CN103382951B - The swivel gear of Work machine and this Work machine - Google Patents
The swivel gear of Work machine and this Work machine Download PDFInfo
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- CN103382951B CN103382951B CN201310158019.4A CN201310158019A CN103382951B CN 103382951 B CN103382951 B CN 103382951B CN 201310158019 A CN201310158019 A CN 201310158019A CN 103382951 B CN103382951 B CN 103382951B
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Abstract
There is provided by the discharge flow of oil hydraulic pump being suppressed for the minimal flow of oil hydraulic motor needs is to realize the reduction of energy ezpenditure and swivel gear and this Work machine by controlling at random to adjust to the pressure of the pressure oil of oil hydraulic motor supply the Work machine of the output of oil hydraulic motor.Be mounted in the swivel gear had on the Work machine of revolute function, possessing: oil hydraulic motor, exporting rotational torque; Variable capacity hydraulic pump, to oil hydraulic motor supply pressure oil, by control gear adjustment capacity; Control gear, the capacity of adjustment variable capacity hydraulic pump; Pressure-detecting device, detects the pressure of oil hydraulic pump, inputs to control gear; When turning round driving, control gear is by adjusting the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs.
Description
Technical field
The present invention relates to the swivel gear in the Work machine such as building machinery or farm machinery and this Work machine, particularly make consumed energy during revolution action become inferior limit and the swivel gear controlled energetically in the Work machine of rotational torque and this Work machine.
Background technique
Building machinery, such as hydraulic shovel possess oil hydraulic cylinder and oil hydraulic motor usually, described Driven by Hydraulic Cylinder swing arm and dipper, scraper bowl etc., described fluid motor-driven traverse platform, advance with crawler belt or vehicle.For these hydraulic actuators, respectively via the pressure oil that each hydraulic control valve of the control valve unit be mounted on traverse platform needs from oil hydraulic pump supply.
Such as, in patent documentation 1, record and " in order to provide the hydraulic shovel that can reduce the energy dissipation brought because of the residual flow in the relief valve in oil hydraulic motor unit as far as possible, be configured with the oil hydraulic motor HM in rotary motor unit 10 and a pair relief valve RF and safety check CK.Be opposite to the output shaft X of rotary motor HM and be provided with rotary speed detector 11, providing the electrical signal S1 corresponding with the rotational speed of rotary motor to operational part 14.Electrical signal S2 is given for this operational part.This signal is the output of the oil/electric transducer 17 of the exhaust end pressure P detecting rotary pump 4.It is two kinds that the flow instruction value Q to electromagnetic proportional valve 16 and the instruction to electromagnetic proportional valve 19 absorb torque value Tm that above-mentioned operational part exports.Rotary pump is rotary motor specialized configuration, controls rotary pump control device 5 by above-mentioned operational part, with become to the flow of rotary motor actual flow and relief valve RF need minimum discharge and flow Q.”。
In patent documentation 1, record the controlling method of following oil hydraulic pump: in order to suppress the residual capacity of the flow supplied from oil hydraulic pump to oil hydraulic motor of discharging via relief valve in the past, by detecting the speed of rotary motor and the minimal flow of needs can being supplied to oil hydraulic pump feedback.
Patent documentation 1: JP 2011-208790 publication.
, in patent documentation 1, detect due to the residual capacity in order to control flow and control the speed of rotary motor, so about not mentioned by the control of pressure of another method of the control as oil hydraulic pump.The Driving Torque of oil hydraulic motor and the capacity of oil hydraulic motor and proportional pressure.Thus, when oil hydraulic motor is fixed capacity, Driving Torque is determined by pressure.That is, the pressure of oil hydraulic motor brings greater impact to the cornering rate such as turning power and gyration time.But, in patent documentation 1, be the controlling method of the speed of special detection rotary motor, and not for the purpose of being controlled by pressure, so Driving Torque can not be controlled energetically.
Summary of the invention
Thus, the object of the invention is to make to solve above-mentioned problem, providing a kind of and can realize the reduction of energy ezpenditure and swivel gear and this Work machine by controlling at random to adjust to the pressure of the pressure oil of oil hydraulic motor supply the Work machine of the output of oil hydraulic motor by being suppressed by the discharge flow of oil hydraulic pump the minimal flow needed for oil hydraulic motor.
