WO2016052541A1 - 作業機械の油圧駆動システム - Google Patents
作業機械の油圧駆動システム Download PDFInfo
- Publication number
- WO2016052541A1 WO2016052541A1 PCT/JP2015/077581 JP2015077581W WO2016052541A1 WO 2016052541 A1 WO2016052541 A1 WO 2016052541A1 JP 2015077581 W JP2015077581 W JP 2015077581W WO 2016052541 A1 WO2016052541 A1 WO 2016052541A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- flow rate
- hydraulic
- regeneration
- pressure
- control valve
- Prior art date
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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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
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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
- E02F9/2004—Control mechanisms, e.g. control levers
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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
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
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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
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection 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
- E02F9/22—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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
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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
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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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
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/05—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed specially adapted to maintain constant speed, e.g. pressure-compensated, load-responsive
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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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
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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
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- 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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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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- 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
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
- F15B13/07—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors in distinct sequence
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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
- F15B2011/0243—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 the regenerative circuit being activated or deactivated automatically
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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
- F15B2211/30—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
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
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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
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41581—Flow control characterised by the connections of the flow control means in the circuit being connected to 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
- F15B2211/40—Flow control
- F15B2211/42—Flow control characterised by the type of actuation
- F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
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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
- F15B2211/42—Flow control characterised by the type of actuation
- F15B2211/428—Flow 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
- F15B2211/40—Flow control
- F15B2211/455—Control of flow in the feed line, i.e. meter-in 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
- F15B2211/46—Control of flow in the return line, i.e. meter-out 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
- F15B2211/50—Pressure control
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- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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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
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- 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
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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
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to a hydraulic drive system for a work machine, and more specifically, pressure oil discharged from a hydraulic actuator due to inertial energy of a driven member, such as falling of a driven member (for example, a boom) by its own weight, is used to drive other actuators.
- the present invention relates to a hydraulic drive system for a work machine such as a hydraulic excavator provided with a recycling circuit that is reused (regenerated).
- the present invention has been made on the basis of the above-described matters, and an object of the present invention is to construct a single electromagnetic proportional valve (electric drive device) for the regeneration circuit and to transfer the pressure oil discharged from the hydraulic actuator to another hydraulic pressure. It is an object of the present invention to provide a hydraulic drive system for a work machine that can ensure the same actuator speed depending on whether the actuator is regenerated or not.
- the first invention provides a hydraulic pump device, a first hydraulic actuator that is supplied with pressure oil from the hydraulic pump device to drive a first driven body, and a pressure from the hydraulic pump device.
- a second hydraulic actuator that is supplied with oil to drive a second driven body, a first flow rate adjustment device that controls a flow of pressure oil supplied from the hydraulic pump device to the first hydraulic actuator, and the hydraulic pump device
- a first flow rate adjusting device that controls the flow of pressure oil supplied to the second hydraulic actuator, and an operation signal that commands the operation of the first driven body to switch the first flow rate adjusting device.
- a hydraulic drive system for a working machine that is a hydraulic cylinder, a regeneration passage that connects a bottom oil chamber of the hydraulic cylinder between the hydraulic pump device and the second hydraulic actuator, and a bottom oil chamber of the hydraulic cylinder
- a regenerative flow rate adjusting device that supplies at least a part of the discharged pressure oil between the hydraulic pump device and the second hydraulic actuator via the regenerative passage, and a bottom side of the hydraulic cylinder
- a discharge flow rate adjusting device that adjusts the flow rate of at least part of the pressure oil discharged from the oil chamber and discharges it to the tank, and the regeneration flow rate adjustment device and the discharge flow rate adjustment device
- a control command is output to the electric drive device so that the falling speed of the first driven body is the same regardless of the regenerative flow rate of the one electric drive device and the regenerative flow rate
- the same actuator speed can be ensured in the case where the pressure oil discharged from the hydraulic actuator is regenerated to drive other hydraulic actuators, and the electromagnetic proportional valve for the regeneration circuit (electric drive device) ) Can be composed of one piece.
- the electromagnetic proportional valve for the regeneration circuit (electric drive device)
- FIG. 1 is a side view showing a hydraulic excavator equipped with a first embodiment of a hydraulic drive system for a work machine according to the present invention. It is a characteristic view which shows the opening area characteristic of the regeneration control valve which comprises 1st Embodiment of the hydraulic drive system of the working machine of this invention. It is a block diagram of the controller which constitutes a 1st embodiment of the hydraulic drive system of the working machine of the present invention. It is the schematic of the control system which shows 2nd Embodiment of the hydraulic drive system of the working machine of this invention.
- FIG. 1 is a schematic diagram of a control system showing a first embodiment of a hydraulic drive system for a work machine according to the present invention.
- the hydraulic drive system includes a pump device 50 including a main hydraulic pump 1 and a pilot pump 3, and a hydraulic excavator that is supplied with pressure oil from the hydraulic pump 1 and is a first driven body.
- the boom cylinder 4 (first hydraulic actuator) that drives the boom 205 (see FIG. 2) and pressure oil is supplied from the hydraulic pump 1 to drive the arm 206 (see FIG. 2) of the hydraulic excavator that is the second driven body.
- Arm cylinder 8 (second hydraulic actuator) for controlling, control valve 5 (first flow rate adjusting device) for controlling the flow (flow rate and direction) of pressure oil supplied from hydraulic pump 1 to boom cylinder 4, and hydraulic pump 1
- the control valve 9 (second flow rate adjusting device) for controlling the flow (flow rate and direction) of the pressure oil supplied to the arm cylinder 8 from the output, and the boom operation command is output to switch the control valve 5
- a first control device 6, and a second operating unit 10 to switch the control valve 9 outputs an operation command of the arm.
- the hydraulic pump 1 is also connected to a control valve (not shown) so that pressure oil is supplied to other actuators (not shown), but those circuit portions are omitted.
- the hydraulic pump 1 is a variable displacement type and includes a regulator 1a, and the tilt angle (capacity) of the hydraulic pump 1 is controlled by controlling the regulator 1a by a control signal from a controller 27 (described later), thereby controlling the discharge flow rate. Is done.
- the regulator 1a is provided with a tilt angle (capacity) of the hydraulic pump 1 so that the discharge pressure of the hydraulic pump 1 is guided and the absorption torque of the hydraulic pump 1 does not exceed a predetermined maximum torque, as is well known. ) Is limited.
- the hydraulic pump 1 is connected to the control valves 5 and 9 via the pressure oil supply lines 7 a and 11 a, and the discharge oil of the hydraulic pump 1 is supplied to the control valves 5 and 9.
- Control valves 5 and 9 which are flow rate adjusting devices are respectively connected to the bottom side oil chamber or the rod side oil chamber of the boom cylinder 4 and the arm cylinder 8 via the bottom side pipes 15 and 20 or the rod side pipes 13 and 21.
- the oil discharged from the hydraulic pump 1 is supplied from the control valves 5 and 9 via the bottom side pipes 15 and 20 or the rod side pipes 13 and 21 and the boom cylinder 4 and It is supplied to the bottom side oil chamber or the rod side oil chamber of the arm cylinder 8.
- At least a part of the pressure oil discharged from the boom cylinder 4 is circulated from the control valve 5 to the tank via the tank conduit 7b. All of the pressure oil discharged from the arm cylinder 8 is circulated from the control valve 9 to the tank via the tank line 11b.
- the flow rate adjusting devices for controlling the flow (flow rate and direction) of the pressure oil supplied from the hydraulic pump 1 to the hydraulic actuators 4 and 8 are configured by one control valve 5 and 9 respectively.
- the flow rate adjusting device may be configured to supply with a plurality of valves, or may be configured to supply and discharge with separate valves.
- the first and second operating devices 6 and 10 have operating levers 6a and 10a and pilot valves 6b and 10b, respectively.
- the pilot valves 6b and 10b are respectively pilot lines 6c and 6d and a pilot line 10c. , 10d are connected to the operation parts 5a, 5b of the control valve 5 and the operation parts 9a, 9b of the control valve 9.
- the pilot valve 6b When the operating lever 6a is operated in the boom raising direction BU (left direction in the figure), the pilot valve 6b generates an operating pilot pressure Pbu corresponding to the operating amount of the operating lever 6a, and this operating pilot pressure Pbu is the pilot line 6c.
- the control valve 5 is switched to the boom raising direction (right side position in the figure).
- the pilot valve 6b When the operation lever 6a is operated in the boom lowering direction BD (right direction in the figure), the pilot valve 6b generates an operation pilot pressure Pbd corresponding to the operation amount of the operation lever 6a, and this operation pilot pressure Pbd is the pilot line 6d.
- the control valve 5 is switched to the boom lowering direction (the left position in the figure).
- the pilot valve 10b When the operation lever 10a is operated in the arm cloud direction AC (right direction in the figure), the pilot valve 10b generates an operation pilot pressure Pac corresponding to the operation amount of the operation lever 10a, and this operation pilot pressure Pac is the pilot pipe line 10c. Is transmitted to the operation portion 9a of the control valve 9, and the control valve 9 is switched in the arm cloud direction (the left position in the figure).
- the pilot valve 10b When the operation lever 10a is operated in the arm dump direction AD (left direction in the figure), the pilot valve 10b generates an operation pilot pressure Pad corresponding to the operation amount of the operation lever 10a, and this operation pilot pressure Pad is the pilot pipe line 10d. Is transmitted to the operation portion 9b of the control valve 9, and the operation valve 9 is switched in the arm dump direction (right side position in the figure).
- the overload relief valve 12 with make-up is provided between the bottom side pipe line 15 and the rod side pipe line 13 of the boom cylinder 4 and between the bottom side pipe line 20 and the rod side pipe line 21 of the arm cylinder 8, respectively. , 19 are connected.
- the overload relief valves 12 and 19 with make-up have a function of preventing the hydraulic circuit device from being damaged due to excessive pressure in the bottom side pipes 15 and 20 and the rod side pipes 13 and 21, and the bottom side pipe 15 and 20 and the rod side pipes 13 and 21 have a function of reducing the occurrence of cavitation due to negative pressure.
- the pump device 50 includes one main pump (hydraulic pump 1). However, the pump device 50 includes a plurality of (for example, two) main pumps and includes control valves 5 and 5. A separate main pump may be connected to 9 and pressure oil may be supplied to the boom cylinder 4 and the arm cylinder 8 from separate main pumps.
- FIG. 2 is a side view showing a hydraulic excavator equipped with the first embodiment of the hydraulic drive system for the working machine of the present invention.
- the hydraulic excavator includes a lower traveling body 201, an upper swing body 202, and a front work machine 203.
- the lower traveling body 201 has left and right crawler traveling devices 201a and 201a (only one side is shown), and is driven by left and right traveling motors 201b and 201b (only one side is shown).
- the upper turning body 202 is mounted on the lower traveling body 201 so as to be turnable, and is turned by a turning motor 202a.
- the front work machine 203 is attached to the front part of the upper swing body 202 so as to be able to be raised and lowered.
- the upper swing body 202 is provided with a cabin (operator's cab) 202b, and operating devices such as the first and second operating devices 6 and 10 and a traveling operating pedal device (not shown) are arranged in the cabin 202b. .
- the front work machine 203 has an articulated structure having a boom 205 (first driven body), an arm 206 (second driven body), and a bucket 207.
