WO2014045672A1 - 作業機械の駆動装置及びこれを備えた作業機械 - Google Patents
作業機械の駆動装置及びこれを備えた作業機械 Download PDFInfo
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- WO2014045672A1 WO2014045672A1 PCT/JP2013/068267 JP2013068267W WO2014045672A1 WO 2014045672 A1 WO2014045672 A1 WO 2014045672A1 JP 2013068267 W JP2013068267 W JP 2013068267W WO 2014045672 A1 WO2014045672 A1 WO 2014045672A1
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- hydraulic
- cylinder
- flow rate
- pump
- working machine
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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
- F15B11/04—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"
- F15B11/0423—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" by controlling pump output or bypass, other than to maintain constant speed
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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
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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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
- 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
- E02F9/2221—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
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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
- E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
- E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance 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
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
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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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- 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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- 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
- F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
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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
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20561—Type of pump reversible
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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
- F15B2211/20576—Systems with pumps with multiple 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
- F15B2211/27—Directional control by means of the pressure source
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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
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve
- F15B2211/41518—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve being connected to multiple pressure sources
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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
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41572—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and an 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
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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
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
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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
- F15B2211/70—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
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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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/785—Compensation of the difference in flow rate in closed fluid circuits using differential actuators
Definitions
- the present invention relates to a drive device for a working machine such as a hydraulic shovel and a working machine provided with the same.
- single-rod cylinders are often used as hydraulic actuators.
- the pressure receiving area is different between the head side and the rod side of the piston in the cylinder, so when the piston is driven in a closed circuit connection state, excess or deficiency of hydraulic oil flow occurs in the circuit.
- the operating speed of the fluid pressure actuator connected to the fluid pressure pump is controlled by the volume variable control of the fluid pressure pump whose flow rate is adjusted by the volume variable means.
- the variable control of the fluid pressure pump whose flow rate is adjusted by a variable circuit different from the volume variable means which controls the closed circuit to control and the fluid pressure pump of this closed circuit, and the working fluid supplied from the fluid pressure pump Circuit for controlling the operation speed of a fluid pressure actuator connected to the control valve by means of a control valve for controlling the flow rate and a flow control by a bypass valve provided in parallel with the control valve; And a distribution circuit for distributing the fluid to the closed-circuit fluid pressure actuator.
- mechanical driving device for example, see Patent Document 2.
- the hydraulic closed circuit described in Patent Document 1 described above discharges the surplus working fluid to the tank using a flushing valve that operates using the pressure of the head side circuit of the in-cylinder piston and the pressure of the rod side circuit as a pilot pressure.
- the flow rate of the working fluid flowing in the flow path is adjusted to obtain a stable piston rod operating speed.
- the drive device of the working machine described in Patent Document 2 described above includes a closed circuit provided with a flushing valve described in Patent Document 1, an open circuit, and a distribution circuit. Excess working fluid when the piston rod is driven in the reduction direction is discharged to the tank by the flushing valve, and insufficient working fluid when the piston rod is driven in the extension direction is from the open circuit connected to the head side of the in-cylinder piston Additional supplies will be provided. Thus, the flow rate of the working fluid flowing in the flow path can be adjusted to obtain a stable piston rod operating speed.
- the present invention has been made based on the above-mentioned matters, and its object is to provide a hydraulic closed circuit system for driving a cylinder by a hydraulic pump, and to operate in both directions of extension and contraction of the piston rod regardless of the load acting on the cylinder.
- the present invention is to provide a drive device for a working machine having the same value as that of the working machine and a working machine provided with the same.
- the present application includes a plurality of means for solving the above-mentioned problems, and one example thereof is a first hydraulic pump having a flow rate adjusting means for controlling the flow rate and direction of the hydraulic oil to be discharged, and the hydraulic oil
- a single-rod hydraulic cylinder which is driven and drives one working member of the working device in the working machine, the first hydraulic pump and the single-rod hydraulic cylinder in a closed circuit by a flow path through which the hydraulic fluid flows
- a hydraulic pressure closed circuit connected, a branch passage branched from the flow passage between the first hydraulic pressure pump and the single rod hydraulic cylinder, and a first flow passage having one end connected to the branch passage;
- a tank connected to the other end side of the first flow path, and a flow rate of hydraulic oil provided in the first flow path and flowing from the branch path to the tank, or hydraulic oil flowing from the tank to the branch path Control of hydraulic oil flow rate And a location, wherein the.
- the means for controlling the flow rate and direction of the working fluid flowing in the flow path is provided on the flow path branched from the hydraulic close circuit and connected to the tank, in the cylinder operated by the hydraulic close circuit
- the operating speeds of the piston rod in both directions can be made equal regardless of the load of the working machine. As a result, good operability of the working machine can be ensured.
- FIG. 1 is a hydraulic circuit diagram showing a first embodiment of a drive device for a working machine of the present invention and a working machine provided with the same. It is a table figure showing an operation example of an electromagnetic switching valve and a hydraulic pump at the time of each operation mode in a drive of a working machine of the present invention, and a working machine provided with the same according to the first and second embodiments.
- FIG. 6 is a hydraulic circuit diagram showing a second embodiment of a drive device for a working machine according to the present invention and a working machine provided with the same.
- FIG. 1 is a side view showing a hydraulic shovel provided with a drive device for a working machine of the present invention and a working machine including the same according to a first embodiment of the present invention.
- the hydraulic shovel 100 includes a traveling body 101, a swing body 102 rotatably provided on the running body 101 via a turning device 104, and a cab 103 disposed on the swing body 102. It has an articulated front device 105 rotatably mounted in the vertical direction on the front part of the body 102.
- the revolving unit 102 is mounted with a drive device provided with a hydraulic closed circuit and a hydraulic open circuit, which will be described in detail later.
- the front device 105 has a boom 2 whose proximal end is pivotally supported by the revolving unit 102, an arm 4 pivotally supported by the distal end of the boom 2, and a distal end of the arm 4.
- the boom 2, the arm 4 and the bucket 6 are operated by the boom cylinder 1, the arm cylinder 3 and the bucket cylinder 5, respectively.
- FIG. 2 is a hydraulic circuit diagram showing a first embodiment of a drive device for a working machine according to the present invention and a working machine provided with the same.
- the present embodiment only the drive portion of the actuator for driving the boom 2, the arm 4 and the bucket 6 constituting the hydraulic shovel 100 is shown, and the other drive portions such as the traveling system actuator of the traveling body 101 are omitted.
- the same reference numerals as those shown in FIG. 1 denote the same parts, so the detailed description thereof will be omitted.
- a hydraulic closed circuit A connecting the boom cylinder 1 driving the boom 2 and the first hydraulic pump 9, and an arm cylinder 3 driving the arm 4 the second hydraulic pump 10 are connected.
- the second and third hydraulic pumps 10, 11 constituting the hydraulic open circuits B, C have the dual tilt swash plate mechanisms 10a, 11a whose discharge direction can be changed.
- electromagnetic switching valves 25 to 27 and 37 to 39 capable of switching the discharge destination of the pressure oil to any of the hydraulic closed circuit A and the other hydraulic open circuits B and C are provided. It is provided.
- controller 57 takes in the operation amount of the operation levers 56a to 56c for operating the boom 2, the arm 4 and the bucket 6, and the discharge flow rate of each of the hydraulic pumps 9 to 11 and the electromagnetic switching valve 25 to 27, 37 to 39. Control the proportional switching valves 30, 42.
