 104 that left and right directions connects rotationally up and down at the fore-end of this upper rotating body 102.Bottom runner 101 is caterpillar, the shovel plate of using in the movable up and down casting of track frame 105 front side settings 106.Upper rotating body 102 has rotating platform 107 that forms basic infrastructure and the operator cabin (operator cabin) 108 that on rotating platform 107, is provided with.Before working machine 104 have swing arm 111, dipper 112 and scraper bowl 113, the cardinal extremity of swing arm 111 with shake post 103 pin and be connected, the front end of swing arm 111 is connected with the cardinal extremity pin of dipper 112, the front end of dipper 112 is sold with scraper bowl 113 and is connected.
Upper rotating body 102 is driven with oil hydraulic motor 5a (Fig. 1) rotation by rotation with respect to bottom runner 101; Shake post 103 and before working machine 104 with respect to rotating platform 107 by swing with ground rotating drive about oil hydraulic cylinder 5f, swing arm 111, dipper 112, scraper bowl 113 come up and down rotating drive with oil hydraulic cylinder 5d, scraper bowl with oil hydraulic cylinder 5e with oil hydraulic cylinder 5c, dipper through the swing arm that stretches respectively.Bottom runner 101 by about go and drive with oil hydraulic motor 5b rotation, shovel plate 106 is driven with oil hydraulic cylinder 5g by the shovel plate up and down.
Fig. 4 is the flow chart of the processing capacity of expression controller 35.
At first; The desired value of the pilot pressure of controller 35 computing solenoid-operated proportional reduction valve 14 outputs is target control pressure (the target compensation pressure reduction that has the flow control valve 13 of pressure compensation), to the corresponding driving current (step S100) of solenoid-operated proportional reduction valve 14 outputs.Solenoid-operated proportional reduction valve 14 is according to this driving current action, to the 3rd compression zone 13c of the flow control valve that the has pressure compensation 13 output pilot pressure corresponding with target control pressure.As previously mentioned, the 3rd compression zone 13c that has a flow control valve 13 of pressure compensation is set at target compensation pressure reduction with this pilot pressure.
The computing of the target control pressure of the solenoid-operated proportional reduction valve 14 among the step S100 is carried out in such a way.
Controller 35, the testing signal of input torque sensor 34 is obtained the driving torque (below be called the main pump driving torque) of Main Hydraulic Pump 3 from this testing signal.And controller 35 from the control information of bidirectional transducer 37 input electric rotating machinery apparatus 8, is calculated driving torque when playing a role as generator of electric rotating machinery apparatus 8 (below be called the generating driving torque).
Then, controller 35 computings deduct the value of generating driving torque from the main pump driving torque.That is, if main pump driving torque note is made τ p, the driving torque of will generating electricity note is made τ g, then carries out
τp-τg
Computing.Here, if torque (the following actuator's driving torque that the suitably is called) note of supplying with the 5a～5g of actuator among the main pump driving torque τ p is made τ a, then τ p-τ g equates with τ a.In other words, controller 35 through from the main pump driving torque, deducting the generating driving torque, calculates the driving torque τ a of actuator.
Then, controller 35, the value that makes τ p-τ g be the driving torque τ a of actuator with reference to memory table, the target control pressure of the solenoid-operated proportional reduction valve 14 that computing is corresponding.
Fig. 5 is the figure that is illustrated in relation between the target control pressure (target compensation pressure reduction) of value and solenoid-operated proportional reduction valve 14 of the τ p-τ g that stores on the memory table.In Fig. 5, the target control pressure of solenoid-operated proportional reduction valve 14 is represented with Pc.In memory table, store the relation between the target control pressure P c of value and solenoid-operated proportional reduction valve 14 of τ p-τ g as shown in Figure 5.This relation is set as follows: along with the increase of the value of τ p-τ g; The target control pressure P c of solenoid-operated proportional reduction valve 14 reduces; When the value of τ p-τ g surpasses pre-set threshold (switching torque) τ 0, the target control pressure P c vanishing of solenoid-operated proportional reduction valve 14.