- the boom 205 is expanded and contracted by the boom cylinder 4 with respect to the upper swinging body 202.
- the arm 206 rotates up and down and back and forth with respect to the boom 205 by the expansion and contraction of the arm cylinder 8, and the bucket 207 moves up and down and front and back with respect to the arm 206 by the expansion and contraction of the bucket cylinder 208. Rotate.
- circuit portions related to hydraulic actuators such as the left and right traveling motors 201 b and 201 b, the turning motor 202 a, and the bucket cylinder 208 are omitted.
- the boom cylinder 4 is the weight of the front work machine 203 including the boom 205 when the operation lever 6a of the first operating device 6 is operated in the boom lowering direction (the direction in which the first driven body falls).
- This is a hydraulic cylinder that discharges pressure oil from the bottom side oil chamber and sucks pressure oil from the rod side oil chamber due to falling by its own weight.
- the hydraulic drive system of the present invention is disposed in the bottom side conduit 15 of the boom cylinder 4 and the flow rate of the pressure oil discharged from the bottom side oil chamber of the boom cylinder 4.
- the regeneration control valve 17 and the regeneration control valve 17 which can be distributed and adjusted between the control valve 5 side (tank side) and the pressure oil supply line 11 a side (regeneration passage side) of the arm cylinder 8.
- One end port is connected to one outlet port and the other end is connected to the pressure oil supply pipe 11a, and the bottom side pipe 15 branches from the bottom side pipe 15 and the rod side pipe 13 of the boom cylinder 4, respectively.
- a communication passage 14 that connects the passage 15 and the rod side pipe line 13, and is arranged in the communication passage 14, and is opened based on the operation pilot pressure Pbd (operation signal) in the boom lowering direction BD of the first operation device 6,
- Boom cylinder Part of the oil discharged from the bottom side oil chamber is regenerated and supplied to the rod side oil chamber of the boom cylinder 4, and the bottom side oil chamber of the boom cylinder 4 is communicated with the rod side oil chamber.
- a communication control valve 16 an electromagnetic proportional valve 22, pressure sensors 23, 24, 25, and 26, and a controller 27.
- the regeneration control valve 17 has a tank side passage (first throttle) and a regeneration side so that oil discharged from the bottom oil chamber of the boom cylinder 4 can flow to the tank side (control valve 5 side) and the regeneration passage 18 side. And a passage (second throttle).
- the stroke of the regeneration control valve 17 is controlled by one electromagnetic proportional valve 22 (electric drive device).
- the other outlet port of the regeneration control valve 17 is connected to the port of the control valve 5.
- the regeneration control valve 17 transfers at least part of the pressure oil discharged from the bottom side oil chamber of the boom cylinder 4 between the hydraulic pump 1 and the arm cylinder 8 via the regeneration passage 18.
- a regenerative flow rate adjusting device for adjusting and supplying the flow rate, and a discharge flow rate adjusting device for adjusting at least a part of the pressure oil discharged from the bottom side oil chamber of the boom cylinder 4 and discharging it to the tank.
- the communication control valve 16 has an operation portion 16a, and is opened when the operation pilot pressure Pbd in the boom lowering direction BD of the first operation device 6 is transmitted to the operation portion 16a.
- the pressure sensor 23 is connected to the pilot line 6d to detect the operation pilot pressure Pbd in the boom lowering direction BD of the first operating device 6, and the pressure sensor 25 is connected to the bottom line 15 of the boom cylinder 4, 4, the pressure sensor 26 is connected to the pressure oil supply line 11 a on the arm cylinder 8 side and detects the discharge pressure of the hydraulic pump 1.
- the pressure sensor 24 is connected to the pilot conduit 10d of the second operating device 10, and detects the operating pilot pressure Pad in the arm dump direction of the second operating device 10.
- the controller 27 inputs the detection signals 123, 124, 125, 126 from the pressure sensors 23, 24, 25, 26, performs a predetermined calculation based on these signals, and controls the electromagnetic proportional valve 22 and the regulator 1a. Is output.
- the electromagnetic proportional valve 22 as an electric drive device operates according to a control command from the controller 27.
- the electromagnetic proportional valve 22 converts the primary pressure of the pressure oil supplied from the pilot pump 3 which is a pilot hydraulic power source into a desired pressure (secondary pressure) and outputs it to the operation unit 17a of the regeneration control valve 17 for regeneration.
- the opening degree (opening area) is controlled by controlling the stroke of the control valve 17.
- FIG. 3 is a characteristic diagram showing an opening area characteristic of the regeneration control valve constituting the first embodiment of the hydraulic drive system for the working machine of the present invention.
- the horizontal axis in FIG. 3 indicates the spool stroke of the regeneration control valve 17, and the vertical axis indicates the opening area.
- the bottom side pipe line 15 of the boom cylinder 4 is connected to the rod side pipe line 13, and the discharged oil in the bottom side oil chamber of the boom cylinder 4 is one. Is supplied to the rod side oil chamber of the boom cylinder 4. As a result, the generation of negative pressure in the rod-side oil chamber is prevented, and the supply of pressure oil from the hydraulic pump 1 to the rod-side oil chamber of the boom cylinder 4 is interrupted by switching the control valve 5. The output of the hydraulic pump 1 is suppressed and fuel consumption can be reduced.
- the operated pilot pressure Pbd is input to the operation portion 5 b of the control valve 5 and the operation portion 16 a of the communication control valve 16.
- the control valve 5 is switched to the position on the left side of the figure, and the bottom pipe line 15 communicates with the tank pipe line 7b, whereby the pressure oil is discharged from the bottom side oil chamber of the boom cylinder 4 to the tank.
- the piston rod performs a reduction operation (boom lowering operation).
- the operating pilot pressure Pad generated from the pilot valve 10 b of the second operating device 10 is input to the operating unit 9 b of the control valve 9.
- the control valve 9 is switched, and the bottom line 20 communicates with the tank line 11b and the rod line 21 communicates with the pressure oil supply line 11a, whereby the pressure oil in the bottom side oil chamber of the arm cylinder 8 is obtained.
- the oil discharged from the hydraulic pump 1 is supplied to the rod side oil chamber of the arm cylinder 8.
- the piston rod of the arm cylinder 8 is contracted.
- the controller 27 receives detection signals 123, 124, 125, and 126 from the pressure sensors 23, 24, 25, and 26, and outputs a control command to the electromagnetic proportional valve 22 and the regulator 1a of the hydraulic pump 1 by a control logic described later. To do.
- the electromagnetic proportional valve 22 generates a control pressure (secondary pressure) according to the control command, and the regeneration control valve 17 is controlled by this control pressure, and a part of the pressure oil discharged from the bottom side oil chamber of the boom cylinder 4. Alternatively, the whole is regenerated and supplied to the arm cylinder 8 via the regeneration control valve 17.
- the regulator 1a of the hydraulic pump 1 controls the tilt angle of the hydraulic pump 1 based on the control command, and appropriately controls the pump flow rate so as to maintain the target speed of the arm cylinder 8.
- the controller 27 generally has the following two functions.
- the controller 27 operates when the first operating device 6 is operated in the boom lowering direction BD, which is the direction in which the boom 205 (first driven body) falls, and the second operating device 10 is operated at the same time.
- the regeneration control valve 17 By switching the regeneration control valve 17 from the normal position when the pressure in the bottom oil chamber of the cylinder 4 is higher than the pressure in the pressure oil supply line 11a between the hydraulic pump 1 and the arm cylinder 8, the bottom of the boom cylinder 4 The oil discharged from the side oil chamber is regenerated in the rod side oil chamber of the arm cylinder.
- the stroke of the regeneration control valve 17 is reduced to reduce the opening area of the regeneration side passage, and the opening area of the tank side passage is widened.
- the opening area of the regeneration side passage is increased and the opening area of the tank side passage is reduced.
- the opening area of the regeneration side passage is set to the maximum value, and the tank side opening is controlled to be closed.
- the differential pressure is small at the beginning of movement, and the differential pressure increases with time. Therefore, by gradually opening the opening area of the regeneration side passage according to the differential pressure, the switching shock can be suppressed and good operability can be realized.
- the speed of the piston rod of the boom cylinder may be slow because the regeneration flow rate is small even if the regeneration side opening is widened. Therefore, when the differential pressure is small, the opening area of the tank side passage is widened to increase the discharge flow rate from the bottom oil chamber and control the speed of the boom cylinder piston rod to the speed desired by the operator. is doing. On the other hand, when the differential pressure is large, the regeneration flow rate is sufficiently high. Therefore, the speed of the piston rod of the boom cylinder is prevented from becoming too high by restricting the opening of the tank side passage.
- the controller 27 controls the regeneration control valve 17 to supply pressure oil from the bottom side oil chamber of the boom cylinder 4 to the pressure oil supply line 11a between the hydraulic pump 1 and the arm cylinder 8, the boom cylinder Control is performed so that the capacity of the hydraulic pump 1 is reduced by the regenerative flow rate supplied from the bottom oil chamber 4 to the pressure oil supply line 11a.
- the same actuator speed (piston rod of the boom cylinder 4) can be used regardless of whether or not the pressure oil discharged from the hydraulic actuator is regenerated to drive other hydraulic actuators or regardless of the regenerative flow rate of the pressure oil.
- Speed the same boom dropping speed can be realized in any case.
- FIG. 4 is a block diagram of a controller constituting the first embodiment of the hydraulic drive system for the work machine according to the present invention.
- the controller 27 includes an adder 130, a function generator 131, a function generator 133, a function generator 134, a function generator 135, a multiplier 136, a multiplier 138, a function generator 139, and a multiplier. 140, a multiplier 142, an adder 144, and an output conversion unit 146.
- a detection signal 123 is a signal (lever operation signal) obtained by detecting the operation pilot pressure Pbd in the boom lowering direction of the operation lever 6a of the first operation device 6 by the pressure sensor 23, and the detection signal 124 is the second operation device.
- 10 is a signal (lever operation signal) obtained by detecting the operation pilot pressure Pad in the arm dump direction of the 10 operation lever 10a by the pressure sensor 24, and the detection signal 125 is the pressure of the bottom side oil chamber of the boom cylinder 4 (bottom side line 15).
- the detection signal 126 is a signal (pump pressure) detected by the pressure sensor 26 of the discharge pressure of the hydraulic pump 1 (pressure of the pressure oil supply line 11a). Signal).
- the adder 130 receives the bottom pressure signal 125 and the pump pressure signal 126, and the deviation between the bottom pressure signal 125 and the pump pressure signal 126 (the difference between the pressure in the bottom side oil chamber of the boom cylinder 4 and the discharge pressure of the hydraulic pump 1).
- the differential pressure signal is input to the function generator 131 and the function generator 132.
- the function generator 131 calculates the opening area of the regeneration side passage of the regeneration control valve 17 according to the differential pressure signal obtained by the adder 130, and the opening area characteristic of the regeneration control valve 17 shown in FIG. The characteristics are set based on this. Specifically, when the differential pressure is small, the stroke of the regeneration control valve 17 is reduced to reduce the opening area of the regeneration side passage and widen the opening area of the tank side passage. On the other hand, when the differential pressure is large, the opening area on the regeneration passage side is widened, and when the differential pressure reaches a certain value, the opening area on the regeneration side passage is maximized and the opening on the tank side passage is closed.