In order to solve above-mentioned problem, the swivel gear of Work machine for the present invention, is be mounted in the swivel gear had on the Work machine of revolute function, possesses: oil hydraulic motor, exports rotational torque; Variable capacity hydraulic pump, to above-mentioned oil hydraulic motor supply pressure oil, can adjust capacity by control gear; Control gear, adjusts the capacity of above-mentioned variable capacity hydraulic pump; Pressure-detecting device, detects the pressure of oil hydraulic pump, inputs to control gear; When turning round driving, control gear is by adjusting the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs.
In addition, it is characterized in that, when turning round driving, control gear is in order to adjust the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, when the pressure of oil hydraulic pump is higher than above-mentioned goal pressure, the capacity of oil hydraulic pump is reduced, when the pressure of oil hydraulic pump is lower than above-mentioned goal pressure, the capacity of oil hydraulic pump is increased.
And then it is characterized in that, goal pressure changes according to Driving Torque.
Then, it is characterized in that, above-mentioned oil hydraulic pump is passed through engine-driving.
On the other hand, above-mentioned oil hydraulic pump is driven by electromotor, and the rotation of control gear adjustment electromotor; When turning round driving, control gear is by adjusting the rotation of electromotor to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs.
In addition, as with another invention solving above-mentioned problem, Work machine carries the Work machine of revolute function, possesses: oil hydraulic motor, exports rotational torque; Variable capacity hydraulic pump, to above-mentioned oil hydraulic motor supply pressure oil, can adjust capacity by control gear; Control gear, adjusts the capacity of above-mentioned variable capacity hydraulic pump; Pressure-detecting device, detects the pressure of oil hydraulic pump, inputs to control gear; When turning round driving, control gear is by adjusting the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs.
According to swivel gear for the present invention, because oil hydraulic pump corresponds to the rotational speed of oil hydraulic motor and the minimal flow become required for goal pressure that only spues, so can provide energy efficiency extraordinary swivel gear.In addition, the Work machine being equipped with this swivel gear can reduce fuel consumption.In addition, by the amount of the energy reduced in swivel gear being used in other actuators, the operating efficiency of Work machine can be made to improve.And then, possessing the parameter of goal pressure as control gear, by parameter being changed according to situation, the Driving Torque of oil hydraulic motor can be adjusted, so the torque corresponding with the request of the operator of Work machine can be exported, the operability of Work machine can be made to improve.
Accompanying drawing explanation
Fig. 1 is the 1st embodiment of swivel gear for the present invention, is the hydraulic circuit diagram possessed the special rotary pump of upper rotation rotary actuation and the hydraulic shovel of oil hydraulic motor.
Fig. 2 is the 1st embodiment of swivel gear for the present invention, is the structural drawing of control gear.
Fig. 3 is the 1st embodiment of swivel gear for the present invention, is the flow chart that action is described.
Fig. 4 is the 2nd embodiment of swivel gear for the present invention, is the hydraulic circuit diagram possessed the special rotary pump of upper rotation rotary actuation and the hydraulic shovel of oil hydraulic motor.
Fig. 5 is the 2nd embodiment of swivel gear for the present invention, is the structural drawing of control gear.
Fig. 6 represents characteristic during rotation motion-acceleration of the hydraulic shovel applying controlling method of the present invention.
Embodiment
Fig. 1 ~ Fig. 6 is used to be described embodiments of the present invention.
［ embodiment 1 ］
First, Fig. 1 ~ Fig. 3 and Fig. 6 is used to be described the 1st embodiment for the present invention.
Fig. 1 is the hydraulic circuit diagram possessed the special rotary pump of upper rotation rotary actuation and the hydraulic shovel of oil hydraulic motor.In FIG, reference character 2 is the motors (prime mover) consuming the fossil fuels such as gasoline, produce rotary driving force on output shaft Y, and this axle Y is configured with the rotary pump (oil hydraulic pump) 4 of variable capacity type.
In the output of rotary pump 4, be provided with oil/electric transducer 24, via distribution 22, pressure signal P transmitted to control gear 16.On above-mentioned rotary pump 4, be provided with the rotary pump control device 6 controlling flow.
Reference character 6 is rotary pump control devices, is applied hydraulic control signal via pressure oil signaling line by from flow control electromagnetic proportional valve 28.
Reference character 8 is switching control valve of revolution, is applied in operation pressure signal SG1, the SG2 from pilot valve 14.For this pilot valve 14 never illustrated gear pump supply pressure oil-source.In addition, the switching control valve 8 of above-mentioned revolution forms the 1st switching control valve of the present invention.
