WO2015053094A1 - ハイブリッド建設機械の制御システム - Google Patents
ハイブリッド建設機械の制御システム Download PDFInfo
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- WO2015053094A1 WO2015053094A1 PCT/JP2014/075588 JP2014075588W WO2015053094A1 WO 2015053094 A1 WO2015053094 A1 WO 2015053094A1 JP 2014075588 W JP2014075588 W JP 2014075588W WO 2015053094 A1 WO2015053094 A1 WO 2015053094A1
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- pressure
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/004—Fluid pressure supply failure
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1823—Rotary generators structurally associated with turbines or similar engines
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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
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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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
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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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
- F15B2211/20546—Type of pump 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
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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
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
- F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
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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
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
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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
- F15B2211/30—Directional control
- F15B2211/355—Pilot pressure control
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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
- F15B2211/40—Flow control
- F15B2211/45—Control of bleed-off flow, e.g. control of bypass flow to the 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/67—Methods for controlling pilot pressure
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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
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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
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
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- 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
- F15B2211/76—Control of force or torque of the output member
- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
- F15B2211/8752—Emergency operation mode, e.g. fail-safe operation mode
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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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to a control system for a hybrid construction machine including a regeneration device that performs energy regeneration using a working fluid guided from an actuator.
- JP2011-179541A discloses a hybrid construction machine including a boom cylinder that rotates a boom up and down.
- the hydraulic motor is rotated using hydraulic oil returned from the boom cylinder when the boom is lowered, and the generator is driven by the rotational torque of the hydraulic motor.
- the object of the present invention is to improve the fail-safe performance when lowering the load.
- a control system for a hybrid construction machine includes a fluid pressure pump that supplies a working fluid, and a load that is extended by supplying the working fluid to a load side pressure chamber to increase the load.
- a fluid pressure cylinder that contracts by the discharge of the working fluid from the chamber and lowers the load;
- a regenerative flow control valve that is controlled by the pressure of a pilot fluid and adjusts the flow rate of the working fluid discharged from the load side pressure chamber;
- a regeneration motor for regeneration that is rotated by working fluid discharged from the load side pressure chamber, a rotating electrical machine connected to the regeneration motor, and a pressure in a regeneration passage between the regeneration flow control valve and the regeneration motor Is switched as the pilot pressure, and the flow rate of the working fluid discharged from the load side pressure chamber is reduced when the pressure in the regenerative passage is lower than the set pressure.
- Serial and a switching valve for fail-safe to lower the pressure of the pilot fluid to the regenerative flow control valve.
- FIG. 1 is a circuit diagram showing a control system for a hybrid construction machine according to a first embodiment of the present invention.
- FIG. 2 is a circuit diagram showing a control system for a hybrid construction machine according to the second embodiment of the present invention.
- the load is a boom of a hydraulic excavator
- the fluid pressure cylinder is a boom cylinder BC for raising and lowering the boom.
- a control system 100 for a hybrid construction machine includes a variable displacement first main pump MP1, a variable displacement second main pump MP2, and a variable displacement assist pump AP.
- the discharge port of the first main pump MP1 is connected to the first circuit system via the first switching valve V1.
- the discharge port of the second main pump MP2 is connected to the second circuit system via the second switching valve V2.
- the discharge port of the assist pump AP can merge with the discharge port of the first main pump MP1 via the first switching valve V1, and can merge with the discharge port of the second main pump MP2 via the second switching valve V2. It is.
- the first main pump MP1, the second main pump MP2, and the assist pump AP are fluid pressure pumps that supply hydraulic oil (working fluid) under pressure.
- the first switching valve V1 is a 4-port 2-position spool type switching valve.
- the first switching valve V1 is provided with a pilot chamber facing one end of the spool, and the other end of the spool is supported by a spring.
- the first switching valve V1 is held at the normal position by the biasing force of the spring when the pilot pressure is not supplied to the pilot chamber (the state shown in FIG. 1).
- the discharge oil of the first main pump MP1 is supplied to the first circuit system, and the discharge oil of the assist pump AP is supplied to the first main valve via the check valve. It merges with the discharge port of the pump MP1.
- the second switching valve V2 is a 6-port 3-position spool type switching valve.
- the second switching valve V2 is provided with pilot chambers facing both ends of the spool.
- the spool is supported in a neutral state by a pair of centering springs provided at both ends.
- the second switching valve V2 is normally held at the normal position by the spring force of the centering spring (the state shown in FIG. 1).
