JP5180518B2 - Construction machine with hybrid drive - Google Patents

Description

  The present invention relates to a hybrid drive device in a construction machine such as a hydraulic excavator, and more particularly, to an energy storage device by making the energy recovered through the motor / generator equal to or higher than the energy consumed by the motor / generator. The present invention relates to a construction machine provided with a hybrid drive device that does not require replenishment charging.

  In recent years, various types of hybrid drive devices have been proposed for construction machines such as hydraulic excavators as measures to improve the working environment such as exhaust gas and noise. Among them, high-efficiency energy recovery can be performed by utilizing the features of the hybrid. An energy regeneration device for a construction machine has been proposed (Patent Document 1).

Paragraphs 0002 to 0004 of Patent Document 1 describe a conventional non-hybrid, that is, a construction machine having no motor / generator as follows. That is,
“For example, a hydraulic excavator, which is one of construction machines, includes a lower traveling body, an upper swinging body that is pivotably provided on the lower traveling body, and a boom, an arm, And an articulated front working machine including a bucket.
The lower traveling body, the upper swing body, and the front device constitute a driven member of a hydraulic drive device provided in the hydraulic excavator. This hydraulic drive apparatus generally includes a prime mover such as an engine, at least one hydraulic pump driven by the prime mover, and a boom hydraulic cylinder that drives the boom, arm, and bucket by pressure oil discharged from the hydraulic pump. The hydraulic cylinder for the arm, the hydraulic cylinder for the bucket, the traveling hydraulic motor for running the lower traveling body by the pressure oil discharged from the hydraulic pump, and the upper swing body by the pressure oil discharged from the hydraulic pump. A plurality of hydraulic actuators including a turning hydraulic motor for turning the lower traveling body and operating means for operating each of the plurality of hydraulic actuators are provided.
Here, among the driven members of the hydraulic actuator, for example, the upper revolving body that is swiveled by a swiveling hydraulic motor and the boom that is driven upside down by a boom hydraulic cylinder are large objects, and their own weights are compared. Heavy. Therefore, the upper swinging body that is swiveling has a large inertial kinetic energy, and the boom that falls by its own weight releases a large amount of potential energy. The potential energy of the boom has been discarded as a throttle loss when hydraulic fluid flows in the hydraulic circuit of the hydraulic drive device. "
Then, in paragraphs 0005 to 0010, regarding the conventional construction machine of the hybrid system,
“Therefore, in order to collect and effectively use this, the prior arts described in, for example, Japanese Patent Application Laid-Open No. 2000-136806 and Japanese Patent Application Laid-Open No. 11-343642 have been proposed (Patent Documents 2 and 3).
In the energy recovery device described in Japanese Patent Laid-Open No. 2000-136806, the pump motor is driven by the oil discharged from the boom hydraulic cylinder or the swing hydraulic motor, and the power generated by driving the generator with this power is stored in the battery. The power of the battery is used for regeneration, so that the inertial kinetic energy at the time of turning and the potential energy at the time of lowering the boom can be collected and used effectively.
In the on-vehicle battery-driven work machine described in Japanese Patent Application Laid-Open No. 11-343642, an electric motor (cum generator) is used as a turning actuator and a boom actuator, so that the inertial kinetic energy during turning and the boom lowering can be reduced. The potential energy is stored in the in-vehicle battery as electric power.
However, the following problems exist in the above-described conventional technology.
In the prior art described in Japanese Patent Laid-Open No. 2000-136806, the recovery efficiency is low because the electric motor is driven by the hydraulic pump motor in order to recover the energy of the pressure oil. Moreover, since it is necessary to separately provide a hydraulic device for energy recovery, the device becomes complicated. In particular, it is difficult to control metering of discharged oil. As a result, practical application is difficult.
In the prior art described in Japanese Patent Application Laid-Open No. 11-343642, all actuators are electric motors. However, at present, it is difficult to obtain performance equivalent to that of current hydraulic actuators with electric motors. It is practically impossible to make a motor. In particular, if an electric motor is used as a boom drive actuator, a reduction gear is required to obtain a large driving force, resulting in an increase in the size of the drive system. As a result, practical application is difficult. "
It points out the problems of Patent Document 2 and Patent Document 3.

  And as what solves such a problem, in patent document 1, the Example shown by FIG. 4, FIG. 5 of this application is proposed.

  That is, FIG. 4 is a general view of a general hydraulic excavator. In this figure, this hydraulic excavator includes a lower traveling body 1 provided with left and right endless track crawlers 1A as traveling means, an upper revolving body 2 provided on the lower traveling body 1 so as to be able to swivel, and this upper turning body. An articulated hydraulic working machine (front device) 6 comprising a boom 3, an arm 4, and a bucket 5 and a boom 3, an arm 4, a bucket 5, an upper swing body 2, a left A boom hydraulic cylinder 7, an arm hydraulic cylinder 8, a bucket hydraulic cylinder 9, a swing hydraulic motor 10, and left / right traveling hydraulic motors 11 </ b> L and 11 </ b> R that respectively drive the right endless track crawler 1 </ b> A are provided.

