WO2005095719A1 - 作業機械の旋回制動方法及び同装置 - Google Patents
作業機械の旋回制動方法及び同装置 Download PDFInfo
- Publication number
- WO2005095719A1 WO2005095719A1 PCT/JP2005/006305 JP2005006305W WO2005095719A1 WO 2005095719 A1 WO2005095719 A1 WO 2005095719A1 JP 2005006305 W JP2005006305 W JP 2005006305W WO 2005095719 A1 WO2005095719 A1 WO 2005095719A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- turning
- electric
- speed
- braking
- Prior art date
Links
Classifications
-
- 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°
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/20—Energy regeneration from auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
-
- 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
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
Definitions
- the present invention relates to a work machine and a braking machine for a work machine in which a swinging body is driven to swing by an electric motor, in which the swinging body is braked in an emergency in the event of an abnormality such as a power-off of a drive system of the swing motor or a failure of a control system. It is about.
- Patent Document 1 a technique for using a motor as a turning drive source in place of a conventional hydraulic motor in a turning work machine such as a shovel or a crane is known.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-207478
- the mechanical brake originally has only the braking performance designed for holding the stop, if it is operated during high-speed turning, the heat capacity may be insufficient to cause damage. If the mechanical brake has sufficient heat capacity, a cooling device will be required, and the size of the entire brake will be large, making it difficult to achieve in terms of installation space and cost.
- the present invention provides a method of turning braking of a working machine, which can quickly decelerate and stop turning of a revolving superstructure in an emergency, and can also prevent damage to a mechanical brake. And the same device.
- the present invention employs the following configuration.
- a permanent magnet type motor is used as a turning motor that drives a turning body to turn, and in an emergency, electric power generated in the turning motor by inertial rotation is controlled by a braking resistance external to the turning motor.
- the electric brake action is performed by consuming the electric power, and the revolving structure is braked and decelerated by the electric braking action.
- the mechanical brake is activated. To operate.
- a turning braking device a turning electric motor that drives the turning body to turn, a mechanical brake that mechanically brakes the turning electric motor, and control means that controls the operations of the turning electric motor and the mechanical brake.
- a speed detecting means for detecting a swing speed of the swing body.
- the permanent magnet performs an electric braking action by consuming electric power generated by inertial rotation by a braking resistance outside the swing motor as the swing motor.
- An electric motor is used, and the control means causes the slewing motor to perform an electric braking action in an emergency, and when the slewing speed of the slewing body falls below a set value by the electric braking action, the speed detecting means force
- the mechanical brake is actuated based on a speed signal.
- a permanent magnet type electric motor that exerts an electric braking function by consuming electric power generated by inertial rotation with an external braking resistor is used as a turning motor.
- the revolving structure is braked to decelerate, and when the revolving speed of the revolving structure becomes lower than the set value (when the speed is reduced or stopped), the mechanical brake is activated to stop and stop.
- the revolving superstructure can quickly stop rotating even when the drive system or the control system is abnormal.
- FIG. 1 is a schematic side view of a shovel to which the present invention is applied.
- FIG. 2 is a block diagram showing an embodiment of the present invention.
- FIG. 3 is a circuit diagram of a brake circuit in the same embodiment.
- FIG. 4 is a diagram showing operation timings of an electric brake and a mechanical brake.
- Fig. 5 is a diagram showing the relationship between the maximum torque of the electric brake, the braking time, and the motor speed in a plurality of patterns.
- Fig. 6 is a diagram showing the relationship between the maximum torque of the electric brake, the braking time, and the turning angle in a plurality of patterns.
- FIG. 1 shows a shovel to be applied.
- an upper rotating body 2 is mounted on a crawler-type lower traveling body 1 so as to be freely rotatable around a vertical axis, and a boom 3, an arm 4, a packet 5, and these are driven by the upper rotating body 2.
- a work (excavation) attachment 9 comprising hydraulic cylinders 6, 7, 8 for moving booms, arms, and packets is mounted.
- FIG. 2 shows a block configuration of a drive and control system of the entire shovel.
