WO2019054365A1 - 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 PDFInfo
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- WO2019054365A1 WO2019054365A1 PCT/JP2018/033616 JP2018033616W WO2019054365A1 WO 2019054365 A1 WO2019054365 A1 WO 2019054365A1 JP 2018033616 W JP2018033616 W JP 2018033616W WO 2019054365 A1 WO2019054365 A1 WO 2019054365A1
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- line
- valve
- pump
- boom
- pressure
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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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
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
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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
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
- F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
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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
- F15B2211/30505—Non-return valves, i.e. check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41572—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and 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
- 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
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- 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
- F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/52—Pressure control characterised by the type of actuation
- F15B2211/526—Pressure 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
- F15B2211/50—Pressure control
- F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—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
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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 of a construction machine.
- Construction machines such as hydraulic shovels and hydraulic cranes are equipped with a hydraulic drive system including a boom cylinder for driving a boom.
- a hydraulic drive system including a boom cylinder for driving a boom.
- the boom lowering operation when the boom lowering operation is performed, it is possible to store potential energy of the boom as a pressure in the accumulator.
- the energy stored in the accumulator is used, for example, when a boom raising operation is performed.
- Patent Document 1 discloses a hydraulic drive system of a construction machine in which a boom cylinder and a boom control valve are connected by a boom raising supply line and a boom lowering supply line, and a regeneration line extends from the boom raising supply line to the accumulator. There is.
- the boom control valve blocks the boom raising supply line when the boom lowering operation is performed. Thereby, the hydraulic oil discharged from the boom cylinder flows into the accumulator through the regeneration line.
- an on-off valve is provided in the regeneration line, and the boom lowering speed is controlled by the opening area of the on-off valve.
- the pressure of the accumulator is not constant, and becomes higher as the amount of hydraulic fluid charged to the accumulator increases. Therefore, when the on-off valve provided in the regeneration line is controlled, the boom lowering speed does not become as intended by the operator due to the pressure of the accumulator.
- the present invention aims to provide a hydraulic drive system for a construction machine which can prevent the change in pressure of the accumulator from affecting the boom lowering speed or the turning speed when the boom lowering operation or the turning deceleration operation is performed. I assume.
- a hydraulic drive system for a construction machine is a boom cylinder and a boom control valve connected to the boom cylinder by a boom raising supply line and a boom lowering supply line.
- a boom control valve that blocks the boom raising supply line when a boom lowering operation is performed, and a pump that sucks in hydraulic fluid through a suction line provided with a check valve and discharges hydraulic fluid through a discharge line;
- a regeneration line connecting the boom raising supply line and a downstream portion of the check valve in the suction line, and a downstream of the check valve in the boom raising supply line and the suction line when a boom lowering operation is performed Communication with the side portion through the regeneration line, and through the regeneration line when the boom lowering operation is not performed.
- the boom lowering operation when the boom lowering operation is performed, the high pressure hydraulic oil discharged from the boom cylinder is led to the suction line through the regeneration line.
- the boom lowering operation is high on the suction side of the pump if it is performed simultaneously with other operations in which the pump supplies hydraulic fluid to hydraulic actuators other than the boom cylinder
- By supplying hydraulic fluid under pressure it is possible to reduce the amount of power and work that the pump should bear.
- the accumulator switching valve is switched to the pressure accumulation position, so that the potential energy of the boom can be accumulated as pressure in the accumulator.
- a pump is interposed between the regenerative valve and the accumulator, and the pressure downstream of the regenerative valve is maintained at a constant pressure by the relief valve, so the boom lowering speed is mainly equal to the opening area of the regenerative valve. Dependent. Therefore, it is possible to prevent the change in pressure of the accumulator from affecting the boom lowering speed.
- the pressure accumulation condition may be that the boom lowering operation is performed alone or when the boom lowering operation is performed simultaneously with other operations, and the discharge pressure of the pump is lower than a threshold. According to this configuration, the potential energy of the boom can be stored in the accumulator not only when the boom lowering operation is performed alone but also when the boom lowering operation is performed simultaneously with the specific operation.
- the pressure release condition may be that the discharge pressure of the pump is higher than a reference value. According to this configuration, the energy stored in the accumulator can be used when the load of the hydraulic actuator supplied with the hydraulic fluid from the pump is relatively large.
- the pump, the suction line, and the discharge line are respectively a first pump, a first suction line, and a first discharge line
- the above-described hydraulic drive system includes an arm cylinder, an arm pulling supply line, and an arm pushing supply line.
- the control apparatus further comprises: an arm control valve connected to the arm cylinder; and a second pump that sucks in hydraulic fluid through a second suction line and discharges hydraulic fluid through a second discharge line;
- One discharge line may be connected to the arm control valve, and the second pump may be connected to the boom control valve by the second discharge line.
- the regenerative line allows flow of hydraulic fluid from the boom raising supply line to the first suction line, while prohibiting flow of hydraulic fluid from the first suction line to the boom raising supply line
- a valve is provided, the second suction line is provided with a check valve, and a downstream portion of the check valve in the second suction line is connected to the check valve in the regeneration line by a relay line.
- the relay line is connected to a portion on the boom raising supply line side, and hydraulic fluid is allowed to flow from the regeneration line to the second suction line in the relay line while the regeneration from the second suction line is performed.
- a check valve is provided that prohibits the flow of hydraulic oil to the line, and the above-described hydraulic drive system reduces the pressure of the downstream portion of the check valve in the second suction line to a predetermined pressure or less.
- One relief valve may further comprise a. According to this configuration, when the boom lowering operation is performed, the high pressure hydraulic fluid discharged from the boom cylinder is also supplied to the suction side of the second pump, so the power and work that the second pump should bear The amount can be reduced.
- the first pump is a variable displacement pump in which the minimum discharge flow rate is set to be larger than zero, and the above-described hydraulic drive system is an unload valve provided in an unload line branched from the first discharge line
- the control device may fully close the unload valve when the boom lowering operation is performed alone. According to this configuration, when the boom lowering operation is performed alone, it is possible to interrupt the bleed off through the unloading line and store energy.
