WO2012176314A1 - 電油ハイブリッド駆動装置 - Google Patents
電油ハイブリッド駆動装置 Download PDFInfo
- Publication number
- WO2012176314A1 WO2012176314A1 PCT/JP2011/064454 JP2011064454W WO2012176314A1 WO 2012176314 A1 WO2012176314 A1 WO 2012176314A1 JP 2011064454 W JP2011064454 W JP 2011064454W WO 2012176314 A1 WO2012176314 A1 WO 2012176314A1
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- WIPO (PCT)
- Prior art keywords
- sleeve
- hole
- hydraulic
- hybrid drive
- drive device
- 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
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/04—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by varying the output of a pump with variable capacity
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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
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/06—Details
- F15B7/10—Compensation of the liquid content in a system
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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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- 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
- F15B13/022—Flow-dividers; Priority valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20561—Type of pump reversible
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/27—Directional control by means of the pressure source
-
- 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
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/4159—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source, an output member and a return line
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
Definitions
- the present invention relates to an electro-hydraulic hybrid drive device that drives a hydraulic cylinder by hydraulic pressure of hydraulic fluid discharged from a hydraulic pump driven by an electric motor.
- FIG. 22 is a block diagram showing the structure of a conventional electric oil hybrid drive device.
- the 22 includes an electric motor 1100, a hydraulic pump 1200 that is rotationally driven in both forward and reverse directions by the electric motor 1100, and a head-side hydraulic chamber of a single rod type hydraulic cylinder 5000.
- the head side flow path 1300 that connects 5010A and the hydraulic pump 1200, the rod side hydraulic chamber 5010B of the single rod type hydraulic cylinder 5000 and the rod side flow path 1400 that connects the hydraulic pump 1200, and hydraulic fluid
- the first pilot check valve 1610 disposed and the second pilot check valve disposed in the second flow path 1520.
- the first pilot check valve 1610 allows only the flow of hydraulic fluid from the tank 1500 to the head side flow path 1300.
- the first pilot check valve 1610 introduces the fluid pressure in the rod side channel 1400 as a pilot pressure, and opens when the fluid pressure in the rod side channel 1400 exceeds a threshold value. To communicate.
- the second pilot check valve 1620 allows only the flow of hydraulic fluid from the tank 1500 to the rod side flow path 1400.
- the second pilot check valve 1620 introduces the hydraulic pressure of the head side flow path 1300 as a pilot pressure, and opens when the hydraulic pressure of the head side flow path 1300 exceeds a threshold value, and the rod side flow path 1400, the tank 1500, To communicate.
- the flow rate of the head side hydraulic chamber 5010A and the rod side hydraulic chamber 5010B are changed accordingly. It needs to be adjusted.
- the flow rate is controlled by controlling the opening and closing of the first pilot check valve 1610 and the second pilot check valve 1620.
- the hydraulic cylinder 5000 includes a cylinder 5010, a piston 5020 that can slide along the inner wall of the cylinder 5010, and a rod 5030 coupled to the piston 5020.
- the rod 5030 is in contact with the load 5040 at its tip.
- the hydraulic pump 1200 When the hydraulic pump 1200 is rotated in the forward direction by the electric motor 1100, the hydraulic fluid is drawn into the hydraulic pump 1200 from the rod-side hydraulic chamber 5010 ⁇ / b> B of the cylinder 5010 via the rod-side channel 1400, and the head-side channel 1300. Is discharged into the head side hydraulic chamber 5010A of the cylinder 5010. At this time, the second pilot check valve 1620 is opened by the pilot pressure introduced from the head side flow path 1300, and the hydraulic fluid is replenished from the tank 1500 to the rod side flow path 1400.
- the hydraulic pump 1200 When the hydraulic pump 1200 is rotated in the reverse direction by the electric motor 1100, the hydraulic fluid is drawn into the hydraulic pump 1200 from the head-side hydraulic chamber 5010 ⁇ / b> A of the cylinder 5010 via the head-side channel 1300, and the rod-side channel 1400. Is discharged into the rod side hydraulic chamber 5010B of the cylinder 5010. At this time, the first pilot check valve 1610 is opened by the pilot pressure introduced from the rod side flow path 1400, and excess hydraulic fluid is discharged from the head side flow path 1300 to the tank 1500.
- the electro-hydraulic hybrid drive device 2000 shown in FIG. 23 is replaced with the first pilot check valve 1610 and the second pilot check valve 1620 in comparison with the electro-oil hybrid drive device 1000 shown in FIG. And a rod-side solenoid valve 2200.
- the head-side electromagnetic valve 2100 includes a communication position 2100A that allows the head-side flow path 1300 and the tank 1500 to communicate with each other when an excitation signal is input, and the head-side flow path 1300 and the tank when no excitation signal is input. It is configured to be able to take a blocking position 2100B that blocks between 1500.
- the rod-side electromagnetic valve 2200 has a communication position 2200A that allows the rod-side flow path 1400 and the tank 1500 to communicate with each other when an excitation signal is input, and a rod-side flow path 1400 when the excitation signal is not input. And a shutoff position 2200B that shuts off between the tank 1500 and the tank 1500.
- the electro-hydraulic hybrid drive device 2000 can prevent the occurrence of the hunting phenomenon by providing the head-side solenoid valve 2100 and the rod-side solenoid valve 2200.
- the conventional electric oil hybrid drive apparatus 2000 shown in FIG. 23 has the following problems.
- the first problem is that the response delay time until the electric oil hybrid drive device 2000 starts operating is large.
- the flow rate difference between the hydraulic fluids cannot be adjusted.
- the switching speed of opening and closing of the head side solenoid valve 2100 and the rod side solenoid valve 2200 is low. For this reason, the response delay time until the electro-oil hybrid drive device 2000 actually starts operation has to be increased, and the responsiveness of the electro-oil hybrid drive device 2000 is low.
- the second problem is that it is impossible to continuously control the flow rate of the hydraulic fluid.
- the head-side solenoid valve 2100 and the rod-side solenoid valve 2200 in the electro-hydraulic hybrid drive device 2000 is on / off control, the head-side solenoid valve 2100 or the rod-side solenoid valve 2200 is turned on as the hydraulic fluid communication path. Or it can take only two ways of passage when turned off. For this reason, it has been impossible to control the flow rate of the hydraulic fluid so as to continuously change.
- the head-side solenoid valve 2100 and the rod-side solenoid valve 2200 are controlled to be on / off, so that the pressure fluctuation accompanying the opening / closing of the valve is still large, and the electro-oil hybrid shown in FIG.
- the frequency of occurrence of the hunting phenomenon is reduced, but the hunting phenomenon is not completely eliminated.
- the hunting phenomenon is still likely to occur.
- the fourth problem is that heat and cavitation are likely to occur.
- the electric motor 1100 Due to the response delay time and the hunting phenomenon, the electric motor 1100 generates more torque than necessary, and as a result, the hydraulic fluid repeats excessive pressurization and pressure reduction. Heat generation and cavitation in the hydraulic pump 1200 occurred.
- the present invention has been made in view of such problems in the conventional electric oil hybrid drive apparatus, and an object thereof is to provide an electric oil hybrid drive apparatus capable of solving the above problems.
- the present invention provides an electro-hydraulic hybrid drive device that drives a hydraulic cylinder, a hydraulic pump that can rotate in both forward and reverse directions, and an electric motor that rotationally drives the hydraulic pump;
- a head-side hydraulic chamber of the hydraulic cylinder is one of an inlet and an outlet of the hydraulic pump; and the hydraulic cylinder
- the rod-side hydraulic chamber is always in communication with the other of the suction port and the discharge port of the hydraulic pump, and the servo valve is connected to the head-side hydraulic chamber and the hydraulic pump according to the rotational direction of the hydraulic pump.
- Any one of the rod side hydraulic chambers communicates with the reservoir tank, and the servo valve communicates either the head side hydraulic chamber or the rod side hydraulic chamber with the reservoir tank.
- the servo valve includes a sleeve in which a through hole is formed, and a spool that can slide along the inner wall of the through hole.
- a first sleeve through-hole communicating the head side hydraulic chamber of the hydraulic cylinder with either the suction port or the discharge port of the hydraulic pump; and the rod side hydraulic chamber of the hydraulic cylinder connected to the hydraulic pump.
- a second sleeve through-hole communicating with the other of the suction port and the discharge port and a third sleeve hole communicating with the through-hole and the reservoir tank are formed, and the spool extends along the inner wall of the sleeve.
- the third portion has an outer diameter smaller than the outer diameter of the first portion and the second portion, and the length of the third portion in the axial direction of the spool is the first sleeve through hole and the second sleeve.
- the length is such that both of the through holes do not communicate with the third sleeve hole at the same time, and the intersection of the first sleeve through hole and the through hole and the intersection of the second sleeve through hole and the through hole.
- each of the locations there are formed gaps that form a flow path for the hydraulic fluid along at least a part of the periphery of the spool, and the spool has the third portion formed by the first sleeve through hole and the first sleeve.
- Either one of the two sleeve through holes communicates with the third sleeve hole, or both the first sleeve through hole and the second sleeve through hole do not communicate with the third sleeve hole. It is preferable that the moving Te.
- the gap is preferably an annular groove having an inner diameter larger than the outer diameter of the spool.
- the sleeve is formed with at least three holes communicating with the through hole at a location corresponding to the first portion of the spool. Any one of the holes communicates with the head side hydraulic chamber of the hydraulic cylinder, the other one communicates with the hydraulic pump, and the other hole is used in a closed state. , At least three holes communicating with the through hole are formed at a position corresponding to the second portion of the spool, and the sleeve has one of the holes formed on the rod side liquid of the hydraulic cylinder. It is preferable that any one of the pressure chambers communicates with the hydraulic pump, and the other holes are closed.
- the servo valve includes a sleeve in which a through hole is formed, and a spool that can slide along the inner wall of the through hole.
- a first sleeve through-hole communicating the head side hydraulic chamber of the hydraulic cylinder with either the suction port or the discharge port of the hydraulic pump; and the rod side hydraulic chamber of the hydraulic cylinder connected to the hydraulic pump.
- a second sleeve through-hole communicating with the other of the suction port and the discharge port and a third sleeve hole communicating with the through-hole and the reservoir tank are formed, and the spool extends along the inner wall of the sleeve.