  FIG. 5 is a control block diagram of the energy regeneration device proposed by Patent Document 1. In FIG. In the figure, the hydraulic drive device of the hydraulic excavator includes the boom hydraulic cylinder 7, the arm hydraulic cylinder 8, the bucket hydraulic cylinder 9, the turning hydraulic motor 10, and the left and right traveling hydraulic motors 11L and 11R. The engine 12 as a prime mover, the hydraulic pump 13 directly driven by the engine 12, and the boom hydraulic cylinder 7, the arm hydraulic cylinder 8, the bucket hydraulic cylinder 9, and the swing hydraulic pressure discharged from the hydraulic pump 13 Boom control valve, arm control valve, bucket control valve, swivel control valve, left / right traveling control for controlling the flow of pressure oil supplied to the motor 10 and left / right traveling hydraulic motors 11L, 11R, respectively Control valve device 14 equipped with a control valve and the like, and operation A bar 15, the operation signal from the control lever unit 15 to enter, and a controller 16 that generates and outputs a drive signal of the corresponding control valve. The energy regeneration device according to the present embodiment is mechanically coupled directly to the turning hydraulic motor 10, and includes an electric / generator 17 that performs driving assistance or driven (power generation) of the turning hydraulic motor 10, and AC / DC conversion. Electricity / generator control device (inverter / converter) 18 for controlling the electric motor / generator 17 and the exchange of electric energy with the electric motor / generator control device. And a power storage device (battery) 19 for performing the above.

  In the above-described configuration, for example, the operator operates the turning operation lever (not shown) of the operation lever device 15 in the right turning direction so as to cause the upper turning body 2 of the hydraulic excavator to turn right to perform excavation and loading work. When operated in the left turning direction (the same correspondence relationship in parentheses), a drive signal corresponding to the operation amount is generated from the controller 16 that has input the operation signal, and is output to the control valve device 14, and the control valve for turning is operated. Switching is performed in response to the drive signal, and the pressure oil from the hydraulic pump 13 is supplied from the turning control valve to the turning hydraulic motor 10 and is driven to rotate rightward (or leftward) to start turning. After that, for example, when the upper swing body 2 turns to some extent (for example, when the bucket 5 approaches the loading platform of the earth and sand transport dump truck), the operator performs the turning operation of the operation lever device 15 to stop the right (or left) turning operation. Return the lever (not shown) to the neutral position. In response, the drive signal from the controller 16 to the turning control valve becomes zero, the turning control valve returns to the neutral position, and the pressure oil supply from the hydraulic pump 13 to the turning hydraulic motor 10 is shut off. .

  At this time, the upper swing body 2 that is driven to swing by the swing hydraulic motor 10 is a large object and its own weight is relatively heavy. Therefore, the upper swing body 2 that performs the swing motion has a large inertia kinetic energy, Even if the pressure oil supply to the turning hydraulic motor 10 is interrupted, the turning movement is continued. In this embodiment using this, when the operation amount x falls within a predetermined range near 0 (neutral position), the turning hydraulic motor 10 is controlled by the motor / generator control device 18 based on the signal from the controller 16. Electricity is generated by an electric motor / generator 17 attached to the front. That is, in this case, the motor / generator 17 acts as a generator to generate power while generating torque -To (or torque To in the right turn direction) in the counterclockwise left turn direction to generate the inertial energy. This is converted into energy, and this electrical energy is efficiently stored (regenerated) in the power storage device 19. The electric energy stored in the power storage device 19 is supplied again to the motor / generator 17 when the upper revolving unit 2 is driven to turn, and is used to drive the turning hydraulic motor 10 as an auxiliary.

According to this embodiment, energy recovery can be performed with high efficiency when the upper swing body 2 is decelerated and stopped. At this time, based on the existing hydraulic construction machine, the electric motor / generator 17 is added to the turning hydraulic motor 10 of the hydraulic actuators 7, 8, 9, 10, 11 and 11R, and electric motor / generator control is performed. Since the device 18 and the power storage device 19 can be realized with a simple configuration that is added later, practical application is very easy. Furthermore, there is an effect that the fuel consumption per operation of the engine 12 can be improved and the engine exhaust gas amount can be reduced.
JP 2004-124381 A JP 2000-136808 A JP-A-11-343642

  However, in FIG. 5 described above, “when the operator returns the turning operation lever (not shown) of the operation lever device 15 to the neutral position in order to stop the right (or left) turning operation, the controller 16 responds accordingly. , The drive signal to the turning control valve becomes zero, the turning control valve returns to the neutral position, and the pressure oil supply from the hydraulic pump 13 to the turning hydraulic motor 10 is cut off. Since the upper swing body 2 that is driven to rotate by the motor 10 is a large object and its own weight is relatively heavy, the upper swing body 2 that performs the swing motion has a large inertia kinetic energy, Even if the pressure oil supply is cut off, the turning hydraulic motor 10 is continued from the turning control valve. The pressure oil supply is cut off, and therefore, a brake torque is generated in the turning hydraulic motor 10 during braking, and the energy corresponding thereto becomes heat, raising the temperature of the hydraulic fluid and promoting the deterioration of the hydraulic fluid. There is.