- the boom control valve is connected to the second pump not provided with the accumulator, when the boom lowering operation is performed alone, the potential energy of the boom is maximized without sacrificing the boom lowering speed. Can be stored in an accumulator.
- a hydraulic drive system for a construction machine is a swing motor and a swing supply valve connected to the swing motor by a pair of swing supply lines, and the swing operation is performed when the swing operation is performed.
- a swing supply valve that blocks one of the swing supply lines; a pump that sucks in hydraulic fluid through a suction line provided with a check valve and discharges hydraulic fluid through a discharge line; a regenerative motor connected to the pump; When turning acceleration operation and turning constant velocity operation are performed, hydraulic fluid is allowed to flow from one of the turning supply lines to the tank, and when turning acceleration operation and turning constant velocity operation is not performed
- a first swing discharge valve that prohibits the flow of hydraulic fluid from one and both sides to the tank, and the regenerative motor from one of the swing supply lines when a swing deceleration operation is performed
- a second swirling discharge valve for permitting the flow of hydraulic fluid and inhibiting the flow of hydraulic fluid from both of the swing supply lines to the regenerative motor when the swing decelerating operation is not performed; Accumulating position to be connected
- the accumulator switching valve is switched to the pressure accumulation position, and when the pressure release condition is satisfied, the accumulator switching valve is Switched to location, switching the accumulator switching valve when not satisfied neither the accumulator conditions of the pressure relief condition in said neutral position, characterized in that.
- the accumulator switching valve is switched to the pressure accumulation position, so regenerative power and energy can be accumulated as pressure in the accumulator.
- the turning speed mainly depends on the opening area of the second turning discharge valve. Therefore, it is possible to prevent the change in pressure of the accumulator from affecting the turning speed.
- the regenerative motor may be connected to the pump via a one-way clutch that allows transmission of rotation and torque from the regenerative motor to the pump only when the rotational speed of the regenerative motor is faster than the rotational speed of the pump. Good. According to this configuration, it is possible to prevent the regenerative motor from rotating with the pump and consuming power unnecessarily when the turning and decelerating operation is not performed.
- the pump may be connected to the swing supply valve by the discharge line.
- the pressure accumulation condition may be that the swing decelerating operation is performed alone, or that the discharge pressure of the pump is lower than a threshold when the swing decelerating operation is performed simultaneously with other operations. According to this configuration, regenerative power and energy can be stored in the accumulator not only when the swing decelerating operation is performed alone but also when the swing decelerating operation is performed simultaneously with the specific operation.
- the pressure release condition may be that the swing pressure reduction operation is not performed and the discharge pressure of the pump is higher than a reference value. According to this configuration, the regenerative power and energy stored in the accumulator can be used when the load of the hydraulic actuator supplied with the hydraulic fluid from the pump is relatively large.
- the pump is a variable displacement pump in which the minimum discharge flow rate is set to be larger than zero, and the above-described hydraulic drive system further includes an unload valve provided in an unload line branched from the discharge line,
- the control device may fully close the unload valve when the turning and decelerating operation is performed alone. According to this configuration, when the turning and decelerating operation is performed alone, it is possible to interrupt the bleed-off through the unload line and accumulate the regenerative power and energy without waste.
- the regenerative motor may be a variable displacement motor.
- FIG. 1 shows a hydraulic drive system 1A of 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 shovel
- the present invention is also applicable to other construction machines such as a hydraulic crane.
- the construction machine 10 shown in FIG. 2 is a self-propelled type, and includes a traveling body 11 and a swing body 12 rotatably supported by the traveling body 11.
- the revolving unit 12 is provided with a cabin including a driver's seat, and a boom is connected.
- An arm is connected to the tip of the boom, and a bucket is connected to the tip of the arm.
- the construction machine 10 may not be self-propelled.
- the hydraulic drive system 1A includes a boom cylinder 13, an arm cylinder 14 and a bucket cylinder 15 shown in FIG. 2 as hydraulic actuators, and also includes a swing motor (not shown), a left travel motor and a right travel motor. Further, as shown in FIG. 1, the hydraulic drive system 1A includes a first pump 21 and a second pump 31 that supply hydraulic fluid to the hydraulic actuators. In FIG. 1, hydraulic actuators other than the boom cylinder 13 and the arm cylinder 14 are omitted for simplification of the drawing.
- the first pump 21 and the second pump 31 are connected to the engine 17. That is, the first pump 21 and the second pump 31 are driven by the same engine 17.
- Each of the first pump 21 and the second pump 31 is a variable displacement pump (swash plate pump or oblique axis pump) whose tilt angle can be changed.
- the tilt angle of the first pump 21 is adjusted by the regulator 22, and the tilt angle of the second pump 31 is adjusted by the regulator 32.
- the minimum discharge flow rate of the first pump 21 and the second pump 31 is set to be larger than zero.
- Each of the regulators 22 and 32 operates, for example, by an electrical signal.
- the regulator (22 or 32) may electrically change the hydraulic pressure acting on the servo piston connected to the swash plate of the pump It may be an electric actuator connected to the swash plate of the pump.
- the first pump 21 supplies hydraulic fluid to the arm cylinder 14 and the swing motor and right traveling motor (not shown), and the second pump 31 to the boom cylinder 13 and bucket cylinder 15 and left traveling motor (not shown) Supply hydraulic oil.
- hydraulic oil may be supplied to the boom cylinder 13 from both the first pump 21 and the second pump 31. In this case, when the boom is lowered, it is desirable that the hydraulic oil be supplied to the boom cylinder 13 only from the second pump 31.
- hydraulic fluid may be supplied to the arm cylinder 14 from both the first pump 21 and the second pump 31.
- the first pump 21 is connected to the tank by the first suction line 23, and is connected to the arm control valve 41 and the turning control valve (not shown) and the right travel control valve by the first discharge line 24. That is, the first pump 21 sucks in hydraulic fluid through the first suction line 23 and discharges hydraulic fluid through the first discharge line 24.
- the discharge pressure of the first pump 21 is kept below the relief pressure by the relief valve (not shown). Further, an unload line 25 is branched from the first discharge line 24, and an unload valve 26 is provided on the unload line 25.