- the function generator 133 calculates a reduced flow rate (hereinafter referred to as a pump reduced flow rate) of the hydraulic pump 1 in accordance with the differential pressure signal obtained by the adder 130. As the differential pressure increases due to the characteristics of the function generator 131, the opening area of the regeneration side passage increases and the regeneration flow rate increases. From this, the pump reduction flow rate is set to increase as the differential pressure increases.
- the function generator 134 calculates a coefficient used in the multiplier in accordance with the lever operation signal 123 of the first operating device 6, and outputs a minimum value 0 when the lever operation signal 123 is 0. The output is increased as 123 increases, and 1 is output as the maximum value.
- the multiplier 136 receives the opening area calculated by the function generator 131 and the value calculated by the function generator 134, and outputs the multiplication value as the opening area.
- the function generator 134 outputs a small value from the range of 0 to 1, and outputs the aperture area calculated by the function generator 131 as a smaller value.
- the function generator 134 outputs a large value from the range of 0 or more and 1 or less, reduces the reduction amount of the opening area calculated by the function generator 131, and outputs a large opening area value.
- the multiplier 138 inputs the pump reduced flow rate calculated by the function generator 133 and the value calculated by the function generator 134, and outputs the multiplied value as the pump reduced flow rate.
- the function generator 134 outputs a small value from the range of 0 or more and 1 or less, and outputs the pump reduction flow rate calculated by the function generator 133 as a smaller value.
- the function generator 134 outputs a large value from the range of 0 or more and 1 or less, reduces the decrease amount of the pump reduction flow rate calculated by the function generator 133, and outputs a large pump reduction flow rate value.
- the function generator 135 calculates a coefficient used in the multiplier in accordance with the lever operation signal 124 of the second operating device 10, and outputs a minimum value 0 when the lever operation signal 124 is 0. The output is increased as 124 increases, and 1 is output as the maximum value.
- the multiplier 140 receives the opening area calculated by the multiplier 136 and the value calculated by the function generator 135, and outputs the multiplication value as the opening area.
- the function generator 135 outputs a small value from the range of 0 to 1, and outputs the aperture area corrected by the multiplier 136 as a smaller value.
- the function generator 135 outputs a large value from the range of 0 or more and 1 or less, reduces the reduction amount of the opening area corrected by the multiplier 136, and outputs a large opening area value.
- the multiplier 142 inputs the pump reduction flow rate calculated by the multiplier 138 and the value calculated by the function generator 135, and outputs the multiplication value as the pump reduction flow rate.
- the function generator 135 outputs a small value from the range of 0 or more and 1 or less, and outputs the pump reduced flow corrected by the multiplier 138 as a smaller value.
- the function generator 135 outputs a large value from the range of 0 or more and 1 or less, reduces the decrease amount of the pump reduction flow rate corrected by the multiplier 138, and outputs a large pump reduction flow rate value.
- the function generator 131 the piston rod speed of the boom cylinder 4 does not change greatly depending on whether the oil discharged from the bottom side oil chamber of the boom cylinder 4 is regenerated in the arm cylinder 8 or not. It is desirable to adjust the setting tables 133, 134, and 135.
- the operation of regenerating the oil discharged from the bottom side oil chamber of the boom cylinder 4 to the arm cylinder 8 is mainly a horizontal pulling operation
- the pressure in the rod side oil chamber is a value with a certain tendency. For this reason, if each part pressure at the time of the horizontal pulling operation is collected, the pressure waveform is analyzed, and the setting table of the function generator is adjusted, the opening area of the regeneration control valve 17 can be set to an optimum value.
- the function generator 139 calculates a pump request flow rate according to the lever operation signal 124 of the second operating device 10.
- a characteristic is set such that a minimum flow rate is output from the hydraulic pump 1. The purpose of this is to improve the responsiveness when the operation lever 10a of the second operating device 10 is inserted and to prevent seizure of the hydraulic pump 1. Further, as the lever operation signal 124 increases, the discharge flow rate of the hydraulic pump 1 is increased, and the flow rate of the pressure oil flowing into the arm cylinder 8 is increased. Thereby, the piston rod speed of the arm cylinder 8 corresponding to the operation amount is realized.
- the adder 144 receives the pump reduction flow rate calculated by the multiplier 142 and the pump request flow rate calculated by the function generator 139, and subtracts the pump reduction flow rate, that is, the regeneration flow rate, from the pump request flow rate to obtain the target pump flow rate. Is calculated.
- the output converter 146 receives the output from the multiplier 140 and the output from the adder 144, and outputs an electromagnetic valve command 222 to the electromagnetic proportional valve 22 and a tilt command 201 to the regulator 1a of the hydraulic pump 1, respectively. Is done.
- the electromagnetic proportional valve 22 converts the primary pressure of the pressure oil supplied from the pilot pump 3 into a desired pressure (secondary pressure) and outputs it to the operation unit 17a of the regeneration control valve 17 for regeneration control.
- the opening degree (opening area) is controlled by controlling the stroke of the valve 17.
- the regulator 1a controls the tilt angle (capacity) of the hydraulic pump 1, whereby the discharge flow rate is controlled.
- the hydraulic pump 1 is controlled so as to reduce the capacity by the regeneration flow rate supplied from the bottom side of the boom cylinder 4 to the pressure oil supply pipe 11a.
- the signal of the operating pilot pressure Pbd detected by the pressure sensor 23 is input to the controller 27 as the lever operating signal 123.
- the signal of the operating pilot pressure Pad detected by the pressure sensor 24 is input to the controller 27 as the lever operating signal 124.
- the signals of the bottom side oil chamber of the boom cylinder 4 and the discharge pressure of the hydraulic pump 1 detected by the pressure sensors 25 and 26 are input to the controller 27 as a bottom pressure signal 125 and a pump pressure signal 126.