- a power transmission 8 for distributing the power of the engine 7 is connected to the engine 7 which is a power source, and the power transmission 8 is provided with a first hydraulic pump 9 for driving the boom cylinder 1.
- the charge pumps 12 are mounted via drive shafts.
- the first fluid pressure pump 9, the second fluid pressure pump 10, and the third fluid pressure pump 11 are bi-spinted swash plate mechanisms having a pair of input / output ports, and a regulator for adjusting the tilt angles of the both tilt swash plates 9a, 10a, and 11a, respectively.
- the regulators 9 a, 10 a, 11 a are controlled by a command signal from the controller 57.
- the suction and discharge flow rates and the directions of the pressure oil in the first to third hydraulic pumps 9 to 11 are controlled.
- the first to third hydraulic pumps 9 to 11 also function as hydraulic motors when supplied with pressure oil.
- the boom cylinder 1 constituting the hydraulic closed circuit A includes a cylinder body, a piston movably provided in the cylinder body, and a piston rod provided on one side of the piston.
- the rod side oil chamber 1b and the head side oil It is a one-rod type hydraulic cylinder having a chamber 1a.
- the boom control lever 56 a is provided in the driver's cab 103.
- the operation amount signal of the boom control lever 56a is input to the controller 57, and the controller 57 switches the respective hydraulic pumps 9, 10, 11 and switching so as to realize the piston rod operation speed according to the operation amount signal. Control the valves 25-27, 37-39, etc.
- the first hydraulic pump 9 has two hydraulic oil discharge / intake ports 9x and 9y.
- One end side of the first pipe line 13 is connected to one discharge / suction port 9x of one hydraulic oil, and the other end side of the first pipe line 13 is connected to the connection port of the head side oil chamber 1a of the boom cylinder 1 It is connected.
- the other end of the second conduit 14 is connected to the other discharge / suction port 9 y of the hydraulic fluid, and the other end of the second conduit 14 is connected to the connection port of the rod side oil chamber 1 b of the boom cylinder 1. It is connected.
- the outlet side of the check valve 17a permitting only suction
- the inlet side of the relief valve 19a one inlet port of the flushing valve 20 and one outlet permitting only the suction of the charging check valve 21
- Each side is connected.
- the inlet side of the check valve 17 a and the outlet side of the relief valve 19 a are connected to the outlet port of the flushing valve 20, and are in communication with the tank 18 via the pipe line 16.
- one end side of a communication pipeline 15 for enabling communication with the second hydraulic pressure pump 10 and the third hydraulic pressure pump 11 via an electromagnetic switching valve described later is connected to the first pipeline 13.
- the outlet side of the check valve 17b permitting only the suction
- the inlet side of the relief valve 19b the other inlet port of the flushing valve 20, and the other outlet permitting only the suction of the charging check valve 21
- Each side is connected.
- the inlet side of the check valve 17 b and the outlet side of the relief valve 19 b are connected to the outlet port of the flushing valve 20, and are in communication with the tank 18 via the conduit 16.
- the inlet side of the charge check valve 21 is connected to the discharge pipe of the charge pump 12, and the hydraulic fluid discharged from the charge pump 12 is transferred to the first pipe line 13 or the second pipe line 14 by the charge check valve 21. Of which the pressure is lower.
- a charge relief valve 22 for limiting the discharge pressure of the charge pump 12 is provided in the discharge pipe of the charge pump 12, and the outlet side of the charge relief valve 22 communicates with the tank 18. Further, the suction port of the charge pump 12 is in communication with the tank 18 via a suction pipe.
- the check valves 17a and 17b provided in the first and second pipelines 13 and 14 are configured as rod-side oil chamber 1b or head-side oil when the pressure in each pipeline becomes negative or when the boom cylinder 1 operates.
- the hydraulic oil in the chamber 1a is insufficient, the hydraulic oil is supplied from the tank 18 through the pipe line 16 to prevent the occurrence of cavitation.
- the relief valves 19a and 19b provided in the first and second pipelines 13 and 14 transfer hydraulic oil to the tank 18 through the pipeline 16 when the pressure in each pipeline reaches a predetermined pressure or more. It discharges and prevents damage to the pump and piping.
- the flushing valve 20 is switched when the pressure difference between the first pipe line 13 and the second pipe line 14 is equal to or more than a predetermined value, whereby the pipe line on the low pressure side is communicated with the pipe line 16. By this, the excess hydraulic oil in the low pressure side pipe line is discharged to the tank 18.
- the arm cylinder 3 is a single rod hydraulic cylinder having a rod side oil chamber 3 b and a head side oil chamber 3 a in the same manner as the boom cylinder 1.
- the arm control lever 56 b is provided in the driver's cab 103.
- the operation amount signal of the arm control lever 56b is input to the controller 57, and the controller 57 controls the hydraulic pumps 9, 10, 11 and the respective electromagnetics so as to realize the piston rod operation speed according to the operation amount signal. It controls the switching valves 25, 26, 27 and the proportional switching valve 30 for the arm cylinder.
- the second hydraulic pump 10 as the hydraulic fluid flow rate adjusting device has two suction and discharge ports 10x and 10y.
- One end side of the conduit 23 is connected to one suction / discharge port 10y, and the other end side of the conduit 23 is connected to the tank 18.
- One end side of the conduit 24 is connected to the other suction port 10x.
- the other end of the conduit 24 is branched into three, and the input ports of the first to third electromagnetic switching valves 25 to 27 are respectively connected to the respective branches.
- a relief valve 28 for limiting the discharge pressure of the second hydraulic pressure pump 10 is provided in the conduit 24, and the outlet side of the relief valve 28 communicates with the tank 18 via the conduit 23. There is.
- the first to third electromagnetic switching valves 25 to 27 are two-port, two-position electromagnetic switching valves, each of which has an electromagnetic operating unit for receiving a command signal from the controller 57 at one end and a spring at the other end. ing.
- the supply destination of the hydraulic fluid from the second hydraulic pump 10 is switched according to the presence or absence of the command signal from the controller 57.
- the output port of the first electromagnetic switching valve 25 is connected by a pipe line with the inlet side of a check valve 29 which permits discharge only, and the outlet side of the check valve 29 is connected with the flow rate and direction of the hydraulic oil supplied to the arm cylinder 3
- the pump port of the proportional switching valve 30 for arm cylinder to be controlled is connected.
- the output port of the second electromagnetic switching valve 26 is connected to the pump port of the proportional solenoid valve 42 for the bucket cylinder of the hydraulic open circuit C described later via a check valve 41. Furthermore, the output port of the third electromagnetic switching valve 27 is connected to the first line 13 of the hydraulic closed circuit A via the connection line 15.
- the arm cylinder proportional switching valve 30 is a four-port three-position type electromagnetic proportional switching valve, and is provided with an electromagnetic operation portion receiving a command signal from the controller 57 and a spring portion at both ends.
- the tank port of the arm cylinder proportional switching valve 30 is connected to the tank 18 via a pipe 35 communicating with the pipe 23.
- One end of the first pipeline 31 is connected to one side of the output port of the proportional switch valve 30 for arm cylinder, and the other end of the first pipeline 31 is the head side oil chamber 3 a of the arm cylinder 3. Connected to connection port.
- One end side of the second pipeline 32 is connected to the other side of the output port of the proportional switch valve 30 for arm cylinder, and the other end side of the second pipeline 32 is connected to the rod side oil chamber 3 b of the arm cylinder 3. Connected to connection port.
