WO2022085645A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- WO2022085645A1 WO2022085645A1 PCT/JP2021/038490 JP2021038490W WO2022085645A1 WO 2022085645 A1 WO2022085645 A1 WO 2022085645A1 JP 2021038490 W JP2021038490 W JP 2021038490W WO 2022085645 A1 WO2022085645 A1 WO 2022085645A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- output
- actuator
- upper limit
- control valve
- hydraulic pump
- Prior art date
Links
- 238000010276 construction Methods 0.000 title claims abstract description 20
- 239000000446 fuel Substances 0.000 abstract description 10
- 238000009825 accumulation Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 18
- 238000006243 chemical reaction Methods 0.000 description 13
- 239000012530 fluid Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001502 supplementing effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- F15B1/04—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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/21—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
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
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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
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
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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
- F15B2211/31—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
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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
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional 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
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31535—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and a single 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
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
- F15B2211/353—Flow control by regulating means in return line, i.e. meter-out control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—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
- F15B2211/60—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
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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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
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- 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
- F15B2211/6655—Power control, e.g. combined pressure and flow rate control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to construction machinery such as hydraulic excavators.
- Patent Document 1 describes a fluid pressure actuator control circuit capable of improving fuel efficiency by supplying pressure oil stored in an accumulator (accumulation device) to a boom cylinder and reducing the flow rate sent from the pump to the boom cylinder by that amount. Is described.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a construction machine equipped with a pressure accumulator for storing return oil of an actuator, which can achieve both improvement of fuel efficiency and improvement of workability. be.
- the present invention comprises a prime mover, a hydraulic pump driven by the prime mover, an actuator driven by the hydraulic pump, a pressure accumulator for storing the return oil of the actuator, and the hydraulic pump.
- the first control valve that can adjust the flow rate of the pressure oil supplied to the actuator, the second control valve that can adjust the flow rate of the pressure oil supplied from the accumulator to the actuator, and the operation of the actuator are instructed.
- the work mode of the construction machine is set.
- a work mode selection device for selection is provided, and the controller sets an actuator upper limit output, which is an upper limit output of the actuator, according to the work mode selected by the work mode selection device, and the output of the hydraulic pump and the said. It is assumed that the first control valve and the second control valve are controlled so that the total with the output of the accumulator does not exceed the upper limit output of the actuator.
- the output of the hydraulic pump is reduced to improve fuel efficiency. be able to.
- the upper limit output of the actuator exceeds the maximum output of the hydraulic pump, the workability can be improved by supplementing the output of the hydraulic pump with the output of the accumulator.
- FIG. 1 is a side view of the hydraulic excavator according to the present embodiment.
- the hydraulic excavator 200 is rotatably arranged on the traveling body 201 and the traveling body 201, and is rotatably attached to the rotating body 202 constituting the vehicle body and the turning body 202 in the vertical direction. It is equipped with a work device 203 for excavating earth and sand.
- the swivel body 202 is driven by the swivel motor 204.
- the work device 203 has a boom 205 rotatably attached to the swivel body 202 in the vertical direction, an arm 206 rotatably attached to the tip of the boom 205 in the vertical direction, and a vertical rotation to the tip of the arm 206.
- the boom 205 is driven by the boom cylinder 4
- the arm 206 is driven by the arm cylinder 208
- the bucket 207 is driven by the bucket cylinder 209.
- a driver's cab 210 is provided at the front position on the swivel body 202, and a counterweight 211 for ensuring weight balance is provided at the rear position.
- a machine room 212 is provided between the driver's cab 210 and the counterweight 211.
- the machine room 212 houses an engine as a prime mover, a hydraulic pump, a control valve 213, and the like.
- the control valve 213 controls the flow of pressure oil supplied from the hydraulic pump to each actuator.
- the prime mover in the present invention is not limited to the engine, and may be a motor whose rotation speed can be adjusted via an inverter.
- FIG. 2 is a circuit diagram of a hydraulic drive device mounted on the hydraulic excavator 200. Note that FIG. 2 shows only the portion related to the drive of the boom cylinder 4, and omits the portion related to the drive of the other actuators.
- the hydraulic drive device is from the engine 2 which is a power source, the hydraulic pump 1 driven by the engine 2, the boom cylinder 4 driven by the hydraulic pump 1, and the hydraulic pump 1.
