CN115279975A - 工程机械 - Google Patents
工程机械 Download PDFInfo
- Publication number
- CN115279975A CN115279975A CN202180019711.1A CN202180019711A CN115279975A CN 115279975 A CN115279975 A CN 115279975A CN 202180019711 A CN202180019711 A CN 202180019711A CN 115279975 A CN115279975 A CN 115279975A
- Authority
- CN
- China
- Prior art keywords
- output
- actuator
- upper limit
- control valve
- hydraulic pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010276 construction Methods 0.000 title claims abstract description 16
- 239000010720 hydraulic oil Substances 0.000 claims description 16
- 239000003921 oil Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 239000000446 fuel Substances 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000012530 fluid Substances 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- 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
-
- 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
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/04—Accumulators
-
- 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
-
- 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"
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—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
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—Directional control characterised by the positions of the valve element
- F15B2211/3105—Neutral or centre positions
- F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/31—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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- F15B2211/6655—Power control, e.g. combined pressure and flow rate 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Hydrogenated Pyridines (AREA)
Abstract
本发明提供一种工程机械,搭载有储存致动器的返回油的蓄压装置,能够兼顾油耗的降低和作业性的提高。因此,控制器根据由作业模式选择装置选择出的作业模式来设定作为致动器的上限输出的致动器上限输出,以使液压泵的输出和蓄压装置的输出的合计不超过所述致动器上限输出的方式控制第一控制阀以及第二控制阀。
Description
技术领域
本发明涉及液压挖掘机等工程机械。
背景技术
在专利文献1中记载了一种流体压力致动器控制回路,其通过将储存在储能器(蓄压装置)中的液压油供给到动臂缸,并降低从该泵向动臂缸输送的流量,能够降低油耗。
现有技术文献
专利文献
专利文献1:日本特开2009-275771号公报
发明内容
发明所要解决的课题
但是,在专利文献1所记载的流体压力致动器控制回路中,由于泵流量减少的量是储能器流量的量,因此不能指望提高流体压力致动器的速度就能提高作业能力。另外,在专利文献1中记载了,在仅对泵流量追加储能器流量的情况下,虽然能够期待基于流体压力致动器的速度提高的作业能力的提高,但无法降低泵所需能量,无法降低泵驱动发动机的油耗。
本发明是鉴于上述课题而完成的,其目的在于提供一种工程机械,其搭载有储存致动器的返回油的蓄压装置,能够兼顾油耗的降低和作业性的提高。
用于解决课题的方案
