WO2011105436A1 - 建設機械の制御システム - Google Patents
建設機械の制御システム Download PDFInfo
- Publication number
- WO2011105436A1 WO2011105436A1 PCT/JP2011/054003 JP2011054003W WO2011105436A1 WO 2011105436 A1 WO2011105436 A1 WO 2011105436A1 JP 2011054003 W JP2011054003 W JP 2011054003W WO 2011105436 A1 WO2011105436 A1 WO 2011105436A1
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- WIPO (PCT)
- Prior art keywords
- boom cylinder
- valve
- side chamber
- hydraulic motor
- passage
- Prior art date
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Classifications
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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
- 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
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
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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
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- 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
- E02F9/2278—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
- E02F9/2285—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
- E02F9/2292—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
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot 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
- 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
-
- 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
- F15B2211/20—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
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/265—Control of multiple pressure sources
-
- 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
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
-
- 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
Definitions
- the present invention relates to a construction machine control system in which the return oil of the boom cylinder is used as a regenerative flow rate and a regenerative flow rate.
- JP 2009-236190A discloses a hybrid construction machine that rotates a hydraulic motor using the return oil of a boom cylinder and rotates a generator by the rotational force of the hydraulic motor.
- the regenerative flow rate control valve is provided in the passage process connecting the piston side chamber of the boom cylinder and the operation valve, and the regenerative flow rate control valve is connected to the hydraulic motor.
- the boom cylinder descending speed is controlled, and the flow rate other than the regenerative flow rate is returned to the rod side chamber of the boom cylinder via the operation valve.
- the parts are regenerated and returned to the tank.
- An object of the present invention is to provide a construction machine control system capable of ensuring a sufficient regenerative flow rate while controlling the lowering speed of the boom cylinder.
- a control system for a construction machine the main pump, a circuit system including a plurality of operation valves connected to the main pump, and a connection to a specific operation valve among the plurality of operation valves.
- the boom cylinder one passage communicating the specific operation valve and the piston side chamber of the boom cylinder, the other passage communicating the specific operation valve and the rod side chamber of the boom cylinder, and from the piston side chamber of the boom cylinder.
- a hydraulic motor that rotates by the action of return oil, a generator that generates electric power using the rotational force of the hydraulic motor, a battery that stores the generated power of the generator, and a passage that communicates with the piston side chamber of the boom cylinder
- the return oil in the piston side chamber of the boom cylinder is guided to the hydraulic motor as a regenerative flow rate, and the return oil is returned to the other passage as a regeneration flow rate as necessary
- Control system comprising a valve mechanism, a guiding rod side chamber of the flow caused by the boom cylinder is provided.
- the return oil can be supplied to the hydraulic motor while controlling the lowering speed of the boom cylinder, and can also be supplied to the rod side chamber as necessary, so that no negative pressure is generated when the boom cylinder is lowered.
- a hydraulic motor can be activated.
- FIG. 1 is a circuit diagram of a control system for a hybrid construction machine according to a first embodiment of the present invention.
- FIG. 2 is a circuit diagram of a control system for a hybrid construction machine according to a second embodiment of the present invention.
- FIG. 3 is a circuit diagram of a control system for a hybrid construction machine according to a third embodiment of the present invention.
- the first embodiment will be described.
- the first embodiment shown in FIG. 1 includes first and second main pumps MP1 and MP2 which are variable displacement pumps.
- the first main pump MP1 is connected to the first circuit system via the first switching valve V1
- the second main pump MP2 is connected to the second circuit system via the second switching valve V2.
- the first switching valve V1 is a four-port two-position switching valve.
- a pilot chamber is provided on one side of the first switching valve V1, and the spring force of the spring is applied to the side facing the pilot chamber. Hold.
- the supply passage and the merge passage are opened, and the discharge oil of the first main pump MP1 is guided to the first circuit system through the supply passage, and the merge passage and the check valve Then, the discharge oil of the assist pump AP, which is a variable displacement pump, is merged with the discharge oil of the first main pump MP1.
