JP5480564B2 - Fluid pressure circuit and construction machine having the same - Google Patents

Description

  The present invention relates to a fluid pressure circuit for supplying fluid to an actuator.

  Construction machines such as a hydraulic excavator and a wheel loader include hydraulic actuators such as a bucket cylinder and a boom cylinder in order to move the bucket and the boom, and a hydraulic circuit that supplies hydraulic oil to the hydraulic actuator and drives the hydraulic actuator. Various configurations are conceivable as a hydraulic circuit which is one of the fluid pressure circuits. For example, there is a hydraulic circuit described in Patent Document 1. The hydraulic circuit described in Patent Document 1 is configured to accumulate pressure in an accumulator using hydraulic fluid returned from a hydraulic actuator, and supply the accumulated hydraulic fluid to the hydraulic actuator for driving. .

JP 2007-40393 A

  The hydraulic circuit is provided with a control valve, and the control valve controls the pressure and flow rate of the hydraulic fluid flowing from the accumulator to the hydraulic actuator. In order to control the pressure and flow rate of the hydraulic oil, pressure loss occurs in the control valve. Therefore, if the hydraulic pressure stored in the accumulator is not higher than the pressure (use limit pressure) higher than the driving pressure required to move the hydraulic actuator, the hydraulic actuator can be moved only by the accumulator. Can not.

  However, in the hydraulic circuit, the hydraulic motor is driven by the return hydraulic oil from the hydraulic actuator, the hydraulic oil is discharged from the supply pump connected to the hydraulic motor, and the hydraulic oil is accumulated in the accumulator. . Therefore, it may not be possible to expect the accumulator to store a hydraulic pressure that exceeds the operating limit pressure, and even if a hydraulic pressure that exceeds the operating limit pressure can be stored, sufficient hydraulic pressure is not accumulated and the hydraulic pressure in the accumulator is immediately accumulated. However, it is conceivable that the accumulator cannot be fully utilized due to the use limit pressure. Even if a high hydraulic pressure can be accumulated in the accumulator, the hydraulic oil must be reduced to the driving pressure by a control valve or a pressure reducing valve. Therefore, energy loss due to decompression occurs and energy is wasted.

  Accordingly, an object of the present invention is to provide a fluid pressure circuit capable of driving an actuator even at a low operating pressure.

  Another object of the present invention is to provide a fluid pressure circuit with low energy loss.

The fluid pressure circuit of the present invention includes a variable displacement type driving motor that rotates at a rotational speed corresponding to the supply amount of the working fluid, and a supply pump that discharges the working fluid in an amount corresponding to the rotational speed of the driving motor. A control valve for controlling the flow rate of the working fluid flowing from the supply pump to the actuator, and adjusting the capacity of the drive motor according to the excess or deficiency of the working fluid flowing to the actuator via the control valve, A servo mechanism for controlling the rotational speed of the drive motor by adjusting the drive torque of the drive motor, a regenerative fluid pressure motor driven by the working fluid returned from the actuator, and the regenerative fluid pressure motor The variable capacity type regenerative pump that discharges the working fluid by rotating and the accumulated pressure by the working fluid discharged from the regenerative pump. And accumulator means for supplying to the drive motor, in which and a regenerative servo mechanism for changing the discharge amount of the regenerative pump according to the operation of the actuator.

According to the present invention, the working fluid having a fluid pressure necessary for driving the actuator can be flowed from the supply pump to the control valve by driving the drive motor, and the working fluid flows to the actuator via the control valve. The servomechanism can change the discharge amount of the supply pump according to the excess or deficiency. That is, if a working fluid capable of driving at least the driving motor can be supplied, the actuator can be driven regardless of the fluid pressure, and the actuator can be driven even with a fluid pressure source having a low supply pressure. it can. Further, in the present invention, since the working fluid having the necessary fluid pressure can be flowed from the supply pump to the control valve, it is not necessary to reduce the pressure of the working fluid discharged from the supply pump, thereby eliminating the energy loss caused by the pressure reduction. Can reduce energy waste. Also, by driving the regenerative fluid pressure motor with the working fluid returned from the actuator, discharging the working fluid from the regenerative pump to accumulate pressure in the accumulating means, and supplying the accumulated working fluid to the driving motor, The drive motor can be driven. Since the drive motor can be driven even at a fluid pressure lower than that of the actuator, the use limit pressure of the pressure accumulating means can be lowered. That is, since most of the accumulated working fluid can be used, regenerative energy can be used without waste.

  In the above invention, the servo mechanism detects an excess or deficiency of the working fluid based on a differential pressure between the discharge pressure of the supply pump and the outlet pressure of the control valve, and the capacity of the drive motor is determined according to the detection result. It is preferable that the rotational speed of the driving motor is controlled by adjusting and adjusting the driving torque of the driving motor.