  Considering from the viewpoint of electric energy recovery, when the output torque when used as an electric motor and the input torque when used as a generator during regeneration are approximately the same, the efficiency during conversion and the turning hydraulic motor 10 In consideration of heat generation during braking, it is impossible to recover electrical energy equal to or greater than the electrical energy supplied at startup. Therefore, in this case, it is necessary to always perform auxiliary charging on the power storage device with another power generation device. This means that only about half of the inertial energy generated after the upper swing body 2 is started is converted into electric energy, and the other half becomes heat, and further energy is used to remove this heat. There is a problem that high energy saving efficiency cannot be expected. These problems are not limited to the upper revolving body drive device, but are basically applied to the combination of a motor / generator and wire rope provided when the boom is driven by a hydraulic cylinder and its potential energy is recovered as electric energy. Occurs as well.

  In view of the above-mentioned points, the present inventor variously studied energy recovery in a construction machine such as a hydraulic excavator and a configuration of a compact hydraulic drive unit, and as a result, an inertial body such as an upper swing body and a boom is started. The overall energy effect is obtained by reducing as much as possible the energy consumed on the hydraulic actuator side when the inertial body is braked or lowered, among the kinetic energy or potential energy (hereinafter referred to as inertial body energy) obtained by It was found that it was possible to recover automatically.

  Accordingly, an object of the present invention is to effectively regenerate inertial body energy of a relatively large inertial body such as a boom of an excavator or an upper swinging body, and it is not necessary to replenish the power storage device for the motor / generator. An object of the present invention is to provide a construction machine provided with a hybrid drive device.

In order to achieve the above object, a construction machine equipped with a hybrid drive device according to the present invention includes:
For example multiple Bei the inertial body corresponding to the predetermined work,
A plurality of hydraulic actuators for driving each of the plurality of inertial bodies;
A hydraulic pump for supplying pressure oil to the plurality of hydraulic actuators;
A prime mover for driving the hydraulic pump;
A switching control valve unit that supplies pressure oil supplied from the hydraulic pump to each hydraulic actuator in response to a pressure oil signal from an operation valve;
A motor / generator for driving the corresponding inertial body in cooperation with at least one hydraulic actuator of the plurality of hydraulic actuators;
A driving force synthesis mechanism for synthesizing the driving force of the hydraulic actuator and the driving force of the motor / generator;
A servo driver for driving the motor / generator;
A capacitor for transferring power via the servo driver;
A control device for instructing torque generated to the servo driver in response to a pressure oil signal from the operation valve, and for switching the control mode of the servo driver to a power supply mode or a power generation mode;
Consumption for reducing the energy consumed on the hydraulic actuator side during braking of the inertial body of the inertial body energy acquired by activation of the inertial body driven in cooperation by the hydraulic actuator and the motor / generator Energy reduction means;
Bei to give a hybrid-type drive device consisting of,
The energy consumption reducing means is provided in a driving force combining mechanism that combines the driving force of the hydraulic actuator and the driving force of the motor / generator, and interrupts transmission of the driving force between the inertial body and the hydraulic actuator. The clutch means is provided .

  In this case, the energy consumption reducing means has a communication valve that is provided between the switching control valve unit and the hydraulic actuator that drives the inertial body and communicates the pressure oil supply / discharge port to the hydraulic actuator. Can do.

  In this case, the energy consumption reducing means is provided in a driving force synthesis mechanism that synthesizes the driving force of the hydraulic actuator and the driving force of the motor / generator, and the driving force between the inertial body and the hydraulic actuator. It is possible to provide a clutch means for interrupting transmission of the above.

  In this case, the control device can be configured to generate a control signal that enables the energy consumption reduction means.

  Furthermore, the at least one hydraulic actuator is a hydraulic motor, and the inertial body, which is driven in cooperation with the motor / generator, can be configured as an upper swing body of a construction machine.

  Furthermore, the driving force combining mechanism that combines the driving force of the hydraulic actuator and the driving force of the motor / generator can include a reduction gear mechanism.

  Furthermore, the construction machine is provided with setting means for setting a ratio between the driving force of at least one hydraulic actuator that drives the inertial body and the driving force of the motor / generator that drives in cooperation. be able to.

  In that case, the setting means can be configured as a relief valve built in the hydraulic motor.