- the arm cylinder proportional switching valve 30 switches the flow direction of the hydraulic oil from the check valve 29 to the first pipe line 31 or the second pipe line 32 in accordance with a command signal from the controller 57, and the valve opening degree By adjusting, the flow rate of the hydraulic oil supplied to the arm cylinder 3 is adjusted.
- the counterbalance valve 33a is arranged in series so that the input side is on the arm cylinder 3 side and the output side is on the arm cylinder proportional switching valve 30 side, and the inlet of the relief valve 34a The side is connected.
- the outlet side of the relief valve 34 a communicates with the tank 18 via a conduit 35 communicating with the conduit 23.
- the counterbalance valve 33b is arranged in series so that the input side is on the arm cylinder 3 side and the output side is on the arm cylinder proportional switching valve 30 side, and the inlet of the relief valve 34b The side is connected.
- the outlet side of the relief valve 34 b communicates with the tank 18 via a conduit 35 communicating with the conduit 23.
- the counterbalance valves 33a and 33b provided in the first and second pipelines 31 and 32 suppress the weight drop of the arm cylinder 3.
- the relief valves 34a and 34b discharge the hydraulic oil to the tank 18 through the conduit 35 when the pressure in each conduit becomes equal to or higher than a predetermined pressure, and prevent damage to the pump and piping. It is a thing.
- the bucket cylinder 5 is a single rod hydraulic cylinder having a rod side oil chamber 5 b and a head side oil chamber 5 a as in the boom cylinder 1.
- the bucket control lever 56 c is provided in the cab 103.
- the operation amount signal of the bucket control lever 56c is input to the controller 57, and the controller 57 controls the hydraulic pumps 9, 10, 11 and the respective electromagnetics so as to realize the piston rod operation speed according to the operation amount signal.
- the control valves 37, 38, 39 and the proportional switching valve 42 for the bucket cylinder are controlled.
- the third hydraulic pressure pump 11 as a hydraulic fluid flow rate adjusting device has two suction and discharge ports 11x and 11y.
- One end side of the conduit 47 is connected to the one suction / discharge port 11 y, and the other end side of the conduit 47 is connected to the tank 18.
- One end side of the conduit 36 is connected to the other suction port 11x.
- the other end of the conduit 36 is branched into three, and the input ports of the first to third electromagnetic switching valves 37 to 39 are respectively connected to the respective branches.
- a relief valve 40 for limiting the discharge pressure of the third hydraulic pressure pump 11 is provided in the conduit 36, and the outlet side of the relief valve 40 communicates with the tank 18 via the conduit 47. There is.
- the first to third electromagnetic switching valves 37 to 39 are two-port, two-position electromagnetic switching valves, each of which has an electromagnetic operating unit for receiving a command signal from the controller 57 at one end and a spring at the other end. ing.
- the supply destination of the hydraulic fluid from the third hydraulic pump 11 is switched according to the presence or absence of the command signal from the controller 57.
- the output port of the first electromagnetic switching valve 37 is connected by a pipe line with the inlet side of the check valve 41 that permits discharge only, and the outlet side of the check valve 41 has the flow rate and direction of the hydraulic oil supplied to the bucket cylinder 5 It is connected to the pump port of the proportional switching valve 42 for bucket cylinder to be controlled.
- the output port of the second electromagnetic switching valve 38 is connected to the pump port of the proportional switch valve 30 for arm cylinder of the hydraulic pressure open circuit B via the check valve 29. Further, the output port of the third electromagnetic switching valve 39 is connected to the first pipe line 13 of the hydraulic closed circuit A via the communication pipe line 15.
- the bucket cylinder proportional switching valve 42 is a four-port three-position electromagnetic proportional switching valve, and is provided at both ends with an electromagnetic operation portion receiving a command signal from the controller 57 and a spring portion.
- the tank port of the bucket cylinder proportional switching valve 42 is connected to the tank 18 via a pipe 48 communicating with the pipe 47.
- One end of the first pipeline 43 is connected to one side of the output port of the bucket cylinder proportional switching valve 42, and the other end of the first pipeline 43 is connected to the head-side oil chamber 5 a of the bucket cylinder 5.
- connection port One end side of the second pipeline 44 is connected to the other side of the output port of the bucket cylinder proportional switching valve 42, and the other end side of the second pipeline 44 is connected to the rod side oil chamber 5 b of the bucket cylinder 5. Connected to connection port.
- the bucket cylinder proportional switching valve 42 switches the flow direction of the hydraulic oil from the check valve 41 to the first conduit 43 or the second conduit 44 in accordance with the command signal from the controller 57, and the valve opening degree By adjusting, the flow rate of the hydraulic oil supplied to the bucket cylinder 5 is adjusted.
- the counterbalance valve 45a is arranged in series so that the input side is on the bucket cylinder 5 side and the output side is on the bucket cylinder proportional switching valve 42 side, and the inlet of the relief valve 46a The side is connected.
- the outlet side of the relief valve 46 a is in communication with the tank 18 via a pipe 48 communicating with the pipe 47.
- the counterbalance valve 45b is disposed in series so that the input side is on the bucket cylinder 5 side and the output side is on the bucket cylinder proportional switching valve 42 side, and the inlet of the relief valve 46b The side is connected.
- the outlet side of the relief valve 46 b is in communication with the tank 18 via a pipe 48 communicating with the pipe 47.
- the relief valves 46a and 46b discharge the hydraulic oil to the tank 18 through the pipe line 48 when the pressure in each pipe line becomes equal to or higher than a predetermined pressure, thereby preventing damage to the pump and the piping. It is a thing.
- FIG. 3 is a table showing an operation example of the electromagnetic switching valve and the hydraulic pump in each operation mode in the first embodiment and the second embodiment of the drive device of the work machine of the present invention and the work machine provided with the same.
- FIG. 4 shows the state of the switching valve, the flow rate of the first hydraulic pump, the flow rate of the second hydraulic pump, and the boom speed in the first and second embodiments of the drive device of the working machine of the present invention and the working machine provided with the same.
- FIG. 3 shows an operation example of the electromagnetic switching valve, the proportional switching valve, and the hydraulic pressure pump in each operation mode controlled by the controller 57 in the present embodiment.
- the non-operation state (stop state) shown in FIG. 3 is the case where none of the boom control lever 56a, the arm control lever 56b, and the bucket control lever 56c are operated, In the absence of an input signal.
- the controller 57 outputs a minimum tilt angle control command signal to each of the regulators 9a, 10a and 11a of the first fluid pressure pump 9, the second fluid pressure pump 10 and the third fluid pressure pump 11 shown in FIG.
- shutoff close command signal is output to the first to third electromagnetic switching valves 25 to 27 of the hydraulic open circuit B and the first to third electromagnetic switching valves 37 to 39 of the hydraulic open circuit C. Further, a shutoff command signal is output to the arm cylinder proportional switching valve 30 and the bucket cylinder proportional switching valve 42. As a result, the boom cylinder 1, the arm cylinder 3, and the bucket cylinder 5 are held in the non-operating state. Further, in FIG. 3, OFF of the pump indicates the minimum tilt state, and ON of the pump indicates the state of being larger than the minimum tilt.
- the horizontal axis indicates time, and (a) to (e) on the vertical axis sequentially from the top, the boom lever operation amount Lb, the switching valve 27 state Cs, the first hydraulic pressure pump flow rate Qcp, the second liquid
- the pressure pump flow rate Qop and the piston rod velocity Vb of the boom cylinder 1 are shown.