- the third portion has an outer diameter smaller than the outer diameter of the first portion and the second portion, and the length of the third portion in the axial direction of the spool is the first sleeve through hole and the second sleeve.
- the first portion has a length that does not allow both of the through holes to communicate with the third sleeve hole at the same time, the first portion has a first annular groove that communicates with the first sleeve through hole, and the second portion has A second annular groove communicating with the second sleeve through-hole is formed, and the spool is configured such that the third portion has one of the first sleeve through-hole and the second sleeve through-hole as the third sleeve. It is preferable that the first sleeve through-hole and the second sleeve through-hole move within a range that does not communicate with the third sleeve hole.
- the inner diameter of the first sleeve through hole and the inner diameter of the second sleeve through hole are different.
- the third sleeve hole is located between the first sleeve through hole and the second sleeve through hole in the length direction of the servo valve. .
- the inner diameter of the third sleeve hole is preferably smaller than the inner diameters of the first sleeve through hole and the second sleeve through hole.
- the servo valve includes a sleeve in which a through hole is formed, and a spool that can slide along the inner wall of the through hole.
- a first sleeve hole that communicates the head side hydraulic chamber of the hydraulic cylinder and the through hole; a second sleeve hole that communicates the rod side hydraulic chamber of the hydraulic cylinder and the through hole; and the through hole.
- a third sleeve hole that communicates with the reservoir tank, and the spool has a first portion that slides along the inner wall of the sleeve, and a second portion that slides along the inner wall of the sleeve A third part formed between the first part and the second part, the third part having an outer diameter smaller than the outer diameters of the first part and the second part
- the length of the third portion in the axial direction of the spool is a length that does not cause both the first sleeve hole and the second sleeve hole to communicate with the third sleeve hole at the same time,
- the third portion communicates either the first sleeve through hole or the second sleeve through hole with the third sleeve hole, or both the first sleeve through hole and the second sleeve through hole. Is preferably moved within a range not communicating with the third sleeve hole.
- the inner diameter of the first sleeve hole is different from the inner diameter of the second sleeve hole.
- the third sleeve hole is located between the first sleeve hole and the second sleeve hole in the length direction of the servo valve.
- the servo valve includes a sleeve in which a through hole is formed and a spool that can rotate along an inner wall of the through hole.
- a first sleeve hole that communicates the head side hydraulic chamber of the hydraulic cylinder with the through hole; a second sleeve hole that communicates the rod side hydraulic chamber of the hydraulic cylinder with the through hole; and the reservoir tank.
- a third sleeve hole that communicates with the through hole, and at least one notch is formed on the outer periphery of the spool, and the size of the notch is determined by the amount of rotation of the spool.
- either one of the first sleeve hole and the second sleeve hole is communicated with the third sleeve hole, or both the first sleeve hole and the second sleeve hole are connected. It is preferable to serial third sleeve hole are those which do not communicated.
- the third sleeve hole is formed between the first sleeve hole and the second sleeve hole.
- the servo valve can continuously change the degree of communication between the reservoir tank and any one of the head side hydraulic chamber and the rod side hydraulic chamber. It is preferable that
- the servo valve includes a rotation speed of the electric motor or the hydraulic pump, a torque of the electric motor or the hydraulic pump, and a rotation of the electric motor or the hydraulic pump. It is preferable that the degree is changed in accordance with one or two or more of acceleration, the hydraulic pressure in the head side hydraulic chamber or the rod side hydraulic chamber.
- the hydraulic pressure of the hydraulic fluid stored in the reservoir tank is a positive hydraulic pressure not smaller than the absolute value of the maximum negative pressure generated in the electric oil hybrid drive device. It is preferable to provide a hydraulic pressure holding means for holding the above hydraulic pressure.
- the electro-hydraulic hybrid drive device continuously controls the opening of the servo valve (the degree to which the servo valve communicates the head-side hydraulic chamber or the rod-side hydraulic chamber of the hydraulic cylinder with the reservoir tank). Is possible. For this reason, it is possible to appropriately maintain each flow rate and pressure balance in the head-side hydraulic chamber and the rod-side hydraulic chamber of the hydraulic cylinder according to the operating conditions. As a result, it is possible to control the target hydraulic cylinder speed and workload at high speed.
- the electric oil hybrid drive device has the following effects compared to the conventional electric oil hybrid drive device.
- the first effect is that the response delay time until the operation of the electro-hydraulic hybrid drive device can be reduced.
- the second effect is that the flow rate of the hydraulic fluid can be controlled continuously.
- the control of the head-side solenoid valve 2100 and the rod-side solenoid valve 2200 in the conventional electro-hydraulic hybrid drive device 2000 is on / off control, the flow rate of the hydraulic fluid turns on the head-side solenoid valve 2100 or the rod-side solenoid valve 2200. Or only two flow rates were possible when turned off.
- the electro-hydraulic hybrid drive device according to the present invention the first sleeve through hole (or the first sleeve hole) or the second sleeve through hole (or the second sleeve depending on the amount of movement of the servo valve spool). Since the degree of communication between the sleeve hole) and the internal space can be continuously changed, the flow rate of the hydraulic fluid can be controlled to an arbitrary value.
- the third effect is that the hunting phenomenon can be almost eliminated.
- the pressure fluctuations associated with the opening and closing of the head side solenoid valve 2100 and the rod side solenoid valve 2200 were still large, so it was impossible to eliminate the hunting phenomenon.
- the degree of communication between the first sleeve through hole (or first sleeve hole) or the second sleeve through hole (or second sleeve hole) and the internal space is continuously set. Since the change can be made, the pressure fluctuation can be smoothed, and the hunting phenomenon due to the large pressure fluctuation can be prevented.
- the fourth effect is that it is possible to suppress the generation of heat and cavitation.
- FIG. 1 is a block diagram of an electric oil hybrid drive device according to a first embodiment of the present invention. It is a block diagram of the electro-hydraulic hybrid drive device concerning a first embodiment of the present invention, and includes a sectional view of a servo valve in this embodiment.
- FIG. 3 is a cross-sectional view of the servo valve taken along line III-III in FIG. 2.
- the electro-hydraulic hybrid drive device according to the first embodiment of the present invention includes a sectional view of a servo valve when the hydraulic cylinder is operated in the direction in which the hydraulic cylinder performs work, that is, the rod pushes the load. It is a block diagram.
- FIG. 8A is a waveform diagram of a step signal as an input control signal in a conventional electric oil hybrid drive device
- FIG. 8B is a waveform diagram of the operation of the cylinder
- FIG. 8C is a graph of the rotation speed of the electric motor.
- FIG. 8D is a waveform diagram showing the opening and closing of the first pilot check valve and the second pilot check valve
- FIG. 8E is a waveform diagram showing the hydraulic pressure in the rod side hydraulic chamber of the cylinder
- (F) is a wave form diagram which shows the hydraulic pressure in the head side hydraulic pressure chamber of a cylinder.
- 9A is a waveform diagram of a step signal as an input control signal in the electro-hydraulic hybrid drive apparatus according to the first embodiment of the present invention
- FIG. 9B is a waveform diagram of cylinder operation
- FIG. 9D is a waveform diagram showing the operation of the servo valve at the C position (see FIG. 1)
- FIG. 9E is the hydraulic pressure in the cylinder-side hydraulic chamber of the cylinder.
- FIG. 9F is a waveform diagram showing the hydraulic pressure in the cylinder head-side hydraulic chamber. It is a block diagram which shows an example of the control system of the electric oil hybrid drive device which concerns on 1st embodiment of this invention. It is a block diagram of the modification of the electro-oil hybrid drive device concerning a first embodiment of the present invention. It is sectional drawing of the modification of the servo valve in 1st embodiment of this invention. It is sectional drawing of the sleeve and spool in the electro-hydraulic hybrid drive device which concerns on 2nd embodiment of this invention.
- the electro-hydraulic hybrid drive device includes a sectional view of a servo valve in this embodiment.
- the electro-hydraulic hybrid drive device according to the third embodiment of the present invention includes a sectional view of a servo valve when the hydraulic cylinder is operated in the direction in which the hydraulic cylinder performs work, that is, the rod pushes the load.
- FIG. 18A is a front view of the servo valve according to the fourth embodiment of the present invention
- FIG. 18B is a side view of the servo valve
- FIG. 18C is a sectional view of the servo valve.
- the electro-hydraulic hybrid drive device according to the fourth embodiment of the present invention includes a cross-sectional view of a servo valve when the hydraulic cylinder is operated in the direction in which the hydraulic cylinder performs work, that is, the rod pushes the load. It is a block diagram.
- FIG. 1 is a block diagram of an electric oil hybrid drive apparatus 100 according to the first embodiment of the present invention.
- the electro-hydraulic hybrid drive device 100 drives a hydraulic cylinder 500.
- the hydraulic cylinder 500 includes a cylinder 510, a piston 520 that can slide along the inner wall of the cylinder 510, and a rod 530 that is coupled to the piston 520 and has a tip protruding outside the cylinder 510.
- the load 540 is in contact with the tip of the rod 530.
- the hydraulic pressure is controlled so that the hydraulic pressure in the rod-side hydraulic chamber 510B of the cylinder 510 is higher than the hydraulic pressure in the head-side hydraulic chamber 510A.
- the piston 520 and the rod 530 move in the left direction X1 and return to the initial positions.
- the electro-hydraulic hybrid drive device 100 supplies hydraulic fluid (for example, hydraulic fluid) to the head-side hydraulic chamber 510A and the rod-side hydraulic chamber 510B of the cylinder 510, or the head-side fluid of the cylinder 510.
- the hydraulic cylinder 500 is driven so that the hydraulic cylinder 500 performs work on the load 540 by discharging the hydraulic fluid from the pressure chamber 510A and the rod side hydraulic chamber 510B.
- the electro-hydraulic hybrid drive device 100 is rotatable in both forward and reverse directions, and includes a hydraulic pump 110 having a first port 111 and a second port 112, and a hydraulic pump 110.
- the head side flow path 130 that connects the head side hydraulic chamber 510A of the cylinder 510 and the first port 111 of the hydraulic pump 110, and the rod side of the cylinder 510.