为了实现上述目的,本发明提供一种工程机械,具备:原动机;液压泵,其由所述原动机驱动;致动器,其由所述液压泵驱动;蓄压装置,其储存所述致动器的返回油;第一控制阀,其能够调整从所述液压泵向所述致动器供给的液压油的流量;第二控制阀,其能够调整从所述蓄压装置向所述致动器供给的液压油的流量;操作装置,其用于指示所述致动器的动作;以及控制器,其从所述操作装置输入操作信号,向所述第一控制阀以及所述第二控制阀输出控制信号,在该工程机械中,具备作业模式选择装置,用于选择所述工程机械的作业模式,所述控制器根据由所述作业模式选择装置选择出的作业模式来设定作为所述致动器的上限输出的致动器上限输出,以使所述液压泵的输出和所述蓄压装置的输出的合计不超过所述致动器上限输出的方式控制所述第一控制阀以及所述第二控制阀。
根据如以上那样构成的本发明,在致动器的上限输出低于液压泵的最大输出和蓄压装置的最大输出的合计的情况下,通过降低液压泵的输出,能够降低油耗。另外,在致动器的上限输出高于液压泵的最大输出的情况下,通过利用蓄压装置的输出来补充液压泵的输出,能够提高作业性。
发明效果
根据本发明,在搭载有储存致动器的返回油的蓄压装置的工程机械中,能够实现油耗的降低,并且还能够实现作业性的提高。
附图说明
图1是本发明的实施方式的液压挖掘机的侧视图。
图2是搭载于图2所示的液压挖掘机的液压驱动装置的回路图。
图3是表示图2所示的控制器的处理内容的图。
图4是表示图2所示的作业模式设定图的内容的图。
具体实施方式
以下,作为本发明的实施方式的工程机械,以液压挖掘机为例,参照附图进行说明。另外,在各图中,对同等的部件标注相同的附图标记,并适当省略重复的说明。
图1是本实施方式的液压挖掘机的侧视图。
如图1所示,液压挖掘机200具备:行驶体201;旋转体202,其以能够旋转的方式配置在行驶体201上,构成车身;以及作业装置203,其以能够在上下方向上转动的方式安装在旋转体202上,进行砂土的挖掘作业等。旋转体202由旋转马达204驱动。
作业装置203包括:动臂205,其以能够在上下方向上转动的方式安装于旋转体202;斗杆206,其以能够在上下方向上转动的方式安装于动臂205的前端;以及铲斗207,其以能够在上下方向上转动的方式安装于斗杆206的前端。动臂205由动臂缸4驱动,斗杆206由斗杆缸208驱动,铲斗207由铲斗缸209驱动。
在旋转体202上的前侧位置设置有驾驶室210,在后侧位置设置有确保重量平衡的配重211。在驾驶室210与配重211之间设置有机械室212。在机械室212中收纳有作为原动机的发动机、液压泵、控制阀213等。控制阀213控制从液压泵向各致动器供给的液压油的流动。另外,本发明中的原动机并不限定于发动机,也可以是能够经由逆变器调整转速的马达。
图2是搭载于液压挖掘机200的液压驱动装置的回路图。另外,在图2中,仅示出与动臂缸4的驱动相关的部分,省略与其他的致动器的驱动相关的部分。
在图2中,本实施方式所涉及的液压驱动装置具备:作为动力源的发动机2;由发动机2驱动的液压泵1;由液压泵1驱动的动臂缸4;对从液压泵1向动臂缸4供给的液压油的方向及流量进行调整的中央旁通型的控制阀3;作为由液压泵1蓄压的蓄压装置的储能器6;对从液压泵1向储能器6流入的液压油的流量进行调整的控制阀5;对从储能器6向动臂缸4供给的液压油的方向及流量进行调整的控制阀7;防止液压泵1的液压油向油箱20流动的中央旁通切断阀8;作为对动臂缸4的动作进行指示的操作装置的动臂操作杆11;用于对液压挖掘机200的动作模式(以下,作业模式)进行切换的作业模式开关12;根据动臂操作杆11的操作量及由作业模式开关12设定的作业模式,对液压泵1的流量、发动机2的转速、控制阀3、5、7的流量或开度进行控制的控制器10。
控制器10在动臂操作杆11***作时,根据杆操作量使液压泵1的流量增加,并且根据杆操作方向切换控制阀3、7中的至少一方,从液压泵1或储能器6向动臂缸4的一方的油室供给液压油,使从另一方的油室排出的工作油返回到油箱20,由此能够使动臂缸4伸长或收缩。另外,控制器10在储能器6的压力降低的情况下打开控制阀5而从液压泵1向储能器6供给液压油,由此能够保持储能器6的压力。
另外,控制器10根据作业模式开关12的操作来选择多个作业模式(在本实施方式中,通常模式、节能优先模式以及作业性优先模式)中的1个,根据所选择的作业模式,设定动臂缸4的输出上限值(以下,称为致动器上限输出)、液压泵1的输出上限值(以下,称为泵上限输出)、以及发动机2的转速(以下,称为发动机转速)。
图3是表示控制器10的处理内容的图。
在图3中,操作杆信号111是根据动臂操作杆11的操作而输入到控制器10的信号。作业模式开关信号112是根据作业模式开关12的操作而输入到控制器10的信号。
函数产生部104将操作杆信号111(动臂操作杆11的操作量)转换为动臂缸4的输出,并输出到最小值选择部105。
作业模式设定图119根据作业模式开关信号112(作业模式)设定致动器上限输出116、泵上限输出117和发动机转速118,将致动器上限输出116输出到最小值选择部105,将泵上限输出117输出到最小值选择部106,将发动机转速118输出到输出转换部115。
使用图4对作业模式设定图119的详细情况进行说明。
