WO2005098147A1 - 旋回式作業機械 - Google Patents
旋回式作業機械 Download PDFInfo
- Publication number
- WO2005098147A1 WO2005098147A1 PCT/JP2005/006612 JP2005006612W WO2005098147A1 WO 2005098147 A1 WO2005098147 A1 WO 2005098147A1 JP 2005006612 W JP2005006612 W JP 2005006612W WO 2005098147 A1 WO2005098147 A1 WO 2005098147A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- parking brake
- control
- motor
- work
- Prior art date
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
-
- 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°
- E02F9/128—Braking systems
-
- 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
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
- E02F9/24—Safety devices, e.g. for preventing overload
Definitions
- the present invention relates to a revolving work machine that revolves a revolving body with an electric motor.
- Patent Document 2 there is known a technique in which a parking brake is operated in a turning stop state to stop and hold a revolving body in this electric motor driving system.
- Patent Document 3 a technique for releasing a parking brake when a working device is operated has been proposed.
- This concept can also be applied to electric motor driven machines, and release the parking brake to release the turning external force and protect the brake and the turning drive.
- Patent Document 1 JP-A-11 93210
- Patent Document 2 Japanese Patent Application Laid-Open No. 2001-11897
- Patent Document 3 JP 2003-184808 A Disclosure of the invention
- the revolving unit may move on its own, or the revolving unit may move with a small excavation reaction force, resulting in poor work efficiency. Occurs.
- the present invention provides a swing that can release the parking brake only when an external turning force that may damage the parking brake / rotation drive part is actually applied, even when operating the work equipment.
- the present invention provides a working machine.
- a revolving system capable of controlling movement of a revolving superstructure in a brake released state is provided.
- a working machine is provided.
- the present invention employs the following configuration.
- a lower traveling body an upper revolving body rotatably mounted on the lower traveling body, a working device attached to the upper revolving body, and a revolving electric motor for revolvingly driving the upper revolving body.
- a turning operation means for commanding a turning operation of the upper revolving structure; a working operation means for commanding a working operation of the working device; and a parking stop for holding the upper revolving structure.
- a brake, and control means for controlling the operation of the parking brake.
- the control means operates the work operation means in a non-operation state of the turning operation means, and performs control based on the operation.
- the parking brake is released when the output of the work equipment is equal to or higher than the set value.
- a lower traveling body an upper revolving body rotatably mounted on the lower traveling body, a working device mounted on the upper revolving body, and a revolving electric motor for revolvingly driving the upper revolving body.
- Operating means for running, turning, and working for instructing the running operation of the lower running body, the turning operation of the upper rotating body, and the work operation of the work device, respectively, and the parking for stopping and holding the upper rotating body.
- a brake, and control means for controlling the operation of the parking brake.
- the control means operates when at least one of the working and traveling operating means is operated in a non-operating state of the turning operating means.
- the control of the rotating electric motor for releasing the operation of the parking brake and holding the upper revolving structure in a stopped state is performed.
- the parking brake is released only when the output of the working device is larger than the set value.
- the electric motor control for releasing the parking brake at the time of a work operation or a travel operation and stopping and holding the upper-part turning body is performed as described above.
- the turning electric motor can exert a force opposing the turning external force while preventing damage such as a parking brake due to the turning external force.
- FIG. 1 is a schematic side view of a shovel to which the present invention is applied.
- FIG. 2 is a block diagram showing a first embodiment of the present invention.
- FIG. 3 is a flowchart for explaining the operation of the embodiment.
- FIG. 4 is a flowchart for explaining the operation of the second embodiment of the present invention.
- FIG. 5 is a diagram showing a relationship between a rotation speed and a torque of the turning electric motor in the same embodiment.
- FIG. 6 is a flowchart for explaining the operation of the third embodiment of the present invention.
- FIG. 7 is a flowchart for explaining an operation of a fourth embodiment of the present invention.