- the second switching valve V2 is a 6-port 3-position switching valve, which is provided with a pilot chamber and a centering spring on both sides thereof, and normally maintains the normal position shown in the figure by the spring force of the centering spring. In the normal position, the supply passage and the merge passage are opened similarly to the first switching valve V1, and the regenerative flow path provided between the supply passage and the merge passage is closed. The regenerative flow path connects the oil discharged from the second main pump MP2 to the variable displacement hydraulic motor M.
- the discharge oil of the assist pump AP merges with the discharge oil of the second main pump MP2 through the merge passage and the check valve, and is guided to the second circuit system.
- the electromagnetic valve 1 is an electromagnetic valve that communicates the pilot chamber of the first switching valve V1 with the pilot hydraulic power source PP or blocks the communication.
- the electromagnetic valve 1 When the electromagnetic valve 1 is in the illustrated normal position, the communication between the pilot hydraulic pressure source PP and the pilot chamber of the first switching valve V1 is cut off, and the solenoid of the electromagnetic valve 1 is excited to be switched to the switching position.
- the pilot pressure of the pilot hydraulic power source PP is guided to the pilot chamber.
- the electromagnetic valve 2a is an electromagnetic valve that allows one pilot chamber of the second switching valve V2 and the pilot hydraulic power source PP to communicate with each other, and the electromagnetic valve 2b is the other pilot chamber of the second switching valve V2. And a pilot hydraulic power source PP, and a solenoid valve that cuts off the communication.
- the electromagnetic valves 2a and 2b block the communication between the pilot chamber and the pilot hydraulic power source PP at the illustrated normal position, and connect the pilot chamber and the pilot hydraulic power source PP when switched to the switching position.
- the solenoids of the solenoid valves 1, 2a, 2b are connected to the controller C, and the controller C excites or de-energizes the solenoids of the solenoid valves 1, 2a, 2b according to a signal input by the operator.
- the first and second main pumps MP1 and MP2 connected to the first and second switching valves V1 and V2 rotate coaxially with an engine E having a rotation speed sensor as a drive source.
- the generator 3 is provided in the engine E, and exhibits the power generation function using the remaining power of the engine E.
- the first main pump MP1 is connected to the first circuit system via the first switching valve V1.
- the first circuit system sequentially controls the operation valve 4 for controlling the swing motor, the operation valve 5 for controlling the arm cylinder, the operation valve 6 for the second speed of the boom for controlling the boom cylinder BC, and the spare attachment.
- An operating valve 7 for controlling the left driving motor and an operating valve 8 for controlling the left traveling motor are connected.
- Each of the operation valves 4 to 8 is connected to the first main pump MP1 via the neutral flow path 9, the parallel path 10, and the first switching valve V1.
- a throttle 11 for pilot pressure control for generating a pilot pressure is provided in the neutral flow path 9 and downstream of the operation valve 8 for the left traveling motor.
- the throttle 11 generates a high pilot pressure upstream if the flow rate flowing therethrough is high, and generates a low pilot pressure if the flow rate is low.
- the neutral flow path 9 restricts all or part of the oil supplied from the first main pump MP1 to the first circuit system when the operation valves 4 to 8 are all in the neutral position or in the vicinity of the neutral position.
- the tank T Through the tank T. In this case, since the flow rate passing through the throttle 11 increases, a high pilot pressure is generated.
- a part of the pump discharge amount is led to the actuator and a part is led to the tank T from the neutral flow path 9.
- a pilot pressure corresponding to the flowing flow rate is generated.
- the throttle 11 generates a pilot pressure corresponding to the operation amount of the operation valves 4 to 8.
- the neutral flow path 9 is connected between the operation valve 8 and the throttle 11 with a pilot flow path 12.
- the pilot flow path 12 is connected via an electromagnetic switching valve 13 to a regulator 14 that controls the tilt angle of the first main pump MP1.
- the regulator 14 controls the tilt angle of the first main pump MP1 in inverse proportion to the pilot pressure in the pilot flow path 12, and controls the amount of displacement per one rotation. If the flow of the neutral flow path 9 is eliminated by full stroke of the operation valves 4 to 8 and the pilot pressure becomes zero, the tilt angle of the first main pump MP1 becomes the maximum, and the amount of displacement per one rotation is increased. Become the maximum.
