WO2016092808A1 - 建設機械の油圧駆動システム - Google Patents

建設機械の油圧駆動システム Download PDF

Info

Publication number
WO2016092808A1
WO2016092808A1 PCT/JP2015/006069 JP2015006069W WO2016092808A1 WO 2016092808 A1 WO2016092808 A1 WO 2016092808A1 JP 2015006069 W JP2015006069 W JP 2015006069W WO 2016092808 A1 WO2016092808 A1 WO 2016092808A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
hydraulic motor
regenerative
power converter
servo
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/006069
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
哲弘 近藤
陽治 弓達
武久 加藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Priority to GB1709325.3A priority Critical patent/GB2547869B/en
Priority to US15/535,217 priority patent/US10167613B2/en
Priority to CN201580062114.1A priority patent/CN107002724B/zh
Publication of WO2016092808A1 publication Critical patent/WO2016092808A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • 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
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/355—Pilot pressure control
    • 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
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50563—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure
    • 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
    • F15B2211/575—Pilot pressure control
    • 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
    • F15B2211/635—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements
    • F15B2211/6355—Circuits providing pilot pressure to pilot pressure-controlled fluid circuit elements having valve means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • 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
    • 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
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors

Definitions

  • the present invention relates to a hydraulic drive system for construction machinery.
  • each part is driven by a hydraulic drive system.
  • hydraulic oil is supplied to various actuators from a pump driven by an engine.
  • Patent Document 1 discloses a hydraulic drive system using a booster pump driven by an electric motor in addition to a main pump driven by an engine.
  • the booster pump is for increasing the amount of hydraulic oil supplied to the actuator at high load.
  • an alternator is attached to an engine that drives a main pump, and the alternator is connected to a battery.
  • An alternator is a small generator with a low capacity (for example, a nominal voltage of 24 V) and a small generator having a rotating shaft connected to an output shaft of an engine by a power transmission means such as a belt.
  • the battery is connected to an electric motor that drives the booster pump via a relay. The relay is turned on when the load is high.
  • an object of the present invention is to provide a hydraulic drive system for a construction machine that can regenerate energy while controlling power transmission from an alternator to a capacitor.
  • a hydraulic drive system for a construction machine includes a pump that supplies hydraulic oil to a boom cylinder and a swing hydraulic motor, and a regenerative hydraulic motor that is connected to the pump.
  • a regenerative hydraulic motor to which hydraulic oil discharged from the boom cylinder and / or hydraulic oil discharged from the swing hydraulic motor at the time of swing deceleration is guided; an engine that drives the pump; and an alternator attached to the engine.
  • An alternator capable of rotating the output shaft of the engine when power is supplied, a capacitor connected to the alternator, and a power converter interposed between the alternator and the capacitor, the alternator A servo-on state that enables electric power to be transmitted between the battery and the battery, and the alternator A power converter that is switched between a servo-off state that disables power transmission to and from the capacitor, and the power converter is switched between the servo-on state and the servo-off state, and the power converter is When switching to the servo-on state, the power converter is controlled in either a charge mode for adjusting the power transmitted from the alternator to the capacitor or a discharge mode for adjusting the power transmitted from the capacitor to the alternator. And a control device.
  • the alternator attached to the engine is used, in other words, the pump side (load side) as viewed from the engine is electrically driven.
  • the energy recovered by the regenerative hydraulic motor can be stored in the battery as electric energy without separately installing a generator.
  • the power converter is interposed between the alternator and the capacitor, power transmission from the alternator to the capacitor can be controlled. For example, if the battery is fully charged, switching the power converter to the servo-off state can assist the drive of the pump with the energy recovered by the regenerative hydraulic motor instead of storing the power in the battery. It is. Furthermore, if the power converter is switched to the servo-on state and controlled in the discharge mode, driving of the pump can be assisted with the accumulated power.
  • the regenerative hydraulic motor is guided with hydraulic oil discharged from the boom cylinder when the boom is lowered, and is also supplied with hydraulic oil discharged from the swing hydraulic motor during turning deceleration.
  • the power converter is turned on the servo.