- Rod side flow path 140 connecting hydraulic chamber 510B and second port 112 of hydraulic pressure pump 110, reservoir tank 150 storing hydraulic fluid, head side flow path 130, rod side flow path 140, and reservoir
- a servo valve 160 which is arranged in communication with the tank 150 and can take three positions A, B and C (described later).
- FIG. 2 is a block diagram of the electro-hydraulic hybrid drive device 100 according to the first embodiment of the present invention, including a cross-sectional view of the servo valve 160 in the present embodiment.
- the servo valve 160 is slidable along a sleeve 170 in which a through hole 175 extending in the length direction of the servo valve 160 (left and right direction in FIG. 2) is formed, and an inner wall of the through hole 175.
- a spool 180 is slidable along a sleeve 170 in which a through hole 175 extending in the length direction of the servo valve 160 (left and right direction in FIG. 2) is formed, and an inner wall of the through hole 175.
- the sleeve 170 intersects with the through hole 175, and passes through the sleeve 170 in the diameter direction of the sleeve 170.
- the sleeve 170 intersects with the through hole 175 and passes through the sleeve 170 in the diameter direction of the sleeve 170.
- Two sleeve through holes 172 and a third sleeve hole 173 reaching the through hole 175 from the outer peripheral surface of the sleeve 170 are formed.
- the third sleeve hole 173 is located in the middle of the first sleeve through hole 171 and the second sleeve through hole 172 in the length direction of the servo valve 160.
- the first sleeve through-hole 171 and the second sleeve through-hole 172 have the same inner diameter, and the third sleeve hole 173 has a smaller inner diameter than the first sleeve through-hole 171 and the second sleeve through-hole 172. ing.
- the head-side hydraulic chamber 510 ⁇ / b> A of the cylinder 510 communicates with the first port 111 of the hydraulic pump 110 via the head-side flow path 130 and the first sleeve through-hole 171, and the rod side of the cylinder 510.
- the hydraulic chamber 510 ⁇ / b> B communicates with the second port 112 of the hydraulic pump 110 via the rod side flow path 140 and the second sleeve through hole 172.
- the reservoir tank 150 communicates with the through hole 175 of the sleeve 170 through the third sleeve hole 173.
- the spool 180 includes a first portion 181 that slides along the inner wall of the through hole 175 of the sleeve 170, a second portion 182 that slides along the inner wall of the through hole 175 of the sleeve 170, and a first portion. And a third portion 183 formed between the first portion 181 and the second portion 182.
- the outer diameter of the first part 181 and the second part 182 is equal to the inner diameter of the through hole 175, and the outer diameter of the third part 183 is smaller than the outer diameters of the first part 181 and the second part 182. For this reason, an internal space 174 is formed between the inner wall of the through hole 175 and the outer periphery of the third portion 183.
- the length of the third portion 183 in the axial direction of the spool 180 is a length that does not allow both the first sleeve through-hole 171 and the second sleeve through-hole 172 to communicate with the internal space 174 (that is, the reservoir tank 150) at the same time. Is set.
- the third sleeve hole 173 of the sleeve 170 is always located within the movement range of the third portion 183. That is, the third sleeve hole 173 is always disposed so as to face the third portion 183. For this reason, the third sleeve hole 173 always allows the reservoir tank 150 and the internal space 174 to communicate with each other.
- the first sleeve through-hole 171 communicates with the internal space 174
- the second sleeve through-hole 172 has an internal structure. It does not communicate with the space 174.
- the second sleeve through hole 172 communicates with the internal space 174
- the first sleeve through hole 171 does not communicate with the internal space 174. .
- the servo valve 160 has either one of the first sleeve through hole 171 and the second sleeve through hole 172, in other words, either the head side hydraulic chamber 510A or the rod side hydraulic chamber 510B of the cylinder 510 inside. It has a function of communicating with the reservoir tank 150 through the space 174 and the third sleeve hole 173, or preventing both the head side hydraulic chamber 510A and the rod side hydraulic chamber 510B of the cylinder 510 from communicating with the reservoir tank 150. is doing.
- FIG. 3 is a cross-sectional view of the servo valve 160, specifically, a cross-sectional view taken along line III-III in FIG.
- a first annular groove 171A is formed concentrically with the through hole 175 at a location where the through hole 175 of the sleeve 170 and the first sleeve through hole 171 intersect.
- the through hole 175 of the sleeve 170 and the second sleeve A second annular groove 172A is formed concentrically with the through-hole 175 at a location where the through-hole 172 intersects.
- the first annular groove 171A has an inner diameter larger than the outer diameter of the first portion 181 of the spool 180
- the second annular groove 172A has an inner diameter larger than the outer diameter of the second portion 182 of the spool 180.
- the length of the first portion 181 in the length direction of the spool 180 is set to be larger than the width of the first annular groove 171A.
- the length of the second portion 182 in the length direction of the spool 180 is the second annular shape. It is set larger than the width of the groove 172A.
- the head-side hydraulic chamber 5010A is always provided via the first sleeve through-hole 171 and the first annular groove 171A even if the spool 180 moves in the left-right direction. 110 is communicated with the first port 111.
- the rod-side hydraulic chamber 510B since the second annular groove 172A is formed, even if the spool 180 moves in the left-right direction, the rod-side hydraulic chamber 510B always passes through the second sleeve through-hole 172 and the second annular groove 172A. It communicates with the second port 112 of the hydraulic pump 110.
- the spool 180 in this embodiment can take three positions A, B, and C as shown in FIG.
- the head side hydraulic chamber 510A of the cylinder 510 communicates with the reservoir tank 150, and the rod side hydraulic chamber 510B does not communicate with the reservoir tank 150.
- the rod side hydraulic chamber 510B of the cylinder 510 communicates with the reservoir tank 150, and the head side hydraulic chamber 510A does not communicate with the reservoir tank 150.
- the electro-hydraulic hybrid drive device 100 having the above-described structure operates as follows.
- the head-side hydraulic chamber 510A of the cylinder 510 communicates with the first port 111 of the hydraulic pump 110 via the first sleeve through-hole 171 and the first annular groove 171A of the sleeve 170, and the rod of the cylinder 510
- the side hydraulic chamber 510B communicates with the second port 112 of the hydraulic pump 110 via the second sleeve through hole 172 and the second annular groove 172A of the sleeve 170.
- the internal space 174 formed inside the through hole 175 of the sleeve 170 communicates only with the reservoir tank 150 via the third sleeve hole 173, and the first sleeve through hole 171 and the second sleeve through hole 172 does not communicate.
- FIG. 4 shows a servo valve when the electro-hydraulic hybrid drive device 100 according to this embodiment operates the hydraulic cylinder 500 in the direction in which the hydraulic cylinder 500 performs work, that is, the direction X2 in which the rod 530 pushes the load 540. It is a block diagram including 160 sectional drawing.
- the electric motor 120 rotates the hydraulic pump 110 in the forward direction, and as shown in FIG. 2 is moved from the position shown in FIG. 2 in the right direction X2, that is, the spool 180 is shifted from position B to position C.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the forward direction, the hydraulic fluid is discharged from the first port 111 of the hydraulic pump 110 and is sucked into the hydraulic pump 110 through the second port 112. That is, the first port 111 is a discharge port, and the second port 112 is a suction port.
- the communication between the first sleeve through-hole 171 and the internal space 174 formed inside the through-hole 175 remains blocked, while the second The sleeve through-hole 172 communicates with the internal space 174 and eventually communicates with the reservoir tank 150 via the third sleeve hole 173.
- the hydraulic fluid inside the rod-side hydraulic chamber 510B of the cylinder 510 passes through the rod-side flow path 140, the second sleeve through-hole 172, and the second annular groove 172A as shown by an arrow 191 in FIG.
- the fluid is sucked into the hydraulic pump 110 through the port 112.
- the second sleeve through-hole 172 communicates with the reservoir tank 150 via the internal space 174 and the third sleeve hole 173. Due to the pressure difference with the third sleeve hole 173, the hydraulic fluid stored in the reservoir tank 150 is sent to the second sleeve through hole 172 and flows through the second sleeve through hole 172 as indicated by an arrow 192. To join.
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 passes through the second sleeve. It is added to the hydraulic fluid flowing through the hole 172.
- the degree of communication between the second sleeve through-hole 172 and the internal space 174 (and hence the reservoir tank 150) can be controlled by controlling the movement distance of the spool 180 in the right direction X2.
- the moving distance of the spool 180 includes, for example, the position of the rod 530, the rotational speed of the hydraulic pump 110 or the electric motor 120, the torque of the hydraulic pump 110 or the electric motor 120, the rotational acceleration of the hydraulic pump 110 or the electric motor 120, the head It is possible to control according to the pressure of the hydraulic fluid in the side hydraulic chamber 510A and the rod side hydraulic chamber 510B and other factors.
- the hydraulic fluid sucked into the hydraulic pump 110 through the second port 112 is discharged from the first port 111 toward the head side hydraulic chamber 510A of the cylinder 510.
- the hydraulic fluid discharged from the first port 111 of the hydraulic pump 110 passes through the head-side flow path 130 and the first sleeve through-hole 171 as shown by an arrow 193 in FIG. 510A.
- the hydraulic fluid is continuously sent from the rod side hydraulic chamber 510B of the cylinder 510 to the head side hydraulic chamber 510A via the hydraulic pump 110 and the servo valve 160, and the volume of the rod 530 is increased. Is added to the hydraulic fluid that is newly sent to the head-side hydraulic chamber 510A.
- FIG. 5 is a block diagram including a cross-sectional view of the servo valve 160 when the electro-hydraulic hybrid drive device 100 operates the hydraulic cylinder 500 so that the rod 530 moves in the left direction X1.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the reverse direction, the hydraulic fluid is sucked through the first port 111 of the hydraulic pump 110 and discharged from the hydraulic pump 110 through the second port 112. That is, the first port 111 is an inlet and the second port 112 is an outlet.
- the hydraulic fluid inside the head-side hydraulic chamber 510A of the cylinder 510 passes through the head-side flow path 130, the first sleeve through-hole 171 and the first annular groove 171A as shown by an arrow 194 in FIG.
- the fluid is sucked into the hydraulic pump 110 through the port 111.
