WO2022201676A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2022201676A1 WO2022201676A1 PCT/JP2021/046812 JP2021046812W WO2022201676A1 WO 2022201676 A1 WO2022201676 A1 WO 2022201676A1 JP 2021046812 W JP2021046812 W JP 2021046812W WO 2022201676 A1 WO2022201676 A1 WO 2022201676A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotation speed
- engine
- hydraulic pump
- output
- hydraulic
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 239000010720 hydraulic oil Substances 0.000 claims description 18
- 239000012530 fluid Substances 0.000 claims description 11
- 230000003247 decreasing effect Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 abstract description 23
- 230000007423 decrease Effects 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 9
- 230000008859 change Effects 0.000 description 6
- 238000002347 injection Methods 0.000 description 4
- 239000007924 injection Substances 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001052 transient effect Effects 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/25—Pressure control functions
-
- 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
- F15B2211/265—Control of multiple pressure sources
- F15B2211/2656—Control of multiple pressure sources by control of the pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/265—Control of multiple pressure sources
- F15B2211/2658—Control of multiple pressure sources by control of the prime movers
-
- 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
- F15B2211/275—Control of the prime mover, e.g. hydraulic control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
-
- 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
-
- 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
Definitions
- the present invention relates to a working machine equipped with a variable displacement hydraulic pump.
- an engine a variable capacity hydraulic pump that discharges hydraulic oil by the driving force of the engine, a regulator that changes the discharge capacity of the hydraulic pump, and a hydraulic actuator that is operated by the hydraulic oil discharged from the hydraulic pump.
- Working machines comprising:
- Patent Literature 1 In order to increase the engine speed in order to cope with a high load, in addition to the torque corresponding to the increased load, a transient torque corresponding to the inertial force of the rotating body (engine and hydraulic pump) is required. become necessary. Therefore, the technique disclosed in Patent Literature 1 has a problem that it takes time to increase the rotation speed of the engine, resulting in a decrease in workability.
- the present invention has been made in view of the above-described actual situation, and its object is to provide a technology that achieves both low fuel consumption and workability in a work machine that switches the engine speed according to the load on the hydraulic actuator. to provide.
- the present invention provides an engine, a variable displacement hydraulic pump that discharges hydraulic oil by the driving force of the engine, a regulator that changes the discharge displacement of the hydraulic pump, and A working machine comprising a hydraulic actuator operated by discharged hydraulic oil, a rotation speed sensor for detecting the rotation speed of the engine, and a controller for controlling the rotation speed of the engine and the discharge capacity of the hydraulic pump, wherein the controller is a state in which the rotation speed detected by the rotation speed sensor is at the first rotation speed and the output of the engine or the hydraulic pump has increased to an increase threshold, and the rotation speed of the engine is increased from the first rotation speed.
- the hydraulic pressure is maintained so that the output of the engine or the hydraulic pump is constant.
- a signal instructing a decrease in the discharge capacity of the pump is output to the regulator, and when the rotation speed detected by the rotation speed sensor reaches the second rotation speed, the output of the engine or the hydraulic pump corresponds to the required load. and outputting to the regulator a signal instructing an increase in the discharge capacity of the hydraulic pump so as to achieve a value that
- FIG. 4 is a diagram showing the relationship between the amount of operation of a boom control lever and the flow rate of a pump; It is a figure which shows the relationship between a pump output and an engine torque. It is a figure which shows the time change of the engine speed in a rotation speed control process.
- FIG. 4 is a diagram showing the relationship between curves W1 and W2 corresponding to a plurality of operation modes of the hydraulic excavator;
- FIG. 1 An embodiment of a hydraulic excavator 1 (working machine) according to the present invention will be described with reference to the drawings.
- a specific example of the working machine is not limited to the hydraulic excavator 1, and may be a wheel loader, a crane, a dump truck, or the like.
- front, rear, left, and right in this specification are based on the viewpoint of an operator who operates the hydraulic excavator 1 on board, unless otherwise specified.
- FIG. 1 is a side view of the hydraulic excavator 1.
- the hydraulic excavator 1 includes a lower traveling body 2 and an upper rotating body 3 supported by the lower traveling body 2 .