- a hydraulic pump 11 is driven by an engine 10, and the discharged oil is supplied to control valves CV to left and right traveling motors M1 and M2 for traveling the hydraulic cylinders 6 to 8 and the lower traveling body 1. (A force provided for each actuator, shown here as one valve block).
- a generator 13 is connected to the engine 10 via a speed increasing mechanism 12, and the electric power generated by the generator 13 is stored in a battery 15 via a controller 14 for controlling voltage and current. At the same time, it is added to the turning motor 17 via the inverter 16.
- the turning electric motor 17 rotates, and its rotational force is transmitted to the upper turning body 2 via the turning speed reduction mechanism 18, and the turning body 2 turns left or right.
- Reference numeral 19 denotes a lever-type turning operation unit (for example, a potentiometer) as turning operation means.
- a command is issued from the controller 20 to the inverter 16 based on an operation signal from the turning operation unit 19, Each control of acceleration, deceleration, and stop holding of the turning motor 17 is performed based on the command.
- the turning motor 17 is inverter-controlled during turning acceleration and performs a motor function with at least one of the power of the generator and the battery 15, and is controlled by the inverter during deceleration to perform a generator function, and converts the power generated by regenerative power generation. Store in battery 15.
- the turning electric motor 17 is provided with a mechanical brake 21 for generating a mechanical braking force.
- the mechanical brake 21 is configured as a hydraulic negative brake that releases a braking force when hydraulic pressure is introduced from a brake hydraulic pressure source 22 via an electromagnetic switching valve 23. Then, the turning operation is performed in a state where the operation of the mechanical brake 21 is released.
- a permanent magnet motor that generates power by inertial rotation even in a power-off state is used, and the generated power is supplied to a braking resistor 2 provided outside the motor 17.
- the electric brake function is exhibited by flowing to 4.
- the braking resistor 24 is branched and connected to the power supply line of the turning motor 17 via a rectifier circuit 25,
- Reference numeral 30 denotes a voltage detection circuit that detects the generated voltage of the turning motor 17, and the output of the circuit 30 is supplied to one input voltage to a voltage comparison circuit 33 as speed detection means via a transformer 31 and a rectification circuit 32. Sent as Vi and compared with the set value Vref.
- the voltage comparison circuit 33 can determine whether the turning speed has become equal to or less than the set value. Specifically, a Vi ⁇ VrefC signal “L” and a Vi ⁇ VrefC signal “H” are output.
- a logic circuit 37 as an output circuit including NOT, AND, and OR elements 34, 35, and 36 is connected to the output side of the voltage comparison circuit 33.
- the output of the voltage comparison circuit 33 is a NOT element 34. Is input to
- the AND element 35 includes an output from a watchdog transistor 38 for monitoring the occurrence of an abnormality in the controller 20 ("H” in a normal state, and “L” in an abnormal state). Or mechanical brake command to output operation release command
- the output of the power transistor 39 (“L” at the time of the operation command, “H” at the time of the release command) is input, and the outputs of the NOT element 34 and the AND element 35 are input to the OR element 36.
- An amplification circuit 40 is connected to the output side of the OR element 36, and when the signal “H” is output from the OR element 36 (in a normal state), the operation of the electromagnetic switching valve 23 is released via the amplification circuit 40. A signal is output.
- the switching valve 23 is switched from the brake operation position a on the left side in the figure to the operation release position b on the right side, and the mechanical brake 21 is released.
- Table 1 is a logical value table for each item of the output of the mechanical brake command output transistor 39, the output of the watchdog transistor 38, the motor speed, and the mechanical brake operation. The following operation is performed.
- the relay contact 27 is turned off when the controller is normal and turned on when the controller is abnormal. Further, the relay contact 29 is activated by a signal from the controller 20 when the motor power is cut off.
- the vehicle is automatically decelerated by the electric brake operation in an emergency, as shown in FIG. 4, and when the turning speed falls below the set value during the deceleration, the mechanical brake 21
- the swing motor 17 (the upper swing body 2) stops and is stopped and held [0044]
- the torque of the electric brake is determined by the value of the braking resistor 24, and is maximum at the start of deceleration from the maximum speed, and decreases as the turning speed (the speed of inertial rotation) decreases.