- the oil discharged from the second main pump MP2 is supplied to the regenerative motor M that drives the assist pump AP.
- the supply of the oil discharged from the second main pump MP2 to the hydraulic motor M is cut off.
- the pilot pressure of the first switching valve V1 is supplied from the pilot hydraulic power source PP via the solenoid valve 1.
- the solenoid valve 1 shuts off the pilot chamber from the pilot hydraulic power source PP at the normal position where the solenoid is not excited (the state shown in FIG. 1).
- the solenoid valve 1 is switched to a communication position (lower position in FIG. 1) for supplying the discharge oil of the pilot hydraulic pressure source PP to the pilot chamber when the solenoid is excited.
- One pilot chamber of the second switching valve V2 is connected to the pilot hydraulic pressure source PP through the electromagnetic valve 2a.
- the other pilot chamber of the second switching valve V2 is connected to the pilot hydraulic pressure source PP through the electromagnetic valve 2b.
- the solenoid valve 2a and the solenoid valve 2b shut off the pilot chamber from the pilot hydraulic power source PP in the normal position where the solenoid is not excited (state shown in FIG. 1).
- the solenoid valve 2a and the solenoid valve 2b are switched to a communication position for supplying the discharge oil of the pilot hydraulic source PP to the pilot chamber when the solenoid is excited.
- the solenoids of the solenoid valve 1, the solenoid valve 2a, and the solenoid valve 2b are connected to the controller C.
- the controller C includes a microcomputer having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface).
- the controller C can be composed of a plurality of microcomputers instead of a single microcomputer.
- Controller C excites or de-energizes each solenoid of solenoid valve 1, solenoid valve 2a, and solenoid valve 2b in accordance with an input signal from the operator of the hybrid construction machine.
- the first main pump MP1 and the second main pump MP2 are rotationally driven by an engine E equipped with a rotational speed sensor (not shown).
- the engine E is provided with a generator 3 that generates power using surplus torque.
- the first circuit system connected to the first main pump MP1 has a switching valve 4 for controlling the turning motor 4, a switching valve for controlling the arm cylinder 5, and a switching for the second speed of the boom for controlling the boom cylinder BC.
- a valve 6 There are provided a valve 6, a switching valve 7 for controlling the auxiliary attachment, and a switching valve 8 for controlling the left traveling motor.
- the switching valves 4 to 8 are connected to each other through the neutral passage 9 and the parallel passage 10, and are connected to the first main pump MP1 through the first switching valve V1.
- a throttle 11 for pilot pressure control for generating pilot pressure is provided downstream of the switching valve 8 for the left travel motor in the neutral passage 9.
- the throttle 11 generates a high pilot pressure on the upstream side when the flow rate is high, and generates a low pilot pressure on the upstream side when the flow rate is low.
- the neutral passage 9 restricts all or part of the hydraulic oil supplied from the first main pump MP1 to the first circuit system when the switching valves 4 to 8 are at or near the neutral position. Through the tank T. At this time, since the flow rate of the hydraulic oil that passes through the throttle 11 increases, a high pilot pressure is generated.
- a pilot passage 12 is connected between the switching valve 8 and the throttle 11 in the neutral passage 9.
- the pilot passage 12 is connected to a regulator 14 that controls the tilt angle of the swash plate of the first main pump MP1 via an electromagnetic switching valve 13.
- the electromagnetic switching valve 13 is a valve that supplies pilot pressure to the regulator 14.
- the electromagnetic switching valve 13 connects a pilot pressure source selected from the pilot passage 12 and the pilot hydraulic pressure source PP to the regulator 14 according to its position. In the normal position, the electromagnetic switching valve 13 supplies the pressure in the pilot passage 12 to the regulator 14 as the pilot pressure (state shown in FIG. 1).
- the electromagnetic switching valve 13 is switched to a switching position (lower position in FIG. 1) when supplied with an exciting current, and supplies the pressure of the pilot hydraulic power source PP to the regulator 14 as a pilot pressure.
- the solenoid of the electromagnetic switching valve 13 is connected to the controller C.
- the controller C supplies an excitation current to the electromagnetic switching valve 13 to switch to the switching position.
- the controller C de-energizes the solenoid and holds the electromagnetic switching valve 13 in the normal position unless a signal is input by the operator.