  According to the above configuration, the discharge amount of the supply pump can be controlled by a so-called load sensing method.

  In the above invention, the excess or deficiency of the working fluid is detected by the fluid pressure in the center bypass passage of the control valve, the capacity of the driving motor is adjusted according to the detection result, and the driving torque of the driving motor is adjusted. Thus, it is preferable to control the rotational speed of the drive motor.

  According to the above configuration, the discharge amount of the supply pump can be controlled by a so-called negative control method.

  A construction machine according to the present invention includes any one of the fluid pressure circuits described above and the actuator. According to the said invention, the construction machine with the above effects | actions is realizable.

  According to the fluid pressure circuit of the present invention, the actuator can be driven even at a low operating pressure.

  Moreover, according to the fluid pressure circuit of the present invention, energy loss can be reduced.

1 is a circuit diagram of a hydraulic circuit according to a first embodiment of the present invention. It is a circuit diagram of the hydraulic circuit of 2nd Embodiment of this invention.

  Hereinafter, the hydraulic circuits 1 and 1A of the first and second embodiments of the fluid pressure circuit of the present invention will be described with reference to the drawings described above.

[Foil Loader]
A wheel loader, which is a construction machine, has a vehicle body that can travel, and a pair of booms are attached to the tip of the vehicle body so as to be rotatable in the vertical direction. Boom cylinders 11L and 11R, which will be described later, are installed between the pair of booms and the vehicle main body, and the booms turn up and down by extending and contracting the boom cylinders 11L and 11R. Yes. Moreover, the bucket which crawls earth and sand etc. is provided in the front-end | tip part of a boom so that inclination is possible. A bucket cylinder 21, which will be described later, is installed between the bucket and the vehicle body, and the bucket is tilted (tilted) by expanding and contracting the bucket cylinder 21.

  The wheel loader configured as described above can raise and lower the bucket by driving the boom cylinders 11L and 11R, and can tilt the bucket in the vertical direction by driving the bucket cylinder 21. The boom cylinders 11L and 11R and the bucket cylinder 21 are hydraulic actuators and are driven by supply of hydraulic oil. The wheel loader is provided with a hydraulic circuit 1 for supplying hydraulic oil to these three cylinders 11L, 11R, and 21.

<Hydraulic circuit of the first embodiment>
The hydraulic circuit 1 according to the first embodiment of the present invention shown in FIG. 1 includes a drive pump 2. The drive pump 2 is a so-called variable displacement hydraulic pump, and is connected to a prime mover 18 provided in a wheel loader, for example, an output shaft 18a of an engine, and discharges hydraulic oil in accordance with the rotation of the engine. Yes. A steering device 10 and a drive motor 4 are connected in parallel to the discharge port 2 a of the drive pump 2 via a first check valve 3. The steering device 10 is a so-called steering device, and is driven by operating oil supplied from the driving pump 2 by operating a steering handle (not shown). Note that the discharge capacity of the driving pump 2 is controlled by detecting the hydraulic pressure accumulated in the accumulator 44 described later. When the accumulated hydraulic pressure increases, that is, the hydraulic oil accumulated in the accumulator 44 is increased. When the amount increases, control is performed by an accumulator servo mechanism (not shown) so as to reduce the discharge capacity of the drive pump 2.

  The drive motor 4 is a variable capacity type hydraulic motor, for example, a swash plate type hydraulic motor, and the capacity can be adjusted by a servo mechanism 30 described later. By changing the capacity, the drive torque of the output shaft 4a changes, and the drive torque is changed. The number of rotations can be changed by changing. A supply pump 5 is connected to the output shaft 4 a of the drive motor 4. The supply pump 5 is a fixed displacement hydraulic pump, and discharges hydraulic oil in an amount corresponding to the rotational speed of the output shaft 4a. The supply pump 5 may be a variable displacement hydraulic pump. For example, a variable displacement hydraulic pump capable of changing the capacity in two stages can be applied. A boom control valve 6 and a bucket control valve 7 are connected in parallel to the discharge port 5 a of the supply pump 5, and a second check valve 8 is provided between the supply pump 5 and the boom control valve 6. A third check valve 9 is provided between the supply pump 5 and the bucket control valve 7. The second and third check valves 8 and 9 allow the flow of hydraulic oil from the supply pump 5 and block the flow in the reverse direction.

