WO2015151263A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- WO2015151263A1 WO2015151263A1 PCT/JP2014/059886 JP2014059886W WO2015151263A1 WO 2015151263 A1 WO2015151263 A1 WO 2015151263A1 JP 2014059886 W JP2014059886 W JP 2014059886W WO 2015151263 A1 WO2015151263 A1 WO 2015151263A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- regenerative
- hydraulic motor
- flow rate
- set value
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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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
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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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
- E02F9/2289—Closed circuit
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
- F15B13/024—Pressure relief 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load 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
- F15B2211/7058—Rotary 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to a construction machine, and more particularly, to a construction machine having a hydraulic actuator such as a hydraulic excavator and regenerating energy of pressure oil discharged from the hydraulic actuator.
- a hydraulic actuator such as a hydraulic excavator and regenerating energy of pressure oil discharged from the hydraulic actuator.
- An energy recovery device that regenerates the pressure oil energy by driving the hydraulic motor with the return pressure oil from the swing hydraulic motor, generating electric power by the electric motor directly connected to the hydraulic motor, and storing the generated electric energy in the battery
- Patent Documents 1 and 2 there are those described in Patent Documents 1 and 2.
- Patent Document 2 describes a method for controlling the tilt angle of the regenerative hydraulic motor so that the pressure necessary for braking the swing hydraulic motor is maintained during pressure oil regeneration as a control method of the energy recovery device. Yes.
- Patent Document 1 does not disclose a specific control method for the flow rate of return pressure oil recovered by the energy recovery device (hereinafter referred to as recovery flow rate). Therefore, for example, when the flow rate of the regenerative hydraulic motor is adjusted to be excessively large and exceeds the discharge flow rate from the swing hydraulic motor, there is a possibility that the swing braking pressure is lowered and the operability is deteriorated.
- the energy recovery device described in Patent Document 2 controls the recovery flow rate by tilt angle control, but the tilt angle control has poor responsiveness. Therefore, for example, at the time of turning deceleration where the discharge flow rate from the swing hydraulic motor gradually decreases, there may be a case where the recovered flow rate exceeds the discharge flow rate from the swing hydraulic motor due to a response delay. In this case as well, there is a possibility that the turning braking pressure is lowered and the turning operability is deteriorated.
- the present invention has been made in view of the above problems, and an object of the present invention is a construction machine that regenerates the energy of pressure oil supplied to and discharged from a swing hydraulic motor, and can ensure good operability equivalent to that of the conventional art. Is to provide things.
- the present invention is connected to a revolving body, a revolving hydraulic motor for revolving the revolving body, and a pair of actuator oil passages for supplying and discharging pressure oil from the revolving hydraulic motor.
- a regenerative device having a regenerative oil path, a regenerative hydraulic motor connected to the regenerative oil path, a regenerative device having a generator / motor rotating together with the regenerative hydraulic motor, and a pressure on at least the high pressure side of the pair of actuator oil paths
- a pressure detecting device capable of overloading, an overload relief valve connected to each of the pair of actuator oil passages, and a detected pressure on the high pressure side of the pair of actuator oil passages detected by the pressure detecting device.
- the target flow rate of the previous regenerative hydraulic motor is set to a value corresponding to the detected pressure, and the regenerative hydraulic motor flow rate is set to the target flow rate.
- a control device for controlling the number of rotations of the generator / motor.
- the flow rate of the regenerative hydraulic motor when the pressure of the actuator oil passage is less than the first set value preset by the overload relief valve, the flow rate of the regenerative hydraulic motor is zero or the oil pressure of the regenerative oil passage is negative.
- the flow rate of the regenerative hydraulic motor is controlled so as to match the target flow rate by high-responsiveness generator / motor speed control when the pressure in the actuator oil passage is equal to or higher than the first set value. Therefore, the pressure in the actuator oil passage is maintained in the same manner as in conventional construction machines, and good operability equivalent to that in the conventional case can be ensured.