- the regulator 14 controls the tilt angle of the swash plate of the first main pump MP1 to be proportional to the pilot pressure (the proportionality constant is a negative number), and the hydraulic oil discharge amount per one rotation of the first main pump MP1. Set.
- the electromagnetic switching valve 13 When all of the switching valves 4 to 8 are maintained in the normal position, that is, when the swing motor, arm cylinder, boom cylinder BC, spare attachment, and left travel motor are not operating, the electromagnetic switching valve 13 is It plays a role of making the discharge amount of MP1 smaller than in other cases. For example, a warm-up operation where energy loss is to be reduced corresponds to this condition.
- the second circuit system connected to the second main pump MP2 includes, from the upstream side, a switching valve 15 for controlling the right traveling motor, a switching valve 16 for controlling the bucket cylinder, and a boom switching valve for controlling the boom cylinder BC. 17 and an arm second speed switching valve 18 for controlling the arm cylinder.
- the switching valves 15 to 18 are connected to each other through a neutral passage 19, and are connected to the second main pump MP2 through a second switching valve V2.
- the switching valve 16 and the boom switching valve 17 are connected to each other via the parallel passage 20.
- a pilot pressure control throttle 21 for generating a pilot pressure is provided on the downstream side of the second-arm switching valve 18 in the neutral passage 19.
- the throttle 21 supplies the upstream pressure as a pilot pressure to the regulator 23 of the second main pump MP2 via the pilot passage 22. Since the diaphragm 21 functions in the same manner as the diaphragm 11, a detailed description thereof is omitted here.
- the regulator 23 controls the inclination angle of the swash plate of the second main pump MP2 to be proportional to the pilot pressure (the proportionality constant is a negative number), and the hydraulic oil discharge amount per one rotation of the second main pump MP2 is controlled. Set.
- the boom cylinder BC has a piston that internally defines a piston side chamber (load side pressure chamber) 25 and a rod side chamber (anti-load side pressure chamber) 30, and a piston rod that connects the piston and the boom.
- the boom cylinder BC is extended by supplying hydraulic oil to the piston side chamber 25 to erect (elevate) the boom, and is contracted by discharging hydraulic oil from the piston side chamber 25 to cause the boom to fall (lower).
- the boom switching valve 17 is a 6-port 3-position spool type switching valve.
- the boom switching valve 17 has, as input ports, a port connected to the neutral passage 19, a port connected to the parallel passage 20, and a port connected to the tank T. Further, the boom switching valve 17 has a pair of actuator ports and a port connected to the neutral passage 19 as output ports.
- One of the pair of actuator ports is connected to the piston side chamber 25 of the boom cylinder BC via the passage 24.
- the other of the pair of actuator ports is connected to the rod side chamber 30 of the boom cylinder BC via a passage 29.
- the three positions of the boom switching valve 17 are a neutral position, a lowered position, and an elevated position. These three positions are selected by the operation of the operator of the hybrid construction machine.
- the boom switching valve 17 supplies the discharge oil of the second main pump MP2 supplied through the neutral passage 19 to the downstream neutral passage 19 and shuts off the pair of actuator ports. (State shown in FIG. 1). In this state, both the piston side chamber 25 and the rod side chamber 30 in the boom cylinder BC are in a sealed state. Therefore, the boom is held at the current angular position.
- the boom switching valve 17 supplies the discharge oil of the second main pump MP2 supplied via the parallel passage 20 to the rod side chamber 30 and the hydraulic oil of the piston side chamber 25. Is returned to the tank T through the bleed passage 17a. Thereby, the boom cylinder BC contracts and causes the boom to fall (lower).
- the boom switching valve 17 supplies the discharge oil of the second main pump MP2 supplied via the parallel passage 20 to the piston-side chamber 25 and the hydraulic oil of the rod-side chamber 30 at the raised position (right side position in FIG. 1). Is returned to tank T. As a result, the boom cylinder BC extends to raise (raise) the boom.
- a regenerative control spool valve 26 as a regenerative flow control valve is provided in a passage 24 that communicates one actuator port of the boom switching valve 17 and the piston side chamber 25.
- the regeneration control spool valve 26 is controlled by the pressure of the pilot pressure oil (pilot fluid), and adjusts the flow rate of the hydraulic oil discharged from the piston side chamber 25.
- the regeneration control spool valve 26 includes a pilot chamber 26a facing one side of the spool and a spring 26b elastically supporting the other side of the spool.