Here; Threshold value (switching torque) τ 0 allows torque for Main Hydraulic Pump 3 consumable maximums in the output torque of motor 1; For example; Consider that motor 1 drives situation or the mechanical loss of not shown pioneer pump etc., threshold value (switching torque) τ 0 is set at the value that the torque that from the maximum rated torque of motor 1 (setting the several output torques down of rotation in maximum), deducts not shown pioneer pump of motor 1 driving or mechanical loss etc. partly obtains.
In addition, the target control pressure P c note when being zero as if the value with τ p-τ g is made Pc0, and then Pc0 supplies with whole ejection oil of Main Hydraulic Pump 3 to rotary fluid pressure device 9, the target control pressure when generating driving torque τ g equates with main pump driving torque τ p.
Then; Controller 35 judges whether dynamic mode switch 33 is ON (step S110); If dynamic mode switch 33 is not ON, then, whether the value of judging τ p-τ g is than pre-set threshold (switching torque) τ 0 (oil hydraulic pump 3 consumable maximums are allowed torque) high (step S120).The value of τ p-τ g equates with the driving torque τ a of actuator, and threshold value (switching torque) τ 0 allows torque for oil hydraulic pump 3 consumable maximums.Therefore, the situation that the value of τ p-τ g is high unlike pre-set threshold (switching torque) τ 0, just actuator's driving torque τ a allows the situation that torque is low than oil hydraulic pump 3 consumable maximums, also is that the driving torque of motor 1 has remaining situation.Therefore; Under above-mentioned situation; Make rotary fluid pressure device 9 as oil hydraulic motor play a role (make electric rotating machinery apparatus 8 play a role as generator); Therefore making the driving current of electromagnetic switching valve 15 is OFF (no driving current), and the driving current that makes electromagnetic switching valve 17 is OFF (a no driving current), and control bidirectional transducer 37 is generating-charging pattern (step S130).
Step S110 medium power mode switch 33 is not the situation of ON; Or judge the situation that main pump driving torque τ p is higher than threshold value (switching torque) τ 0 among the step S120; The driving torque that is generator 1 does not have remaining situation, under above-mentioned situation, makes rotary fluid pressure device 9 as oil hydraulic pump play a role (make electric rotating machinery apparatus 8 play a role as electric motor); Therefore transfer to step S140; The driving current that makes electromagnetic switching valve 15 is ON (driving current is arranged), and the driving current that makes electromagnetic switching valve 17 is ON (driving current is arranged), and control bidirectional transducer 37 is a drive pattern.
The action summary of this mode of execution then, is described.
～usually～
At first, controller 35 passes through the processing of the step S100 of Fig. 4 usually, and the target control pressure of computing solenoid-operated proportional reduction valve 14 (the target compensation pressure reduction of pressure-compensated valve 13) Pc is to the corresponding driving current of solenoid-operated proportional reduction valve 14 outputs.The pilot pressure that solenoid-operated proportional reduction valve 14 equates with target control pressure P c according to the driving current output that comes self-controller 35, pressure-compensated valve 13 are set the target compensation pressure reduction that equates with target control pressure P c.
～dynamic mode switch 33 is OFF, the situation of τ p-τ g≤τ 0～
Be at dynamic mode switch 33 under the situation of OFF position; Controller 35 is in step S120; (whether the driving torque τ of actuator is a) than pre-set threshold (switching torque) τ 0 height to keep watch on τ p-τ g; Under the τ p-τ g situation high, make bidirectional transducer 37, electromagnetic switching valve 15 and electromagnetic switching valve 17 be following setting (step S130) unlike pre-set threshold (switching torque) τ 0.
(1) electromagnetic switching valve 15 → driving current OFF
(2) bidirectional transducer 37 → generating-charging pattern
(3) electromagnetic switching valve 17 → driving current OFF
The driving current that makes electromagnetic switching valve 15 is OFF; The pressure compensation that has the flow control valve 13 of pressure compensation thus becomes effectively; The front and back pressure reduction of fixed restriction portion 12 is by the flow control valve that has pressure compensation 13 control, and the flow of the hydraulic oil of supplying with to rotary fluid pressure device 9 from Main Hydraulic Pump 3 (fixed restriction portion 12 pass through flow) is according to target compensation pressure reduction (the target control pressure P c) control of the flow control valve 13 that has pressure compensation.Promptly; (the driving torque τ of actuator a) reduces and near threshold value (switching torque) τ 0 along with τ p-τ g; The target compensation pressure reduction (the front and back pressure reduction of fixed restriction portion 12) that has the flow control valve 13 of pressure compensation diminishes; The flow of the hydraulic oil of supplying with to rotary fluid pressure device 9 from Main Hydraulic Pump 3 (fixed restriction portion 12 pass through flow) reduces; When becoming τ p-τ g=τ 0, the vanishing of target compensation pressure reduction (the front and back pressure reduction of fixed restriction portion 12) is from the flow also vanishing of Main Hydraulic Pump 3 to the hydraulic oil of rotary fluid pressure device 9 supplies.
