JPH0663264B2 - Swing energy recovery and reuse device for swiveling construction machinery - Google Patents
Swing energy recovery and reuse device for swiveling construction machineryInfo
- Publication number
- JPH0663264B2 JPH0663264B2 JP14968084A JP14968084A JPH0663264B2 JP H0663264 B2 JPH0663264 B2 JP H0663264B2 JP 14968084 A JP14968084 A JP 14968084A JP 14968084 A JP14968084 A JP 14968084A JP H0663264 B2 JPH0663264 B2 JP H0663264B2
- Authority
- JP
- Japan
- Prior art keywords
- turning
- pressure
- hydraulic pump
- swing
- servo
- 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.)
- Expired - Lifetime
Links
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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Jib Cranes (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は旋回機構を有する建設機械の減速時の旋回エネ
ルギを回収して有効に再利用する装置に関するものであ
る。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device that recovers and effectively reuses turning energy during deceleration of a construction machine having a turning mechanism.
従来の技術 この種の装置の従来例としては実開昭59−14530号公報
に示されたものがある。2. Description of the Related Art A conventional example of this type of apparatus is disclosed in Japanese Utility Model Laid-Open No. 59-14530.
この従来の旋回エネルギ回収再利用装置にあつては、旋
回体用の油圧回路における油圧ポンプ及び旋回モータは
定容量形のものが用いられ、また旋回モータの切換制御
をON,OFF形の切換弁にて行なうようになつていると共
に、この切換弁と油圧モータとの間にカウンタバランス
弁を介装する構成となつていた。In this conventional swing energy recovery and reuse device, the hydraulic pump and swing motor in the hydraulic circuit for the swing structure are of constant capacity type, and the switching control of the swing motor is ON / OFF type switching valve. In addition, the counter balance valve is interposed between the switching valve and the hydraulic motor.
発明が解決しようとする問題点 上記従来の装置にあつては、切換弁を操作して旋回モー
タを制御する際に、この切換弁がON,OFF形の切換弁であ
ることにより、オペレータの感覚にあつた旋回制御がで
きないと共に、起動時と停止時にシヨツクが生じて滑ら
かな作動ができなかつた。Problems to be Solved by the Invention In the above conventional device, when the switching valve is operated to control the swing motor, the switching valve is an ON / OFF type switching valve, so The turning control could not be done at the same time, and a shock occurred at the time of starting and stopping, and smooth operation could not be performed.
また上記従来にあつては蓄圧器に圧力が蓄圧された場合
での起動時には、蓄圧器の圧力にてカウンタバランス弁
を押し開けて旋回モータへこの蓄圧器の圧油が旋回モー
タに供給されるため、蓄圧器に蓄圧された圧油がロスし
てしまい、エネルギ回収効率が低下してしまうという問
題があつた。Further, in the above-mentioned conventional case, at the time of starting when the pressure is accumulated in the pressure accumulator, the counterbalance valve is pushed open by the pressure of the pressure accumulator to supply the pressure oil of the pressure accumulator to the swing motor. Therefore, there is a problem that the pressure oil accumulated in the pressure accumulator is lost and the energy recovery efficiency is reduced.
問題点を解決するための手段及び作用 本発明は上記のことにかんがみなされたもので、サーボ
レギユレータにて制御する可変形の旋回用の油圧ポンプ
と、サーボレギユレータにて制御する両振可変形の旋回
モータとをポンプ回路で接続し、このポンプ回路に蓄圧
器を接続し、また蓄圧器の接続部と旋回モータとの間の
ポンプ回路内に旋回モータをフリー回転させるフリー回
転位置と、ポンプ回路を連通する作動位置とを有し、か
つ作動圧作用部に作用するパイロツト圧にて作動位置に
切換るようにした切換弁を介装し、上記両レギユレータ
のサーボ制御部と切換弁の作動圧作用部に、レバー操作
角比例制御弁形の操作弁からなる旋回操作装置を介して
制御用の油圧ポンプを接続し、また上記両サーボレギユ
レータに制御用の油圧ポンプを接続し、旋回用の油圧ポ
ンプ側のサーボレギユレータと制御用の油圧ポンプとの
間に旋回用の油圧ポンプの吐出圧にて切換操作されるリ
リーフカツト弁を介装し、旋回用の油圧ポンプと旋回モ
ータとをレバー操作角比例制御弁形の操作弁にてサーボ
レギユレータを介して制御し、また旋回モータの起動及
び減速時のリリーフロス圧を蓄圧器に蓄圧し、この蓄圧
器に蓄圧された圧力を旋回用の油圧ポンプからの吐出油
に代えていることができるようになつている。Means and Actions for Solving Problems The present invention has been conceived in view of the above, and includes a variable type hydraulic pump for turning controlled by a servo regulator and a servo pump controlled by a servo regulator. A swing circuit of variable swing type is connected by a pump circuit, a pressure accumulator is connected to this pump circuit, and a free rotation position for free rotation of the swing motor in the pump circuit between the connection part of the pressure accumulator and the swing motor. And a switching valve that communicates the pump circuit with each other, and is provided with a switching valve that is switched to the operating position by the pilot pressure that acts on the operating pressure acting portion. A hydraulic pump for control is connected to the operating pressure acting part of the valve via a turning operation device composed of a lever operation angle proportional control valve type operation valve, and a hydraulic pump for control is connected to both of the servoregulators. However, a relief cut valve that is switched between the servo regulator on the hydraulic pump for turning and the hydraulic pump for control is operated by the discharge pressure of the hydraulic pump for turning. And the swing motor are controlled via a servo regulator by a lever-operated-angle proportional control valve type operating valve, and the relief loss pressure at the time of starting and decelerating the swing motor is stored in a pressure accumulator. The accumulated pressure can be replaced with the discharge oil from the turning hydraulic pump.