- FIG. 8 is a flowchart illustrating an operation of a fifth embodiment of the present invention.
- FIG. 9 is a block diagram showing a sixth embodiment of the present invention.
- FIG. 10 is a flowchart for explaining the operation of the embodiment.
- Figure 1 shows a shovel that is an example of the application.
- an upper revolving unit 2 is mounted on a crawler-type lower traveling unit 1 so as to be rotatable around a vertical axis, and a boom 3, an arm 4, a packet 5, and A work (excavation) device 9 composed of a driven boom, arm, and bucket cylinders (hydraulic cylinders) 6, 7, and 8 is mounted.
- FIG. 2 shows a block configuration of a drive system and a control system of the entire shovel.
- a hydraulic pump 11 is driven by an engine 10, and a discharge oil from the left and right traveling motors for driving the boom, arm, bucket cylinders 6 to 8, and the lower traveling body 1 is driven.
- the control valves 12 and 13 are supplied via a control valve 14 (a force provided for each actuator, shown here as one valve block).
- a generator 16 is connected to the engine 10 via a speed increasing mechanism 15, and the electric power generated by the generator 16 is stored in a battery 18 via a controller 17 for controlling voltage and current. At the same time, it is added to the turning motor 20 via the inverter 19.
- the turning electric motor 20 rotates, and its rotational force is transmitted to the upper turning body 2 via the turning speed reduction mechanism 21, and the turning body 2 turns left or right.
- the turning electric motor 20 is controlled by an inverter during the turning acceleration, so that the generator 16 and the battery 1
- the electric motor function is performed by at least one of the electric powers of the power generator 8, and at the time of deceleration, the electric power is generated by the inverter control and the electric power generated by the regenerative power generation is stored in the battery 18.
- the turning motor 20 is provided with a parking brake (mechanical brake ) 22 for generating a mechanical braking force.
- the parking brake 22 is configured as a hydraulic negative brake.
- the electromagnetic switching valve 24 when the electromagnetic switching valve 24 is switched to the switching position b by a command from the controller 31, the brake force is released by introducing hydraulic pressure from the brake hydraulic pressure source 23 to the parking brake 22 via the electromagnetic switching valve 24. The turning operation is performed in this state.
- the electromagnetic switching valve 24 is switched to the switching position a, the hydraulic oil on the rod side of the parking brake 22 is discharged to the tank T, so that a mechanical braking force is generated by the parking brake 22.
- lever type operating sections for example, potentiometers 25 to 30 are provided for each of the cylinders 6 to 8 of the boom, arm, and bucket, the left and right traveling motors 12, 13 and the actuator of the turning motor 20.
- a boom operation unit an arm operation unit
- a packet operation unit a left traveling operation unit
- a right traveling operation unit a turning operation unit as necessary.
- These operations are a boom operation, an arm operation, a packet operation, and a left operation. It is called traveling operation, right traveling operation, and turning operation.
- Operation signals (including non-operation signals) from the operation units 25 to 30 are sent to a controller 31 that constitutes control means together with the inverter 19, and are sent to the controller 31 based on operation signals other than the turning operation signal. Then, an operation command signal corresponding to each operation direction and operation amount is output to the control valve 14. As a result, the operation of the boom, arm, and bucket cylinders 6 to 8 and the left and right traveling motors 12 and 13 are controlled as they are operated.
- a command is issued from the controller 31 to the inverter 19 based on the turning operation signal, and acceleration / deceleration control of the turning electric motor 20 is performed based on the command.
- this machine is provided with pressure sensors 32 to 35 for detecting both head side and rod side pressures of both the arm and bucket cylinders 7 and 8, and the pressure signals from the pressure sensors 32 to 35 are supplied to the controller. Sent to 31. [0037] The controller 31 obtains the cylinder thrust generated in both the arm and bucket cylinders 7, 8 using the head side pressure receiving area X head side pressure rod side pressure receiving area X rod side pressure.