  Furthermore, the construction machine is preliminarily equipped with an in-vehicle battery that supplies electric power necessary for various electrical devices during operation, and includes a charging unit that supplies electric power from the capacitor to the in-vehicle battery. Can do.

  A motor / generator that drives a plurality of corresponding inertial bodies in cooperation with a plurality of hydraulic actuators of the construction machine; and the capacitor is a servo provided corresponding to each of the motor / generators. It can be composed of a single capacitor connected to the driver.

  Furthermore, the plurality of hydraulic actuators can include at least a hydraulic motor that drives the upper swing body and a boom cylinder that drives the boom.

  Further, the construction machine is preliminarily equipped with an in-vehicle battery that supplies electric power necessary for various electrical devices during operation, and the capacitor converts the electric power from the in-vehicle battery into a converter / It can be configured to be charged by being boosted by an inverter.

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 1, the construction machine is provided with a plurality of inertia bodies corresponding to a predetermined work, and each of the plurality of inertia bodies is driven. A plurality of hydraulic actuators, a hydraulic pump that supplies pressure oil to the plurality of hydraulic actuators, a prime mover that drives the hydraulic pump, and pressure oil supplied from the hydraulic pump in response to a pressure oil signal from an operation valve A switching control valve unit to be supplied to each of the hydraulic actuators, a motor / generator for driving the corresponding inertial body in cooperation with at least one hydraulic actuator of the plurality of hydraulic actuators, and driving of the hydraulic actuators A driving force synthesizing mechanism that synthesizes the driving force of the motor / generator, a servo driver that drives the motor / generator, and the servo Capacitors that send and receive power via a driver and commands the generated torque to the servo driver in response to a pressure oil signal from the operation valve, and switches the control mode of the servo driver to the power supply mode or the power generation mode Energy consumed on the hydraulic actuator side during braking of the inertial body of the inertial body energy acquired by activation of the commanding control device and the inertial body driven in cooperation by the hydraulic actuator and the motor / generator Power consumption reduction means for reducing the amount of electric energy more than the electric energy supplied to the motor / generator is returned to the capacitor. It is possible to improve the operation rate as a construction machine. Moreover, since the energy consumption reducing means is provided, the fuel efficiency of the prime mover can be improved as a whole.

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 2, the energy consumption reducing means is provided between the switching control valve unit and a hydraulic actuator for driving the inertial body. In this case, the inertial body energy acquired by the inertial body is almost consumed as heat on the hydraulic actuator side at the time of braking because the communication valve is connected to the hydraulic oil supply / discharge port. Almost the entire amount can be supplied to the motor / generator side and stored in the capacitor as electric energy, and the same effect as that of the first aspect can be obtained by providing a relatively simple communication valve. .

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 3, the energy consumption reducing means combines the driving force of the hydraulic actuator and the driving force of the motor / generator. Since the clutch means is provided in the driving force synthesizing mechanism and cuts off the transmission of the driving force between the inertial body and the hydraulic actuator, the inertial body and the hydraulic actuator side are disconnected, and the inertial body energy during braking is The hydraulic actuator is not consumed at all, and the energy recovery efficiency can be further improved than the effect of the second aspect.

  According to the construction machine having the hybrid drive device of the present invention described in claim 4, the control device enables the energy consumption reducing means to be activated based on a pressure oil signal from the operation valve. Therefore, it is not necessary to prepare a separate signal for validation.

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 5, the at least one hydraulic actuator is a hydraulic motor, and the motor and the generator are driven in cooperation with each other. The inertia body is the upper swing body of the construction machine, has the largest inertia as the inertia body of the construction machine, and frequently performs rotational driving and rotational braking, thereby reducing energy consumption during braking of the hydraulic motor. The fuel saving effect of the prime mover is very large.

  According to the construction machine having the hybrid drive device of the present invention described in claim 6, the drive force combining mechanism that combines the drive force of the hydraulic actuator and the drive force of the motor / generator is a reduction gear mechanism. Since it is comprised, it can comprise so that the drive gear of the hydraulic motor provided in the drive side of the reduction gear mechanism may be shifted to the axial direction as a clutch means.

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 7, the construction machine is driven in cooperation with the driving force of at least one hydraulic actuator that drives the inertial body. Since the setting means for setting the ratio with the driving force of the motor / generator is provided, the ratio corresponding to the optimum state as the construction machine can be adjusted and set.

  According to the construction machine provided with the hybrid type drive device of the present invention described in claim 8, since the setting means is a relief valve built in the hydraulic hydraulic motor, the ratio can be obtained only by setting the relief pressure. Can be adjusted.

  According to the construction machine provided with the hybrid drive device of the present invention as set forth in claim 9, the construction machine is mounted in advance with a vehicle-mounted battery for supplying electric power necessary for various electrical devices during operation. Since the charging means for supplying electric power from the capacitor to the in-vehicle battery is provided, the construction machine as a whole can be an environment-friendly construction machine without wasting the prime mover fuel.