実施例 本発明の実施例を図面に基づいて説明する。Embodiment An embodiment of the present invention will be described with reference to the drawings.
第２図は旋回機構を有する建設機械を概略的に示すもの
で、図中１は走行体、２はこの走行体１に旋回自在に搭
載された旋回体で、この旋回体２は減速機2aを含む旋回
装置３にて旋回されるようになつている。FIG. 2 schematically shows a construction machine having a turning mechanism. In the figure, 1 is a running body, 2 is a turning body mounted on the running body 1 so as to be freely turnable, and the turning body 2 is a speed reducer 2a. The turning device 3 includes a turning device.
第１図は上記建設機械の旋回装置の油圧回路を示すもの
で、４は旋回用の油圧ポンプ、５は制御用の油圧ポン
プ、6,7は建設機械の他のブームシリンダ、アームシリ
ンダ等の他のアクチエータへそれぞれ図示しない切換弁
を介して接続した油圧ポンプであり、これらの各油圧ポ
ンプ4,5,6,7は旋回体２に搭載されたエンジン８に連結
されている。FIG. 1 shows a hydraulic circuit of the swing device for the construction machine, 4 is a swing hydraulic pump, 5 is a control hydraulic pump, and 6 and 7 are other boom cylinders and arm cylinders of the construction machine. The hydraulic pumps are connected to other actuators via unillustrated switching valves, and these hydraulic pumps 4, 5, 6 and 7 are connected to an engine 8 mounted on the revolving structure 2.
上記旋回用の油圧ポンプ４は可変形になつており、その
制御部を作動する制御シリンダ９はサーボレギユレータ
10を介して制御用の油圧ポンプ５に接続されている。そ
してこの回路内にリリーフカツト弁11が介装してある。The turning hydraulic pump 4 is of a variable type, and the control cylinder 9 for operating the control section thereof is a servo regulator.
It is connected via 10 to a hydraulic pump 5 for control. A relief cut valve 11 is provided in this circuit.
上記サーボレギユレータ10はドレン位置10aと作動位置1
9bとを有し、ばね12とパイロツト回路13の圧力にてドレ
ン位置10aに、また操作圧作用部14に作用する操作圧に
て作動位置10bに切換るようになつている。The servo regulator 10 has a drain position 10a and an operating position 1
9b, the pressure is applied to the spring 12 and the pilot circuit 13 to switch to the drain position 10a, and to the operating position 10b by operating pressure applied to the operating pressure acting portion 14.
またリリーフカツト弁11はサーボレギユレータ10へ制御
油を送る制御位置11aと、上記制御油を遮断すると共
に、サーボレギユレータ10の圧油をドレンするドレン位
置11bとを有しており、これはばね15にてドレン位置11b
にパイロツト圧にて制御位置11aになるようになつてい
る。パイロツト圧は旋回用の油圧ポンプ４よりとられて
いる。Further, the relief cut valve 11 has a control position 11a for sending the control oil to the servo regulator 10, and a drain position 11b for shutting off the control oil and draining the pressure oil of the servo regurator 10. This is spring 15 and drain position 11b
At the pilot pressure, the control position 11a is set. Pilot pressure is taken from the hydraulic pump 4 for turning.
16は旋回装置３の旋回モータであり、この旋回モータ16
は両振可変形となつており、17はこれを制御するサーボ
レギユレータである。旋回モータ16は旋回用の油圧ポン
プ４にポンプ回路を介して接続されているが、このポン
プ回路に上流側から順に蓄圧器18、切換弁19が介装され
ている。切換弁19は旋回モータ16をフリー回転させるフ
リー回転位置19aと、旋回モータ16へ油圧ポンプ４から
の油圧を送る作動位置19bとを有している。この切換弁1
9はばねにてドレン位置19a側へ付勢され、また作動圧作
用部20に絞り20aを介して作用する圧力にて作動位置19b
に切換るようになつている。Reference numeral 16 is a turning motor of the turning device 3, and the turning motor 16
Is a variable vibration type, and 17 is a servo-regulator that controls this. The swing motor 16 is connected to the hydraulic pump 4 for swinging via a pump circuit, and a pressure accumulator 18 and a switching valve 19 are provided in this pump circuit in order from the upstream side. The switching valve 19 has a free rotation position 19a for freely rotating the swing motor 16 and an operating position 19b for sending the hydraulic pressure from the hydraulic pump 4 to the swing motor 16. This switching valve 1
9 is urged toward the drain position 19a by a spring, and the operating position 19b is applied by the pressure acting on the operating pressure acting portion 20 through the throttle 20a.