  The boom control valve 6 is a center-closed direction switching valve and is connected to the pair of boom cylinders 11L and 11R described above. The boom cylinders 11L and 11R have two hydraulic chambers 11a and 11b. The boom cylinders 11L and 11R extend by raising the boom by supplying the hydraulic oil to one hydraulic chamber 11a and returning the hydraulic oil from the other hydraulic chamber 11b. The hydraulic oil is supplied to the other hydraulic chamber 11b and the hydraulic oil in one hydraulic chamber 11a is returned to contract to lower the boom. In this way, the boom cylinders 11L and 11R can switch the raising and lowering of the boom by switching the supply destination of the hydraulic oil, and the boom control valve 6 can change the supply destination of the hydraulic oil by switching the direction in which the hydraulic oil flows. It is designed to switch.

  The boom control valve 6 includes a boom spool 12. The boom spool 12 can be moved between the neutral position 13 and the first to third offset positions 14, 15, and 16, and the direction in which the hydraulic oil flows can be switched by moving the boom spool 12. it can. When the boom spool 12 is in the neutral position 13, the flow of hydraulic oil to the hydraulic chambers 11a and 11b is cut off, and the boom is held at the current position. When the boom spool 12 is moved to the first offset position 14, the hydraulic oil flows into one hydraulic chamber 11a of the boom cylinders 11L and 11R, and the hydraulic oil in the other hydraulic chamber 11b is returned. This raises the boom. When the boom spool 12 is moved to the second offset position 15, the hydraulic oil flows into the other hydraulic chamber 11b of the boom cylinders 11L and 11R, and the hydraulic oil in one hydraulic chamber 11a is returned. This lowers the boom. When the boom spool 12 is moved to the third offset position 16, the hydraulic oil in one and the other hydraulic chambers 11a and 11b is returned. As a result, the boom can be moved freely. Thus, the boom spool 12 can switch the flow of the hydraulic oil according to the position, and the position of the boom spool 12 can be changed by the boom operation valve 17.

  The boom operation valve 17 is a so-called pilot valve, and includes a lever 17a. When the lever 17a is tilted rearward, a pilot pressure p1 that moves the boom spool 12 to the first offset position 14 is generated, The pilot pressure p2 that moves the boom spool 12 to the second offset position 15 is generated. The boom operation valve 17 generates pilot pressures p1 and p2 corresponding to the tilting amount of the lever 17a, and the boom spool 12 moves to a position corresponding to the generated pilot pressure. The opening degree of the boom spool 12 is controlled according to the position. Therefore, the opening degree of the boom spool 12 is controlled to an opening degree corresponding to the tilting amount of the lever 17a.

  The bucket control valve 7 is a so-called center-closed direction switching valve, and is connected to a bucket cylinder 21 that tilts the bucket. The bucket cylinder 21 has two hydraulic chambers 21a and 21b. The bucket cylinder 21 is extended by supplying hydraulic oil to one hydraulic chamber 21a and returning the hydraulic oil in the other hydraulic chamber 21b. The hydraulic oil is supplied to the hydraulic chamber 21b and the hydraulic oil in one hydraulic chamber 21a is returned to be contracted so that the bucket faces downward. Thus, the bucket cylinder 21 can switch the direction of the bucket by switching the supply destination of the hydraulic oil, and the bucket control valve 7 can switch the hydraulic oil by switching the direction in which the hydraulic oil flows. The supply destination is switched.

  The bucket control valve 7 includes a bucket spool 22. The bucket spool 22 can be moved between the neutral position 23 and the first to second offset positions 24 and 25, and the direction in which the hydraulic oil flows can be switched by moving the bucket spool 22. When the bucket spool 22 is in the neutral position 23, the flow of hydraulic oil to the hydraulic chambers 21a and 21b is interrupted, and the bucket is held at the current position. When the bucket spool 22 is moved to the first offset position 24, the hydraulic oil flows into one hydraulic chamber 21 a and the hydraulic oil in the other hydraulic chamber 21 b is returned to the tank 26. As a result, the bucket faces upward. Further, when the bucket spool 22 is moved to the second offset position 25, the hydraulic oil flows into the other hydraulic chamber 21b of the boom cylinders 11L and 11R, and the hydraulic oil in one hydraulic chamber 21a is returned. As a result, the bucket faces downward. Thus, the bucket spool 22 can switch the flow of the hydraulic oil according to the position, and the position of the bucket spool 22 can be changed by the bucket operation valve 27.

  The bucket operation valve 27 is a so-called pilot valve, and includes a lever 27a. When the lever 27a is tilted rearward, for example, a pilot pressure that moves the bucket spool 22 to the first offset position 24 is generated. When it is tilted, pilot pressure for moving the spool to the second offset position 25 is generated. Further, the bucket operation valve 27 generates a pilot pressure corresponding to the tilt amount of the lever 27a, and the bucket spool 22 moves to a position corresponding to the generated pilot pressure, and at that position. Accordingly, the opening degree of the bucket spool 22 is controlled. Therefore, the opening degree of the bucket spool 22 is controlled according to the tilting amount of the lever 27a.