- the maximum torque of the electric brake be set to a value substantially equal to the maximum braking torque of the electric motor in a normal state for the following reason.
- FIG. 5 shows the relationship between time and motor speed during emergency braking
- FIG. 6 shows the relationship between time and the turning angle required for stopping.
- the maximum electric brake torque is set to be smaller than the normal maximum electric motor torque, the curve V in FIG. 5 is obtained. There is no problem with the heat generation of the motor 17 or the strength of the reduction mechanism 18, but there is a problem in terms of safety because the time until the stop is very long and the braking angle is also very large.
- the maximum electric brake torque in an emergency is set to the same value as the maximum electric motor torque in a normal state, and the mechanical brake 21 is activated when the turning speed falls below the set value. It is most desirable to make it a choice.
- the electric motor speed (turning speed) at which the mechanical brake 21 starts operating is reduced by reducing the heat load of the brake 21 to prevent its breakage (or by increasing the size of the brake 21 to prevent breakage).
- the mechanical brake 21 is operated when the turning speed becomes sufficiently low (for example, about 50 radZs) as shown in FIG.
- the mechanical brake 21 may be operated when the speed becomes 0 or almost 0 by the electric brake.
- the electric brake performs the main braking operation
- the mechanical brake 21 mainly performs the stop holding function.
- the terminal voltage of the braking resistor 24 is detected as a speed by the voltage detection circuit 30 in the electric brake circuit, and the detected voltage is compared with the set value by the voltage comparison circuit 33 to determine the turning speed. Judgment is made to determine whether it is above or below the set value and control is performed. The current flowing through the braking resistor 24 is detected, and this detected current value is compared with the set current value to determine whether the turning speed is above or below the set value. May be configured to perform the same control as described above.
- the rotation speed of the turning electric motor 17 or the turning deceleration mechanism 18 or the turning speed of the upper turning body 2 is directly detected by a speed sensor, and is compared with a set value by the controller 20 or another comparing unit. You may comprise. In this case, it is desirable to use a speed sensor that operates even when the power supply goes down (for example, a tacho generator).
- the mechanical brake 21 is not limited to the cylinder structure of the above embodiment, and a hydraulically driven or electrically driven disk brake or the like may be used.
- the present invention uses a permanent magnet type electric motor that exerts an electric braking function by consuming electric power generated by inertial rotation by an external braking resistor as a turning motor, and uses this turning motor in an emergency.
- the revolving structure is braked and decelerated by the electric braking function of the above, and when the revolving speed of the revolving structure falls below the set value, the mechanical brake is operated to stop and stop.
- the value of the voltage or current generated by the turning motor is compared with the set value by the comparing unit, and based on the result of the comparison, the mechanical brake is used.
- the key is activated. According to this configuration, there is no need to separately provide a speed sensor for timing the operation of the mechanical brake. For this reason, the cost can be reduced, and the possibility of occurrence of a failure or abnormality is reduced as compared with an external sensor.
- the turning electric motor or its speed reducer is used as the speed detecting means.
- a speed sensor for detecting the rotational speed of the structure was used. In this case, although a speed sensor is separately required, the speed itself can be easily detected.
- the maximum torque of the electric brake (the torque at the time when the maximum speed force deceleration is started) is set to a value substantially equal to the motor maximum braking torque in a normal state.
- the maximum torque of the electric brake is set to a value substantially equal to the motor maximum braking torque in a normal state.
