WO2012173149A1 - 作業機械の動力回生装置 - Google Patents
作業機械の動力回生装置 Download PDFInfo
- Publication number
- WO2012173149A1 WO2012173149A1 PCT/JP2012/065151 JP2012065151W WO2012173149A1 WO 2012173149 A1 WO2012173149 A1 WO 2012173149A1 JP 2012065151 W JP2012065151 W JP 2012065151W WO 2012173149 A1 WO2012173149 A1 WO 2012173149A1
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- WIPO (PCT)
- Prior art keywords
- flow rate
- control valve
- return oil
- signal
- work machine
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/22—Dredgers or soil-shifting machines for special purposes for making embankments; for back-filling
-
- 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
- E02F9/2091—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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
-
- 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
-
- 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
-
- 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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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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
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- the present invention relates to a power regeneration device for a work machine, and more particularly to a power regeneration device for a work machine that recovers energy by return pressure oil from a hydraulic actuator.
- a construction machine in which a hydraulic motor is driven by a return fluid from a hydraulic actuator to recover energy, and a return flow from a boom is branched to a regeneration side and a control valve side in order to improve operability.
- a hydraulic motor is driven by a return fluid from a hydraulic actuator to recover energy
- a return flow from a boom is branched to a regeneration side and a control valve side in order to improve operability.
- the amount of regenerative power increases if the boom is raised and lowered frequently, such as gravel loading work on a dump truck.
- the power storage device may be overcharged, leading to deterioration or damage of the device.
- a method of arranging a large capacity power storage device and using it with a margin can be considered.
- the power storage device is a very expensive component, and its price is almost proportional to the capacity, so it is desired to reduce the capacity of the power storage device.
- the present invention has been made based on the above-described matters, and provides a power regeneration device for a work machine that can prevent overcharging of the power storage device without increasing the capacity of the power storage device.
- a first invention includes an engine, a hydraulic pump driven by the engine, a control valve for supplying pressure oil from the hydraulic pump to a hydraulic cylinder, and the control valve.
- a power regeneration device for a work machine comprising an operating device for controlling, an oil passage connected to a bottom hydraulic chamber of the hydraulic cylinder and through which return oil that returns to the tank when the hydraulic cylinder is reduced is provided in the oil passage.
- a branch portion for diverting the oil passage into a plurality of oil passages, a regenerative conduit for guiding return oil to the tank via a hydraulic motor connected to the branch portion and connected to a generator controlled by an inverter,
- a control valve line that is connected to the branch portion and guides return oil to the tank via the control valve, an operation amount detection means that detects an operation amount of the operation device, and electric power generated by the generator
- a storage device for storing, a charge amount detecting means for detecting a charge amount of the power storage device, a flow rate of return oil flowing through the regenerative conduit side and the control valve conduit side according to a charge amount signal from the charge amount detecting means
- the flow rate calculation means for calculating the flow rate of the return oil flowing through the first flow rate control means, the first flow rate control means for controlling the flow rate of the control valve line based on the calculation result of the flow rate calculation means, and the calculation result of the flow rate calculation means
- a second flow rate control means for controlling the flow rate of the regenerative pipe.
- the second invention includes an engine, a hydraulic pump driven by the engine, a control valve for switching and supplying the hydraulic oil from the hydraulic pump to a hydraulic cylinder, and an operation device for controlling the control valve.
- an oil path connected to the bottom hydraulic chamber of the hydraulic cylinder and through which return oil that returns to the tank when the hydraulic cylinder is reduced flows, and the oil path provided in the oil path is divided into a plurality of oil paths.
- a control valve line for guiding return oil to the tank, an operation amount detection means for detecting an operation amount of the operation device, a power storage device for storing the power generated by the generator, and a charge amount of the power storage device are detected.
- a plurality of characteristics of a meter-out flow rate from the hydraulic cylinder with respect to an operation amount of the operating device when the hydraulic cylinder is reduced and a charge amount signal from the charge amount detection unit are stored.
- a characteristic selection means for outputting any one of a plurality of characteristics of the stored meter-out flow rate in response to the charge amount signal, an operation amount and a meter-out flow rate output by the characteristic selection means,
- Flow rate calculating means for calculating the flow rate of the return oil flowing through the regenerative pipeline side and the flow rate of the return oil flowing through the control valve pipeline side based on the relationship and the operation amount detected by the operation amount detection unit,
- First flow rate control means for controlling the flow rate of the control valve line based on the calculation result of the flow rate calculation means; and the regeneration based on the calculation result of the flow rate calculation means.
- Shall and a second flow rate control means for controlling the flow rate of the road.
- the third invention is the first or second invention, wherein the flow rate calculation means is configured to determine the flow rate of the return oil flowing through the regenerative pipe line and the flow rate while the lowering operation signal in the operation device is detected.
- the distribution characteristic with the flow rate of the return oil flowing on the control valve pipe side is fixed.
- the flow rate calculation means stores a characteristic of meter-out flow rate from the hydraulic cylinder with respect to an operation amount of the operating device when the hydraulic cylinder is reduced.
- an operation amount signal from the operation amount detection means is input, and a flow rate of the return oil flowing through the control valve line side is calculated from the stored meter-out flow rate characteristics according to the operation amount signal.
- the flow rate calculation means and the characteristics of the meter-out flow rate from the hydraulic cylinder with respect to the operation amount of the operating device when the hydraulic cylinder is reduced are stored, and the operation amount signal from the operation amount detection means is input.
- the second flow rate calculation for calculating the flow rate of the return oil flowing through the regenerative pipeline side from the stored meter-out flow rate characteristics in accordance with the manipulated variable signal.
- a correction signal calculation means for inputting a charge amount signal from the charge amount detection means and calculating a correction characteristic in accordance with the charge amount signal.
- the correction signal from the correction signal calculation means allows the first signal to be corrected.
- the output signal of the first flow rate calculation means and the output signal of the second flow rate calculation means are corrected.
- the fifth invention is characterized in that, in the first invention, an electromagnetic proportional valve for controlling a pilot pressure to the control valve is provided in order to control a flow rate of the return oil flowing through the control valve pipe side.
- the present invention further comprises abnormality detection means for detecting abnormality of the generator and the inverter, and the abnormality detection means detects abnormality of the generator or the inverter.
- the characteristic selection means outputs the characteristic of the meter-out flow rate that makes the flow rate of the return oil flowing through the regenerative pipe side zero, to the second flow rate calculation means, and the return oil flowing through the control valve pipe side
- the meter-out flow rate characteristic is increased to the first flow rate calculating means for increasing the flow rate of the return flow by the amount of decrease in the flow rate of the return oil on the regenerative pipeline side.
- a seventh invention according to the fourth invention further comprises an abnormality detection means for detecting an abnormality in the generator and the inverter, and the abnormality detection means detects an abnormality in the generator or the inverter.
- the correction signal calculation means corrects the flow rate of the return oil flowing through the regenerative pipe side based on the operation amount in the second flow rate control means to zero, and sets the operation amount in the first flow rate control means to the operation amount. It is characterized in that the flow rate of the return oil flowing on the control valve line side is corrected so as to increase by the flow rate decrease in the second flow rate control means.