- An encoder 36 is provided as means for detecting the rotation position of the turning electric motor 20 and sending the rotation position to the controller 31.
- the encoder 36 detects, for example, the relative position (angle) between the stator and the rotor in the turning electric motor 20, and the controller 31 determines whether the detected signal force is the turning stop state force or not.
- this encoder signal can also be used as a turning position signal of the upper turning body 2 when turning is stopped, as described in the second and subsequent embodiments. Further, the position signal power and the motor speed can be calculated.
- the controller 31 Based on each of the above signals, the controller 31
- Cylinder thrust is not less than set value (for example, 50% of maximum thrust determined by relief valve pressure not shown).
- a command signal for releasing the parking brake is output to the electromagnetic switching valve 24.
- step S1 it is determined in step S1 whether or not there is an arm operation. In the case of NO, it is further determined in step S2 whether or not there is a packet operation. Return as no need.
- step S1 If YES in step S1, the arm cylinder thrust is set in step S2. If YES in step S2, it is determined whether the bucket cylinder thrust exceeds the set values FA and FB (steps S3 and S4).
- step S5 it is determined whether or not the turning operation is performed.
- step S6 it is determined whether or not the turning motor 20 is in a stopped state. Only when the deviation is YES, the parking brake 22 is released in step S7 ( If NO, return).
- the work operation (at least one of the arm operation and the packet operation) is performed in a state where the turning operation is not performed and the turning motor 20 is stopped, and the output by this operation is set.
- the parking brake 22 is released.
- the force applied to the parking brake 2 is also the same as when the working device is powered in the air during the work operation.
- the upper swing body 2 may move freely on a slope and may have a weak excavation reaction. It is possible to prevent adverse effects such as a decrease in work efficiency due to the inability to withstand the force.
- Second embodiment (see Figs. 4 and 5)
- the parking brake 22 when at least one of the arm operation and the packet operation is performed, only the parking brake 22 is released with the primary purpose of protecting the parking brake 22 and the turning drive unit.
- the parking brake 22 is released, and the swing electric motor 20 is controlled in a direction to hold the upper swing body 2 in the stopped state.
- the hardware configuration itself is the same as that of the first embodiment, and only the control content is different. Therefore, the hardware configuration will be described with reference to FIG. 2, and only the control content will be described. I do.
- step S11 it is determined whether or not an arm operation has been performed in step S11 and whether or not a packet operation has been performed in step S12. If either is YES, it is further determined in step S3 whether there is no turning operation or not, and in step S4 whether the turning motor 20 has stopped or not.
- step S15 If both are YES, the parking brake 22 is released in step S15.
- step S16 the speed feedback control of the turning electric motor 20, that is, Feedback control is performed based on the deviation between the target speed (0) and the actual speed so that the motor speed (actual speed) force SO calculated by the controller 31 based on the position signal from the damper 36 is obtained.
- the turning electric motor 20 can exert a force opposing the external turning force. For this reason, it is possible to increase the work efficiency by receiving the excavation reaction force during excavation, or to prevent unexpected turning of the upper-part turning body 2 due to inclination or unevenness of the road surface during traveling.
- the braking force of the turning electric motor 20 acts on the turning reaction force, so that, for example, work efficiency in excavating a groove in a target direction is improved.
- FIG. 5 illustrates the relationship between the rotation speed N and the torque T of the turning electric motor 20 during turning acceleration and deceleration.
- the region where the rotation speed N is positive turns left and the region where the rotation speed N is negative turns right. It is a turn.
- the first and third quadrants show the relationship between the rotation speed N and torque T during turning acceleration by motor torque
- the second and fourth quadrants show the relationship between rotation speed N and torque T during turning deceleration by motor torque. Shown.
- the characteristic drawn with a thick line is controlled by controlling the turning motor 20 with the maximum torque T, T during turning.