- control device sets a target flow rate when the detected pressure is equal to or higher than the first set value by simulating an override characteristic of the overload relief valve.
- the control device keeps the target flow rate of the regenerative hydraulic motor constant when the detected pressure is equal to or higher than a second set value set higher than the first set value. Set to value.
- the pressure on the high pressure side of the pair of actuator oil passages is equal to or equal to the first set value.
- Switching that connects the regenerative oil passage when the set value is lower than the third set value that is set low, and shuts off the regenerative oil passage when the pressure on the high pressure side of the pair of actuator oil passages is less than the third set value A valve is further provided.
- FIG. 1 is an external view of a hydraulic excavator as an example of a construction machine according to an embodiment of the present invention.
- the hydraulic excavator includes a lower traveling body 100, an upper swing body 200, and an excavator mechanism 300.
- the lower traveling body 100 includes a pair of crawlers 101, a crawler frame 102, and a pair of traveling hydraulic motors 34 (all shown on one side only) that independently drive each crawler.
- the upper swing body 200 has a swing frame 201. On the swing frame 201, the upper swing body 200 (the swing frame) with respect to the engine 1 as a prime mover, the hydraulic pump 2 driven by the engine 1, and the lower traveling body 100 is provided. 201) and a control valve 4 for controlling the flow rate of pressure oil supplied from the hydraulic pump 2 to each hydraulic actuator.
- the excavator mechanism 300 is attached to the upper swing body 200 so as to be pivotable in the vertical direction, an arm 302 pivotally attached to the tip of the boom 301, and pivotally attached to the tip of the arm 302.
- Bucket 303 The boom 301 rotates in the vertical direction due to the expansion and contraction of the boom cylinder 31, the arm 302 rotates in the vertical and longitudinal directions due to the expansion and contraction of the arm cylinder 32, and the bucket 303 rotates in the vertical and longitudinal directions due to the expansion and contraction of the bucket cylinder 33. To do.
- FIG. 2 is a diagram showing a configuration of a hydraulic control system (only a portion related to driving of the revolving structure 200) mounted on the construction machine shown in FIG.
- the hydraulic control system includes an engine 1, a hydraulic pump 2, a swing hydraulic motor 3, a spool valve 5 provided in a control valve 4 (shown in FIG. 1), a swing operation device 6, and a regenerative operation.
- a device 7 and a controller 8 as a control device are provided.
- the hydraulic pump 2 is connected to the swing hydraulic motor 3 via a spool valve 5 and a pair of actuator oil passages 9a and 9b.
- the spool valve 5 When the spool valve 5 is operated from the neutral position shown in the figure to the position C side, the pressure oil discharged from the hydraulic pump 2 passes through the meter-in oil passage Ca and the actuator oil passage 9a formed at the position C of the spool valve 5.
- the pressure oil supplied to the port A of the swing hydraulic motor 3 is discharged from the port B and returned to the tank via the actuator oil passage 9 b and the meter-out oil passage Cb formed at the position C of the spool valve 5.
- the turning hydraulic motor 3 is rotationally driven in the right turning direction, and the turning body 200 performs the right turning operation.
- the pressure oil discharged from the hydraulic pump 2 passes through the meter-in oil path Db and the actuator oil path 9b formed at the position D of the spool valve 5.
- the pressure oil supplied to the port B of the swing hydraulic motor 3 is discharged from the port A and returned to the tank via the actuator oil passage 9 a and the meter-out oil passage Da formed at the position D of the spool valve 5.
- the turning hydraulic motor 3 is rotationally driven in the left turning direction, and the turning body 200 performs the left turning operation.
- the actuator oil passage 9a includes an overload relief valve 10 that discharges pressure oil when the internal pressure exceeds the relief start pressure P0, and a makeup valve that replenishes oil from the tank when the internal pressure becomes negative. 11 is connected.
- the actuator oil passage 9b includes an overload relief valve 12 that discharges pressure oil when the internal pressure exceeds the relief start pressure P0, and a makeup valve that replenishes oil from the tank when the internal pressure becomes negative. 13 is connected.