- time t1 to time t3 each characteristic at the time of the extension operation (boom raising) of the piston rod in the boom cylinder 1 is shown, and from time t4 to time t6, the reduction operation of the piston rod in the boom cylinder 1 (boom lowering ) Shows each characteristic at the time.
- the pressure oil from the first hydraulic pressure pump 9 is supplied to the head-side oil chamber 1 a of the boom cylinder 1 via the discharge / suction port 9 x of one working oil and the first conduit 13. Be done.
- the hydraulic oil in the rod side oil chamber 1b of the boom cylinder 1 is returned to the other hydraulic oil discharge / suction port 9y of the first hydraulic pump 9 via the second conduit 14.
- the flow rate of the hydraulic fluid returning from the rod side oil chamber 1b of the boom cylinder 1 to the first hydraulic pressure pump 9 is the pressure oil flow rate supplied from the first hydraulic pressure pump 9 to the head side oil chamber 1a of the boom cylinder 1 Less than. Therefore, the charge pump 12 supplies this insufficient pressure oil flow to the discharge / suction port 9 y of the other hydraulic fluid of the first hydraulic pump 9 via the charge check valve 21 and the second conduit 14. .
- the controller 57 causes the regulator 10 a of the second hydraulic pump 10 to change the tilt angle of the swash plate Outputs a command signal that causes the motor to rise, and outputs a communication command signal to the third electromagnetic switching valve 27 of the hydraulic open circuit B.
- the pressure oil of the second hydraulic pump 10 is replenished and supplied to the head side oil chamber 1 a of the boom cylinder 1 through the third electromagnetic switching valve 27.
- the controller 57 When the operation to increase the extension speed of the piston rod of the boom cylinder 1 is performed, the controller 57 outputs a command signal to the second hydraulic pump 10 and the third electromagnetic switching valve 27 of the hydraulic open circuit B.
- command signals may be output to the third hydraulic pressure pump 11 and the third electromagnetic switching valve 39 of the hydraulic pressure open circuit C to operate at high speed.
- the controller 57 instructs the regulator 9a of the first hydraulic pump 9 to decrease the tilt angle of the swash plate. Output a signal.
- the operation amount of the boom control lever 56a is as small as -X1
- the discharge flow rate of the first hydraulic pump 9 is -Qcp1
- the piston rod of the boom cylinder 1 is , Reduce speed at -V1 (low speed).
- the pressure oil from the first hydraulic pressure pump 9 is supplied to the rod-side oil chamber 1 b of the boom cylinder 1 through the discharge / suction port 9 y of the other hydraulic oil and the second conduit 14. Be done.
- the hydraulic oil in the head-side oil chamber 1 a of the boom cylinder 1 is returned to one of the hydraulic oil discharge / suction ports 9 x of the first hydraulic pump 9 via the first conduit 13.
- the flow rate of the hydraulic fluid returning from the head side oil chamber 1a of the boom cylinder 1 to the first hydraulic pressure pump 9 is larger than the pressure oil flow rate supplied from the first hydraulic pressure pump 9 to the rod side oil chamber 1b. . Therefore, the surplus is returned from the first line 13 to the tank 18 via the flushing valve 20 and the line 16.
- the pressure of the hydraulic fluid returning from the head-side oil chamber 1a of the boom cylinder 1 to the first hydraulic pump 9 becomes high due to the weight of the front device 105, and the pressure fluid is supplied.
- the hydraulic pump 9 is driven as a hydraulic motor.
- the power of the first hydraulic pump 9 by the pressure oil is transmitted to and absorbed by the engine 7 and other hydraulic pumps via the power transmission device 8.
- the power transmission device 8 may be connected to an electric // generator and a storage device to store and reuse power that can not be absorbed.
- the controller 57 causes the regulator 10a of the second hydraulic pump 10 to change the tilt angle of the swash plate. And a communication command signal to the third electromagnetic switching valve 27 of the hydraulic open circuit B.
- the second hydraulic pressure pump 10 operates to suck in the hydraulic fluid from the other inlet / outlet 10x.
- discharge of hydraulic fluid from the head-side oil chamber 1 a of the boom cylinder 1 to the tank 18 is promoted via the communication conduit 15 and the third electromagnetic switching valve 27.
- the operation amount of the boom control lever 56a exceeds ⁇ X1 and becomes ⁇ X2 as shown at time t5 in FIG.
- the discharge flow rate is -Qop1
- the discharge flow rate of the first hydraulic pump 9 is -Qcp2.
- the pressure oil flow rate of-(Qop1 + Qcp2) flows out from the head side oil chamber 1a of the boom cylinder 1, and the piston rod performs the reduction operation at the speed -V2 (high speed).
- the pressure of the hydraulic fluid returning from the head-side oil chamber 1a of the boom cylinder 1 to the second hydraulic pump 10 becomes high, and the second hydraulic pump 10 receives the supply of this hydraulic fluid and serves as a hydraulic motor.
- the power of the second hydraulic pump 10 by the pressure oil is transmitted and absorbed to the engine 7 and other hydraulic pumps via the power transmission device 8.
- the controller 57 instructs the second hydraulic pump 10 and the third electromagnetic switching valve 27 of the hydraulic open circuit B to operate.
- an operation command signal may be output to the third hydraulic pressure pump 11 and the third electromagnetic switching valve 39 of the hydraulic pressure open circuit C to operate at high speed.
- the head of the boom cylinder 1 is used by using the second hydraulic pump 10 and the first hydraulic pump 9 in combination. Since the hydraulic oil flowing out of the side oil chamber 1a is received, the piston rod operating speed of the boom cylinder 1 can be increased.
- the controller 57 sends a command signal to the regulator 10a of the second hydraulic pump 10 so that the tilt angle of the swash plate rises. While outputting, a communication command signal is output to the first electromagnetic switching valve 25 of the hydraulic pressure open circuit B, and a positive opening command signal is output to the proportional switching valve 30 for arm cylinder. As a result, the tilt angle of the swash plate of the second hydraulic pump 10 rises, and the arm cylinder proportional switching valve 30 opens in the direction to connect the check valve 29 and the first conduit 31.
- the pressure oil from the second hydraulic pump 10 is supplied to the head-side oil chamber 3 a of the arm cylinder 3 via the other intake / exhaust port 10 x, the pipe line 24 and the first pipe line 31.
- the hydraulic oil in the rod side oil chamber 3 b of the arm cylinder 3 is returned to the tank 18 via the second pipe 32, the proportional switch valve for arm cylinder 30 and the pipe 35.
- the piston rod of the arm cylinder 3 is extended.
- the controller 57 When the operator starts operating the arm control lever 56b in the piston rod contraction direction, the controller 57 outputs a command signal to the regulator 10a of the second hydraulic pump 10 so that the tilt angle of the swash plate rises.
- a communication command signal is output to the first electromagnetic switching valve 25 of the hydraulic pressure open circuit B, and a reverse opening command signal is output to the arm cylinder proportional switching valve 30.
- the tilt angle of the swash plate of the second hydraulic pump 10 rises, and the arm cylinder proportional switching valve 30 opens in the direction to connect the check valve 29 and the second conduit 32.
- the pressure oil from the second hydraulic pump 10 is supplied to the rod-side oil chamber 3 b of the arm cylinder 3 via the other inlet 10 x, the pipe 24 and the second pipe 32.
- the hydraulic oil in the head side oil chamber 3 a of the arm cylinder 3 is returned to the tank 18 via the first pipe line 31, the proportional switch valve for arm cylinder 30 and the pipe line 35. As a result, the piston rod of the arm cylinder 3 is contracted.