It is designed to switch to.
21は旋回操作装置であり、この旋回操作装置21は２個の
レバー操作角比例制御弁形の操作弁22,23と、この両操
作弁22,23を操作する切換レバー24とからなり、この切
換レバー24を一方へ傾動することにより、これらの傾動
角に比例した量だけ一方の操作弁22が開けられるように
なつており、同様に他方へ傾動することにより他方の操
作弁23がその傾動角に比例した量だけ開けられるように
なつている。上記各操作弁22,23の出口側は上記旋回モ
ータ16のサーボレギユレータ17の両側のそれぞれの作動
圧作用部に接続されており、入口側は制御用の油圧ポン
プ５に接続されている。Reference numeral 21 is a turning operation device, and this turning operation device 21 is composed of two lever operation angle proportional control valve type operation valves 22 and 23 and a switching lever 24 for operating both operation valves 22 and 23. By tilting the switching lever 24 to one side, one operation valve 22 can be opened by an amount proportional to these tilt angles, and similarly, by tilting to the other, the other operation valve 23 tilts. It is designed so that it can be opened by an amount proportional to the corner. The outlet sides of the operation valves 22 and 23 are connected to the respective operating pressure acting portions on both sides of the servoregulator 17 of the swing motor 16, and the inlet sides are connected to the control hydraulic pump 5. .
上記ポンプ回路はリリーフ弁24、オイルクーラ24aを介
してタンク側に接続されている。The pump circuit is connected to the tank side via a relief valve 24 and an oil cooler 24a.
上記構成における作用を説明する。The operation of the above configuration will be described.
（１）最初の旋回起動時（蓄圧器18に蓄圧されていない
場合） 旋回操作装置21の切換レバー24を一方へ、例えば左旋回
側へ傾動すると、左旋回側の操作弁22が上記切換レバー
24の傾角に比例した分だけ開けられ、サーボレギユレー
タ17の一方の作動圧作用部にはレバー角に比例したパイ
ロツト圧が作用し、旋回モータ16の制御部が制御され
る。またこれと同時にポンプ回路の切換弁19の作動圧作
用部21へ上記操作弁22からのパイロツト圧が作用してこ
れが作動位置19bに切換り、旋回用の油圧ポンプ４から
の圧油が旋回モータ16へ供給され、旋回モータ16は上記
操作弁22によるサーボレギユレータ17にて制御された回
転数と回転トルクで回転される。(1) At the time of first turning start (when pressure is not stored in the pressure accumulator 18) When the switching lever 24 of the turning operation device 21 is tilted to one side, for example, to the left turning side, the operation valve 22 on the left turning side causes the above-mentioned switching lever 22 to move.
It is opened by an amount proportional to the inclination angle of 24, and a pilot pressure proportional to the lever angle acts on one operating pressure acting portion of the servoregulator 17, and the control portion of the swing motor 16 is controlled. At the same time, the pilot pressure from the operation valve 22 acts on the operating pressure acting portion 21 of the switching valve 19 of the pump circuit, and this is switched to the operating position 19b, so that the pressure oil from the hydraulic pump 4 for turning is turned on by the turning motor. The rotation motor 16 is supplied to the motor 16 and is rotated by the rotation speed and the rotation torque controlled by the servo regulator 17 by the operation valve 22.
このとき、旋回用の油圧ポンプ４のサーボレギユレータ
10は旋回操作装置21からの制御圧により作動位置10bに
切換えられており、この油圧ポンプ４は増速方向に制御
される。そしてポンプ回路の圧力が所定以上の圧力にな
り、余分な圧油が蓄圧器18に蓄圧された状態でリリーフ
カツト弁11がOFF作動されると共に、サーボレギユレー
タ10がドレン位置10aに切換り、旋回用の油圧ポンプ４
からの吐出油がなくなり、上記旋回モータ16へは蓄圧器
18より圧油が供給される。そしてこの蓄圧器18の圧力が
低下すると再びリリーフカツト弁11がONとなると共にサ
ーボレギユレータ10が作動位置19bとなつてポンプ回路
へ油圧ポンプ４から圧油が供給される。At this time, the servo regulator of the turning hydraulic pump 4
10 is switched to the operating position 10b by the control pressure from the turning operation device 21, and the hydraulic pump 4 is controlled in the speed increasing direction. Then, the pressure of the pump circuit becomes a predetermined pressure or more, the excess pressure oil is accumulated in the pressure accumulator 18, the relief cut valve 11 is turned off, and the servo regulator 10 is switched to the drain position 10a. , Turning hydraulic pump 4
No oil is discharged from the
Pressure oil is supplied from 18. When the pressure of the pressure accumulator 18 decreases, the relief cut valve 11 is turned on again, the servo regulator 10 is brought to the operating position 19b, and the hydraulic oil is supplied from the hydraulic pump 4 to the pump circuit.