- the turning operation device 6 includes a pilot valve 61 and an operation lever 62 attached to the pilot valve 61.
- the pilot valve 61 generates a pilot corresponding to the operation amount of the operation lever 62.
- the output ports E and F of the pilot valve 61 are connected to the pilot pressure receiving portions 5a and 5b of the spool valve 5 through the pilot oil passages 10a and 10b, respectively.
- the pilot pressure Pr generated by operating the operation lever 62 to the right turning side is guided to the pilot pressure receiving portion 5a of the spool valve 5 through the pilot oil passage 10a, and operates the spool valve 5 to the position C side.
- the pilot pressure Pl generated by operating the operation lever 62 to the left side is guided to the pilot pressure receiving portion 5b of the spool valve 5 through the pilot oil passage 10b, and operates the spool valve 5 to the position D side.
- the regenerative device 7 includes a regenerative oil passage 16, a regenerative hydraulic motor 71, a generator / motor 72, an inverter 73, a chopper 74, and a power storage device 75.
- the regenerative oil passage 16 is connected to actuator oil passages 9a and 9b via check valves 14 and 15, respectively.
- a regenerative hydraulic motor 71 is connected to the regenerative oil passage 16.
- the check valves 14 and 15 are arranged to allow only the flow of pressure oil from the actuator oil passages 9a and 9b to the regenerative oil passage 16, and the regenerative hydraulic motor 71 is selected via the check valves 14 and 15. Is driven by pressure oil on the high pressure side of the actuator oil passages 9a, 9b.
- the generator / motor 72 is directly connected to the regenerative hydraulic motor 71 and generates power by rotating together with the regenerative hydraulic motor 71.
- the rotational speed of the generator / motor 72 is controlled via an inverter 73. Thereby, the rotation speed of the regenerative hydraulic motor 71 is controlled, and the flow rate of the pressure oil recovered through the regenerative oil passage 16 is adjusted.
- the electric power generated by the generator / motor 72 is boosted via the chopper 74 and stored in the power storage device 75.
- the regenerative oil passage 16 is provided with a switching valve 17 that can be switched between a communication position G and a shut-off position H.
- the switching valve 17 When the pressure on the upstream side of the switching valve 17 (the pressure on the high pressure side of the pair of actuator oil passages 9a and 9b) becomes equal to or higher than the set value P2 (third set value), the switching valve 17 is switched to the communication position G and regenerative. The oil passage 16 is communicated.
- the switching valve 17 is switched to the cutoff position H and the regenerative oil passage 16 is shut off.
- the set value P2 is set to a value equal to or slightly lower than a set value P1 (described later) of the regenerative hydraulic motor 71.
- the regenerative hydraulic motor 71 is disconnected from the actuator oil passages 9a and 9b. Even in this case, the pressure in the actuator oil passages 9a and 9b is maintained in the same manner as in the conventional construction machine, and good operability equivalent to that in the conventional case can be secured.
- a pressure sensor 18 as a pressure detection device is provided upstream of the switching valve 17 in the regenerative oil passage 16.
- the pressure sensor 18 detects the pressure on the high pressure side of the pair of actuator oil passages 9 a and 9 b and outputs a pressure detection signal PS to the controller 8.
- the pressure detection device may be configured to be able to detect at least the pressure on the high pressure side of the actuator oil passages 9a and 9b.
- the pressure detection device provided on each of the actuator oil passages 9a and 9b may be used for the high pressure side and the low pressure side. Both pressures may be detected and the controller 8 may select the high pressure side.
- the controller 8 performs predetermined calculation processing (described later) based on the pressure detection signal PS input from the pressure sensor 18, and outputs an engine speed control signal CS for controlling the generator / motor 72 to a predetermined engine speed. Output to.
- FIG. 3 is a diagram illustrating the arithmetic logic of the controller 8.
- the control logic of the controller 8 includes a target flow rate setting unit 81, a division unit 83, and an output conversion unit 84.
