WO2016194409A1 - 作業機械の油圧駆動装置 - Google Patents
作業機械の油圧駆動装置 Download PDFInfo
- Publication number
- WO2016194409A1 WO2016194409A1 PCT/JP2016/055123 JP2016055123W WO2016194409A1 WO 2016194409 A1 WO2016194409 A1 WO 2016194409A1 JP 2016055123 W JP2016055123 W JP 2016055123W WO 2016194409 A1 WO2016194409 A1 WO 2016194409A1
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- WIPO (PCT)
- Prior art keywords
- pump
- hydraulic
- electric motor
- driven
- actuators
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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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
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—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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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
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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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- 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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
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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
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
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- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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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
- F15B2211/20576—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
- F15B2211/275—Control of the prime mover, e.g. hydraulic 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
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- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31529—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having a single pressure source and a single output member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
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- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31535—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and a single output member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/31523—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member
- F15B2211/31547—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source and an output member having multiple pressure sources and multiple 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
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
- F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
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- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
Definitions
- the present invention relates to a hydraulic drive device mounted on a work machine such as a hydraulic excavator or a crane.
- a hydraulic pump is driven to rotate by an engine, and a hydraulic actuator such as a hydraulic cylinder is operated by pressure oil discharged from the hydraulic pump.
- a hydraulic drive device mounted on such a working machine for example, there are those described in Patent Documents 1 and 2.
- the hydraulic drive device described in Patent Document 1 enables combined operation by diverting pressure oil discharged from one hydraulic pump and supplying it to a plurality of actuators.
- the hydraulic drive device described in Patent Document 2 includes two engine-driven hydraulic pumps and one electric hydraulic pump, and each actuator is driven by a separate hydraulic pump so that the operation in the combined operation is independent. Realize the sex.
- JP-A-8-105078 Japanese Patent No. 4509877
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a hydraulic drive device that can improve the fuel efficiency of a work machine by reducing the pressure loss and drag loss of a hydraulic pump. .
- the present invention provides an engine, first and second hydraulic pumps driven by the engine, and first and second hydraulic pumps supplied with discharge oil, respectively.
- a plurality of first and second pump oil passages at least one first actuator driven by pressure oil supplied from the first pump oil passage, and a plurality driven by pressure oil supplied from the second pump oil passage.
- a second directional control valve provided in the first pump oil passage for controlling a flow rate of pressure oil supplied to the first actuator, and provided in the second pump oil passage, A plurality of second directional control valves that respectively control the flow rate of the pressure oil supplied to the second actuator, and the first directional control valve and the plurality of second directional control valves.
- An oil passage and a third pump oil passage, and the third hydraulic pressure is switched by a specific operation device among the plurality of operation devices operating a specific actuator of the plurality of second actuators.
- a third direction control valve that controls the flow rate of the pressure oil supplied from the pump to the specific actuator, and a control device that drives and controls the electric motor according to the operation of the plurality of second actuators are provided.
- the specific actuator can be selectively driven by the second hydraulic pump driven by the engine and the third hydraulic pump driven by the electric motor. 3 Drag loss of the hydraulic pump can be suppressed and the fuel efficiency of the work machine can be improved.
- the apparatus further includes a plurality of operation amount detection devices that detect operation amounts of the plurality of operation devices, respectively, and the control device includes the plurality of operation amount detection devices.
- the third hydraulic pump is driven by the electric motor.
- the specific actuator is driven by the third hydraulic pump, and pressure oil is not supplied from the second hydraulic pump to the specific actuator.
- the pressure loss of the second hydraulic pump can be suppressed.
- the control device uses the plurality of operation amount detection devices to detect the plurality of second actuators.
- the specific actuator is an arm cylinder.
- a specific actuator capable of selectively driving an arm cylinder that requires a high flow rate and a high flow rate during light load work with a second hydraulic pump driven by an engine and a third hydraulic pump driven by an electric motor.
- the battery further includes a battery that stores electric power for driving the electric motor, and a charge rate detection device that detects a charge rate of the battery, and the control device includes the charge rate.
- the battery charging rate detected by the detection device is lower than the predetermined charging rate, the third hydraulic pump is not driven by the electric motor.
- the operability equivalent to the conventional one can be maintained by driving the actuator with the characteristic by the engine-driven second hydraulic pump.
- the fuel consumption of the work machine can be improved by reducing the pressure loss or drag loss of the hydraulic pump.
- FIG. 1 is a side view of a hydraulic excavator provided with a hydraulic drive device according to an embodiment of the present invention. It is a lineblock diagram of the hydraulic drive concerning an embodiment of the invention. It is a flowchart which shows the control by the main controller in embodiment of this invention. It is a figure which shows the relationship between the engine speed in Embodiment of this invention, and the reference power of a 1st and 2nd pump. It is a figure which shows the relationship between battery SOC and the reference motive power of a 3rd pump in embodiment of this invention. It is a calculation flow figure of the pump standard flow in an embodiment of the invention.