  In the hydraulic circuit 1 configured in this way, hydraulic oil is discharged from the driving pump 2 when the prime mover 18 is driven. The driving pump 2 is connected to the accumulator 44 together with the driving motor 4, and the hydraulic oil discharged from the driving pump 2 is accumulated in the accumulator 44 and supplied to the driving motor 4. The drive motor 4 rotates the output shaft 4a when supplied with hydraulic oil. Thereby, the supply pump 5 discharges an amount of hydraulic oil corresponding to the rotational speed of the drive motor 4, and the hydraulic oil is guided to the boom control valve 6 and the bucket control valve 7.

  Here, when the lever 17a of the boom operation valve 17 is tilted, the opening degree of the boom spool 12 is opened by the opening degree corresponding to the tilting amount. As a result, the hydraulic oil is guided to the boom cylinders 11L and 11R, the boom is raised or lowered according to the tilting direction of the lever 17a, and the boom is moved at a speed according to the tilting amount of the lever 17a. Further, when the lever 27a of the bucket operation valve 27 is tilted, the bucket spool is opened by an opening corresponding to the tilt amount. As a result, the hydraulic oil is guided to the bucket cylinder 21, and the bucket moves upward or downward depending on the tilting direction of the lever 27a, and the bucket moves at a speed corresponding to the tilting amount of the lever 27a.

  The hydraulic circuit 1 configured in this way drives the drive motor 4 even at low oil pressure to discharge high-pressure hydraulic oil from the supply pump 5, and the boom cylinders 11L and 11R and the bucket cylinder are discharged by this high-pressure hydraulic oil. 21 can be driven. Therefore, if the hydraulic pressure necessary to drive the drive motor 4 is supplied to the drive motor 4, the boom cylinders 11L and 11R and the bucket cylinder 21 can be driven regardless of the hydraulic pressure. The required drive hydraulic pressure required to operate the drive motor 4 can increase the drive torque even with a low hydraulic pressure if the capacity of the drive motor 4 is increased, so the boom cylinders 11L and 11R and the bucket cylinder 21 are driven. It may be much lower than the operating pressure required to do this. Therefore, the use limit pressure of the pressure oil accumulated in the accumulator 44 can be suppressed.

  The hydraulic circuit 1 configured as described above further includes a servo mechanism 30 and a regeneration mechanism 40. The servo mechanism 30 adjusts the capacity of the drive motor 4 according to the excess or deficiency of the hydraulic oil flowing through the boom cylinders 11L and 11R and the bucket cylinder 21, and adjusts the drive torque, thereby adjusting the rotation speed of the drive motor 4. Control (so-called load sensing method). Further, the regenerative mechanism 40 regenerates energy using hydraulic oil returned from the boom cylinders 11L and 11R when the boom cylinders 11L and 11R are contracted. Hereinafter, the servo mechanism 30 and the regeneration mechanism 40 will be described.

[Servo mechanism]
The servo mechanism 30 basically includes a shuttle valve 31, a switching valve 32, and a servo piston 33. The shuttle valve 31 is connected to the boom control valve 6 and the bucket control valve 7, and the outlet pressures p3 and p4 are input from the boom control valve 6 and the bucket control valve 7, respectively. The outlet pressure p3 becomes the tank pressure when the boom spool 12 is at the neutral position 13 and the third offset position 16. The outlet pressure p4 is a tank pressure when the bucket spool 22 is in the neutral position 23. The shuttle valve 31 guides the higher one of the two input outlet pressures p3 and p4 to the switching valve 32 as a hydraulic signal p5.

  The switching valve 32 is a so-called directional switching valve, and is connected to the discharge port 5 a of the supply pump 5, the tank 26, and the servo piston 33. The switching valve 32 includes a spool 34. The spool 34 has a neutral position 35 and first and first positions corresponding to a differential pressure pd (= p6-p5) between the hydraulic signal p5 and the discharge pressure p6 of the supply pump 5. It moves between two offset positions 36 and 37.