- the maximum torque of the turning electric motor 20 is also limited to the maximum value of the turning driving torque drawn by a thick line.
- a position feed is performed in place of the speed feedback control of the second embodiment.
- a configuration that performs knock control is used.
- steps S21 to S24 are the same as steps S11 to S14 in FIG. 4, the turning position at that time is stored in step S25, and the parking brake 22 is released in step S26. Thereafter, in step S27, position feedback control is performed, that is, feedback control is performed based on the position signal from the encoder 36, based on the deviation between the position at the start of control and the position detected thereafter.
- the excavation reaction force is received during excavation to increase work efficiency, or the traveling of the upper revolving unit 2 due to the inclination or unevenness of the road surface during traveling is prevented. In addition to being able to do so, it can increase the efficiency of drilling operations of fixed shapes such as trench excavation.
- the condition that the cylinder thrust of both the arm and the bucket cylinders 7, 8 used in the first embodiment is equal to or higher than a set value is used for releasing the parking brake and the electric motor. It is added as a control start condition.
- steps S31 and S32 it is determined whether an arm operation or a packet operation has been performed.
- step S33 If there is an arm operation, the operation proceeds to step S33, and if there is a packet operation, the operation proceeds to step S34, where the cylinder thrust at that time is compared with the set value.
- step S35 it is determined in step S35 whether or not there is a turning operation, and in step S36 whether or not the turning motor 20 is stopped. If both are YES, step S3 is performed.
- Step S39 Remember turning position, release parking brake, turn motor 20 Position feedback control.
- the speed feedback control of the second embodiment may be performed instead of the position feedback control.
- the effects of the first embodiment that is, the possibility that the parking brake 22 and the turning drive unit may be damaged may be obtained. Because the parking brake brake 22 is not released with a small turning force, the upper revolving superstructure 2 may move on a hill without permission, and work efficiency may be reduced because it cannot cope with a slight excavation reaction force. This has the effect of preventing adverse effects.
- the parking brake 22 is released when not only the arm operation or the packet operation but also the traveling operation is performed, and the electric motor control for stopping and holding the upper-part turning body 2 (here, (Position feedback control).
- step S41 in addition to determining whether or not an arm operation has been performed in step S41 and whether or not a packet operation has been performed in step S42, operations from the left and right traveling operation units 28 and 29 are performed. Based on the signal, it is determined whether or not the traveling operation has been performed in step S43.
- step S44 it is determined whether or not the turning operation is performed (step S44), and whether or not the turning motor 20 is stopped (step S45). In both cases, if YES, the turning position is stored (step S46), the parking brake 22 is released (step S47), and the position feedback control (step S48) is performed.
- speed feedback control may be performed instead of position feedback control. Also, as in the fourth embodiment, it may be determined whether to release the parking brake and control the electric motor in accordance with the cylinder thrust as a result of the arm operation and the packet operation as in the fourth embodiment. [0080] Sixth embodiment (see Figs. 9 and 10)
- the motor control mode can be arbitrarily selected from these two control methods according to the operator's intention.
- a mode switching switch 37 for switching the control mode between two types and instructing the controller 31 is provided, and the controller 31 executes the motor control in the selected mode. It is configured as follows.
- step S56 it is determined whether or not the selected control mode is the position feedback control. If YES (position feedback control), the turning position is stored in step S57, and the parking brake is stored in step S58. 22 is released, and position feedback control is performed in step S59.
- YES position feedback control
- step S56 the parking brake 22 is immediately released in step S60, and speed feedback control is performed in step S61.
- control mode can be arbitrarily selected and switched from the two types of the speed feedback control and the position feedback control, it is possible to select a mode suitable for the type of work, the preference of the operator, and the like. Work efficiency and operability can be improved.
- the present invention releases the parking brake only when the output of the working device is larger than the set value.
- the present invention provides an electric motor control (speed feedback control or position feedback control) for releasing the parking brake during a work operation or a traveling operation and stopping and holding the upper-part turning body.