- the bottom pressure signal 125 and the pump pressure signal 126 are input to the adder 130 to calculate a differential pressure signal.
- the differential pressure signal is input to the function generator 131 and the function generator 133 to calculate the opening area of the regeneration side passage of the regeneration control valve 17 and the pump reduction flow rate, respectively.
- the lever operation signal 123 is input to the function generator 134, and the function generator 134 calculates a correction signal corresponding to the lever operation amount and outputs the correction signal to the multiplier 136 and the multiplier 138.
- the multiplier 136 corrects the opening area of the regeneration side passage output from the function generator 131, and the multiplier 138 corrects the pump reduction flow rate output from the function generator 133.
- the function generator 135 calculates a correction signal corresponding to the lever operation amount and outputs the correction signal to the multiplier 140 and the multiplier 142.
- the multiplier 140 further corrects the corrected regeneration-side passage opening area output from the multiplier 136 and outputs it to the output converter 146, and the multiplier 142 corrects the corrected pump reduction flow rate output from the multiplier 138. Is further corrected and output to the adder 144.
- the output conversion unit 146 converts the corrected opening area of the regeneration-side passage into an electromagnetic valve command 222 and outputs the electromagnetic valve command 222 to the electromagnetic proportional valve 22.
- the stroke of the regeneration control valve 17 is controlled.
- the regeneration control valve 17 is set to an opening area corresponding to the pressure difference between the pressure in the bottom side oil chamber of the boom cylinder 4 and the discharge pressure of the hydraulic pump 1, and the discharged oil from the bottom side oil chamber of the boom cylinder 4. Is regenerated to the arm cylinder 8.
- the lever operation signal 124 is input to the function generator 139, and the function generator 139 calculates a pump request flow rate corresponding to the lever operation amount and outputs it to the adder 144.
- the calculated pump request flow rate and pump reduction flow rate are input to the adder 144, and the target pump flow rate is calculated by subtracting the pump reduction flow rate, that is, the regeneration flow rate, from the pump request flow rate and output to the output conversion unit 146.
- the output conversion unit 146 converts this target pump flow rate into the tilt command 201 of the hydraulic pump 1 and outputs it to the regulator 1a.
- the arm cylinder 8 is controlled to a desired speed according to the operation signal (operation pilot pressure Pad) of the second operating device 10, and the hydraulic pressure is reduced by reducing the discharge flow rate of the hydraulic pump 1 by the regeneration flow rate. It is possible to reduce the fuel consumption of the engine that drives the pump 1 and to save energy.
- the regeneration control valve 17 gradually increases the opening area of the regeneration side passage in accordance with the pressure difference between the pressure in the bottom side oil chamber of the boom cylinder 4 and the discharge pressure of the hydraulic pump 1. Switching shock is suppressed, and good operability can be realized.
- the differential pressure, the operation amount of the first operating device 6 and the operation amount of the second operating device 10 are all small, the opening area of the regeneration side passage of the regeneration control valve 17 is set small, and the tank Since the opening area of the side passage is set large, the tank side flow rate increases even if the regeneration flow rate is small. As a result, the piston rod speed of the boom cylinder desired by the operator can be secured.
- the opening area of the regeneration side passage of the regeneration control valve 17 is set large, and the opening of the tank side passage is set. Since the area is set small, it is possible to suppress the boom rod piston rod speed from becoming too fast, and to secure the boom cylinder piston rod speed desired by the operator. Further, by reducing the discharge flow rate of the hydraulic pump 1 in accordance with the regeneration flow rate, the speed desired by the operator can be secured with respect to the piston rod speed of the arm cylinder 8.
- the same actuator speed (piston rod of the boom cylinder 4) can be used regardless of whether or not the pressure oil discharged from the hydraulic actuator is regenerated to drive other hydraulic actuators or regardless of the regenerative flow rate of the pressure oil.
- Speed the same boom dropping speed can be realized in any case.
- the pressure oil discharged from the hydraulic actuator 4 is the same whether or not it is regenerated to drive another hydraulic actuator 8.
- the actuator speed can be ensured, and the electromagnetic proportional valve 22 (electric drive device) for the regeneration circuit can be constituted by one. As a result, good operability can be realized, and cost reduction and mountability can be improved.
- FIG. 5 is a schematic diagram of a control system showing a second embodiment of the hydraulic drive system for the work machine of the present invention
- FIG. 6 is a tank constituting the second embodiment of the hydraulic drive system for the work machine of the present invention
- FIG. 7 is a characteristic diagram showing the opening area characteristic of the regeneration side control valve constituting the second embodiment of the hydraulic drive system for the working machine of the present invention. 5 to 7, the same reference numerals as those shown in FIGS. 1 to 4 are the same parts, and the detailed description thereof is omitted.
- a tank side control valve 41 as a discharge flow rate adjusting device is provided in the bottom side line 15 instead of the regeneration control valve 17 shown in FIG. 18 is different from the first embodiment in that a regeneration side control valve 40 is provided as a regeneration flow rate adjusting device 18.
- the stroke of the tank side control valve 41 and the stroke of the regeneration side control valve 40 are controlled by one electromagnetic proportional valve 22.
- the electromagnetic proportional valve 22 as an electric drive device operates according to a control command from the controller 27.
- the electromagnetic proportional valve 22 converts the primary pressure of the pressure oil supplied from the pilot pump 3 into a desired pressure (secondary pressure) and operates the operation unit 41a of the tank side control valve 41 and the operation unit of the regeneration side control valve 40. 40a and controlling the stroke of the tank side control valve 41 and the stroke of the regeneration side control valve 40 to control the opening degree (opening area) of each valve.
- FIG. 6 shows the opening area characteristic of the tank side control valve 41
- FIG. 7 shows the opening area characteristic of the regeneration side control valve 40, respectively.