- the first hydraulic pump 9 is used for the boom cylinder 1 and In the second hydraulic pump 10, the third hydraulic pump 11 supplies pressure oil to the bucket cylinder 5 to drive each piston rod.
- the controller 57 sends a communication command signal to the first electromagnetic switching valve 25 of the hydraulic open circuit B, an opening command signal to the proportional switching valve 30 for the arm cylinder, and a first electromagnetic switching valve 37 of the hydraulic open circuit C.
- a communication command signal is output to the bucket cylinder, and an opening command signal is output to the bucket cylinder proportional switching valve 42.
- the controller 57 controls the regulator 10 a of the second hydraulic pump 10 to While outputting a command signal of the tilt angle of the swash plate according to the amount of operation of the control lever 56a, the first solenoid control valve 25 of the hydraulic pressure open circuit B is a cutoff command signal, and the third solenoid switch valve 27 is a communication command signal Output each
- the pressure oil of the second hydraulic pump 10 is replenished and supplied to the head side oil chamber 1a of the boom cylinder 1, and the piston rod of the boom cylinder 1 extends at a speed according to the operation amount of the boom control lever 56a. It is controlled.
- the controller 57 outputs a command signal of the tilt angle of the swash plate corresponding to the operation amount of the arm control lever 56b to the regulator 11a of the third hydraulic pump 11, and the second electromagnetic of the hydraulic open circuit C.
- a communication command signal is output to the switching valve 38.
- the pressure oil of the third hydraulic pump 11 is supplied to the arm cylinder 3 via the arm cylinder proportional switching valve 30, and the piston rod of the arm cylinder 3 is driven and controlled.
- the controller 57 controls the swash plate of the third hydraulic pump 11 in place of the second hydraulic pump 10 and controls the first electromagnetic switching valve 25 of the hydraulic open circuit B.
- the shutoff command signal and the communication command signal of the third electromagnetic switching valve 27 are output
- the pressure oil from the third hydraulic pump 11 may be replenished and supplied to the head side oil chamber 1 a of the boom cylinder 1.
- the first hydraulic pump 9 When the boom 2, the arm 4, and the bucket 6 are combined, and the piston rod of the boom cylinder 1 is reduced at a low speed, as described above, the first hydraulic pump 9 is driven as a hydraulic motor. The power of the first hydraulic pump 9 by the pressure oil is transmitted and absorbed to the engine 7 and the other hydraulic pumps via the power transmission device 8.
- the controller 57 when reducing the piston rod of the boom cylinder 1 at a speed exceeding a predetermined threshold, the controller 57 causes the regulator 10a of the second hydraulic pump 10 to operate in the reverse direction to the above-described high speed extension time.
- a command signal corresponding to the operation amount of the boom control lever 56a is output, and a shutoff command signal is output to the first electromagnetic switching valve 25 of the hydraulic pressure open circuit B, and a communication command signal is output to the third electromagnetic switching valve 27.
- the second hydraulic pump 10 operates to suck in the hydraulic fluid of the head side oil chamber 1a of the boom cylinder 1, and the piston rod of the boom cylinder 1 responds to the operation amount of the boom control lever 56a. It is controlled by speed. At this time, the pressure of the hydraulic fluid returning to the second hydraulic pump 10 becomes high, and the second hydraulic pump 10 is driven as a hydraulic motor in response to the supply of the hydraulic fluid. The power of the second hydraulic pump 10 by the hydraulic fluid is transmitted and absorbed to the engine 7 and other hydraulic pumps via the power transmission device 8.
- the controller 57 outputs a command signal of the tilt angle of the swash plate corresponding to the operation amount of the arm control lever 56b to the regulator 11a of the third hydraulic pump 11, and the second electromagnetic of the hydraulic open circuit C.
- a communication command signal is output to the switching valve 38.
- the pressure oil of the third hydraulic pump 11 is supplied to the arm cylinder 3 via the arm cylinder proportional switching valve 30, and the piston rod of the arm cylinder 3 is driven and controlled.
- the controller 57 controls the swash plate of the third hydraulic pump 11 in place of the second hydraulic pump 10 and controls the first electromagnetic switching valve 25 of the hydraulic open circuit B.
- the shutoff command signal and the communication command signal of the third solenoid valve 27 are output
- the hydraulic oil of the head side oil chamber 1 a of the cylinder 1 may be supplied to the third hydraulic pump 11.
- the communication pipe is disposed on the communication pipeline 15 branched from the hydraulic closed circuit and connected to the tank 18 Since the second hydraulic pump 10 and the third hydraulic pump 11 are provided as means for controlling the flow rate and direction of the hydraulic fluid which is the hydraulic fluid flowing through the passage 15, the piston in the boom cylinder 1 operated by the hydraulic closed circuit The operating speeds of the rods in both directions can be made equal regardless of the load on the working machine. As a result, good operability of the working machine can be ensured.
- the second hydraulic pump 10 can control the discharge direction of the second hydraulic pump 10 and the pump of the two-tilt swash plate mechanism Because the second hydraulic pump 10 operates to extend the piston rod of the boom cylinder 1 at high speed, the hydraulic fluid flow rate to replenish the head side oil chamber 1a of the boom cylinder 1 and the piston rod of the boom cylinder 1 Can be made substantially equal to the flow rate of the hydraulic fluid flowing out of the head-side oil chamber 1a of the boom cylinder 1 at the time of the reduction operation at a high speed. As a result, the speed at the time of contraction of the piston rod of the boom cylinder 1 and the speed at the time of expansion can be made equal, and good operability can be obtained.
- the charge pump 12 and the flushing valve when operating the piston rod of the boom cylinder 1 at a low speed, the charge pump 12 and the flushing valve
- the piston rod of the boom cylinder 1 is operated at a high speed by compensating the excess or deficiency of the flow rate balance generated by the volume difference between the head side oil chamber 1a of the boom cylinder 1 and the rod side oil chamber 1b by 20.
- the hydraulic pump 10 compensates for the excess and deficiency of the flow rate balance of the boom cylinder 1 described above.
- the charge pump 12 can be miniaturized. Further, even when the pressure in the flow path fluctuates at high speed operation, the flow control can be performed by the second hydraulic pump 10, so that stable operation can be performed.
- the head side of the boom cylinder 1 when the piston rod of the boom cylinder 1 is reduced at high speed Since the hydraulic fluid flowing out of the oil chamber 1a is made to flow out to the first hydraulic pump 9 and the second hydraulic pump 10, the volume of the first hydraulic pump 9 can be made smaller than that of the conventional machine.
- the second hydraulic pump 10 and the third hydraulic pressure are used as hydraulic pumps for the hydraulic open circuit. Since the pump 11 is provided, for example, even when the second hydraulic pump 10 is used to drive the piston rod in the boom cylinder 1, the piston rod of the arm cylinder 3 is operated by the third hydraulic pump 11. And the piston rod of the bucket cylinder 5 can be driven.
- Example 2 a second embodiment of a drive device for a working machine according to the present invention and a working machine provided with the same will be described with reference to the drawings.
- FIG. 5 is a hydraulic circuit diagram showing a second embodiment of a drive device for a working machine according to the present invention and a working machine provided with the same.
- the same reference numerals as those shown in FIGS. 1 to 4 denote the same parts, and thus the detailed description thereof will be omitted.
- the drive device for a working machine according to the present invention shown in FIG. 5 and the second embodiment of the working machine provided with the same are configured substantially with the same devices as in the first embodiment, but the following configurations are different.