- the lower running body 2 and the upper swing body 3 are an example of a vehicle body.
- the lower traveling body 2 is provided with a pair of left and right crawlers 8 that are endless track belts.
- a pair of left and right crawlers 8 rotate independently by driving a traveling motor (not shown).
- the hydraulic excavator 1 travels.
- the undercarriage 2 may be of a wheeled type instead of the crawler 8 .
- the upper rotating body 3 is rotatably supported by the lower traveling body 2 by a rotating motor (not shown).
- the upper revolving body 3 includes a revolving frame 5 as a base, a front work machine 4 (working device) attached to the center of the front of the revolving frame 5 so as to be rotatable in the vertical direction, and a front left side of the revolving frame 5 .
- a cab (driver's seat) 7 and a counterweight 6 arranged at the rear of the revolving frame 5 are mainly provided.
- the front work machine 4 includes a boom 4a rotatably supported by the upper revolving body 3, an arm 4b rotatably supported at the tip of the boom 4a, and a bucket rotatably supported at the tip of the arm 4b. 4c, a boom cylinder 4d for driving the boom 4a, an arm cylinder 4e for driving the arm 4b, and a bucket cylinder 4f for driving the bucket 4c.
- the counterweight 6 is for balancing the weight with the front work machine 4, and is a heavy object having an arc shape when viewed from above.
- the cab 7 has an internal space where an operator who operates the hydraulic excavator 1 rides.
- a seat on which an operator sits and an operating device operated by the operator seated on the seat are arranged in the interior space of the cab 7 .
- the operation device accepts the operator's operation for operating the hydraulic excavator 1.
- the lower traveling body 2 travels, the upper revolving body 3 revolves, and the front working machine 4 operates.
- Specific examples of the operating device include levers, steering wheels, accelerator pedals, brake pedals, and switches.
- the operation device includes, for example, a boom operation lever 7a (see FIG. 2) that operates the boom cylinder 4d, and a mode selection switch 7b (see FIG. 3) that switches the operation mode of the hydraulic excavator 1.
- the boom operating lever 7a extends and retracts the boom cylinder 4d by being operated (falling down) by the operator. More specifically, the greater the amount of operation of the boom control lever 7a, the greater the amount of expansion and contraction of the boom cylinder 4d.
- the operation device further includes operation units (pedals, levers) for operating the travel motor, the swing motor, the arm cylinder 4e, and the bucket cylinder.
- the mode selection switch 7b allows the operator to select the eco mode, power mode, and high power mode as the operation modes of the hydraulic excavator 1.
- the mode selection switch 7b then outputs a mode signal indicating the operation mode selected by the operator to the vehicle body controller 21 (see FIG. 3).
- Eco mode is the operating mode that emphasizes the lowest fuel consumption among the three operating modes.
- the high power mode is an operation mode that emphasizes the highest output among the three operation modes.
- Power mode is an operation mode intermediate between eco mode and power mode. That is, the fuel efficiency is high in the order of the eco mode, the power mode, and the high power mode, and the output is high in the order of the high power mode, the power mode, and the eco mode. If the high power mode is the first mode, the power mode and the eco mode are the second modes. Also, if the power mode is the first mode, the eco mode is the second mode.
- FIG. 2 is a diagram showing the drive circuit of the hydraulic excavator 1.
- the hydraulic excavator 1 mainly includes an engine 10, a hydraulic oil tank 11, a hydraulic pump 12, a pilot pump 13, and a directional control valve .
- the engine 10 generates driving force for driving the hydraulic excavator 1 . More specifically, the engine 10 rotates the output shaft 16 by mixing and burning air taken in from the outside of the hydraulic excavator 1 and fuel injected from the injector 15 . Also, the rotation speed (rpm) of the engine 10 is detected by a rotation speed sensor 17 . The rotation speed sensor 17 outputs a rotation speed signal indicating the detected rotation speed to the engine controller 22 (see FIG. 3).
- the hydraulic oil tank 11 stores hydraulic oil.
- Hydraulic pump 12 and pilot pump 13 are connected to output shaft 16 of engine 10 .
- the hydraulic pump 12 and the pilot pump 13 discharge hydraulic oil stored in the hydraulic oil tank 11 by the driving force of the engine 10 .