  According to the construction machine provided with the hybrid drive device of the present invention described in claim 10, the motor / generator for driving the corresponding inertial bodies in cooperation with the hydraulic actuators of the construction machine. The capacitor is composed of a single capacitor connected to a servo driver provided corresponding to each of the motors / generators, so there is no need to install a plurality of capacitors, and the facility as a construction machine Cost can be reduced. Furthermore, even when there is a combination of a hydraulic actuator and electric / generator that collects less or negative electrical energy, it can be leveled with other combinations with much recovered energy. The ratio of the driving force to the motor / generator can be set to various values depending on the situation. For example, when an electric motor / generator is combined with a hydraulic motor in a lower traveling body, energy consumed during driving other than during startup and braking (consumed by the hydraulic motor, electric motor / generator) cannot be recovered. Therefore, the amount of electricity stored in the recovered electric energy corresponding to the lower traveling body becomes negative as the traveling amount increases on the way, but the single capacitor recovers the electric energy that compensates for the negative from a large combination of other recovered electric energy. Therefore, it is possible to avoid a situation where the recovered electrical energy is insufficient for the entire construction machine.

  According to the construction machine provided with the hybrid drive device of the present invention as set forth in claim 11, the plurality of hydraulic actuators further include at least a hydraulic motor for driving the upper swing body and a boom cylinder for driving the boom. Since it is configured to include, the energy recovery effect for the two inertia bodies having the largest inertia body weight in the construction machine can be greatly increased.

  According to the construction machine provided with the hybrid type drive device of the present invention described in claim 12, the on-board battery that supplies the construction machine with electric power necessary for various electrical devices during operation in advance. Since the capacitor is configured to be charged by boosting the electric power from the in-vehicle battery by a converter / inverter after being mounted on a construction machine, the capacitor is charged from an empty state with an initial charge amount of zero. No need for other charging device.

  Hereinafter, examples based on the embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3 of the accompanying drawings. In the following description, since each component of the construction machine is referred to, the reference numerals shown in FIG. 4 are the corresponding components.

  FIG. 1 is a schematic front view of a hybrid turning drive unit HB that rotationally drives an upper turning body 2 to which the present invention is applied. In the figure, reference numeral 20 denotes a hydraulic motor, and 22 denotes an electric motor, which is mounted and fixed on the upper surface of the gear box 24. In the gear box 24, as shown by a broken line, a gear 24a attached to the output drive shaft of the hydraulic motor 20, a gear 24b attached to the output shaft of the electric motor 22, and an intermediate gear meshing with the gears 24a and 24b. A gear 24c is provided. In the driving state, the gears 24a and 24b are rotationally driven in the same direction, and accordingly, a driving force obtained by synthesizing the rotational driving force provided by the gears 24a and 24b is applied to the shaft 24d of the gear 24c. A gear 24e attached to the lower end of the shaft 24d meshes with an unillustrated planetary gear in the speed reduction mechanism 26, and a drive gear 28 is provided on the output side shaft. The drive gear 28 forms the upper swing body 2. It meshes with an internal gear (not shown).

  FIG. 2 is a control block diagram of the hybrid upper revolving structure driving device according to the present invention. In the figure, reference numeral 30 is a prime mover mounted on a hydraulic excavator and uses fossil fuel such as gasoline as a power source. As shown in the figure, the rotary output shaft 30a of the prime mover 30 is coupled to the rotary shafts of a variable displacement pump 32 and fixed displacement gear pumps 34 and 36.

  Reference numeral 38 denotes a switching control valve unit that supplies and discharges the pressure oil to and from the hydraulic actuators of the hydraulic excavator by the discharge line L1, and corresponds to the hydraulic motor 20 for driving the upper swing body 2 in FIG. Only the center bypass type switching control valve 38a is shown. Reference numeral 38b is a relief valve provided on the upstream side of the switching control valve 38a, and reference numeral 38c is a pressure generating means provided on the downstream side of the center bypass of the switching control valve 38a. Is connected to a discharge capacity adjusting mechanism 32a for controlling the angle of the swash plate 32b of the variable capacity pump 32.

  Reference numeral 48 is an operation valve for generating operation pressure signals Pa and Pb by operating the lever 48a by the operator of the construction machine. Pressure oil of a predetermined pressure is supplied from the pump 34 to the operation valve 48 via a line L2. The operation pressure signals Pa and Pb are converted into electric signals by the oil-electric converters 50 a and 50 b and are given to the control device 46.