  When the differential pressure pd is the set differential pressure, the spool 34 is in the neutral position 35 and the servo piston 33 is disconnected from the discharge port 5a of the supply pump 5 and the tank 26. Here, when the outlet pressure p3 is higher than the outlet pressure p4, the differential pressure pd is a pressure corresponding to a pressure loss caused according to the flow rate of the pressure oil passing through the throttle determined according to the opening degree of the boom spool 12. When the outlet pressure p3 is lower than the outlet pressure p4, the pressure corresponds to a pressure loss caused by the flow rate of the pressure oil passing through the throttle determined according to the opening degree of the bucket spool 22. Further, the set differential pressure is a decrease amount of the pressure of the pressure oil passing through the throttle determined according to the amount of tilt of the levers 17a and 27a. When the differential pressure pd reaches the set differential pressure, it means that the flow rate corresponding to the opening degree is output from the spools 12 and 22. When the differential pressure pd is smaller than the set differential pressure (that is, when the hydraulic pressure signal p5 is high), there is insufficient hydraulic fluid flowing through the boom cylinders 11L, 11R or the bucket cylinder 21, and conversely, the differential pressure pd is greater than the set differential pressure. This means that the hydraulic fluid flowing through the boom cylinders 11L and 11R or the bucket cylinder 21 is excessive (when the hydraulic pressure signal p5 is small).

  When the differential pressure pd is smaller than the set differential pressure, since the hydraulic oil is insufficient, the spool 34 moves to the first offset position 36 and the servo piston 33 is connected to the discharge port 5 a of the supply pump 5. Thereby, the pilot pressure p7 becomes equal to the discharge pressure p6 of the supply pump 5. When the differential pressure pd is larger than the set differential pressure, the hydraulic oil is excessively supplied, so that the spool 34 moves to the second offset position 37 and the servo piston 33 is connected to the tank 26.

  The servo piston 33 has a first pressure receiving surface 33a and a second pressure receiving surface 33b. The first pressure receiving surface 33 a is connected to the switching valve 32 and receives the pilot oil from the switching valve 32. The second pressure receiving surface 33 b is connected to the discharge port 5 a of the supply pump 5, and the hydraulic pressure received there is equal to the discharge pressure p <b> 6 of the supply pump 5. The second pressure receiving surface 33b that receives the hydraulic oil has a smaller area than the first pressure receiving surface 33a, and when the pilot pressure p7 is equal to the discharge pressure p6 of the supply pump 5, the servo piston 33 moves in the first direction ( Hereinafter, when the pilot pressure p7 is connected to the tank 26, the servo piston 33 moves in the second direction (hereinafter also simply referred to as “X2 direction”).

  The servo piston 33 is connected to the swash plate 4 b of the drive motor 4. The swash plate 4b is tilted in accordance with the movement of the servo piston 33, and the capacity of the drive motor 4 is changed by tilting the swash plate 4b. The capacity of the drive motor 4 is adjusted to a capacity corresponding to the inclination angle of the swash plate 4b.

  In the servo mechanism 30 configured as described above, when the lever 17a is tilted to move the boom spool 12 toward the first or second offset position 14, 15, the outlet pressure p3 of the boom control valve 6 is increased. This is inputted to the shuttle valve 31, and this outlet pressure p3 is given to the switching valve 32 as a hydraulic pressure signal p5. The spool 34 of the switching valve 32 moves toward one of the first and second offset positions 36 and 37 according to the differential pressure pd between the hydraulic pressure signal p5 (that is, the outlet pressure p3) and the discharge pressure p6.

  When the differential pressure pd is smaller than the set differential pressure, that is, when the flow rate of the hydraulic oil is insufficient, the spool 34 moves toward the first offset position 36. As a result, the pilot pressure p7 increases to the discharge pressure p6 of the pump 5, and the servo piston 33 moves in the x1 direction. As the servo piston 33 moves in the x1 direction, the tilt angle of the swash plate 4b increases, and the capacity of the drive motor 4 increases. Thereby, the drive torque of the output shaft 4a of the drive motor 4 is increased, and the rotational speed of the drive motor 4 is increased. As the rotational speed of the drive motor 4 increases, the discharge amount of the supply pump 5 increases, and the hydraulic oil guided to the boom control valve 6 increases.

  The rotation speed of the drive motor 4 increases until the differential pressure pd reaches the set differential pressure, that is, until the flow rate of the boom spool 12 reaches a flow rate corresponding to the opening degree of the boom spool 12. Thereby, the raising / lowering speed of a bucket is raised to the speed according to the amount of tilting of the lever 17a.

  Further, when the differential pressure pd is larger than the set differential pressure, that is, when the hydraulic oil is excessively supplied, the spool 34 moves toward the second offset position 37. As a result, the pilot pressure p7 is lowered and connected to the tank 26, and the servo piston 33 moves in the x2 direction. When the servo piston 33 moves in the x2 direction, the tilt angle of the swash plate 4b is reduced, and the capacity of the drive motor 4 is reduced. Thereby, the torque of the output shaft 4a of the drive motor 4 is reduced, and the rotational speed of the drive motor 4 is reduced. As the rotational speed of the drive motor 4 decreases, the discharge amount of the supply pump 5 decreases, and the hydraulic oil guided to the boom control valve 6 decreases.

