JP6518379B2 - 作業機械の圧油エネルギ回生装置 - Google Patents
作業機械の圧油エネルギ回生装置 Download PDFInfo
- Publication number
- JP6518379B2 JP6518379B2 JP2018508789A JP2018508789A JP6518379B2 JP 6518379 B2 JP6518379 B2 JP 6518379B2 JP 2018508789 A JP2018508789 A JP 2018508789A JP 2018508789 A JP2018508789 A JP 2018508789A JP 6518379 B2 JP6518379 B2 JP 6518379B2
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- JP
- Japan
- Prior art keywords
- pressure
- communication
- valve
- regeneration
- pressure oil
- 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.)
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—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
- E02F9/2221—Control of flow rate; Load sensing arrangements
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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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- 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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more 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
- F15B21/14—Energy-recuperation means
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/027—Installations or systems with accumulators having accumulator charging devices
- F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/002—Electrical failure
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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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/008—Valve failure
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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
- F15B11/024—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
- F15B2011/0246—Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits with variable regeneration flow
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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
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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
- F15B2211/3058—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 having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
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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
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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
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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
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
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- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6316—Electronic controllers using input signals representing a pressure the pressure being a pilot pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B2211/00—Circuits for servomotor systems
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- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15B2211/60—Circuit components or control therefor
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- F15B2211/6653—Pressure control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Description
ブームの自重落下時にボトム側とロッド側を連通制御すると、ブームシリンダのボトム圧は最大で2倍まで昇圧する。このため、ブームシリンダのボトム側とロッド側との連通制御を行わない従来機と比較すると、高負荷が作用した場合に機器の破損を防ぐために取付けられているオーバーロードリリーフ弁のオーバーロードリリーフ設定圧に達しやすくなる。
図1において、油圧ショベルは下部走行体200と上部旋回体202とフロント作業機203を備えている。下部走行体200は左右のクローラ式走行装置200a,200a(片側のみ図示)を有し、左右の走行モータ200b,200b(片側のみ図示)により駆動される。上部旋回体202は下部走行体200上に旋回可能に搭載され、旋回モータ202aにより旋回駆動される。フロント作業機203は上部旋回体202の前部に俯仰可能に取り付けられている。上部旋回体202にはキャビン(運転室)202bが備えられ、キャビン202b内には後述する第1及び第2操作装置6,10(図2参照)や図示しない走行用の操作ペダル装置等の操作装置が配置されている。
連通昇圧弁16のストロークは1個の電磁比例弁28によって制御される。電磁比例弁28は、コントローラ27の制御信号によってその開度を変化させることで、第1操作装置6のブーム下げ方向BDの操作パイロット圧Pd(操作信号)を所望の圧力に変換している。
連通昇圧弁16の開弁前と開弁後のそれぞれにおいて、ブームシリンダ4がブームを支持しているときの力の釣合を考える。そのときのブームシリンダ4に関連するパラメータを以下のようにシンボルで表す。
Pb’:連通昇圧弁16の開弁後のブームシリンダ4のボトム側圧力
Pr:連通昇圧弁16の開弁前のブームシリンダ4のロッド側圧力
Pr’:連通昇圧弁16の開弁後のブームシリンダ4のロッド側圧力
Ab:ブームシリンダ4のボトム側受圧面積
Ar:ブームシリンダ4のロッド側受圧面積
M:ブームシリンダ4の自重方向に作用する質量
g:重力加速度
連通昇圧弁16の開弁前であってロッド側に圧力が作用していないときの力の釣合は以下の式で表される。
Mg=Ab×Pb ・・・(1)
連通昇圧弁16の開弁後の力の釣合は以下の式で表される。
Mg+Ar×Pr’=Ab×Pb’ ・・・(2)
ここで、連通昇圧弁16を全開にした状態で圧損が無いと仮定すると、以下の式が導かれる。
Pb’=Pr’ ・・・(3)
(1)式と(3)式を(2)式に代入し、Pb’について解くと以下の式が導かれる。
Pb’=Ab/(Ab−Ar)×Pb ・・・(4)
通常のブームシリンダにおいて、ボトム側受圧面積Abはロッド側受圧面積Arの約2倍であることからAb/(Ab−Ar)は、約2になる。したがって、(4)式から以下の式が導かれる。
Pb’=2×Pb ・・・(5)
(5)式より、連通昇圧弁16が閉止しているときに比べて、開弁しているときは、ブームシリンダ4のボトム側圧力は2倍まで上昇する。但し、(5)式は連通昇圧弁16とブームシリンダ4のボトム側からロッド側までの管路の損失が無いものと仮定した場合に成立するものであり、連通昇圧弁16を絞ることにより、昇圧の度合いを調整することができる。絞り量については、実験などにより決定する。
Pb=Mg/Ab ・・・(6)
(6)式は、連通昇圧弁16の開弁前であってロッド側に圧力が作用していない場合であり、連通昇圧弁16を開弁して絞り制御する場合は、Pb’≠Pr’となることから(2)式を変形して両辺をAbで除算して以下の式が導かれる。
Mg/Ab=Pb’−Ar/Ab×Pr’ ・・・(7)
そして、(7)式に(6)式を代入して以下の式が導かれる。
(8)式より、ブームシリンダ4に作用する負荷圧は、ボトム側圧力とロッド側圧力から算出することができる。本実施の形態においては、圧力センサ24、29からボトム側圧力とロッド側圧力を検出可能なことから、ブームシリンダ4の負荷に応じた細かい制御が可能になる。
図2において、第1操作装置6の操作レバー6aがブーム下げ方向に操作された場合、第1操作装置6のパイロット弁6bから発生した操作パイロット圧Pdは制御弁5の操作部5bと電磁比例弁28を介して連通制御弁16の操作部16aに入力される。それにより制御弁5は図示左側の位置に切換られ、ボトム管路15がタンク管路7bと連通することにより、ブームシリンダ4のボトム側油室から圧油がタンクに排出され、ブームシリンダ4のピストンロッドが縮小動作(ブーム下げ動作)を行う。
図3に示すように、コントローラ27は、関数発生器131、関数発生器133、関数発生器134、関数発生器135、積算器136、積算器138、関数発生器139、積算器140、積算器142、減算器144、ゲイン発生器148、積算器150、出力変換部151、出力調整部152、減算器160、減算器161を有している。