在图4中,作业模式设定图119存储有针对多个作业模式(节能优先模式、通常模式、作业性优先模式)的各个作业模式的致动器上限输出116、泵上限输出117以及发动机转速118。致动器上限输出116及泵上限输出117以相对于发动机2以额定转速(例如1800rpm)运转时的发动机2的输出(以下称为发动机最大输出)的比表示,以相对于额定转速的比表示发动机转速118。
在通常模式下,致动器上限输出116被设定为100%,泵上限输出117被设定为80%,发动机转速118被设定为80%。液压泵1的输出(最大80%)相对于致动器4的输出(最大100%)的不足量(最大20%)被储能器6的输出补偿。由此,能够得到与发动机最大输出相当的致动器4的输出,并且将发动机2的输出抑制为最大输出的80%以下而降低油耗。另外,在本实施方式中,为了简化说明,不考虑阀的压损、泵的损失,假设致动器4的输出与液压泵1的输出和储能器6的输出的合计相等。另外,作为致动器,以动臂缸4为例进行了列举,但致动器没有特别限定。
在节能优先模式中,致动器上限输出116被设定为80%,泵上限输出117被设定为60%,发动机转速118被设定为60%。液压泵1的输出(最大60%)相对于致动器4的输出(最大80%)的不足量(最大20%)被储能器6的输出补偿。由此,能够得到与发动机最大输出的80%相当的致动器4的输出,并且将发动机2的输出抑制为最大输出的60%以下而进一步降低油耗。
在作业性优先模式中,致动器上限输出116被设定为120%,泵上限输出117被设定为100%,发动机转速118被设定为100%。液压泵1的输出(最大100%)相对于致动器4的输出(最大120%)的不足量(最大20%)被储能器6的输出补偿。由此,能够得到比发动机最大输出大的致动器4的输出。
在各作业模式中,通过将泵上限输出设定为从致动器上限输出减去储能器6的最大输出(20%)而得到的值,能够最大限度地利用储能器6的输出,将液压泵1的输出抑制在最小限度。另外,通过将发动机转速设定为与泵上限输出同等的比率,能够将发动机2的输出抑制在必要最小限度。
返回图3,最小值选择部105选择来自函数产生部104的致动器输出以及来自作业模式设定图119的致动器上限输出116中的较小的一方作为致动器输出,并输出到最小值选择部106以及减法部108。由此,能够将致动器4的输出限制在致动器上限输出116以下。
最小值选择部106选择来自最小值选择部105的致动器输出以及来自作业模式设定图119的泵上限输出117中的较小的一方作为泵输出,并输出至减法部108、输出转换部113以及输出转换部114。由此,能够将液压泵1的输出限制在泵上限输出117以下。
减法部108从来自最小值选择部105的致动器输出中减去来自最小值选择部106的泵输出而算出储能器输出,并输出到输出转换部109。由此,能够通过储能器6的输出来补偿液压泵1的输出相对于致动器4的输出的不足量。
输出转换部109将用于使储能器6的输出与来自减法部108的储能器输出一致的控制阀控制信号107输出至控制阀7。输出转换部113将来自最小值选择部106的泵输出转换为控制阀3的操作量,并将与该操作量相应的控制阀控制信号103输出至控制阀3。输出转换部114将用于使液压泵1的输出与来自最小值选择部106的泵输出一致的泵控制信号101向液压泵1输出。输出转换部115将用于使发动机2的转速与来自作业模式设定图119的发动机转速118一致的发动机控制信号102输出至发动机2。
(效果)
在本实施方式中,工程机械200具备:原动机2;液压泵1,其由原动机2驱动;致动器4,其由液压泵1驱动;蓄压装置6,其储存致动器4的返回油;第一控制阀3,其能够调整从液压泵1向致动器4供给的液压油的流量;第二控制阀7,其能够调整从蓄压装置6向致动器4供给的液压油的流量;操作装置11,其用于指示致动器4的动作;以及控制器10,其从操作装置11输入操作信号,向第一控制阀3以及第二控制阀7输出控制信号,在该工程机械200中,具备作业模式选择装置12,用于选择工程机械200的作业模式,控制器10根据由作业模式选择装置12选择出的作业模式来设定作为致动器4的上限输出的致动器上限输出,以使液压泵1的输出和蓄压装置6的输出的合计不超过所述致动器上限输出的方式控制第一控制阀3以及第二控制阀7。
根据如以上那样构成的本实施方式,在致动器4的上限输出低于液压泵1的最大输出和蓄压装置6的最大输出的合计的情况下,通过降低液压泵1的输出,能够降低油耗。另外,在致动器4的上限输出高于液压泵1的最大输出的情况下,通过利用蓄压装置6的输出来补充液压泵的输出,能够提高作业性。
另外,本实施方式中的控制器10根据所述致动器上限输出的降低而使作为液压泵1的上限输出的泵上限输出降低,以使液压泵1的输出不超过所述泵上限输出的方式控制第一控制阀3。由此,能够最大限度地利用蓄压装置6的输出,将液压泵1的输出抑制在最小限度。
另外,本实施方式中的控制器10根据所述泵上限输出的降低而使原动机2的转速降低。由此,能够在能量效率高的区域使用原动机2,能够进一步降低油耗。
另外,本实施方式中的控制器10在由作业模式选择装置12选择了优先作业性的作业模式(作业性优先模式)的情况下,将所述致动器上限输出设定为比以额定转速运转的原动机2的输出(100%)大的值(120%)。由此,能够使致动器4的输出大于原动机2的最大输出。