- the regenerative control spool valve 26 includes a normal position 26c where the hydraulic oil in the piston side chamber 25 is not discharged to the regenerative motor M, a throttle position 26d where the flow rate of the hydraulic oil in the piston side chamber 25 is reduced and discharged to the regenerative motor M, and the piston side chamber 25. And a discharge position 26e for discharging the hydraulic oil to the regenerative motor M as it is.
- the regeneration control spool valve 26 When the pilot pressure is not supplied to the pilot chamber 26a, the regeneration control spool valve 26 maintains the normal position 26c with the spring force of the spring 26b (the state shown in FIG. 1). The regenerative control spool valve 26 is switched to the throttle position 26d when the pilot pressure is supplied to the pilot chamber 26a, and is switched to the discharge position 26e when the pilot pressure further increases from there.
- the regenerative control spool valve 26 When the regenerative control spool valve 26 is maintained at the normal position 26c, the regenerative control spool valve 26 communicates the passage 24 and shuts off the regenerative passage 27 that connects the piston side chamber 25 of the boom cylinder BC and the regenerative motor M.
- the regenerative control spool valve 26 is illustrated with three positions for easy understanding, but not only these positions are applied alternatively, but also according to the pilot pressure in the pilot chamber 26a.
- the passage 24 and the regenerative passage 27 are both kept in a partial communication state and have a function of controlling their opening according to the pilot pressure.
- the regenerative passage 27 is provided with a check valve 28 that allows the flow of hydraulic oil discharged from the piston side chamber 25 of the boom cylinder BC to the regenerative motor M and prevents the reverse flow.
- the passage 24 communicating with the piston side chamber 25 of the boom cylinder BC and the passage 29 communicating with the rod side chamber 30 of the boom cylinder BC are connected via a regeneration passage 31 provided with a regeneration flow rate control valve 32.
- the regeneration flow control valve 32 is constituted by a spool valve.
- the regeneration flow rate control valve 32 includes a pilot chamber 32a that faces one end of the spool, and a spring 32b that elastically supports the other end of the spool.
- the regeneration flow rate control valve 32 is switched by pilot pressure oil that switches the regenerative control spool valve 26, and when the boom is lowered, a part of the hydraulic fluid led from the piston side chamber 25 of the boom cylinder BC to the tank T is used as a regeneration flow rate. To the rod side chamber 30. As described above, when the boom is lowered, a part of the hydraulic oil in the piston side chamber 25 is guided to the rod side chamber 30 to be regenerated, so that the rod side chamber 30 becomes negative pressure even if the lowering speed of the boom cylinder BC is increased. Since it is suppressed, the generation of abnormal noise can be prevented.
- the regeneration flow rate control valve 32 blocks the regeneration passage 31 at the normal position where the pilot pressure is not supplied to the pilot chamber 32a (the state shown in FIG. 1).
- the regeneration flow rate control valve 32 controls the flow rate of the regeneration passage 31 as a variable throttle that responds to the pilot pressure at the switching position (right side position in FIG. 1) where the pilot pressure is supplied to the pilot chamber 32a.
- the spring force of the spring 32b of the regeneration flow control valve 32 is set larger than the spring force of the spring 26b of the regeneration control spool valve 26. Therefore, the timing at which the regeneration flow control valve 32 communicates with the regeneration passage 31 with respect to the same pilot pressure is set to be later than the timing at which the regeneration control spool valve 26 is switched to the throttle position 26d.
- the regeneration passage 31 is provided with a check valve 33 that allows the flow of hydraulic oil from the piston side chamber 25 to the passage 29 and prevents the reverse flow.
- a pilot hydraulic power source PP is connected to the pilot chamber 26a of the regeneration control spool valve 26 and the pilot chamber 32a of the regeneration flow rate control valve 32 via a proportional solenoid valve 34 and a fail-safe switching valve 60.
- the proportional solenoid valve 34 includes a solenoid 34a and a spring 34b that elastically supports the valve body.
- the solenoid 34a is excited by the current from the controller C and drives the valve body against the spring 34b.
- the proportional solenoid valve 34 maintains the normal position with the spring force of the spring 34b when the solenoid 34a is not excited (the state shown in FIG. 1).
- the proportional solenoid valve 34 switches to the switching position, and connects the pilot chamber 26a and the pilot chamber 32a to the pilot hydraulic power source PP at an opening degree corresponding to the exciting current.
- the pilot pressure in the pilot chamber 26 a and the pilot chamber 32 a is controlled to a pressure corresponding to the excitation current supplied from the controller C to the proportional solenoid valve 34.
- the fail-safe switching valve 60 is switched using the pressure in the regeneration passage 27a between the regeneration control spool valve 26 and the regeneration motor M as a pilot pressure.
- the failsafe switching valve 60 includes a pilot chamber 60a and a spring 60b that elastically supports the valve body.
- the pilot chamber 60 a is connected to a regeneration passage 27 a between the regeneration control spool valve 26 and the check valve 28.
- the check valve 28 Since the check valve 28 is provided, the pressure in the regenerative passage 27 is not transmitted to the regenerative passage 27a during other regenerative operations (during standby regeneration of V2 in FIG. 1 or during turning regenerative operation (not shown)).
- the valve 60 will not be switched without permission. For example, when the check valve 28 is not provided, the fail-safe switching valve 60 is switched to a communication position 60d described later when the standby regeneration is changed to the boom regeneration. Therefore, when the proportional solenoid valve 34 is switched, the pressure from the pilot hydraulic source PP may suddenly be applied to the pilot chamber 26a.
- the fail-safe switching valve 60 has a bleed throttle position 60c where a part of the pilot pressure oil supplied to the regeneration control spool valve 26 is returned to the tank T for decompression, and the pressure in the regeneration passage 27a is equal to or higher than the set pressure.
- the regenerative control spool valve 26 has a communication position 60d for supplying the entire amount of pilot pressure oil.
- the fail-safe switching valve 60 When the fail-safe switching valve 60 is switched to the communication position 60d, the pilot pressure oil supplied from the pilot hydraulic power source PP through the proportional solenoid valve 34 is supplied to the pilot chamber 26a and the pilot chamber 32a as they are, and the tank T Block communication. Therefore, all of the pilot pressure oil supplied from the pilot hydraulic power source PP is supplied to the pilot chamber 26a and the pilot chamber 32a.
- the fail-safe switching valve 60 When the fail-safe switching valve 60 is switched to the bleed throttle position 60c, the pilot pressure oil supplied from the pilot hydraulic power source PP through the proportional solenoid valve 34 is supplied to the pilot chamber 26a and the pilot chamber 32a through the first throttle 60e. While being supplied, a part of the supplied pilot pressure oil is discharged to the tank T through the second throttle 60f. As described above, the fail-safe switching valve 60 forms a bleed circuit in the state where it is switched to the bleed throttle position 60c.
- the fail-safe switching valve 60 is switched to the bleed throttle position 60c when the pressure in the regeneration passage 27a is less than the set pressure, and reduces the pressure of the pilot pressure oil to the regeneration control spool valve 26. Thereby, the flow volume of the hydraulic fluid discharged
- the operation when the boom is lowered will be described in detail.
- the pilot pressure oil from the pilot hydraulic pressure source PP is supplied to the pilot chamber 26a and the pilot chamber 32a via the fail-safe switching valve 60.
- the fail-safe switching valve 60 is switched to the bleed throttle position 60c, the pilot pressure is reduced and supplied to the pilot chamber 26a of the regeneration control spool valve 26.
- the regeneration control spool valve 26 is switched from the normal position 26c to the throttle position 26d.
- the hydraulic oil in the piston side chamber 25 of the boom cylinder BC is discharged to the regenerative passage 27 and guided to the regenerative motor M.
- the pilot pressure supplied to the pilot chamber 60a is increased. Therefore, the failsafe switching valve 60 is switched from the bleed throttle position 60c to the communication position 60d.
- the failsafe switching valve 60 is switched from the communication position 60d to the bleed throttle position 60c.
- the pilot pressure is reduced and supplied to the pilot chamber 26a of the regeneration control spool valve 26. Therefore, the pilot pressure supplied to the pilot chamber 26a is lowered, and the regeneration control spool valve 26 is switched from the discharge position 26e to the throttle position 26d. Therefore, since the flow rate of the hydraulic oil discharged from the piston side chamber 25 of the boom cylinder BC and guided to the regenerative motor M is reduced, it is possible to suppress an increase in speed when the boom descends. Therefore, the fail safe performance when lowering the boom can be improved.
- the flow rate of the hydraulic oil discharged from the piston side chamber 25 and guided to the regenerative motor M is greatly increased by the magnitude of the exciting current of the proportional solenoid valve 34.
- the fail-safe switching valve 60 when the fail-safe switching valve 60 is switched from the communication position 60d to the bleed throttle position 60c, the pilot pressure supplied to the pilot chamber 32a of the regeneration flow control valve 32 is also lowered. Therefore, the regeneration flow control valve 32 is switched from the switching position to the normal position. Therefore, the flow rate of the hydraulic oil regenerated from the piston side chamber 25 to the rod side chamber 30 is also greatly limited or blocked. Therefore, the fail-safe performance when lowering the boom can be further improved.
- the regenerative motor M is coupled to a rotating electrical machine 35 that is an electric motor / generator and rotates integrally with the assist pump AP.
- the rotating electrical machine 35 is connected to the regenerative motor M and is driven to rotate by the regenerative motor M to exhibit a power generation function. Electric power generated by the rotating electrical machine 35 is charged to the battery 37 via the inverter 36.
- the battery 37 is connected to the controller C, and a signal indicating the amount of electricity stored in the battery 37 is input to the controller C.
- a battery charger 38 is attached to the battery 37.
- the battery charger 38 charges the battery 37 using the power generated by the generator 3. It is also possible to connect another power source 39 such as a household power source to the battery charger 38.
- the regenerative motor M is rotated by hydraulic oil discharged from the piston side chamber 25 to regenerate electric power.
- the regenerative motor M is a variable capacity type and includes a regulator 40 for controlling the tilt angle of the swash plate.
- the regulator 40 changes the tilt angle of the swash plate of the regenerative motor M in accordance with a signal from the controller C.
- the assist pump AP is also of a variable capacity type and includes a regulator 41 for controlling the tilt angle of the swash plate.
- the regulator 41 changes the tilt angle of the swash plate of the assist pump AP according to the signal from the controller C.
- the regenerative motor M drives the rotating electrical machine 35 to rotate
- the tilt angle of the swash plate of the assist pump AP is minimized, and the drive load of the assist pump AP almost acts on the regenerative motor M. It can be set to a state that does not.
- the assist pump AP can be driven to rotate by the output torque of the rotating electrical machine 35 and the driving torque of the regenerative motor M, and the assist pump AP can function as a pump.
- the solenoid valve 1, the solenoid valve 2a, and the solenoid valve 2b are de-energized, and the first switching valve V1 and the second switching valve V2 are set to the normal positions, respectively.
- the hydraulic oil is supplied from the first main pump MP1 to the first circuit system, and the hydraulic oil is supplied from the second main pump MP2 to the second circuit system.
- the discharge oil from the assist pump AP merges with the discharge oil of the first main pump MP1 and the second main pump MP2, and the second circuit system and the second circuit system. Supplied to the circuit system.
- the assist pump AP In order to operate the assist pump AP, it is necessary to operate the rotating electrical machine 35 as an electric motor with the electric power of the battery 37 and rotate the assist pump AP with the rotational torque. In that case, it is desirable that the regenerative motor M minimizes the output loss of the rotating electrical machine 35 that functions as an electric motor by minimizing the rotation angle by minimizing the tilt angle of the swash plate. It is also possible to rotationally drive the assist pump AP with the rotational force of the regenerative motor M.
- the control system 100 for the hybrid construction machine includes a pressure sensor 42 that detects the pressure supplied to the regulator 14 of the first main pump MP1, and a pressure sensor 43 that detects the pressure supplied to the regulator 23 of the second main pump MP2. Is provided. Pressure signals from the pressure sensor 42 and the pressure sensor 43 are input to the controller C.
- the controller C controls the tilt angle of the swash plate of the assist pump AP according to the pressure signal input from the pressure sensor 42 and the pressure sensor 43.
- the relationship between the pressure signals of the pressure sensor 42 and the pressure sensor 43 and the tilt angle of the swash plate of the assist pump AP is set in advance so as to obtain the most efficient assist output.
- the oil discharged from the second main pump MP2 is supplied to the regenerative motor M. Therefore, when the actuator connected to the second circuit system is not operated, if the controller C switches the second switching valve V2 to the second switching position via the electromagnetic valve 2b, the regenerative motor M is rotated to rotate.
- the electric machine 35 can generate power. Electric power generated by the rotating electrical machine 35 is charged to the battery 37 via the inverter 36.
- the controller C has a function of detecting the charged amount of the battery 37 and controlling the rotation speed of the regenerative motor M in accordance with the charged amount.
- the failsafe switching valve 60 is switched.