- FIG. 1 is a diagram showing an external appearance of a hydraulic excavator according to the present embodiment.
- the hydraulic excavator includes a lower traveling body 1, an upper swing body 2, and a front work device 3.
- the lower traveling body 1 includes left and right crawler belts 11a and 11b (only the left side is illustrated) and left and right traveling hydraulic motors 12a and 12b (only the left side is illustrated). It drives by driving each.
- the upper swing body 2 has a swing frame 2a as a support mechanism. On the swing frame 2a, an engine 13 as a prime mover, an electric motor M (not shown), and a generator motor GM (not shown) connected to the engine 13 are shown. 1), hydraulic pumps P 1 and P 2 driven by the engine 13, hydraulic pump P 3 (not shown) driven by an electric motor, and turning that drives the upper swing body 2 (swing frame 2 a) to rotate relative to the lower traveling body 1.
- the hydraulic motor 10 and a control valve 15 that distributes and supplies the oil discharged from the hydraulic pumps P1 to P3 to the actuators 7 to 10, 12a, and 12b are mounted.
- the front working device 3 includes a boom 4 that is pivotably attached to the upper swing body 2, an arm 5 that is pivotally attached to the tip of the boom 4, and a pivot that can be pivoted to the tip of the arm 5. And attached bucket 6.
- the boom 4 is rotated in the vertical direction by the expansion and contraction of the boom cylinder 7, the arm 5 is rotated in the vertical and longitudinal directions by the expansion and contraction of the arm cylinder 8, and the bucket 6 is rotated in the vertical and longitudinal directions by the expansion and contraction of the bucket cylinder 9. To do.
- FIG. 2 is a configuration diagram of the hydraulic drive device according to the embodiment of the present invention.
- the hydraulic drive unit includes an engine 13, a generator motor GM, an electric motor M, three hydraulic pumps (hereinafter referred to as first to third pumps as appropriate) P1 to P3, a control valve 15, and a plurality of actuators 8 to 10. And a plurality of operation devices 19 to 21 for operating the actuators 8 to 10 respectively, and a main controller (hereinafter referred to as a controller) 18 as a control device.
- a controller hereinafter referred to as a controller
- the boom cylinder 7 and the left and right traveling hydraulic motors 12a and 12b shown in FIG. 1 are driven by one of the first and second pumps P1 and P2.
- the operation of the actuators 7, 12a and 12b is discussed below. In FIG. 2, portions relating to driving of the actuators 7, 12a and 12b are omitted.
- the generator motor GM is connected to the output shaft of the engine 13, and the first and second pumps P1, P2 are connected to the output shaft of the generator motor GM.
- the generator motor GM is operated by one or both of the driving force of the engine 13 and the electric energy stored in the battery 14, and drives the first and second pumps P1, P2.
- the generator motor GM is connected to the battery 14 and the second inverter INV2 via the first inverter INV1, and serves as a generator that converts the power of the engine 13 into electric energy and outputs the electric energy to the battery 14 or the second inverter INV2. And a function as an electric motor that assists and drives the first and second pumps P1 and P2 by the electric energy of the battery 14 supplied via the first inverter INV1.
- the third pump P3 is connected to the output shaft of the electric motor M.
- the electric motor M is connected to the battery 14 and the first inverter INV1 via the second inverter INV2, and is operated by one or both of the electric energy stored in the battery 14 and the electric energy generated by the generator motor GM. Then, the third pump P3 is driven.
- the first and second pumps P1 and P2 are variable displacement hydraulic pumps, and the discharge flow rate is controlled by adjusting the pump displacement (displacement volume) via the first and second pump regulators R1 and R2, respectively.
- the third pump P3 is a fixed displacement hydraulic pump, and the discharge flow rate is controlled by adjusting the rotational speed of the electric motor M via the second inverter INV2.
- the control valve 15 is disposed between the first to third pumps P1 to P3 and the plurality of actuators 8 to 10, and distributes oil discharged from the first to third pumps P1 to P3 to the actuators 8 to 10. Supply.
- a plurality of pump oil passages (hereinafter referred to as first to third pump oil passages as appropriate) L1 to L3 are formed inside the control valve 15, and supplied to the bucket cylinder 9 in the first pump oil passage L1.
- a direction control valve V2 for controlling the direction and flow rate of the pressure oil is disposed, and a direction control valve V1 for controlling the direction and flow rate of the pressure oil supplied to the arm cylinder 8 and the swing hydraulic motor 10 are disposed in the second pump oil passage L2.
- a direction control valve V3 for controlling the direction and flow rate of the pressure oil to be supplied is disposed, and a direction control valve V4 for controlling the direction and flow rate of the pressure oil to be supplied to the arm cylinder 8 is disposed in the third pump oil passage L3. ing.
- the oil discharged from the first to third hydraulic pumps P1 to P3 is guided to the first to third pump oil passages L1 to L3, respectively, and is supplied to the actuators 8 to 10 via the direction control valves V1 to V4. .