- FIG. 1 is a perspective view showing a hydraulic excavator provided with a first embodiment of a power regeneration device for a work machine according to the present invention. It is the schematic of the control system which shows 1st Embodiment of the motive power regeneration apparatus of the working machine of this invention. It is one metering characteristic figure with which the characteristic selection circuit in the controller in 1st Embodiment of the motive power regeneration apparatus of the working machine of this invention is provided. It is a flowchart figure which shows the processing content of the controller in 1st Embodiment of the motive power regeneration apparatus of the working machine of this invention. It is a block diagram of a controller which constitutes a 1st embodiment of a power regeneration device of a working machine of the present invention.
- FIG. 1 is a perspective view showing a hydraulic excavator provided with a first embodiment of a power regeneration device for a work machine according to the present invention
- FIG. 2 shows a first embodiment of a power regeneration device for a work machine according to the present invention. It is the schematic of a control system.
- a hydraulic excavator 1 includes an articulated work device 1A having a boom 1a, an arm 1b, and a bucket 1c, and a vehicle body 1B having an upper swing body 1d and a lower traveling body 1e.
- the boom 1a is rotatably supported by the upper swing body 1d and is driven by a boom cylinder (hydraulic cylinder) 3a.
- the upper turning body 1d is provided on the lower traveling body 1e so as to be turnable.
- the arm 1b is rotatably supported by the boom 1a and is driven by an arm cylinder (hydraulic cylinder) 3b.
- the bucket 1c is rotatably supported by the arm 1b and is driven by a bucket cylinder (hydraulic cylinder) 3c.
- the driving of the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c is controlled by an operating device 4 (see FIG. 2) installed in the cab of the upper swing body 1d and outputting a hydraulic signal.
- This control system includes a control valve 2, an operation device 4, an electromagnetic proportional valve 8, a pilot check valve 10, an inverter 13, a chopper 14, a power storage device 15, a pressure sensor 16, and a voltage detector 17. And a controller 9 as a control device.
- the hydraulic power source device includes a hydraulic pump 6, a pilot oil pump 7 for supplying pilot pressure oil, and a tank 6A.
- the hydraulic pump 6 and the pilot oil pump 7 are coupled by the same drive shaft, and are driven by an engine 50 connected in series with the drive shaft.
- the oil passage 30 that supplies the pressure oil from the hydraulic pump 6 to the boom cylinder 3a is provided with a control valve 2 that controls the direction and flow rate of the pressure oil in the oil passage.
- the control valve 2 switches the spool position by supplying pilot pressure oil to the pilot pressure receiving portions 2a and 2b, supplies pressure oil from the hydraulic pump 6 to the hydraulic actuator 3a, and drives the boom 1a. .
- the spool position of the control valve 2 is switched by operating the operation lever or the like of the operation device 4.
- the operating device 4 is provided with a pilot valve 5, and the operation lever or the like is moved through a pilot primary oil passage (not shown) from the pilot oil pump 7 by a tilting operation (boom raising direction operation) in the direction a in the figure.
- the supplied pilot primary pressure oil is supplied to the pilot pressure receiving part 2a of the control valve 2 through the pilot secondary side oil passage 20a.
- the pilot valve 5 receives pilot primary pressure oil supplied from a pilot oil pump 7 through a pilot primary side oil passage (not shown) by tilting operation (boom lowering direction operation) in the direction b of the operation lever or the like.
- the pressure is received by the pilot check valve 10 through the pilot secondary side oil passage 20c.
- the pressure sensor 16 is attached to the pilot secondary side oil passage 20c.
- the pressure sensor 16 functions as a signal conversion means that detects the lower pilot pressure Pb of the pilot valve 5 of the operating device 4 and converts it into an electrical signal corresponding to the pressure.
- the converted electrical signal is sent to the controller 9. It is configured to allow output.
- pilot secondary side oil passage 20b is connected to the pilot pressure receiving part 2b of the control valve 2, and the other end side of the pilot secondary side oil passage 20b is connected to the two-position two-port electromagnetic proportional valve 8. Connected to the output port.
- a pilot oil passage 20 for supplying pressure oil from the pilot oil pump 7 is connected to the input side port of the electromagnetic proportional valve 8.
- the power regeneration device 70 includes an oil passage 31, a branch portion 32, a regeneration conduit 33, a control valve conduit 34, a pressure sensor 16, a controller 9, an inverter 13, and a chopper. 14, a power storage device 15, and a voltage detector 17.
- the oil passage 31 is an oil passage through which oil (return oil) returning to the tank 6A when the boom cylinder 3a is contracted flows, and is connected to the bottom side hydraulic chamber of the boom cylinder 3a.
- the oil passage 31 is provided with a branch portion 32 that divides the oil passage 31 into a plurality of oil passages.
- a regenerative pipe 33 and a control valve pipe 34 are connected to the branch portion 32.
- the regenerative pipe 33 includes a pilot check valve 10 and a hydraulic motor 11 installed on the downstream side of the pilot check valve 10 and connected to a generator 12, and is connected to the bottom hydraulic chamber via the hydraulic motor 11. Is returned to the tank 6A.
- the generator 12 is rotated to generate regenerative power, which is generated via the inverter 13 and the chopper 14 for boosting.
- the electricity is stored in the electricity storage device 15.
- a capacitor is described as an example of power storage device 15.
- SOC State ofgeCharge
- the SOC value can be confirmed by detecting the voltage of the capacitor.
- a voltage detector 17 is provided in the power storage device 15, and a signal detected by the voltage detector 17 is input to the controller 9.
- the pilot check valve 10 is provided to prevent inadvertent flow of pressure oil (boom drop) from the oil passage 31 to the regenerative conduit 33, such as prevention of leakage of the regenerative conduit 33, and normally the regenerative conduit. 33 is shut off.
- the pilot check valve 10 is guided with the lower pilot pressure Pb of the pilot valve 5 of the operation device 4 when the boom lowering operation is performed by the operator, and the amount of operation of the operation device 4 during the boom lowering operation is given. It is set so as to be opened by an operation signal (pilot pressure Pb) output when reaching a fixed amount. As a result, when the operation amount of the operation device 4 becomes a predetermined value or more, the return oil is supplied to the hydraulic motor 11.
- the rotation speeds of the hydraulic motor 11 and the generator 12 during the boom lowering operation are controlled by the inverter 13.
- the rotational speed of the hydraulic motor 11 is controlled by the inverter 13 in this way, the flow rate of oil passing through the hydraulic motor 11 can be adjusted, so that the flow rate of return oil flowing from the bottom hydraulic chamber to the regenerative pipeline 33 can be adjusted.
- the inverter 13 in the present embodiment functions as a flow rate control unit that controls the flow rate of the regenerative pipe 33.
- the control valve line 34 guides the return oil from the bottom side hydraulic chamber to the tank 6A via the control valve 2 (spool type directional switching valve) which is a flow rate adjusting means.
- An operation signal (hydraulic signal) output from the pilot oil pump 7 via the electromagnetic proportional valve 8 during the boom lowering operation is input to one pilot pressure receiving part 2b of the control valve 2, and the other pilot pressure receiving part 2a is input with the pilot pressure Pa of the pilot valve 5 from the operating device 4 during the boom raising operation.