- the target flow rate setting unit 81 sets a target flow rate according to the pressure detection signal PS with reference to a preset conversion table 82 and outputs the target flow rate to the division unit 83.
- FIG. 4 shows details of the conversion table 82 shown in FIG.
- the conversion table 82 is a pressure flow characteristic (indicated by a solid line a) that associates the pressure of the regenerative oil passage 16 (the pressure on the high pressure side of the pair of actuator oil passages 9a and 9b) with the target flow rate of the regenerative hydraulic motor 71. And is stored in advance in a memory or the like in the controller 8.
- the broken line b in the figure indicates the override characteristics of the overload relief valves 10 and 12.
- the set value P1 (first set value) at which the regenerative hydraulic motor 71 starts collecting pressure oil is set to a value that is equal to or slightly lower than the relief start pressure P0 of the overload relief valves 10 and 12.
- the set value P2 of the switching valve 17 (shown in FIG. 2) is set to a value equal to or slightly lower than the set value P1 as described above.
- the rate of change of the target flow rate when the pressure of the regenerative oil passage 16 exceeds the set value P1 is the override characteristic of the overload relief valves 10 and 11 (indicated by the broken line b). (Slope) is set to simulate. Thereby, since the target flow rate is always set to a value equal to or larger than the relief flow rate, the regeneration efficiency of the regeneration device 7 can be improved.
- the target flow rate change rate (slope of the solid line a) when the pressure of the regenerative oil passage 16 is equal to or higher than the set value P1 is necessarily set by simulating the override characteristic (slope of the solid line b). It is not necessary and may be set more gently than the slope of the solid line b. Further, the target flow rate when the pressure of the regenerative oil passage 16 is equal to or less than the set value P1 is not limited to zero, and may be set to a small flow rate such that the oil pressure of the regenerative oil passage 16 does not become negative pressure. Thereby, even when the oil pressure of the regenerative oil passage 16 is equal to or lower than the set pressure P1, regeneration can be performed while ensuring good operability, and the regeneration efficiency of pressure oil energy can be improved.
- the division unit 83 divides the target flow rate input from the target flow rate setting unit 81 by the motor capacity (flow rate per rotation of the regenerative hydraulic motor 71) to thereby calculate the target rotation speed of the generator / motor 72. Calculate and output to the output converter 84.
- the output conversion unit 84 converts the target rotation speed input from the division unit 83 into a rotation speed control signal CS for the generator / motor 72 and outputs the converted signal to the inverter 73. Thereby, the rotation speed of the generator / motor 72 is controlled to the target rotation speed, and the flow rate of the regenerative hydraulic motor 71 is adjusted to the target flow rate.
- the operation lever 62 When the operation lever 62 is operated from the neutral position to the right turning side, the pilot pressure Pr output from the pilot valve 61 is guided to the pilot pressure receiving portion 5a of the spool valve 5, and the spool valve 5 is switched to the position C side. .
- the pressure oil discharged from the hydraulic pump 2 is supplied to the port A of the swing hydraulic motor 3 via the meter-in oil path Ca and the actuator oil path 9a.
- the pressure oil supplied to the port A is discharged from the port B, and returned to the tank via the actuator oil passage 9b and the meter-out oil passage Cb.
- the turning hydraulic motor 3 is rotationally driven in the right turning direction, and the turning body 200 starts the right turning operation.
- the swing body 200 since the swing body 200 has a large inertia, the flow rate of the pressure oil supplied from the hydraulic pump 2 to the actuator oil passage 9a is not completely absorbed by the port A of the swing hydraulic motor 3 when the swing is started, and the actuator oil passage The pressure Pa of 9a increases rapidly.
- the switching valve 17 When the pressure Pa becomes equal to or higher than the set value P3 of the switching valve 17, the switching valve 17 is switched to the position G and communicates with the regenerative oil passage 16.
- the regenerative hydraulic motor 71 starts collecting the pressure oil.