- the first sleeve through-hole 171 communicates with the reservoir tank 150 via the internal space 174 and the third sleeve hole 173. A part of the hydraulic fluid passes through the internal space 174 and the third sleeve hole 173 and is sent to the reservoir tank 150.
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 passes through the first sleeve. It will be excluded from the hydraulic fluid flowing in the hole 171.
- the degree of communication between the first sleeve through hole 171 and the internal space 174 (and thus the reservoir tank 150) It can be controlled by controlling the moving distance in the left direction X1.
- the moving distance of the spool 180 includes, for example, the position of the rod 530, the rotational speed of the hydraulic pump 110 or the electric motor 120, the torque of the hydraulic pump 110 or the electric motor 120, the rotational acceleration of the hydraulic pump 110 or the electric motor 120, the head It is possible to control according to the pressure of the hydraulic fluid in the side hydraulic chamber 510A and the rod side hydraulic chamber 510B and other factors.
- the hydraulic fluid sucked into the hydraulic pump 110 through the first port 111 is discharged from the second port 112 toward the rod side hydraulic chamber 510B of the cylinder 510.
- the hydraulic fluid discharged from the second port 112 of the hydraulic pump 110 passes through the rod 510, the second sleeve through-hole 172, and the second annular groove 172A, as shown by an arrow 196 in FIG. To the rod side hydraulic chamber 510B.
- the hydraulic fluid is continuously sent from the head side hydraulic chamber 510A of the cylinder 510 to the inside of the rod side hydraulic chamber 510B via the hydraulic pump 110 and the servo valve 160.
- the part is accommodated in the reservoir tank 150.
- the servo valve 160 moves the head-side hydraulic chamber 510A of the cylinder 510 to either the first port 111 or the second port 112 of the hydraulic pump 110.
- the rod side hydraulic pressure chamber 510B of the cylinder 510 communicates with the other of the first port 111 and the second port 112 of the hydraulic pump 110, respectively, and in accordance with the rotational direction of the hydraulic pump 110, that is, the rod One of the head side hydraulic chamber 510A and the rod side hydraulic chamber 510B is connected to the reservoir tank 150 in accordance with the moving direction of 530.
- the first effect is that the response delay time until the operation of the electro-hydraulic hybrid drive device 100 is started can be shortened.
- the response delay time was long because the flow rate difference between the hydraulic fluids could not be adjusted, but in the electro-hydraulic hybrid drive device 100 according to the present embodiment, depending on the amount of movement of the spool 180, Since the flow rate difference of the working fluid can be adjusted instantaneously, the response delay time can be shortened.
- the second effect is that the flow rate of the hydraulic fluid can be controlled as a continuous value.
- the control of the head-side solenoid valve 2100 and the rod-side solenoid valve 2200 in the conventional electro-hydraulic hybrid drive device 2000 is on / off control, the flow rate of the hydraulic fluid turns on the head-side solenoid valve 2100 or the rod-side solenoid valve 2200. Or only two flow rates were possible when turned off.
- the electro-hydraulic hybrid drive device 100 according to the present embodiment the first sleeve through-hole 171 or the second sleeve through-hole 172 and the internal space 174 (reservoir tank 150) according to the movement amount of the spool 180. Therefore, the flow rate of the hydraulic fluid can be continuously controlled to an arbitrary value.
- the third effect is that the hunting phenomenon can be almost eliminated.
- the electro-hydraulic hybrid drive device 100 In the conventional electro-hydraulic hybrid drive device 2000, pressure fluctuations associated with the opening and closing of the head-side solenoid valve 2100 and the rod-side solenoid valve 2200 were still large, so it was impossible to eliminate the hunting phenomenon. According to the electro-hydraulic hybrid drive device 100 according to the embodiment, the degree of communication between the first sleeve through-hole 171 or the second sleeve through-hole 172 and the internal space 174 (reservoir tank 150) can be continuously changed. Therefore, the pressure fluctuation can be smoothed, and the hunting phenomenon caused by the large pressure fluctuation can be prevented.
- the fourth effect is that it is possible to suppress the generation of heat and cavitation.
- the electric oil hybrid drive device 100 according to the present embodiment has higher responsiveness and follow-up performance than the conventional electric oil hybrid drive device 1000 shown in FIG. This point will be described below.
- FIG. 6 is a waveform diagram showing the responsiveness of the conventional electric oil hybrid drive apparatus 1000.
- the hydraulic pump 1200 operates in accordance with the sine wave signal as shown in FIG. 6B.
- first pilot check valve 1610 and the second pilot check valve 1620 cannot perform the operation along the sine wave shown in FIGS. 6A and 6B, and are shown in FIG. Thus, the operation waveforms of the first pilot check valve 1610 and the second pilot check valve 1620 are crank-shaped.
- the operation waveform of the hydraulic cylinder 5000 is not the sine wave shown in FIGS. 6A and 6B, but is a triangular operation waveform as shown in FIG. 6D. .
- FIG. 7 is a waveform diagram showing the responsiveness of the electric oil hybrid drive device 100 according to the present embodiment.
- the servo valve 160 in the electric oil hybrid drive device 100 operates in accordance with the sine wave signal shown in FIG. 7A.
- the operation waveform of the hydraulic cylinder 500 is the same operation waveform as the sine wave signal shown in FIG.
- the phase lag P in the operation waveform of the hydraulic cylinder 5000 has occurred with respect to the sine wave signal.
- the phase delay P in the operation waveform of the hydraulic cylinder 500 does not occur.
- the hydraulic cylinder 500 responds to an input control signal that is difficult to follow, such as a sine wave signal. Operate under high responsiveness and follow-up.
- the electric oil hybrid drive device 100 can achieve higher responsiveness and followability with respect to the input control signal than the conventional electric oil hybrid drive device 1000. is there.
- FIG. 8 is a waveform diagram of cylinder speed control in the conventional electric oil hybrid drive apparatus 1000 shown in FIG.
- FIG. 8A is a waveform diagram of a step signal as an input control signal
- FIG. 8B is a waveform diagram of the operation of the cylinder 5010
- FIG. 8C is a waveform diagram of the number of revolutions of the electric motor 1100
- FIG. D) is a waveform diagram showing opening and closing of the first pilot check valve 1610 and the second pilot check valve 1620
- FIG. 8E is a waveform diagram showing the hydraulic pressure in the rod side hydraulic chamber 5010B of the cylinder 5010
- FIG. ) Is a waveform diagram showing the hydraulic pressure in the head-side hydraulic chamber 5010A of the cylinder 5010.
- the pressure in the rod side channel 1400 is affected by the load 5040 and cannot maintain a normal pressure.
- the time lag in opening / closing the first pilot check valve 1610 and the second pilot check valve 1620 increases, and the responsiveness of the electro-hydraulic hybrid drive device 1000 as a whole is lowered.
- FIG. 9 is a waveform diagram of cylinder speed control in the electric oil hybrid drive device 100 according to the present embodiment.
- FIG. 9A is a waveform diagram of a step signal as an input control signal
- FIG. 9B is a waveform diagram of the operation of the cylinder 510
- FIG. 9C is a waveform diagram of the rotational speed of the electric motor 110
- FIG. D) is a waveform diagram showing the operation of the servo valve 160 at the C position (see FIG. 1)
- FIG. 9 (E) is a waveform diagram showing the hydraulic pressure in the rod-side hydraulic chamber 510B of the cylinder 510
- FIG. FIG. 6 is a waveform diagram showing a hydraulic pressure in a head-side hydraulic chamber 510A of a cylinder 510.
- the hydraulic fluid is sent from the head side hydraulic chamber 510A of the cylinder 510 to the rod side hydraulic chamber 510B.
- the servo valve 160 takes the C position (see FIG. 1) and guides part of the hydraulic fluid in the rod side hydraulic chamber 510B of the cylinder 510 to the reservoir tank 150.
- the opening degree of the servo valve 160 at the position is adjusted according to the deviation signal, and the amount of hydraulic fluid returning from the rod side hydraulic pressure chamber 510B to the reservoir tank 150 is adjusted.
- the hydraulic pressure in the rod side hydraulic chamber 510B becomes a hydraulic pressure corresponding to the load 540, and the speed control of the cylinder 510 can be stably performed while using the hydraulic pressure in the rod side hydraulic chamber 510B as a brake. .
- the movement speed of the rod 530 can be stably controlled as compared with the conventional electro-oil hybrid drive device 1000 shown in FIG. Is possible.
- FIG. 10 is a block diagram illustrating an example of a control system of the electro-hydraulic hybrid drive device 100.
- the rotational speed, torque, and rotational acceleration of the first sensor 301 that detects the position of the rod 530 in the cylinder 510 and the hydraulic pump 110.
- a second sensor 302 for detecting at least one of them, a third sensor 303 for detecting at least one of the rotational speed, driving torque, and rotational acceleration of the electric motor 120, and the head-side flow path 130 (that is, the head).
- a fourth sensor 304 that detects the pressure of the hydraulic fluid in the side hydraulic chamber 510A), a fifth sensor 305 that detects the pressure of the hydraulic fluid in the rod-side flow path 140 (that is, the rod-side hydraulic chamber 510B), and control.
- the device 306 is disposed in the electro-oil hybrid drive device 100 according to the present embodiment.
- the control device 306 includes a central processing unit (CPU) 310, a first memory 311, a second memory 312, an input interface 313 for inputting various commands and data to the central processing unit 310, and a central processing unit.
- An output interface 314 that outputs the result of the processing executed by 310, and a bus 315 that connects the central processing unit 310 and other components are configured.
- Each of the first memory 311 and the second memory 312 includes a read only memory (ROM), a random access memory (RAM), a semiconductor storage device such as an IC memory card, a storage medium such as a flexible disk, and a hard disk Or an optical magnetic disk or the like.
- the first memory 311 includes a ROM
- the second memory 312 includes a RAM.
- the first memory 311 stores various control programs to be executed by the central processing unit 310 and other fixed data.
- the second memory 312 stores various data and parameters and provides an operating area for the central processing unit 310, that is, data temporarily required for the central processing unit 310 to execute a program. Is stored.
- the central processing unit 310 reads a program from the first memory 311 and executes the program. That is, the central processing unit 130 operates according to a program stored in the first memory 311.