- a direction control valve 14 is provided between the hydraulic pump 12 and the boom cylinder 4d.
- the hydraulic pump 12, the boom cylinder 4d, and the direction control valve 14 are each connected via piping.
- the hydraulic pump 12 supplies the hydraulic fluid stored in the hydraulic fluid tank 11 to the hydraulic actuators (travel motor, swing motor, boom cylinder 4d, arm cylinder 4e, bucket cylinder 4f) through the direction control valve 14 .
- the hydraulic pump 12 is of a variable displacement type (swash plate type, oblique shaft type) whose discharge capacity can be changed.
- a displacement of the hydraulic pump 12 is adjusted by a regulator 18 that operates according to a signal output from the vehicle body controller 21 . Also, the discharge pressure of the hydraulic pump 12 is detected by a discharge pressure sensor 19 . The discharge pressure sensor 19 outputs a discharge pressure signal indicating the detected discharge pressure to the vehicle body controller 21 .
- a boom operating lever 7a is provided between the pilot pump 13 and the direction control valve 14.
- the pilot pump 13, the direction control valve 14, and the boom operating lever 7a are each connected via a pilot pipe.
- the pilot pump 13 When the boom operating lever 7a is in the neutral state, the pilot pump 13 is connected to the hydraulic oil tank 11 through the pilot pipe via the boom operating lever 7a.
- the pilot pump 13 supplies hydraulic fluid stored in the hydraulic fluid tank 11 to a pair of pilot ports of the directional control valve 14 through the boom operating lever 7a.
- pilot pressure is applied to one of the pair of pilot ports.
- pilot pressure is applied to the other of the pair of pilot ports.
- pilot pressure applied to the pilot port increases as the amount of operation of the boom control lever 7a increases.
- the pilot pressure applied to the pilot port is detected by the pilot pressure sensor 7c.
- the pilot pressure sensor 7 c outputs a pilot pressure signal indicating the detected pilot pressure to the vehicle body controller 21 .
- the direction control valve 14 supplies hydraulic oil discharged from the hydraulic pump 12 to the bottom chamber or rod chamber of the boom cylinder 4d.
- the direction control valve 14 also controls the direction and amount of hydraulic oil supplied to the boom cylinder 4d according to the pilot pressure applied to the pilot port.
- the directional control valve 14 supplies hydraulic fluid to the bottom chamber of the boom cylinder 4 d and returns the hydraulic fluid in the rod chamber to the hydraulic fluid tank 11 by applying a pilot pressure to one of the pilot ports. Let This extends the boom cylinder 4d.
- the directional control valve 14 supplies hydraulic fluid to the rod chamber of the boom cylinder 4 d and returns the hydraulic fluid in the bottom chamber to the hydraulic fluid tank 11 by applying pilot pressure to the other pilot port. As a result, the boom cylinder 4d is contracted. Further, the directional control valve 14 increases the amount of hydraulic oil supplied to the boom cylinder 4d as the pilot pressure applied to the pilot port increases.
- FIG. 3 is a hardware configuration diagram of the hydraulic excavator 1.
- the hydraulic excavator 1 includes a vehicle body controller 21 that controls the entire hydraulic excavator 1 and an engine controller 22 that controls the operation of the engine 10 .
- vehicle body controller 21 controls the entire hydraulic excavator 1
- engine controller 22 controls the operation of the engine 10 .
- the division of roles between the vehicle body controller 21 and the engine controller 22, which will be described below, is just an example, so they may be collectively referred to as the "controller 20" in this specification.
- the vehicle body controller 21 controls the mode signal output from the mode selection switch 7b, the pilot pressure signal output from the pilot pressure sensor 7c, the discharge pressure signal output from the discharge pressure sensor 19, and the engine speed output from the engine controller 22. Get the signal. Then, the vehicle body controller 21 outputs a signal instructing adjustment (increase or decrease) of the discharge capacity of the hydraulic pump 12 to the regulator 18 and notifies the engine controller 22 of the target rotation speed of the engine 10 .
- the engine controller 22 acquires the rotation speed signal output from the rotation speed sensor 17 and acquires the target rotation speed of the engine 10 from the vehicle body controller 21 .