以上,对本发明的实施例进行了详述,但本发明并不限定于上述的实施方式,包括各种变形例。例如,上述的实施方式是为了易于理解地说明本发明而详细地进行了说明的方式,并不限定于必须具备所说明的全部结构。
符号说明
1—液压泵,2—发动机(原动机),3—控制阀(第一控制阀),4—动臂缸(致动器),5—控制阀,6—储能器(蓄压装置),7—控制阀(第二控制阀),8—中央旁通切断阀,10—控制器,11—动臂操作杆(操作装置),12—作业模式开关(作业模式选择装置),20—油箱,101—泵控制信号,102—发动机控制信号,103—控制阀控制信号,104—函数产生部,105—最小值选择部,106—最小值选择部,107—控制阀控制信号,108—减法部,109—输出转换部,111—操作杆信号,112—作业模式开关信号,113—输出转换部,114—输出转换部,115—输出转换部,116—致动器上限输出,117—泵上限输出,118—发动机转速,119—作业模式设定图,200—液压挖掘机(工程机械),201—行驶体,202—旋转体,203—作业装置,204—旋转马达(致动器),205—动臂,206—斗杆,207—铲斗,208—斗杆缸(致动器),209—铲斗缸(致动器),210—驾驶室,211—配重,212—机械室,213—控制阀。
Claims (4)
1.一种工程机械,具备:
原动机;
液压泵,其由所述原动机驱动;
致动器,其由所述液压泵驱动;
蓄压装置,其储存所述致动器的返回油;
第一控制阀,其能够调整从所述液压泵向所述致动器供给的液压油的流量;
第二控制阀,其能够调整从所述蓄压装置向所述致动器供给的液压油的流量;
操作装置,其用于指示所述致动器的动作;以及
控制器,其从所述操作装置输入操作信号,向所述第一控制阀以及所述第二控制阀输出控制信号,
该工程机械的特征在于,
具备作业模式选择装置,其用于选择所述工程机械的作业模式,
所述控制器根据由所述作业模式选择装置选择出的作业模式来设定作为所述致动器的上限输出的致动器上限输出,以使所述液压泵的输出和所述蓄压装置的输出的合计不超过所述致动器上限输出的方式控制所述第一控制阀以及所述第二控制阀。
2.根据权利要求1所述的工程机械,其特征在于,
所述控制器根据所述致动器上限输出的降低而使作为所述液压泵的上限输出的泵上限输出降低,以使所述液压泵的输出不超过所述泵上限输出的方式控制所述第一控制阀。
3.根据权利要求2所述的工程机械,其特征在于,
所述控制器根据所述泵上限输出的降低而使所述原动机的转速降低。
4.根据权利要求1所述的工程机械,其特征在于,
在由所述作业模式选择装置选择了使作业性优先的作业模式的情况下,所述控制器将所述致动器上限输出设定为比以额定转速运转的所述原动机的输出大的值。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020175621 | 2020-10-19 | ||
JP2020-175621 | 2020-10-19 | ||
PCT/JP2021/038490 WO2022085645A1 (ja) | 2020-10-19 | 2021-10-18 | 建設機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115279975A true CN115279975A (zh) | 2022-11-01 |
CN115279975B CN115279975B (zh) | 2023-08-22 |
Family
ID=81290804
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202180019711.1A Active CN115279975B (zh) | 2020-10-19 | 2021-10-18 | 工程机械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230085676A1 (zh) |
EP (1) | EP4101995A4 (zh) |
JP (1) | JP7285380B2 (zh) |
KR (1) | KR20220131389A (zh) |
CN (1) | CN115279975B (zh) |
WO (1) | WO2022085645A1 (zh) |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0564253U (ja) * | 1992-01-31 | 1993-08-27 | 株式会社小松製作所 | 回収エネルギーのポンプ馬力補充装置 |
JP2001295813A (ja) * | 2000-04-12 | 2001-10-26 | Yanmar Diesel Engine Co Ltd | 作業機の油圧回路 |
JP2008019910A (ja) * | 2006-07-11 | 2008-01-31 | Shin Caterpillar Mitsubishi Ltd | 作業機械における油圧制御システム |
JP2009275771A (ja) * | 2008-05-13 | 2009-11-26 | Caterpillar Japan Ltd | 流体圧アクチュエータ制御回路 |
JP2010101365A (ja) * | 2008-10-22 | 2010-05-06 | Caterpillar Japan Ltd | 作業機械における油圧制御システム |