- a center bypass type control valve 3 that adjusts the direction and flow rate of the pressure oil supplied to the boom cylinder 4, an accumulator 6 as a pressure accumulator accumulated by the hydraulic pump 1, and a pressure flowing into the accumulator 6 from the hydraulic pump 1.
- the control valve 5 that adjusts the flow rate of oil
- the control valve 7 that adjusts the direction and flow rate of the pressure oil supplied from the accumulator 6 to the boom cylinder 4, and the pressure oil of the hydraulic pump 1 are prevented from flowing into the tank 20.
- the controller 10 increases the flow rate of the hydraulic pump 1 according to the lever operation amount, and switches at least one of the control valves 3 and 7 according to the lever operation direction, so that the hydraulic pump 1 Alternatively, the boom cylinder 4 can be expanded or contracted by supplying pressure oil from the accumulator 6 to one oil chamber of the boom cylinder 4 and returning the hydraulic oil discharged from the other oil chamber to the tank 20. Further, the controller 10 can hold the pressure of the accumulator 6 by opening the control valve 5 and supplying the pressure oil from the hydraulic pump 1 to the accumulator 6 when the pressure of the accumulator 6 drops.
- the controller 10 selects and selects one of a plurality of work modes (in this embodiment, a normal mode, an energy saving priority mode, and a workability priority mode) according to the operation of the work mode switch 12.
- a normal mode in this embodiment, an energy saving priority mode, and a workability priority mode
- the output upper limit value of the boom cylinder 4 hereinafter, actuator upper limit output
- the output upper limit value of the hydraulic pump 1 hereinafter, pump upper limit output
- the rotation speed of the engine 2 hereinafter, engine rotation speed
- FIG. 3 is a diagram showing the processing contents of the controller 10.
- the operation lever signal 111 is a signal input to the controller 10 in response to the operation of the boom operation lever 11.
- the work mode switch signal 112 is a signal input to the controller 10 in response to the operation of the work mode switch 12.
- the function generation unit 104 converts the operation lever signal 111 (the operation amount of the boom operation lever 11) into the output of the boom cylinder 4 and outputs it to the minimum value selection unit 105.
- the work mode setting map 119 sets the actuator upper limit output 116, the pump upper limit output 117, and the engine speed 118 according to the work mode switch signal 112 (work mode), and outputs the actuator upper limit output 116 to the minimum value selection unit 105. Then, the pump upper limit output 117 is output to the minimum value selection unit 106, and the engine speed 118 is output to the output conversion unit 115.
- the work mode setting map 119 stores the actuator upper limit output 116, the pump upper limit output 117, and the engine speed 118 for each of the plurality of work modes (energy saving priority mode, normal mode, workability priority mode).
- the actuator upper limit output 116 and the pump upper limit output 117 are expressed as a ratio to the output of the engine 2 (hereinafter referred to as the engine maximum output) when the engine 2 is operating at the rated rotation speed (for example, 1800 rpm), and the engine rotation speed 118 is rated. It is expressed as a ratio to the number of revolutions.
- the actuator upper limit output 116 is set to 100%
- the pump upper limit output 117 is set to 80%
- the engine speed 118 is set to 80%.
- the shortfall (maximum 20%) of the output of the hydraulic pump 1 (maximum 80%) with respect to the output of the actuator 4 (maximum 100%) is compensated by the output of the accumulator 6.
- the pressure loss of the valve and the loss of the pump are not considered, and the output of the actuator 4 is assumed to be equal to the sum of the output of the hydraulic pump 1 and the output of the accumulator 6. are doing.
- the boom cylinder 4 is taken as an example of the actuator, the actuator is not particularly limited.
- the actuator upper limit output 116 is set to 80%
- the pump upper limit output 117 is set to 60%
- the engine speed 118 is set to 60%.
- the shortfall (maximum 20%) of the output of the hydraulic pump 1 (maximum 60%) with respect to the output of the actuator 4 (maximum 80%) is compensated by the output of the accumulator 6.
- the actuator upper limit output 116 is set to 120%
- the pump upper limit output 117 is set to 100%
- the engine speed 118 is set to 100%.
- the shortfall (maximum 20%) of the output of the hydraulic pump 1 (maximum 100%) with respect to the output of the actuator 4 (maximum 120%) is compensated by the output of the accumulator 6.
- the output of the actuator 4 larger than the maximum output of the engine can be obtained.