ポンプ低減流量も同様に、再生流量が大きい場合は、ポンプ低減流量も大きく設定する必要があることから、関数発生器134の出力は積算器138にも送られ、ポンプ低減流量を増加するように設定する。
ポンプ低減流量も同様に、再生流量が大きい場合は、ポンプ低減流量も大きく設定する必要があることから、関数発生器135の出力は積算器142にも送られ、ポンプ低減流量を増加するように設定する。
このことにより、電磁比例弁22は制御され、電磁比例弁22から出力された駆動圧により所望の開口面積に再生制御弁17が制御される。また、傾転指令201におより、油圧ポンプ1が所望の傾転に制御され、再生流量分を提言したポンプ流量を吐出する。
レバー操作信号123は関数発生器134に入力され、レバー操作信号123に比例した信号を出力する。関数発生器134の出力は関数発生器149から出力し出力調整部152を介した信号と共に積算器150に入力される。積算器150の出力は出力変換部151を介して電磁弁指令128として電磁比例弁28に出力される。
負荷圧が低い場合、関数発生器149は1を出力するため、連通昇圧弁16はレバー操作信号123に比例した開口面積となる。負荷圧が高くなるにつれて、関数発生器149の出力は1より小さくなるため、連通昇圧弁16の開口が絞られ、負荷圧がオーバーロードリリーフ設定圧に近づいて関数発生器149が0を出力したときに、連通昇圧弁16は閉じられる。
Claims (8)
- 被駆動体を駆動または前記被駆動体の自重落下時に収縮する油圧シリンダと、
前記被駆動体の自重落下時に前記油圧シリンダの排出側と吸入側とを連通することにより、排出側の圧油の圧力を昇圧することが可能な連通昇圧通路と、
前記連通昇圧通路に配置され前記連通昇圧通路の圧力または流量もしくはその両方を調整可能な連通昇圧弁と、
前記被駆動体の自重落下時に、前記油圧シリンダから排出される圧油を再生可能な再生側管路及び再生制御弁、または前記油圧シリンダから排出される圧油を電気エネルギとして回生可能な回生側管路及び回生制御弁と、
前記油圧シリンダの排出側の圧力を検出可能な第1圧力検出器と、
前記被駆動体を自重落下させるための操作装置と、
前記操作装置の操作量を検出する操作量検出器と、
前記第1圧力検出器が検出した前記油圧シリンダの排出側の圧力信号と、前記操作量検出器が検出した前記操作装置の操作量信号とが入力され、前記連通昇圧弁を制御可能な制御装置とを備えた作業機械の圧油エネルギ回生装置において、
前記制御装置は、前記第1圧力検出器が検出した前記油圧シリンダの排出側の圧力が予め定めた高負荷設定圧に達した場合、達した直後は前記圧力の増加に応じて前記連通昇圧弁の開度を減少させ、時間の経過と共に前記連通昇圧弁の開度を緩やかに減少させる
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記油圧シリンダの吸入側の圧力を検出可能な第2圧力検出器を備え、
前記制御装置は、前記第2圧力検出器が検出した前記油圧シリンダの吸入側の圧力信号を入力し、前記連通昇圧弁を前記油圧シリンダの吸入側の圧力信号に応じて制御する
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項2に記載の作業機械の圧油エネルギ回生装置において、
前記制御装置は、前記第1圧力検出器と前記第2圧力検出器と前記操作量検出器のうち、少なくともいずれか1つが故障したときに、異常状態であるという異常判定を行う異常判定部を更に備え、
前記制御装置は、前記異常判定部が異常状態と判定した場合に、前記連通昇圧弁の開度を時間の経過と共に緩やかに減少させる
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記連通昇圧通路と並列に配置され、前記被駆動体の自重落下時に前記油圧シリンダの排出側と吸入側とを連通させる第2連通昇圧通路と、前記第2連通昇圧通路に配置され、前記第2連通昇圧通路の圧力または流量もしくはその両方を調整可能な第2連通昇圧弁を更に備え、
前記操作装置は油圧パイロット式に構成され、
前記第2連通昇圧弁は前記操作装置の操作量に応じて、開度が調整される
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記連通昇圧通路に前記連通昇圧弁とは直列の関係に配置され、前記連通昇圧通路の圧力または流量もしくはその両方を調整可能な第3連通昇圧弁を更に備え、
前記操作装置は油圧パイロット式に構成され、
前記第3連通昇圧弁は前記操作装置の操作量に応じて、開度が調整される
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記油圧シリンダとは別の油圧アクチュエータと、前記油圧アクチュエータに圧油を供給する油圧ポンプとを更に備え、
前記再生側管路と再生制御弁は、前記被駆動体の自重落下時に排出される圧油を前記油圧アクチュエータと前記油圧ポンプの間に再生させるものである
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記被駆動体の自重落下時に前記油圧シリンダから排出される圧油は、前記回生側管路及び回生制御弁を介して、油圧モータへ供給される
ことを特徴とする作業機械の圧油エネルギ回生装置。 - 請求項1に記載の作業機械の圧油エネルギ回生装置において、
前記被駆動体の自重落下時に前記油圧シリンダから排出される圧油は、前記回生側管路及び回生制御弁を介して、アキュムレータへ供給される
ことを特徴とする作業機械の圧油エネルギ回生装置。
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