- the engine controller 22 outputs a rotation speed signal acquired from the rotation speed sensor 17 to the vehicle body controller 21 and controls fuel injection of the injector 15 based on the target rotation speed acquired from the vehicle body controller 21 .
- the controller 20 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory).
- the controller 20 implements processing described later by the CPU reading and executing program codes stored in the ROM.
- the RAM is used as a work area when the CPU executes programs. ROM and RAM are examples of memory.
- controller 20 is not limited to this, and may be realized by hardware such as ASIC (Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array).
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- FIG. 4 is a diagram showing the relationship between the rotational speed and torque of the engine 10.
- the maximum torque Tmax of the engine 10 indicated by the solid line in FIG. 4 varies depending on the rotation speed. More specifically, in a region where the rotation speed is low, the maximum torque Tmax gradually increases as the rotation speed increases. On the other hand, after the maximum torque Tmax reaches the highest point, the maximum torque Tmax gradually decreases as the rotation speed increases.
- the dotted lines in FIG. 4 are iso-fuel consumption lines that connect points with the same fuel consumption rate of the engine 10 .
- the fuel consumption rate is an index (g/kWh) representing the hourly fuel consumption per unit output of the engine 10 . That is, the smaller the value of the fuel consumption rate, the better the fuel consumption.
- the engine 10 according to the present embodiment tends to have higher fuel efficiency as the torque increases at each rotation speed.
- the controller 20 of this embodiment drives the engine 10 at either the first rotation speed N1 or the second rotation speed N2.
- the first rotation speed N1 is a rotation speed at which operation can be performed with lower fuel consumption than the second rotation speed N2.
- the first rotation speed N1 is set, for example, to a value higher than the rotation speed corresponding to the highest point of the maximum torque Tmax.
- the second rotation speed N2 is a rotation speed capable of generating a higher output W than the first rotation speed N1.
- the second rotation speed N2 is a value higher than the first rotation speed N1.
- the second rotation speed N2 is set to the rated rotation speed of the engine 10, for example.
- the controller 20 should set the target rotation speed of the engine 10 to the first rotation speed N1 while the hydraulic actuator is operating at a low load, and operate the hydraulic excavator 1 with low fuel consumption.
- the controller 20 may increase the target rotation speed of the engine 10 from the first rotation speed N1 to the second rotation speed N2 to generate a high output.
- Curves W1 and W2 in FIG. 4 are iso-output lines connecting points where the output of the engine 10 is equal.
- the second output value W2 is set higher than the first output value W1.
- the curve W1' is an output line along which the output of the engine 10 gradually increases as the rotation speed increases. Curves W1, W1', W2 are then stored in memory as a function of speed and torque.
- the torque of the engine 10 can be controlled by the displacement of the hydraulic pump 12, for example. More specifically, increasing the displacement of hydraulic pump 12 also increases the torque of engine 10 . On the other hand, when the displacement of the hydraulic pump 12 is reduced, the torque of the engine 10 is also reduced. That is, the controller 20 keeps the output of the engine 10 constant by outputting to the regulator 18 a signal instructing the reduction of the displacement of the hydraulic pump 12 as the rotation speed of the engine 10 increases. You can change the rotation speed.
- FIG. 5 is a flow chart of the rotation speed control process.
- 6A to 6C are diagrams for explaining a method of calculating the output W of the engine 10.
- FIG. 7A to 7C are diagrams showing changes over time of the engine speed (A), torque (B), and output (C) of the engine 10 in the engine speed control process.
- the controller 20 determines the rotation speed of the engine 10 detected by the rotation speed sensor 17 (S11).
- the controller 20 determines that the rotation speed of the engine 10 is the first rotation speed N1 (S11: Yes)
- the controller 20 executes the processes of steps S12 to S16.
- processing for increasing the output of the engine 10 from point a0 to point c in FIG. 3 as the load on the hydraulic actuator increases will be described.
- the method of calculating the output W of the engine 10 for example, the following three methods are conceivable.
- the output W of the engine 10 is represented by the product of the rotation speed and the torque of the engine 10.