- These horizontal axes indicate the spool stroke of each valve, and the vertical axis indicates the opening area.
- the degree of freedom in designing the opening area of the regeneration side passage and the opening area of the tank side passage is increased, so that finer matching is achieved. Setting is possible. As a result, the fuel consumption reduction effect can be further improved.
- FIG. 8 is a schematic diagram of a control system showing a third embodiment of a hydraulic drive system for a work machine according to the present invention.
- FIG. 8 the same reference numerals as those shown in FIG. 1 to FIG.
- regeneration control valve 42 which consists of an electromagnetic proportional valve provided in the valve part 42B and was equipped with the electromagnetic solenoid part 42A directly controlled from the controller 27 differs from 1st Embodiment.
- the electric drive device corresponds to the electromagnetic solenoid portion 42A.
- the regeneration control valve 42 constitutes the regeneration flow rate adjusting device and the exhaust flow rate adjusting device.
- FIG. 9 is a schematic diagram of a control system showing a fourth embodiment of a hydraulic drive system for a work machine according to the present invention.
- the same reference numerals as those shown in FIGS. 1 to 8 are the same parts, and detailed description thereof is omitted.
- the boom cylinder 4 is connected to the bottom pipe line 15 between the regeneration control valve 17 and the bottom oil chamber of the boom cylinder 4 shown in FIG.
- emit the discharged oil from the bottom side oil chamber to a tank differs from 1st Embodiment.
- the regeneration flow rate adjusting device is configured by the regeneration control valve 17, and the exhaust flow rate adjusting device is configured by the regeneration control valve 17 and the control valve 43.
- the control valve 43 includes the operation unit 43a, When the operation pilot pressure Pbd in the boom lowering direction BD of the first operating device 6 is transmitted to the operation unit 43a, the valve is opened, and the discharged oil from the bottom side oil chamber of the boom cylinder 4 is discharged to the tank.
- the opening area of the control valve 43 is set to be sufficiently smaller than the opening area connected to the tank conduit 7 b of the control valve 5.
- the regeneration control valve 17 is inadvertently switched due to a failure of the controller 27 or the like, and the bottom side oil chamber Even when there is no longer any discharge location, the control valve 43 can discharge, thus preventing a sudden stop of the boom.
- control valve for supplying pressure oil during the raising operation of the boom cylinder 4 is usually composed of two or more. For this reason, you may comprise so that the function like the control valve 43 mentioned above may be given to any one of two or more control valves. In this case, it is not necessary to additionally install the control valve 43 on the circuit, and a control valve arranged conventionally can be used.
- the hydraulic drive system for the work machine can be stably operated. To do.
- the present invention is not limited to the above-described embodiments, and includes various modifications within the scope not departing from the gist thereof.
- the present invention can be applied to the first object when the first operating device is operated in the direction in which the first driven body falls.
- the working machine is equipped with a hydraulic cylinder that discharges pressure oil from the bottom side and sucks pressure oil from the rod side due to its own weight drop, it can be applied to other work machines such as hydraulic cranes and wheel loaders. .