- Data detected by the first sensor 301, the second sensor 302, the third sensor 303, the fourth sensor 304, and the fifth sensor 305 are input to the input interface 313.
- the input interface 313 transmits these data to the central processing unit 310, and the central processing unit 310 follows the calculation formula stored in the first memory 311, and the rotational speed of the hydraulic pump 110 suitable for the current operating situation. , Torque or rotational acceleration, the number of rotations of the electric motor 120, torque or rotational acceleration, and the opening (degree of communication) of the servo valve 160 are calculated.
- the electric oil hybrid drive device 100 is not limited to the above structure, and various modifications can be made.
- the inner diameter of the first sleeve through-hole 171 and the inner diameter of the second sleeve through-hole 172 are set to be equal to each other. Accordingly, the inner diameter of the first sleeve through-hole 171 and the inner diameter of the second sleeve through-hole 172 can be different.
- the hydraulic pressure holding means 151 that holds the hydraulic pressure of the hydraulic fluid stored in the reservoir tank 150 at a predetermined hydraulic pressure or higher is provided. It is possible to provide.
- the maximum possible negative pressure is calculated according to the following formula.
- ⁇ P (Q / (Cd ⁇ A)) 2 ⁇ ⁇ / 2 ⁇ P: Negative pressure [MPa]
- Q Maximum flow rate [cm 3 / sec]
- A Spool valve opening area [mm 2 ]
- the hydraulic pressure holding means 151 holds the hydraulic pressure of the hydraulic fluid stored in the reservoir tank 150 at a predetermined hydraulic pressure or higher, so that a negative pressure is generated in the electric oil hybrid drive device 100. As a result, it is possible to prevent the responsiveness of the electro-hydraulic hybrid drive device 100 from being lowered.
- the electric motor 110 can be composed of a servo motor.
- install a servo driver that controls the operation of the servo motor connect the servo driver and the control device with communication with fixed response, and send and receive necessary information between the servo driver and the control device. Is also possible.
- the first annular groove 171A and the second annular groove 172A are formed as circular holes, but the first annular groove 171A and the second annular groove 172A are formed. It is not always necessary to have a circular hole. It is only necessary to form a gap that forms a flow path of the hydraulic fluid along all or part of the circumference of the spool 180. For example, a semicircular shape is used instead of the first annular groove 171A and the second annular groove 172A. It is also possible to form a single hole or a polygonal hole (for example, a hexagonal hole).
- the sleeve 170 is formed with a first sleeve through hole 171 (or a second sleeve through hole 172) as a passage leading to the through hole 175.
- a first sleeve through hole 171 or a second sleeve through hole 172
- four passages 171B, 171C, 171D, and 171E communicating with the through hole 175 can be formed in the sleeve 170.
- any two of these four passages depending on the arrangement state of the head side passage 130 or the rod side passage 140 or the arrangement state of surrounding parts when the servo valve 160 is arranged. Can be used.
- the passage 171B and the passage 171D are used (in this case, the passage 171B communicates with the head-side hydraulic chamber 510A and the passage 171D communicates with the hydraulic pump 110), and the other two passages 171C and 171E are closed,
- the configuration is the same as that of the electric oil hybrid drive device 100 according to the present embodiment.
- the passage 171B and the passage 171E are used (for example, the passage 171B communicates with the head side hydraulic chamber 510A and the passage 171E communicates with the hydraulic pump 110), and the other two passages 171C and 171D are closed. It is also possible to use it.
- FIG. 13 is a cross-sectional view of the sleeve 170 and the spool 180 in the electro-oil hybrid drive device 100A according to the second embodiment of the present invention.
- the spool 180 is replaced with the first annular groove 171A and the second annular groove 172A as compared with the electro-oil hybrid drive device 100 according to the first embodiment.
- a first annular groove 181A is formed in the first portion 181 and a second annular groove 182A is formed in the second portion 182 of the spool 180, respectively.
- the electro-oil hybrid drive device 100A according to the present embodiment has the same structure as the electro-oil hybrid drive device 100 according to the first embodiment.
- the first annular groove 181 ⁇ / b> A is formed by making the outer diameter of a portion of the first portion 181 of the spool 180 in the length direction of the spool 180 (a portion not including both ends of the first portion 181) smaller than the outer diameter of the first portion 181.
- the second annular groove 182A has an outer diameter of a part of the second portion 182 of the spool 180 in the length direction of the spool 180 (a portion not including both ends of the second portion 182) larger than the outer diameter of the second portion 182. Is also made smaller.
- the length of the first annular groove 181A in the length direction of the spool 180 is substantially equal to the inner diameter of the first sleeve through-hole 171 and the length of the second annular groove 182A in the length direction of the spool 180 is the second sleeve through-hole 172. Is approximately equal to the inner diameter of
- the first annular groove 181A of the first portion 181 is formed so as to always communicate with the first sleeve through-hole 171 even if the spool 180 moves in the left-right direction.
- the groove 182A is formed so as to always communicate with the second sleeve through-hole 172 even if the spool 180 moves in the left-right direction.
- the head side hydraulic chamber 5010A is always in communication with the first port 111 of the hydraulic pump 110, and similarly, the rod side hydraulic chamber 5010B is always in communication with the second port 112 of the hydraulic pump 110. Yes.
- the head-side hydraulic chamber 510A of the cylinder 510 is always in communication with the hydraulic pump 110 via the first sleeve through-hole 171 and the first annular groove 171A.
- the rod-side hydraulic chamber 510B of the cylinder 510 is always in communication with the hydraulic pump 110 via the second sleeve through hole 172 and the second annular groove 172A.
- the head side hydraulic chamber 510A of the cylinder 510 is always connected to the hydraulic pump 110 via the first sleeve through hole 171 and the first annular groove 181A.
- the rod-side hydraulic chamber 510B of the cylinder 510 is always in communication with the hydraulic pump 110 via the second sleeve through hole 172 and the second annular groove 182A.
- the electro-oil hybrid drive device 100A according to the present embodiment functions in the same manner as the electro-oil hybrid drive device 100 according to the first embodiment, and has the same effects.
- first annular groove 181A and the second annular groove 182A also have an effect of making the pressure that the hydraulic fluid acts on the spool 180 uniform in the circumferential direction of the spool 180.
- FIG. 14 is a block diagram of an electro-hydraulic hybrid drive apparatus 200 according to the third embodiment of the present invention, including a cross-sectional view of a servo valve 260 in the present embodiment.
- the electro-oil hybrid drive device 200 according to this embodiment is different from the electro-oil hybrid drive device 100 according to the first embodiment only in the structure of the sleeve.
- the first sleeve through hole 171 and the second sleeve through hole 172 are both in the diameter direction of the sleeve 170.
- the first sleeve hole 271 and the second sleeve hole 272 are formed in the diametric direction of the sleeve 270 as shown in FIG. It is formed within a range reaching the through hole 175 from the outer peripheral surface, and is not formed through the sleeve 270 in the diameter direction.
- the electro-oil hybrid drive device 200 according to the present embodiment has the same structure as the electro-oil hybrid drive device 100 according to the first embodiment. For this reason, the same reference numerals are used for the same components as those in the first embodiment.
- the electro-hydraulic hybrid drive device 200 operates as follows.
- the head-side hydraulic chamber 510A of the cylinder 510 communicates with the first port 111 of the hydraulic pump 110 via the head-side channel 130, but the channel to the reservoir tank 150 is connected to the spool 180. It is blocked by the first part 181.
- the rod-side hydraulic chamber 510B of the cylinder 510 communicates with the second port 112 of the hydraulic pump 110 via the rod-side flow path 140, but the flow path to the reservoir tank 150 is caused by the second portion 182 of the spool 180. Blocked.
- the internal space 174 formed in the through hole 175 of the sleeve 270 communicates only with the reservoir tank 150 via the third sleeve hole 173, and is connected to the first sleeve hole 271 and the second sleeve hole 272. Are not communicating.
- FIG. 15 shows a servo valve when the electro-hydraulic hybrid drive device 200 according to this embodiment operates the hydraulic cylinder 500 in the direction in which the hydraulic cylinder 500 performs work, that is, the direction X2 in which the rod 530 pushes the load 540. It is a block diagram including sectional drawing of 260. FIG.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the forward direction, the hydraulic fluid is discharged from the first port 111 of the hydraulic pump 110 and is sucked into the hydraulic pump 110 through the second port 112. That is, the first port 111 is a discharge port, and the second port 112 is a suction port.
- the spool 180 By moving the spool 180 in the right direction X2, the communication between the first sleeve hole 271 and the internal space 174 formed in the through hole 175 remains blocked, whereas the second sleeve The hole 272 communicates with the internal space 174, and thus communicates with the reservoir tank 150 via the third sleeve hole 273.
- the hydraulic fluid inside the rod-side hydraulic chamber 510B of the cylinder 510 passes through the rod-side flow path 140 and is sucked into the hydraulic pump 110 through the second port 112 as shown by an arrow 197 in FIG. .
- the second sleeve hole 272 communicates with the reservoir tank 150 via the internal space 174 and the third sleeve hole 273. Due to the pressure difference between the second sleeve hole 272 and the third sleeve hole 273, the hydraulic fluid stored in the reservoir tank 150 is sucked into the second sleeve hole 272 as shown by an arrow 198, and the rod-side flow path 140 Joins the hydraulic fluid flowing through
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 is transferred to the rod side flow path. It is added to the hydraulic fluid flowing in 140.
- the degree of communication between the second sleeve hole 272 and the internal space 174 (and thus the reservoir tank 150) can be controlled by controlling the moving distance of the spool 180 in the right direction X2.
- the movement distance of the spool 180 can be controlled, for example, in the same manner as in the case of the spool 180 in the first embodiment.
- the hydraulic fluid sucked into the hydraulic pump 110 through the second port 112 is discharged from the first port 111 toward the head side hydraulic chamber 510A of the cylinder 510.
- the hydraulic fluid discharged from the first port 111 of the hydraulic pump 110 is sent to the head side hydraulic chamber 510A of the cylinder 510 via the head side flow path 130 as indicated by an arrow 199 in FIG.