- the torque of the engine 10 has a positive correlation (more specifically, a proportional relation) with the fuel injection amount of the injector 15 .
- the relationship in FIG. 6A is stored in memory in advance.
- the controller 20 calculates the output W of the engine 10 by multiplying the rotation speed of the engine 10 detected by the rotation speed sensor 17 and the torque corresponding to the fuel injection amount of the injector 15 controlled by the engine controller 22. can do.
- the output W of the engine 10 is represented by the product of the output of the hydraulic pump 12 and the pump efficiency of the hydraulic pump 12.
- the output of the hydraulic pump 12 is represented by the product of the discharge pressure of the hydraulic pump 12 and the flow rate of the hydraulic oil discharged from the hydraulic pump 12 .
- the flow rate of hydraulic oil discharged from the hydraulic pump 12 has a positive correlation with the operation amount of the boom control lever 7a (in other words, the pilot pressure detected by the pilot pressure sensor 7c). (More specifically, there is a proportional relationship).
- the relationship in FIG. 6B is stored in memory in advance.
- the controller 20 multiplies the discharge pressure detected by the discharge pressure sensor 19, the flow rate corresponding to the pilot pressure detected by the pilot pressure sensor 7c, and a preset pump efficiency to obtain the output W of the engine 10. can be calculated.
- the torque of the engine 10 has a positive correlation (more specifically, a proportional relationship) with the output of the hydraulic pump 12.
- the relationship in FIG. 6B is stored in memory in advance.
- the controller 20 calculates the output of the hydraulic pump 12 by multiplying the discharge pressure detected by the discharge pressure sensor 19 and the flow rate corresponding to the pilot pressure detected by the pilot pressure sensor 7c.
- the controller 20 can calculate the output W of the engine 10 by multiplying the rotation speed of the engine 10 detected by the rotation speed sensor 17 by the torque of the engine 10 corresponding to the output of the hydraulic pump 12. .
- the controller 20 compares the output W of the engine 10 with a predetermined increase threshold value W th1 (S12). Further, the controller 20 increases the displacement of the hydraulic pump 12 while maintaining the rotation speed of the engine 10 at the first rotation speed N1 until the output W of the engine 10 reaches the increase threshold value W th1 (S12: No). to the regulator 18. As a result, the torque and output of the engine 10 increase while the rotation speed of the engine 10 is maintained at the first rotation speed, like times t0 to t1 shown in FIGS. 7A to 7C.
- the increase threshold value W th1 indicates the output of the engine 10 when the rotation speed of the engine 10 is increased from the first rotation speed N1 to the second rotation speed N2.
- the increase threshold W th1 is set lower than the maximum output at the first rotation speed N1. That is, the controller 20 limits the upper limit of the output of the engine 10 to the increase threshold value W th1 while the engine 10 is rotating at the first rotation speed N1.
- the controller 20 sets the lower limit of the output of the engine 10 to the first output value W1 while increasing the rotation speed of the engine 10 from the first rotation speed N1 to the second rotation speed N2.
- the first output value W1 is the same value as the rising threshold value Wth1 . That is, in the process of increasing the rotation speed of the engine 10 to the second rotation speed N2, the controller 20 sends a signal to the regulator 18 to instruct the reduction of the displacement of the hydraulic pump 12 so that the output of the engine 10 becomes constant. Output.
- the controller 20 increases the rotation speed and decreases the discharge capacity along the curve W1 in steps S13 and S14 that are repeatedly executed.
- the controller 20 reduces the displacement of the hydraulic pump 12 so that the output of the engine 10 matches the first output value W1.
- a command signal is output to the regulator 18 .
- the torque gradually decreases as the rotational speed increases so that the first output value W1 is maintained, as between times t1 and t2 indicated by the solid line in FIG. 7C.
- the controller 20 maintains the rotation speed of the engine 10 at the second rotation speed N2.
- a signal instructing an increase in the discharge capacity of the hydraulic pump 12 is output to the regulator 18 (S16).
- the torque increases so that the output of the engine 10 reaches the second output value W2 while the rotation speed is maintained at the second rotation speed N2, as after time t2 indicated by the solid line in FIG. 7C.