- the second pump 31 is connected to the tank by a second suction line 33, and is connected to the boom control valve 44 and a bucket control valve (not shown) and a right travel control valve by a second discharge line 34. That is, the second pump 31 sucks in hydraulic fluid through the second suction line 33 and discharges hydraulic fluid through the second discharge line 34.
- the discharge pressure of the second pump 31 is kept below the relief pressure by the relief valve (not shown). Further, an unload line 35 is branched from the second discharge line 34, and an unload valve 36 is provided on the unload line 35.
- the arm control valve 41 described above is connected to the arm cylinder 14 by the arm pull supply line 42 and the arm push supply line 43.
- the arm control valve 41 is also connected to the tank by a tank line 28.
- the arm control valve 41 performs an arm pulling operation or an arm pressing operation by the arm operating device 51 to block all the lines 24, 42, 43, 28 from the neutral position to the arm pulling operation position (left side in FIG. Position) or the arm pressing position (right side position in FIG. 1).
- the arm control valve 41 causes the arm pulling supply line 42 to communicate with the first discharge line 24 and causes the arm pushing supply line 43 to communicate with the tank line 28.
- the arm control valve 41 makes the arm pushing supply line 43 communicate with the first discharge line 24 and makes the arm pulling supply line 42 communicate with the tank line 28.
- the arm control valve 41 is a hydraulic pilot type and has a pair of pilot ports.
- the arm control valve 41 may be of an electromagnetic pilot type.
- the arm operating device 51 includes an operating lever, and outputs an arm operating signal (arm pulling operation signal or arm pushing operation signal) according to the tilt angle of the operating lever. That is, the arm operation signal output from the arm operating device 51 increases as the tilt angle (operation amount) of the operation lever increases.
- the arm operating device 51 is an electric joystick that outputs an electric signal as an arm operation signal.
- the arm operation signal output from the arm operating device 51 is input to the control device 55.
- the control device 55 is a computer having a memory such as a ROM or a RAM and a CPU, and a program stored in the ROM is executed by the CPU.
- the control device 55 controls the arm control valve 41 via a pair of electromagnetic proportional valves (not shown) so that the arm control valve 41 has an opening area corresponding to the arm operation signal.
- the arm operating device 51 may be a pilot operating valve that outputs a pilot pressure as an arm operating signal.
- the pilot port of the arm control valve 41 is connected to the arm operating device 51, which is a pilot operated valve, by a pilot line.
- the arm operating device 51 is a pilot operating valve
- the pilot pressure output from the arm operating device 51 is detected by the pressure sensor and input to the control device 55.
- the controller 55 also controls the regulator 22 and the unload valve 26 described above. However, in FIG. 1, only some signal lines are drawn for simplification of the drawing. In general, the controller 55 controls the regulator 22 and the unload valve 26 so that the discharge flow rate of the first pump 21 increases and the opening area of the unload valve 26 decreases as the arm operation signal increases.
- the boom control valve 44 described above is connected to the boom cylinder 13 by the boom raising supply line 45 and the boom lowering supply line 46.
- the boom control valve 44 is also connected to the tank by a tank line 38.
- the boom control valve 44 is operated from the neutral position where it blocks all the lines 34, 45, 46 and 38 by performing the boom raising operation or the boom lowering operation by the boom operation device 52 (the left side of FIG. Position) or the boom lowering operation position (right side position in FIG. 1).
- the boom control valve 44 causes the boom raising supply line 45 to communicate with the second discharge line 34 and causes the boom lowering supply line 46 to communicate with the tank line (makeup line) 38.
- the boom control valve 44 brings the boom lowering supply line 46 into communication with the second discharge line 34 and blocks the boom raising supply line 45.
- the boom control valve 44 is hydraulic pilot type and has a pair of pilot ports.
- the boom control valve 44 may be of an electromagnetic pilot type.
- the boom operation device 52 includes an operation lever and outputs a boom operation signal (a boom raising operation signal or a boom lowering operation signal) according to the tilt angle of the operation lever. That is, the boom operation signal output from the boom operation device 52 increases as the tilt angle (operation amount) of the operation lever increases.
- a boom operation signal a boom raising operation signal or a boom lowering operation signal
- the boom operation device 52 is an electric joystick that outputs an electric signal as a boom operation signal.
- the boom operation signal output from the boom operation device 52 is input to the control device 55.
- the control device 55 controls the boom control valve 44 via a pair of solenoid proportional valves (not shown) so that the boom control valve 44 has an opening area corresponding to the boom operation signal.
- the boom control device 52 may be a pilot control valve that outputs a pilot pressure as a boom control signal.
- the pilot port of the boom control valve 44 is connected to the boom operating device 52, which is a pilot control valve, by a pilot line.
- the boom operating device 52 is a pilot operating valve
- the pilot pressure output from the boom operating device 52 is detected by the pressure sensor and input to the control device 55.
- the controller 55 also controls the regulator 32 and the unload valve 36 described above. In general, the controller 55 controls the regulator 32 and the unloading valve 36 so that the discharge flow rate of the second pump 31 increases and the opening area of the unloading valve 36 decreases as the boom operation signal increases.
- a check valve 27 is provided in the first suction line 23.
- a downstream portion of the check valve 27 in the first suction line 23 is connected to the boom raising supply line 45 by a regeneration line 62.
- the regenerative valve 61 is provided at a position where the regenerative line 62 is connected to the boom raising supply line 45. That is, the regenerative valve 61 is incorporated in the boom raising supply line 45 so as to divide the boom raising supply line 45 into a first passage on the boom cylinder 13 side and a second passage on the boom control valve 44 side. There is.
- a check valve 63 is provided in the regenerative line 62 between the regenerative valve 61 and the first suction line 23.
- the check valve 63 permits the flow of hydraulic fluid from the boom raising supply line 45 to the first suction line 23 while prohibiting the flow of hydraulic fluid from the first suction line 23 to the boom raising supply line 45.
- the regenerative valve 61 is controlled by the controller 55.
- the control device 55 sets the regenerative valve 61 to the first and second flow passages of the boom raising supply line 45.
- the neutral position blocking the regenerative line 62 switches the first channel of the boom raising supply line 45 to the first position (left position in FIG. 1) communicating with the second channel.
