JP6115121B2 - 旋回制御装置及びこれを備えた建設機械 - Google Patents
旋回制御装置及びこれを備えた建設機械 Download PDFInfo
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- JP6115121B2 JP6115121B2 JP2012282484A JP2012282484A JP6115121B2 JP 6115121 B2 JP6115121 B2 JP 6115121B2 JP 2012282484 A JP2012282484 A JP 2012282484A JP 2012282484 A JP2012282484 A JP 2012282484A JP 6115121 B2 JP6115121 B2 JP 6115121B2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
- F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
- F15B2211/50527—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves using cross-pressure relief valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/755—Control of acceleration or deceleration of the output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/77—Control of direction of movement of the output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/85—Control during special operating conditions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Description
2 下部走行体
3 上部旋回体(旋回体)
5 旋回制御装置
14 旋回モータ
15 油圧ポンプ
16 コントロールバルブ
17 旋回操作手段
18A、18B 操作センサ(操作検出器)
19A、19B リリーフ弁
21 チェック弁
22 アンロード回路
22a アンロード弁
23 回転センサ(旋回方向検出器)
24 コントローラ(制御器)
Claims (4)
- 旋回体を旋回駆動する旋回モータと、
前記旋回モータの油圧源としての油圧ポンプと、
前記旋回体を双方向に駆動するために前記旋回モータの両側のポートに接続された一対の旋回用油路と、
前記各旋回用油路と前記油圧ポンプとの間に設けられ、前記油圧ポンプからの吐出油の供給先を前記各旋回用油路の間で切り換えるコントロールバルブと、
前記各旋回用油路にそれぞれ接続されたブレーキ弁としての一対のリリーフ弁と、
前記コントロールバルブを操作する旋回操作手段と、
前記旋回操作手段の操作方向及び操作量を検出する操作検出器と、
前記旋回体の旋回方向を検出する旋回方向検出器と、
前記操作検出器により検出された操作方向と前記旋回方向検出器により検出された旋回方向とが一致する順方向操作時には、前記操作検出器により検出された操作量が大きいほど前記油圧ポンプの吐出量を大きくする一方、前記操作検出器により検出された操作方向と前記旋回方向検出器により検出された旋回方向とが逆向きである逆方向操作時には、前記順方向操作時よりも前記油圧ポンプの吐出量を制限するように、前記油圧ポンプの吐出量を制御する制御器と、
前記油圧ポンプと前記コントロールバルブとを接続するポンプ吐出油路から分岐して前記油圧ポンプからタンクへ作動油を戻すためのアンロード回路と、
前記アンロード回路に設けられ、開口の大きさを調整可能なアンロード弁とを備え、
前記制御器は、前記順方向操作時には前記操作検出器により検出された操作量が大きいほど前記アンロード弁の開口を小さく調整する一方、前記逆方向操作時には前記順方向操作時よりも前記アンロード弁の開口を大きく調整する、旋回制御装置。 - 前記ポンプ吐出油路における前記アンロード回路の分岐点と前記コントロールバルブとの間に設けられ、前記油圧ポンプから前記コントロールバルブへ向けた作動油の流れを許容する一方、その逆向きの流れを規制するチェック弁をさらに備えている、請求項1に記載の旋回制御装置。
- 前記制御器は、前記逆方向操作が検出された時点から予め設定された遅延時間をかけて、前記油圧ポンプの吐出量を設定値まで漸減させる、請求項1又は2に記載の旋回制御装置。
- 自走式の下部走行体と、
前記下部走行体に対して旋回可能に設けられた上部旋回体と、
前記上部旋回体を前記旋回体として旋回させる、請求項1〜3の何れか1項に記載の旋回制御装置とを備えている、建設機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012282484A JP6115121B2 (ja) | 2012-12-26 | 2012-12-26 | 旋回制御装置及びこれを備えた建設機械 |
US14/132,704 US9528245B2 (en) | 2012-12-26 | 2013-12-18 | Rotation control device and construction machine including rotation control device |
EP13198758.8A EP2749700B1 (en) | 2012-12-26 | 2013-12-20 | Rotation control device and construction machine including rotation control device |
CN201310722380.5A CN103898940B (zh) | 2012-12-26 | 2013-12-24 | 回转控制装置及具备该回转控制装置的工程机械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012282484A JP6115121B2 (ja) | 2012-12-26 | 2012-12-26 | 旋回制御装置及びこれを備えた建設機械 |
Publications (2)