- the spool of the control valve 2 moves according to operation signals input to these two pilot pressure receiving portions 2a and 2b, and switches the direction and flow rate of the pressure oil supplied from the hydraulic pump 6 to the boom cylinder 3a.
- the electromagnetic proportional valve 8 outputs an operation signal corresponding to the operation amount of the operation device 4 during the boom lowering operation to the pilot pressure receiving portion 2b of the control valve 2, and thereby passes through the control valve 2 from the bottom side hydraulic chamber.
- the flow rate of the return oil (that is, the flow rate of the return oil flowing through the control valve pipe 34) is adjusted. That is, the electromagnetic proportional valve 8 in the present embodiment functions as a flow rate control unit that controls the flow rate of the control valve pipe line 34.
- the pressure oil output from the pilot oil pump 7 is input to the input port of the electromagnetic proportional valve 8 in the present embodiment.
- a command value output from an electromagnetic proportional valve output value calculation unit 104 (see FIG. 5) described later of the controller 9 is input to the operation unit of the electromagnetic proportional valve 8.
- the port position of the electromagnetic proportional valve 8 is adjusted in accordance with the command value, whereby the pressure of the pressure oil supplied from the pilot oil pump 7 to the pressure receiving portion 2b of the control valve 2 is adjusted as appropriate.
- the controller 9 inputs the lower pilot pressure Pb of the pilot valve 5 of the operating device 4 from the pressure sensor 16 and the SOC value of the power storage device 15 from the voltage detector 17, and performs calculations according to these input values. By outputting a control command to the electromagnetic proportional valve 8 and the inverter 13, the flow rate of the return oil passing through the regenerative conduit 33 and the control valve conduit 34 is controlled.
- the pilot pressure Pb generated from the pilot valve 5 is detected by the pressure sensor 16 and input to the controller 9.
- the controller 9 outputs a control command to the electromagnetic proportional valve 8 according to the input pilot pressure according to a predetermined table.
- the pilot pressure is applied to the pilot pressure receiving portion 2b of the control valve 2, and the control valve 2 is switched.
- the pressure oil from the hydraulic pump 6 is guided to the oil passage 30 of the boom cylinder 3a, and the boom cylinder 3a is contracted.
- the return flow rate discharged from the bottom side oil chamber of the boom cylinder 3a is guided to the tank 6A through the oil passage 31 and the control valve 2.
- the pilot pressure Pb is guided from the pilot valve 5 to the pilot check valve 10 via the pilot secondary side oil passage 20c as an operating pressure, so that the pilot check valve 10 opens.
- a part of the return flow discharged from the bottom side oil chamber of the boom cylinder 3a is guided to the hydraulic motor 11, and the generator 12 connected to the hydraulic motor 11 performs a power generation operation.
- the generated electric energy is stored in the power storage device 15.
- the controller 9 determines the state from the input pilot pressure Pb signal and SOC signal, and determines the command value to the electromagnetic proportional valve 8 and the control command value to the inverter 13 which is the control device of the generator 12. Calculate and output.
- the return flow rate discharged from the bottom side oil chamber of the boom cylinder 3a in the boom lowering operation is guided to the control valve 2 side (control valve side flow rate) and the regeneration hydraulic motor 11 side (regeneration side flow rate). Therefore, an appropriate regenerative operation is performed while ensuring operability.
- FIG. 3 is a metering characteristic diagram provided in the characteristic selection circuit in the controller according to the first embodiment of the power regeneration device for a work machine of the present invention.
- the metering diagram indicated by a thin solid line shows the relationship between the lever operation amount of the operating device 4 and the flow rate of return oil flowing through the control valve line 34 (control valve line flow rate Q1).
- the metering diagram indicated by the broken line shows the relationship between the lever operation amount of the operating device 4 and the flow rate of the return oil flowing through the regenerative pipeline 33 (regenerative pipeline flow rate Q2).
- a metering diagram indicated by a thick solid line is a composite of the above two metering diagrams and indicates the total flow rate of the control valve pipe flow rate Q1 and the regenerative pipe flow rate Q2.
- the total flow rate is the control valve pipe. It matches the flow rate Q1. In other words, at this time, all the return oil from the bottom side hydraulic chamber flows into the control valve line 34, and the regenerative line 33 is closed by the pilot check valve 10.
- the lever operation amount of the controller device 4 is equal to or greater than the second set value L2 (a value greater than the first set value) (hereinafter sometimes referred to as a “full regenerative region”)
- the total flow rate is the regenerative pipe. This is consistent with the road flow rate Q2.
- all the return oil from the bottom hydraulic chamber flows into the regenerative pipe 33, and the control valve pipe 34 is closed by the control valve 2.
- the operation returns to both the regenerative conduit 33 and the control valve conduit 34. Oil is being poured.
- the lever operation amount of the operating device 4 increases from the first set value L1 to the second set value L2
- the control valve pipe flow rate Q1 is zero from the total flow rate q1 at the first set value L1.
- the regeneration pipe flow rate Q2 is set so as to gradually increase from zero toward the total flow rate q2 at the second set value L2.
- FIG. 4 is a flowchart showing the processing contents of the controller in the first embodiment of the power regeneration device for a work machine of the present invention.
- a start state for example, the operator turns on a key of a hydraulic excavator (not shown).
- step (S1) it is determined whether or not the boom lowering lever is operated. Specifically, the determination is made based on the presence or absence of a signal of the pilot pressure Pb input from the pressure sensor 16. If it is determined that the boom lowering lever is operated, the process proceeds to step (S2). If NO is determined, the process is repeated until YES is determined.
- step (S2) it is determined whether the SOC value exceeds the set value. Specifically, the determination is based on the magnitude of the voltage value of power storage device 15 input from voltage detector 17 and a preset value. If the SOC value does not exceed the set value, NO is determined and the process proceeds to step (S3). If the SOC value is also exceeded, YES is determined and the process proceeds to step (S4).
- step (S3) a predetermined distribution between the regenerative pipeline flow rate and the control valve pipeline flow rate is maintained.
- step (S4) the distribution between the predetermined regenerative pipe flow rate and the control valve pipe flow rate is changed. Specifically, the regenerative pipeline flow rate is decreased and the control valve pipeline flow rate is increased. When the SOC exceeds the reference value, the regenerative pipeline flow rate is reduced, so that overcharging of the power storage device 15 due to regenerative power can be prevented.
- step (S1) returns to step (S3) from step (S3) and step (S4), and each step is repeated.
- FIG. 5 is a block diagram of a controller constituting the first embodiment of the power regeneration device for a work machine according to the present invention.
- FIG. 6A is a block diagram of the controller in the first embodiment of the power regeneration device for the work machine according to the present invention.
- FIG. 6B is still another metering characteristic diagram for explaining the characteristic selection circuit in the controller in the first embodiment of the power regeneration device for the work machine of the present invention. is there.
- FIG. 5 to FIG. 6B the same reference numerals as those shown in FIG. 1 to FIG.
- the controller 9 shown in FIG. 5 includes a characteristic selection calculation unit 100, a first flow rate calculation unit 102, a second flow rate calculation unit 101 (flow rate calculation means), a motor command value calculation unit 103, and an electromagnetic proportional valve output value calculation unit. 104.