- the control device 55 sets the regenerative valve 61 to the first flow of the boom raising supply line 45 from the neutral position.
- the path is switched to a second position (right side position in FIG. 1) in communication with the regenerative line 62.
- the control device 55 adjusts the opening area of the regenerative valve 61 according to the boom lowering operation signal.
- the regenerative valve 61 causes the boom raising supply line 45 and the downstream portion of the check valve 27 in the first suction line 23 to communicate with each other through the regenerative line 62 to [1] Permit flow toward the suction line 23 (flow from the first suction line 23 to the regeneration line 62 is prohibited by the check valve 63), and hydraulic oil through the regeneration line 62 when the boom lowering operation is not performed Ban the distribution of
- the regenerative valve 61 is not limited to the three-position valve shown in FIG. 1 but may be a two-position valve from which the neutral position is omitted.
- the regenerative valve 61 is constituted by a 3-position or 2-position directional switching valve provided at a position where the regenerative line 62 is connected to the boom raising supply line 45 and a variable throttle provided in the middle of the regenerative line 62. Good.
- a downstream portion of the check valve 27 in the first suction line 23 is connected to the tank by a relief line 64, and the relief line 64 is provided with a relief valve 65.
- the relief pressure of the relief valve 65 is set to a predetermined pressure Ps (for example, 0.5 to 8 MPa). Therefore, the pressure of the downstream side portion of the check valve 27 in the first suction line 23 and the pressure of the regeneration line 62 are maintained by the relief valve 65 at a predetermined pressure Ps or less. That is, the relief valve 65 can prevent the pressure of the downstream side portion of the check valve 27 in the first suction line 23 from becoming too high.
- downstream side portion of the check valve 27 in the first suction line 23 is also connected to an accumulator switching valve 73 by a pressure release line 72.
- the accumulator switching valve 73 is connected to the first discharge line 24 by the pressure accumulation line 71 and to the accumulator 75 by the relay line 74.
- the accumulator switching valve 73 is switched between the neutral position, the pressure accumulation position (upper position in FIG. 1) and the pressure release position (lower position in FIG. 1). In the neutral position, the accumulator switching valve 73 blocks the pressure accumulation line 71, the pressure release line 72 and the relay line 74, and the accumulator 75 from the downstream side of the check valve 27 in the first discharge line 24 and the first suction line 23. Cut off. In the pressure accumulation position, the accumulator switching valve 73 communicates the pressure accumulation line 71 with the relay line 74 and connects the accumulator 75 with the first discharge line 24. In the pressure release position, the accumulator switching valve 73 communicates the relay line 74 with the pressure release line 72, and connects the accumulator 75 with the downstream portion of the check valve 27 in the first suction line 23.
- the accumulator switching valve 73 is controlled by the controller 55.
- the controller 55 determines whether the pressure accumulation condition and the pressure release condition are satisfied, and switches the accumulator switching valve 73 to the pressure accumulation position when the pressure accumulation condition is satisfied, and discharges the accumulator switching valve 73 when the pressure pressure condition is satisfied. It switches to the position and switches the accumulator switching valve 73 to the neutral position when neither the pressure accumulation condition nor the pressure release condition is satisfied.
- the controller 55 is electrically connected to the pressure sensor 56 provided in the first discharge line 24.
- the pressure sensor 56 detects the discharge pressure of the first pump 21.
- the pressure accumulation condition is that the boom lowering operation is performed alone and the boom lowering operation is performed simultaneously with other operations, and the discharge pressure of the first pump 21 detected by the pressure sensor 56 is It is lower than the threshold ⁇ 1.
- the control device 55 also receives operation signals output from the turning operation device, the bucket operation device, the left travel operation device, and the right travel operation device, which are not illustrated, so the control device 55 receives the control signal from the control device 55. It is possible to determine whether or not the pressure accumulation condition is satisfied from all the input operation signals.
- the controller 55 When the boom lowering operation is performed alone, the controller 55 fully closes the unload valve 26 and maximizes the opening area of the accumulator switching valve 73.
- the control device 55 adjusts the opening area of the accumulator switching valve 73 in accordance with the differential pressure between the discharge pressure of the first pump 21 and the set pressure of the accumulator 75.
- the pressure release condition is that the discharge pressure of the first pump 21 detected by the pressure sensor 56 is higher than the reference value ⁇ 2.
- the reference value ⁇ 2 for the pressure release condition is larger than the threshold value ⁇ 1 for the pressure accumulation condition.
- the pressure release condition is not limited to this, and a specific operation may be performed.
- the second suction line 33 is provided with a check valve 37, and the downstream side portion of the check valve 37 in the second suction line 33 is connected to the check valve 63 in the regeneration line 62 by the relay line 66. Is also connected to the boom raising supply line 45 side.
- the relay line 66 is provided with a check valve 67 that permits the flow of hydraulic fluid from the regenerative line 62 to the second suction line 33 while prohibiting the flow of hydraulic fluid from the second suction line 33 to the regenerative line 62. It is done.
- the boom raising supply line 45 and the downstream side portion of the check valve 37 in the second suction line 33 The flow is communicated through the regeneration line 62 to allow the flow from the regeneration line 62 to the second suction line 33 (the flow from the second suction line 33 to the regeneration line 62 is inhibited by the check valve 67).
- the downstream side portion of the check valve 37 in the second suction line 33 is connected to the tank by a relief line 68, and the relief line 68 is provided with a relief valve 69.
- the relief line 68 is branched from the relay line 66 in the illustrated example, it goes without saying that the relief line 68 may be branched from the second suction line 33.
- the relief pressure of the relief valve 69 is set to the above-described predetermined pressure Ps. Therefore, the pressure of the downstream side portion of the check valve 37 in the second suction line 33 is maintained at or below the predetermined pressure Ps by the relief valve 69.
- the regulator 22 of the first pump 21 is controlled to be smaller (Qt ⁇ Qm).
- the boom lowering operation when the boom lowering operation is performed, the high pressure hydraulic fluid discharged from the boom cylinder 13 passes through the regeneration line 62 to the first suction line 23 and the second suction. It is led to line 33.