上記作動における旋回モータ16の出力軸トルクは次式で
表わされる。The output shaft torque of the swing motor 16 in the above operation is represented by the following equation.
P:油圧kg／cm２ q:モータの空量c.c／re よつて旋回体２はトルク制御される。 P: Hydraulic pressure kg / cm 2 q: Motor empty amount cc / re Therefore, the swing structure 2 is torque controlled.
旋回体２の加速度は T:旋回慣性駆動トルク I:旋回慣性モーメント で表わされる。よつて旋回操作装置21の切換レバー24の
作動角により旋回モータ16の容量が制御され、駆動トル
ク制御されるので、旋回体２の加速度が制御されること
となり、オペレータは旋回操作装置21により任意の加速
度制御が可能であり、しかも起動、停止時のシヨツクを
なくすることができる。The acceleration of revolving unit 2 is T: Turning inertia drive torque I: Turning moment of inertia. Therefore, since the capacity of the swing motor 16 is controlled by the operating angle of the switching lever 24 of the swing operation device 21 and the drive torque is controlled, the acceleration of the swing structure 2 is controlled, and the operator can arbitrarily operate the swing operation device 21. It is possible to control the acceleration and to eliminate the risk of starting and stopping.
（２）旋回ブレーキ時（旋回体２を急停止するとき） 旋回体２の旋回中において、旋回操作装置21の切換レバ
ー24を中立に戻すと、旋回モータ16のサーボレギユレー
タ17が中立位置に戻り、旋回モータ16の制御部が中立に
戻されて旋回モータ16は停止制御される。このとき、旋
回モータ16は停止制御される。このとき、旋回モータ16
のポンプ回路内の切換弁19はこれの作動圧作用部の回路
路に介装した絞り20aによつて戻るのが遅れてしばらく
作動位置19bのままいるから、上記旋回モータ16の停止
作動によりポンプ回路内の圧力が上昇すると、この圧力
はポンプ回路内に接続した蓄圧器18内に蓄圧される。そ
の後切換弁19がドレン位置19aに切換つて上記蓄圧器18
内の蓄圧力は回路内に封入された状態を保つ。(2) During swing brake (when the swing body 2 is suddenly stopped) When the switching lever 24 of the swing operation device 21 is returned to the neutral position while the swing body 2 is swinging, the servo-regulator 17 of the swing motor 16 is at the neutral position. Then, the control unit of the swing motor 16 is returned to neutral, and the swing motor 16 is stop-controlled. At this time, the turning motor 16 is stopped and controlled. At this time, the swing motor 16
Since the changeover valve 19 in the pump circuit of No. 2 is returned to the operating position 19b for a while after being delayed by the throttle 20a provided in the circuit path of the operating pressure acting unit of this, the pump is stopped by the turning operation of the swing motor 16. When the pressure in the circuit rises, this pressure is stored in the pressure accumulator 18 connected in the pump circuit. After that, the switching valve 19 switches to the drain position 19a and the accumulator 18
The accumulated pressure inside keeps being enclosed in the circuit.
（３）蓄圧器18に蓄圧されている場合の再起動時 旋回操作装置21の切換レバー24を動かすと、操作弁22あ
るいは23により、切換レバー24の傾角に比例したパイロ
ツト圧が切換弁19の作動圧作用部に作用して、これに作
用したパイロツト圧に応じてこの切換弁19が作動位置19
bに切換る。このとき、上記旋回操作装置21からのパイ
ロツト圧は旋回用の油圧ポンプ４のサーボレギユレータ
10の作動圧作用部に作用してこれを作動位置19bに切換
えようとするが、このとき蓄圧器18からのパイロツト圧
が高いのでサーボレギユレータ10はドレン位置10aにと
どまり、旋回用の油圧ポンプ４の作動部は中立状態を続
け、この油圧ポンプ４は圧油を吐出しない。(3) At restart when the pressure is accumulated in the pressure accumulator 18 When the switching lever 24 of the turning operation device 21 is moved, a pilot pressure proportional to the tilt angle of the switching lever 24 is generated by the operation valve 22 or 23. The switching valve 19 acts on the operating pressure acting portion, and the switching valve 19 operates in accordance with the pilot pressure acting on the operating pressure acting portion.
Switch to b. At this time, the pilot pressure from the turning operation device 21 is the servo regulator of the turning hydraulic pump 4.
It tries to switch to the operating position 19b by acting on the operating pressure acting part of 10, but at this time, since the pilot pressure from the pressure accumulator 18 is high, the servoregulator 10 stays at the drain position 10a and the turning hydraulic pressure is used. The operating portion of the pump 4 continues to be in a neutral state, and the hydraulic pump 4 does not discharge pressure oil.