- the target output in step S16 varies according to the required load of the engine 10, and is set to an arbitrary value equal to or less than the second output value W2.
- the requested load is a target value requested by the operator through the boom operating lever 7a (that is, a load corresponding to the amount of operation of the boom operating lever 7a). That is, in step S16, the controller 20 outputs a signal instructing adjustment of the discharge capacity of the hydraulic pump 12 so that the output W of the engine 10 becomes a value corresponding to the required load with the second output value W2 as the upper limit. Output to 18.
- the controller 20 determines that the rotation speed of the engine 10 is the second rotation speed N2 (S11: No), it executes steps S17 to S20.
- steps S17 to S20 processing for decreasing the output of the engine 10 from point c to point a0 in FIG. 3 as the load on the hydraulic actuator decreases will be described.
- the controller 20 compares the output W of the engine 10 with a predetermined lowering threshold value W th2 (S17). In addition, the controller 20 reduces the displacement of the hydraulic pump 12 while maintaining the rotation speed of the engine 10 at the second rotation speed N2 until the output W of the engine 10 reaches the lowering threshold value W th2 (S17: No). to the regulator 18.
- the controller 20 lowers the rotation speed of the engine 10 (S18) and adjusts the discharge capacity of the hydraulic pump 12.
- a command signal is output to the regulator 18 (S19).
- the controller 20 repeats the processing of steps S18 to S19 until the rotation speed detected by the rotation speed sensor 17 reaches the first rotation speed N1 (S20: No). More specifically, in steps S18 and S19 which are repeatedly executed, the controller 20 reduces the output W of the engine 10 to a value corresponding to the required load in the process of decreasing the rotation speed of the engine 10 to the first rotation speed N1. Then, a signal instructing adjustment of the discharge capacity of the hydraulic pump 12 is output to the regulator 18 .
- the change in the output W of the engine 10 in the process of decreasing the rotation speed of the engine 10 is different from the change in the output W of the engine 10 in the process of increasing the rotation speed of the engine 10 (that is, the curve W1 in FIG. 4).
- the decrease threshold value W th2 indicates the output of the engine 10 when the rotation speed of the engine 10 is decreased from the second rotation speed N2 to the first rotation speed N1.
- the falling threshold W th2 is set lower than the first output value W1. That is, the controller 20 limits the output of the engine 10 from the second output value W2 (upper limit) to the lower threshold W th2 (lower limit) while the engine 10 is rotating at the second speed N2.
- FIG. 8 is a diagram showing the relationship between curves W1 and W2 corresponding to a plurality of operation modes of the hydraulic excavator 1, respectively.
- the first output value W1 is set to a higher value in order of eco mode, power mode, and high power mode (W1 E >W1 P >W1 HP ).
- the rising threshold value W th1 is also set to a higher value in the order of eco mode, power mode, and high power mode.
- the second output value W2 is set lower in the order of eco mode, power mode, and high power mode (W2 E ⁇ W2 P ⁇ W2 HP ).
- the second output value W2 may be set to the same value in the eco mode, power mode, and high power mode.
- the hydraulic excavator 1 can be operated with low fuel consumption by maintaining the engine 10 at the first rotation speed N1 while the load on the hydraulic actuator is small. Further, when the load on the hydraulic actuator increases, the output of the engine 10 can be increased corresponding to the load on the hydraulic actuator by increasing the rotation speed of the engine 10 from the first rotation speed N1 to the second rotation speed N2. can.
- the rotation speed of the engine 10 is increased to the second rotation speed N2.
- the rotation speed N2 can be quickly reached. As a result, it is possible to shorten the time during which the telescopic speed of the boom cylinder 4d does not follow the operation amount of the boom operating lever 7a.
- the process of increasing the rotation speed of the engine 10 to the second rotation speed N2 by increasing the output of the engine 10 to the first output value W1 or more, it is possible to prevent the workability from significantly deteriorating. As a result, it is possible to achieve both low fuel consumption and workability.
- the output of the hydraulic pump 12 may be compared with the increase threshold value W th1 in step S11 without being limited to the output of the engine 10 .
- the controller 20 may reduce the displacement of the hydraulic pump 12 so that the output of the hydraulic pump 12 matches the first output value.