- the first to third hydraulic pumps 9 to 11 and the charge pump 12 are driven by the power transmission device 8 that distributes the power of the engine 7 via the respective drive shafts.
- the first to third hydraulic pumps 60 to 62 and the charge pump 61 are connected to the first to third motor / generators 50 to 52 and the charge motor / generators connected by respective drive shafts. The point of being driven by the machine 53 is different.
- the first to third hydraulic pumps 9 to 11 are each a hydraulic pump of a dual tilt swash plate mechanism having a pair of input / output ports.
- the first to third hydraulic pumps 60 to 62 differ from each other in that they are hydraulic pumps capable of normal rotation and reverse rotation, respectively.
- the power supply unit 54 serving as a power supply includes a first electric motor / generator 50 for driving a first hydraulic pressure pump 60 that supplies pressure oil to the boom cylinder 1 and a pressure oil that supplies arm cylinder 3. 2)
- the charge motor / generator 53 for driving the charge pump 63 for replenishing the hydraulic oil to the line, via the power control units 50a to 53a for controlling the motor / generators 50 to 53, and the electrical wiring Are connected electrically. Power is exchanged between the power supply unit 54 and the power control units 50a to 53a, and the power supply unit 54 can store the power from the power control units 50a to 53a.
- the rotational speeds of the first to third motor / generators 50 to 52 and the charge motor / generator 53 are controlled by the outputs of the power control units 50a to 53a according to the command signal from the controller 57, whereby It controls the suction and discharge flow rate and the direction of the pressure oil in the first to third hydraulic pressure pumps 60 to 62.
- the first to third hydraulic pumps 60 to 62 also function as hydraulic motors when supplied with pressure oil.
- the pipes connected to the first hydraulic pressure pump 60, the second hydraulic pressure pump 61, the third hydraulic pressure pump 62, and the charge pump 63 are the same as those in the first embodiment, and the description thereof will be omitted.
- the stop control command signal is output to each of the power control units 50a, 51a, 52a, 53a of the charge motor / generator 53 that drives the charge pump 63, and the first through third electromagnetic switching valves 25 of the hydraulic open circuit B 27 and the first to third electromagnetic switching valves 37 to 39 of the hydraulic pressure open circuit C to output a shutoff close command signal.
- a shutoff command signal is output to the arm cylinder proportional switching valve 30 and the bucket cylinder proportional switching valve 42.
- the pressure oil from the first hydraulic pressure pump 60 is supplied to the head-side oil chamber 1 a of the boom cylinder 1 via the first pipe line 13.
- the hydraulic oil in the rod side oil chamber 1 b of the boom cylinder 1 is returned to the first hydraulic pressure pump 60 via the second conduit 14.
- the flow rate of the hydraulic fluid returning from the rod side oil chamber 1b of the boom cylinder 1 to the first hydraulic pressure pump 60 is the pressure oil flow rate supplied from the first hydraulic pressure pump 60 to the head side oil chamber 1a of the boom cylinder 1 Less than. Therefore, the charge pump 63 supplies the insufficient amount of pressure oil flow to the first hydraulic pressure pump 60 via the charge check valve 21 and the second conduit 14.
- the controller 57 causes the power control unit 51a of the second motor / generator 51 to increase torque positively.
- a command signal is output, and a communication command signal is output to the third electromagnetic switching valve 27 of the hydraulic pressure open circuit B.
- the second hydraulic pressure pump 61 replenishes and supplies the hydraulic fluid sucked from the tank 18 to the head side oil chamber 1 a of the boom cylinder 1.
- the controller 57 controls the power control unit 51a of the second motor / generator 51 that drives the second hydraulic pump 61 and the hydraulic pressure.
- the power control unit 52a of the third motor / generator 52 that drives the third hydraulic pressure pump 62 and the third electromagnetic switching of the hydraulic open circuit C
- a command signal may be output to the valve 39 and operated at high speed by these.
- the controller 57 causes the power control unit 50a of the first motor / generator 50 to reverse torque increase torque command signal increase torque command signal Output
- the operation amount of the boom control lever 56a is as small as -X1
- the discharge flow rate of the first hydraulic pressure pump 60 is -Qcp1
- the piston rod of the boom cylinder 1 is , Reduce speed at -V1 (low speed).
- the flow rate of the hydraulic fluid returning from the head side oil chamber 1a of the boom cylinder 1 to the first hydraulic pressure pump 60 is the pressure oil flow rate supplied from the first hydraulic pressure pump 60 to the rod side oil chamber 1b. It will be more than that. Therefore, the surplus is returned from the first line 13 to the tank 18 via the flushing valve 20 and the line 16.
- the pressure of the hydraulic fluid returning from the head-side oil chamber 1a of the boom cylinder 1 to the first hydraulic pump 60 becomes high due to the weight of the front device 105, and the pressure fluid is supplied.
- the hydraulic pump 60 drives the first motor / generator 50 as a hydraulic motor.
- the power generated by the first motor / generator 50 is stored in the power supply unit 54 via the power control unit 50a.
- the controller 57 causes the power control unit 51a of the second motor / generator 51 to reverse torque increase torque.
- a command signal is output, and a communication command signal is output to the third electromagnetic switching valve 27 of the hydraulic pressure open circuit B.
- the second hydraulic pressure pump 61 operates to suck in the hydraulic fluid.
- discharge of hydraulic fluid from the head-side oil chamber 1 a of the boom cylinder 1 to the tank 18 is promoted via the communication conduit 15 and the third electromagnetic switching valve 27.
- the third electromagnetic switching valve 27 becomes in communication with the second hydraulic pump 61.
- the discharge flow rate is -Qop1
- the discharge flow rate of the first hydraulic pressure pump 60 is -Qcp2.
- the pressure oil flow rate of-(Qop1 + Qcp2) flows out from the head side oil chamber 1a of the boom cylinder 1, and the piston rod performs the reduction operation at the speed -V2 (high speed).
- the pressure of the hydraulic oil returning from the head side oil chamber 1a of the boom cylinder 1 to the second hydraulic pressure pump 61 becomes high, and the second hydraulic pressure pump 61 receives the supply of this hydraulic pressure
- the second motor / generator 51 is driven.
- the power generated by the second motor / generator 51 is stored in the power supply unit 54 via the power control unit 51a.
- the controller 57 controls the power control unit 51a of the second motor / generator 51 and the third electromagnetic switching valve of the hydraulic open circuit B.
- the operation command signal is output to the power control unit 52a of the third motor / generator 52 and the third electromagnetic switching valve 39 of the hydraulic open circuit C, thereby operating at high speed You may
- the head of the boom cylinder 1 is used by using the second hydraulic pump 61 and the first hydraulic pump 60 in combination. Since the hydraulic oil flowing out of the side oil chamber 1a is received, the piston rod operating speed of the boom cylinder 1 can be increased.
- the controller 57 when the operator starts operating the arm control lever 56b in the extension direction of the piston rod, the controller 57 outputs a positive rotation increase torque command signal to the power control unit 51a of the second motor / generator 51.
- a communication command signal is output to the first electromagnetic switching valve 25 of the hydraulic pressure open circuit B, and a positive opening command signal is output to the arm cylinder proportional switching valve 30.
- the second hydraulic pressure pump 61 discharges the hydraulic oil sucked from the tank 18, and the arm cylinder proportional switching valve 30 opens in the direction to connect the check valve 29 and the first pipeline 31.