  Thus, when the differential pressure pd is large, the discharge amount of the supply pump 5 can be reduced. The discharge amount of the supply pump 5 decreases until the differential pressure pd reaches the set differential pressure, that is, until the flow rate from the boom spool 12 reaches a flow rate corresponding to the opening degree of the boom spool 12, and the lifting speed of the bucket Is reduced to a speed corresponding to the amount of tilt of the lever 17a.

  When the lever 27a is tilted to move the bucket spool 22 to the first or second offset position 24, 25, the outlet pressure p4 of the bucket control valve 6 is input to the shuttle valve 31, and the outlet pressure p4 is Similar to the case where the lever 17a is tilted as a hydraulic signal p5, the discharge amount from the supply pump 5 is controlled according to the tilt amount of the lever 27a.

  Since the hydraulic circuit 1 includes the servo mechanism 30 as described above, the operation of the flow rate according to the opening degree of the spools 12 and 22 for the boom or the bucket is performed regardless of the hydraulic pressure of the hydraulic oil supplied to the drive motor 4. Oil can be supplied to the boom cylinders 11L, 11R or the bucket cylinder 21 and driven.

  Further, the hydraulic circuit 1 is configured to flow hydraulic oil necessary for the boom control valve 6 and the bucket control valve 7 from the supply pump 5, so that the hydraulic oil discharged from the supply pump 5 is discharged. The hydraulic oil having a desired hydraulic pressure and flow rate can be supplied to the boom control valve 6 and the bucket control valve 7 without reducing the pressure. Therefore, energy loss accompanying decompression can be eliminated and energy waste can be suppressed.

[Regenerative mechanism]
The regeneration mechanism 40 basically includes a regeneration motor 41, a regeneration pump 42, a regeneration servo mechanism 43, and an accumulator 44. The regenerative motor 41 is connected to the boom control valve 6 and is rotated by receiving hydraulic oil returned from the boom cylinders 11L and 11R when the boom spool 12 is at the second offset position 15. In the first and third offset positions 14 and 16, the hydraulic oil in the boom cylinders 11 </ b> L and 11 </ b> R is returned to the tank 26. The regeneration motor 41 is a so-called fixed displacement hydraulic motor, and its output shaft 41 a is connected to the regeneration pump 42.

  The regenerative pump 42 is a so-called variable displacement hydraulic pump, for example, a swash plate hydraulic pump, and its discharge port 42 a is connected to the drive motor 4, the steering device 10, and the accumulator 44. The regeneration pump 42 is provided with a regeneration servo mechanism 43. The regenerative servo mechanism 43 is attached to the swash plate 42b of the regenerative pump 42, and tilts the swash plate 42b in accordance with the pilot pressure p1 applied from the boom operation valve 17 to the boom spool 12, thereby swash plate 42b. The inclination angle is changed.

  The regenerative servo mechanism 43 increases the discharge amount of the regenerative pump 42 by increasing the inclination angle of the swash plate 42b when the pilot pressure p1 is low. As the pilot pressure p2 increases, the regenerative servo mechanism 43 reduces the inclination angle of the swash plate 42b and reduces the load on the regenerative pump 42. As a result, the load on the regenerative pump 42 hinders the lowering of the boom and prevents the lowering speed of the boom from extremely decreasing. That is, when the boom lowering speed is high, the energy regeneration efficiency is lowered so that the speed can be maintained. Conversely, when the lowering speed of the boom is slow, the tilt angle of the swash plate 42b is increased to increase the discharge amount of the regenerative pump 42 so as to regenerate as much energy as possible. At this time, energy is recovered as hydraulic oil discharged from the regeneration pump 42. The hydraulic oil is guided to the accumulator 44 connected between the driving pump 2 and the driving motor 4 together with the driving motor 4 and the steering device 10.

  The accumulator 44 that is a pressure accumulating means accumulates the hydraulic oil discharged from the driving pump 2 and the regenerative pump 42 and supplies the accumulated hydraulic oil to the driving motor 4 and the steering device 10. Since the drive motor 4 can be driven at a lower hydraulic pressure than the boom cylinders 11L and 11R and the bucket cylinder 21, the use limit pressure of the accumulator 44 can be lowered. That is, most of the accumulated hydraulic fluid can be used, so that regenerative energy can be used without waste.

<Hydraulic Circuit of Second Embodiment>
Below, the hydraulic circuit 1A of 2nd Embodiment is demonstrated, referring FIG. The hydraulic circuit 1A of the second embodiment is similar in configuration to the hydraulic circuit 1 of the first embodiment. Therefore, in the following description, the configuration of the hydraulic circuit 1A of the second embodiment is similar to the configuration of the hydraulic circuit 1 of the first embodiment, and the description is omitted by attaching the same reference numerals. Only the differences will be explained. A bucket control valve 7A is connected to the discharge port 5a of the supply pump 5 provided in the hydraulic circuit 1A, and a boom control valve 6 is connected in series with the bucket control valve 7A.