Reference character 10 is rotary motor unit, and in this unit, being configured with can the rotary motor 12 of revolution of positive and negative rotation and a pair relief valve 30,31 and safety check 32,33.On the output shaft X of rotary motor 12, via diagram abridged retarder and diagram abridged small gear, rotatably combine top, diagram abridged traverse platform.
Above-mentioned pilot valve 14 is provided with angle transducer 20, measures the angle of inclination of the operate lever of pilot valve 14.Angle transducer is such as formed by rotary encoder.The angle information measured is exported to control gear 16 as signal Ang via circuit 18.
Control gear 16 is transfused to from the angle signal Ang of pilot valve 14 and the pressure signal P from oil/electric transducer 24, has the output signal Q for driving flow control electromagnetic proportional valve 28.More particularly, control gear 16 possess using the AD converter 40 of signal Ang and signal P from analogue signal to digital signal conversion, as store goal pressure and the storage of data that measures RAM42, to calculate according to signal Ang and signal P according to program be used for driving the central operation element (CPU) 44 of the signal Q of flow control electromagnetic proportional valve 28, store be used for making the ROM46 of the program of CPU44 action and using as the signal Q of the digital value calculated in order to flow control electromagnetic proportional valve 28 to the D/A converter 48 of analogue signal conversion.
Then, below the action of the hydraulic shovel as Work machine for the present invention with said structure is described.
As shown in Figure 3, first goal pressure is set as Pt, exports to control gear 16 from diagram abridged interface, be stored into (S2) in RAM42 by CPU44.
Rotary pump 4 is driven by motor 2.There is no the operate lever of operated pilot valve 14 when the operator of hydraulic shovel, when not carrying out any input, i.e. the angle of swing Ang(S4 of control gear 16 detection angles sensor 20).
If angle of swing is 0 degree, then by program, central operation element (CPU) 44 exports the signal to pump control device 6, becomes zero neighbouring (S6) to make the capacity of rotary pump 4.
And then if the operate lever of operator's operated pilot valve 14 of hydraulic shovel, then switching valve 8 corresponds to the direction of operating of operate lever and switches.Oil circuit rotary pump 4 and rotary motor 12 linked is open-minded.If the angle of swing Ang of angle transducer 20 is not 0 degree, then the pressure P (S8) that oil/electric transducer 24 detects measured by the central operation element (CPU) 44 of control gear 16.The pressure P measured stores by CPU44 in RAM42.
CPU44 carries out pressure oil judgement (S10).
If the pressure P of pressure oil is P>Pt, then CPU44 setting for the signal of pump control device 6 to cut down pump capacity (S12).
On the other hand, if the pressure P of pressure oil is P=Pt, then set signal for pump control device 6 not change pump capacity (S14).
And then, if the pressure P of pressure oil is P<Pt, then set signal for pump control device 6 to increase pump capacity (S16).
Above, carry out repetition until P value become for the purpose of value.
Thus, rotary motor 12 is supplied pressure oil by from rotary pump 4, exports rotational torque.By rotational torque, the hydraulic shovel as Work machine carries out revolution action.The discharge flow of rotary pump 4 and the rotation of rotary motor 12 roughly proportional, maintenance goal pressure Pt while, rotary motor 12 only spue rotate required for minimal flow.
Now, the relief valve 30,31 of rotary motor 12 owing to being set as with the pressure-operated higher than goal pressure Pt, so be failure to actuate.
Represent the pumping pressure (MPa) of rotary pump 4 of embodiment 1, the pump discharge flow (L/min) of this pump and rotary motor rotational speed (rpm) plotted curve relative to the starting time in figure 6.
First, the pumping pressure (MPa) of rotary pump 4 is rendered as roughly certain after 0.5sec.In contrast, the pump discharge flow (L/min) of this pump known and time roughly proportional increase.
If rotating speed rises, rotary pump 4 becomes maximum volume, then rotating speed becomes stabilized speed, and the pressure that spues of rotary pump 4 becomes the pressure corresponding with pivotal inertial force.