- the electromagnetic switching valve 13 is connected to the pilot hydraulic power source PP.
- the regulator 14 communicates with the pilot flow path 12, and when the solenoid of the electromagnetic switching valve 13 is excited and switched to the switching position, the regulator 14 switches to the pilot hydraulic power source PP. Communicate with.
- the solenoid of the electromagnetic switching valve 13 is connected to the controller C. When a signal is input from the operator, the controller C excites the solenoid of the electromagnetic switching valve 13 to switch to the switching position, and deenergizes the solenoid unless a signal is input. Thus, the electromagnetic switching valve 13 is held at the normal control position.
- the electromagnetic switching valve 13 makes the discharge amount of the first main pump MP1 smaller than in the normal neutral state when all the operation valves 4 to 8 are kept in the neutral position. For example, switch to warm-up operation to reduce loss.
- the second main pump MP2 is connected to the second circuit system.
- the second circuit system in order from the upstream side thereof, is an operation valve 15 that controls the right traveling motor, an operation valve 16 that controls the bucket cylinder, an operation valve 17 that controls the boom cylinder BC, and an arm second speed that controls the arm cylinder.
- the operation valve 18 is connected.
- the operation valves 15 to 18 are connected to the second main pump MP2 via the neutral flow path 19 and the second switching valve V2.
- the operation valves 16 and 17 are connected to the second main pump MP2 via the parallel passage 20 and the second switching valve V2.
- a throttle 21 for pilot pressure control is provided on the downstream side of the operation valve 18 in the neutral flow path 19.
- the diaphragm 21 functions in the same manner as the diaphragm 11 of the first circuit system.
- the pilot flow path 22 is connected between the operation valve 18 and the throttle 21 that are the neutral flow path 19.
- the pilot flow path 22 is connected to a regulator 23 that controls the tilt angle of the second main pump MP2.
- the regulator 23 controls the tilt angle of the second main pump MP2 in inverse proportion to the pilot pressure in the pilot flow path 22, and controls the amount of displacement per one rotation. If the flow of the neutral flow path 19 is eliminated by full stroke of the operation valves 15 to 18 and the pilot pressure becomes zero, the tilt angle of the second main pump MP2 becomes maximum, and the amount of displacement per one rotation is increased. Become the maximum.
- the operation valve 17 that controls the boom cylinder BC communicates one actuator port thereof with the piston side chamber 25 through one passage 24.
- a regenerative flow control valve 26 constituting a valve mechanism is provided in the passage 24 in the communication process.
- the regenerative flow rate control valve 26 is provided with a pilot chamber 26a on one side thereof and a spring 26b on the side facing the pilot chamber 26a.
- the regenerative flow control valve 26 maintains the illustrated normal position by the spring force of the spring 26b, but when the pilot pressure acts on the pilot chamber 26a, it switches to the switching position on the right side of the drawing.
- the regenerative flow control valve 26 When the regenerative flow control valve 26 is at the normal position shown in the figure, the main flow path 26c for communicating one actuator port of the operation valve 17 and the piston side chamber 25 is fully opened, and the piston side chamber 25 and the hydraulic motor M are communicated.
- the regenerative flow path 26d to be closed is closed.
- the passage 27 connects the regenerative flow path 26d and the hydraulic motor M, and a check valve 28 that allows only the flow from the regenerative flow path 26d to the hydraulic motor M is provided in the passage process.
- the other actuator port of the operation valve 17 that controls the boom cylinder BC communicates with the rod side chamber 30 of the boom cylinder BC through the other passage 29. Further, the other passage 29 and the piston side chamber 25 are connected via a regeneration passage 31.
- the regeneration passage 31 is provided with a regeneration flow rate control valve 32 constituting a valve mechanism.
- the regeneration flow rate control valve 32 is provided with a pilot chamber 32a on one side and a spring 32b on the side facing the pilot chamber 32a.