- the pressure oil from the second hydraulic pressure pump 61 is supplied to the head side oil chamber 3 a of the arm cylinder 3 via the pipe line 24 and the first pipe line 31.
- the hydraulic oil in the rod side oil chamber 3 b of the arm cylinder 3 is returned to the tank 18 via the second pipe 32, the proportional switch valve for arm cylinder 30 and the pipe 35. As a result, the piston rod of the arm cylinder 3 is extended.
- the controller 57 When the operator starts operating the arm control lever 56b in the piston rod contraction direction, the controller 57 outputs a positive rotation increase torque command signal to the power control unit 51a of the second motor / generator 51, and the hydraulic open circuit B The communication command signal is output to the first electromagnetic switching valve 25 and the reverse opening command signal is output to the proportional switching valve 30 for the arm cylinder.
- the second hydraulic pump 61 discharges the hydraulic oil sucked from the tank 18, and the arm cylinder proportional switching valve 30 opens in the direction to connect the check valve 29 and the second conduit 32.
- the pressure oil from the second hydraulic pressure pump 61 is supplied to the rod side oil chamber 3 b of the arm cylinder 3 via the pipe line 24 and the second pipe line 32.
- the hydraulic oil in the head side oil chamber 3 a of the arm cylinder 3 is returned to the tank 18 via the first pipe line 31, the proportional switch valve for arm cylinder 30 and the pipe line 35. As a result, the piston rod of the arm cylinder 3 is contracted.
- the first hydraulic pump 60 is connected to the boom cylinder 1 and the second to the arm cylinder 3.
- the second hydraulic pump 61 supplies pressure oil to the bucket cylinder 5 and the third hydraulic pump 62 drives each piston rod.
- the controller 57 sends a communication command signal to the first electromagnetic switching valve 25 of the hydraulic open circuit B, an opening command signal to the proportional switching valve 30 for the arm cylinder, and a first electromagnetic switching valve 37 of the hydraulic open circuit C.
- a communication command signal is output to the bucket cylinder, and an opening command signal is output to the bucket cylinder proportional switching valve 42.
- the controller 57 controls the power control unit 51a of the second motor / generator 51. While outputting a positive rotation increase torque command signal according to the operation amount of the boom control lever 56a, the first electromagnetic switching valve 25 of the hydraulic pressure open circuit B outputs a shutoff command signal, and the third electromagnetic switching valve 27 communicates a communication command signal. Output each.
- the pressure oil of the second hydraulic pump 61 is replenished and supplied to the head side oil chamber 1a of the boom cylinder 1, and the piston rod of the boom cylinder 1 extends at a speed corresponding to the operation amount of the boom control lever 56a. It is controlled.
- the controller 57 outputs, to the power control unit 52a of the third motor / generator 52, a positive rotation increase torque command signal according to the amount of operation of the arm control lever 56b.
- a communication command signal is output to the switching valve 38.
- the pressure oil of the third hydraulic pump 62 is supplied to the arm cylinder 3 via the arm cylinder proportional switching valve 30, and the piston rod of the arm cylinder 3 is driven and controlled.
- the controller 57 controls the output of the power control unit 52a of the third motor / generator 52 instead of the power control unit 51a of the second motor / generator 51, and Instead of the shutoff command signal of the first electromagnetic switching valve 25 of the hydraulic open circuit B and the communication command signal of the third electromagnetic switching valve 27, the shutoff command signal of the first electromagnetic switching valve 37 of the hydraulic open circuit C and the third electromagnetic switching Alternatively, the pressure oil from the third hydraulic pressure pump 62 may be replenished and supplied to the head side oil chamber 1 a of the boom cylinder 1 by outputting a communication command signal of the valve 39.
- the first hydraulic pump 60 is a first electric motor as a hydraulic motor. Since the power generator / generator 50 is driven, the power generated by the first motor / generator 50 is stored in the power supply unit 54 via the power control unit 50a.
- the controller 57 causes the power control unit 51a of the second motor / generator 51 to respond to the operation amount of the boom control lever 56a.
- a reverse rotation increase torque command signal is output, and a shutoff command signal is output to the first electromagnetic switching valve 25 of the hydraulic open circuit B, and a communication command signal is output to the third electromagnetic switching valve 27.
- the second hydraulic pump 61 operates to suck in the hydraulic oil of the head side oil chamber 1a of the boom cylinder 1, and the piston rod of the boom cylinder 1 responds to the operation amount of the boom control lever 56a. It is controlled by speed. At this time, the pressure of the hydraulic oil returned to the second hydraulic pressure pump 61 becomes high, and the second hydraulic pressure pump 61 drives the second motor / generator 51 as a hydraulic pressure motor upon receiving the supply of the hydraulic oil. . As a result, the power generated by the second motor / generator 51 is stored in the power supply unit 54 via the power control unit 51a.
- the controller 57 outputs a positive rotation increase torque command signal according to the operation amount of the boom control lever 56a to the power control unit 52a of the third motor / generator 52, and the second electromagnetic switching of the hydraulic open circuit C.
- a communication command signal is output to the valve 38.
- the pressure oil of the third hydraulic pump 62 is supplied to the arm cylinder 3 via the arm cylinder proportional switching valve 30, and the piston rod of the arm cylinder 3 is driven and controlled.
- the controller 57 controls the output of the power control unit 52a of the third motor / generator 52 instead of the power control unit 51a of the second motor / generator 51, and Instead of the shutoff command signal of the first electromagnetic switching valve 25 of the hydraulic open circuit B and the communication command signal of the third electromagnetic switching valve 27, the shutoff command signal of the first electromagnetic switching valve 37 of the hydraulic open circuit C and the third electromagnetic switching
- the hydraulic fluid of the head side oil chamber 1 a of the boom cylinder 1 may be supplied to the third hydraulic pressure pump 62 by outputting a communication command signal of the valve 39.
- the second hydraulic pump 61 uses a hydraulic pump capable of rotating in the forward and reverse directions. 2)
- the flow rate of the hydraulic fluid flowing out of the head side oil chamber 1a of the boom cylinder 1 can be made substantially equal.
- the speed at the time of contraction of the piston rod of the boom cylinder 1 can be made equal to the speed at the time of expansion, and good operability can be obtained as in the first embodiment.
- the charge pump 63 and the flushing valve When the piston rod of the boom cylinder 1 is operated at a high speed by compensating the excess or deficiency of the flow rate balance generated by the volume difference between the head side oil chamber 1a of the boom cylinder 1 and the rod side oil chamber 1b by 20.
- the hydraulic pump 61 compensates for the excess and deficiency of the flow rate balance of the boom cylinder 1 described above.
- the use of the second hydraulic pump 61 in the hydraulic closed circuit A is switched, so that the charge pump 63 can be miniaturized. Further, even when the pressure in the flow path fluctuates at high speed operation, flow control can be performed by the second hydraulic pressure pump 61, so that stable operation can be performed.
- the head side of the boom cylinder 1 when the piston rod of the boom cylinder 1 is reduced at high speed Since the hydraulic oil flowing out of the oil chamber 1a is made to flow out to the first hydraulic pressure pump 60 and the second hydraulic pressure pump 61, the capacity of the first hydraulic pressure pump 60 can be made smaller than that of the conventional machine.
- the motor / generator for driving each hydraulic pump, and each hydraulic pump Because they are directly connected, the transmission loss occurring at the time of driving and at the time of regeneration of each hydraulic pump is smaller than that in the first embodiment.
- the present invention is not limited to the embodiments described above, but includes various modifications.