On the other hand, when the output of rotary pump 4 likely exceedes the maximum output of motor 2, the output being carried out rotary pump 4 by control gear 16 is controlled.Output due to rotary pump 4 is the discharge flow of rotary pump 4 and the product of pressure; if so discharge flow increases by the rising of rotating speed; near the maximum output being output into motor 2 of rotary pump 4; then goal pressure Pt reduces by control gear 16; control, with while the discharge flow guaranteeing rotary pump 4, make the output of rotary pump 4 be no more than the maximum output of motor 2.
If the input of the operate lever of pilot valve 14 is removed, become rotary decelerating state, then neutral position got back to by switching valve 8, and the oil circuit of rotary pump 4 and rotary motor 12 is cut off.By the volume controlled of rotary pump 4 near zero.Rotary motor 12 is rotated by pivotal inertial force, but owing to becoming loop circuit, so relief valve 30,31 action, becomes braking force, carries out pivotal deceleration.
Because rotary motor is metering pump, so its goal pressure is matched with the Driving Torque of needs and sets.Driving Torque and goal pressure proportional.
［ embodiment 2 ］
Then, Fig. 4 ~ Fig. 6 is used to be described embodiment 2.Compared with embodiment 1, be described centered by different points.
Fig. 4 is the hydraulic circuit diagram of the hydraulic shovel possessing special rotary pump and the revolution oil hydraulic motor driven by electromotor 52.In the diagram, reference character 52 connects battery etc. as power supply, the electromotor producing rotary driving force on output shaft Y, and this axle Y is configured with the rotary pump 54 of fixed capacity type.
Control gear 66 for the present invention be transfused in the angle signal Ang from pilot valve 64 and the pressure signal P this point from oil/electric transducer 74 similar to Example 1, but be directly attached on electromotor 52 different from embodiment 1 in this point.
In addition, control gear 66 is structure similarly to Example 1 having in AD converter 90, RAM92, central operation element (CPU) 94 and ROM96 this point.But, in the control gear 66 of embodiment 2, replace D/A converter and be provided with PWM power circuit 98.
Here, about the action of embodiment 2, the point different from embodiment 1 is described.The point different from embodiment 1 is the discharge flow being controlled fixed capacity pump by the rotational speed of electromotor.
In the flowchart of fig. 3, to S4, be identical flow process.Then, according to pressure signal P and goal pressure Pt, carry out PID process by the PID processor be mounted on ROM.Result after PID process duty cycle signals λ is exported.Export duty cycle signals λ be imported in PWM power circuit 98, export for electromotor rotation control unit signal as control electromotor rotate signal.
The rotating speed of rotary motor of the present invention increases point-blank as recorded in Fig. 6.
Above, by accompanying drawing, preferred embodiment of the present invention is illustrated, but if those skilled in the art, then certainly can carries out various distortion based on above-mentioned accompanying drawing and explanation.
Description of reference numerals
2 motors
4 rotary pumps (oil hydraulic pump)
6 rotary pump control devices
8 switching control valve
10 rotary motor unit
12 rotary motors
14 pilot valves
16 control gear
18 circuits
20 angle transducers
22 distributions
24 oil/electric transducer
28 flow control electromagnetic proportional valves
30,31 relief valves
32,33 safety check
40AD transducer
42RAM
44 central operation elements (CPU)
46ROM
48DA transducer
52 electromotors
54 rotary pumps
64 pilot valves
66 control gear
74 oil/electric transducer
90AD transducer
92RAM
94 central operation elements (CPU)
96ROM
98PWM power circuit
Ang signal
SG1, SG2 operation pressure signal
P pressure signal
Q signal.
Claims (5)
1. a swivel gear for Work machine, is be mounted in the swivel gear had on the Work machine of revolute function, it is characterized in that,
Possess:
Oil hydraulic motor, exports rotational torque;
Variable capacity hydraulic pump, to above-mentioned oil hydraulic motor supply pressure oil, can adjust capacity by control gear;
Control gear, adjusts the capacity of above-mentioned variable capacity hydraulic pump;
Pressure-detecting device, detects the pressure of oil hydraulic pump, inputs to control gear;
When turning round driving, control gear is by adjusting the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs
When turning round driving, control gear is in order to adjust the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, when the pressure of oil hydraulic pump is higher than above-mentioned goal pressure, the capacity of oil hydraulic pump is reduced, when the pressure of oil hydraulic pump is lower than above-mentioned goal pressure, the capacity of oil hydraulic pump is increased.
2. the swivel gear of Work machine as claimed in claim 1, is characterized in that,
Goal pressure changes according to Driving Torque.