In addition, through bidirectional transducer 37 is set at power generation mode, electric rotating machinery apparatus 8 plays a role as generator.Through the driving current that makes electromagnetic switching valve 17 is OFF, and electromagnetic switching valve 17 is maintained in its closed position.
Under this setting, through the fixed restriction portion 12 by pressure reduction before and after the flow control valve that has pressure compensation 13 controls, to the oily part of ejection of rotary fluid pressure device 9 supply Main Hydraulic Pumps 3, rotary fluid pressure device 9 rotates as oil hydraulic motor.Electric rotating machinery apparatus 8 rotates passively thus, generating.
That is, rotary fluid pressure device 9, electric rotating machinery apparatus 8, storage battery 36 are in following state.
Rotary fluid pressure device 9 ... Play a role as oil hydraulic motor
Electric rotating machinery apparatus 8 ... Play a role as generator
Storage battery 36 ... Charged state
Under this state, the supply that Main Hydraulic Pump 3 carries out simultaneously that control valve 7 requires to the hydraulic oil of the 5a～5g of actuator, promptly actuator drives and the charging of storage battery 36.
In addition,, therefore can avoid following situation:, supply with oil circuit through the 3rd hydraulic oil and supply with to control valve through the hydraulic oil to rotary fluid pressure device 9 supplies of fixed restriction portion 12 because electromagnetic switching valve 17 is in the closed position; Or, supply with oil circuit through the 3rd hydraulic oil and supply with to rotary fluid pressure device 9 via the hydraulic oil that the flow control valve that has pressure compensation 13 is supplied with to control valve.
The situation of～τ p-τ g＞τ 0～
Controller 35 judges that (the driving torque τ of actuator a) than under the high situation of pre-set threshold (switching torque) τ 0, makes bidirectional transducer 37 and electromagnetic switching valve 15 be following setting (step S140) to τ p-τ g in step S120.
(1) electromagnetic switching valve 15 → driving current ON
(2) bidirectional transducer 37 → drive pattern
(3) electromagnetic switching valve 17 → driving current ON
The driving current that makes electromagnetic switching valve 15 is ON, and electromagnetic switching valve 15 switches to the second place thus, and the second compression zone 13b is communicated with fuel tank, and it is invalid that the pressure compensation that has a flow control valve 13 of pressure compensation becomes.In this case; Compression zone 13a at the flow control valve that has pressure compensation 13; The pressure of the upstream side of fixed restriction portion 12 is through the closing direction action of the first signal oil circuit 21a to the second restriction 13y, and the flow control valve 13 that has pressure compensation moves with the mode that whole ejection oil of oil hydraulic pump 3 are supplied with control valve 7.
In addition, bidirectional transducer 37 is set at drive pattern, electric rotating machinery apparatus 8 plays a role as electric motor thus.The driving current that makes electromagnetic switching valve 17 is ON, and electromagnetic switching valve 17 switches to open position thus.
This is set down, and rotary fluid pressure device 9 is driven by electric rotating machinery apparatus 8, plays a role as oil hydraulic pump.Electromagnetic switching valve 17 switches to open position, and the ejection oil of rotary fluid pressure device 9 converges through the ejection oil of the 3rd hydraulic oil supply oil circuit and Main Hydraulic Pump 3 thus, supplies with to control valve 7.And under this was set, electric rotating machinery apparatus 8 actively rotated as electric motor.
That is, rotary fluid pressure device 9, electric rotating machinery apparatus 8, storage battery 36 are in following state.
Rotary fluid pressure device 9 ... Play a role as oil hydraulic pump
Electric rotating machinery apparatus 8 ... Play a role as electric motor
Storage battery 36 ... Discharge condition
Under this state, the ejection oil of the Main Hydraulic Pump 3 that is driven by motor 1 converges with the ejection oil of the rotary fluid pressure device 9 (auxiliary pump) that is driven by electric rotating machinery apparatus 8 (electric motor) based on the electric power of storage battery 36, supplies with to control valve 7.
Guarantee the essential torque (energy) (mixed power function) of driving of the 5a～5g of actuator thus through motor 2 and electric rotating machinery apparatus (electric motor).
Use Fig. 6 that the example of the action of this mode of execution is described.
Fig. 6 is expression based on the figure of the variation of the generating driving torque τ g of the variation of the driving torque τ a of actuator and main main pump driving torque τ p; (A)～(C2) of Fig. 6 is τ a≤τ 0 (being τ p-τ g≤τ 0), the situation of when playing a role (electric rotating machinery apparatus 8 as generator) when rotary fluid pressure device 9 plays a role as oil hydraulic motor; (D1)～(E2) of Fig. 6 is τ a＞τ 0 (being τ p-τ g＞τ 0), the situation of when playing a role (electric rotating machinery apparatus 8 as electric motor) when rotary fluid pressure device 9 plays a role as oil hydraulic pump.
(a) state A
Under the state A, operating handle 31 all is in non-operating state, and any main slide valve is not all operated in the control valve 7, and whole 5a～5g of actuator are in non-driven state.At this moment; Actuator's driving torque τ a (putting on the torque of the 5a～5g of actuator) is zero; The whole of the ejection of Main Hydraulic Pump 3 oil supply with to rotary fluid pressure device 9 via restriction 12, and main pump driving torque τ p becomes with the driving torque τ g that generates electricity and equates (τ p=τ g).
In addition, τ p-τ g is zero, and the target control pressure P c of Fig. 5 becomes maximum Pc0, and the front and back pressure reduction of controlling restriction 12 through the flow control valve 13 that has pressure compensation becomes Pc0.
That is, the charge volume of storage battery 36 seldom is in the situation of the state that needs charging, is controlled to
τp＝τg＝τ0
(state A).When value that the charge volume of storage battery 36 finishes near charging, the driving torque of generating electricity in view of the above τ g tails off, and therefore is controlled to
τp＝τg＜τ0。
(b) state A → B1 → B2
Joystick 31, during in the main slide valve of operation control valve 7 any one, then the part of the ejection of Main Hydraulic Pump 3 oil is to supplying with the 5x of driving execution mechanism with the corresponding parts of the 5a～5g of actuator (the following 5x of actuator that is called for ease).Under this situation, produce the driving torque τ a of actuator, correspondingly, main pump driving torque τ p increases.As a result, main pump driving torque τ p temporarily surpasses pre-set threshold (switching torque) τ 0 (state B1).
When main pump driving torque τ p surpasses threshold value (switching torque) τ 0 like this; τ p-τ g increases to and is worth accordingly than zero big τ a; Target control pressure P c reduces corresponding to the increase of τ p-τ g, is diminished too by the front and back pressure reduction of the fixed restriction portion 12 of the flow control valve that has pressure compensation 13 controls.
The flow of the hydraulic oil of supplying with to electric rotating machinery apparatus 9 thus (fixed restriction portion 12 pass through flow) reduces; The generating driving torque τ g of electric rotating machinery apparatus 8 reduces; Because the minimizing of this generating driving torque τ g; The main pump driving torque τ p that was once increasing reduces too, gets back to the state (state B2) of τ p=τ 0.
That is, be controlled to
τp＝τa+τg
τp＝τ0。
(c) state B2 → C1 → C2
If the operation amount of operating handle 31 increases, or make the load of actuator press liter etc., the driving torque τ a of actuator increases, and then main pump driving torque τ p temporarily increases (state C1) above threshold value (switching torque) τ 0 once more in view of the above.When main pump driving torque τ p surpassed threshold value (switching torque) τ 0, τ p-τ g further increased to be worth accordingly with τ a, and the front and back pressure reduction of the fixed restriction portion 12 that is controlled by the flow control valve that has pressure compensation 13 becomes littler.