US20120067432A1 (en) * | 2009-05-29 | 2012-03-22 | Volvo Construction Equipment Ab | hydraulic system and a working machine comprising such a hydraulic system |
US20160010663A1 (en) * | 2013-01-30 | 2016-01-14 | Parker-Hannifin Corporation | Hydraulic hybrid swing drive system for excavators |
US20160281330A1 (en) * | 2015-03-25 | 2016-09-29 | Caterpillar Inc. | Hydraulic System Recovering Swing Kinetic and Boom Potential Energy |
US20200325914A1 (en) * | 2019-04-12 | 2020-10-15 | Husco International, Inc. | Hydraulic systems and methods for nested pressure regulating valves |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4395199A (en) * | 1979-10-15 | 1983-07-26 | Hitachi Construction Machinery Co., Ltd. | Control method of a system of internal combustion engine and hydraulic pump |
JP5249857B2 (ja) * | 2009-05-29 | 2013-07-31 | 株式会社神戸製鋼所 | 制御装置及びこれを備えた作業機械 |
JP6479306B2 (ja) * | 2013-08-05 | 2019-03-06 | 住友重機械工業株式会社 | ショベル |
CN108138818B (zh) * | 2016-09-29 | 2020-06-23 | 日立建机株式会社 | 液压驱动装置 |
JP6934454B2 (ja) * | 2018-06-25 | 2021-09-15 | 日立建機株式会社 | 建設機械 |
WO2020204236A1 (ko) * | 2019-04-05 | 2020-10-08 | 볼보 컨스트럭션 이큅먼트 에이비 | 유압기계 |
-
2021
- 2021-10-18 EP EP21882786.3A patent/EP4101995A4/en active Pending
- 2021-10-18 US US17/908,956 patent/US20230085676A1/en active Pending
- 2021-10-18 JP JP2022557536A patent/JP7285380B2/ja active Active
- 2021-10-18 CN CN202180019711.1A patent/CN115279975B/zh active Active
- 2021-10-18 WO PCT/JP2021/038490 patent/WO2022085645A1/ja unknown
- 2021-10-18 KR KR1020227030999A patent/KR20220131389A/ko not_active Application Discontinuation
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0564253U (ja) * | 1992-01-31 | 1993-08-27 | 株式会社小松製作所 | 回収エネルギーのポンプ馬力補充装置 |
JP2001295813A (ja) * | 2000-04-12 | 2001-10-26 | Yanmar Diesel Engine Co Ltd | 作業機の油圧回路 |
JP2008019910A (ja) * | 2006-07-11 | 2008-01-31 | Shin Caterpillar Mitsubishi Ltd | 作業機械における油圧制御システム |
JP2009275771A (ja) * | 2008-05-13 | 2009-11-26 | Caterpillar Japan Ltd | 流体圧アクチュエータ制御回路 |
JP2010101365A (ja) * | 2008-10-22 | 2010-05-06 | Caterpillar Japan Ltd | 作業機械における油圧制御システム |
CN102203434A (zh) * | 2008-10-22 | 2011-09-28 | 卡特彼勒Sarl公司 | 作业机械的油压控制*** |