  • the power converter is switched to the servo-off state or the power converter is switched to the servo-on state.
  • the discharge mode may be controlled. According to this structure, the energy at the time of boom lowering and the energy at the time of turning deceleration can be regenerated.
  • the hydraulic drive system includes a boom control valve that controls supply and discharge of hydraulic oil to and from the boom cylinder.
  • the boom control valve is connected to the regenerative hydraulic motor through a boom discharge line, and the boom control valve
  • a tank line is connected to the boom control valve, and the boom control valve discharges hydraulic oil discharged from the boom cylinder from the boom control valve to the tank line when the boom is raised, and is discharged from the boom cylinder when the boom is lowered.
  • the hydraulic oil may flow from the boom control valve to the boom discharge line. According to this configuration, the hydraulic oil discharged from the boom cylinder can be automatically guided to the regenerative hydraulic motor when the boom is lowered.
  • the regenerative hydraulic motor is a variable displacement motor whose tilt angle can be changed
  • the hydraulic drive system includes a regenerative hydraulic motor regulator that adjusts the tilt angle of the regenerative hydraulic motor
  • the control device includes:
  • the regenerative hydraulic motor regulator may be controlled so that the tilt angle of the regenerative hydraulic motor increases as the rotational speed of the swing hydraulic motor increases when the swing charging condition is satisfied. According to this configuration, appropriate energy recovery according to the turning speed can be performed.
  • the regenerative hydraulic motor is a variable displacement motor whose tilt angle can be changed
  • the hydraulic drive system includes a regenerative hydraulic motor regulator that adjusts the tilt angle of the regenerative hydraulic motor
  • the control device includes: When the boom charging condition is satisfied, the regenerative hydraulic motor regulator may be controlled such that the tilt angle of the regenerative hydraulic motor increases as the operation amount of the boom operation valve increases. According to this configuration, appropriate energy recovery can be performed according to the boom lowering speed.
  • the alternator may be a generator having a nominal voltage of 30V or more. According to this configuration, a large amount of electric power can be stored in the battery by a single power generation.
  • energy can be regenerated while controlling power transmission from the alternator to the battery.
  • FIG. 1 is a schematic configuration diagram of a hydraulic drive system according to a first embodiment of the present invention. It is a side view of the hydraulic excavator which is an example of a construction machine. It is a block diagram of the electric power related apparatus in the hydraulic drive system shown in FIG. It is a flowchart of the control which the control apparatus of the hydraulic drive system shown in FIG. 1 performs.
  • 5A to 5C are subroutines for the first charge control on, the second charge control on, and the charge control off shown in FIG. 4, respectively.
  • FIGS. 7A to 7C are subroutines for the first charge control on, the second charge control on and the charge control off in the second embodiment, respectively.
  • FIG. 1 shows a hydraulic drive system 1A for a construction machine according to a first embodiment of the present invention
  • FIG. 2 shows a construction machine 10 on which the hydraulic drive system 1A is mounted.
  • the construction machine 10 shown in FIG. 2 is a hydraulic excavator, but the present invention is also applicable to other construction machines such as a hydraulic crane.
  • the hydraulic drive system 1A includes a boom cylinder 11, an arm cylinder 12 and a bucket cylinder 13 shown in FIG. 2 as hydraulic actuators, and also includes a swing hydraulic motor 14 shown in FIG. 1 and a pair of left and right traveling hydraulic motors (not shown).
  • the hydraulic drive system 1 ⁇ / b> A includes a pump 16 that supplies hydraulic oil to those actuators, and an engine 15 that drives the pump 16.
  • actuators other than the swing hydraulic motor 14 and the boom cylinder 11 are omitted for simplification of the drawing.
  • the construction machine 10 is a self-propelled hydraulic excavator.
  • the swivel body including the cab is supported by the hull so as to be turnable.
  • the pump 16 is a variable displacement pump (swash plate pump or oblique shaft pump) whose tilt angle can be changed.
  • the tilt angle of the pump 16 is adjusted by a pump regulator 17.
  • the discharge flow rate of the pump 16 may be controlled by a negative control method or may be controlled by a positive control method. That is, the pump regulator 17 may be operated by hydraulic pressure or may be operated by an electric signal.
  • the pump 16 is connected to the boom control valve 41, the turning control valve 51, and other control valves by a supply line 31.
  • the boom control valve 41 controls the supply and discharge of hydraulic oil to the boom cylinder 11, and the swing control valve 51 controls the supply and discharge of hydraulic oil to the swing hydraulic motor 14.
  • the boom control valve 41 is connected to the boom cylinder 11 by a boom raising supply line 45 and a boom lowering supply line 46.