The flow of the hydraulic oil of supplying with to electric rotating machinery apparatus 9 thus (fixed restriction portion 12 pass through flow) reduces; The generating driving torque τ g of electric rotating machinery apparatus 8 reduces; Because the minimizing of this generating driving torque τ g; The main pump driving torque τ p that was once increasing reduces too, gets back to the state (state C2) of τ p=τ 0.
That is, be controlled to
τp＝τa+τg
τp＝τ0。
(d) state C2 → D1 → D2
Further increase above under the situation of threshold value (switching torque) τ 0 at the driving torque τ a of actuator, main pump driving torque τ p also surpasses threshold value (switching torque) τ 0 increase (state D1) in view of the above, and τ p-τ g also further increases to be worth accordingly with τ a.And, in this case, owing to be the situation that τ a surpasses τ 0, so τ p-τ g also increases above τ 0.
The result; In the process near τ 0 before τ p-τ g surpasses τ 0, diminish continuously at leisure towards zero with target control pressure P c (target compensation pressure reduction), the front and back pressure reduction of fixed restriction portion 12 diminishes too; The mode that the flow of the hydraulic oil of supplying with to rotary fluid pressure device 9 from Main Hydraulic Pump 3 reduces is gradually controlled; When becoming τ p-τ g=τ 0, Pc=0 is from the flow in fact vanishing of Main Hydraulic Pump 3 to the hydraulic oil of rotary fluid pressure device 9 supplies.
In addition; Surpass moment of τ 0 at τ p-τ g, in the flow chart of Fig. 4, the processing of step S140 is transferred in the processing of controller 35 from the processing of step S130; It is invalid that the pressure compensation that has a flow control valve 13 of pressure compensation becomes, and electromagnetic switching valve 17 switches to open position.And bidirectional transducer 37 switches to drive pattern, and electric rotating machinery apparatus 8 plays a role as electric motor, and rotary fluid pressure device 9 plays a role as oil hydraulic pump.
Play a role as oil hydraulic motor from rotary fluid pressure device 9 like this; The state that electric rotating machinery apparatus 8 plays a role as generator; Play a role as electric motor to electric rotating machinery apparatus 8; Before the state that rotary fluid pressure device 9 plays a role as oil hydraulic pump switches, carry out variable control with the mode that the flow of the hydraulic oil supplied with to rotary fluid pressure device 9 from oil hydraulic pump 3 reduces gradually, when switching flow almost the mode of vanishing control.As a result, do not produce the impact that causes by the flow change in the time of can being implemented in the operating state that switches rotary fluid pressure device 9 and electric rotating machinery apparatus 8 in the running engineering of engineering machinery, switch the operating state of rotary fluid pressure device 9 and electric rotating machinery apparatus 8 reposefully.In addition; When the operating state to rotary fluid pressure device 9 and electric rotating machinery apparatus 8 carried out opposite switching, the flow during with switching was almost nil, and the mode that the flow after the switching increases is gradually carried out variable control; Therefore; Likewise, do not produce the impact that causes by the flow change in the time of can being implemented in the operating state that switches rotary fluid pressure device 9 and electric rotating machinery apparatus 8 in the running engineering of engineering machinery, switch the operating state of rotary fluid pressure device 9 and electric rotating machinery apparatus 8 reposefully.
In addition; τ p-τ g surpasses after the τ 0; Controller 35 surpasses the driving torque of the amount control electric rotating machinery apparatus 8 that switches torque tau 0 according to main pump driving torque τ p; The ejection oil of Main Hydraulic Pump 3 converges with the ejection oil of the rotary fluid pressure device 9 (auxiliary pump) that is driven by electric rotating machinery apparatus 8 (electric motor), supplies with (mixed power function) to control valve 7.The main pump driving torque τ p that was once increasing thus reduces, and gets back to the state (state D2) of τ p=τ 0.