従つてこのときの旋回モータ16へは蓄圧器18からの圧油
が供給され、この旋回モータ16は上記サーボレギユレー
タ17によつて制御された斜板等の作動部の傾角に比例し
たトルクで回転される。Therefore, the turning motor 16 at this time is supplied with pressure oil from the pressure accumulator 18, and the turning motor 16 is controlled by the servo-regulator 17 and has a torque proportional to the tilt angle of the operating portion such as the swash plate. Is rotated by.
蓄圧器18の蓄圧による放出エネルギがなくなると、旋回
慣性は最大となり、その後は旋回モータ16、減速機、配
管ロスにより徐々に減速される。When the energy released from the pressure accumulator 18 is released, the swing inertia becomes maximum, and thereafter, the swing motor 16, the speed reducer, and the piping loss gradually reduce the speed.
このとき、旋回操作装置21の切換レバー24をそのまま倒
していると、旋回用の油圧ポンプ４のサーボレギユレー
タ10が作動し、これの作動部が作動されてこれの作動量
に比例してポンプ吐出量が増加し、旋回モータ16の制御
と合わせて定速回転数を確保し、旋回体２は等速で回転
しつづける。つまり、旋回用の油圧ポンプ４の応援によ
り旋回モータ16は蓄圧器18の圧力が放出され終つた後の
減速が防止される。At this time, if the switching lever 24 of the turning operation device 21 is kept tilted as it is, the servoregulator 10 of the turning hydraulic pump 4 is actuated, the actuating portion thereof is actuated, and in proportion to the actuation amount thereof. The pump discharge amount increases, the constant speed rotation speed is secured together with the control of the swing motor 16, and the swing body 2 continues to rotate at a constant speed. That is, the turning motor 16 is prevented from decelerating after the pressure of the pressure accumulator 18 is released by the support of the turning hydraulic pump 4.
第３図は上記作動時における旋回操作装置21の切換レバ
ー24の操作角度α、旋回体２の旋回速度ω、蓄圧器18の
蓄圧力Ｐの変化を示すもので、切換レバー24を一方のα
だけ傾動したとき、旋回体２は蓄圧器18による蓄圧量Ａ
と旋回用の油圧ポンプ４からの応援圧油量Ｂとによつて
一定の旋回速度ωが維持される。FIG. 3 shows changes in the operating angle α of the switching lever 24 of the swing operation device 21, the swing speed ω of the swing body 2, and the accumulated pressure P of the pressure accumulator 18 during the above operation.
When tilted only, the revolving structure 2 stores the accumulated pressure A by the pressure accumulator 18.
And the amount of support pressure oil B from the turning hydraulic pump 4 maintains a constant turning speed ω.
切換レバー24を逆方向にαだけ傾動して元に戻すことに
より旋回体２は停止される。The revolving unit 2 is stopped by tilting the switching lever 24 in the opposite direction by α and returning it to the original position.
すなわち、レバー24を−αだけ傾動すると、旋回モータ
16のサーボレギユレータ17が逆方向に作動し、旋回モー
タ16の作動部が逆方向に振られる。一方旋回慣性は当切
回転方向へ回り続けようとするため、旋回モータ16は逆
にポンプ作動され、圧油が蓄圧器18に押し戻され、蓄圧
器18に蓄圧される。これにより旋回体２は減速され、停
止される。That is, when the lever 24 is tilted by -α, the swing motor
The servoregulator 17 of 16 operates in the reverse direction, and the operating portion of the swing motor 16 swings in the reverse direction. On the other hand, since the turning inertia tends to continue to rotate in the normal rotation direction, the turning motor 16 is pumped in reverse, and the pressure oil is pushed back to the pressure accumulator 18 and accumulated in the pressure accumulator 18. As a result, the swing structure 2 is decelerated and stopped.
またこのときの蓄圧器18の圧力は安全弁のセツト圧ｐか
らＮ２ガス封入圧pNに低下し、停止時に再び安全弁のセ
ツト圧ｐまで上昇する。なおこの再上昇時において、曲
線Ｃは蓄圧器18だけの場合で、これの回収時の油圧は効
率ロス分だけ当初のセツト圧より低く、旋回用の油圧ポ
ンプ４からの応援で曲線Ｄで示すようにセツト圧まで上
昇する。Further, the pressure of the pressure accumulator 18 at this time decreases from the set pressure p of the safety valve to the N 2 gas charging pressure p N , and again rises to the set pressure p of the safety valve when stopped. At the time of this re-raising, the curve C is only for the pressure accumulator 18, and the oil pressure at the time of recovery of this is lower than the original set pressure by the amount of efficiency loss, and is shown by the curve D with the support from the turning hydraulic pump 4. Rises to set pressure.
上記作動における減速時は加速時と同様に切換レバー24
の傾動角に比例してモータ16の作動部を逆に振ることに
より減速度を制御できるので、オペレータの思いのまま
の減速度調整ができ、滑らかな停止性能を得ることがで
きる。During deceleration in the above operation, the switching lever 24
Since the deceleration can be controlled by swinging the operating part of the motor 16 in reverse in proportion to the tilt angle, the deceleration can be adjusted as the operator desires, and smooth stopping performance can be obtained.