- the pump upper limit output is set to the value obtained by subtracting the maximum output (20%) of the accumulator 6 from the actuator upper limit output to maximize the output of the accumulator 6 and minimize the output of the hydraulic pump 1. Can be suppressed to. Further, by setting the engine speed to the same ratio as the pump upper limit output, the output of the engine 2 can be suppressed to the minimum necessary.
- the minimum value selection unit 105 selects the smaller of the actuator output from the function generation unit 104 and the actuator upper limit output 116 from the work mode setting map 119 as the actuator output, and the minimum value selection unit 106 and Output to the subtraction unit 108.
- the output of the actuator 4 can be limited to the actuator upper limit output of 116 or less.
- the minimum value selection unit 106 selects the smaller of the actuator output from the minimum value selection unit 105 and the pump upper limit output 117 from the work mode setting map 119 as the pump output, and the subtraction unit 108, the output conversion unit 113, and the output conversion unit 113. It is output to the output conversion unit 114. Thereby, the output of the hydraulic pump 1 can be limited to the pump upper limit output 117 or less.
- the subtraction unit 108 calculates the accumulator output by subtracting the pump output from the minimum value selection unit 106 from the actuator output from the minimum value selection unit 105, and outputs the accumulator output to the output conversion unit 109. As a result, the shortage of the output of the hydraulic pump 1 with respect to the output of the actuator 4 can be compensated by the output of the accumulator 6.
- the output conversion unit 109 outputs a control valve control signal 107 for matching the output of the accumulator 6 with the accumulator output from the subtraction unit 108 to the control valve 7.
- the output conversion unit 113 converts the pump output from the minimum value selection unit 106 into the operation amount of the control valve 3, and outputs the control valve control signal 103 corresponding to the operation amount to the control valve 3.
- the output conversion unit 114 outputs a pump control signal 101 for matching the output of the hydraulic pump 1 with the pump output from the minimum value selection unit 106 to the hydraulic pump 1.
- the output conversion unit 115 outputs an engine control signal 102 for matching the rotation speed of the engine 2 with the engine rotation speed 118 from the work mode setting map 119 to the engine 2.
- the prime mover 2 the hydraulic pump 1 driven by the prime mover 2
- the actuator 4 driven by the hydraulic pump 1
- the pressure accumulator 6 for storing the return oil of the actuator 4
- the hydraulic pump 1 to the actuator 4 The first control valve 3 that can adjust the flow rate of the pressure oil supplied to the actuator 4, the second control valve 7 that can adjust the flow rate of the pressure oil supplied from the accumulator 6 to the actuator 4, and the operation of the actuator 4 are instructed.
- the construction machine 200 including the operation device 11 for operating the actuator and the controller 10 to which the operation signal is input from the operation device 11 and the control signal is output to the first control valve 3 and the second control valve 7, the construction machine 200
- a work mode selection device 12 for selecting a work mode is provided, and the controller 10 sets an actuator upper limit output, which is an upper limit output of the actuator 4, according to the work mode selected by the work mode selection device 12, and the hydraulic pump 1
- the first control valve 3 and the second control valve 7 are controlled so that the sum of the output of the actuator and the output of the accumulator 6 does not exceed the actuator upper limit output.
- the output of the hydraulic pump 1 is reduced. Therefore, the fuel efficiency can be improved.
- the upper limit output of the actuator 4 exceeds the maximum output of the hydraulic pump 1, the workability can be improved by supplementing the output of the hydraulic pump with the output of the accumulator.
- the controller 10 in the present embodiment lowers the pump upper limit output, which is the upper limit output of the hydraulic pump 1, in accordance with the decrease of the actuator upper limit output so that the output of the hydraulic pump 1 does not exceed the pump upper limit output.
- the first control valve 3 is controlled. As a result, the output of the accumulator 6 can be fully utilized and the output of the hydraulic pump 1 can be minimized.
- controller 10 in the present embodiment reduces the rotation speed of the prime mover 2 according to the decrease in the upper limit output of the pump.
- the motor 2 can be used in a region with high energy efficiency, and fuel efficiency can be further improved.
- the controller 10 in the present embodiment operates the actuator upper limit output at the rated rotation speed when the work mode (workability priority mode) in which workability is prioritized is selected by the work mode selection device 12.
- the work mode workability priority mode
- the output of the actuator 4 can be made larger than the maximum output of the prime mover 2.