- the boom lowering operation is simultaneously performed with another operation (for example, arm operation etc.) in which the first pump 21 supplies hydraulic fluid to hydraulic actuators other than the boom cylinder 13.
- the first pump 21 supplies hydraulic fluid to hydraulic actuators other than the boom cylinder 13.
- it is performed by supplying the hydraulic oil of high pressure to the suction side of the first pump 21, it is possible to reduce the power and the amount of work that the first pump 21 should bear.
- the accumulator switching valve 73 is switched to the pressure accumulation position, so that the potential energy of the boom can be accumulated in the accumulator 75 as pressure.
- the first pump 21 intervenes between the regenerative valve 61 and the accumulator 75, and the pressure downstream of the regenerative valve 61 is maintained at a constant pressure Ps by the relief valves 65 and 69, so the boom is lowered.
- the speed mainly depends on the opening area of the regenerative valve 61. Therefore, it is possible to prevent the change in pressure of the accumulator 75 from affecting the boom lowering speed.
- the pressure accumulation condition may be only that the boom lowering operation is performed independently. However, if the pressure accumulation condition is set as in this embodiment, not only when the boom lowering operation is performed alone, but also when the boom lowering operation is performed simultaneously with the specific operation, the potential energy of the boom is It can be stored in the accumulator 75.
- the discharge pressure condition is that the discharge pressure of the first pump 21 is higher than the reference value ⁇ 2
- the energy accumulated in the accumulator 75 can be hydraulically supplied from the first pump 21 with the hydraulic oil. It can be used when the load on the actuator is relatively large.
- the unload valve 26 when the boom lowering operation is performed alone, the unload valve 26 is fully closed. Therefore, when the boom lowering operation is performed alone, the bleed off through the unload line 25 is interrupted. Energy can be stored. Moreover, since the boom control valve 44 is connected to the second pump 31 not provided with the accumulator 75, the boom position can be achieved without sacrificing the boom lowering speed when the boom lowering operation is performed alone. Energy can be stored in the accumulator 75 as much as possible.
- the relay line 66 since the relay line 66 is provided, high-pressure hydraulic oil discharged from the boom cylinder 13 is also supplied to the suction side of the second pump when the boom lowering operation is performed. Ru. Therefore, the power and the amount of work that the second pump should bear can be reduced.
- FIG. 3 shows a hydraulic drive system 1B of a construction machine according to a second embodiment of the present invention.
- the same components as those in the first embodiment are denoted by the same reference numerals, and duplicate descriptions are omitted.
- the second pump 31 (see FIG. 1) is omitted, and the first pump 21 is connected to all the control valves by the first discharge line 24. Also in this embodiment, the same effect as that of the first embodiment can be obtained. However, if the first pump 21 and the second pump 31 are used in combination as in the first embodiment, hydraulic fluid is supplied to the boom cylinder 13 using the second pump 31 when the boom lowering operation is performed. Meanwhile, energy can be stored in the accumulator 75 using the first pump 21.
- the controller 55 controls the first pump 21 so that the discharge flow rate Q1 of the first pump 21 becomes smaller than the flow rate Qm of the hydraulic fluid discharged from the boom cylinder 13 (Q1 ⁇ Qm).
- the regulator 22 is controlled.
- FIG. 4 shows a hydraulic drive system 1C of a construction machine according to a third embodiment of the present invention.
- a regenerative motor 76 instead of the regenerative valve 61 of the first embodiment and the swing control valve (not shown), a regenerative motor 76, a swing supply valve 47, a first swing discharge valve 93, and a second swing discharge valve 97 are adopted. There is. For this reason, the check valve 37 is not provided in the second suction line 33 of the second pump 31.
- the first pump 21 is connected by the first discharge line 24 to the swing supply valve 47 and the arm control valve and the right travel control valve not shown.
- the swing supply valve 47 is connected to the swing motor 16 by a pair of swing supply lines (left swing supply line 48 and right swing supply line 49).
- the turning supply valve 47 is operated from the neutral position where it blocks all the lines 24, 48, 49 by the turning operation device 53 performing a left turning operation or a right turning operation (the right turning position shown in FIG. Or the right turn operation position (the left position in FIG. 1).
- the turn supply valve 47 communicates the left turn supply line 48 with the first discharge line 24 and blocks the right turn supply line 49.
- the turn supply valve 47 communicates the right turn supply line 49 with the first discharge line 24 and blocks the left turn supply line 48.
- the turning supply valve 47 is a hydraulic pilot type and has a pair of pilot ports.
- the swing supply valve 47 may be of an electromagnetic pilot type.
- the turning operation device 53 includes a control lever, and outputs a turning operation signal (left turn operation signal or right turn operation signal) according to the tilt angle of the operation lever. That is, the turning operation signal output from the turning operation device 53 becomes larger as the tilt angle (operation amount) of the operation lever becomes larger.
- the turning operation device 53 is an electric joystick that outputs an electric signal as a turning operation signal.
- the turning operation signal output from the turning operation device 53 is input to the control device 55.
- the controller 55 controls the swing supply valve 47 via a pair of solenoid proportional valves (not shown) so that the swing supply valve 47 has an opening area corresponding to the swing operation signal.
- the turning operation device 53 may be a pilot operation valve that outputs a pilot pressure as a turning operation signal.
- the pilot port of the turning supply valve 47 is connected by a pilot line to the turning operation device 53 which is a pilot operation valve.
- the swing operation device 53 is a pilot control valve
- the pilot pressure output from the swing operation device 53 is detected by the pressure sensor and input to the control device 55.
- the left turn supply line 48 and the right turn supply line 49 are connected to each other by a bridge passage 81.
- the bridge passage 81 is provided with a pair of relief valves 82 in opposite directions.
- the portion between the relief valves 82 in the bridge path 81 is connected to the tank via a check valve 86 whose cracking pressure is set slightly higher by a makeup line 85.
- the boom control valve 44 and the unload valves 26, 36 are also connected to the tank via the check valve 86.
- Each of the left turn supply line 48 and the right turn supply line 49 is connected to the makeup line 85 by a bypass line 83.
- a pair of bypass lines 83 may be provided in the bridge path 81 so as to bypass each relief valve 82.