旋回式積込機の場合、90度旋回の積込作業の割合が多い
が、このような場合、第３図の点線で示すような作動を
し、旋回用の油圧ポンプ４による応援をほとんど必要な
く蓄圧器18の作動だけで旋回、停止が可能である。In the case of a swing-type loader, the proportion of 90-degree swing loading work is high, but in such a case, the operation shown by the dotted line in FIG. Instead, it can be turned and stopped only by operating the pressure accumulator 18.
第４図以下は本発明の他の実施例を示すもので、第４図
に示す第２の実施例では旋回用の油圧ポンプ４の吐出側
のポンプ回路に旋回優先切換弁25を介装し、旋回しない
ときの旋回用の油圧ポンプ４からの吐出油を他の作業機
用の操作弁に供給して他の油圧ポンプと合流させるよう
になつている。FIG. 4 and subsequent figures show another embodiment of the present invention. In the second embodiment shown in FIG. 4, a turning priority switching valve 25 is provided in the pump circuit on the discharge side of the hydraulic pump 4 for turning. The discharge oil from the turning hydraulic pump 4 when not turning is supplied to the operation valve for another working machine to join with the other hydraulic pump.
第５図は本発明の第３の実施例を示すもので、この実施
例は上記の第２の実施例を改良したものである。FIG. 5 shows a third embodiment of the present invention, which is an improvement of the second embodiment.
すなわち、上記第２の実施例では、旋回優先切換弁25は
旋回時の旋回操作装置21からのパイロツト圧だけで制御
されるため、旋回操作装置21の切換レバー24を操作して
いる間は旋回パイロツト圧により旋回位置に切換つてい
る。このため旋回駆動が行なわれている間は旋回用の油
圧ポンプ４の吐出圧は他のアクチエータへ供給すること
ができない。That is, in the second embodiment, the turning priority switching valve 25 is controlled only by the pilot pressure from the turning operation device 21 during turning, so that the turning lever 24 of the turning operation device 21 is turned while operating. It is switched to the turning position by the pilot pressure. Therefore, while the swing drive is being performed, the discharge pressure of the swing hydraulic pump 4 cannot be supplied to another actuator.
90度旋回積込作業等通常の作業状態では蓄圧器18による
旋回作動を行なわせるように蓄圧器18の容量を決定する
のが有利であるので、このようにすると、旋回用の油圧
ポンプ４はほとんど遊んでいる状態となつている。Since it is advantageous to determine the capacity of the pressure accumulator 18 so that the accumulator 18 is caused to perform a swivel operation in a normal working state such as 90-degree swivel loading work, in this way, the swiveling hydraulic pump 4 is Almost playing.
この実施例は上記不具合点を改良したもので、旋回操作
装置21と旋回用の油圧ポンプ４側のサーボレギユレータ
10のパイロツト圧作用部14を接続する回路内に、上記パ
イロツト圧作用部へ旋回操作装置21からのパイロツト圧
を供給する第１位置27aと、制御用ポンプ５からの圧油
を供給する第２位置27bとを有する旋回優先パイロツト
圧切換弁27を介装する。そして蓄圧器18の回路圧をこの
旋回優先パイロツト圧切換弁27のパイロツト圧作用部を
導き、蓄圧器18にある一定圧以上蓄圧された状態では、
この切換弁27は旋回操作装置21よりのパイロツト圧が旋
回用の油圧ポンプ４のサーボレギユレータ10に導かれ、
また一方旋回用の油圧ポンプ４の吐出圧をサーボレギユ
レータ10の反対側に導く。このことによりポンプのサー
ボレギユレータ10は旋回用の油圧ポンプ４の吐出圧に従
つて作動し、この油圧ポンプ４の吐出圧が高くなると作
動部の傾斜角が小さくなるように制御され、低くなると
大きくなるように制御されるようになつている。This embodiment is a modification of the above-mentioned problems, and it is a servo regulator for the turning operation device 21 and the turning hydraulic pump 4 side.
A first position 27a for supplying the pilot pressure from the turning operation device 21 to the pilot pressure acting part and a second position for supplying the pressure oil from the control pump 5 in the circuit connecting the pilot pressure acting part 14 of FIG. A turning priority pilot pressure switching valve 27 having a position 27b is interposed. Then, the circuit pressure of the pressure accumulator 18 is guided to the pilot pressure acting portion of the swirl priority pilot pressure switching valve 27, and in the state where the pressure is accumulated above a certain pressure in the pressure accumulator 18,
In this switching valve 27, the pilot pressure from the turning operation device 21 is introduced to the servo-regulator 10 of the turning hydraulic pump 4,
On the other hand, the discharge pressure of the turning hydraulic pump 4 is guided to the opposite side of the servoregulator 10. As a result, the servoregulator 10 of the pump operates according to the discharge pressure of the hydraulic pump 4 for turning, and when the discharge pressure of the hydraulic pump 4 increases, the inclination angle of the operating portion is controlled to decrease, and the servo angle decreases. It becomes to be controlled to become big when it becomes.