  • the boom control valve 41 is connected to the regenerative switching valve 71 through the boom discharge line 32.
  • the regenerative switching valve 71 will be described in detail later.
  • the boom control valve 41 has a pair of pilot ports, and these pilot ports are connected to the boom operation valve 42 by a boom raising pilot line 43 and a boom lowering pilot line 44.
  • the boom operation valve 42 includes an operation lever, and outputs a pilot pressure having a magnitude corresponding to the operation amount (angle) of the operation lever to the boom control valve 41.
  • the turning control valve 51 is connected to the turning hydraulic motor 14 by a left turning supply line 61 and a right turning supply line 62. Further, the turning control valve 51 is connected to the regeneration switching valve 71 by the turning discharge line 33.
  • the left turn supply line 61 and the right turn supply line 62 are connected to each other by a bridge 63.
  • the bridge path 63 is provided with a pair of relief valves 64 in opposite directions.
  • Bypass passages 65 are provided between the left turn supply line 61 and the right turn supply line 62 so as to bypass each relief valve 64, and a check valve 66 is provided in each bypass passage 65.
  • a tank line 67 is connected to a portion of the bridge 63 between the relief valves 64.
  • the turning control valve 51 has a pair of pilot ports. One pilot port is connected to the first turning operation proportional valve 55 by the left turning pilot line 53, and the other pilot port is connected to the second turning operation proportional valve 56 by the right turning pilot line 54. .
  • the first and second swing operation proportional valves 55 and 56 output a secondary pressure having a magnitude corresponding to the current supplied from the control device 8 to the swing control valve 51.
  • a pilot type operation valve that outputs a pilot pressure having a magnitude corresponding to the operation amount (angle) of the operation lever is employed as the turning operation valve 52 including the operation lever for the turning operation.
  • the control device 8 includes a first pressure gauge 81 that measures the left turning pilot pressure PL output from the turning operation valve 52 and a second pressure gauge 82 that measures the right turning pilot pressure PR output from the turning operation valve 52. Connected with. Normally, the control device 8 sends an electric current proportional to the pilot pressure (PL or PR) output from the turning operation valve 52 to the turning operation proportional valve (55 or 56) (when energy during turning deceleration is not regenerated). To pay.
  • the secondary pressure according to the pilot pressure (PL or PR) output from the swing operation valve 52 is output from the swing operation proportional valve (55 or 56).
  • the turning operation valve 52 may be an electric operation valve that directly outputs an electric signal having a magnitude corresponding to the operation amount (angle) of the operation lever as a turning signal to the control device 8.
  • the hydraulic drive system 1A is configured to regenerate both energy during boom lowering and energy during turning deceleration.
  • the hydraulic drive system 1A includes the regenerative hydraulic motor 18 and the regenerative switching valve 71 described above.
  • the regenerative hydraulic motor 18 is connected to the pump 16.
  • the regenerative hydraulic motor 18 is a fixed capacity motor.
  • the regenerative switching valve 71 is connected to the regenerative hydraulic motor 18 through the regenerative line 34.
  • the tank line 35 is connected to the regeneration switching valve 71.
  • the regeneration switching valve 71 is switched between a neutral position, a boom regeneration position (right position in FIG. 1), and a turning regeneration position (left position in FIG. 1).
  • the boom discharge line 32 and the swivel discharge line 33 communicate with the tank line 35. Thereby, the hydraulic oil discharged from the boom cylinder 11 and the hydraulic oil discharged from the swing hydraulic motor 14 are guided to the tank.
  • the regenerative switching valve 71 is located at the boom regenerative position, the swivel discharge line 33 communicates with the tank line 35, while the boom discharge line 32 communicates with the regenerative line 34. As a result, the hydraulic oil discharged from the boom cylinder 11 is guided to the regenerative hydraulic motor 18.
  • the regeneration switching valve 71 is located at the turning regeneration position, the boom discharge line 32 communicates with the tank line 35, while the turning discharge line 33 communicates with the regeneration line 34. As a result, the hydraulic oil discharged from the swing hydraulic motor 14 is guided to the regenerative hydraulic motor 18.
  • the regeneration switching valve 71 can change the degree of communication between the boom discharge line 32, the regeneration line 34, and the tank line 35 at the boom regeneration position, and the swing discharge line 33 and the regeneration line 34 at the swing regeneration position.
  • a pilot-type variable throttle capable of changing the degree of communication with the tank line 35.
  • the regeneration switching valve 71 may be an electromagnetic variable throttle.
  • the regeneration switching valve 71 has a boom regeneration pilot port 72 for switching the regeneration switching valve 71 to the boom regeneration position, and a turning regeneration pilot port 73 for switching the regeneration switching valve 71 to the swing regeneration position. is doing.
  • the regenerative switching valve 71 may be a pilot-type or electromagnetic simple open / close valve that causes the discharge line (32 or 33) to communicate with the regenerative line 34 at the boom regenerative position and the swivel regenerative position.
  • the boom regeneration pilot port 72 is connected to a boom regeneration operation proportional valve 75 by a boom regeneration pilot line 74.
  • the turning regeneration pilot port 73 is connected to a turning regeneration operation proportional valve 77 by a turning regeneration pilot line 76.
  • the boom regenerative operation proportional valve 75 and the swing regenerative operation proportional valve 77 output a secondary pressure having a magnitude corresponding to the current supplied from the control device 8 to the regenerative switching valve 71.
  • the alternator 21 is attached to the engine 15 described above.
  • a first capacitor 23 is connected to the alternator 21, and a second capacitor 25 is connected to the first capacitor 23.
  • the first capacitor 23 is a capacitor (for example, a capacitor) having a voltage (for example, 48 V) that is slightly higher than the voltage of a normal electrical component
  • the second capacitor 25 is a voltage for a normal electrical component (for example, 24 V).
  • a battery for example, a battery having a voltage equal to.
  • a medium voltage electrical load 26 is connected to the first capacitor 23, and a low voltage electrical load 27 is connected to the second capacitor 25.
  • a first power converter 22 for example, an inverter for power control is interposed between the alternator 21 and the first capacitor 23, and a voltage conversion between the first capacitor 23 and the second capacitor 25 is provided.
  • the second power converter 24 is interposed.
  • the alternator 21 has a rotating shaft (not shown) connected to the output shaft of the engine 15 by power transmission means such as a belt.
  • the alternator 21 is configured to be able to rotate the output shaft of the engine 15 when electric power is supplied.
  • the alternator 21 is a generator having a nominal voltage of 30 V or higher (for example, 48 V).
  • the nominal voltage of the alternator 21 may be less than 30V.
  • the alternator 21 is an AC generator.
  • the first power converter 22 also functions as an AC-DC converter.
  • the first power converter 22 is in a servo-on state that enables power transmission between the alternator 21 and the first capacitor 23 and in a servo-off state that disables power transmission between the alternator 21 and the first capacitor 23. Can be switched between.
  • the first power converter 22 is switched between the servo-on state and the servo-off state by the control device 8.
  • the control device 8 switches the first power converter 22 to the servo-on state, the first power converter 22 adjusts the power transmitted from the alternator 21 to the first capacitor 23, and the first capacitor 23. Is controlled in either one of the discharge modes for adjusting the electric power transmitted to the alternator 21.
  • the control device 8 controls the first and second swing operation proportional valves 55 and 56, the boom regeneration operation proportional valve 75, the swing regeneration operation proportional valve 77, and the first power converter 22. Specifically, the control device 8 is connected to the first and second pressure gauges 81 and 82 and the third and fourth pressure gauges 83 and 84 described above.
  • the third pressure gauge 83 measures the pilot pressure output from the boom operation valve 42 when the boom is lowered, and the fourth pressure gauge 84 measures the pressure in the boom raising supply line 45.
  • the control device 8 regenerates the regenerative switching valve 71 via the boom regenerative operation proportional valve 75 and the regenerative rotation operation proportional valve 77 so that the energy at the time of lowering the boom is preferentially regenerated than the energy at the time of turning deceleration.
  • the control device 8 switches the first power converter 22 to the servo-on state and controls it in the charging mode, When neither of the swing charging conditions is satisfied, the first power converter 22 is switched to the servo-off state, or the first power converter 22 is switched to the servo-on state and controlled in the discharge mode.
  • control device 8 determines whether or not the boom is being lowered (that is, whether or not the pilot pressure measured by the third pressure gauge 83 is greater than zero) (step S11). If YES in step S11, the process proceeds to step S12. If NO in step S11, the process proceeds to step S15.
  • step S ⁇ b> 12 the control device 8 determines whether or not the first battery 23 can be charged based on the amount of power stored in the first battery 23. If YES in step S12, control device 8 executes a first charge control on process (step S13), and if NO in step S12, executes a charge control off process (step S14).
  • the boom charging condition is YES in step S12, that is, when the boom is lowered and the first battery 23 is in a chargeable state.
  • step S15 the control device 8 determines whether or not the vehicle is in deceleration deceleration (that is, the left-turn pilot pressure PL measured by the first pressure gauge 81 or the right-turn pilot pressure PR measured by the second pressure gauge 82). Whether or not will decrease). If YES in step S15, the process proceeds to step S16. If NO in step S15, the process proceeds to step S18.
  • step S ⁇ b> 16 the control device 8 determines whether or not the first battery 23 can be charged based on the amount of power stored in the first battery 23. If YES at step S16, control device 8 executes a process for turning on the second charge control (step S17), and if NO at step S16, it executes a process for turning off charge control (step S14). It is YES in step S16, that is, the turning charging condition is that the first battery 23 is in a chargeable state while turning and decelerating.
  • the control device 8 When the first charging control is turned on when the boom charging condition is satisfied, as shown in FIG. 5A, the control device 8 first switches the first power converter 22 to the servo-on state (step S31). Next, the control device 8 supplies a current of a predetermined magnitude to the boom regenerative operation proportional valve 75 to switch the regenerative switching valve 71 to the boom regenerative position (step S32). At this time, the magnitude of the current supplied from the control device 8 to the boom regenerative operation proportional valve 75 is determined based on, for example, the pressure of the boom lowering pilot line 44 measured by the third pressure gauge 83. Thereafter, the control device 8 controls the first power converter 22 in the charging mode (step S34).
  • the energy recovered by the regenerative hydraulic motor 18 when the boom is lowered can be stored in the first capacitor 23 as electric energy.
  • the control device 8 sends a current proportional to the pilot pressure (PL or PR) output from the turning operation valve 52 to the turning operation proportional valve (55 or 56) while the first charging control on process is being executed.
  • the output of the first and second swing operation proportional valves 55 and 56 is set to a pressure according to the pilot pressures PL and PR output from the swing operation valve 52 (step S35).
  • the control device 8 first switches the first power converter 22 to the servo-off state (step S51). ). Next, the control device 8 switches the regeneration switching valve 71 to the neutral position without supplying current to either the boom regeneration operation proportional valve 75 or the swing regeneration operation proportional valve 77 (step S52). Even during the execution of the charge control off process, the output of the first and second turning operation proportional valves 55 and 56 is the pilot pressure output from the turning operation valve 52 in the same manner as during the execution of the first charge control on process. (Step S54).
  • the control device 8 When the second charging control is turned on when the turning charging condition is satisfied, the control device 8 first switches the first power converter 22 to the servo-on state as shown in FIG. 5B (step S41). Next, the control device 8 supplies a current of a predetermined magnitude to the turning regeneration operation proportional valve 77 to switch the regeneration switching valve 71 to the turning regeneration position (step S42). At this time, the magnitude of the current supplied from the control device 8 to the swing regeneration operation proportional valve 77 is determined based on, for example, the rotational speed of the engine 15. Thereafter, the control device 8 controls the first power converter 22 in the charging mode (step S44).
  • the control device 8 sets the output of the first and second turning operation proportional valves 55 and 56 to a pressure at which the hydraulic oil is not throttled by the turning control valve 51 during execution of the second charging control ON process (Ste S45).
  • the control device 8 supplies current to the first swing operation proportional valve 55 or the second swing operation proportional valve 56 so that the opening area of the swing control valve 51 is maximized.
  • the control apparatus 8 may maintain the electric current before turning deceleration so that the position of the turning control valve 51 may not change during the process of 2nd charge control ON.
  • step S18 the control device 8 executes a charge control off process (step S18).
  • the flow in this case is also as shown in FIG. 5C.
  • further processing is performed after execution of the charging control off processing.
  • control device 8 determines whether or not the discharge from the first capacitor 23 is possible based on the amount of power stored in the first capacitor 23 (step S19). In the case of NO in step S19, the control device 8 executes a discharge control off process (step S22). Specifically, the control device 8 maintains the first power converter 22 in the servo-off state.
  • step S19 the control device 8 further determines whether or not the current state is a load state (step S20). Whether or not it is in a load state can be determined by, for example, the discharge pressure of the pump 16 or a command to the pump regulator 17. If NO in step S20, the process proceeds to step S22. On the other hand, in the case of YES at step S20, the control device 8 executes a discharge control ON process (step S21). Specifically, the control device 8 switches the first power converter 22 to the servo-on state and controls it in the discharge mode. Thereby, the drive of the pump 16 can be assisted by the electric power stored in the first capacitor 23.
  • the alternator 21 attached to the engine 15 is used in other words.
  • the energy recovered by the regenerative hydraulic motor 18 can be stored in the first capacitor 23 as electric energy without separately installing a motor generator on the pump 16 side (load side) when viewed from the engine 15.
  • the first power converter 22 is interposed between the alternator 21 and the first capacitor 23, the power transmission from the alternator 21 to the first capacitor 23 can be controlled.
  • the regenerative switching valve 71 is switched to the neutral position in the process of turning off the charging control during boom lowering and turning deceleration (step S14).
  • the regenerative switching valve 71 is always in the boom regenerative position when the boom is lowered. And may always be maintained at the turning regeneration position during turning deceleration. In this way, the drive of the pump 16 can be assisted by the energy recovered by the regenerative hydraulic motor 18 instead of accumulating electric power in the first battery 23.
  • the regenerative switching valve 71 is not necessarily a single three-position valve, but a pair of a boom-side two-position valve to which the boom discharge line 32 is connected and a swing-side two-position valve to which the swing discharge line 33 is connected. These two-position valves may be used.
  • the hydraulic drive system 1A is configured to regenerate both the energy at the time of lowering the boom and the energy at the time of turning deceleration.
  • the hydraulic drive system 1A has the energy at the time of lowering the boom. It is also possible to regenerate only one of the energy at the time of turning and deceleration. That is, a tank line may be connected to either the boom control valve 41 or the turning control valve 51 instead of the discharge line (32 or 33). In this case, needless to say, the regeneration switching valve 71 is a two-position valve.
  • the control device 8 sets the first power converter 22 in the servo-on state when the boom charging condition is satisfied.
  • the first power converter 22 is switched to the servo-off state, or the first power converter 22 is switched to the servo-on state and controlled in the discharge mode. Good.
  • the regenerative hydraulic motor 18 is a variable capacity motor (swash plate motor or oblique axis motor) whose tilt angle can be changed.
  • the tilt angle of the regenerative hydraulic motor 18 is adjusted by a regenerative hydraulic motor regulator 19.
  • the regenerative hydraulic motor regulator 19 is operated by an electrical signal. That is, the regenerative hydraulic motor regulator 19 is controlled by the control device 8.
  • the regenerative hydraulic motor regulator 19 may electrically change the hydraulic pressure acting on a spool connected to the swash plate of the motor, An electric actuator connected to a swash plate may be used.
  • the control device 8 is connected to a rotation speed meter 85 that measures the rotation speed of the swing hydraulic motor 14.
  • the control device 8 performs control according to the flowchart shown in FIG. 4, but as shown in FIGS. 7A to 7C, the first charge control is turned on (step S13 in FIG. 4), the second In the process of charging control ON (step S17 in FIG. 4) and charging control OFF (steps S14 and S18 in FIG. 4), the regenerative hydraulic motor regulator 19 is also controlled.
  • step S33 the control device 8 controls the regenerative hydraulic motor regulator 19 so that the tilt angle of the regenerative hydraulic motor 18 increases as the operation amount of the boom operation valve 42 increases. Thereby, suitable energy recovery according to the speed of boom lowering can be performed.
  • the pressure of the boom lowering pilot line 44 measured by the third pressure gauge 83 may be used, or the pressure of the boom raising supply line 45 measured by the fourth pressure gauge 84 may be used. It may be used.
  • step S43 the control device 8 controls the regenerative hydraulic motor regulator 19 so that the tilt angle of the regenerative hydraulic motor 18 increases as the rotation speed of the swing hydraulic motor 14 measured by the revolution meter 85 increases. Thereby, appropriate energy recovery according to the turning speed can be performed.
  • the revolution meter 85 is provided as in the present embodiment, the magnitude of the current supplied from the control device 8 to the turning regeneration operation proportional valve 77 in step S42 is measured by the revolution meter 85. It may be determined based on the rotation speed of the swing hydraulic motor 14.
  • step S52 When charging control is off, after step S52 and before step S54, the control device 8 controls the regenerative hydraulic motor regulator 19 so that the tilt angle of the regenerative hydraulic motor 18 is minimized (step S53).
  • the boom control valve 41 is connected to the regenerative hydraulic motor 18 by the boom discharge line 37, and the tank line 36 is connected to the boom control valve 41.
  • the hydraulic oil discharged from the boom cylinder 11 flows into the tank line 36 from the boom control valve 41 when the boom is raised, and the hydraulic oil discharged from the boom cylinder 11 when the boom is lowered.