- Pump pressure sensors S1 to S3 for detecting discharge pressures of the first to third pumps P1 to P3 are attached to the first to third pump oil passages L1 to L3, respectively, and the arm cylinder 8 and the direction control valve V1. , V4, load pressure sensors S4 and S5 for detecting the load pressure of the arm cylinder 8 are attached to the head side oil passage L5 and the rod side oil passage L6, respectively. Detection signals from the pump pressure sensors S1 to S3 and the load pressure sensors S4 and S5 are input to the controller 18.
- the operating device (hereinafter referred to as an arm operating device as appropriate) 19 includes a pilot valve 19a and an operating lever (hereinafter referred to as an arm operating lever as appropriate) 19b connected to the pilot valve 19a.
- the pilot valve 19a is connected to a pilot hydraulic power source 17 configured by a pilot pump, a pilot relief valve, and the like, and receives a pilot primary pressure input from the pilot hydraulic power source 17 in accordance with the operating direction and operating amount of the operating lever 19b. The pressure is reduced and output as pilot pressures PL1 and PL2.
- pilot pressures PL1 and PL2 are respectively guided to the left and right pilot pressure receiving portions of the directional control valves V1 and V4, and the directional control valves V1 and V4 for operating the arm are switched in either the right or left direction.
- Pilot pressure sensors S6 and S7 for detecting pilot pressures PL1 and PL2 are respectively attached to the two pilot oil passages connected to the pilot valve 19a. The detection signals of the pilot pressure sensors S6 and S7 are sent to the controller 18. Entered.
- the operating device 20 (hereinafter referred to as a bucket operating device as appropriate) includes a pilot valve 20a and an operating lever (hereinafter referred to as a bucket operating lever as appropriate) 20b connected to the pilot valve 20a.
- the pilot valve 20a is connected to the pilot hydraulic power source 17, and reduces the pilot primary pressure input from the pilot hydraulic power source 17 in accordance with the operation direction and the operation amount of the operation lever 20b, and outputs it as pilot pressures PL3 and PL4. .
- the pilot pressures PL3 and PL4 are respectively guided to the left and right pilot pressure receiving portions of the bucket operation direction control valve V2, and the direction control valve V2 is switched in either the right or left direction.
- Pilot pressure sensors S8 and S9 for detecting pilot pressures PL3 and PL4 are respectively attached to the two pilot oil passages connected to the pilot valve 20a. The detection signals of the pilot pressure sensors S8 and S9 are sent to the controller 18. Entered.
- the operating device 21 (hereinafter appropriately referred to as a turning operation device) includes a pilot valve 21a and an operation lever (hereinafter referred to as a turning operation lever) 21b connected to the pilot valve 21a.
- the pilot valve 21a is connected to the pilot hydraulic source 17 and reduces the pilot primary pressure input from the pilot hydraulic source 17 in accordance with the operation direction and operation amount of the operation lever 21b, and outputs the pilot pressure as pilot pressures PL5 and PL6. .
- the pilot pressures PL5 and PL6 are respectively guided to the left and right pilot pressure receiving portions of the directional control valve V3 for turning operation, and the directional control valve V3 is switched in either the right or left direction.
- Pilot pressure sensors S10 and S11 for detecting pilot pressures PL5 and PL6 are respectively attached to the two pilot oil passages connected to the pilot valve 21a. The detection signals of the pilot pressure sensors S10 and S11 are sent to the controller 18. Entered.
- the controller 18 monitors the detected values (discharge pressures of the first to third pumps P1 to P3) of the pump pressure sensors S1 to S3 so that the first to third pumps P1 to P3 do not exceed the limit value, and the pumps Detection values of the pressure sensors S1 to S3 (discharge pressures of the first to third pumps P1 to P3), detection values of the load pressure sensors S4 and S5 (arm load pressure), and detection values of the pilot pressure sensors S6 to S11 (pilot pressure)
- the target flow rates of the first to third pumps P1 to P3 are set according to P1 to P6), and the first and third pumps P1 to P3 are set so that the discharge flow rates coincide with the respective target flow rates.
- the capacity (displacement volume) of the pumps P1 and P2 and the rotational speed of the electric motor M are controlled.
- the pump capacities (displacement volumes) of the first and second pumps P1 and P2 are controlled by the controller 18 sending tilt control signals to the first and second pump regulators R1 and R2, and the rotational speed of the motor M is The controller 18 is controlled by transmitting a rotation speed control signal to the second inverter INV2.
- FIG. 3 is a flowchart showing the control by the controller 18. Each step constituting the control flow of FIG. 3 will be described below in order.
- step S101 the first and second pump reference power Pow12 is determined based on the current engine speed or the engine speed target value with reference to a preset table (an example is shown in FIG. 4A).
- the table is set so that the first and second pump reference power Pow12 does not exceed the engine maximum output HP1.
- step S102 the third pump reference power Pow3 is determined from the battery charge (S0C) with reference to a preset table (an example is shown in FIG. 4B).
