JP3473043B2 - Drive control device for revolving superstructure - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a revolving structure which controls the operation of a revolving structure having a large inertia such as an upper revolving structure of a hydraulic excavator.

[0002]

2. Description of the Related Art A conventional technique will be described by taking an upper swing body of a hydraulic excavator (hereinafter simply referred to as a swing body) as an example.

In FIG. 10, reference numeral 1 is a hydraulic swing motor (hereinafter, simply referred to as a motor) for swing-driving a swing body, and 2 is a hydraulic pump as a pressure oil supply source for the motor 1.
This pump 2 and both-side conduits 3 that constitute the motor circuit 3
A hydraulic pilot type turning control valve 4 is provided between a and 3b, and the control valve 4 is operated between a neutral position a, a left turning position b and a right turning position c by operating a remote control valve (not shown). The geometrical operation of the motor 1 controls the rotation direction and speed of the motor 1.

The motor circuit 3 is also connected to a relief circuit 6 having a pair of relief valves 5 and 5. The motor pressure is set by these relief valves 5, 5.

Reference numerals 7 and 7 denote the motor 1 during inertial rotation of the motor 1.
A check valve 8 is a main relief valve for supplying oil to the inlet side of the.

[0006]

However, according to the above configuration, the motor pressure is only determined by the relief valves 5 and 5, so that the control method can be selected from among various control methods depending on the type of work and operator's preference. Could not be selected or changed.

Therefore, the present invention provides a drive control device for a revolving structure which can select and change various control methods with one type of circuit configuration.

[0008]

Means for Solving the Problems of claims 1 invention, the control and the hydraulic motor for driving the turning <br/> body, a hydraulic pump as a pressure oil supply source for the hydraulic motor, the operation of the hydraulic motor a control valve that, an operation detection means for detecting the operation direction and the operation amount of the control valve, the a bypass conduit communicating the discharge port of the hydraulic pump to the tank, the hydraulic motor is provided, et al is in this bypass line
And over other electroconductive controlling the inlet pressure磁比example type of pressure control for the bypass valve, and the control valve and the hydraulic motor forming
It is installed on both sides of the pipeline to control the outlet pressure of the hydraulic motor.
An electromagnetic proportional pressure control valve Gosuru is made comprises a controller for controlling the bypass valve and the pressure control valve on the basis of a detection signal of the operation detection means.

According to a second aspect of the present invention, the hydraulic pressure for driving the revolving structure.
The motor and the pressure oil supply source for this hydraulic motor
The controller that controls the operation of the hydraulic pump and the hydraulic motor.
The operation direction of the roll valve and this control valve
And an operation detecting means for detecting an operation amount, and the hydraulic pump.
The bypass line that connects the discharge port of the
It is installed in the Y-pass pipe to control the inlet pressure of the hydraulic motor.
Electromagnetic proportional pressure control bypass valve
A tank that connects the tank port of the trawl valve to the tank
Provided in the circuit to control the outlet pressure of the hydraulic motor
The electromagnetic proportional pressure control valve and the detection signal of the operation detection means
Control the bypass valve and pressure control valve
And a controller .

[0010] According to the above-described configuration, depending on the bypass valve model
Controls over data entry mouth pressure, motor outlet by the pressure control valve
The side pressure can be controlled .

Therefore, the bypass valve by the controller is applied.
Selecting a control pattern of fine pressure control valve, by changing, select the boot characteristics and deceleration and stopping characteristics of the motor (swing body) among the various, can change.

[0012]

An embodiment of the embodiment of the present invention will be described by Figures 1-9.

[0013] In the following embodiment, as an example an upper revolving body of the oil <br/> pressure excavator in accordance with the prior art description.

First Embodiment (see FIGS. 1 to 8)

[0015] 11 oil 圧Mo over data to drive a turning body, 12
Is a pump, and 13 is a motor circuit constituted by both side conduits 13a and 13b.
Between, and the electromagnetic proportional type turning control valve 14
Is provided, and the neutral position a of this control valve 14 is
The rotation direction and speed of the motor 11 are controlled by the switching action between the right turning position b and the left turning position c.

Further, both side conduits 13a of the motor circuit 13 are
Electromagnetic proportional pressure control valves 15 and 15 are provided at 13b, and an electromagnetic proportional pressure control bypass valve 18 is provided at a bypass line 17 that connects the discharge port of the pump 12 to the tank 16.

On the other hand, 19 is an operating body (for example, a potentiometer) for remotely operating the control valve 14 by operating the lever 19a, and an operating signal corresponding to the lever operating direction (X, Y direction) and operating amount of the operating body 19 is transmitted. It is input to the controller 20, and by this controller 20, the control valve 14, both pressure control valves 15, 15,
The bypass valve 18 is controlled.

That is, when the operating body 20 is operated in the X or Y direction, a control signal corresponding to the operation signal is sent from the controller 20 to the control valve 14 to cause the valve 14 to perform a stroke operation. The motor 11 tries to rotate at a speed (set speed) as shown in FIG. The motor setting speed can be selected variously.

Here, the characteristics of the start-up, steady-state operation, and deceleration / stop of the motor 11 are obtained by controlling the motor inlet / outlet pressure through the control of the bypass valve 18 and both pressure control valves 15 and 15 by the controller 20. , Various things can be obtained.

An example of this control method will be described below.

In the first example, a speed sensor 21 for detecting the actual speed of the motor 11 is provided.

Since the motor 11 remains stopped by the inertia of the revolving structure at the start of starting, the actual motor speed becomes 0 regardless of the operation of the operating body 19, and this actual speed is detected by the speed sensor 21. It is input to the controller 20.

The controller 20 compares the set speed determined by the operation amount of the operating body 19 with the actual speed to find the difference, and sets the bypass valve 18 at a set pressure so that the motor pressure increases corresponding to this speed difference. Send a rising signal. This action is similarly performed when turning in both left and right directions.

As a result, the motor pressure changes according to the difference between the set speed and the actual speed. Therefore, as shown in FIG. 3, the larger the operation amount of the operating body 19, the larger the motor starting pressure (starting torque).

Further, since the speed difference gradually decreases with acceleration after the start-up, the set pressure of the bypass valve 18 gradually decreases, and when the actual speed becomes equal to the set speed, the motor pressure becomes the minimum value and becomes steady. Shift to driving.

On the other hand, when the operation body 19 is decelerated for stopping (lever return operation), a control signal corresponding to the operation amount (operation amount from the neutral position) is transmitted from the controller 20 to the pressure on the motor outlet side. It is sent to the control valve 15 to perform a speed setting action.

Therefore, also at this time, the set pressure of the pressure control valve 15 on the motor outlet side is corresponding to the difference between the actual speed and the set speed (in this case, the actual speed is larger, so the set value is a negative value). Change, the brake torque changes.

According to this control method, the motor 11 is started and braked with a sufficient torque, and the torque is gradually reduced in accordance with the gradual decrease of the speed difference, so that the smooth starting and deceleration / stop operations are performed.

In the figure, 22 and 22 are pressure sensors for detecting the inlet / outlet pressure of the motor 11 for the feedback control by the controller 20.

Instead of the means for detecting the motor speed by the speed sensor 21, the pump pressure may be detected by the pressure sensor, and the controller 20 may calculate the motor speed from the detected pump pressure and motor pressure. Good.

As another example of the control method, as shown in FIG. 4, the motor flow rate linearly changes from 0 to the maximum flow rate determined by the operation amount of the operating body 19 after the starting operation of the operating body 19 ( A control method of changing the set value of the bypass valve 18 so that the acceleration becomes constant), or a control method of changing (gradually increasing) the motor flow rate toward the maximum flow rate at the time of start-up as shown in FIG. Further, as shown in FIG. 6, it is possible to adopt a control method in which the change in the motor flow rate is gentle immediately after the start of the engine and immediately before the maximum flow rate, and increases in the middle thereof.

On the other hand, as a deceleration / stop characteristic, as shown in FIG. 7, a control system in which the motor flow rate gradually decreases in a half stroke of the operating body 19, as shown in FIG. It is possible to adopt a control method in which the stop operation becomes gentle immediately after the start and immediately before the end and becomes large in the middle.

Therefore, the control program (ROM) of the controller 14 is selected in advance in accordance with the above-mentioned control system, or is replaced later, or a plurality of control systems are stored in advance, and these are selected by the selection means. By selecting a desired method from among the above, it is possible to freely select or change the control method according to the type of work and the needs of the operator.

Second embodiment (see FIG. 9)

[0035] To explain only the differences from the first embodiment, in the second embodiment, in addition to the bypass valve 18, the tank port and the tank 1 of the control valve 14
A pressure control valve 24 is provided in a tank circuit 23 that connects the pressure control valve 7 and the pressure control valve 24, and the pressure control valve 24 controls the brake torque at the time of deceleration / stop.

[0036] With this configuration, similarly to the first embodiment, to select the various control schemes, or may be changed.

[0037] Incidentally, the control valve 14 in the above embodiment, using a switching valve of the electromagnetic proportional, may be used switching valve of the hydraulic pilot type instead. Alternatively, a manual switching valve may be used instead of such a remotely operated valve.

Further, the present invention is not limited to the upper rotating body of a hydraulic excavator illustrated in the above embodiment can be applied to a slewing type working machine of the revolving body General.

[0039]

If according to the invention as described above, according to the present invention, motor bypass line for communicating the discharge port of the hydraulic pump to the tank
A pressure control bypass valve electrodeposition磁比example expression that controls the inlet pressure with Keru set, the control valve and the hydraulic motor
Both sides of the pipeline connecting the two (Claim 1) or the control valve
Tank circuit that connects the tank port of the tank and the tank (claim
A pressure control valve for controlling the motor outlet pressure to 2) provided by the controller, based on a detection signal from the operation detecting means configured that controls the bypass valve and the pressure control valve <br/> treasure hydraulic motor the startup characteristics and deceleration and stopping characteristics,
Selected from the species people according to such needs work type and an operator can be changed.

[Brief description of drawings]

It is a diagram illustrating an overall configuration of a drive control apparatus according swing structure to the first embodiment of the present invention; FIG.

FIG. 2 is a diagram showing a relationship between an operation amount of an operating body and a set motor speed in the same device.

FIG. 3 is a diagram showing the relationship between the elapsed time after the start of operation and the motor starting pressure in the first example of the motor starting method by the same device.

FIG. 4 is a diagram showing a relationship between elapsed time and motor flow rate in a second example of a motor starting method by the same device.

FIG. 5 is a diagram showing a relationship between elapsed time and motor flow rate in a third example of a motor starting method by the same device.

FIG. 6 is a diagram showing a relationship between elapsed time and motor flow rate in a fourth example of a motor starting method by the same device.

FIG. 7 is a diagram showing a relationship between elapsed time and motor flow rate in another example of the motor deceleration / stop method by the same device.

FIG. 8 is a diagram showing a relationship between elapsed time and motor flow rate in still another example of the motor deceleration / stop method by the same device.

9 is a diagram showing an overall configuration of a drive control apparatus for a motor according to a second embodiment of the present invention.

FIG. 10 is an overall configuration diagram showing a conventional technique.

[Explanation of symbols]

11 oil 圧Mo over data 12 hydraulic pump 14 control valve 20 controller 19 operation valve (operation detector) 17 bypass conduit 18 the pressure control bypass valve 15, 15 the pressure control valve 23 the tank circuit 24 pressure control valve

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) F15B 11/00-11/22 E02F 9/22

Claims (2)

(57) [Claims] A hydraulic motor for driving the 1. A swing body, a hydraulic pump as a pressure oil supply source for the hydraulic motor, the upper
A control valve for controlling the operation of the serial hydraulic motor,
An operation detection means for detecting the operation direction and the operation amount of the control valve, a bypass conduit communicating the discharge port of the hydraulic pump to the tank, this provided in the bypass conduit <br/> et been in the hydraulic motor a conductive磁比example type of pressure control bypass valve to control the inlet pressure, and the control valve
The hydraulic motor is installed on both sides of the conduit connecting to the hydraulic motor.
An electromagnetic proportional pressure control valve for controlling the outlet pressure of the motor, and the bypass valve based on the detection signal of the operation detecting means
A drive control device for a revolving structure, comprising: a controller that controls a pressure control valve . 2. A hydraulic motor for driving a revolving structure, and this oil.
A hydraulic pump as a pressure oil supply source for the pressure motor,
A control valve that controls the operation of the hydraulic motor,
Detects the operation direction and operation amount of this control valve
Operation detecting means and the discharge port of the hydraulic pump
And a bypass line that communicates with the
Electromagnetic proportional type that controls the inlet pressure of the hydraulic motor
Of the pressure control bypass valve and the control valve
It is provided in the tank circuit that connects the tank port and the tank
Electromagnetic proportional pressure that controls the outlet pressure of the hydraulic motor
Based on the control valve and the detection signal of the operation detecting means,
A bypass valve and a controller for controlling the pressure control valve.
A drive control device for a revolving structure, characterized by being provided .