Publication Number | Publication Date |
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JP2014125774A JP2014125774A (ja) | 2014-07-07 |
JP6115121B2 true JP6115121B2 (ja) | 2017-04-19 |
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Application Number | Title | Priority Date | Filing Date |
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JP2012282484A Active JP6115121B2 (ja) | 2012-12-26 | 2012-12-26 | 旋回制御装置及びこれを備えた建設機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9528245B2 (ja) |
EP (1) | EP2749700B1 (ja) |
JP (1) | JP6115121B2 (ja) |
CN (1) | CN103898940B (ja) |
Families Citing this family (11)
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CN104279199B (zh) * | 2014-10-21 | 2016-06-22 | 恒天创丰重工有限公司 | 一种液压支撑控制系统及防误操作支撑装置 |
JP6491084B2 (ja) * | 2015-12-09 | 2019-03-27 | 住友重機械建機クレーン株式会社 | 作業機械 |
US10801531B2 (en) | 2016-03-24 | 2020-10-13 | Tadano Ltd. | Unload circuit |
JP6803194B2 (ja) * | 2016-10-25 | 2020-12-23 | 川崎重工業株式会社 | 建設機械の油圧駆動システム |
US10494788B2 (en) | 2016-11-02 | 2019-12-03 | Clark Equipment Company | System and method for defining a zone of operation for a lift arm |
CN107061390B (zh) * | 2017-04-12 | 2018-12-14 | 长沙学院 | 一种工程机械回转制动过程中的防摆控制系统及方法 |
CN107152425B (zh) * | 2017-06-29 | 2018-11-09 | 长沙学院 | 回转定位制动过程中的卸压式防摆控制装置及方法 |
JP7165111B2 (ja) * | 2019-09-26 | 2022-11-02 | 株式会社日立建機ティエラ | 電動式油圧建設機械 |
CN110748517B (zh) * | 2019-10-30 | 2021-10-29 | 上海三一重机股份有限公司 | 回转马达液压控制系统、过载卸荷方法及施工车辆 |
CN111350227B (zh) * | 2020-03-23 | 2022-05-10 | 柳州柳工挖掘机有限公司 | 回转液压系统、回转液压系统的控制方法及挖掘机 |
CN115538508A (zh) * | 2022-09-19 | 2022-12-30 | 徐州徐工挖掘机械有限公司 | 一种新型挖掘机回转控制系统及控制方法 |
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ES2047675T3 (es) * | 1989-07-26 | 1994-03-01 | Kobe Steel Ltd | Metodo de controlar la operacion de giro de un mecanismo de giro y un sistema de control hidraulico para llevar a cabo el mismo. |
JP2600009B2 (ja) * | 1990-04-25 | 1997-04-16 | 株式会社神戸製鋼所 | クレーンの旋回制御装置 |
JP3535701B2 (ja) * | 1997-07-14 | 2004-06-07 | コベルコ建機株式会社 | 油圧モータの制御装置 |
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JP5542016B2 (ja) * | 2010-09-15 | 2014-07-09 | 川崎重工業株式会社 | 作業機械の駆動制御方法 |
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-
2012
- 2012-12-26 JP JP2012282484A patent/JP6115121B2/ja active Active
-
2013
- 2013-12-18 US US14/132,704 patent/US9528245B2/en active Active
- 2013-12-20 EP EP13198758.8A patent/EP2749700B1/en active Active
- 2013-12-24 CN CN201310722380.5A patent/CN103898940B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN103898940B (zh) | 2017-08-15 |
EP2749700A3 (en) | 2018-02-21 |
US9528245B2 (en) | 2016-12-27 |
CN103898940A (zh) | 2014-07-02 |
EP2749700A2 (en) | 2014-07-02 |
EP2749700B1 (en) | 2021-10-27 |
US20140178167A1 (en) | 2014-06-26 |
JP2014125774A (ja) | 2014-07-07 |
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