また旋回優先切換弁25の旋回操作装置21からのパイロツ
ト圧作用部と反対側に蓄圧器18の回路圧を導き、蓄圧器
18の回路圧にある一定以上蓄圧された状態では旋回優先
切換弁25は上記パイロツト圧が作用しても旋回優先切換
弁25は旋回用の油圧ポンプ４の吐出圧が他のアクチエー
タへ導かれている状態の位置になつたままであり、蓄圧
器18の回路圧がある一定圧以上になつたとき、旋回優先
切換弁25は旋回操作装置21からのパイロツト圧に従つて
作動するようになつている。In addition, the circuit pressure of the pressure accumulator 18 is introduced from the turning operation device 21 of the turning priority switching valve 25 to the side opposite to the pilot pressure acting portion,
In the state in which the circuit pressure of 18 is accumulated above a certain level, the swing priority switching valve 25 guides the discharge pressure of the swing hydraulic pump 4 to another actuator even if the pilot pressure acts. When the circuit pressure of the pressure accumulator 18 exceeds a certain pressure, the swing priority switching valve 25 operates in accordance with the pilot pressure from the swing operation device 21. .
この第３の実施例では上記のように構成により、旋回用
の油圧ポンプ４の圧油は常に有効に利用することができ
る。また通常作業では他のアクチエータの作動速度をい
つも旋回用の油圧ポンプ４からの応援分だけ速くするこ
とができる。また旋回優先パイロツト圧切換弁27によ
り、旋回用の油圧ポンプ４の圧力が他のアクチエータへ
利用されている間は、ポンプ４のサーボレギユレータ10
は他のアクチエータの負荷圧によつて制御される。そし
て蓄圧器18の圧力がなくなつて旋回用の油圧ポンプ４の
圧力が旋回駆動に供されるときは旋回操作装置21からの
パイロツト圧に従つて制御される。With the configuration as described above in the third embodiment, the pressure oil of the turning hydraulic pump 4 can always be effectively utilized. Further, in normal work, the operating speed of other actuators can always be increased by the amount of support from the turning hydraulic pump 4. While the pressure of the turning hydraulic pump 4 is being used by another actuator by the turning priority pilot pressure switching valve 27, the servo regulator 10 of the pump 4 is operated.
Is controlled by the load pressure of another actuator. When there is no pressure in the pressure accumulator 18 and the pressure of the hydraulic pump 4 for turning is supplied to the turning drive, it is controlled according to the pilot pressure from the turning operation device 21.
第６図は本発明の第４の実施例を示すもので、この実施
例は旋回用の油圧ポンプ４と旋回モータ16とが閉回路で
接続した場合におけるものであり、28は旋回方向切換
弁、29は旋回用の油圧ポンプの応援切換弁である。また
５′はチヤージポンプである。FIG. 6 shows a fourth embodiment of the present invention, in which the turning hydraulic pump 4 and the turning motor 16 are connected in a closed circuit, and 28 is a turning direction switching valve. , 29 are support switching valves of a hydraulic pump for turning. Further, 5'is a charge pump.
発明の効果 本発明によれば、オペレータの感覚にあつた旋回制御が
でき、また起動時及び停止時にシヨツクがなく滑らかな
作動ができる。さらに微操作性と複合操作性が大幅に向
上することができる。そしてさらに、起動時のエネルギ
回収は、油圧リリーフロスの90％以上回収可能であり、
また減速時のエネルギの回収は油圧リリーフロスの80％
以上回収でき、エネルギ回収時のモータ効率と減速機効
率、配管効率等を除いたエネルギのほとんどを回収でき
る。EFFECTS OF THE INVENTION According to the present invention, the turning control can be performed according to the feeling of the operator, and smooth operation can be performed without shock during starting and stopping. Further, fine operability and combined operability can be greatly improved. Furthermore, energy recovery at startup can recover more than 90% of hydraulic relief loss,
80% of hydraulic relief loss is recovered during deceleration.
As described above, most of the energy except the motor efficiency, the speed reducer efficiency, the pipe efficiency, etc. at the time of energy recovery can be recovered.
図面は本発明の実施例を示すもので、第１図は旋回式建
設機械の旋回装置の油圧回路図、第２図は旋回式建設機
械の説明図、第３図は旋回操作装置の切換レバーの傾角
に対する旋回モータの旋回速度、蓄圧器の蓄圧力の変化
を示す線図、第４図、第５図、第６図は他の実施例を示
す油圧回路図である。 4,5は油圧ポンプ、10,17はサーボレギユレータ、11はリ
リーフカツト弁、16は旋回モータ、18は蓄圧器、19は切
換弁、19aはフリー回転位置、19bは作動位置、20は作動
圧作用部、21は旋回操作装置、22,23は操作弁。The drawings show an embodiment of the present invention. FIG. 1 is a hydraulic circuit diagram of a turning device for a swing-type construction machine, FIG. 2 is an explanatory view of the swing-type construction machine, and FIG. FIG. 4, FIG. 5, FIG. 6 and FIG. 6 which show changes in the turning speed of the turning motor and the accumulated pressure of the pressure accumulator with respect to the inclination angle of the hydraulic circuit are hydraulic circuit diagrams showing other embodiments. 4,5 are hydraulic pumps, 10 and 17 are servoregulators, 11 is a relief cut valve, 16 is a swing motor, 18 is a pressure accumulator, 19 is a switching valve, 19a is a free rotation position, 19b is an operating position, and 20 is Working pressure acting part, 21 is a turning operation device, and 22 and 23 are operation valves.