That is,, then be controlled to if rotary fluid pressure device 9 is made τ s as driving torque (auxiliary pump torque) note of oil hydraulic pump (auxiliary pump) when playing a role
τs＝τa-τ0
τp＝τ0。
(e) state D2 → E1 → E2
Surpass under threshold value (switching torque) the τ 0 further situation about increasing at the driving torque τ a of actuator; Main pump driving torque τ p temporarily increases (state E1); Also controller 35 surpasses the amount control electric rotating machinery apparatus 8 that switches torque tau 0 according to main pump driving torque τ p driving torque under this situation; The ejection oil of Main Hydraulic Pump 3 converges with the ejection oil of rotary fluid pressure device 9 (auxiliary pump); Supply with (mixed power function) to control valve 7, the main pump driving torque τ p that was therefore once increasing reduces, and gets back to the state (state E2) of τ p=τ 0.
That is, be controlled to
τs＝τa-τ0
τp＝τ0。
As this mode of execution of above-mentioned formation in, motor 1 constitutes main drive system with Main Hydraulic Pump 3, electric rotating machinery apparatus 8 constitutes secondary drive system with rotary fluid pressure device 9, forms respectively.But main drive system and secondary drive system need not be one, just supply with 6,11,16 of oil circuits through first～the 3rd hydraulic oil respectively and are connected by pipeline.Therefore, the degrees of freedom of the configuration of each drive system is high, can make the heating vibration configuration isolator as electric rotating machinery apparatus 8 with the motor 1 of electric component, because the raising of the lift-launch environment of electrical system, can realize the mixed power system of high reliability.
In addition; Play a role as oil hydraulic motor from rotary fluid pressure device 9; The state that electric rotating machinery apparatus 9 plays a role as generator plays a role as electric motor to electric rotating machinery apparatus 8, the switching of the state that rotary fluid pressure device 9 plays a role as oil hydraulic pump; Or the switching opposite with it; The almost nil state of flow with the hydraulic oil supplied with to rotary fluid pressure device 9 from Main Hydraulic Pump 3 carries out, and before can variable control switching or the flow after switching, therefore; Do not produce the impact that causes by the flow change in the time of can being implemented in the operating state that switches rotary fluid pressure device 9 and electric rotating machinery apparatus 8 in the operation process of engineering machinery, switch the operating state of rotary fluid pressure device 9 and electric rotating machinery apparatus 8 reposefully.Can bring into play better runnability thus.
Above mode of execution can carry out various changes in the scope of spirit of the present invention.For example, in the above-described embodiment, explained that engineering machinery is the situation of hydraulic shovel, but the present invention also goes for the engineering machinery (for example hydraulic hoist, wheel excavator etc.) beyond the hydraulic shovel, obtains same effect.
In addition, in the above-described embodiment, constitute the flow control valve 13 that has pressure compensation, supply with the valve of oil circuit 6 sides configuration and supply with two valves formations of valve that oil circuit 11 sides dispose at second hydraulic oil but also can be divided at first hydraulic oil by a valve.Have again, also can make the flow control valve 13 that has pressure compensation have the function of fixed restriction portion 12, constitute fixed restriction portion 12 and the flow control valve 13 that has pressure compensation by a valve.
In addition; Switch pressure compensation effective, invalid that electromagnetic switching valve 15 switches the flow control valve 13 that has pressure compensation in the above-mentioned mode of execution; But the piston apparatus to the compression zone 13b of the flow control valve that the has pressure compensation 13 side application of force also can be set, the pressure compensation through this piston apparatus being extended switch the flow control valve 13 that has pressure compensation effective, invalid.
Have again; The driving torque detection device is made up of the torque sensor 34 of driving force on the running shaft 2 that oil hydraulic pump 3 transmits that is arranged at motor 1; But also can detect the ejection pressure and the tilt angle (capacity) of oil hydraulic pump 3, ejection pressure and tilt angle multiplied each other try to achieve the driving torque of oil hydraulic pump 3.