  • the valve 41 is configured to flow into the discharge line 37. With this configuration, the hydraulic oil discharged from the boom cylinder 11 can be automatically guided to the regenerative hydraulic motor 18 when the boom is lowered.
  • the supply line 31 communicates with the boom raising supply line 45 and the boom lowering supply line 46 communicates with the tank line 36. Conversely, when the boom control valve 41 moves in the boom lowering direction, the supply line 31 communicates with the boom lowering supply line 46 and the boom raising supply line 45 communicates with the boom discharge line 37.
  • the turning control valve 51 is connected to the regeneration switching valve 78 by the turning discharge line 33.
  • the regeneration switching valve 78 is connected to the boom discharge line 37 by the regeneration line 38, and the tank line 35 is connected to the regeneration switching valve 78.
  • the regenerative switching valve 78 is switched between a non-regenerative position where the swivel discharge line 33 communicates with the tank line 35 and a regenerative position where the swivel discharge line 33 communicates with the regenerative line 38.
  • the regeneration switching valve 78 is an electromagnetic on-off valve that is driven by the control device 8.
  • the energy at the time of boom lowering is regenerated preferentially than the energy at the time of turning deceleration.
  • the control device 8 maintains the regenerative switching valve 78 at the non-regenerative position when the vehicle is decelerating or when the boom is lowered, and the regenerative switching valve 78 is when the vehicle is decelerating and not when the boom is lowered. Switch to the regenerative position.
  • the control device 8 performs control according to the flowcharts shown in FIGS. 4 and 5A to 5C, as in the first embodiment.
  • the regenerative hydraulic motor 18 may be a variable displacement motor as in the second embodiment, and the rotational speed of the swing hydraulic motor 14 is Needless to say, a rotational speed meter 85 may be provided.
  • the pilot port of the turning control valve 51 is connected to the turning operation valve 52 by the left turning pilot line 53 and the right turning pilot line 54. That is, the turning control valve 51 always moves according to the operation amount (angle) of the operation lever of the turning operation valve 52.
  • a switching valve 91 is provided between the left turn supply line 61 and the right turn supply line 62 to select one of the turn supply lines 61 and 62.
  • the switching valve 91 is connected to the regenerative switching valve 78 by a turning discharge line 92.
  • the switching valve 91 is an electromagnetic on-off valve driven by the control device 8, but it may be a simple high pressure selection valve.
  • the control device 8 switches the switching valve 91 to the first position where the discharge-side right turn supply line 62 communicates with the discharge line 92 when the left turn is decelerated, and when the right turn is decelerated, the discharge left turn supply line 61 is Switch to the second position communicating with the discharge line 92.
  • the switching valve 91 may be located at either the first position or the second position except during turning deceleration.
  • the regenerative switching valve 78 has 3 ports in the second embodiment, but has 2 ports in the present embodiment. That is, the tank line 35 (see FIG. 6) is not connected to the regeneration switching valve 78.
  • the regenerative switching valve 78 shuts off the swivel discharge line 92 and the regenerative line 38 at the non-regenerative position, and communicates the swivel discharge line 92 with the regenerative line 38 at the regenerative position.
  • the control device 8 maintains the regenerative switching valve 78 at the non-regenerative position when the vehicle is turning and decelerating and when the boom is lowered, and when the vehicle is decelerating and not when the boom is lowered.
  • the regenerative switching valve 78 is switched to the regenerative position.
  • the control device 8 follows the flowcharts shown in FIGS. 4 and 5A to 5C as in the first embodiment, except that the control of the switching valve 91 and the regeneration switching valve 78 and the control of the swing operation proportional valve are not performed. Control.
  • the pilot circuit between the swing operation valve 52 and the swing control valve 51 can have a normal simple configuration.
  • the regenerative hydraulic motor 18 may be a variable displacement motor as in the second embodiment, and the rotational speed of the swing hydraulic motor 14 is Needless to say, a rotational speed meter 85 may be provided.
  • a one-way clutch may be provided between the regenerative hydraulic motor 18 and the pump 16.
  • the second battery 25 and the second power converter 24 may not be provided.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
PCT/JP2015/006069 2014-12-10 2015-12-07 建設機械の油圧駆動システム Ceased WO2016092808A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
GB1709325.3A GB2547869B (en) 2014-12-10 2015-12-07 Hydraulic drive system for construction machine
US15/535,217 US10167613B2 (en) 2014-12-10 2015-12-07 Hydraulic drive system of construction machine
CN201580062114.1A CN107002724B (zh) 2014-12-10 2015-12-07 建筑机械的油压驱动系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014249816A JP6270704B2 (ja) 2014-12-10 2014-12-10 建設機械の油圧駆動システム
JP2014-249816 2014-12-10