- the output of the hydraulic pump 12 can be calculated by the method described using FIG. 6B.
- the controller 20 may increase the rotation speed and decrease the discharge capacity along the curve W1' shown in FIG. 3 in steps S13 to S14 that are repeatedly executed. In other words, the controller 20 adjusts the displacement of the hydraulic pump 12 so that the output of the engine 10 increases as the rotation speed of the engine 10 increases in the process of increasing the rotation speed of the engine 10 to the second rotation speed N2. A signal instructing the decrease is output to the regulator 18 .
- the torque gradually decreases as the rotation speed increases so that the output of the engine 10 gradually increases, as between times t1 and t3 indicated by the dashed line in FIG. 7C. Therefore, the torque indicated by the dashed line in FIG. 7B decreases more gently than the torque indicated by the solid line.
- the time required for reaching the second rotation speed N2 from the first rotation speed N1 is longer for the dashed line (t1 to t3) than for the solid line (t1 to t2).
- the extension/retraction speed of the boom cylinder 4d does not follow the operation amount of the boom control lever 7a. While the time is lengthened, it is possible to suppress deterioration in workability until the rotation speed of the engine 10 reaches the second rotation speed N2.
- the rising threshold value Wth1 is set to the same value as the first output value W1
- the falling threshold value Wth2 is set to a value smaller than the first output value W1.
- the first output value W1, the second output value W2, and the rising threshold value Wth1 in the eco mode, power mode, and high power mode correspond to the magnitude relationships described with reference to FIG. did.
- the eco mode the number of revolutions of the engine 10 is likely to be maintained at the first number of revolutions N1, so the hydraulic excavator 1 can be operated with low fuel consumption.
- the high power mode the rotation speed of the engine 10 can easily be switched to the second rotation speed N2, so that a high load on the hydraulic actuator can be handled.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
2 下部走行体
3 上部旋回体
4 フロント作業機
4a ブーム
4b アーム
4c バケット
4d ブームシリンダ
4e アームシリンダ
4f バケットシリンダ
5 旋回フレーム
6 カウンタウェイト
7 キャブ
7a ブーム操作レバー
7b モード選択スイッチ
7c パイロット圧センサ
8 クローラ
10 エンジン
11 作動油タンク
12 油圧ポンプ
13 パイロットポンプ
14 方向制御弁
15 インジェクタ
16 出力軸
17 回転数センサ
18 レギュレータ
19 吐出圧センサ
20 コントローラ
21 車体コントローラ
22 エンジンコントローラ
Claims (3)
- エンジンと、
前記エンジンの駆動力によって作動油を吐出する容量可変型の油圧ポンプと、
前記油圧ポンプの吐出容量を変化させるレギュレータと、
前記油圧ポンプから吐出された作動油によって動作する油圧アクチュエータと、
前記エンジンの回転数を検知する回転数センサと、
前記エンジンの回転数及び前記油圧ポンプの吐出容量を制御するコントローラとを備える作業機械において、
前記コントローラは、
前記回転数センサで検知された回転数が第1回転数にあって、前記エンジンまたは前記油圧ポンプの出力が上昇閾値まで増大した状態において、
前記エンジンの回転数を前記第1回転数から前記第1回転数より高い第2回転数に上昇させると共に、
前記エンジンの回転数を前記第2回転数に上昇させる過程において、前記エンジンまたは前記油圧ポンプの出力が一定になるように、前記油圧ポンプの吐出容量の減少を指示する信号を前記レギュレータに出力し、
前記回転数センサで検知された回転数が前記第2回転数に達すると、前記エンジンまたは前記油圧ポンプの出力が要求負荷に対応する値になるように、前記油圧ポンプの吐出容量の増大を指示する信号を前記レギュレータに出力することを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記エンジンの回転数を前記第2回転数に上昇させる過程において、前記エンジンまたは前記油圧ポンプの出力が前記上昇閾値に一致するように、前記油圧ポンプの吐出容量の減少を指示する信号を前記レギュレータに出力することを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記回転数センサで検知された回転数が前記第2回転数にあって、前記エンジンまたは前記油圧ポンプの出力が下降閾値まで低下した状態において、