- the regeneration flow rate control valve 32 maintains the illustrated normal position by the spring force of the spring 32b, and closes the regeneration flow path 32c at the normal position, but when the pilot pressure is applied to the pilot chamber 32a, the regeneration flow rate control valve 32 switches to the switching position on the right side of the drawing. Instead, the regeneration flow path 32c is maintained at the throttle opening corresponding to the switching amount.
- the check valve 33 is provided in the regeneration passage 31 and allows only the flow from the piston side chamber 25 to the other passage 29.
- the pilot chambers 26 a and 32 a of the regenerative flow control valve 26 and the regeneration flow control valve 32 are connected to a pilot hydraulic power source PP via a proportional solenoid valve 34.
- One of the proportional solenoid valves 34 is provided with a solenoid 34a connected to the controller C, and a spring 34b is provided on the opposite side of the solenoid 34a.
- the proportional solenoid valve 34 maintains the normal position shown in the figure by the spring force of the spring 34b, and switches when the controller C excites the solenoid 34a in accordance with an operator input signal, and the opening degree is controlled in accordance with the excitation current.
- pilot pressure acting on the pilot chambers 26a and 32a of the regenerative flow control valve 26 and the regeneration flow control valve 32 can be controlled by the controller C.
- the spring force of the spring 32b of the regenerative flow control valve 32 is made larger than the spring 26b of the regenerative flow control valve 26 so that the opening timing of the regenerative flow control valve 32 is delayed even with the same pilot pressure. .
- the hydraulic motor M communicated with the regenerative flow path 26d of the regenerative flow control valve 26 rotates coaxially with the assist pump AP and is linked with the electric motor / generator 35.
- the electric motor / generator 35 exhibits a power generation function by the rotation of the hydraulic motor M, and the electric power generated by the electric motor / generator 35 is charged to the battery 37 via the inverter 36.
- the battery 37 is connected to the controller C, and the controller C can grasp the amount of power stored in the battery 37.
- the battery charger 38 charges the battery 37 with the electric power generated by the generator 3.
- the battery charger 38 is also connected to a separate power source 39 such as a household power source.
- the tilt angle of the hydraulic motor M is controlled by the regulator 40.
- the regulator 40 is connected to the controller C, and the tilt angle is controlled in accordance with a signal from the controller C.
- the assist pump AP is also a variable displacement pump, and the tilt angle is controlled by the regulator 41.
- the regulator 41 is connected to the controller C.
- the tilt angle of the assist pump AP is minimized, and the load is set so that the load hardly acts on the hydraulic motor M. Further, when the electric motor / generator 35 is caused to function as an electric motor, the assist pump AP is rotated by the driving force to exhibit the pump function.
- hydraulic oil is supplied from the first and second main pumps MP1 and MP2 in a state where the solenoid valves 1, 2a and 2b are de-energized and the first and second switching valves V1 and V2 are maintained at the normal positions shown in the drawing. If discharged, the discharged oil is supplied to the first and second circuit systems.
- the discharged oil merges with the discharged oil of the first and second main pumps MP1 and MP2, and is supplied to the first and second circuit systems.
- the electric motor / generator 35 can be rotated as an electric motor by the electric power stored in the battery 37, and the rotational force can be used as a drive source of the assist pump AP.
- the tilt angle of the hydraulic motor M is minimized to reduce its load, and the output loss of the electric motor / generator 35 functioning as an electric motor is minimized.
- the assist pump AP can be rotated by the rotational force of the hydraulic motor M.
- the case where the hydraulic motor M is used as a drive source will be described later.
- Pressure sensors 42 and 43 for detecting the pressure guided to the regulators 14 and 23 of the first and second main pumps MP1 and MP2 are provided, and the pressure signals are input to the controller C.
- the controller C maintains the tilt angle of the assist pump AP at a preset angle according to the pressure signals of the pressure sensors 42 and 43. The angle is set so as to obtain the most efficient assist output according to the pressure signal.
- the oil discharged from the second main pump MP2 is supplied to the hydraulic motor M.
- the actuator connected to the second circuit system is not operated, the operator switches the second switching valve V2 to the second switching position so that the hydraulic motor M is rotated and the electric motor / generator 35 generates power. Can be demonstrated. The electric power generated by the electric motor / generator 35 is charged to the battery 37 via the inverter 36.