- the table shows that the third pump reference power becomes zero when the third pump reference power Pow3 does not exceed the maximum output HP2 of the electric motor M and falls below a predetermined remaining battery level (SOC2). Is set to
- step S103 it is determined whether or not the electric system abnormality flag is off. If the electric system abnormality flag is off, the process proceeds to step S105. If the electric system abnormality flag is ON, the process proceeds to step S104, the third pump reference power Pow3 is set to zero, and the process proceeds to step S105.
- step S105 various operation signals, first to third pump discharge pressures (detected values of pump pressure sensors S1 to S3) Sv1 to Sv3, pump reference powers Pow12 and Pow3, based on the calculation flow shown in FIG. From these, the reference flow rates Q1c, Q2c, Q3c of each pump are determined.
- the flow rate Q1a is determined from the maximum value PLm1 of the operating pilot pressure of the actuator connected to the first pump P1.
- the flow rate Q2a is determined from the maximum value PLm2 of the operation pilot pressure of the actuator connected to the second pump P2.
- the flow rate Q12b is calculated from the first and second pump discharge pressures Sv1, Sv2 and the first and second pump reference power Pow12 according to the following formula (flow rate calculation C1).
- the flow rate Q3a is determined from the maximum value PLm3 of the operating pilot pressure of the actuator connected to the third pump P3.
- the flow rate Q3b is calculated from the third pump discharge pressure Sv3 and the third pump reference power Pow3 according to the following formula (flow rate calculation C2).
- Q3b Pow3b / Sv2 ⁇ 60
- the minimum value of Q3a and Q3b is set to the third pump reference flow rate Q3c.
- the third pump reference power Pow3 becomes zero in steps S102 and S104
- the third pump reference flow rate Q3c becomes zero.
- step S106 it is determined from the operation pilot pressure sensor value whether the arm operation and the turning operation are performed simultaneously. If they are performed simultaneously, the process proceeds to step S108. If not, the process proceeds to step S107, and the third pump reference flow rate Q3c is set to zero.
- step S108 with reference to a preset table (an example is shown in FIG. 6), the correction gain G is determined from the detection values Sv4 and Sv5 of the load pressure sensors S4 and S5, and the third pump reference flow rate is calculated by the following equation. to correct.
- a preset table an example is shown in FIG. 6
- Q3c ′ Q3c ⁇ G
- G takes a value from 0 to 1, and is 0 when the actuator load pressure is a certain value (Pam2 in FIG. 6).
- step S109 the corrected third pump reference flow rate Q3c 'is subtracted from the second pump reference flow rate to calculate the corrected second pump reference flow rate Q2c'.
- step S110 the first to third pump target flow rates Q1d, Q2d, Q3d are determined.
- the first pump target flow rate Q1d is Q1c
- the second pump target flow rate Q2d is the corrected second pump reference flow rate Q2c ′
- the third pump target flow rate Q3d is the corrected third pump reference flow rate Q3c ′.
- step S111 the first and second pump target displacements are calculated from the first and second pump target flow rates Q1d and Q2d and the current engine speed or engine target speed, and the first and second pump regulators R1 and R2 are calculated. Send tilt command.
- step S112 the motor target rotational speed is calculated from the third pump target flow rate Q3d and the third pump displacement, the motor rotational speed command is transmitted to the second inverter INV2, the motor rotational speed is controlled, and the flow ends.
- FIG. 7 is a block diagram showing a data flow from the electric system 30 to the main controller 18.
- the electric system 30 is composed of devices related to driving of the third pump P3 such as the battery 14, the generator motor GM, the motor M, the first inverter INV1, and the second inverter INV2.
- the battery controller 22 mounted on the battery 14 calculates the battery charge rate based on the battery temperature, the battery voltage, and the battery current value, and transmits the battery charge rate to the main controller 18. Further, the battery controller 22 sets the battery abnormality flag to OFF or ON based on the battery temperature, and transmits it to the main controller 18.
- the battery abnormality flag is set to off when the battery temperature is in a normal temperature range, and is set to on when the battery temperature is out of the normal temperature range.
- the first inverter controller 23 mounted on the first inverter INV1 turns the generator motor abnormality flag off or on based on the inverter temperature and the generator motor temperature received from the generator motor thermistor 25 attached to the generator motor GM. It is set and transmitted to the main controller 18.
- the generator motor abnormality flag is set to OFF when the inverter temperature and the generator motor temperature are within the normal temperature range, and is ON when either the inverter temperature or the generator motor temperature is out of the normal temperature range.
- the second inverter controller 24 mounted on the second inverter INV2 sets the motor abnormality flag to OFF or ON based on the inverter temperature and the motor temperature received from the motor thermistor 26 attached to the motor M. Transmit to the controller 18.
- the motor abnormality flag is set to OFF when the inverter temperature and the motor temperature are in the normal temperature range, and set to ON when either the inverter temperature or the motor temperature is out of the normal temperature range.