  Reference numeral 40 denotes a hydraulic motor unit, which includes a hydraulic motor 20 including a pair of relief valves 20a and a communication valve 42. As shown in the figure, this communication valve 42 is connected to each cylinder port of the switching control valve 38a by pressure oil supply / discharge lines L7 and L8. A pressure oil signal S4 from the electric / hydraulic conversion valve 44 is given to the pressure receiving portion 42a of the communication valve 42. The electric / hydraulic conversion valve 44 is supplied with pressure oil at a predetermined pressure from the pump 36 via the line L5, and further receives a control signal S2 from the control device 46 via the line L4. A branch line for detecting the pressure of the lines L7 and L8 is connected to the control device 46, and the pressure of the branch line is formed as an electric signal by an oil-electric converter (not shown).

  Reference numeral 52 denotes a capacitor, which is connected to a power line of a servo driver 54 that supplies power to the three-phase electric motor 22. As schematically shown, the servo driver 54 supplies power via each phase winding PW so that the electric motor 22 generates a predetermined torque on the output shaft 22a via each phase winding PW. In addition, the electric motor 22 functions as a generator by the torque applied to the output shaft 22a from the outside, that is, from the inertial body side of the upper swing body 2, and has a function of regenerating electric power through each phase winding PW.

  The regenerated electric power is stored in the capacitor 52. An encoder 22b is coupled to the rotating shaft of the electric motor 22, and the rotational angle position, that is, the phase of the rotating shaft is always detected, and is supplied to the servo driver 54 via the line L3. It is used to calculate the current value flowing through The detected rotation angle position of the rotating shaft is given to the control device 46 as a signal S3. A control signal S <b> 1 is given from the control device 46 to the servo driver 54. The control signal S1 instructs the generated torque to the servo driver 54 and designates switching to the control mode corresponding to the two functions in the servo driver 54, that is, the power supply mode or the power generation mode.

  The capacitor 52 has a capacity of 100 kilojoules or more, and is normally not charged when mounted on a construction machine and is in a completely discharged state. After mounting, the capacitor 52 is charged from an existing in-vehicle battery 66 via a line L6. Is done. In this charging operation, the working voltage of the capacitor 52 is DC (direct current) 300 volts or more, while the in-vehicle battery 66 is usually 24 VDC, so the switch 62 is closed and the 24 VDC of the in-vehicle battery 66 is used once. The voltage is boosted after conversion to AC, and the capacitor 52 is charged after conversion to DC again. A converter / inverter 60 is used for the AC conversion, boosting, and DC conversion. This charging circuit is used when the capacitor 52 is mounted, and is not always required in the present invention. Reference numeral 64 is a generator / regulator, which is connected so as to always charge the in-vehicle battery 66.

  Next, the operation of the upper rotating body drive device for the construction machine shown in FIG. 2 will be described. The prime mover 30 is used as a power source, and drives the hydraulic pump 32 and the hydraulic pumps 34 and 36. The pressure oil discharged from the hydraulic pump 32 is guided to the switching control valve unit 38 by the line L1, but is returned to the reservoir T when the operator is not operating the operation valve (hydraulic pilot valve) 48.

  Now, when the operator operates the operation valve 48, the operation pressure signal Pa or Pb corresponding to the angle of the operation lever 48a acts on the switching control valve 38 to displace a spool (not shown) to hydraulically pressurize the hydraulic oil from the hydraulic pump 32. Guide to motor 20. At this time, the communication valve 42 is in the illustrated position because there is no pressure oil signal S4 of the shell of the electric / hydraulic conversion valve 44. Accordingly, the hydraulic motor 20 generates a required torque and drives the upper swing body 2 via the gear box 24 and the speed reduction mechanism 26.

  On the other hand, the operation pressure signal Pa or Pb from the operation valve 48 is converted into an electric signal by the oil / electric converter 50a or 50b and given to the control device 46. From the control device 46, a control signal S1 corresponding to the operation pressure signals Pa and Pb is given to the servo driver 54.

  The servo driver 54 supplies an optimal amount of electricity corresponding to the control signal S1 to the electric motor 22 and drives it in accordance with a processing program incorporated therein. The torque generated by the electric motor 22 is added to and combined with the torque of the hydraulic motor 20 in the gear box 24, and the upper swing body 2 is rotationally driven in cooperation with the hydraulic motor 20 via the speed reduction mechanism 26.

  Next, when the operator returns the lever 48a of the operation valve 48 to neutral in order to stop the upper swing body 2, the control device 46 detects that the signals from the oil / electric converters 50a and 50b have changed. Then, a control signal S1 generated in accordance with an arithmetic processing program incorporated therein is given to the servo driver 54. In response to this, the servo driver 54 controls the amount of electricity supplied to the electric motor 22 to perform a regenerative operation, and gives a control signal S2 to the electric / oil conversion valve 44. In response to this control signal S2, the electric / oil conversion valve 44 generates a pressure oil signal S4 and thereby operates the communication valve 42 to connect the two ports at the entrance of the hydraulic motor 20, so that the brake torque generated in the hydraulic motor 20 is increased. Thus, most of the inertial body energy of the upper swing body 2 is concentrated and supplied to the electric motor 22 that functions as a generator.

  Therefore, the electric motor 22 acts to generate electricity using a generator that is equal to or more than the amount of electricity consumed at the time of startup as a generator, and to quickly charge the capacitor 52 via the servo driver 54. Since the amount of charge at this time is equal to or greater than the amount of electricity required at the next start-up, no auxiliary charging facility for the capacitor 52 from the outside is required.

  The communication valve 42 functions as a brake on the hydraulic motor 20 side when the upper swing body 2 is braked, that is, when the electric motor 22 functions as a generator, by communicating the ports at the two entrances of the hydraulic motor 20. By reducing the amount of energy that is sometimes consumed as much as possible, the inertial body energy acquired by the upper swing body 2 by starting up is supplied to the generator as a result.

  In the present invention, means for performing such a function is defined as means for reducing energy consumption on the hydraulic motor (hydraulic actuator) side during braking. Therefore, the communication valve 42, the electric / oil conversion valve 44, and the control device 46 that provides the control signal S2 constitute the energy consumption reducing means. As another means for reducing energy consumption, instead of the communication valve 42, for example, by shifting the gear 24a of FIG. 1 in its axial direction to release the meshing state with the intermediate gear 24c, or A clutch means (such as an electromagnetic clutch or a fluid friction plate clutch) may be provided on the shaft of the hydraulic motor 20 so that the hydraulic motor 20 and the upper swing body 2 are mechanically disconnected during braking.

  2 shows an example in which the capacitor 52 is coupled to one servo driver 54 that controls the electric motor 22 that drives the upper swing body 2. However, as shown in FIG. It can be made to couple | bond with the servo driver provided corresponding to each actuator. Examples of the plurality of hydraulic actuators include a hydraulic motor for an upper swing body having a large inertial body weight, a cylinder for a boom, and a hydraulic motor for a lower traveling body.

  In this way, when the capacitor 52 is constituted by a single capacitor connected to a servo driver provided corresponding to each electric motor, it is not necessary to install a plurality of capacitors, and space and equipment as a construction machine. Cost can be reduced. Furthermore, even when there is a combination of a specific hydraulic actuator and electric motor that collects less or minus electrical energy, it is possible to equalize with other combinations that have more recovered energy. The ratio of the driving force with the electric motor can be set to various values depending on the situation.

  For example, when an electric motor is combined with a hydraulic motor in the lower traveling body, energy consumed during traveling other than during startup and braking (consumed by the hydraulic motor and the electric motor) cannot be recovered, so the lower traveling body The amount of power stored in the collected electric energy corresponding to is negative as the traveling amount increases on the way, but since the single capacitor recovers electric energy to compensate for the minus from a large combination of other collected electric energy, it is constructed. It is possible to avoid a situation in which the recovered electrical energy is insufficient for the entire machine.

  Further, it is preferable to supply the charged amount of the capacitor 52 to the in-vehicle battery 66 within a range where the charged amount of the capacitor 52 is increased and does not affect the normal operation of the electric motor that cooperates with each hydraulic actuator. FIG. 3B illustrates a case where the voltage divider / regulator 70 is provided between the capacitor 52 and the in-vehicle battery 66 via the switch 80.

  In the example of FIG. 2, the ratio of the respective driving forces when the hydraulic motor 20 and the electric motor 22 cooperate to start the upper swing body 2 has been described as half. The combination with the electric motor corresponding to the actuator need not be the same, and the ratio can be changed according to the situation. For example, the ratio of the driving force between the hydraulic motor for the lower traveling body and the electric motor attached thereto is increased on the electric motor side, and the consumption of fossil fuel and the generation of carbon dioxide by the prime mover during traveling are relatively reduced. be able to.

  As a means for setting this change in the ratio, the torque generated by the hydraulic motor 20 can be dealt with by adjusting the set pressure of the built-in relief valve 20a. The torque generated by the electric motor 22 can be dealt with by adjusting the maximum value of the current value flowing through the phase winding PW.

  As mentioned above, although the suitable Example based on embodiment of this invention was described with reference to drawings, if it is those skilled in the art, various deformation | transformation can be made based on these disclosure examples, but those deformation | transformation is a claim of this application. Needless to say, it is within the scope of the present invention as long as it includes the technical scope described in each claim of the scope.