- the tilt angle of the assist pump AP can be kept to a minimum and the power generation efficiency can be increased.
- controller C has a function of detecting the charged amount of the battery 37 and controlling the rotational speed of the hydraulic motor M in accordance with the charged amount.
- the hydraulic motor M can also be rotated by return oil discharged from the piston side chamber 25 when the boom cylinder BC is lowered. That is, the controller C determines whether the boom cylinder BC is raised or lowered according to the operation direction of the operation lever that operates the boom cylinder BC. When the boom cylinder BC is lowered, the controller C controls the excitation current of the solenoid 34a of the proportional solenoid valve 34 according to the operation amount of the operation lever, in other words, according to the descending speed of the boom cylinder BC intended by the operator. To do. Accordingly, the opening degree of the proportional solenoid valve 34 increases as the descending speed intended by the operator increases.
- the regenerative flow control valve 26 is switched to the switching position first.
- the switching amount of the regenerative flow control valve 26 is a switching amount proportional to the pilot pressure.
- the controller C controls the load of the motor M and the assist pump AP by controlling the tilt angle of the hydraulic motor M and the assist pump AP in order to maintain the desired lowering speed of the boom cylinder BC.
- the opening degree of the proportional solenoid valve 34 is also increased, and accordingly, the pilot pressure acting on the pilot chambers 26a and 32a is also increased.
- the regeneration flow rate control valve 32 switches to the switching position, and the regeneration flow path 32c is opened by an amount proportional to the pilot pressure.
- the reason why the return oil in the piston side chamber 25 is regenerated in the rod side chamber 30 when the lowering speed of the boom cylinder BC is increased is to prevent the rod side chamber 30 from becoming negative pressure and generating abnormal noise. .
- the timing at which the regeneration flow control valve 32 opens and its opening are determined by the opening of the proportional solenoid valve 34 and the spring force of the spring 32b, and are set in advance according to the characteristics required for the boom cylinder BC.
- the rotational force of the assist pump AP can be assisted by the rotational force of the hydraulic motor M.
- the pressure flowing into the hydraulic motor M is lower than the discharge pressure of the second main pump MP2
- the hydraulic motor The pressure increasing function is exhibited by M and the assist pump AP.
- the output of the hydraulic motor M is determined by the product of the displacement volume Q1 per rotation and the pressure P1 at that time.
- the output of the assist pump AP is determined by the product of the displacement volume Q2 per revolution and the discharge pressure P2.
- the assist pump AP can maintain a predetermined discharge pressure by the output of the hydraulic motor M.
- the hydraulic pressure from the boom cylinder BC can be increased and discharged from the assist pump AP.
- the regenerative flow rate control valve 26 and the regeneration flow rate control valve 32 are two-position 4-port valves, and substantially only the regeneration flow rate control valve 32 is the first embodiment. Is different.
- the regeneration flow control valve 32 in the first embodiment is a two-position two-port valve, but the regeneration flow control valve 32 in the present embodiment is a two-position four-port valve.
- the function of the regeneration flow control valve 32 of the present embodiment is the same as that of the regeneration flow control valve of the first embodiment. That is, the regeneration channel 32c is closed at the normal position, and the regeneration channel 32c is opened at the switching position.
- the regeneration flow rate control valve 32 is a 2-position 4-port valve. If the number of ports of the regenerative flow rate control valve 26 and the regeneration flow rate control valve 32 is the same, the valve bodies can be shared. This is because there are advantages.
- the third embodiment will be described.
- the third embodiment shown in FIG. 3 is different from the first and second embodiments in the following points.
- the valve mechanism is constituted by two valves, that is, the regenerative flow control valve 26 and the regeneration flow control valve 32, but in the present embodiment, they are made one synthetic valve 44.
- the synthesizing valve 44 is a 2-position 6-port valve.
- a pilot chamber 44a connected to the pilot hydraulic pressure source PP is provided on one side via the same proportional solenoid valve 34 as in the first embodiment, and a spring is provided on the side facing the pilot chamber 44a. 44b is provided.