Claims (1)
の旋回用の油圧ポンプ４と、サーボレギユレータ17にて
制御する両振可変形の旋回モータ16とをポンプ回路で接
続し、このポンプ回路に蓄圧器18を接続し、また蓄圧器
18の接続部と旋回モータ16との間のポンプ回路内に旋回
モータ16をフリー回転させるフリー回転位置19aと、ポ
ンプ回路を連通する作動位置19bとを有し、かつ作動圧
作用部20に作用するパイロツト圧にて作動位置19bに切
換るようにした切換弁19を介装し、上記両レギユレータ
10,17のサーボ制御部と切換弁19の作動圧作用部20に、
レバー操作角比例制御弁形の操作弁22,23からなる旋回
操作装置21を介して制御用の油圧ポンプ５を接続し、ま
た上記両サーボレギユレータ10,17に制御用の油圧ポン
プ５を接続し、旋回用の油圧ポンプ４側のサーボレギユ
レータ10と制御用の油圧ポンプ５との間に旋回用の油圧
ポンプ４の吐出圧にて切換操作されるリリーフカツト弁
11を介装したことを特徴とする旋回式建設機械の旋回エ
ネルギ回収再利用装置。1. A variable-type turning hydraulic pump 4 controlled by a servo regurator 10 and a bidirectional variable-type turning motor 16 controlled by a servo regurator 17 are connected by a pump circuit, Connect the accumulator 18 to this pump circuit,
In the pump circuit between the connection portion of 18 and the swing motor 16, a free rotation position 19a for freely rotating the swing motor 16 and an operating position 19b for communicating the pump circuit are provided, and act on the operating pressure acting portion 20. A switching valve 19 that is switched to the operating position 19b by the pilot pressure
Servo control unit of 10,17 and operating pressure acting unit 20 of switching valve 19,
A control hydraulic pump 5 is connected through a turning operation device 21 composed of lever operation angle proportional control valve type operation valves 22 and 23, and the control hydraulic pump 5 is connected to the both servo regu- lators 10 and 17. A relief cut valve which is connected and is switched between the servo-regulator 10 on the side of the turning hydraulic pump 4 and the control hydraulic pump 5 by the discharge pressure of the turning hydraulic pump 4.
A turning energy recovery and reuse device for a turning type construction machine, characterized in that 11 is interposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14968084A JPH0663264B2 (en) | 1984-07-20 | 1984-07-20 | Swing energy recovery and reuse device for swiveling construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14968084A JPH0663264B2 (en) | 1984-07-20 | 1984-07-20 | Swing energy recovery and reuse device for swiveling construction machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6131534A JPS6131534A (en) | 1986-02-14 |
| JPH0663264B2 true JPH0663264B2 (en) | 1994-08-22 |
Family
ID=15480473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14968084A Expired - Lifetime JPH0663264B2 (en) | 1984-07-20 | 1984-07-20 | Swing energy recovery and reuse device for swiveling construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0663264B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19620665C1 (en) * | 1996-05-22 | 1997-06-12 | Brueninghaus Hydromatik Gmbh | Hydraulic control system for dredger slewing gear |
| DE19625393A1 (en) * | 1996-05-22 | 1998-01-02 | Brueninghaus Hydromatik Gmbh | Slewing gear control with double-sided braking |
| DE19711769C2 (en) | 1997-03-21 | 1999-06-02 | Mannesmann Rexroth Ag | Hydraulic control arrangement for a mobile work machine, in particular for a wheel loader |
| JP3865590B2 (en) * | 2001-02-19 | 2007-01-10 | 日立建機株式会社 | Hydraulic circuit for construction machinery |
| DE202007011783U1 (en) * | 2007-08-23 | 2008-12-24 | Liebherr-France Sas, Colmar | Hydraulic drive, in particular an excavator, in particular for a slewing gear |
| DE202009004071U1 (en) * | 2009-03-23 | 2010-08-12 | Liebherr-France Sas, Colmar | Drive for a hydraulic excavator |
| KR102166311B1 (en) * | 2019-03-11 | 2020-10-15 | 김성동 | Direction control valve for energy charging and regenerating, and apparatus for regenerating swing energy of construction machine with it |
-
1984
- 1984-07-20 JP JP14968084A patent/JPH0663264B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6131534A (en) | 1986-02-14 |
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