- the turning is performed as in the case where the working device is powered in the air. If the force is small and there is no problem, the parking brake remains active, so the revolving superstructure does not move on hills or the like, and no extra motor control is performed.
- the motor control speed feedback control for eliminating a deviation between the target speed (0) and the actual speed is performed.
- the motor is driven by the external force, but the speed is controlled so that the speed always becomes SO at the moving destination.
- the braking efficiency of the turning motor acts on the excavation reaction force in the turning direction, particularly during excavation, so that the work efficiency when excavating in the groove in the target direction is good. Become.
- position feedback control for eliminating a deviation between the target position and the actual position is performed as the motor control.
- the motor is moved by the external force when the external force is larger than the motor torque, but is controlled to return to the target position when the external force is smaller than the motor torque.
- the maximum torque of the turning electric motor is limited to the maximum value of the turning driving torque or less, so that an excessive torque is prevented from acting on the turning driving unit. Can be.
- parking is performed only when an external turning force that may possibly damage the parking brake or the turning drive part is actually applied. It has a useful effect of releasing the brake.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05728860.7A EP1748114B1 (en) | 2004-04-07 | 2005-04-04 | Rotating type working machine |
US10/594,332 US7345441B2 (en) | 2004-04-07 | 2005-04-04 | Rotation-type working machine |
CN2005800120888A CN1942633B (zh) | 2004-04-07 | 2005-04-04 | 旋转式作业机 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004112805A JP4270012B2 (ja) | 2004-04-07 | 2004-04-07 | 旋回式作業機械 |
JP2004-112805 | 2004-04-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005098147A1 true WO2005098147A1 (ja) | 2005-10-20 |
Family
ID=35125122
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/006612 WO2005098147A1 (ja) | 2004-04-07 | 2005-04-04 | 旋回式作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7345441B2 (ja) |
EP (1) | EP1748114B1 (ja) |
JP (1) | JP4270012B2 (ja) |
CN (1) | CN1942633B (ja) |
WO (1) | WO2005098147A1 (ja) |
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JP6844252B2 (ja) * | 2016-12-27 | 2021-03-17 | コベルコ建機株式会社 | 建設機械 |
CN111976470B (zh) * | 2020-08-27 | 2021-08-03 | 安徽维德电源有限公司 | 一种液冷型电动叉车集成动力***及其控制方法 |
JP7504012B2 (ja) * | 2020-12-10 | 2024-06-21 | 株式会社小松製作所 | 作業機械、作業機械の制御装置、および作業機械の制御方法 |
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2004
- 2004-04-07 JP JP2004112805A patent/JP4270012B2/ja not_active Expired - Lifetime
-
2005
- 2005-04-04 WO PCT/JP2005/006612 patent/WO2005098147A1/ja not_active Application Discontinuation
- 2005-04-04 EP EP05728860.7A patent/EP1748114B1/en active Active
- 2005-04-04 CN CN2005800120888A patent/CN1942633B/zh active Active
- 2005-04-04 US US10/594,332 patent/US7345441B2/en active Active
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JP2003184808A (ja) * | 2001-12-14 | 2003-07-03 | Hitachi Constr Mach Co Ltd | 旋回用駐車ブレーキ油圧回路 |
JP2004036304A (ja) * | 2002-07-05 | 2004-02-05 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
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See also references of EP1748114A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP1748114B1 (en) | 2013-06-12 |
US7345441B2 (en) | 2008-03-18 |
US20070186451A1 (en) | 2007-08-16 |
JP4270012B2 (ja) | 2009-05-27 |
CN1942633B (zh) | 2010-06-16 |
JP2005299102A (ja) | 2005-10-27 |
EP1748114A4 (en) | 2011-12-21 |
CN1942633A (zh) | 2007-04-04 |
EP1748114A1 (en) | 2007-01-31 |
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