- FIG. 8 is a flowchart showing the setting process of the electric system abnormality flag by the main controller 18. Each step constituting the flow of FIG. 8 will be described in the following order.
- the main controller 18 first determines whether or not the battery abnormality flag received from the battery controller 22 is off (step S201).
- step S201 If it is determined as YES (battery abnormality flag is off) in step S201, it is determined whether or not the generator motor abnormality flag received from the first inverter controller 23 is off (step S202).
- step S202 If it is determined as YES (battery abnormality flag is off) in step S202, it is determined whether or not the motor abnormality flag received from the second inverter controller 24 is off (step S203).
- step S203 If it is determined as YES (the motor abnormality flag is off) in step S203, the electric apparatus abnormality flag is set to off (step S204), and the flow ends.
- step S205 when it is determined NO in any of steps S201 to S203, the electric system abnormality flag is set to ON (step S205), and the flow ends.
- the electric system abnormality flag is set to OFF, and when any of the devices constituting the electric system 30 is abnormal, the electric system Abnormal flag is set to ON.
- pilot pressures PL1 and PL2 and pilot pressures PL3 and PL4 are output from the pilot valves 19a and 20a, respectively, according to the operation direction and operation amount of each lever.
- the controller 18 sets the target flow rates of the first and second pumps P1 and P2 according to the discharge pressures of the first and second pumps P1 and P2 (detected values of the pump pressure sensors S1 and S2).
- the tilt angles of the first and second pumps P1 and P2 are controlled so that the discharge flow rates of the two pumps P1 and P2 match the respective target flow rates. Further, since it is not a combined swivel / arm operation, the target flow rate of the third pump P3 is set to zero and the electric motor M is not operated.
- the arm pilot pressures PL1 and PL2 output from the arm operating device 19 switch the direction control valves V1 and V4 in either the left or right direction.
- Bucket pilot pressures PL3 and PL4 output from bucket operating device 20 switch directional control valve V2 in either the left or right direction.
- pressure oil is supplied from the second pump oil passage L2 to the arm cylinder 8 in accordance with the operation of the arm operation lever 19b, and from the first pump oil passage L1 to the bucket cylinder 9 in accordance with the operation of the bucket operation lever 20b. Pressure oil is supplied to the arm and bucket combined operation is realized. At this time, since the electric motor M does not operate, no pressure oil is supplied from the third hydraulic pump P3 to the arm cylinder 8.
- pilot pressures PL1, PL2, pilot pressures PL3, PL4, and pilot pressures PL5, PL6 are selected according to the operating direction and operating amount of each lever. Are output from the pilot valves 19a to 21a, respectively.
- the controller 18 controls the discharge flow rates of the first to third pumps P1 to P3 based on the control flow of FIG. First, Pow12 is determined from the engine speed, and Pow3 is determined from the battery charge amount. When the battery charge amount falls below a predetermined value (SOC2 in FIG. 4B), Pow3 becomes zero, and the third pump target flow rate calculated later becomes zero. Therefore, when the battery charge amount falls below the predetermined value, the third pump The electric motor M that drives P3 does not operate.
- Qa1 is determined from the maximum operating pressure PLm1 (in this case, bucket operating pilot pressure) of the actuator connected to the first pump P1. Further, referring to the table T2, Qa2 is determined from the maximum operating pressure PLm2 (in this case, the maximum value of the arm operation pilot pressure and the turning operation pilot pressure) of the actuator connected to the second pump P2.
- Q12b is determined from the first and second pump discharge pressures Sv1 and Sv2 and the first and second pump reference power Pow12 by the flow rate calculation C1, and the minimum value of Q1a and Q12b is set as the first pump reference flow rate Q1c, and Q2a, The minimum value of Q12b is set as the second pump reference flow rate Q2c.
- the reference flow rate Qa3 is determined from the maximum operating pressure PLm3 (in this case, the arm operating pilot pressure) of the actuator connected to the third pump P3.
- the flow rate calculation C2 determines the reference flow rate Q3b from the third pump discharge pressure Sv3 and the third pump reference power Pow3, and sets the minimum value of the reference flow rates Q3a and Q3b as the third pump reference flow rate Q3c.
- the third pump target flow rate Q3d becomes Q3c
- the second pump target flow rate Q2d becomes the second pump.
- Q3c is subtracted from the reference flow rate Q2c.
- the tilt angles of the first and second pumps P1 and P2 and the rotation speed of the electric motor M that drives the third pump P3 are controlled.
- the pilot pressures PL1 and PL2 output from the arm operating device 19 are respectively guided to the left and right pilot pressure receiving portions of the directional control valves V1 and V4 to switch the directional control valves V1 and V4 in either the left or right direction.
- the pilot pressures PL3 and PL4 output from the bucket operating device 20 are respectively guided to the left and right pilot pressure receiving portions of the directional control valve V2, and switch the directional control valve V2 in either the left or right direction.