- the pressure flow characteristic a see FIG.
- the pressure in the regenerative oil passage 16 that is maintained at a set value P1 that is equal to or slightly lower than the relief start pressure P0 causes the actuator oil passage 9a.
- the swing body 200 acts as a driving pressure on the swing hydraulic motor 3, and the swing body 200 is accelerated.
- the flow rate that cannot be absorbed by the port A of the swing hydraulic motor 3 is recovered by the regenerative hydraulic motor 71. It is discharged from the overload relief valve 10. At this time, the flow rate of the regenerative hydraulic motor 71 is set to the target flow rate corresponding to the pressure flow rate characteristic a (equal to or greater than the relief flow rate by the overload relief valve 10) by controlling the rotational speed of the highly responsive generator / motor. It will be adjusted promptly.
- the flow rate absorbed by the port A of the swing hydraulic motor 3 increases and the pressure Pa of the actuator oil passage 9a decreases.
- the regenerative hydraulic motor 72 stops collecting the pressure oil, and all the flow supplied from the hydraulic pump 2 to the actuator oil passage 9a is absorbed by the port A of the swing hydraulic motor 3.
- the pressure oil in the actuator oil passage 9b is recovered by the regenerative hydraulic motor 71 and discharged from the overload relief valve 12. Is done.
- the flow rate of the regenerative hydraulic motor 71 is a target flow rate corresponding to the pressure flow rate characteristic a (equal to or greater than the relief flow rate of the overload relief valve 12) by controlling the rotational speed of the highly responsive generator / motor 72. Will be adjusted promptly.
- the set value P1 is set so that the pressure in the actuator oil passages 9a, 9b is equal to or slightly lower than the relief start pressure P0 of the overload relief valves 10, 12. Is less than the target flow rate of the regenerative hydraulic motor 71 according to the pressure flow rate characteristic a or set to a small flow rate so that the oil pressure of the regenerative oil passage does not become negative pressure, and pressure oil is supplied from the actuator oil passages 9a and 9b. Since the pressure is not recovered, the pressure in the actuator oil passages 9a and 9b does not decrease, and good operability equivalent to the conventional one can be ensured.
- the flow rate of the regenerative hydraulic motor 71 is controlled by the high-speed side of the actuator oil passages 9a, 9b by controlling the rotational speed of the generator / motor with high responsiveness. Therefore, the pressure on the high pressure side of the actuator oil passages 9a and 9b is maintained at the set value P1 or more when turning is started and when the turning is decelerated. Can be secured.
- the target flow rate of the regenerative hydraulic motor 71 is set by setting the flow rate change rate when the pressure in the regenerative oil passage 16 exceeds the set value P1 to be equal to the flow rate change rate in the override characteristics of the overload relief valves 10 and 12. Is always set to a value equal to or greater than the relief flow rate by the overload relief valves 10 and 12, so that the regeneration efficiency of the pressure oil energy can be improved.
- ⁇ Modification ⁇ 3 may refer to the conversion table 82A shown in FIG. 5 instead of the conversion table 82 shown in FIG.
- the difference between the conversion table 82A and the conversion table 82 is that the target flow rate when the detected pressure is equal to or higher than the set value P3 (second set value) set higher than the set value P1 is a constant value.