- Each bypass line 83 is provided with a check valve 84.
- the first turning discharge valve 93 is connected to the right turning supply line 49 by the left turning discharge line 92, and is connected to the left turning supply line 48 by the right turning discharge line 91.
- the first swirling discharge valve 93 is connected to the tank by a tank line 94.
- the first swing discharge valve 93 performs all the swing acceleration operations (when the swing operation signal increases) and when the swing constant-speed operation is performed (when the swing operation signal is constant other than zero).
- the neutral position blocking the lines 91, 92, 94 is switched to the left turn operating position (left position in FIG. 1) or the right turn operating position (right position in FIG. 1).
- the first turning discharge valve 93 is maintained at the neutral position.
- the first turn discharge valve 93 communicates the left turn discharge line 92 with the tank line 94 and blocks the right turn discharge line 91.
- the first turn discharge valve 93 communicates the right turn discharge line 91 with the tank line 94 and blocks the left turn discharge line 92. That is, the first swing discharge valve 93 allows the hydraulic fluid to flow from the left turn supply line 48 or the right turn supply line 49 to the tank when the turn acceleration operation and the turn constant velocity operation are performed, and the turn acceleration is performed.
- the operation and the swing constant velocity operation are not performed (for example, when the swing decelerating operation described later is performed)
- the first swing discharge valve 93 is a hydraulic pilot type, and has a pair of pilot ports.
- the first swing discharge valve 93 may be of an electromagnetic pilot type.
- the controller 55 controls the first swing discharge valve 93 via a pair of solenoid proportional valves (not shown). More specifically, the control device 55 controls the first swing discharge valve 93 such that the first swing discharge valve 93 has an opening area corresponding to the swing operation signal when the swing acceleration operation and the swing constant velocity operation are performed. Do.
- the second turning discharge valve 97 is connected to the right turning supply line 49 by the left turning discharge line 96 and is connected to the left turning supply line 48 by the right turning discharge line 95. Further, the second swing discharge valve 97 is connected to the regenerative motor 76 by the regenerative line 98, and the regenerative motor 76 is connected to the tank by the tank line 99.
- the second turning discharge valve 97 is located at the left turning operation position (the left position in FIG. 1) from the neutral position where all the lines 95, 96, 98 are blocked when the turning deceleration operation is performed (the turning operation signal decreases). Or the right turn operation position (right side position in FIG. 1). That is, when the turning operation is performed, the first turning discharge valve 93 is used in the first half, and the second turning discharge valve 97 is used in the second half. On the other hand, when the swing decelerating operation is not performed, the second swing discharge valve 97 is maintained at the neutral position.
- the second turn discharge valve 97 causes the left turn discharge line 96 to communicate with the regeneration line 98 and blocks the right turn discharge line 95.
- the second turn discharge valve 97 connects the right turn discharge line 95 with the regeneration line 98 and blocks the left turn discharge line 96. That is, the second swing discharge valve 97 allows the hydraulic fluid to flow from the left turn supply line 48 or the right turn supply line 49 to the regenerative motor 76 when the turn reduction operation is performed, and the turn reduction operation is performed. If it does not occur (for example, when the above-described swing acceleration operation and swing constant velocity operation are performed), the flow of hydraulic fluid from the left turn supply line 48 and the right turn supply line 49 to the regenerative motor 76 is prohibited.
- the second swing discharge valve 97 is a hydraulic pilot type and has a pair of pilot ports.
- the second swing discharge valve 97 may be of an electromagnetic pilot type.
- the controller 55 controls the second swing discharge valve 97 via a pair of solenoid proportional valves (not shown). More specifically, the control device 55 controls the second swing discharge valve 97 such that the second swing discharge valve 97 has an opening area corresponding to the swing operation signal when the swing decelerating operation is performed.
- the regenerative motor 76 is a variable displacement motor (swash plate motor or oblique axis motor) whose tilt angle can be changed.
- the tilt angle of the regenerative motor 76 is adjusted by the regulator 79.
- the regulator 79 is operated by, for example, an electrical signal.
- the regulator 79 may electrically change the hydraulic pressure acting on the servo piston connected to the swash plate of the motor, or the swash plate of the motor It may be a connected electric actuator.
- the regulator 79 is controlled by the controller 55.
- the control device 55 controls the regulator 79 such that the capacity of the regenerative motor 76 decreases as the operation amount (tilt angle) of the operation lever of the turning operation device 53 decreases.
- the regenerative motor 76 is connected to the first pump 21 via a one-way clutch 77.
- the one-way clutch 77 allows the transmission of rotation and torque from the regenerative motor 76 to the first pump 21 only when the rotational speed of the regenerative motor 76 is faster than the rotational speed of the first pump 21. Do not communicate.
- the controller 55 determines whether the pressure accumulation condition and the pressure release condition are satisfied, and switches the accumulator switching valve 73 to the pressure accumulation position when the pressure accumulation condition is satisfied, and switches the accumulator when the pressure release condition is satisfied.
- the valve 73 is switched to the pressure release position, and the accumulator switching valve 73 is switched to the neutral position when neither the pressure accumulation condition nor the pressure release condition is satisfied.
- the pressure accumulation condition is that the swing decelerating operation is performed independently and the swing decelerating operation is performed simultaneously with other operations, and the discharge pressure of the first pump 21 detected by the pressure sensor 56 is It is lower than the threshold value ⁇ 1.
- the controller 55 When the swing decelerating operation is performed alone, the controller 55 fully closes the unload valve 26 and maximizes the opening area of the accumulator switching valve 73.
- the control device 55 adjusts the opening area of the accumulator switching valve 73 in accordance with the differential pressure between the discharge pressure of the first pump 21 and the set pressure of the accumulator 75.
- the high-pressure hydraulic fluid discharged from the swing motor 16 is guided to the regeneration motor 76. Therefore, power and energy are regenerated from the hydraulic oil discharged from the swing motor 16, and the regenerated power and energy assist the drive of the first pump 21 and the second pump 31. Therefore, when the accumulator switching valve 73 is in the neutral position and the swing decelerating operation is performed simultaneously with another operation, the regenerative power and energy are directly connected to the operation of the hydraulic actuator other than the swing motor 16. Used for
- the accumulator switching valve 73 is switched to the pressure accumulation position, so regenerative power and energy can be accumulated in the accumulator 75 as pressure.