- the pilot pressures PL5 and PL6 output from the turning operation device 21 are respectively guided to the left and right pilot pressure receiving portions of the direction control valve V3 to switch the direction control valve V3 in either the left or right direction.
- pressure oil is supplied from the third pump P3 to the arm cylinder 8 according to the operation of the arm operation lever 19b, and pressure oil is supplied from the first pump P1 to the bucket cylinder 9 according to the operation of the bucket operation lever 20b.
- pressure oil is supplied from the second pump P2 to the turning hydraulic motor 10, and a combined operation of arm, bucket and turning in a light load operation is realized.
- the second pump oil passage L2 communicates with both the arm cylinder 8 and the swing hydraulic motor 10 via the direction control valves V1 and V2, but the direction control valve V1 is tandem with respect to the direction control valve V3.
- pilot pressures PL1 to PL6 are output from the pilot valves 19a to 21a in accordance with the operation of each operation lever.
- the controller 18 controls the discharge flow rates of the first to third pumps P1 to P3 based on the control flow of FIG.
- the third pump correction gain G becomes zero
- the corrected third pump reference flow rate becomes zero.
- the third pump target flow rate becomes zero
- the second pump target flow rate coincides with the second pump reference flow rate.
- the pilot pressures PL1 and PL2 output from the arm operation device 19 are respectively guided to the left and right pilot pressure receiving portions of the direction control valves V1 and V4, and the direction control valves V1 and V4 are switched and operated in either the left or right direction.
- the pilot pressures PL3 and PL4 output from the bucket operating device 20 are respectively guided to the left and right pilot pressure receiving portions of the directional control valve V2, and the directional control valve V2 is switched to either the left or right direction.
- the pilot pressures PL5 and PL6 output from the turning operation device 21 are respectively guided to the left and right pilot pressure receiving portions of the direction control valve V3, and the direction control valve V3 is switched in either the left or right direction.
- the oil discharged from the second pump P2 is divided and supplied to the arm cylinder 8 and the swing hydraulic motor 10 in accordance with the operation of the arm operation lever 19b and the swing operation lever 21b, and the first in response to the operation of the bucket operation lever 20b.
- Discharged oil from one pump P1 is supplied to the bucket cylinder 9, and a combined operation of arm, bucket and swivel in heavy load work is realized.
- pressure oil is not supplied from the third pump P3 to the arm cylinder 8.
- FIG. 9 shows a combination of arm load pressure (light load / heavy load), arm operation (single / composite), and arm drive source (second pump P2 / third pump P3) in the hydraulic drive device according to the present embodiment.
- FIG. 6 is a diagram showing a relationship between drive modes M1 to M8 determined by the above and energy loss (drag loss, pressure loss, and power loss) generated in each drive mode.
- the controller 18 executes the control flow shown in FIG. 3 so that the drive mode has a small energy loss (good fuel consumption) according to the arm operation, the turning operation, and the arm load pressure.
- One of M1, M4, M5 and M7 is selected.
- the arm cylinder 8 is selectively driven by the engine-driven second pump P2 and the motor-driven third pump P3 in accordance with the arm operation and the turning operation, and the pressure loss due to the diversion and the third pump P3
- the fuel consumption of the work machine can be improved by suppressing drag loss associated with driving.
- the arm cylinder 8 that is frequently operated in a light load operation and requires a large flow rate is a specific actuator that can be selectively driven by the second pump P2 and the third pump P3. The effect of suppressing pressure loss and drag loss can be enhanced as compared with the case where the actuator is a specific actuator.
- the motor M in heavy load work (the load pressure of the arm cylinder 8 is Pam2 or more), the motor M is not operated, and the arm cylinder 8 is driven by the second pump P2. Further, it is possible to prevent the power consumption of the electric motor M from rising excessively and to prevent an increase in power loss accompanying the operation of the electric motor M.