- the hydraulic fluid is continuously sent from the rod side hydraulic chamber 510B of the cylinder 510 to the inside of the head side hydraulic chamber 510A via the hydraulic pump 110, and a volume corresponding to the volume of the rod 530. Is added to the hydraulic fluid that is newly sent from the reservoir tank 150 to the head-side hydraulic chamber 510A.
- FIG. 16 is a block diagram including a sectional view of the servo valve 260 when the hydraulic cylinder 500 is operated so that the rod 530 moves in the left direction X1.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the reverse direction, the hydraulic fluid is sucked through the first port 111 of the hydraulic pump 110 and discharged from the hydraulic pump 110 through the second port 112. That is, the first port 111 is an inlet and the second port 112 is an outlet.
- the hydraulic fluid inside the head-side hydraulic chamber 510A of the cylinder 510 passes through the head-side flow path 130 and is sucked into the hydraulic pump 110 through the first port 111 as shown by an arrow 201 in FIG. .
- the first sleeve hole 271 communicates with the reservoir tank 150 via the internal space 174 and the third sleeve hole 273. Part of the gas passes through the internal space 174 and the third sleeve hole 273 and is sent to the reservoir tank 150.
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 is transferred to the head side flow path 130. It will be excluded from the hydraulic fluid which flows through.
- the degree of communication between the first sleeve hole 271 and the internal space 174 is determined in the left direction of the spool 180. It can be controlled by controlling the moving distance to X1.
- the movement distance of the spool 180 can be controlled, for example, in the same manner as in the case of the spool 180 in the first embodiment.
- the hydraulic fluid sucked into the hydraulic pump 110 through the first port 111 is discharged from the second port 112 toward the rod side hydraulic chamber 510B of the cylinder 510.
- the hydraulic fluid discharged from the second port 112 of the hydraulic pump 110 is sent to the rod-side hydraulic chamber 510B of the cylinder 510 through the rod-side channel 140 as indicated by an arrow 203 in FIG.
- the hydraulic fluid is continuously sent from the head side hydraulic chamber 510A of the cylinder 510 to the inside of the rod side hydraulic chamber 510B via the hydraulic pump 110, and a part of the hydraulic fluid is a servo valve. It is accommodated in the reservoir tank 150 through 260.
- the hydraulic pump 110 causes the head-side hydraulic chamber 510A and the rod-side hydraulic chamber 510B of the cylinder 510 to communicate with each other and the servo valve 260. According to the rotation direction of the hydraulic pump 120, either the head side hydraulic chamber 510A or the rod side hydraulic chamber 510B is connected to the reservoir tank 150.
- the same effect as that of the electric oil hybrid drive device 100 according to the first embodiment can also be obtained by the electric oil hybrid drive device 200 according to the present embodiment.
- the inner diameter of the first sleeve hole 271 and the inner diameter of the second sleeve hole 272 also in the electric oil hybrid drive device 200 according to this embodiment. It can be different.
- FIG. 17 is a block diagram of an electro-hydraulic hybrid drive device 400 according to the fourth embodiment of the present invention, including a cross-sectional view of a servo valve 460 in the present embodiment.
- the electro-oil hybrid drive device 400 drives the hydraulic cylinder 500 (see FIG. 1), similarly to the electro-oil hybrid drive device 100 according to the first embodiment.
- the electro-hydraulic hybrid drive device 400 is rotatable in both forward and reverse directions, and includes a hydraulic pump 110 having a first port 111 and a second port 112, and a hydraulic pump 110.
- the head side flow path 130 that connects the head side hydraulic chamber 510A of the cylinder 510 and the first port 111 of the hydraulic pump 110, and the rod side of the cylinder 510.
- Rod side flow path 140 connecting hydraulic chamber 510B and second port 112 of hydraulic pump 110, reservoir tank 150 storing hydraulic fluid, head side flow path 130, rod side flow path 140, and reservoir
- a servo valve 460 disposed in communication with the tank 150.
- the hydraulic pump 110 communicates with the head side flow path 130 via the first port 111 and with the rod side flow path 140 via the second port 112. That is, the hydraulic pump 110 causes the head side hydraulic chamber 510A and the rod side hydraulic chamber 510B of the cylinder 510 to communicate with each other.
- the servo valve 460 communicates either the head-side hydraulic chamber 510A or the rod-side hydraulic chamber 510B of the cylinder 510 with the reservoir tank 150 in accordance with the rotation direction of the hydraulic pump 110.
- the servo valve 460 includes a cylindrical sleeve 470 in which a through hole 475 extending in the length direction of the servo valve 460 (a direction orthogonal to the paper surface of FIG. 17) is formed, and the penetration of the sleeve 470.
- a cylindrical spool 480 that can rotate along the inner wall of the hole 475.
- the sleeve 470 includes a first sleeve hole 471 extending in the diameter direction of the sleeve 470 and reaching the through hole 475, and a second sleeve hole 472 extending in the diameter direction of the sleeve 470 and reaching the through hole 475.
- a third sleeve hole 473 extending in the diameter direction of the sleeve 470 and reaching the through hole 475 is formed.
- the first sleeve hole 471, the second sleeve hole 472, and the third sleeve hole 473 are formed so as not to interfere with each other.
- the first sleeve hole 471 and the second sleeve hole 472 extend in directions orthogonal to each other, and the third sleeve hole 473 is located between the first sleeve hole 471 and the second sleeve hole 472.
- the first sleeve hole 471 and the second sleeve hole 472 have the same inner diameter, and the third sleeve hole 473 has an inner diameter smaller than the inner diameters of the first sleeve hole 471 and the second sleeve hole 472. .
- the head side hydraulic chamber 510A of the cylinder 510 communicates with the through hole 475 through the first sleeve hole 471, and the rod side hydraulic chamber 510B of the cylinder 510 passes through the second sleeve hole 472. It communicates with the through hole 275.
- the reservoir tank 150 communicates with the through hole 475 of the sleeve 470 through the third sleeve hole 473.
- a cutout 481 having a substantially triangular cross section is formed on the outer periphery of the spool 480.
- the length of the notch 481 (the length of the arc along the outer periphery of the spool 480) is set to a length that does not allow the third sleeve hole 473 and both the first sleeve hole 471 and the second sleeve hole 472 to communicate with each other at the same time. Has been.
- the spool 480 can take the following three positions A, B, and C according to the rotation angle.
- the head-side hydraulic chamber 510A of the cylinder 510 communicates with the reservoir tank 150 via the head-side flow path 130 and the servo valve 460.
- the third sleeve hole 473 is not in communication with both the first sleeve hole 471 and the second sleeve hole 472 (the state shown in FIG. 17).
- both the head side hydraulic chamber 510A and the rod side hydraulic chamber 510B of the cylinder 510 are not in communication with the reservoir tank 150.
- the third sleeve hole 473 and the second sleeve hole 472 communicate with each other through the notch 481 (state shown in FIG. 19 described later).
- the rod-side hydraulic chamber 510B of the cylinder 510 communicates with the reservoir tank 150 via the rod-side flow path 140 and the servo valve 460.
- FIG. 18A is a front view of the servo valve 460 in the present embodiment
- FIG. 18B is a side view of the servo valve 460
- FIG. 18C is a cross-sectional view of the servo valve 460.
- 17 is a cross-sectional view taken along the line CC of FIG. 18C.
- the spool 480 is formed of a cylindrical rotor portion 482A and a shaft portion 482B extending from the rotor portion 482A.
- the shaft portion 482B is formed concentrically with the rotor portion 482A and has a smaller outer diameter than the rotor portion 482A.
- the shaft portion 482B extends on both sides of the rotor portion 482A, and the shaft portion 482B is supported inside the sleeve 470 via the bearing 483, whereby the spool 480 is supported inside the sleeve 470 as a whole.
- the rotor portion 482A rotates along the inner wall of the through hole 475 of the sleeve 470.
- One end of the shaft portion 482B extends to the outside of the sleeve 470, and as shown in FIG. 18B, a plate portion 484 is formed at one end of the shaft portion 482B.
- a pair of springs 485 are attached to the plate portion 484, and when one of the springs 485 pulls the plate portion 484, the spool 480 rotates in any direction.
- the rotation direction and amount of rotation of the spool 480 (specifically, the rotor portion 482A) is determined depending on which of the pair of springs 485 pulls the plate portion 484 and further, how much force pulls the plate portion 484.
- the spool 480 takes the aforementioned positions A, B, and C according to the rotation direction and the rotation amount.
- the electro-hydraulic hybrid drive device 400 operates as follows.
- the head-side hydraulic chamber 510A of the cylinder 510 communicates with the first port 111 of the hydraulic pump 110 via the head-side channel 130, but the channel to the reservoir tank 150 is connected by a spool 480. Blocked.
- the rod-side hydraulic chamber 510B of the cylinder 510 communicates with the second port 112 of the hydraulic pump 110 via the rod-side channel 140, but the channel to the reservoir tank 150 is blocked by the spool 480.
- the reservoir tank 150 communicates only with the third sleeve hole 473 and does not communicate with the first sleeve hole 471 and the second sleeve hole 472.
- FIG. 19 shows a servo valve when the electro-hydraulic hybrid drive device 400 according to this embodiment operates the hydraulic cylinder 500 in the direction in which the hydraulic cylinder 500 performs work, that is, the direction X2 in which the rod 530 pushes the load 540.
- 460 is a block diagram including a cross-sectional view of 460; FIG.
- the electric motor 120 rotates the hydraulic pump 110 in the forward direction, and as shown in FIG.
- the rotor portion 482A of 480 is rotated clockwise from the position shown in FIG. That is, the spool 480 is shifted from position B to position C.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the forward direction, the hydraulic fluid is discharged from the first port 111 of the hydraulic pump 110 and is sucked into the hydraulic pump 110 through the second port 112. That is, the first port 111 is a discharge port, and the second port 112 is a suction port.
- the hydraulic fluid inside the rod-side hydraulic chamber 510B of the cylinder 510 passes through the rod-side flow path 140 and is sucked into the hydraulic pump 110 through the second port 112 as shown by an arrow 401 in FIG. .