- the pressure of the pilot pressure oil to the regeneration control spool valve 26 the flow rate of the hydraulic oil discharged from the piston side chamber 25 is reduced. Therefore, it can suppress that the rotational speed at the time of lowering a boom becomes high. Therefore, the fail safe performance when lowering the boom can be improved.
- the fail-safe switching valve 60 when the fail-safe switching valve 60 is switched from the communication position 60d to the bleed throttle position 60c, the pilot pressure supplied to the pilot chamber 32a of the regeneration flow control valve 32 is also lowered. Therefore, the regeneration flow control valve 32 is switched from the switching position to the normal position. Therefore, the flow rate of the hydraulic oil regenerated from the piston side chamber 25 to the rod side chamber 30 is also greatly limited or blocked. Therefore, the fail-safe performance when lowering the boom can be further improved.
- the hybrid construction machine control system 200 is different from the first embodiment in that a fail-safe switching valve 160 is used instead of the fail-safe switching valve 60.
- the fail-safe switching valve 160 is provided at a point branched from the pilot passage between the proportional solenoid valve 34 and the pilot chambers 26a and 32a.
- the failsafe switching valve 160 is switched using the pressure in the regeneration passage 27a between the regeneration control spool valve 26 and the regeneration motor M as a pilot pressure.
- the failsafe switching valve 160 includes a pilot chamber 160a and a spring 160b that elastically supports the valve body.
- a first throttle 161 that throttles pilot pressure oil supplied from the pilot hydraulic power source PP is provided downstream of the proportional solenoid valve 34 and upstream of the connection portion with the failsafe switching valve 160.
- the fail-safe switching valve 160 has a bleed throttle position 160c that bleeds pilot pressure oil downstream of the first throttle 161 into the tank T, and the regeneration control spool valve 26 when the pressure in the regeneration passage 27 is equal to or higher than a set pressure. And a bleed blocking position 160d for supplying the entire amount of pilot pressure oil to the pilot chamber 26a.
- the failsafe switching valve 160 When the failsafe switching valve 160 is switched to the bleed throttle position 160c, the pilot pressure oil supplied from the pilot hydraulic source PP through the proportional solenoid valve 34 is supplied to the pilot chamber 26a and the pilot chamber 32a via the first throttle 161. Part of the supplied pilot pressure oil is discharged to the tank T through the second throttle 162. As described above, the fail-safe switching valve 160 forms a bleed circuit in a state where it is switched to the bleed throttle position 160c.
- the fail-safe switching valve 160 is connected to a point branched from the pilot passage to which the pilot pressure oil is supplied from the pilot hydraulic power source PP. May be provided separately.
- the failsafe switching valve 160 is switched to the bleed throttle position 160c when the pressure in the regenerative passage 27a is less than the set pressure, and pilot pressure oil to the regeneration control spool valve 26 is obtained. Reduce the pressure. Thereby, the flow volume of the hydraulic fluid discharged
- the same effects as those of the first embodiment can be obtained, and the 2-port 2-position fail-safe switching valve 160 can be used, thereby reducing costs. Can do.
- regeneration may be performed by using return hydraulic oil from an arm cylinder for driving an arm or a bucket cylinder for driving a bucket. Since the arm cylinder and the bucket cylinder often hold the load by the rod side chamber when the switching valves 5 and 16 are in the neutral position, the rod side chamber may be the load side pressure chamber.