- the swing speed mainly depends on the tilt angle (motor capacity) of the regenerative motor 76 and the second swing. It depends on the opening area of the discharge valve 97. Therefore, it is possible to prevent the change in pressure of the accumulator 75 from affecting the turning speed.
- the outlet pressure of the turning motor 16 can be maintained high, so that the turning motor 16 can be decelerated.
- the necessary braking force can be applied to the swing motor 16.
- the pressure accumulation condition may be only that the turning and decelerating operation is performed alone. However, if the pressure accumulation condition is set as in the present embodiment, the regenerative power and energy can be used not only when the swing decelerating operation is performed alone but also when the swing decelerating operation is performed simultaneously with the specific operation. It can be stored in the accumulator 75.
- the pressure release condition is that the swing reduction operation is not performed and the discharge pressure of the first pump 21 is higher than the reference value ⁇ 2
- the regenerative power and energy stored in the accumulator 75 are obtained. Can be used when the load of the hydraulic actuator supplied with hydraulic fluid from the first pump 21 is relatively large.
- the unload valve 26 is fully closed when the swing decelerating operation is performed alone, so that the bleed off through the unload line 25 is interrupted when the swing decelerating operation is performed alone.
- regenerative power and energy can be stored without waste.
- the relay line 66 may be omitted.
- the check valve 37 of the second suction line 33, the relief line 68, and the check valve 63 of the regeneration line 62 can be omitted.
- the second pump 31 may be omitted, and the first pump 21 may be connected to all the control valves by the first discharge line 24.
- the second suction line 33 may be provided with the check valve 37 (see FIG. 1), and the accumulator 75 and the accumulator switching valve 73 may be provided on the second pump 31 side. That is, the accumulator switching valve 73 may be connected to the second discharge line 34 by the pressure accumulation line 71, and may be connected to the downstream side portion of the check valve 37 in the second suction line 33 by the pressure release line 72.
- the controller 55 may switch the turning supply valve 47 to the neutral position when the turning deceleration operation is performed. Even in this case, hydraulic fluid is supplied to the swing motor 16 from the tank via the check valve 84.
- the hydraulic oil discharged from the regenerative motor 76 may be returned to the swing motor 16. More specifically, the regenerative motor 76 is connected to the second swing discharge valve 97 by the return line 78, and the second swing discharge valve 97 is communicated with the right turn discharge line 95 in the left swing operation position. In the pivoting position, the return line 78 is in communication with the left pivot discharge line 96.
- a configuration (regenerative valve 61 and regeneration line 62) for regenerating energy from hydraulic oil discharged from boom cylinder 13 in the first embodiment and hydraulic oil discharged from swing motor 16 in the second embodiment A configuration for regenerating energy (regenerative motor 76, turning supply valve 47, first turning discharge valve 93 and second turning discharge valve 97) may be combined.
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Abstract
Description
図1に、本発明の第1実施形態に係る建設機械の油圧駆動システム1Aを示し、図2に、その油圧駆動システム1Aが搭載された建設機械10を示す。図2に示す建設機械10は油圧ショベルであるが、本発明は、油圧クレーンなどの他の建設機械にも適用可能である。