  The bucket control valve 7 </ b> A is connected to the bucket cylinder 21. The bucket control valve 7A has a bucket spool 22A. The bucket spool 22A corresponds to the neutral position 23 and the first and second offset positions 24, 25 according to the tilt of the lever 27a of the bucket operation valve 27. To move between. The bucket spool 22A can switch the direction of the hydraulic oil flowing to the bucket cylinder 21 by changing the position in the same manner as the bucket spool 22 of the first embodiment.

  The bucket control valve 7A is a so-called normal open type directional control valve, and a center bypass passage 22a is formed in the bucket spool 22A. The center bypass passage 22a is configured to flow hydraulic oil from the supply pump 5 to the boom control valve 6A when the bucket spool 22A is in the neutral position 23, and the first or second offset position from the neutral position 23. By moving the boom spool 12A to 24, 25, the opening degree is reduced. The throttle element 22b that throttles the opening of the center bypass passage 22a adjusts the opening according to the amount of movement from the neutral position to the first or second offset position 14, 15 and flows to the boom control valve 6A. The amount of control. That is, the amount of hydraulic fluid flowing from the center bypass passage 22a to the boom control valve 6A is controlled according to the tilting amount of the lever 27a.

  The boom control valve 6A is connected to the boom cylinders 11L and 11R. The boom control valve 6A has a boom spool 12A. The boom spool 12A corresponds to the neutral position 13 and the first to third offset positions 14, 15 according to the tilt of the lever 17a of the boom operation valve 17. 16 and 16 respectively. The boom spool 12A can switch the direction of the hydraulic oil flowing through the boom cylinders 11L and 11R by changing the position in the same manner as the boom spool 12 of the first embodiment.

  The boom control valve 6A is a so-called normally open type directional control valve, and a boom bypass spool 12A is formed with a center bypass passage 12a. The center bypass passage 12a is configured to flow hydraulic oil from the bucket control valve 7A to the throttle member 51 when the boom spool 12A is in the neutral position, and the first or second offset position 14, By moving the boom spool 12A to 15, the opening degree is reduced. A throttle element 12b that throttles the opening of the center bypass passage 12a adjusts the opening according to the amount of movement from the neutral position 13 to the first or second offset position 14, 15, and is a throttle member provided downstream thereof. The amount of hydraulic fluid flowing to 51 is controlled. That is, the hydraulic fluid flowing from the center bypass passage 12a to the throttle member 51 is controlled according to the tilting amount of the lever 17a.

  A throttle member 51 is provided on the downstream side of the bucket control valve 7A, and the tank 26 is connected to the downstream side thereof. A relief valve 52 is provided so as to bypass the throttle member 51. The throttle member 51 regulates hydraulic oil flowing from the bucket control valve 7 </ b> A to the tank 26 and generates pressure on the upstream side of the throttle member 51. When this pressure becomes equal to or higher than a predetermined set pressure, the relief valve 52 is opened, and hydraulic oil is allowed to flow into the tank 26. Further, the pressure generated on the upstream side of the throttle member 51 is input to the servo mechanism 30A as a hydraulic pressure signal p5. The servo mechanism 30A controls the rotational speed of the driving motor 4 by adjusting the capacity of the driving motor 4 according to the excess or deficiency of the hydraulic oil flowing through the boom cylinders 11L and 11R and the bucket cylinder 21 and controlling the driving torque. (So-called negative control method).

  The servo mechanism 30 </ b> A includes a switching valve 32 </ b> A and a servo piston 33. The switching valve 32 </ b> A has a spool 34 </ b> A, and the spool 34 </ b> A is biased by the spring member 53. A hydraulic pressure signal p5 acts on the spool 34A against the spring member 53, and the spool 34A moves between the neutral position 35 and the first and second offset positions 36 and 37 in accordance with the hydraulic pressure signal p5. It is like that.

  The spool 34 </ b> A blocks the servo piston 33 from the discharge port 5 a of the supply pump 5 and the tank 26 at the neutral position 35. When the hydraulic oil flowing to any of the boom cylinders 11L and 11R and the bucket 21 becomes excessive and the hydraulic pressure signal p5 becomes high, the spool 34A moves to the first offset position 36, and the servo piston 33 is connected to the tank 26. As a result, the pilot oil is returned to the tank and the pilot pressure p7 is lowered, so that the servo piston 33 moves in the x2 direction and the capacity of the drive motor 4 is reduced. As a result, the drive torque of the drive motor 4 decreases, the rotational speed decreases, and the discharge amount from the supply pump 5 decreases. By doing so, the flow rate of the hydraulic oil supplied to the boom cylinders 11L and 11R can be set to a flow rate according to the tilting amount of the lever 17a.