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- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Hydrogenated Pyridines (AREA)
Abstract
Description
(効果)
本実施の形態では、原動機2と、原動機2によって駆動される油圧ポンプ1と、油圧ポンプ1によって駆動されるアクチュエータ4と、アクチュエータ4の戻り油を蓄える蓄圧装置6と、油圧ポンプ1からアクチュエータ4に供給される圧油の流量を調整可能な第1制御弁3と、蓄圧装置6からアクチュエータ4に供給される圧油の流量を調整可能な第2制御弁7と、アクチュエータ4の動作を指示するための操作装置11と、操作装置11から操作信号が入力され、第1制御弁3および第2制御弁7に制御信号を出力するコントローラ10とを備えた建設機械200において、建設機械200の作業モードを選択するための作業モード選択装置12を備え、コントローラ10は、作業モード選択装置12で選択された作業モードに応じてアクチュエータ4の上限出力であるアクチュエータ上限出力を設定し、油圧ポンプ1の出力と蓄圧装置6の出力との合計が前記アクチュエータ上限出力を超えないように第1制御弁3および第2制御弁7を制御する。
Claims (4)
- 原動機と、
前記原動機によって駆動される油圧ポンプと、
前記油圧ポンプによって駆動されるアクチュエータと、
前記アクチュエータの戻り油を蓄える蓄圧装置と、
前記油圧ポンプから前記アクチュエータに供給される圧油の流量を調整可能な第1制御弁と、
前記蓄圧装置から前記アクチュエータに供給される圧油の流量を調整可能な第2制御弁と、
前記アクチュエータの動作を指示するための操作装置と、
前記操作装置から操作信号が入力され、前記第1制御弁および前記第2制御弁に制御信号を出力するコントローラとを備えた建設機械において、
前記建設機械の作業モードを選択するための作業モード選択装置を備え、
前記コントローラは、前記作業モード選択装置で選択された作業モードに応じて前記アクチュエータの上限出力であるアクチュエータ上限出力を設定し、前記油圧ポンプの出力と前記蓄圧装置の出力との合計が前記アクチュエータ上限出力を超えないように前記第1制御弁および前記第2制御弁を制御する
ことを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記コントローラは、前記アクチュエータ上限出力の低下に応じて前記油圧ポンプの上限出力であるポンプ上限出力を低下させ、前記油圧ポンプの出力が前記ポンプ上限出力を超えないように前記第1制御弁を制御する
ことを特徴とする建設機械。 - 請求項2に記載の建設機械において、
前記コントローラは、前記ポンプ上限出力の低下に応じて前記原動機の回転数を低下させる
ことを特徴とする建設機械。 - 請求項1に記載の建設機械において、
前記コントローラは、前記作業モード選択装置で作業性を優先する作業モードが選択された場合に、前記アクチュエータ上限出力を定格回転数で稼働している前記原動機の出力よりも大きい値に設定する
ことを特徴とする建設機械。
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JP2022557536A JP7285380B2 (ja) | 2020-10-19 | 2021-10-18 | 建設機械 |
CN202180019711.1A CN115279975B (zh) | 2020-10-19 | 2021-10-18 | 工程机械 |
US17/908,956 US20230085676A1 (en) | 2020-10-19 | 2021-10-18 | Construction Machine |
EP21882786.3A EP4101995A4 (en) | 2020-10-19 | 2021-10-18 | CONSTRUCTION MACHINERY |
KR1020227030999A KR20220131389A (ko) | 2020-10-19 | 2021-10-18 | 건설 기계 |
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EP (1) | EP4101995A4 (ja) |
JP (1) | JP7285380B2 (ja) |
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- 2021-10-18 CN CN202180019711.1A patent/CN115279975B/zh active Active
- 2021-10-18 US US17/908,956 patent/US20230085676A1/en active Pending
- 2021-10-18 WO PCT/JP2021/038490 patent/WO2022085645A1/ja unknown
- 2021-10-18 KR KR1020227030999A patent/KR20220131389A/ko not_active Application Discontinuation
- 2021-10-18 JP JP2022557536A patent/JP7285380B2/ja active Active
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CN115279975B (zh) | 2023-08-22 |
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EP4101995A4 (en) | 2024-03-13 |
US20230085676A1 (en) | 2023-03-23 |
KR20220131389A (ko) | 2022-09-27 |
JPWO2022085645A1 (ja) | 2022-04-28 |
JP7285380B2 (ja) | 2023-06-01 |
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