- the second sleeve hole 472 communicates with the reservoir tank 150 through the notch 481 and the third sleeve hole 473. Due to the pressure difference between the second sleeve hole 472 and the third sleeve hole 473, the hydraulic fluid stored in the reservoir tank 150 is sent to the second sleeve hole 472, as indicated by an arrow 402, in the rod side flow path 140. Joins the hydraulic fluid flowing through
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 is transferred to the rod side flow path. It is added to the hydraulic fluid flowing in 140.
- the degree of communication between the second sleeve hole 472 and the third sleeve hole 473 (and thus the reservoir tank 150) can be controlled by controlling the amount of rotation (rotation angle) of the spool 480 in the clockwise direction X3. It is.
- the rotation amount (rotation angle) of the spool 480 can be controlled, for example, in the same manner as the spool 180 in the first embodiment.
- the hydraulic fluid sucked into the hydraulic pump 110 through the second port 112 is discharged from the first port 111 toward the head side hydraulic chamber 510A of the cylinder 510.
- the hydraulic fluid discharged from the first port 111 of the hydraulic pump 110 is sent to the head side hydraulic chamber 510A of the cylinder 510 via the head side flow path 130 as indicated by an arrow 403 in FIG.
- the hydraulic fluid is continuously sent from the rod side hydraulic chamber 510B of the cylinder 510 to the inside of the head side hydraulic chamber 510A via the hydraulic pump 110, and a volume corresponding to the volume of the rod 530. Is added to the hydraulic fluid that is newly sent from the reservoir tank 150 to the head-side hydraulic chamber 510A.
- FIG. 20 is a block diagram including a sectional view of the servo valve 460 when the hydraulic cylinder 500 is operated so that the rod 530 moves in the left direction X1.
- the hydraulic pump 110 When the hydraulic pump 110 is rotated in the reverse direction, the hydraulic fluid is sucked through the first port 111 of the hydraulic pump 110 and discharged from the hydraulic pump 110 through the second port 112. That is, the first port 111 is an inlet and the second port 112 is an outlet.
- the communication between the second sleeve hole 472 and the third sleeve hole 473 is blocked, whereas the first sleeve hole 471 is notched through the notch 481.
- the third sleeve hole 473 communicates with the reservoir tank 150 via the third sleeve hole 473.
- the hydraulic fluid inside the head-side hydraulic chamber 510A of the cylinder 510 passes through the head-side flow path 130 and is sucked into the hydraulic pump 110 through the first port 111 as indicated by an arrow 404 in FIG. .
- the first sleeve hole 471 communicates with the reservoir tank 150 via the notch 481 and the third sleeve hole 473. Part of the gas passes through the notch 481 and the third sleeve hole 473 and is sent to the reservoir tank 150.
- the difference between the volume of the head side hydraulic chamber 510A of the cylinder 510 and the volume of the rod side hydraulic chamber 510B, that is, the volume of hydraulic fluid corresponding to the volume of the rod 530 in the cylinder 510 is transferred to the head side flow path 130. It will be excluded from the hydraulic fluid which flows through.
- the degree of communication between the first sleeve hole 471 and the third sleeve hole 473 is determined by the spool. It can be controlled by controlling the amount of rotation (rotation angle) of 480 in the counterclockwise direction X4.
- the rotation amount (rotation angle) of the spool 480 can be controlled, for example, in the same manner as the spool 180 in the first embodiment.
- the hydraulic fluid sucked into the hydraulic pump 110 through the first port 111 is discharged from the second port 112 toward the rod side hydraulic chamber 510B of the cylinder 510.
- the hydraulic fluid discharged from the second port 112 of the hydraulic pump 110 is sent to the rod-side hydraulic chamber 510B of the cylinder 510 through the rod-side flow path 140 as indicated by an arrow 406 in FIG.
- the hydraulic fluid is continuously sent from the head side hydraulic chamber 510A of the cylinder 510 to the inside of the rod side hydraulic chamber 510B via the hydraulic pump 110, and a part of the hydraulic fluid is a servo valve. It is accommodated in the reservoir tank 150 via 460.
- the hydraulic pump 110 causes the head-side hydraulic chamber 510A and the rod-side hydraulic chamber 510B of the cylinder 510 to communicate with each other and the servo valve 460. According to the rotation direction of the hydraulic pump 120, either the head side hydraulic chamber 510A or the rod side hydraulic chamber 510B is connected to the reservoir tank 150.
- the same effect as that of the electric oil hybrid drive device 100 according to the first embodiment can also be obtained by the electric oil hybrid drive device 400 according to the present embodiment.
- the electric oil hybrid drive device 400 according to the present embodiment is not limited to the above structure, and various modifications can be made.
- the number of the notches 481 is 1, but it is possible to form two or more notches 481 and use any one of them. is there.
- FIG. 21 is a cross-sectional view of a modified example of the spool 480.
- the first sleeve hole 471, the second sleeve hole 472, and the third sleeve hole 473 are formed as holes that reach the through hole 475 of the sleeve 470.
- the first sleeve hole 471, the second sleeve hole 472, and the third sleeve hole 473 can all be formed as through holes that penetrate the sleeve 470.
- the spool 480 is formed with two notches 481.
- Electro-hydraulic hybrid drive device 110 according to first embodiment of the present invention 110 Hydraulic pump 120 Electric motor 130 Head side flow path 140 Rod side flow path 150 Reservoir tank 160 Servo valve 170 Sleeve 171 First sleeve through hole 171A First Annular groove 172 Second sleeve through hole 172A Second annular groove 173 Third sleeve hole 174 Inner space 175 Through hole 180 Spool 181 First part 182 Second part 183 Third part 100A Electro oil according to the second embodiment of the present invention Hybrid drive device 181A First annular groove 182A Second annular groove 200 Electro-hydraulic hybrid drive device 260 according to the third embodiment of the present invention Servo valve 270 Sleeve 271 First sleeve hole 272 Second sleeve hole 301 First sensor 302 First Two sensors 303 Third sensor 04 Fourth sensor 305 Fifth sensor 306 Control device 400 Electro-hydraulic hybrid drive device 460 according to the fourth embodiment of the present invention Servo valve 470 Sleeve 471 First sleeve hole 472 Second
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Abstract
Description
図1は本発明の第一の実施形態に係る電油ハイブリッド駆動装置100のブロック図である。
ΔP:負圧[MPa]
Q:最大流量[cm3/sec]
A:スプールバルブ開口面積[mm2]
Cd:流量係数=0.6
ρ:作動液密度[kg/cm3]
ΔP=-0.09MPa
となる。従って、負圧の発生を防止するためには、液圧保持手段151がリザーバタンク150に貯留されている作動液の液圧を0.09MPa以上に保持していればよく、あるいは、マージンを考慮して、0.1MPa以上に保持していればよい。
図13は本発明の第二の実施形態に係る電油ハイブリッド駆動装置100Aにおけるスリーブ170及びスプール180の断面図である。
図14は、本発明の第三の実施形態に係る電油ハイブリッド駆動装置200のブロック図であり、本実施形態におけるサーボバルブ260の断面図を含む。