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Abstract
Description
図1は、本実施の形態に係る油圧ショベルの外観を示す図である。油圧ショベルは、下部走行体1と、上部旋回体2と、フロント作業装置3とを備えている。
本実施の形態に係る油圧駆動装置の制御方法を、図3を用いて説明する。
Q12b = Pow12b/P12×60
最後に、Q1a,Q12bの最小値を第1ポンプ基準流量Q1cに設定し、Q2a,Q12bの最小値を第2ポンプ基準流量Q2cに設定する。
最後に、Q3a,Q3bの最小値を第3ポンプ基準流量Q3cに設定する。ここで、特にステップS102およびS104で第3ポンプ基準動力Pow3がゼロになった場合は、第3ポンプ基準流量Q3cがゼロとなる。
ここで、Gは0から1の値をとり、アクチュエータ負荷圧がある一定以上の値(図6におけるPam2)では0となる。
ステップS110では、第1~第3ポンプ目標流量Q1d,Q2d,Q3dを決定する。ここで、第1ポンプ目標流量Q1dはQ1c、第2ポンプ目標流量Q2dは補正後第2ポンプ基準流量Q2c’とし、第3ポンプ目標流量Q3dは補正後第3ポンプ基準流量Q3c’とする。
上述したコントローラ18の制御フローによって実現される油圧駆動装置の動作を、図2を用いて説明する。
アーム操作レバー19b及びバケット操作レバー20bが同時に操作されると、各レバーの操作方向及び操作量に応じてパイロット圧PL1,PL2及びパイロット圧PL3,PL4がパイロットバルブ19a,20aからそれぞれ出力される。
アーム操作レバー19b、バケット操作レバー20b及び旋回操作レバー21bが同時に操作されると、各レバーの操作方向及び操作量に応じてパイロット圧PL1,PL2、パイロット圧PL3,PL4、及びパイロット圧PL5,PL6がパイロットバルブ19a~21aからそれぞれ出力される。
アーム操作レバー19b、バケット操作レバー20b及び旋回操作レバー21bが同時に操作されると、各操作レバーの操作に応じてパイロット圧PL1~PL6がパイロットバルブ19a~21aから出力される。
アーム単独の軽負荷作業において、アームシリンダ8をエンジン駆動の第2ポンプP2で駆動した場合(駆動モードM1)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失は生じない。また、第2ポンプP2の吐出油はアームシリンダ8にのみ供給されるため、分流に伴う圧力損失は生じない。一方、アームシリンダ8を電動機駆動の第3ポンプP3で駆動した場合(駆動モードM2)、駆動モードM1と同じく分流に伴う圧力損失は生じないものの、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失が生じる。従って、アーム単独の軽負荷作業においては、エンジン駆動の第2ポンプP2でアームシリンダ8を駆動(駆動モードM5を選択)した方が、エネルギー損失が小さい(燃費が良い)。
旋回・アーム複合の軽負荷作業において、アームシリンダ8と旋回油圧モータ10とをエンジン駆動の第2ポンプP2で駆動した場合(駆動モードM3)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失は生じない。しかし、第2ポンプP2がアームシリンダ8と旋回油圧モータ10とに連通するとともに、第2ポンプP2から負荷圧の小さいアームシリンダ8に多量の圧油が分流して供給されるため、大きな圧力損失が生じる。一方、旋回油圧モータ10を第2ポンプP2で駆動し、アームシリンダ8を第3ポンプP3で駆動した場合(駆動モードM4)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失が生じるものの、アーム負荷圧が低く電動機Mの消費電力が小さいため、電力損失は小さい。また、第2ポンプP2の吐出油は旋回油圧モータ10にのみ供給されるため、分流に伴う圧力損失は生じない。従って、旋回・アーム複合の軽負荷作業においては、電動機駆動の第3ポンプP3でアームシリンダ8を駆動(駆動モードM4を選択)した方が、エネルギー損失が小さい(燃費が良い)。
アーム単独の重負荷作業において、アームシリンダ8をエンジン駆動の第2ポンプP2で駆動した場合(駆動モードM5)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失は生じない。また、第2ポンプP2の吐出油はアームシリンダ8にのみ供給されるため、分流に伴う圧力損失は生じない。一方、アームシリンダ8を電動機駆動の第3ポンプP3で駆動した場合(駆動モードM6)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失が生じるものの、アームシリンダ8の負荷圧が低く電動機Mの消費電力が小さいため、電力損失は小さい。従って、アーム単独の重負荷作業においては、エンジン駆動の第2ポンプP2でアームシリンダ8を駆動(駆動モードM5を選択)した方が、エネルギー損失は小さい(燃費が良い)。