Description of reference numerals
1 motor
2 running shafts
3 Main Hydraulic Pumps
5a～5g actuator
6 first hydraulic oil are supplied with oil circuit
7 control valves
8 electric rotating machinery apparatus
9 rotary fluid pressure devices
11 second hydraulic oil are supplied with oil circuit
12 fixed restriction portions
13 have the flow control valve of pressure compensation
13a first compression zone
13b second compression zone
13c the 3rd compression zone
14 solenoid-operated proportional reduction valve
15 electromagnetic switching valves (second switching valve)
16 the 3rd hydraulic oil are supplied with oil circuit
17 electromagnetic switching valves (first switching valve)
The 21a first signal hydraulic oil circuit
21b secondary signal hydraulic circuit
31 operating handles
32 key switches
33 dynamic mode switches
34 torque sensors (driving torque detection device)
35 controllers
36 storage batteries (electric accumulator)
37 bidirectional transducers

Claims (6)

1. the mixed power system of an engineering machinery comprises:
Motor (1);
By this engine-driven Main Hydraulic Pump (3);
A plurality of actuators (5a～5g);
Control valve (7), it is supplied with oil circuit (6) through first hydraulic oil and is connected with above-mentioned Main Hydraulic Pump, and control is mobile to the hydraulic oil of above-mentioned a plurality of actuators supply;
Electric rotating machinery apparatus (8) with electric motor and generator both sides function;
Rotary fluid pressure device (9) is connected with this electric rotating machinery apparatus,
When above-mentioned electric rotating machinery apparatus played a role as electric motor, this rotary fluid pressure device was driven by above-mentioned electric rotating machinery apparatus, play a role as oil hydraulic pump,
When above-mentioned electric rotating machinery apparatus played a role as generator, this rotary fluid pressure device played a role as oil hydraulic motor, drove above-mentioned electric rotating machinery apparatus;
Second hydraulic oil is supplied with oil circuit (11), above-mentioned rotary fluid pressure device and above-mentioned first hydraulic oil is supplied with oil circuit be connected;
Electric accumulator (36);
And bidirectional transducer (37), be connected between above-mentioned electric accumulator and the above-mentioned electric rotating machinery apparatus, control the handing-over of the electric power between above-mentioned electric accumulator and the above-mentioned electric rotating machinery apparatus, the mixed power system of this project machinery is characterised in that to have:
Flow control valve assembly (12; 13); It is disposed at, and above-mentioned first hydraulic oil is supplied with oil circuit and above-mentioned second hydraulic oil is supplied with oil circuit; When the ejection of above-mentioned Main Hydraulic Pump oil is supplied with oil circuit when above-mentioned rotary fluid pressure device is supplied with through above-mentioned second hydraulic oil, the ratio of flow that this flow control valve assembly control is supplied with to above-mentioned control valve and the flow supplied with to above-mentioned rotary fluid pressure device;
The 3rd hydraulic oil is supplied with oil circuit (16), above-mentioned rotary fluid pressure device is supplied with oil circuit in the downstream side of above-mentioned control valve for fluids device with above-mentioned first hydraulic oil be connected;
First switching valve to be opened/closed (17) is arranged at above-mentioned the 3rd hydraulic oil and supplies with oil circuit;
Driving torque detection device (34) detects the driving torque of above-mentioned oil hydraulic pump;
Control gear (35); It is according to the driving torque by the detected above-mentioned oil hydraulic pump of above-mentioned driving torque detection device; Judge whether the actuator's driving torque be used to drive above-mentioned a plurality of actuators is bigger than predefined switching torque; Above-mentioned actuator driving torque than the little situation of above-mentioned switching torque under; Above-mentioned first switching valve is switched to closed position; Control above-mentioned bidirectional transducer above-mentioned electric rotating machinery apparatus played a role as generator, and control above-mentioned flow control valve assembly with the mode that the flow that makes the hydraulic oil of supplying with to above-mentioned rotary fluid pressure device from above-mentioned Main Hydraulic Pump along with the increase of above-mentioned actuator driving torque reduces, above-mentioned actuator driving torque than the big situation of above-mentioned switching torque under; Above-mentioned first switching valve is switched to open position; So that the mode that above-mentioned electric rotating machinery apparatus plays a role as electric motor is controlled above-mentioned bidirectional transducer, above-mentioned rotary fluid pressure device is played a role as oil hydraulic pump, and control above-mentioned flow control valve assembly with the mode that the ejection oil of above-mentioned Main Hydraulic Pump is not supplied with above-mentioned rotary fluid pressure device.