- the synthesis valve 44 is provided with a main flow path 44c, a regeneration flow path 44d, and a regeneration flow path 44e. When the synthesis valve 44 is in the illustrated normal position, only the main flow path 44c is maintained in a fully open state.
- the regenerative flow path 44d and the regeneration flow path 44e are switched at the switching position of the synthesis valve 44, and the opening timing differs depending on the amount of movement of the spool.
- the present invention can be used for construction machines such as power shovels.
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Abstract
Description
Claims (5)
- 建設機械の制御システムであって、
メインポンプと、
前記メインポンプに接続した複数の操作弁を備えた回路系統と、
前記複数の操作弁のうち特定の操作弁に接続したブームシリンダと、
前記特定の操作弁と前記ブームシリンダのピストン側室とを連通する一方の通路と、
前記特定の操作弁と前記ブームシリンダのロッド側室とを連通する他方の通路と、
前記ブームシリンダの前記ピストン側室からの戻り油の作用で回転する油圧モータと、
前記油圧モータの回転力で発電する発電機と、
前記発電機の発電電力を蓄電するバッテリと、
前記ブームシリンダの前記ピストン側室に連通する前記一方の通路に設けられ、下降時における前記ブームシリンダの前記ピストン側室の戻り油を回生流量として前記油圧モータに導くとともに、必要に応じて戻り油を再生流量として前記他方の通路に合流させて前記ブームシリンダの前記ロッド側室に導くバルブ機構と、
を備えた制御システム。 - 請求項1に記載の制御システムであって、
前記バルブ機構は、前記特定の操作弁を操作して前記ブームシリンダを下降させる下降制御時において、前記操作弁の操作量に応じて前記油圧モータへの供給流量を制御する制御機能を備えた制御システム。 - 請求項1に記載の制御システムであって、
前記バルブ機構は、前記特定の操作弁を操作して前記ブームシリンダを下降させる下降制御時において、前記ブームシリンダの下降速度指令が設定速度以上になった場合、前記ブームシリンダの戻り油を再生流量として前記ブームシリンダの前記ロッド側室に供給する制御システム。 - 請求項1に記載の制御システムであって、
前記バルブ機構は、パイロット室に比例電磁弁を介してパイロット圧源を接続するとともに、前記パイロット室と対向する側にスプリングのばね力を作用させ、前記比例電磁弁の開度がコントローラで制御される制御システム。 - 請求項1に記載の制御システムであって、
前記バルブ機構は、
前記一方の通路を開放して前記油圧モータとの連通を遮断するノーマル位置、および前記一方の通路を絞り制御しつつ前記油圧モータへの連通を開放する切換位置、に切換可能にした回生流量制御弁と、
前記ブームシリンダの前記ピストン側室と前記ロッド側室とを連通させる再生通路過程に設けられ、前記ノーマル位置で閉状態を保ち、前記切換位置で開状態を保つ再生流量制御弁と、
を備える制御システム。
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DE112011100693.4T DE112011100693B4 (de) | 2010-02-26 | 2011-02-23 | Steuersystem für eine Baumaschine |
US13/577,510 US9228323B2 (en) | 2010-02-26 | 2011-02-23 | Control system for construction machine |
KR1020127017200A KR101410597B1 (ko) | 2010-02-26 | 2011-02-23 | 건설 기계의 제어 시스템 |
CN201180007811.9A CN102741561B (zh) | 2010-02-26 | 2011-02-23 | 施工机械的控制系统 |
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JP (1) | JP5461234B2 (ja) |
KR (1) | KR101410597B1 (ja) |
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JP5461234B2 (ja) | 2014-04-02 |
KR20120092173A (ko) | 2012-08-20 |
CN102741561A (zh) | 2012-10-17 |
DE112011100693T5 (de) | 2013-01-17 |
CN102741561B (zh) | 2016-01-20 |
JP2011179541A (ja) | 2011-09-15 |
US9228323B2 (en) | 2016-01-05 |
US20120304630A1 (en) | 2012-12-06 |
KR101410597B1 (ko) | 2014-06-20 |
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