図17は、本発明の第四の実施形態に係る電油ハイブリッド駆動装置400のブロック図であり、本実施形態におけるサーボバルブ460の断面図を含む。
110 液圧ポンプ
120 電動モーター
130 ヘッド側流路
140 ロッド側流路
150 リザーバタンク
160 サーボバルブ
170 スリーブ
171 第一スリーブ貫通孔
171A 第一環状溝
172 第二スリーブ貫通孔
172A 第二環状溝
173 第三スリーブ孔
174 内部空間
175 貫通孔
180 スプール
181 第一部分
182 第二部分
183 第三部分
100A 本発明の第二の実施形態に係る電油ハイブリッド駆動装置
181A 第一環状溝
182A 第二環状溝
200 本発明の第三の実施形態に係る電油ハイブリッド駆動装置
260 サーボバルブ
270 スリーブ
271 第一スリーブ孔
272 第二スリーブ孔
301 第一センサー
302 第二センサー
303 第三センサー
304 第四センサー
305 第五センサー
306 制御装置
400 本発明の第四の実施形態に係る電油ハイブリッド駆動装置
460 サーボバルブ
470 スリーブ
471 第一スリーブ孔
472 第二スリーブ孔
473 第三スリーブ孔
475 貫通孔
480 スプール
481 切欠き
482A ローター部分
482B シャフト部分
483 ベアリング
500 液圧シリンダ
510 シリンダ
510A ヘッド側液圧室
510B ロッド側液圧室
520 ピストン
530 ロッド
540 負荷
Claims (16)
- 液圧シリンダを駆動する電油ハイブリッド駆動装置であって、
正逆両方向に回転可能な液圧ポンプと、
前記液圧ポンプを回転駆動する電動モーターと、
作動液が貯留されているリザーバタンクと、
サーボバルブと、
を備え、
前記液圧シリンダのヘッド側液圧室は前記液圧ポンプの吸入口及び吐出口の何れか一方と、前記液圧シリンダのロッド側液圧室は前記液圧ポンプの吸入口及び吐出口の他方とそれぞれ常に連通しており、
前記サーボバルブは、前記液圧ポンプの回転方向に応じて、前記ヘッド側液圧室及び前記ロッド側液圧室の何れか一方を前記リザーバタンクに連通させ、
前記サーボバルブは、前記ヘッド側液圧室及び前記ロッド側液圧室の何れか一方と前記リザーバタンクとを連通させる度合いを連続値的に変更可能である電油ハイブリッド駆動装置。 - 前記サーボバルブは、貫通孔が形成されているスリーブと、前記貫通孔の内壁に沿ってスライド可能なスプールと、からなり、
前記スリーブには、前記液圧シリンダのヘッド側液圧室を前記液圧ポンプの吸入口及び吐出口の何れか一方と連通させる第一スリーブ貫通孔と、前記液圧シリンダのロッド側液圧室を前記液圧ポンプの吸入口及び吐出口の他方と連通させる第二スリーブ貫通孔と、前記貫通孔と前記リザーバタンクとを連通させる第三スリーブ孔と、が形成されており、
前記スプールは、前記スリーブの内壁に沿ってスライドする第一部分と、前記スリーブの内壁に沿ってスライドする第二部分と、前記第一部分と前記第二部分との間に形成されている第三部分と、を備え、
前記第三部分は前記第一部分及び前記第二部分の外径より小さい外径を有しており、
前記スプールの軸方向における前記第三部分の長さは前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の双方を同時に前記第三スリーブ孔に連通させるものではない長さであり、
前記第一スリーブ貫通孔と前記貫通孔との交差箇所及び前記第二スリーブ貫通孔と前記貫通孔との交差箇所には、前記スプールの周囲の少なくとも一部に沿って前記作動液の流路を形成する空隙がそれぞれ形成されており、
前記スプールは、前記第三部分が前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の何れか一方を前記第三スリーブ孔に連通させ、または、前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の双方を前記第三スリーブ孔に連通させない範囲内において移動するものである請求項1に記載の電油ハイブリッド駆動装置。 - 前記空隙は前記スプールの外径より大きい内径を有する環状の溝であることを特徴とする請求項2に記載の電油ハイブリッド駆動装置。
- 前記スリーブには、前記スプールの前記第一部分に対応する箇所において、前記貫通孔に通じる少なくとも3個の孔が形成されており、
前記スリーブは、前記孔の何れか一つが前記液圧シリンダの前記ヘッド側液圧室に、他の何れか一つが前記液圧ポンプにそれぞれ連通され、他の孔は閉じられた状態で使用され、
前記スリーブには、前記スプールの前記第二部分に対応する箇所において、前記貫通孔に通じる少なくとも3個の孔が形成されており、
前記スリーブは、前記孔の何れか一つが前記液圧シリンダの前記ロッド側液圧室に、他の何れか一つが前記液圧ポンプにそれぞれ連通され、他の孔は閉じられた状態で使用されることを特徴とする請求項2または3に記載の電油ハイブリッド駆動装置。 - 前記サーボバルブは、貫通孔が形成されているスリーブと、前記貫通孔の内壁に沿ってスライド可能なスプールと、からなり、
前記スリーブには、前記液圧シリンダのヘッド側液圧室を前記液圧ポンプの吸入口及び吐出口の何れか一方と連通させる第一スリーブ貫通孔と、前記液圧シリンダのロッド側液圧室を前記液圧ポンプの吸入口及び吐出口の他方と連通させる第二スリーブ貫通孔と、前記貫通孔と前記リザーバタンクとを連通させる第三スリーブ孔と、が形成されており、
前記スプールは、前記スリーブの内壁に沿ってスライドする第一部分と、前記スリーブの内壁に沿ってスライドする第二部分と、前記第一部分と前記第二部分との間に形成されている第三部分と、を備え、
前記第三部分は前記第一部分及び前記第二部分の外径より小さい外径を有しており、
前記スプールの軸方向における前記第三部分の長さは前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の双方を同時に前記第三スリーブ孔に連通させるものではない長さであり、
前記第一部分には前記第一スリーブ貫通孔と連通する第一環状溝が形成され、前記第二部分には前記第二スリーブ貫通孔と連通する第二環状溝が形成されており、
前記スプールは、前記第三部分が前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の何れか一方を前記第三スリーブ孔に連通させ、または、前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の双方を前記第三スリーブ孔に連通させない範囲内において移動するものである請求項1に記載の電油ハイブリッド駆動装置。 - 前記第一スリーブ貫通孔の内径と前記第二スリーブ貫通孔の内径とは異なるものであることを特徴とする請求項1乃至5の何れか一項に記載の電油ハイブリッド駆動装置。
- 前記第三スリーブ孔は前記サーボバルブの長さ方向において前記第一スリーブ貫通孔と前記第二スリーブ貫通孔との間に位置していることを特徴とする請求項1乃至6の何れか一項に記載の電油ハイブリッド駆動装置。
- 前記第三スリーブ孔の内径は前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の内径より小さいことを特徴とする請求項1乃至7の何れか一項に記載の電油ハイブリッド駆動装置。
- 前記サーボバルブは、貫通孔が形成されているスリーブと、前記貫通孔の内壁に沿ってスライド可能なスプールと、からなり、
前記スリーブには、前記液圧シリンダのヘッド側液圧室と前記貫通孔とを連通させる第一スリーブ孔と、前記液圧シリンダのロッド側液圧室と前記貫通孔とを連通させる第二スリーブ孔と、前記貫通孔と前記リザーバタンクとを連通させる第三スリーブ孔と、が形成されており、
前記スプールは、前記スリーブの内壁に沿ってスライドする第一部分と、前記スリーブの内壁に沿ってスライドする第二部分と、前記第一部分と前記第二部分との間に形成されている第三部分と、を備え、
前記第三部分は前記第一部分及び前記第二部分の外径より小さい外径を有しており、
前記スプールの軸方向における前記第三部分の長さは前記第一スリーブ孔及び前記第二スリーブ孔の双方を同時に前記第三スリーブ孔に連通させるものではない長さであり、
前記スプールは、前記第三部分が前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の何れか一方を前記第三スリーブ孔に連通させ、または、前記第一スリーブ貫通孔及び前記第二スリーブ貫通孔の双方を前記第三スリーブ孔に連通させない範囲内において移動するものである請求項1に記載の電油ハイブリッド駆動装置。 - 前記第一スリーブ孔の内径と前記第二スリーブ孔の内径とは異なるものであることを特徴とする請求項9に記載の電油ハイブリッド駆動装置。
- 前記第三スリーブ孔は前記サーボバルブの長さ方向において前記第一スリーブ孔と前記第二スリーブ孔との間に位置していることを特徴とする請求項9または10に記載の電油ハイブリッド駆動装置。
- 前記サーボバルブは、貫通孔が形成されているスリーブと、前記貫通孔の内壁に沿って回転可能なスプールと、からなり、
前記スリーブには、前記液圧シリンダの前記ヘッド側液圧室を前記貫通孔に連通させる第一スリーブ孔と、前記液圧シリンダの前記ロッド側液圧室を前記貫通孔に連通させる第二スリーブ孔と、前記リザーバタンクを前記貫通孔に連通させる第三スリーブ孔と、が形成されており、
前記スプールの外周には少なくとも一つの切欠きが形成されており、
前記切欠きの大きさは、前記スプールの回転量に応じて、前記第一スリーブ孔及び前記第二スリーブ孔の何れか一方を前記第三スリーブ孔に連通させ、または、前記第一スリーブ孔及び前記第二スリーブ孔の双方を前記第三スリーブ孔に連通させないものである請求項1に記載の電油ハイブリッド駆動装置。 - 前記第三スリーブ孔は前記第一スリーブ孔と前記第二スリーブ孔との中間に形成されていることを特徴とする請求項12に記載の電油ハイブリッド駆動装置。
- 前記サーボバルブは、前記ヘッド側液圧室及び前記ロッド側液圧室の何れか一方と前記リザーバタンクとを連通させる度合いを連続値的に変更可能であることを特徴とする請求項1乃至13の何れか一項に記載の電油ハイブリッド駆動装置。
- 前記サーボバルブは、前記電動モーターまたは前記液圧ポンプの回転数、前記電動モーターまたは前記液圧ポンプのトルク、前記電動モーターまたは前記液圧ポンプの回転加速度、前記ヘッド側液圧室または前記ロッド側液圧室の液圧の何れか一つまたは二つ以上に応じて、前記度合いを変更するものであることを特徴とする請求項14に記載の電油ハイブリッド駆動装置。
- 前記リザーバタンクに貯留されている前記作動液の液圧を、前記電油ハイブリッド駆動装置において発生する最大負圧の絶対値より小さくない正の液圧以上の液圧に保持する液圧保持手段を備えることを特徴とする請求項1乃至15の何れか一項に記載の電油ハイブリッド駆動装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/521,098 US20120324880A1 (en) | 2011-06-23 | 2011-06-23 | Electric-hydraulic hybrid driver |
KR1020147000365A KR101595193B1 (ko) | 2011-06-23 | 2011-06-23 | 전기 유압 하이브리드 구동 장치 |
CN201180071799.8A CN103620232B (zh) | 2011-06-23 | 2011-06-23 | 液电混合驱动装置 |
PCT/JP2011/064454 WO2012176314A1 (ja) | 2011-06-23 | 2011-06-23 | 電油ハイブリッド駆動装置 |
JP2013521384A JP5645236B2 (ja) | 2011-06-23 | 2011-06-23 | 電油ハイブリッド駆動装置 |
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PCT/JP2011/064454 WO2012176314A1 (ja) | 2011-06-23 | 2011-06-23 | 電油ハイブリッド駆動装置 |
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PCT/JP2011/064454 WO2012176314A1 (ja) | 2011-06-23 | 2011-06-23 | 電油ハイブリッド駆動装置 |
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US (1) | US20120324880A1 (ja) |
JP (1) | JP5645236B2 (ja) |
KR (1) | KR101595193B1 (ja) |
CN (1) | CN103620232B (ja) |
WO (1) | WO2012176314A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016070500A (ja) * | 2014-09-29 | 2016-05-09 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 流体回路および流体回路を有する機械 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104093995B (zh) * | 2012-01-31 | 2016-01-27 | 日立建机株式会社 | 液压闭合回路系统 |
DE102014219244A1 (de) * | 2014-09-24 | 2016-03-24 | Robert Bosch Gmbh | Hydraulische Schaltung zur Versorgung eines Verbrauchers mit Differentialcharakter |
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2011
- 2011-06-23 JP JP2013521384A patent/JP5645236B2/ja not_active Expired - Fee Related
- 2011-06-23 CN CN201180071799.8A patent/CN103620232B/zh not_active Expired - Fee Related
- 2011-06-23 KR KR1020147000365A patent/KR101595193B1/ko not_active IP Right Cessation
- 2011-06-23 US US13/521,098 patent/US20120324880A1/en not_active Abandoned
- 2011-06-23 WO PCT/JP2011/064454 patent/WO2012176314A1/ja active Application Filing
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JP2016070500A (ja) * | 2014-09-29 | 2016-05-09 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh | 流体回路および流体回路を有する機械 |
Also Published As
Publication number | Publication date |
---|---|
CN103620232A (zh) | 2014-03-05 |
JP5645236B2 (ja) | 2014-12-24 |
KR20140047654A (ko) | 2014-04-22 |
CN103620232B (zh) | 2015-11-25 |
JPWO2012176314A1 (ja) | 2015-02-23 |
KR101595193B1 (ko) | 2016-02-17 |
US20120324880A1 (en) | 2012-12-27 |
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