  When hydraulic oil flowing to any of the boom cylinders 11L and 11R and the bucket 21 is insufficient and the hydraulic pressure signal p5 becomes low, the spool 34A moves to the second offset position 37 and the servo piston 33 is discharged from the supply pump 5 It leads to 5a. As a result, the discharge pressure p6 of the pump 5 is guided from the switching valve 32A to the servo piston 33, and the servo piston 33 moves in the x1 direction, so that the capacity of the drive motor 4 increases. As a result, the drive torque of the drive motor 4 is increased, the rotational speed is increased, the discharge amount from the supply pump 5 is increased, and the flow rate of the hydraulic oil supplied to the boom cylinders 11L and 11R is tilted by the lever 17a. The flow rate can be adjusted according to the amount.

  The hydraulic circuit 1 </ b> A configured as described above has the same operational effects as the hydraulic circuit 1 of the first embodiment.

  In the two embodiments described above, the case where the hydraulic circuit 1 is applied to a wheel loader including a boom and a bucket has been described. However, the hydraulic circuit 1, 1A may be applied to other construction machines such as a hydraulic excavator. Good. Further, the hydraulic actuator mounted on the wheel loader is not limited to the boom and bucket cylinders 11L, 11R, and 21, and may be added according to the attachment mounted on the wheel loader. Further, a hydraulic circuit for a hydrostatic transmission (HTS) for traveling may be added. In this case, the hydraulic circuits 1 and 1A supply hydraulic oil to the added hydraulic actuator, and control the rotation speed of the drive motor 5 according to the excess or deficiency of the hydraulic oil flowing through the hydraulic actuator. It has become.

  In the two embodiments described above, a fixed displacement hydraulic motor is employed as the regeneration motor 41, but a variable displacement hydraulic motor may be employed as the regeneration motor 41. In this case, it is preferable to employ a fixed displacement hydraulic pump as the regeneration pump 42 and adjust the capacity of the regeneration motor 41 by the regeneration servo mechanism 43. Furthermore, in the two embodiments described above, oil is used as the working fluid, but water, glycol, or the like may be used.

  The present invention is not limited to the embodiments, and can be added, deleted, and changed without departing from the spirit of the invention.

  As described above, the present invention can be applied to a hydraulic circuit for supplying a fluid to a hydraulic actuator, and is particularly suitable for a hydraulic circuit that regenerates and uses positional energy and kinetic energy.

1, 1A Hydraulic circuit 2 Drive pump 4 Drive motor 5 Supply pump 6, 6A Boom control valve 7, 7A Bucket control valve 11L, 11R Boom cylinder 12a Center bypass passage 21 Bucket cylinder 22a Center bypass passage 30, 30A Servo mechanism 41 Regenerative motor 42 Regenerative pump 44 Accumulator 51 Throttle member

Claims (4)

A variable capacity drive motor that rotates at a rotational speed corresponding to the amount of working fluid supplied;
A supply pump for discharging a working fluid in an amount corresponding to the number of rotations of the drive motor;
A control valve for controlling the flow rate of the working fluid flowing from the supply pump to the actuator;
The rotational speed of the drive motor is controlled by adjusting the capacity of the drive motor according to the excess or deficiency of the working fluid flowing to the actuator via the control valve and adjusting the drive torque of the drive motor. and a servo mechanism that,
A regenerative fluid pressure motor driven by a working fluid returned from the actuator;
A variable displacement regenerative pump that discharges the working fluid by rotating the regenerative fluid pressure motor;
Accumulating means for accumulating pressure by the working fluid discharged from the regenerative pump, and supplying the accumulated working fluid to the driving motor;
A fluid pressure circuit comprising: a regenerative servo mechanism that changes a discharge amount of the regenerative pump according to an operation of the actuator . The servo mechanism detects the excess or deficiency of the working fluid based on the differential pressure between the discharge pressure of the supply pump and the outlet pressure of the control valve, and adjusts the capacity of the drive motor according to the detection result, 2. The fluid pressure circuit according to claim 1, wherein the rotational speed of the driving motor is controlled by adjusting a driving torque of the driving motor. The servo mechanism is detected by the excess or deficiency of working fluid by the fluid pressure in the center bypass passage of the control valve, by adjusting the capacity of the driving motor according to the detection result, the driving torque of the driving motor 2. The fluid pressure circuit according to claim 1, wherein the number of rotations of the driving motor is controlled by adjustment. The fluid pressure circuit according to any one of 1 to 3 ;
A construction machine comprising the actuator.

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