- the characteristic selection calculation unit 100 detects the SOC from the voltage value of the capacitor that is the power storage device 15 detected by the voltage detection sensor 17, and uses the detected SOC and a preset set value. The metering characteristic is selected and output based on the comparison result.
- FIG. 6A shows metering characteristics that are selected when the SOC is lower than a preset value, that is, when the charge amount of the power storage device 15 is low. This metering characteristic ensures operability by flowing the flow rate to the control valve as much as possible in the fine operation range where operability is required, and in the full regeneration region where operability is not so much, a large flow rate is flowed to the regeneration side. Indicates that regenerative control is performed.
- FIG. 6B shows that the metering characteristic in which the distribution between the regenerative pipe flow rate and the control valve pipe flow rate shown in FIG. 6A is changed is selected according to the SOC value. Specifically, as the SOC value increases, the metering characteristic of a predetermined distribution pattern is selected to increase the control valve line flow rate and decrease the regenerative line flow rate. Yes. In other words, the distribution pattern a is selected when the SOC value is low, and the distribution pattern is switched to b, c, and d as the SOC value increases. As described above, as the SOC value increases, the control valve pipe flow rate is increased and the regenerative pipe flow rate is decreased. Therefore, the regenerative amount can be suppressed without changing the return flow rate of the boom cylinder 3a.
- the first flow rate calculation unit 102 returns to the control valve line 34 side based on the metering diagram output from the characteristic selection calculation unit 100 and the operation amount of the operation device 4 during the boom lowering operation.
- the second flow rate calculation unit 101 is a part for calculating the oil flow rate Q1, and the second flow rate calculation unit 101 is based on the metering diagram output from the characteristic selection calculation unit 100 and the operation amount of the operation device 4 during the boom lowering operation. This is a part for calculating the flow rate Q2 of the return oil flowing on the 33 side.
- Detection values of the pressure sensor 16 are input to the first flow rate calculation unit 102 and the second flow rate calculation unit 101, and the first flow rate calculation unit 102 and the second flow rate calculation unit 101 are based on the detection values.
- the operation amount is calculated. After calculating the operation amount of the controller device 4 based on the detection value of the pressure sensor 16, the flow rates Q1 and Q2 corresponding to the calculated operation amount are calculated based on the metering diagram output from the characteristic selection calculation unit 100.
- the target flow rate is set for each of the pipe lines 33 and 34.
- the first flow rate calculation unit 102 outputs the calculated control valve pipe flow rate Q1 to the electromagnetic proportional valve output value calculation unit 104, and the second flow rate calculation unit 101 supplies the calculated regenerative pipe flow rate Q2 to the motor command value calculation unit 103. Output.
- the motor command value calculation unit 103 calculates the number of revolutions of the hydraulic motor 11 necessary to suck the regenerative pipe flow rate Q2 calculated by the second flow rate calculation unit 101 by the hydraulic motor 11 of the regenerative pipe 33, and the hydraulic motor This is a part for outputting to the inverter 13 a rotation speed command value for rotating 11 at the calculated rotation speed.
- the inverter 13 to which the rotation speed command value calculated by the motor command value calculation unit 103 is input rotates the hydraulic motor 11 and the generator 12 based on the rotation speed command value, whereby the second flow rate is supplied to the regenerative pipe 33.
- the return oil having the flow rate calculated by the calculation unit 101 flows.
- the electromagnetic proportional valve output value calculation unit 104 outputs the output value of the electromagnetic proportional valve 8 necessary for passing the control valve line flow rate Q1 calculated by the first flow rate calculation unit 102 through the control valve 2 of the control valve line 34. (That is, a command value for calculating the pressure (pilot pressure) of the hydraulic signal output from the proportional solenoid valve 8 to the pilot pressure receiving portion 2b of the control valve 2) and outputting the calculated output value from the proportional solenoid valve 8 Is output to the electromagnetic proportional valve 8.
- the electromagnetic proportional valve 8 to which the output value calculated by the electromagnetic proportional valve output value calculation unit 104 is input outputs an operation signal to the control valve 2 based on the output value, whereby the first flow rate is supplied to the control valve line 34.
- the return oil having the flow rate calculated by the calculation unit 102 flows.
- the pilot pressure Pb of the pilot valve 5 of the operating device 4 is detected by the pressure sensor 16 and input to the controller 9.
- the pilot pressure Pb is input to the first flow rate calculation unit 102 and the second flow rate calculation unit 101 as a lever operation amount of the controller device 4.
- the voltage value of the capacitor which is the power storage device 15 is constantly detected by the voltage detection sensor 17 and is input to the controller 9.
- This SOC signal is input to the characteristic selection calculation unit 100.
- the characteristic selection calculation unit 100 when the SOC is low, that is, when the charge amount of the power storage device 15 is low, the metering characteristic is selected so as to flow the flow rate to the regeneration side as much as possible and suppress the flow rate on the control valve side. It is output to the flow rate calculation unit 102 and the second flow rate calculation unit 101.
- the characteristic selection calculation unit 100 selects a metering characteristic that suppresses the regenerative pipe flow rate and increases the control valve pipe flow rate. .
- the metering characteristics output to the first flow rate calculation unit 102 and the second flow rate calculation unit 101 are changed.
- the control valve pipe flow rate Q1 and the regenerative pipe flow rate Q2 corresponding to the lever operation amount of the operating device 4 are output, and the electromagnetic proportional valve output value calculation unit 104 is output.
- the motor command value calculation unit 103 calculates and outputs control commands to the electromagnetic proportional valve 8 and the inverter 13.
- the regenerative pipe flow rate is suppressed according to the operation amount of the operation device 4 and the state of the SOC, Charging can be prevented and the capacity of the power storage device 15 can be reduced. Further, since the control valve pipe flow rate can be changed, the boom lowering speed desired by the operator can be secured.
- FIG. 7 is a block diagram of a controller constituting a second embodiment of the power regeneration device for a work machine according to the present invention.
- the same reference numerals as those shown in FIGS. 1 to 6B are the same or corresponding parts, and the description of those parts is omitted.
- the characteristic selection calculation unit 100 of the controller 9 outputs the metering characteristic selected in accordance with the SOC signal, and the first flow rate calculation unit 102 and the first flow rate calculation unit 102 are output based on this metering characteristic.
- the flow rate calculation unit 101 calculates the control valve pipe flow rate Q1 and the regenerative pipe flow rate Q2, and outputs a control command from the controller 9 to the electromagnetic proportional valve 8 and the inverter 13 in order to realize these flow rates. For this reason, during the boom lowering operation, for example, if the SOC value changes, the selected metering characteristic changes, which may cause a sudden change in operability.
- a power regeneration device for a work machine that does not cause a sudden change in operability even if the SOC value changes.
- a correction signal calculation unit 120 includes a correction signal calculation unit 120, a first flow rate calculation unit 112 and a second flow rate calculation unit 111 (flow rate calculation means), a multiplier 113, a subtractor 114, an adder 115, A motor command value calculation unit 103 and an electromagnetic proportional valve output value calculation unit 104 are provided.
- the first flow rate calculation unit 112 has the control valve line flow rate characteristic of the metering diagram shown in FIG. 3 set in advance, and inputs the operation amount of the operating device 4 during the boom lowering operation, and the control valve line
- the flow rate Q1 ′ of the return oil flowing to the 34 side is calculated and output to the adder 115.
- the second flow rate calculation unit 111 is set in advance so that the regenerative pipeline flow rate characteristic of the metering diagram shown in FIG. 3 is set, and returns to the regenerative pipeline 33 side based on the operation amount of the operating device 4 during the boom lowering operation.
- the oil flow Q2 ′ is calculated and output to the multiplier 113 and the subtractor 114.
- correction signal calculation unit 120 detects the SOC from the voltage value of the capacitor that is power storage device 15 detected by voltage detection sensor 17, and a correction signal that is set in advance according to the detected SOC. Is output to the multiplier 113.
- the flow rate output Q2 'of the second flow rate calculation unit 111 is corrected by this correction signal.
- the maximum value of the output of the correction signal calculation unit 120 is 1.
- the signal 1 is continuously output and is multiplied by the flow rate value Q2 'of the second flow rate calculation unit 111 by the multiplier 113. That is, in a state where the SOC is low, the output signal Q ⁇ b> 2 ′ of the second flow rate calculator 111 becomes the input value Q ⁇ b> 2 of the motor command value calculator 103 as it is.
- the output of the correction signal calculation unit 120 outputs a value smaller than 1 with 0 as a lower limit value.
- the output signal Q2 'of the second flow rate calculation unit 111 is corrected to decrease steplessly at the output of the multiplier 113, so that the regenerative flow rate can be suppressed.
- the subtractor 114 and the adder 115 perform an operation of increasing the control valve side flow rate by reducing the regenerative flow rate.
- the subtractor 114 inputs the output of the multiplier 113 and the output of the second flow rate calculation unit 111 and inputs the output signal to the adder 115.
- the subtractor 114 calculates the flow rate difference before and after correction by the second flow rate calculation unit 111, and the adder 115 outputs the flow rate difference calculated by the subtractor 114 to the output of the first flow rate calculation unit 112. To increase the flow rate on the control valve side. Thereby, since the sum total of the output of the 2nd flow volume calculating part 111 and the 1st flow volume calculating part 112 does not change, the bottom flow volume of the boom cylinder 3a desired can be ensured.
- the adder 115 outputs the calculated control valve pipe flow rate Q1 to the electromagnetic proportional valve output value calculation unit 104, and the multiplier 113 outputs the calculated regenerative pipe flow rate Q2 to the motor command value calculation unit 103.
- the pilot pressure Pb of the pilot valve 5 of the operating device 4 is detected by the pressure sensor 16 and input to the controller 9.
- the pilot pressure Pb is input to the first flow rate calculation unit 112 and the second flow rate calculation unit 111 as a lever operation amount of the operating device 4, and a flow rate signal corresponding to the lever operation amount is output to the first flow rate calculation unit 112 and the second flow rate. Output from the calculation unit 111.
- the SOC signal is input to the correction signal calculation unit 120, and a signal for correcting the flow rate value Q2 ′ of the second flow rate calculation unit 111 that is the regeneration side flow rate is output from the correction signal calculation unit 120 according to the state of the SOC. . Since the output signal of the correction signal calculation unit 120 changes continuously according to the state of the SOC, the output correction value Q2 of the second flow rate calculation unit 111 also changes continuously.
- the decrease in the regeneration side flow rate is added to the control valve side flow rate.
- the output values of the second flow rate calculation unit 111 and the first flow rate calculation unit 112 are corrected as described above, and the control valve pipe flow rate Q1 and the regenerative pipe flow rate Q2 are generated.
- Control commands to the electromagnetic proportional valve 8 and the inverter 13 are calculated and output by the electromagnetic proportional valve output value calculation unit 104 and the motor command value calculation unit 103 to which the respective target flow rates are input.
- the regeneration-side flow rate can be continuously changed according to the state of the SOC, so that the operability suddenly changes. Can be prevented, and a good operation desired by the operator can be ensured.
- FIG. 8 is a flowchart showing the processing contents of the controller in the third embodiment of the power regeneration device for work machine of the present invention.
- the same reference numerals as those shown in FIGS. 1 to 7 are the same or corresponding parts, and the description thereof is omitted.
- a start state for example, the operator turns on a key of a hydraulic excavator (not shown).
- step (S101) it is determined whether or not the boom lowering lever is operated. Specifically, the determination is made based on the presence or absence of a signal of the pilot pressure Pb input from the pressure sensor 16. If it is determined that there is no boom lowering lever operation, the process proceeds to step (S102), and if it is determined YES, the process proceeds to step (S105).
- step (S102) it is determined whether the SOC value exceeds the set value. Specifically, the determination is based on the magnitude of the voltage value of power storage device 15 input from voltage detector 17 and a preset value. If the SOC value does not exceed the set value, NO is determined and the process proceeds to step (S103). If the SOC value is also exceeded, YES is determined and the process proceeds to step (S104).
- step (S103) the distribution pattern is maintained without changing the settings of the predetermined regenerative pipe flow rate and the control valve pipe flow rate.
- This distribution pattern is, for example, the case of the distribution pattern a in FIG. 6B and indicates that the regeneration side flow rate is increased as much as possible.
- step (S104) a predetermined distribution between the regenerative pipe flow rate and the control valve pipe flow rate is changed. Specifically, it is set to decrease the regenerative pipeline flow rate and increase the control valve pipeline flow rate, and retain the distribution pattern.
- This distribution pattern is, for example, the case of the distribution patterns b, c, and d in FIG. 6B.
- the SOC exceeds the reference value, the regenerative line flow rate is reduced, so that overcharging of the power storage device 15 due to regenerative power is prevented. be able to.
- step (S105) the boom lowering lever is operated in step (S101). In this case, the distribution pattern set in step (S103) or step (S104) is held.
- step (S101) returns to step (S103) and step (S104), and each step is repeated.
- the flow rate distribution is not changed while the lever operation signal is input, that is, during the boom lowering operation. Therefore, it is possible to prevent a sudden change in characteristics and to secure a good operation desired by the operator.
- FIG. 9 is a schematic diagram of a control system showing a fourth embodiment of a power regeneration device for a work machine according to the present invention
- FIG. 10 shows an inverter constituting the fourth embodiment of a power regeneration device for a work machine according to the present invention.
- FIG. 11 is a block diagram of a controller constituting a fourth embodiment of the power regeneration device for a work machine according to the present invention
- FIG. 12 is a power regeneration device for the work machine according to the present invention.
- Fig. 13 is a metering characteristic diagram for explaining a characteristic selection circuit in the controller according to the fourth embodiment.
- FIG. 13 is a flowchart showing the processing contents of the controller in the fourth embodiment of the power regeneration device for a work machine according to the present invention. It is. 9 to 13, the same reference numerals as those shown in FIGS. 1 to 8 are the same or corresponding parts, and the description thereof is omitted.
- the device when there is an abnormality in the generator 12 or the inverter 13 that controls the generator 12, if the return oil is caused to flow into the regenerative pipe 33, the device excessively generates heat, and the machine There is a possibility that the service life of the work machine may be reduced due to a reduction in the service life or a mechanical shock.
- overcharging of the power storage device 15 can be prevented without increasing the capacity of the power storage device 15, and the generator 12 or this can be controlled.
- a power regeneration device for a work machine that can ensure good operability even when an abnormality occurs in the inverter 13 that performs the operation.
- a control system showing a fourth embodiment of the power regeneration device for a work machine of the present invention shown in FIG. 9 is configured in substantially the same manner as in the first embodiment, but the following forms are different.
- the pilot secondary oil passage 20c is provided with a two-port two-position electromagnetic switching valve 85 for switching between communication / blocking of the oil passage, and pilot check of pilot pressure oil generated by the pilot valve 5 of the operating device 4 is performed.
- Supply to the valve 10 can be controlled by a command from the controller 9. Specifically, when a command signal from the controller 9 is input to the operation portion of the electromagnetic switching valve 85, the port is switched, the pilot secondary side oil passage 20c is shut off, and the command signal is not input.
- the port that communicates with the pilot secondary side oil passage 20c is selected.
- the inverter 13 is provided with an abnormality detection unit capable of detecting an abnormality of the generator 12 and the inverter 13 described later, and an abnormality signal detected by the abnormality detection unit is output to the controller 9.
- the inverter 13 in this embodiment will be described with reference to FIG.
- the inverter 13 controls the drive of the communication driver 13a that is a communication interface with other devices such as the controller 9, the inverter circuit 13d having a switching element (for example, IGBT (insulated gate bipolar transistor)), and the inverter circuit 13d.
- command) to the driver circuit 13c and controls ON / OFF of the switching element in the inverter circuit 13d are provided.
- the control circuit 13b includes a motor command value output from the controller 9 and rotational position information (resolver signal) output from a position sensor 90 (for example, a magnetic pole position sensor) for detecting the rotational position of the generator 12.
- a position sensor 90 for example, a magnetic pole position sensor
- Current information output from the current sensor 91 for detecting the current generated by the generator 12 and temperature information output from the temperature sensor 92 for detecting the temperature of the inverter circuit 13d are input.
- the control circuit 13b functions as a control unit for controlling the generator 12 based on the input information, and detects whether an abnormality has occurred in the driver circuit 13c, the inverter circuit 13d, the generator 12 or the like.
- Is functioning as A known method is used as a method of detecting an abnormality in the device such as the driver circuit 13c, the inverter circuit 13d, and the generator 12, and when the control circuit 13b detects these abnormalities, an abnormality detection signal is sent to that effect. Is output to the controller 9 as follows.
- the target rotational speed (target speed) and target torque value of the generator 12 calculated from the motor command value, and the actual rotational speed of the generator 12 (position sensor 90).
- target speed the target rotational speed
- position sensor 90 the actual rotational speed of the generator 12
- the controller 9 in the present embodiment has substantially the same configuration as that of the controller 9 in the first embodiment shown in FIG. 5, except that an abnormal signal from the inverter 13 is input to the characteristic selection calculation unit 100A.
- the difference is that the electromagnetic switching valve 85 includes a cutoff signal output unit 105 that outputs a command signal.
- characteristic selection calculation unit 100A detects the SOC from the voltage value of power storage device 15 detected by voltage detection sensor 17, and the detected SOC is preset. The metering characteristic is selected and output based on the result of comparison with the set value. When an abnormal signal is input from the inverter 13, the metering characteristic shown in FIG. 12 is selected and output.
- FIG. 12 shows the metering characteristic of the regenerative pipe flow rate Q2 and the metering characteristic of the control valve pipe flow rate Q1, which are not related to the SOC value.
- the metering characteristic of the regenerative pipeline flow rate Q2 is set so that the meter-out flow rate of the regenerative pipeline 33 becomes zero with respect to all manipulated variables.
- the metering characteristic of the control valve pipe flow rate Q1 is set to coincide with the metering characteristic showing the total flow rate in FIG. That is, when an abnormal signal from the inverter 13 is input to the characteristic selection calculation unit 100A, the entire amount of return oil from the bottom hydraulic chamber flows to the control valve line 34, and the regenerative line 33 before and after the input of the abnormal signal. And a metering characteristic in which the total flow rate of the return oil flowing through the control valve line 34 remains unchanged is output from the characteristic selection calculation unit 100A.
- the shutoff signal output unit 105 inputs the regenerative pipe flow rate Q2 calculated by the second flow rate computing unit 101, and shuts off the electromagnetic switching valve 85 when the regenerative pipe flow rate Q2 is less than or equal to zero. This is the part that outputs the command signal.
- the electromagnetic switching valve 85 to which the shut-off command signal has been input is switched to a port that shuts off the pilot secondary side oil passage 20c, whereby the pilot check valve 10 shown in FIG. 9 is deactivated.
- the regenerative pipeline 33 is blocked, and the flow rate of the return oil flowing through the regenerative pipeline 33 becomes zero.
- the flow rate of the return oil flowing on the control valve line 34 side is increased by the decrease in the flow rate of the return oil on the regeneration line 33 side.
- steps S204 to S206 are the same as the processing contents of steps S2 to S4 in the first embodiment shown in FIG.
- the start state is, for example, a state in which the operator turns on a key of a hydraulic excavator (not shown).
- step (S201) it is determined whether or not the boom lowering lever is operated. Specifically, the determination is made based on the presence or absence of a signal of the pilot pressure Pb input from the pressure sensor 16. If it is determined that the boom lowering lever is operated, the process proceeds to step (S202). If NO is determined, the process is repeated until it is determined YES.
- step (S202) it is determined whether or not an abnormal signal is input from the inverter 13. Specifically, the characteristic selection calculation unit 100A of the controller 9 makes a determination based on the presence or absence of an abnormality detection signal from the inverter 13. If it is determined that an abnormality detection signal has been input, the process proceeds to step (S203). If it is determined NO, the process proceeds to step (S204).
- step (S203) the distribution between the regenerative pipe flow and the control valve pipe flow is determined so that the regenerative flow is zero and the total flow is the control valve flow.
- the characteristic selection calculation unit 100A shown in FIG. 11 outputs the metering characteristic at the time of detecting the abnormality of the inverter 13 to the second flow rate calculation unit 101 and the first flow rate calculation unit 102, and outputs a cutoff signal.
- the unit 105 outputs a cutoff command signal to the electromagnetic switching valve 85.
- step (S204) to step (S206) is the same as the flow of steps S2 to S4 in the first embodiment shown in FIG.
- step (S203) similarly to step (S205) and step (S206), the process returns to step (S201), and each step is repeated.
- the characteristic selection calculation unit 100A causes the second flow rate calculation unit 101 to provide a metering characteristic in which the meter-out flow rate of the regenerative pipe 33 becomes zero with respect to all manipulated variables.
- the metering characteristic that matches the total flow rate of the control valve pipe flow rate Q1 and the regenerative pipe flow rate Q2 is output to the first flow rate calculation unit 102.
- the second flow rate calculation unit 101 outputs the regenerative pipe flow rate Q2 to zero and outputs it to the motor command value calculation unit 103 and the cutoff signal output unit 105 regardless of the operation amount of the operation device 4 based on the metering characteristics. Further, the first flow rate calculation unit 102 outputs the control valve pipe flow rate Q1 calculated based on the operation amount of the controller device 4 and the metering characteristic that matches the total flow rate to the electromagnetic proportional valve output value calculation unit 104.
- the electromagnetic switching valve 85 since the shut-off signal is output from the shut-off signal output unit 105 to the electromagnetic switching valve 85, the electromagnetic switching valve 85 is driven to the shut-off position and shuts off the pilot secondary side oil passage 20c. For this reason, the pilot check valve 10 is kept closed regardless of the operation amount of the operating device 4, and the return oil from the bottom side hydraulic chamber does not flow into the regenerative conduit 33 (hydraulic motor 11).
- the power regeneration device for a work machine of the present invention when an abnormality occurs in the generator 12 or the inverter 13 that controls the generator 12, the return oil from the bottom hydraulic chamber is returned. Is prevented from flowing into the regenerative pipe 33, so that it is possible to prevent a decrease in the machine life due to excessive heat generation of the device and a decrease in the operability of the work machine due to the occurrence of a mechanical shock. As a result, it is possible to provide a power regeneration device for a work machine that can ensure good operability even when an abnormality occurs in the generator 12 or the inverter 13 that controls the generator 12.
- FIG. 14 is a block diagram of a controller constituting a fifth embodiment of the power regeneration device for a work machine according to the present invention.
- the same reference numerals as those shown in FIGS. 1 to 13 are the same or corresponding parts, and the description thereof is omitted.
- the configuration is almost the same as in the fourth embodiment, but the configuration of the controller 9 is different.
- the controller 9 in the present embodiment has substantially the same configuration as that of the controller 9 in the second embodiment shown in FIG. 7, except that an abnormal signal from the inverter 13 is input to the correction signal calculation unit 120A.
- the difference is that the electromagnetic switching valve 85 includes a cutoff signal output unit 105 that outputs a command signal.
- correction signal calculation unit 120A detects the SOC from the voltage value of power storage device 15 detected by voltage detection sensor 17, and according to the detected SOC. A preset correction signal is calculated and the correction signal is output to the multiplier 113. When an abnormal signal is input from the inverter 13, zero is output to the multiplier 113 as the correction signal.
- the shut-off signal output unit 105 is a part that inputs the regenerative pipe flow rate Q2 calculated by the multiplier 113 and outputs a shut-off command signal to the electromagnetic switching valve 85 when the regenerative pipe flow rate Q2 is less than or equal to zero.
- the others are the same as in the fourth embodiment.
- the correction signal calculation unit 120 ⁇ / b> A outputs zero as a correction signal to the multiplier 113.
- the correction signal corrects the flow rate Q2 ′ of the return oil flowing through the regenerative pipeline 33 based on the operation amount calculated by the second flow rate calculation unit 111, and sets the zero signal as the regenerative pipeline flow rate Q2 to the motor command value calculation unit. 103, the cutoff signal output unit 105, and the subtracter 114.
- the subtractor 114 calculates a flow rate difference before and after correction of the flow rate Q 2 ′, which is the output of the second flow rate calculation unit 111 by the multiplier 113, and outputs the output to the adder 115.
- the adder 115 adds the flow rate Q1 ′ of the return oil flowing on the control valve line 34 side based on the operation amount calculated by the first flow rate calculation unit 112 and the flow rate difference calculated by the subtractor 114, and adds the control valve It outputs to the proportional valve output value calculating part 104 as the pipe flow rate Q1. For this reason, the sum total of the output of the 2nd flow volume calculating part 111 and the 1st flow volume calculating part 112 does not change.
- the opening command of the total flow rate is output to the electromagnetic proportional valve 8
- the entire amount of return oil from the bottom side oil chamber flows into the control valve line 34.
- the total flow rate of the regenerative pipe flow rate Q2 and the control valve pipe flow rate Q1 remains unchanged.
- the cutoff signal output unit 105 outputs a cutoff signal to the electromagnetic switching valve 85
- the electromagnetic switching valve 85 is driven to the cutoff position and pilot secondary The side oil passage 20c is shut off. As a result, the return oil from the bottom hydraulic chamber can be prevented from flowing into the regenerative pipeline 33.
Abstract
Description
以下、本発明の作業機械の動力回生装置の実施の形態を図面を用いて説明する。図1は本発明の作業機械の動力回生装置の第1の実施の形態を備えた油圧ショベルを示す斜視図、図2は本発明の作業機械の動力回生装置の第1の実施の形態を示す制御システムの概略図である。
次に、本発明の作業機械の動力回生装置の第2の実施の形態について図7を用いて説明する。図7は本発明の作業機械の動力回生装置の第2の実施の形態を構成するコントローラのブロック図である。なお、図7において、図1乃至図6Bに示す符号と同符号のものは同一部分又は相当する部分であるので、その部分の説明を省略する。
次に、本発明の作業機械の動力回生装置の第3の実施の形態について図8を用いて説明する。図8は本発明の作業機械の動力回生装置の第3の実施の形態におけるコントローラの処理内容を示すフローチャート図である。なお、図8において、図1乃至図7に示す符号と同符号のものは同一部分又は相当する部分であるので、その部分の説明を省略する。
次に、本発明の作業機械の動力回生装置の第4の実施の形態について図9乃至図13を用いて説明する。図9は本発明の作業機械の動力回生装置の第4の実施の形態を示す制御システムの概略図、図10は本発明の作業機械の動力回生装置の第4の実施の形態を構成するインバータ及びその周辺のハードウェア構成の概略図、図11は本発明の作業機械の動力回生装置の第4の実施の形態を構成するコントローラのブロック図、図12は本発明の作業機械の動力回生装置の第4の実施の形態におけるコントローラ内の特性選択回路を説明するメータリング特性図、図13は本発明の作業機械の動力回生装置の第4の実施の形態におけるコントローラの処理内容を示すフローチャート図である。なお、図9乃至図13において、図1乃至図8に示す符号と同符号のものは同一部分又は相当する部分であるので、その部分の説明を省略する。
インバータ13からの異常信号が入力されると、特性選択演算部100Aは、第2流量演算部101に、回生管路33のメータアウト流量がすべての操作量に対してゼロになるメータリング特性を出力し、第1流量演算部102に、制御弁管路流量Q1と回生管路流量Q2との合計流量と一致するメータリング特性を出力する。
次に、本発明の作業機械の動力回生装置の第5の実施の形態について図14を用いて説明する。図14は本発明の作業機械の動力回生装置の第5の実施の形態を構成するコントローラのブロック図である。なお、図14において、図1乃至図13に示す符号と同符号のものは同一部分又は相当する部分であるので、その部分の説明を省略する。
インバータ13からの異常信号が入力されると、補正信号演算部120Aは、乗算器113へ補正信号としてゼロを出力する。この補正信号により、第2流量演算部111で演算された操作量に基づく回生管路33側を流れる戻り油の流量Q2’が補正され、ゼロ信号を回生管路流量Q2としてモータ指令値演算部103と遮断信号出力部105と減算器114とに出力する。
1a ブーム
2 制御弁
2a パイロット受圧部
2b パイロット受圧部
3a ブームシリンダ
4 操作装置
6 油圧ポンプ
6A タンク
7 パイロット油ポンプ
8 電磁比例弁
9 コントローラ(流量演算手段)
10 パイロットチェック弁
11 油圧モータ
12 発電機
13 インバータ
15 蓄電装置
16 圧力センサ(操作量検出手段)
17 電圧検出器(充電量検出手段)
31 油路
32 分岐部
33 回生管路
34 制御弁管路
50 エンジン
100 特性選択演算部
101 第2流量演算部
102 第1流量演算部
103 モータ指令値演算部
104 電磁比例弁出力値演算部
105 遮断信号出力部
111 第2流量演算部
112 第1流量演算部
120 補正信号演算部
Claims (7)
- エンジン(50)と、前記エンジン(50)によって駆動される油圧ポンプ(6)と、前記油圧ポンプ(6)からの圧油を油圧シリンダ(3a)に切換え供給する制御弁(2)と、前記制御弁(2)を制御する操作装置(4)とを備える作業機械の動力回生装置において、
前記油圧シリンダ(3a)のボトム側油圧室に接続され当該油圧シリンダ(3a)の縮小時にタンク(6A)に戻る戻り油が流通する油路(31)と、
前記油路(31)に設けられ当該油路(31)を複数の油路に分流する分岐部(32)と、
前記分岐部(32)に接続され、インバータ(13)により制御される発電機(12)が接続された油圧モータ(11)を介して戻り油をタンク(6A)に導く回生管路(33)と、
前記分岐部(32)に接続され、前記制御弁(2)を介して戻り油をタンク(6A)に導く制御弁管路(34)と、
前記操作装置(4)の操作量を検出する操作量検出手段(16)と、
前記発電機(12)によって発電された電力を蓄える蓄電装置(15)と、
前記蓄電装置(15)の充電量を検出する充電量検出手段(17)と、
前記充電量検出手段(17)からの充電量信号に応じて、前記回生管路(33)側を流れる戻り油の流量及び前記制御弁管路(34)側を流れる戻り油の流量をそれぞれ演算する流量演算手段(9)と、
前記流量演算手段(9)の演算結果に基づいて前記制御弁管路(34)の流量を制御する第1流量制御手段(8)と、
前記流量演算手段(9)の演算結果に基づいて前記回生管路(33)の流量を制御する第2流量制御手段(13)とを備える
ことを特徴とする作業機械の動力回生装置。 - 請求項1に記載の作業機械の動力回生装置において、
前記流量演算手段(9)は、前記油圧シリンダ(3a)が縮小される場合における前記操作装置(4)の操作量に対する前記油圧シリンダ(3a)からのメータアウト流量の複数の特性が記憶されると共に、前記充電量検出手段(17)からの充電量信号が入力され、前記充電量信号に応じて前記記憶されたメータアウト流量の複数の特性のいずれか1つを出力する特性選択手段(100)と、
前記特性選択手段(100)により出力された前記操作量とメータアウト流量との関係及び前記操作量検出手段(16)で検出される前記操作量に基づいて、前記制御弁管路(34)側を流れる戻り油の流量を演算し、前記第1流量制御手段(8)に指令信号を出力する第1流量演算手段(102)と、
前記特性選択手段(100)により出力された前記操作量とメータアウト流量との関係及び前記操作量検出手段(16)で検出される前記操作量に基づいて、前記回生管路(33)側を流れる戻り油の流量を演算し、前記第2流量制御手段(13)に指令信号を出力する第2流量演算手段(101)とを備えた、
ことを特徴とする作業機械の動力回生装置。 - 請求項1又は2に記載の作業機械の動力回生装置において、
前記流量演算手段(9)は、前記操作装置(4)における下げ操作信号が検出されている間は、前記回生管路(33)側を流れる戻り油の流量と前記制御弁管路(34)側を流れる戻り油の流量との配分特性を固定化させている
ことを特徴とする作業機械の動力回生装置。 - 請求項1に記載の作業機械の動力回生装置において、
前記流量演算手段(9)は、前記油圧シリンダ(3a)が縮小される場合における前記操作装置(4)の操作量に対する前記油圧シリンダ(3a)からのメータアウト流量の特性が記憶されると共に、前記操作量検出手段(16)からの操作量信号が入力され、前記操作量信号に応じて前記記憶されたメータアウト流量の特性から、前記制御弁管路(34)側を流れる戻り油の流量を演算する第1流量演算手段(112)と、
前記油圧シリンダ(3a)が縮小される場合における前記操作装置(4)の操作量に対する前記油圧シリンダ(3a)からのメータアウト流量の特性が記憶されると共に、前記操作量検出手段(16)からの操作量信号が入力され、前記操作量信号に応じて前記記憶されたメータアウト流量の特性から、前記回生管路(33)側を流れる戻り油の流量を演算する第2流量演算手段(111)と、
前記充電量検出手段(17)からの充電量信号が入力され、前記充電量信号に応じて補正特性を演算する補正信号演算手段(120)とを備え、
前記補正信号演算手段(120)からの補正信号により、前記第1流量演算手段(112)の出力信号と前記第2流量演算手段(111)の出力信号とが補正される
ことを特徴とする作業機械の動力回生装置。 - 請求項1に記載の作業機械の動力回生装置において、
前記制御弁管路(34)側を流れる戻り油の流量を制御する為に、前記制御弁(2)へのパイロット圧を制御する電磁比例弁(8)を設けた
ことを特徴とする作業機械の動力回生装置。 - 請求項2に記載の作業機械の動力回生装置において、
前記発電機(12)及び前記インバータ(13)の異常を検出するための異常検出手段をさらに備え、
前記異常検出手段によって、前記発電機(12)又は前記インバータ(13)の異常が検出されたとき、前記特性選択手段(100)は、前記回生管路(33)側を流れる戻り油の流量をゼロにする前記メータアウト流量の特性を前記第2流量演算手段(101)へ出力し、前記制御弁管路(34)側を流れる戻り油の流量を前記回生管路(33)側の戻り油の流量の低下分増加させる前記メータアウト流量の特性を前記第1流量演算手段(102)に出力する
ことを特徴とする作業機械の動力回生装置。 - 請求項4に記載の作業機械の動力回生装置において、
前記発電機(12)及び前記インバータ(13)の異常を検出するための異常検出手段をさらに備え、
前記異常検出手段によって、前記発電機(12)又は前記インバータ(13)の異常が検出されたとき、前記補正信号演算手段(120)は、前記第2流量制御手段(13)における前記操作量に基づく前記回生管路(33)側を流れる戻り油の流量をゼロに補正し、前記第1流量制御手段(8)における前記操作量に基づく前記制御弁管路(34)側を流れる戻り油の流量を前記第2流量制御手段(13)における流量低下分増加するように補正する
ことを特徴とする作業機械の動力回生装置。
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EP2722530A1 (en) | 2014-04-23 |
US20140090367A1 (en) | 2014-04-03 |
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US9284718B2 (en) | 2016-03-15 |
EP2722530B1 (en) | 2017-04-05 |
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