US20120067432A1 (en) * | 2009-05-29 | 2012-03-22 | Volvo Construction Equipment Ab | hydraulic system and a working machine comprising such a hydraulic system |
CN102449323A (zh) * | 2009-05-29 | 2012-05-09 | 沃尔沃建筑设备公司 | 液压***和包括此液压***的工程机械 |
US20160010663A1 (en) * | 2013-01-30 | 2016-01-14 | Parker-Hannifin Corporation | Hydraulic hybrid swing drive system for excavators |
US20160281330A1 (en) * | 2015-03-25 | 2016-09-29 | Caterpillar Inc. | Hydraulic System Recovering Swing Kinetic and Boom Potential Energy |
US20200325914A1 (en) * | 2019-04-12 | 2020-10-15 | Husco International, Inc. | Hydraulic systems and methods for nested pressure regulating valves |
Also Published As
Publication number | Publication date |
---|---|
JPWO2022085645A1 (zh) | 2022-04-28 |
US20230085676A1 (en) | 2023-03-23 |
KR20220131389A (ko) | 2022-09-27 |
CN115279975B (zh) | 2023-08-22 |
JP7285380B2 (ja) | 2023-06-01 |
WO2022085645A1 (ja) | 2022-04-28 |
EP4101995A4 (en) | 2024-03-13 |
EP4101995A1 (en) | 2022-12-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101498345B1 (ko) | 작업 기계의 구동 제어 방법 | |
EP1811155B1 (en) | Hydraulic construction machine control device | |
US9228323B2 (en) | Control system for construction machine | |
KR101378249B1 (ko) | 하이브리드형 건설기계 | |
JP5665874B2 (ja) | ハイブリッド型作業機械及びその制御方法 | |
US9026297B2 (en) | Control system for hybrid construction machine | |
KR102391357B1 (ko) | 전동식 유압 작업 기계의 유압 구동 장치 | |
EP2141361A1 (en) | Hydraulic unit, and construction machine having the unit | |
EP2628858A1 (en) | Construction machine having rotary element | |
JP2004190845A (ja) | 作業機械の駆動装置 | |
CN103890409A (zh) | 电动式液压作业机械的液压驱动装置 | |
KR20130114081A (ko) | 하이브리드 건설 기계 | |
EP2982867A1 (en) | Drive control system for working machine, working machine with said drive control system, and drive control method for said working machine | |
JPWO2014084213A1 (ja) | 電動式油圧作業機械の油圧駆動装置 | |
CN108138468B (zh) | 施工机械 | |
JP2016109204A (ja) | ハイブリッド建設機械の制御システム | |
JP3875900B2 (ja) | 建設機械の動力装置 | |
JP2021195962A (ja) | 油圧ショベル駆動システム | |
CN115279975B (zh) | 工程机械 | |
JP7460604B2 (ja) | ショベル | |
CN111788355B (zh) | 用于作业机械的液压***和控制液压***的方法 | |
JP2004197901A (ja) | 作業機械の駆動装置 | |
JP2022155176A (ja) | 電動式建設機械 | |
JP2013076311A (ja) | ハイブリッド式ショベルの制御方法 | |
WO2022054449A1 (ja) | 油圧ショベル駆動システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |