JP6469844B2 - ショベルおよびショベルの駆動方法 - Google Patents
ショベルおよびショベルの駆動方法 Download PDFInfo
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- JP6469844B2 JP6469844B2 JP2017509885A JP2017509885A JP6469844B2 JP 6469844 B2 JP6469844 B2 JP 6469844B2 JP 2017509885 A JP2017509885 A JP 2017509885A JP 2017509885 A JP2017509885 A JP 2017509885A JP 6469844 B2 JP6469844 B2 JP 6469844B2
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- hydraulic motor
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- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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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
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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°
- E02F9/128—Braking systems
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- 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
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- 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
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- 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
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- 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
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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Description
同様に、ある実施形態によれば、旋回体を旋回させる旋回用油圧モータと、該旋回用油圧モータを駆動する旋回駆動油圧回路と、エンジンに接続され、前記旋回駆動油圧回路から排出された作動油が供給されるアシスト油圧モータと、ショベルの駆動を制御するコントローラと、を有し、前記コントローラは、前記エンジンの負荷状態を検出し、検出された負荷状態に基づいて、前記旋回用油圧モータの減速時の前記アシスト油圧モータへの作動油の供給を制御し、前記旋回用油圧モータの減速時に、前記旋回用油圧モータの吸入側へ前記作動油を補充するメインポンプをさらに有する、ショベルが提供される。
同様に、ある実施形態によれば、旋回体を旋回させる旋回用油圧モータと、該旋回用油圧モータを駆動する旋回駆動油圧回路と、エンジンに接続され、前記旋回駆動油圧回路から排出された作動油が供給されるアシスト油圧モータと、ショベルの駆動を制御するコントローラとを有するショベルの駆動方法であって、前記エンジンの負荷状態を検出し、前記検出された負荷状態に基づいて、前記旋回用油圧モータの減速時の前記アシスト油圧モータへの作動油の供給を制御し、作動油の供給の制御は、検出した前記エンジンの負荷状態に基づいて、決定された前記アシスト油圧モータの目標トルクに基づいて行われる、ショベルの駆動方法が提供される。
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
7a,8a,9a 再生弁
7b,8b 保持弁
10 キャビン
11 エンジン
13 変速機
14L 第1ポンプ
14R 第2ポンプ
17 コントロールバルブ
19 旋回駆動油圧回路
21 旋回用油圧モータ
21L,21R ポート
22L,22R リリーフ弁
22S シャトル弁
22G,22V 再生弁
23L,23R チェック弁
29 圧力センサ
30 コントローラ
40,40V アシスト油圧モータ
50,51,51A,51B,52,52A,52B,53 可変ロードチェック弁
55 合流弁
56L,56R 統一ブリードオフ弁
80 アシスト供給側圧力センサ
82 アシスト排出側圧力センサ
84,84L,84R 旋回排出側圧力センサ
Claims (9)
- 旋回体を旋回させる旋回用油圧モータと、
該旋回用油圧モータを駆動する旋回駆動油圧回路と、
エンジンに接続され、前記旋回駆動油圧回路から排出された作動油が供給されるアシスト油圧モータと、
ショベルの駆動を制御するコントローラと、
を有し、
前記コントローラは、前記エンジンの負荷状態を検出し、検出された負荷状態に基づいて、前記旋回用油圧モータの減速時の前記アシスト油圧モータへの作動油の供給を制御し、
前記コントローラは、検出した前記エンジンの負荷状態に基づいて、前記アシスト油圧モータの目標トルクを決定する、ショベル。 - 旋回体を旋回させる旋回用油圧モータと、
該旋回用油圧モータを駆動する旋回駆動油圧回路と、
エンジンに接続され、前記旋回駆動油圧回路から排出された作動油が供給されるアシスト油圧モータと、
ショベルの駆動を制御するコントローラと、
を有し、
前記コントローラは、前記エンジンの負荷状態を検出し、検出された負荷状態に基づいて、前記旋回用油圧モータの減速時の前記アシスト油圧モータへの作動油の供給を制御し、
前記旋回用油圧モータの減速時に、前記旋回用油圧モータの吸入側へ前記作動油を補充するメインポンプをさらに有する、ショベル。 - 請求項1または2に記載のショベルであって、
前記エンジンの負荷が所定値より小さい場合、前記アシスト油圧モータの目標トルクを前記エンジンの駆動をアシストしない第1のトルクに設定する、ショベル。 - 請求項3に記載のショベルであって、
前記第1のトルクは前記エンジンの空転を維持するトルクとされる、ショベル。 - 請求項1または2記載のショベルであって、
前記アシスト油圧モータの上流側に圧力センサが設けられ、
前記コントローラは、
前記圧力センサの検出値に基づいて前記アシスト油圧モータの出力トルクを算出し、
算出された出力トルクが前記アシスト油圧モータの目標トルクとなるように、前記アシスト油圧モータへの作動油の供給を制御する、ショベル。 - 請求項5に記載のショベルであって、
前記圧力センサは、旋回用油圧モータの作動油の排出ポートに設けられる、ショベル。 - 請求項1または2記載のショベルであって、
前記アシスト油圧モータと前記旋回駆動油圧回路との間に可変絞りが設けられ、
前記コントローラは、前記アシスト油圧モータの目標トルクに基づいて前記可変絞りを制御する、ショベル。 - 請求項1または2記載のショベルであって、
前記アシスト油圧モータは可変容量油圧モータであり、
前記コントローラは、前記アシスト油圧モータの目標トルクに基づいて、前記可変容量油圧モータの出力を制御する、ショベル。 - 旋回体を旋回させる旋回用油圧モータと、
該旋回用油圧モータを駆動する旋回駆動油圧回路と、
エンジンに接続され、前記旋回駆動油圧回路から排出された作動油が供給されるアシスト油圧モータと、
ショベルの駆動を制御するコントローラとを有するショベルの駆動方法であって、
前記エンジンの負荷状態を検出し、
前記検出された負荷状態に基づいて、前記旋回用油圧モータの減速時の前記アシスト油圧モータへの作動油の供給を制御し、
作動油の供給の制御は、検出した前記エンジンの負荷状態に基づいて、決定された前記アシスト油圧モータの目標トルクに基づいて行われる、
ショベルの駆動方法。
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