- the revolving structure can be quickly decelerated and stopped in an emergency, and the force exerts a useful effect of preventing damage to the mechanical brake.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Operation Control Of Excavators (AREA)
- Stopping Of Electric Motors (AREA)
- Jib Cranes (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2005800108405A CN1938485B (zh) | 2004-04-02 | 2005-03-31 | 作业机械的旋转制动方法及其装置 |
EP05727982A EP1731680A4 (en) | 2004-04-02 | 2005-03-31 | ROTATION BRAKING METHOD AND DEVICE FOR MACHINE TOOLS |
US11/547,525 US7659677B2 (en) | 2004-04-02 | 2005-03-31 | Rotation brake method and device for working machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004109963A JP4468047B2 (ja) | 2004-04-02 | 2004-04-02 | 作業機械の非常時旋回制動装置 |
JP2004-109963 | 2004-04-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005095719A1 true WO2005095719A1 (ja) | 2005-10-13 |
Family
ID=35063822
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/006305 WO2005095719A1 (ja) | 2004-04-02 | 2005-03-31 | 作業機械の旋回制動方法及び同装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7659677B2 (ja) |
EP (1) | EP1731680A4 (ja) |
JP (1) | JP4468047B2 (ja) |
CN (1) | CN1938485B (ja) |
WO (1) | WO2005095719A1 (ja) |
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JP2010155724A (ja) * | 2008-12-01 | 2010-07-15 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2010168753A (ja) * | 2009-01-20 | 2010-08-05 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
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US9206588B2 (en) | 2011-05-26 | 2015-12-08 | Sumitomo Heavy Industries, Ltd. | Shovel provided with electric swiveling apparatus and method of controlling the same |
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JP4270012B2 (ja) * | 2004-04-07 | 2009-05-27 | コベルコ建機株式会社 | 旋回式作業機械 |
JP4053557B2 (ja) * | 2005-10-07 | 2008-02-27 | ファナック株式会社 | サーボモータ停止制御方法及びサーボモータ制御装置 |
EP1961869B1 (en) * | 2007-02-21 | 2018-10-10 | Kobelco Construction Machinery Co., Ltd. | Rotation control device and working machine therewith |
-
2004
- 2004-04-02 JP JP2004109963A patent/JP4468047B2/ja not_active Expired - Lifetime
-
2005
- 2005-03-31 EP EP05727982A patent/EP1731680A4/en not_active Withdrawn
- 2005-03-31 US US11/547,525 patent/US7659677B2/en not_active Expired - Fee Related
- 2005-03-31 WO PCT/JP2005/006305 patent/WO2005095719A1/ja active Application Filing
- 2005-03-31 CN CN2005800108405A patent/CN1938485B/zh not_active Expired - Fee Related
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010064625A1 (ja) * | 2008-12-01 | 2010-06-10 | 住友重機械工業株式会社 | ハイブリッド型建設機械 |
JP2010155724A (ja) * | 2008-12-01 | 2010-07-15 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
KR101270715B1 (ko) | 2008-12-01 | 2013-06-03 | 스미토모 겐키 가부시키가이샤 | 하이브리드형 건설기계 |
US8818648B2 (en) | 2008-12-01 | 2014-08-26 | Sumitomo Heavy Industries, Ltd. | Hybrid construction machine |
JP2010168753A (ja) * | 2009-01-20 | 2010-08-05 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
US9206588B2 (en) | 2011-05-26 | 2015-12-08 | Sumitomo Heavy Industries, Ltd. | Shovel provided with electric swiveling apparatus and method of controlling the same |
JP2014040308A (ja) * | 2012-08-22 | 2014-03-06 | Sumitomo Heavy Industries Material Handling Systems Co Ltd | 連続アンローダ及び連続アンローダの制御方法 |
CN104540757A (zh) * | 2012-08-22 | 2015-04-22 | 住友重机械搬运系统工程株式会社 | 连续卸载机及连续卸载机的控制方法 |
Also Published As
Publication number | Publication date |
---|---|
JP4468047B2 (ja) | 2010-05-26 |
CN1938485A (zh) | 2007-03-28 |
US20070273316A1 (en) | 2007-11-29 |
JP2005290902A (ja) | 2005-10-20 |
EP1731680A4 (en) | 2012-02-22 |
US7659677B2 (en) | 2010-02-09 |
CN1938485B (zh) | 2010-06-02 |
EP1731680A1 (en) | 2006-12-13 |
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