WO2011078586A3 - 하이브리드 굴삭기 붐 구동시스템 및 그 제어방법 - Google Patents

하이브리드 굴삭기 붐 구동시스템 및 그 제어방법 Download PDF

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Publication number
WO2011078586A3
WO2011078586A3 PCT/KR2010/009236 KR2010009236W WO2011078586A3 WO 2011078586 A3 WO2011078586 A3 WO 2011078586A3 KR 2010009236 W KR2010009236 W KR 2010009236W WO 2011078586 A3 WO2011078586 A3 WO 2011078586A3
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Prior art keywords
boom
motor
hydraulic pump
electric motor
driving
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PCT/KR2010/009236
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English (en)
French (fr)
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WO2011078586A2 (ko
WO2011078586A9 (ko
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강병일
Original Assignee
두산인프라코어 주식회사
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Priority to EP10839783.7A priority Critical patent/EP2518218B1/en
Priority to CN201080058028.0A priority patent/CN102686807B/zh
Priority to US13/517,399 priority patent/US9260835B2/en
Priority to JP2012545853A priority patent/JP5676641B2/ja
Publication of WO2011078586A2 publication Critical patent/WO2011078586A2/ko
Publication of WO2011078586A9 publication Critical patent/WO2011078586A9/ko
Publication of WO2011078586A3 publication Critical patent/WO2011078586A3/ko

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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
    • E02F9/14—Booms only for booms with cable suspension arrangements; Cable suspensions
    • 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
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • 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
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • 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
    • 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
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance 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
    • E02F9/2282—Systems using center bypass type changeover valves
    • 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
    • E02F9/2292—Systems with two or more pumps
    • 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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • 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
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • 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
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • 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
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

하이브리드 굴삭기 붐 구동시스템 및 그 제어방법이 개시된다. 개시된 발명은 모터 또는 발전기로 작동되는 전동기(110),상기 전동기(110)에서 생산된 전기를 저장하는 축전장치(115), 상기 전동기(110)로 구동되어 붐(100)에 작동유를 공급하는 유압펌프모터(120), 상기 유압펌프모터(120)의 토출라인(121)과 유입라인(122)을 붐(100)의 헤드(106) 또는 로드(107) 측과 선택적으로 연결하거나 차단하는 폐회로를 구성하는 붐 제어밸브(125), 상기 전동기(110)와 별도로 마련된 구동원(141)에 의해 구동되며 버켓, 주행모터 또는 암에 작동유를 공급하는 메인펌프(140), 상기 메인펌프(140)의 토출라인을 상기 유압펌프모터(120)의 토출라인(121)에 연결시켜, 상기 메인펌프(140) 및 상기 유압펌프모터(120) 각각으로 부터 토출되는 작동유를 합류 가능하게 하는 붐 보조밸브(144) 및 상기 전동기(110), 상기 유압펌프모터(120), 상기 붐 제어밸브(125)를 제어하는 제어부(160)를 포함한다. 이와 같은 본 발명은 전동기를 이용하면서도 굴삭기의 주된 사용 용도인 굴삭 작업 시 에너지 손실을 최소화하고, 붐의 작동성능을 확보하며, 봄의 회생 가능한 에너지를 회수할 수 있다.
PCT/KR2010/009236 2009-12-23 2010-12-23 하이브리드 굴삭기 붐 구동시스템 및 그 제어방법 WO2011078586A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP10839783.7A EP2518218B1 (en) 2009-12-23 2010-12-23 System for driving a boom of a hybrid excavator, and method for controlling same
CN201080058028.0A CN102686807B (zh) 2009-12-23 2010-12-23 混合动力挖掘机动臂驱动系统及其控制方法
US13/517,399 US9260835B2 (en) 2009-12-23 2010-12-23 System for driving a boom of a hybrid excavator and a control method thereof
JP2012545853A JP5676641B2 (ja) 2009-12-23 2010-12-23 ハイブリッドショベルのブーム駆動システム及びその制御方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0129773 2009-12-23
KR1020090129773A KR101652112B1 (ko) 2009-12-23 2009-12-23 하이브리드 굴삭기 붐 구동시스템 및 그 제어방법

Publications (3)

Publication Number Publication Date
WO2011078586A2 WO2011078586A2 (ko) 2011-06-30
WO2011078586A9 WO2011078586A9 (ko) 2011-09-09
WO2011078586A3 true WO2011078586A3 (ko) 2011-11-24

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PCT/KR2010/009236 WO2011078586A2 (ko) 2009-12-23 2010-12-23 하이브리드 굴삭기 붐 구동시스템 및 그 제어방법

Country Status (6)

Country Link
US (1) US9260835B2 (ko)
EP (1) EP2518218B1 (ko)
JP (1) JP5676641B2 (ko)
KR (1) KR101652112B1 (ko)
CN (1) CN102686807B (ko)
WO (1) WO2011078586A2 (ko)

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US9071054B2 (en) * 2010-12-27 2015-06-30 Volvo Construction Equipment Ab Device and method for controlling power according to a load of a hybrid excavator
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KR101908135B1 (ko) * 2012-01-30 2018-10-15 두산인프라코어 주식회사 하이브리드 굴삭기의 붐 구동시스템 및 그 제어방법
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CN112709730B (zh) * 2021-01-06 2023-06-23 武汉船用机械有限责任公司 一种回转机构的闭式液压控制系统及其使用方法
CN113323069B (zh) * 2021-06-04 2022-11-29 三一重机有限公司 一种适用于电动挖掘机的动力系统及其控制方法
CN113882459B (zh) * 2021-09-30 2023-02-17 徐州徐工挖掘机械有限公司 挖掘机能量回收系统及挖掘机
JP2024002330A (ja) * 2022-06-23 2024-01-11 川崎重工業株式会社 液圧駆動装置
CN115559955A (zh) * 2022-10-28 2023-01-03 上海中联重科桩工机械有限公司 混合动力旋挖钻机及其液压系统、液压系统的控制方法
CN115596032A (zh) * 2022-11-14 2023-01-13 中国矿业大学（Cn） 一种油电混合动力挖掘机动臂节能系统及其控制方法
CN115898990B (zh) * 2023-01-05 2023-05-23 中国人民解放军国防科技大学 一种仿生关节驱动液压系统

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JP2013515883A (ja) 2013-05-09
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KR20110072723A (ko) 2011-06-29
KR101652112B1 (ko) 2016-08-29
EP2518218B1 (en) 2019-04-17
WO2011078586A2 (ko) 2011-06-30
CN102686807B (zh) 2014-10-01
US9260835B2 (en) 2016-02-16
US20120324877A1 (en) 2012-12-27
WO2011078586A9 (ko) 2011-09-09
EP2518218A4 (en) 2017-03-22
JP5676641B2 (ja) 2015-02-25

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