Abstract
Description
以下、図1を参照して、本発明の第一の実施の形態に係るハイブリッド建設機械の制御システム100について説明する。
以下、図2を参照して、本発明の第二の実施の形態に係るハイブリッド建設機械の制御システム200について説明する。以下に示す第二の実施の形態では、上述した第一の実施の形態と異なる点を中心に説明し、第一の実施の形態と同様の機能を有する構成には同一の符号を付して説明を省略する。
Claims (5)
- ハイブリッド建設機械の制御システムであって、
作動流体を供給する流体圧ポンプと、
負荷側圧力室への作動流体の供給によって伸長して負荷を上昇させ、前記負荷側圧力室からの作動流体の排出によって収縮して前記負荷を下降させる流体圧シリンダと、
パイロット流体の圧力によって制御され、前記負荷側圧力室から排出される作動流体の流量を調整する回生流量制御弁と、
前記負荷側圧力室から排出される作動流体によって回転する回生用の回生モータと、
前記回生モータに連結された回転電機と、
前記回生流量制御弁と前記回生モータとの間の回生通路の圧力をパイロット圧として切り換えられ、前記回生通路の圧力が設定圧力未満の場合には、前記負荷側圧力室から排出される作動流体の流量を絞るように前記回生流量制御弁へのパイロット流体の圧力を低下させるフェールセーフ用切換弁と、を備えるハイブリッド建設機械の制御システム。 - 請求項1に記載のハイブリッド建設機械の制御システムであって、
前記フェールセーフ用切換弁は、前記回生通路の圧力が前記設定圧力未満の場合には、前記回生流量制御弁に供給されるパイロット流体の一部をタンクに還流して減圧するブリード絞り位置に切り換えられるハイブリッド建設機械の制御システム。 - 請求項2に記載のハイブリッド建設機械の制御システムであって、
前記フェールセーフ用切換弁は、前記ブリード絞り位置と、前記回生通路の圧力が前記設定圧力以上である場合にブリード絞りを遮断して前記回生流量制御弁にパイロット流体を供給する連通位置と、を有するハイブリッド建設機械の制御システム。 - 請求項2に記載のハイブリッド建設機械の制御システムであって、
前記回生流量制御弁を切り換えるパイロット圧を絞る絞りを備え、
前記フェールセーフ用切換弁は、前記絞りの下流から分岐してタンクに連通する通路に設けられるハイブリッド建設機械の制御システム。 - 請求項2から4のいずれか一つに記載のハイブリッド建設機械の制御システムであって、
前記回生流量制御弁を切り換えるパイロット流体によって切り換えられ、前記負荷の下降時に前記負荷側圧力室から前記タンクに導かれる作動流体の一部を再生流量として前記流体圧シリンダの反負荷側圧力室に導く再生流量制御弁をさらに備えるハイブリッド建設機械の制御システム。
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KR1020167005859A KR101782755B1 (ko) | 2013-10-11 | 2014-09-26 | 하이브리드 건설 기계의 제어 시스템 |
CN201480055562.4A CN105637233B (zh) | 2013-10-11 | 2014-09-26 | 混合动力建筑机械的控制系统 |
DE112014004682.5T DE112014004682T5 (de) | 2013-10-11 | 2014-09-26 | Steuerungssystem für eine Hybridbaumaschine |
US14/917,723 US10179987B2 (en) | 2013-10-11 | 2014-09-26 | Control system for hybrid construction machine |
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2014
- 2014-09-26 KR KR1020167005859A patent/KR101782755B1/ko active IP Right Grant
- 2014-09-26 WO PCT/JP2014/075588 patent/WO2015053094A1/ja active Application Filing
- 2014-09-26 DE DE112014004682.5T patent/DE112014004682T5/de not_active Withdrawn
- 2014-09-26 US US14/917,723 patent/US10179987B2/en not_active Expired - Fee Related
- 2014-09-26 CN CN201480055562.4A patent/CN105637233B/zh not_active Expired - Fee Related
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105178383A (zh) * | 2015-10-19 | 2015-12-23 | 太原理工大学 | 装载机电驱独立转向系统 |
CN105178383B (zh) * | 2015-10-19 | 2017-08-29 | 太原理工大学 | 装载机电驱独立转向系统 |
JP2019120026A (ja) * | 2017-12-28 | 2019-07-22 | 日立建機株式会社 | 作業機械の油圧駆動装置 |
CN111512051A (zh) * | 2017-12-28 | 2020-08-07 | 日立建机株式会社 | 作业机械的液压驱动装置 |
EP3715642A4 (en) * | 2017-12-28 | 2021-08-11 | Hitachi Construction Machinery Co., Ltd. | HYDRAULIC DRIVE DEVICE FOR WORK MACHINE |
US11208787B2 (en) | 2017-12-28 | 2021-12-28 | Hitachi Construction Machinery Co., Ltd. | Hydraulic drive system for work machine |
CN111512051B (zh) * | 2017-12-28 | 2022-07-26 | 日立建机株式会社 | 作业机械的液压驱动装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112014004682T5 (de) | 2016-06-30 |
JP6155159B2 (ja) | 2017-06-28 |
US20160215481A1 (en) | 2016-07-28 |
KR101782755B1 (ko) | 2017-09-27 |
US10179987B2 (en) | 2019-01-15 |
JP2015075222A (ja) | 2015-04-20 |
CN105637233B (zh) | 2017-07-07 |
KR20160040685A (ko) | 2016-04-14 |
CN105637233A (zh) | 2016-06-01 |
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