3. the swivel gear of Work machine as claimed in claim 1, is characterized in that,
Above-mentioned oil hydraulic pump is passed through engine-driving.
4. the swivel gear of Work machine as claimed in claim 1, is characterized in that,
Above-mentioned oil hydraulic pump is driven by electromotor, and the rotation of control gear adjustment electromotor;
When turning round driving, control gear is by adjusting the rotation of electromotor to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs.
5. a Work machine, is the Work machine carrying revolute function, it is characterized in that,
Possess:
Oil hydraulic motor, exports rotational torque;
Variable capacity hydraulic pump, to above-mentioned oil hydraulic motor supply pressure oil, can adjust capacity by control gear;
Control gear, adjusts the capacity of above-mentioned variable capacity hydraulic pump;
Pressure-detecting device, detects the pressure of oil hydraulic pump, inputs to control gear;
When turning round driving, control gear is by adjusting the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, carry out the control of the pressure oil to oil hydraulic motor supply, thus the discharge flow of oil hydraulic pump is suppressed the minimal flow for oil hydraulic motor needs
When turning round driving, control gear is in order to adjust the capacity of oil hydraulic pump to make to become from the pressure of the oil hydraulic pump of pressure-detecting device input the goal pressure of regulation, when the pressure of oil hydraulic pump is higher than above-mentioned goal pressure, the capacity of oil hydraulic pump is reduced, when the pressure of oil hydraulic pump is lower than above-mentioned goal pressure, the capacity of oil hydraulic pump is increased.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012105529A JP2013234683A (en) | 2012-05-02 | 2012-05-02 | Turning device for work machine and the work machine |
| JP2012-105529 | 2012-05-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103382951A CN103382951A (en) | 2013-11-06 |
| CN103382951B true CN103382951B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310158019.4A Active CN103382951B (en) | 2012-05-02 | 2013-05-02 | The swivel gear of Work machine and this Work machine |
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| JP (1) | JP2013234683A (en) |
| CN (1) | CN103382951B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6955349B2 (en) * | 2017-03-13 | 2021-10-27 | 川崎重工業株式会社 | Hydraulic drive system for construction machinery |
| JP6923848B2 (en) * | 2017-12-04 | 2021-08-25 | 株式会社タダノ | Wire rope hook number determination device and mobile crane |
| GB2585752B (en) * | 2018-05-21 | 2022-10-12 | Kawasaki Heavy Ind Ltd | Hydraulic drive system of construction machine |
| JP7205264B2 (en) * | 2019-02-05 | 2023-01-17 | コベルコ建機株式会社 | Slewing drive for working machine |
| JP2020172792A (en) | 2019-04-11 | 2020-10-22 | 株式会社小松製作所 | Work machine, and control method |
| CN110409538B (en) * | 2019-06-28 | 2021-10-29 | 三一重机有限公司 | Hydraulic excavator rotation brake control method and device, controller and storage medium |
| JP7236365B2 (en) * | 2019-09-20 | 2023-03-09 | 日立建機株式会社 | construction machinery |
| FI129749B (en) * | 2020-03-09 | 2022-08-15 | Ponsse Oyj | Mobile working machine, control system and method for controlling a mobile working machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4989951B2 (en) * | 2006-10-25 | 2012-08-01 | 株式会社小松製作所 | Construction vehicle |
| JP5271758B2 (en) * | 2009-03-11 | 2013-08-21 | 日立建機株式会社 | Hydraulic drive device for work machine |
| KR20110077061A (en) * | 2009-12-30 | 2011-07-07 | 볼보 컨스트럭션 이큅먼트 에이비 | Swing moter control method for excavator in open center hydraulic control system |
| JP5676130B2 (en) * | 2010-03-30 | 2015-02-25 | 東芝機械株式会社 | Control method of hydraulic pump and construction machine using the same |
| JP2012002261A (en) * | 2010-06-15 | 2012-01-05 | Daikin Industries Ltd | Hydraulic device for driving rotating body |
| CN102893035B (en) * | 2010-06-24 | 2015-09-30 | 沃尔沃建造设备有限公司 | For the hydraulic pump control of building machinery |
| CN101973271B (en) * | 2010-10-28 | 2013-12-11 | 湖南山河智能机械股份有限公司 | Driving and energy recovery system for hybrid excavator |
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| JP2013234683A (en) | 2013-11-21 |
| CN103382951A (en) | 2013-11-06 |
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