Publications (1)

Publication Number Publication Date
WO2016092808A1 true WO2016092808A1 (ja) 2016-06-16

Family

ID=56107028

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/006069 Ceased WO2016092808A1 (ja) 2014-12-10 2015-12-07 建設機械の油圧駆動システム

Country Status (5)

Country Link
US (1) US10167613B2 (enExample)
JP (1) JP6270704B2 (enExample)
CN (1) CN107002724B (enExample)
GB (1) GB2547869B (enExample)
WO (1) WO2016092808A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016082321A1 (zh) * 2014-11-24 2016-06-02 徐州重型机械有限公司 起重机作业能量回收利用方法和系统、及起重机
CN106224329B (zh) * 2016-09-08 2018-02-13 北京精密机电控制设备研究所 一种一体化电动液压伺服系统
JP6726127B2 (ja) * 2017-03-30 2020-07-22 川崎重工業株式会社 油圧システム
JP7357465B2 (ja) 2019-05-22 2023-10-06 川崎重工業株式会社 油圧システム
FR3114582B1 (fr) * 2020-09-29 2023-02-10 Manitou Bf Machine de manutention et procédé de gestion de charge de batterie

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001197785A (ja) * 1999-11-04 2001-07-19 Shin Caterpillar Mitsubishi Ltd 回路装置
JP2011202458A (ja) * 2010-03-26 2011-10-13 Kyb Co Ltd 建設機械の制御装置
JP2012193551A (ja) * 2011-03-17 2012-10-11 Kayaba Ind Co Ltd ハイブリッド建設機械の制御コントローラ

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0860705A (ja) 1994-08-19 1996-03-05 Shin Caterpillar Mitsubishi Ltd 建設機械の出力支援装置
JP4179465B2 (ja) * 2002-07-31 2008-11-12 株式会社小松製作所 建設機械
JP2006336549A (ja) * 2005-06-02 2006-12-14 Shin Caterpillar Mitsubishi Ltd ハイブリッド式駆動装置
US7827787B2 (en) * 2007-12-27 2010-11-09 Deere & Company Hydraulic system
JP5350290B2 (ja) * 2010-02-18 2013-11-27 カヤバ工業株式会社 ハイブリッド建設機械の制御装置
JP5350292B2 (ja) * 2010-02-23 2013-11-27 カヤバ工業株式会社 ハイブリッド建設機械の制御装置
US8362629B2 (en) * 2010-03-23 2013-01-29 Bucyrus International Inc. Energy management system for heavy equipment
US8606448B2 (en) * 2011-06-29 2013-12-10 Caterpillar Inc. System and method for managing power in machine having electric and/or hydraulic devices
US8839617B2 (en) * 2011-09-30 2014-09-23 Caterpillar Inc. System and method for controlling charging of an accumulator in an electro-hydraulic system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001197785A (ja) * 1999-11-04 2001-07-19 Shin Caterpillar Mitsubishi Ltd 回路装置
JP2011202458A (ja) * 2010-03-26 2011-10-13 Kyb Co Ltd 建設機械の制御装置
JP2012193551A (ja) * 2011-03-17 2012-10-11 Kayaba Ind Co Ltd ハイブリッド建設機械の制御コントローラ

Also Published As

Publication number Publication date
GB2547869A (en) 2017-08-30
US20170342685A1 (en) 2017-11-30
GB2547869B (en) 2020-07-08
JP6270704B2 (ja) 2018-01-31
GB201709325D0 (en) 2017-07-26
CN107002724B (zh) 2018-12-14
JP2016109271A (ja) 2016-06-20
US10167613B2 (en) 2019-01-01
CN107002724A (zh) 2017-08-01

Similar Documents

Publication Publication Date Title
US9290908B2 (en) Hybrid construction machine
US8991184B2 (en) Hybrid construction machine
JP5511425B2 (ja) ハイブリッド建設機械の制御装置
KR20140009135A (ko) 선회체를 갖는 건설 기계
CN103703258A (zh) 工程机械
JP6270704B2 (ja) 建設機械の油圧駆動システム
US9777463B2 (en) Construction machine
JP5873456B2 (ja) 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法
WO2012105345A1 (ja) 作業機械の動力回生装置
JP5377887B2 (ja) ハイブリッド建設機械の制御装置
WO2006022043A1 (ja) 流体圧駆動回路
JP4942699B2 (ja) ハイブリッド建設機械の制御装置
EP3085969B1 (en) Construction machine
JP6557472B2 (ja) 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法
JP2013170406A (ja) ハイブリッド型駆動装置を備えた建設機械及びその建設機械に備わる回生装置と回生方法
JP5639943B2 (ja) 蓄電装置及びハイブリッド建設機械
JP5701189B2 (ja) 作業機械の動力回生装置
JP2010261539A (ja) ハイブリッド建設機械
JP6401668B2 (ja) ハイブリッド建設機械の制御システム及び制御方法
JP5731331B2 (ja) 作業機械の動力回生装置
WO2018051644A1 (ja) ハイブリッド建設機械の制御システム及び制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15868268

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 201709325

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20151207

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 15535217

Country of ref document: US

122 Ep: pct application non-entry in european phase

Ref document number: 15868268

Country of ref document: EP

Kind code of ref document: A1