図3に、本発明の第2実施形態に係る建設機械の油圧駆動システム1Bを示す。なお、本実施形態および後述する第3実施形態において、第1実施形態と同一構成要素には同一符号を付し、重複した説明は省略する。
図4に、本発明の第3実施形態に係る建設機械の油圧駆動システム1Cを示す。本実施形態では、第1実施形態の回生弁61および図略の旋回制御弁に代えて、回生モータ76、旋回供給弁47、第1旋回排出弁93および第2旋回排出弁97が採用されている。このため、第2ポンプ31の第2吸入ライン33に逆止弁37が設けられていない。
本発明は上述した実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変形が可能である。
13 ブームシリンダ
14 アームシリンダ
16 旋回モータ
21 第1ポンプ
23 第1吸入ライン
24 第1吐出ライン
25 アンロードライン
26 アンロード弁
27 逆止弁
31 第2ポンプ
33 第2吸入ライン
34 第2吐出ライン
37 逆止弁
41 アーム制御弁
42 アーム引き供給ライン
43 アーム押し供給ライン
44 ブーム制御弁
45 ブーム上げ供給ライン
46 ブーム下げ供給ライン
47 旋回供給弁
48 左旋回供給ライン
49 右旋回供給ライン
55 制御装置
61 回生弁
62 回生ライン
65,69 リリーフ弁
66 中継ライン
67 逆止弁
73 アキュムレータ切換弁
75 アキュムレータ
76 回生モータ
77 ワンウェイクラッチ
93 第1旋回排出弁
97 第2旋回排出弁
Claims (13)
- ブームシリンダと、
ブーム上げ供給ラインおよびブーム下げ供給ラインにより前記ブームシリンダと接続されたブーム制御弁であって、ブーム下げ操作が行われるときに前記ブーム上げ供給ラインをブロックするブーム制御弁と、
逆止弁が設けられた吸入ラインを通じて作動油を吸入し、吐出ラインを通じて作動油を吐出するポンプと、
前記ブーム上げ供給ラインと前記吸入ラインにおける前記逆止弁の下流側部分とを接続する回生ラインと、
ブーム下げ操作が行われるときに前記ブーム上げ供給ラインと前記吸入ラインにおける前記逆止弁の下流側部分とを前記回生ラインを通じて連通させ、ブーム下げ操作が行われないときに前記回生ラインを通じた作動油の流通を禁止する回生弁と、
前記吸入ラインにおける前記逆止弁の下流側部分の圧力を所定圧以下に保つリリーフ弁と、
アキュムレータを前記吐出ラインと接続する蓄圧位置と、前記アキュムレータを前記吸入ラインにおける前記逆止弁の下流側部分と接続する放圧位置と、前記アキュムレータを前記吐出ラインおよび前記吸入ラインにおける前記逆止弁の下流側部分から遮断する中立位置との間で切り換えられるアキュムレータ切換弁と、
前記アキュムレータ切換弁を制御する制御装置と、を備え、
前記制御装置は、ブーム下げ操作が単独で行われることを含む蓄圧条件を満たすときに前記アキュムレータ切換弁を前記蓄圧位置に切り換え、放圧条件を満たすときに前記アキュムレータ切換弁を前記放圧位置に切り換え、前記蓄圧条件と前記放圧条件のどちらも満たさないときに前記アキュムレータ切換弁を前記中立位置に切り換える、建設機械の油圧駆動システム。 - 前記蓄圧条件は、ブーム下げ操作が単独で行われることと、ブーム下げ操作がその他の操作と同時に行われるときであって前記ポンプの吐出圧が閾値よりも低いことである、請求項1に記載の建設機械の油圧駆動システム。
- 前記放圧条件は、前記ポンプの吐出圧が基準値よりも高いことである、請求項1または2に記載の建設機械の油圧駆動システム。
- 前記ポンプ、前記吸入ラインおよび前記吐出ラインは、それぞれ第1ポンプ、第1吸入ラインおよび第1吐出ラインであり、
アームシリンダと、
アーム引き供給ラインおよびアーム押し供給ラインにより前記アームシリンダと接続されたアーム制御弁と、
第2吸入ラインを通じて作動油を吸入し、第2吐出ラインを通じて作動油を吐出する第2ポンプと、をさらに備え、
前記第1ポンプは、前記第1吐出ラインにより前記アーム制御弁と接続されており、
前記第2ポンプは、前記第2吐出ラインにより前記ブーム制御弁と接続されている、請求項1~3の何れか一項に記載の建設機械の油圧駆動システム。 - 前記回生ラインには、前記ブーム上げ供給ラインから前記第1吸入ラインへの作動油の流通を許容する一方、前記第1吸入ラインから前記ブーム上げ供給ラインへの作動油の流通を禁止する逆止弁が設けられており、
前記第2吸入ラインには逆止弁が設けられており、前記第2吸入ラインにおける前記逆止弁の下流側部分は、中継ラインにより前記回生ラインにおける前記逆止弁よりも前記ブーム上げ供給ライン側の部分と接続されており、
前記中継ラインには、前記回生ラインから前記第2吸入ラインへの作動油の流通を許容する一方、前記第2吸入ラインから前記回生ラインへの作動油の流通を禁止する逆止弁が設けられており、
前記第2吸入ラインにおける前記逆止弁の下流側部分の圧力を所定圧以下に保つリリーフ弁をさらに備える、請求項4に記載の建設機械の油圧駆動システム。 - 前記第1ポンプは、最低吐出流量がゼロよりも大きく設定された可変容量型のポンプであり、
前記第1吐出ラインから分岐するアンロードラインに設けられたアンロード弁をさらに備え、
前記制御装置は、ブーム下げ操作が単独で行われるときに前記アンロード弁を全閉にする、請求項4または5に記載の建設機械の油圧駆動システム。 - 旋回モータと、
一対の旋回供給ラインにより前記旋回モータと接続された旋回供給弁であって、旋回操作が行われるときに前記旋回供給ラインの一方をブロックする旋回供給弁と、
逆止弁が設けられた吸入ラインを通じて作動油を吸入し、吐出ラインを通じて作動油を吐出するポンプと、
前記ポンプと連結された回生モータと、
旋回加速操作および旋回等速操作が行われるときに前記旋回供給ラインの一方からタンクへの作動油の流通を許容し、旋回加速操作および旋回等速操作が行われないときに前記旋回供給ラインの一方および双方からタンクへの作動油の流通を禁止する第1旋回排出弁と、
旋回減速操作が行われるときに前記旋回供給ラインの一方から前記回生モータへの作動油の流通を許容し、旋回減速操作が行われないときに前記旋回供給ラインの双方から前記回生モータへの作動油の流通を禁止する第2旋回排出弁と、
アキュムレータを前記吐出ラインと接続する蓄圧位置と、前記アキュムレータを前記吸入ラインにおける前記逆止弁の下流側部分と接続する放圧位置と、前記アキュムレータを前記吐出ラインおよび前記吸入ラインにおける前記逆止弁の下流側部分から遮断する中立位置との間で切り換えられるアキュムレータ切換弁と、
前記アキュムレータ切換弁を制御する制御装置と、を備え、
前記制御装置は、旋回減速操作が単独で行われることを含む蓄圧条件を満たすときに前記アキュムレータ切換弁を前記蓄圧位置に切り換え、放圧条件を満たすときに前記アキュムレータ切換弁を前記放圧位置に切り換え、前記蓄圧条件と前記放圧条件のどちらも満たさないときに前記アキュムレータ切換弁を前記中立位置に切り換える、建設機械の油圧駆動システム。 - 前記回生モータは、当該回生モータの回転速度が前記ポンプの回転速度より速いときだけ前記回生モータから前記ポンプへの回転およびトルクの伝達を許容するワンウェイクラッチを介して前記ポンプと連結されている、請求項7に記載の建設機械の油圧駆動システム。
- 前記ポンプは、前記吐出ラインにより前記旋回供給弁と接続されている、請求項7または8に記載の建設機械の油圧駆動システム。
- 前記蓄圧条件は、旋回減速操作が単独で行われることと、旋回減速操作がその他の操作と同時に行われるときであって前記ポンプの吐出圧が閾値よりも低いことである、請求項7~9の何れか一項に記載の建設機械の油圧駆動システム。
- 前記放圧条件は、旋回減速操作が行われないときであって前記ポンプの吐出圧が基準値よりも高いことである、請求項7~10の何れか一項に記載の建設機械の油圧駆動システム。
- 前記ポンプは、最低吐出流量がゼロよりも大きく設定された可変容量型のポンプであり、
前記吐出ラインから分岐するアンロードラインに設けられたアンロード弁をさらに備え、
前記制御装置は、旋回減速操作が単独で行われるときに前記アンロード弁を全閉にする、請求項7~11の何れか一項に記載の建設機械の油圧駆動システム。 - 前記回生モータは、可変容量型のモータである、請求項7~12の何れか一項に記載の建設機械の油圧駆動システム。
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