It is a front general | schematic view of the hybrid type turning drive unit which rotationally drives an upper turning body to which this invention is applied. It is a control block diagram of the hybrid type upper turning body drive device by this invention. It is a block diagram which illustrates the expansion function of a capacitor in the present invention, (a) shows that a plurality of servo drivers are connected to a single capacitor, and (b) is connected to a servo driver. It shows charging a vehicle-mounted battery using a capacitor as a power source. It is a general-view figure of a general hydraulic excavator. It is a control block diagram of the conventional energy regeneration apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 20 Hydraulic motor 22 Electric motor 20a Built-in relief valve 22a Output shaft 24 Gear box 24a, 24b, 24c, 24e Gear 24d Shaft 26 Deceleration mechanism 28 Drive gear 30 Motor 32 Variable capacity pump 32a Discharge capacity adjustment mechanism 34, 36 Fixed Capacity type pump (gear pump)
38 switching control valve unit 38a switching control valve 38b relief valve 38c pressure generating means 40 hydraulic motor unit 42 communication valve 42a pressure receiving portion 44 electric / oil conversion valve 46 control device 48 operation valves 50a, 50b oil / electric converter 52 capacitor 54 servo Driver 60 Converter / Inverter 62 Switch 64 Generator / Regulator 66 Car battery 70 Voltage divider / Regulator HB Hybrid type slewing drive unit L1, L2, L3, L4, L5, L6, L7, L8 Line LS Load sensing line Pa, Pb Operation Pressure signal PW Phase winding S1, S2, S3, S4 Control signal

Claims (11)

For example multiple Bei the inertial body corresponding to the predetermined work,
A plurality of hydraulic actuators for driving each of the plurality of inertial bodies;
A hydraulic pump for supplying pressure oil to the plurality of hydraulic actuators;
A prime mover for driving the hydraulic pump;
A switching control valve unit that supplies pressure oil supplied from the hydraulic pump to each hydraulic actuator in response to a pressure oil signal from an operation valve;
A motor / generator for driving the corresponding inertial body in cooperation with at least one hydraulic actuator of the plurality of hydraulic actuators;
A driving force synthesis mechanism for synthesizing the driving force of the hydraulic actuator and the driving force of the motor / generator;
A servo driver for driving the motor / generator;
A capacitor for transferring power via the servo driver;
A control device for instructing torque generated to the servo driver in response to a pressure oil signal from the operation valve, and for switching the control mode of the servo driver to a power supply mode or a power generation mode;
Consumption for reducing the energy consumed on the hydraulic actuator side during braking of the inertial body of the inertial body energy acquired by activation of the inertial body driven in cooperation by the hydraulic actuator and the motor / generator Energy reduction means;
A construction machine provided with a hybrid type drive unit consisting of,
The energy consumption reducing means is provided in a driving force combining mechanism that combines the driving force of the hydraulic actuator and the driving force of the motor / generator, and interrupts transmission of the driving force between the inertial body and the hydraulic actuator. A construction machine provided with a hybrid drive device, characterized in that a clutch means is provided .   The energy consumption reducing means includes a communication valve that is provided between the switching control valve unit and a hydraulic actuator that drives the inertial body and communicates a pressure oil supply / discharge port to the hydraulic actuator. A construction machine comprising the hybrid drive device according to claim 1. 3. The construction machine having a hybrid drive device according to claim 1 or 2 , wherein the control device generates a control signal for enabling the energy consumption reduction means. Wherein said at least one hydraulic actuator is a hydraulic motor, one of the claims 1 to 3 and this and the electric-power generator the inertial body to drive in cooperation is characterized by a upper rotating body of the construction machine A construction machine provided with the hybrid type driving device according to claim 1. The construction machine provided with the hybrid type driving device according to claim 4 , wherein the driving force synthesis mechanism for synthesizing the driving force of the hydraulic actuator and the driving force of the motor / generator includes a reduction gear mechanism.   The construction machine is provided with setting means for setting a ratio between a driving force of at least one hydraulic actuator that drives the inertial body and a driving force of a motor / generator that drives in cooperation with the construction machine. A construction machine comprising the hybrid drive device according to claim 1. 7. The construction machine having a hybrid drive device according to claim 6 , wherein the setting means is a relief valve built in the hydraulic motor.   The construction machine is preliminarily equipped with an in-vehicle battery that supplies electric power necessary for various electrical devices during operation, and includes a charging unit that supplies electric power from the capacitor to the in-vehicle battery. A construction machine comprising the hybrid drive device according to claim 1.   A motor / generator for driving a plurality of corresponding inertial bodies in cooperation with a plurality of hydraulic actuators of the construction machine; and the capacitor is a servo driver provided corresponding to each of the motor / generators. The construction machine having a hybrid drive device according to claim 1, wherein the construction machine is a single capacitor to be connected.   2. The construction machine having a hybrid drive device according to claim 1, wherein the plurality of hydraulic actuators include at least a hydraulic motor that drives the upper swing body and a boom cylinder that drives the boom.   The construction machine is pre-installed with an in-vehicle battery that supplies electric power necessary for various electrical devices during operation, and after the capacitor is mounted on the construction machine, the electric power from the in-vehicle battery is converted by a converter / inverter. The construction machine provided with the hybrid drive device according to claim 1, wherein the construction machine is charged by being boosted.

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