- the flow rate of the regenerative hydraulic motor 71 is controlled to be constant. Pressure fluctuations in the actuator oil passages 9a and 9b due to flow rate fluctuations can be suppressed.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Power Engineering (AREA)
- Operation Control Of Excavators (AREA)
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Abstract
Description
図1は、本発明の実施の形態に係る建設機械の一例としての油圧ショベルの外観を示す図である。図1において、油圧ショベルは、下部走行体100と、上部旋回体200と、ショベル機構300とを備えている。
次に、コントローラ8の演算処理について図3を用いて説明する。図3は、コントローラ8の演算ロジックを示す図である。図3において、コントローラ8の制御ロジックは、目標流量設定部81と、除算部83と、出力変換部84とで構成されている。
本実施の形態に係る油圧制御システムの動作について、図2を用いて説明する。
上記のように構成した本実施の形態においては、アクチュエータ油路9a,9bの圧力がオーバロードリリーフ弁10,12のリリーフ開始圧P0と同等かそれより僅かに低い値に設定された設定値P1未満のときは、圧力流量特性aに応じて回生油圧モータ71の目標流量がゼロまたは回生油路の油圧が負圧にならない程度の小流量に設定され、アクチュエータ油路9a,9bから圧油が回収されないため、アクチュエータ油路9a,9bの圧力は低下せず、従来と同等の良好な操作性を確保できる。
なお、図3に示した目標流量設定部81は、図4に示した変換テーブル82に代えて図5に示す変換テーブル82Aを参照しても良い。変換テーブル82Aの変換テーブル82との違いは、検出圧力が設定値P1よりも高く設定された設定値P3(第2設定値)以上のときの目標流量が一定値となる点である。
2 油圧ポンプ
3 旋回油圧モータ
4 コントロールバルブ
5 スプールバルブ
5a,5b パイロット受圧部
6 旋回操作装置
7 回生装置
8 コントローラ(制御装置)
9a,9b アクチュエータ油路
10a,10b パイロット油路
10,12 オーバロードリリーフ弁
11,13 メイクアップバルブ
14,15 チェック弁
16 回生油路
17 切換弁
18 圧力センサ
31 ブームシリンダ
32 アームシリンダ
33 バケットシリンダ
34 走行油圧モータ
61 パイロット弁
62 操作レバー
71 回生油圧モータ
72 発電・電動機
73 インバータ
74 チョッパ
75 蓄電装置
81 目標回収流量設定部
82 変換テーブル
83 除算部
84 出力変換部
100 下部走行体
101 クローラ
102 クローラフレーム
200 上部旋回体
201 旋回フレーム
300 ショベル機構
301 ブーム
302 アーム
303 バケット
Claims (4)
- 旋回体と、
前記旋回体を旋回駆動する旋回油圧モータと、
前記旋回油圧モータの圧油を給排する1対のアクチュエータ油路に接続された回生油路、この回生油路に接続された回生油圧モータ及び前記回生油圧モータと共に回転する発電・電動機を有する回生装置と、
前記1対のアクチュエータ油路のうち少なくとも高圧側の圧力を検出できる圧力検出装置と、
前記1対のアクチュエータ油路のそれぞれに接続されたオーバロードリリーフ弁と、
前記圧力検出装置によって検出された前記1対のアクチュエータ油路の高圧側の検出圧力が前記オーバロードリリーフ弁により予め設定された第1設定値未満のときは、前記回生油圧モータの目標流量をゼロまたは回生油路の油圧が負圧にならない程度の小流量に設定し、前記検出圧力が前記第1設定値以上のときは、前回生油圧モータの目標流量を前記検出圧力に応じた値に設定し、前記回生油圧モータの流量がこの目標流量となるように前記発電・電動機の回転数を制御する制御装置と
を備えたことを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記制御装置は、前記検出圧力が前記第1設定値以上のときの目標流量を、前記オーバロードリリーフ弁のオーバライド特性を模擬して設定することを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記制御装置は、前記検出圧力が前記第1設定値よりも高く設定された第2設定値以上のときは、前記回生油圧モータの目標流量を一定値に設定することを特徴とする建設機械。 - 請求項1~3のいずれかに記載の建設機械において、
前記回生油路に設けられ、前記1対のアクチュエータ油路の高圧側の圧力が前記第1設定値と同等かそれより低く設定された第3設定値以上のときは前記回生油路を連通し、前記1対のアクチュエータ油路の高圧側の圧力が前記第3設定値未満のときは前記回生油路を遮断する切換弁を更に備えたことを特徴とする建設機械。
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JP7006350B2 (ja) * | 2018-02-15 | 2022-01-24 | コベルコ建機株式会社 | 旋回式油圧作業機械 |
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