前記エンジンの回転数を前記第2回転数から前記第1回転数に下降させると共に、
前記エンジンの回転数を前記第1回転数に下降させる過程で、前記エンジンまたは前記油圧ポンプの出力が要求負荷に対応する値になるように、前記油圧ポンプの吐出容量の調整を指示する信号を前記レギュレータに出力することを特徴とする作業機械。
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CN202180053369.7A CN116018451A (zh) | 2021-03-26 | 2021-12-17 | 作业机械 |
US18/023,784 US11946226B2 (en) | 2021-03-26 | 2021-12-17 | Work machine |
KR1020237007014A KR20230044286A (ko) | 2021-03-26 | 2021-12-17 | 작업 기계 |
EP21933268.1A EP4190979A1 (en) | 2021-03-26 | 2021-12-17 | Work machine |
JP2023508624A JP7324963B2 (ja) | 2021-03-26 | 2021-12-17 | 作業機械 |
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JP2021-053087 | 2021-03-26 | ||
JP2021053087 | 2021-03-26 |
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US (1) | US11946226B2 (ja) |
EP (1) | EP4190979A1 (ja) |
JP (1) | JP7324963B2 (ja) |
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JP2007120426A (ja) | 2005-10-28 | 2007-05-17 | Komatsu Ltd | エンジンおよび油圧ポンプの制御装置 |
JP2008196673A (ja) * | 2007-02-15 | 2008-08-28 | Hitachi Constr Mach Co Ltd | 建設機械用3ポンプシステムのトルク制御装置 |
JP2020076221A (ja) * | 2018-11-06 | 2020-05-21 | ヤンマー株式会社 | 建設機械 |
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KR910009257B1 (ko) * | 1985-09-07 | 1991-11-07 | 히다찌 겡끼 가부시기가이샤 | 유압건설기계의 제어시스템 |
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WO2007049767A1 (ja) | 2005-10-28 | 2007-05-03 | Komatsu Ltd. | エンジンの制御装置、エンジンおよび油圧ポンプの制御装置、並びにエンジン、油圧ポンプおよび発電電動機の制御装置 |
WO2010070961A1 (ja) * | 2008-12-17 | 2010-06-24 | 株式会社小松製作所 | 静油圧式変速車両の制御装置 |
GB201419777D0 (en) * | 2014-11-06 | 2014-12-24 | Agco Int Gmbh | Hydraulic pressure supply system |
JP6356634B2 (ja) * | 2015-06-02 | 2018-07-11 | 日立建機株式会社 | 作業機械の油圧駆動装置 |
ES2963915T3 (es) * | 2019-09-24 | 2024-04-03 | Doosan Bobcat North America Inc | Sistema y procedimientos para la gestión del tiempo de ciclo |
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2021
- 2021-12-17 CN CN202180053369.7A patent/CN116018451A/zh active Pending
- 2021-12-17 JP JP2023508624A patent/JP7324963B2/ja active Active
- 2021-12-17 WO PCT/JP2021/046812 patent/WO2022201676A1/ja unknown
- 2021-12-17 EP EP21933268.1A patent/EP4190979A1/en active Pending
- 2021-12-17 KR KR1020237007014A patent/KR20230044286A/ko unknown
- 2021-12-17 US US18/023,784 patent/US11946226B2/en active Active
Patent Citations (4)
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JPH0427784A (ja) * | 1990-05-23 | 1992-01-30 | Hitachi Constr Mach Co Ltd | トルクコンバータ付き走行作業車両の油圧ポンプ制御装置 |
JP2007120426A (ja) | 2005-10-28 | 2007-05-17 | Komatsu Ltd | エンジンおよび油圧ポンプの制御装置 |
JP2008196673A (ja) * | 2007-02-15 | 2008-08-28 | Hitachi Constr Mach Co Ltd | 建設機械用3ポンプシステムのトルク制御装置 |
JP2020076221A (ja) * | 2018-11-06 | 2020-05-21 | ヤンマー株式会社 | 建設機械 |
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EP4190979A1 (en) | 2023-06-07 |
JPWO2022201676A1 (ja) | 2022-09-29 |
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US20230323635A1 (en) | 2023-10-12 |
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