- 1 hydraulic pump, 1a: regulator, 3: pilot pump (pilot hydraulic source), 4: boom cylinder (first hydraulic actuator), 5: control valve, 6: first operating device, 6a: operating lever, 6b: pilot Valve, 6c, 6d: Pilot pipe line, 8: Arm cylinder (second hydraulic actuator), 9: Control valve, 10: First operating device, 10a: Operating lever, 10b: Pilot valve, 10c, 10d: Pilot pipe line 7a, 11a: Pressure oil supply line, 7b, 11b: Tank line, 12: Overload relief valve with make-up, 13: Rod side line, 14: Communication line, 15: Bottom side line, 16: Communication control valve, 17: Regeneration control valve, 18: Regeneration passage, 19: Overload relief valve with make-up, 20: Bottom side line, 21: B 22: Electromagnetic proportional valve (electric drive device), 27: Controller, 40: Regeneration side control valve, 41: Tank side control valve, 42: Regeneration control valve, 43: Control valve, 123: Lever operation signal 124: Lever operation signal, 125:
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Abstract
Description
しかし、特許文献2の油圧駆動システムは、所定の条件が成立せずに再生が行われない場合、ブームシリンダのボトム側油室からの排出油は1個の流量制御弁によりその流量が調整されるのに対して、条件が成立した場合、ブームシリンダのボトム側油室からの排出油は、上述した流量制御弁に加えて他の流量制御弁を介してセンターバイパス油路へ供給される。このため、再生を行う場合には、再生しない場合に比べて排出油の流量が増加し、ブームシリンダのピストンロッド速度が増加する可能性がある。このブームシリンダのピストンロッド速度の増加は、再生をする場合としない場合における操作性の違和感をオペレータに与える可能性がある。
図1において、第1操作装置6の操作レバー6aがブーム下げ方向BDに操作された場合、第1操作装置6のパイロット弁6bから発生した操作パイロット圧Pbdは制御弁5の操作部5bと連通制御弁16の操作部16aに入力される。それにより制御弁5は図示左側の位置に切換られ、ボトム管路15がタンク管路7bと連通することにより、ブームシリンダ4のボトム側油室から圧油がタンクに排出され、ブームシリンダ4のピストンロッドが縮小動作(ブーム下げ動作)を行う。このとき、ロッド側管路13は圧油供給管路11aと遮断される。
制御弁43は、操作部43aを有し、第1操作装置6のブーム下げ方向BDの操作パイロット圧Pbdが操作部43aに伝えられることにより開弁し、ブームシリンダ4のボトム側油室からの排出油をタンクに排出する。制御弁43の開口面積は、制御弁5のタンク管路7bに接続される開口面積より十分に小さく設定されている。
138:乗算器、139:関数発生器、140:乗算器、142:乗算器、144:加算器、146:出力変換部、201:傾転指令、222:電磁弁指令、203:フロント作業機、205:ブーム(第1被駆動体)、206:アーム(第2被駆動体)、207:バケット。
Claims (6)
- 油圧ポンプ装置と、前記油圧ポンプ装置から圧油が供給され第1被駆動体を駆動する第1油圧アクチュエータと、前記油圧ポンプ装置から圧油が供給され第2被駆動体を駆動する第2油圧アクチュエータと、前記油圧ポンプ装置から前記第1油圧アクチュエータに供給される圧油の流れを制御する第1流量調整装置と、前記油圧ポンプ装置から前記第2油圧アクチュエータに供給される圧油の流れを制御する第2流量調整装置と、前記第1被駆動体の動作を指令する操作信号を出力し前記第1流量調整装置を切り換える第1操作装置と、前記第2被駆動体の動作を指令する操作信号を出力し前記第2流量調整装置を切り換える第2操作装置とを備え、
前記第1油圧アクチュエータは、前記第1操作装置が前記第1被駆動体の自重落下方向に操作されたときに、前記第1被駆動体の自重落下によりボトム側油室から圧油を排出しロッド側油室から圧油を吸入する油圧シリンダである作業機械の油圧駆動システムにおいて、
前記油圧シリンダのボトム側油室を前記油圧ポンプ装置と前記第2油圧アクチュエータとの間に接続する再生通路と、
前記油圧シリンダのボトム側油室から排出される圧油の少なくとも一部を前記再生通路を介して前記油圧ポンプ装置と前記第2油圧アクチュエータの間に、その流量を調整して供給する再生流量調整装置と、
前記油圧シリンダのボトム側油室から排出される圧油の少なくとも一部を、その流量を調整してタンクに排出する排出流量調整装置と、
前記再生流量調整装置と前記排出流量調整装置とを同時に制御する1つの電気駆動装置と、
前記再生流量調整装置による再生流量の多少にかかわらず、前記第1被駆動体の落下速度が同様となるように、前記電気駆動装置へ制御指令を出力する制御装置を備えた
ことを特徴とする作業機械の油圧駆動システム。 - 請求項1に記載の作業機械の油圧駆動システムにおいて、
前記再生流量調整装置と前記排出流量調整装置は、再生側絞りと排出側絞りを有する1つの再生制御弁であり、
前記電気駆動装置は、パイロット油圧源から供給されたパイロット圧油の1次圧を所望の2次圧に減圧する電磁弁であり、
前記再生制御弁は、前記電磁弁の2次圧により制御されるように構成した
ことを特徴とする作業機械の油圧駆動システム。 - 請求項1に記載の作業機械の油圧駆動システムにおいて、
前記再生流量調整装置は再生流量を調整する再生弁であり、前記排出流量調整装置は排出流量を調整する排出弁であり、
前記電気駆動装置は、パイロット油圧源から供給されたパイロット圧油の1次圧を所望の2次圧に減圧する電磁弁であり、
前記再生弁及び前記排出弁は、前記電磁弁の2次圧により同時に制御されるように構成した
ことを特徴とする作業機械の油圧駆動システム。 - 請求項1に記載の作業機械の油圧駆動システムにおいて、
前記再生流量調整装置と前記排出流量調整装置は、その弁体部に再生側絞りと排出側絞りを有する1つの再生制御弁であり、
前記電気駆動装置は、前記再生制御弁に組み込まれた電磁ソレノイド部であり、
前記再生制御弁は、前記電磁ソレノイド部により直接駆動されるように構成した
ことを特徴とする作業機械の油圧駆動システム。 - 請求項1に記載の作業機械の油圧駆動システムにおいて、
前記油圧シリンダのボトム側油室から排出された圧油を前記油圧シリンダのロッド側油室へ供給可能とする連通通路と、
前記連通通路に設けられ、前記第1操作装置の前記第1被駆動体の自重落下方向の操作信号に基づいて開弁する連通制御弁とを備え、
前記第1流量調整装置は、前記第1操作装置の操作に応じて、前記油圧ポンプ装置と前記油圧シリンダのボトム側油室またはロッド側油室との連通または遮断を切換える制御弁であって、
前記制御弁は、前記第1操作装置が前記第1被駆動体の自重落下方向に操作されたときに、前記油圧ポンプ装置と前記油圧シリンダのロッド側油室とを遮断する切換位置を有する
ことを特徴とする作業機械の油圧駆動システム。 - 請求項1に記載の作業機械の油圧駆動システムにおいて、
前記排出流量調整装置の上流側に分岐して他の排出流量調整装置を配置し、前記他の排出流量調整装置は、前記第1操作装置から出力される操作信号に応じて、前記油圧シリンダのボトム側油室から排出される圧油の少なくとも一部を、その流量を調整してタンクに排出する
ことを特徴とする作業機械の油圧駆動システム。
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CN113557339A (zh) * | 2019-03-06 | 2021-10-26 | 卡特彼勒公司 | 用于土方机器的电液装置 |
CN113557339B (zh) * | 2019-03-06 | 2023-12-29 | 卡特彼勒公司 | 用于土方机器的电液装置 |
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KR101887318B1 (ko) | 2018-08-09 |
CN106574646B (zh) | 2018-06-01 |
JP2016075302A (ja) | 2016-05-12 |
US20170276155A1 (en) | 2017-09-28 |
JP6291394B2 (ja) | 2018-03-14 |
EP3203088A4 (en) | 2018-05-30 |
EP3203088A1 (en) | 2017-08-09 |
US10436229B2 (en) | 2019-10-08 |
EP3203088B1 (en) | 2021-08-11 |
KR20170028421A (ko) | 2017-03-13 |
CN106574646A (zh) | 2017-04-19 |
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