2. the mixed power system of engineering machinery according to claim 1 is characterized in that,
Above-mentioned flow control valve assembly has:
Be arranged at above-mentioned second hydraulic oil and supply with the restriction (12) of oil circuit; And
The flow control valve (13) that has pressure compensation; It is disposed at, and above-mentioned first hydraulic oil is supplied with oil circuit and above-mentioned second hydraulic oil is supplied with oil circuit; And the ejection oil that has when above-mentioned Main Hydraulic Pump passes through above-mentioned second hydraulic oil supply oil circuit when above-mentioned rotary fluid pressure device is supplied with; The pressure compensation of the flow of the hydraulic oil that the front and back pressure reduction, control of controlling above-mentioned restriction is supplied with to above-mentioned rotary fluid pressure device; And when the above-mentioned control valve of operation, preferentially supply with based on the flow that requires flow to above-mentioned control valve than above-mentioned restriction
Above-mentioned control gear with when above-mentioned actuator driving torque than above-mentioned switching torque hour; Increase along with above-mentioned actuator driving torque; The front and back pressure reduction of above-mentioned restriction reduces, and the mode that the flow of the hydraulic oil of supplying with to above-mentioned rotary fluid pressure device reduces is controlled the above-mentioned flow control valve that has pressure compensation.
3. the mixed power system of engineering machinery according to claim 2 is characterized in that,
The above-mentioned flow control valve that has pressure compensation has: when above-mentioned rotary fluid pressure device plays a role as oil hydraulic motor, the hydraulic pressure of the upstream side of above-mentioned restriction through the first signal hydraulic oil circuit (21a) import to first compression zone (13a) of opening the direction action; And second compression zone (21b) to the action of throttling direction that imports through secondary signal hydraulic circuit (21b) of the hydraulic pressure in the downstream side of above-mentioned restriction,
Above-mentioned control gear has second switching valve (15) that is disposed at above-mentioned secondary signal hydraulic circuit and imports the controller (35) from the signal of above-mentioned driving torque detection device,
Above-mentioned controller in above-mentioned actuator driving torque than above-mentioned switching torque hour; Second switching valve is switched to the primary importance of hydraulic pressure that imports the downstream side of above-mentioned restriction to above-mentioned second compression zone; Make the pressure compensation of the above-mentioned flow control valve that has a pressure compensation effective; When above-mentioned actuator driving torque is bigger than above-mentioned switching torque; Second switching valve is switched to the second place that above-mentioned second compression zone is communicated with fuel tank, make the pressure compensation of the above-mentioned flow control valve that has a pressure compensation invalid.
4. the mixed power system of engineering machinery according to claim 2 is characterized in that,
The above-mentioned flow control valve that has pressure compensation comprises: when above-mentioned rotary fluid pressure device plays a role as oil hydraulic motor, the hydraulic pressure of the upstream side of above-mentioned restriction through the first signal hydraulic oil circuit (21a) import to first compression zone (13a) of opening the direction action; Second compression zone (13b) that the hydraulic pressure in the downstream side of above-mentioned restriction imports through secondary signal hydraulic circuit (21b) to the action of throttling direction; And based on the 3rd compression zone (13c) of pilot pressure target setting compensation pressure reduction,
Above-mentioned control gear has to above-mentioned the 3rd compression zone to be exported the solenoid-operated proportional reduction valve of above-mentioned pilot pressure and imports the controller (35) from the signal of above-mentioned driving torque detection device,
Above-mentioned controller computing increase along with above-mentioned actuator driving torque and diminish, the target compensation pressure reduction of vanishing when above-mentioned actuator driving torque surpasses above-mentioned switching torque, and control above-mentioned solenoid-operated proportional reduction valve to obtain this target compensation pressure reduction.
5. the mixed power system of engineering machinery according to claim 1 is characterized in that,
Above-mentioned control gear obtain from the generating torque by the driving torque of the detected above-mentioned oil hydraulic pump of above-mentioned driving torque detection device, when deducting the above-mentioned electric rotating machinery apparatus that obtains by above-mentioned bidirectional transducer and playing a role as generator and torque value, with this torque value as above-mentioned actuator driving torque.
6. according to the mixed power system of any described engineering machinery in the claim 1～5, it is characterized in that,
Above-mentioned driving torque detection device is the torque sensor of driving force on the running shaft (2) that above-mentioned oil hydraulic pump transmits that is arranged at above-mentioned motor.
CN201180012529XA 2010-09-10 2011-09-05 Hybrid system of construction machine Pending CN102792031A (en)

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KR20130108061A (en) 2013-10-02

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