- the embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.
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Abstract
Description
<実施例1>
図1は本発明の作業機械の駆動装置及びこれを備えた作業機械の第1の実施の形態を備えた油圧ショベルを示す側面図である。この図1において、油圧ショベル100は、走行体101と、走行体101の上に旋回装置104を介して旋回可能に設けた旋回体102と、旋回体102上に配置された運転室103と旋回体102上の前方部に上下方向に回動可能に取り付けられた多関節型のフロント装置105とを備えている。
<実施例2>
以下、本発明の作業機械の駆動装置及びこれを備えた作業機械の第2の実施の形態を図面を用いて説明する。図5は本発明の作業機械の駆動装置及びこれを備えた作業機械の第2の実施の形態を示す油圧回路図である。図5において、図1乃至図4に示す符号と同符号のものは同一部分であるので、その詳細な説明は省略する。
第1の実施の形態において、第1~第3液圧ポンプ9~11とチャージポンプ12とは、それぞれの駆動軸を介してエンジン7の動力を配分する動力伝達装置8により駆動されていたが、本実施の形態においては、第1~第3液圧ポンプ60~62とチャージポンプ61とは、各駆動軸で接続された第1~第3電動/発電機50~52とチャージ電動/発電機53とにより駆動されている点が異なる。また、第1の実施の形態において、第1~第3液圧ポンプ9~11は、それぞれ、一対の入出力ポートを持つ両傾転斜板機構の液圧ポンプとしていたが、本実施の形態において、第1~第3液圧ポンプ60~62は、それぞれ正転/逆転可能な液圧ポンプとした点が異なる。
まず、図3に示す非動作状態(停止状態)のブーム用操作レバー56a、アーム用操作レバー56b、バケット用操作レバー56cのいずれも操作されていない場合、コントローラ57は、図5に示す第1液圧ポンプ60を駆動する第1電動/発電機50、第2液圧ポンプ61を駆動する第2電動/発電機51、第3液圧ポンプ62を駆動する第3電動/発電機52,及びチャージポンプ63を駆動するチャージ電動/発電機53の各パワーコントロールユニット50a,51a,52a,53aに、停止制御指令信号を出力すると共に、油圧開回路Bの第1乃至第3電磁切換弁25~27と、油圧開回路Cの第1乃至第3電磁切換弁37~39とに遮断閉指令信号を出力する。また、アームシリンダ用比例切換弁30とバケットシリンダ用比例切換弁42とには、遮断指令信号を出力する。この結果、ブームシリンダ1,アームシリンダ3,及びバケットシリンダ5は、非動作状態に保持される。
1a ヘッド側油室
1b ロッド側油室
2 ブーム
3 アームシリンダ
4 アーム
5 バケットシリンダ
6 バケット
7 エンジン
8 動力伝達装置
9 第1液圧ポンプ
10 第2液圧ポンプ
11 第3液圧ポンプ
12 チャージポンプ
13 第1管路
14 第2管路
15 連絡管路
18 タンク
20 フラッシング弁
21 チャージ用チェック弁
25 第1電磁切換弁
26 第2電磁切換弁
27 第3電磁切換弁
30 アームシリンダ用比例切換弁
42 バケットシリンダ用比例切換弁
56a ブーム用操作レバー
56b アーム用操作レバー
56c バケット用操作レバー
57 コントローラ
A 油圧閉回路
B 油圧開回路
C 油圧開回路
Claims (5)
- 吐出する作動油の流量と方向を制御する流量調整手段を有する第1液圧ポンプと、
前記作動油により駆動され、作業機械における作業装置の1つの作業部材を駆動する片ロッド液圧シリンダと、
前記第1液圧ポンプと前記片ロッド液圧シリンダとを前記作動油が流れる流路で閉回路状に接続した液圧閉回路と、
前記第1液圧ポンプと前記片ロッド液圧シリンダとの間の前記流路から分岐する分岐路と、
前記分岐路に一端側を接続した第1流路と、前記第1流路の他端側に接続されたタンクと、
前記第1流路に設けられ、前記分岐路から前記タンクへ流れる作動油の流量、又は、前記タンクから前記分岐路へ流れる作動油の流量を制御可能とする作動油流量調整装置とを備えた、
ことを特徴とする作業機械の駆動装置。 - 請求項1に記載の作業機械の駆動装置において、
前記作動油流量調整装置は、第2液圧ポンプである
ことを特徴とする作業機械の駆動装置。 - 請求項2に記載の作業機械の駆動装置において、
前記第1片ロッド液圧シリンダが駆動する作業部材と異なる作業部材を駆動する第2片ロッド液圧シリンダと、
前記第2液圧ポンプが吐出する作動油の流量と方向を切換え前記第2片ロッド液圧シリンダに供給する流量調整制御弁と、
前記タンクと前記第2液圧ポンプの一方のポートとを接続する第2流路と、前記第2液圧ポンプの他方のポートと前記流量調整制御弁の入力ポートとを接続する第3流路と、前記流量調整制御弁の接続ポートと前記第2片ロッド液圧シリンダとを接続する第4流路と、前記流量調整制御弁の出力ポートと前記タンクとを接続する第5流路とを有する液圧開回路と、
前記第2液圧ポンプと前記分岐路とを接続している流路に設けられ、前記流路内の作動油の連通と遮断とを切換える切換弁とを備えた
ことを特徴とする作業機械の駆動装置。 - 請求項3に記載の作業機械の駆動装置において、
複数の前記液圧開回路と、
一方の液圧開回路における前記第2液圧ポンプと他方の液圧開回路における前記流量調整制御弁とを流路で接続した分配回路と、
前記分配回路の流路に設けられ、前記流路内の作動油の連通と遮断とを切換える切換弁とを備えた
ことを特徴とする作業機械の駆動装置。 - 請求項1に記載の作業機械の駆動装置において、
前記第1流路に設けられ、前記分岐路から前記タンクへ流れる作動油の流量又は、前記タンクから前記分岐路へ流れる作動油の流量を制御可能とする機構として、作動油の流量と吐出方向とを変更可能な容量可変手段を有する液圧ポンプを備えた
ことを特徴とする作業機械の駆動装置。
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DE112013003540.5T DE112013003540B4 (de) | 2012-09-20 | 2013-07-03 | Antriebsvorrichtung für eine Arbeitsmaschine und damit ausgerüstete Arbeitsmaschine |
JP2014536635A JP5989125B2 (ja) | 2012-09-20 | 2013-07-03 | 作業機械の駆動装置及びこれを備えた作業機械 |
US14/413,779 US9845813B2 (en) | 2012-09-20 | 2013-07-03 | Driving device for work machine and work machine equipped therewith |
AU2013319558A AU2013319558B2 (en) | 2012-09-20 | 2013-07-03 | Drive device for working machine and working machine provided with same |
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JP2012-207142 | 2012-09-20 |
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JP (1) | JP5989125B2 (ja) |
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WO (1) | WO2014045672A1 (ja) |
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Also Published As
Publication number | Publication date |
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AU2013319558B2 (en) | 2015-11-19 |
US9845813B2 (en) | 2017-12-19 |
AU2013319558A1 (en) | 2015-01-22 |
DE112013003540T5 (de) | 2015-04-02 |
DE112013003540B4 (de) | 2019-06-19 |
JP5989125B2 (ja) | 2016-09-07 |
JPWO2014045672A1 (ja) | 2016-08-18 |
US20150135697A1 (en) | 2015-05-21 |
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