旋回・アーム複合の重負荷作業において、アームシリンダ8と旋回油圧モータ10をエンジン駆動の第2ポンプP2で同時に駆動した場合(駆動モードM7)、第3ポンプP3の駆動に伴う引きずり損失及び電動機Mの作動に伴う電力損失は生じない。また、第2ポンプP2はアームシリンダ8と旋回油圧モータ10とに連通することとなるが、アーム負荷圧が高く第2ポンプP2からアームシリンダ8に分流して供給される圧油が少量であるため、大きな圧力損失は生じない。一方、旋回油圧モータ10を第2ポンプP2で駆動し、アームシリンダ8を第3ポンプP3で駆動した場合(駆動モードM8)、第2ポンプP2の吐出油は旋回油圧モータ10にのみ供給されるため、分流に伴う圧力損失は生じない。しかし、第3ポンプP3の駆動に伴う引きずり損失が生じるとともに、負荷圧の高いアームシリンダ8を電動機駆動の第3ポンプP3で駆動することにより、電動機Mの消費電力が増大し、大きな電力損失が生じる。従って、旋回・アーム複合の重負荷作業においては、エンジン駆動の第2ポンプP2でアームシリンダ8を駆動(駆動モードM7を選択)した方が、エネルギー損失が小さい(燃費が良い)。
上述した本発明の実施の形態によれば、第2ポンプ油路L2に接続された複数のアクチュエータ8,10のうちアームシリンダ8のみが操作される単独動作時は、電動機Mを作動させず、第2ポンプP2でアームシリンダ8を駆動することにより、第3油圧ポンプP3の駆動に伴う引きずり損失の発生を抑えることができる。一方、第2ポンプ油路L2に接続されたアームシリンダ8を含む複数のアクチュエータ8,10が同時に操作される複合動作時は、電動機Mを作動させ、第3ポンプP3でアームシリンダ8を駆動することにより、第2ポンプP2の吐出油を分流してアームシリンダ8に供給した場合に発生する圧力損失を抑えることできる。このように、アーム操作及び旋回操作に応じてアームシリンダ8をエンジン駆動の第2ポンプP2と電動機駆動の第3ポンプP3とで選択的に駆動し、分流に伴う圧力損失及び第3ポンプP3の駆動に伴う引きずり損失を抑えることにより、作業機械の燃費を改善することができる。なお、軽負荷作業において複合操作される頻度が高くかつ大流量を要するアームシリンダ8を、第2ポンプP2と第3ポンプP3とで選択的に駆動可能な特定のアクチュエータとすることで、その他のアクチュエータを特定のアクチュエータとした場合よりも圧力損失及び引きずり損失の抑制効果を高めることができる。
2:上部旋回体
2a:旋回フレーム
3:フロント作業装置
4:ブーム
5:アーム
6:バケット
7:ブームシリンダ
8:アームシリンダ(第2アクチュエータ/特定のアクチュエータ)
9:バケットシリンダ(第1アクチュエータ)
10:旋回油圧モータ(第2アクチュエータ)
11a,11b:履帯
12a,12b:走行油圧モータ
13:エンジン
14:バッテリ
15:コントロールバルブ
17:パイロット油圧源
18:メインコントロ一ラ(制御装置)
19:アーム操作装置
20:バケット操作装置
21:旋回操作装置
19a~21a:パイロットバルブ
19b:アーム操作レバー
20b:バケット操作レバー
21b:旋回操作レバー
22:バッテリコントローラ(充電率検出装置)
23:第1インバータ用コントローラ
24:第2インバータ用コントローラ
25:発電電動機用サーミスタ
26:電動機用サーミスタ
30:電動系統
GM:発電電動機
INV1:第1インバータ
INV2:第2インバータ
L1:第1ポンプ油路
L2:第2ポンプ油路
L3:第3ポンプ油路
L4:パラレル油路
L5:ヘッド側油路
L6:ロッド側油路
M:電動機
M1~M8:駆動モード
P1:第1ポンプ
P2:第2ポンプ
P3:第3ポンプ
PL1~PL6:パイロット圧
R1:第1ポンプレギュレータ
R2:第2ポンプレギュレータ
S1~S3:ポンプ圧センサ
S4,S5:負荷圧センサ(負荷圧検出装置)
S6~S11:パイロット圧センサ(操作量検出装置)
T1,T2:変換テーブル
V1:方向制御弁(第2方向制御弁)
V2:方向制御弁(第1方向制御弁)
V3:方向制御弁(第2方向制御弁)
V4:方向制御弁(第3方向制御弁)
Claims (6)
- エンジンと、
前記エンジンによって駆動される第1及び第2油圧ポンプと、
前記第1及び第2油圧ポンプの吐出油がそれぞれ供給される第1及び第2ポンプ油路と、
前記第1ポンプ油路から供給される圧油によって駆動される少なくとも1つの第1アクチュエータと、
前記第2ポンプ油路から供給される圧油によって駆動される複数の第2アクチュエータと、
前記第1ポンプ油路に設けられ、前記第1アクチュエータに供給される圧油の流量を制御する第1方向制御弁と、
前記第2ポンプ油路に設けられ、前記複数の第2アクチュエータに供給される圧油の流量をそれぞれ制御する複数の第2方向制御弁と、
前記第1方向制御弁及び前記複数の第2方向制御弁をそれぞれ切換操作することにより前記第1アクチュエータ及び前記複数の第2アクチュエータを操作する複数の操作装置と、
電動機と、
前記電動機によって駆動される第3油圧ポンプと、
前記第3油圧ポンプの吐出油が供給される第3ポンプ油路と、
前記第3ポンプ油路に設けられ、前記複数の第2アクチュエータのうちの特定のアクチュエータを操作する前記複数の操作装置のうちの特定の操作装置によって切換操作され、前記第3油圧ポンプから前記特定のアクチュエータに供給される圧油の流量を制御する第3方向制御弁と、
前記複数の第2アクチュエータの操作に応じて前記電動機を駆動制御する制御装置と
を備えたことを特徴とする作業機械の油圧駆動装置。 - 請求項1記載の作業機械の油圧駆動装置において、
前記複数の操作装置の操作量をそれぞれ検出する複数の操作量検出装置を更に備え、
前記制御装置は、前記複数の操作量検出装置によって前記複数の第2アクチュエータのうち前記特定のアクチュエータを含む2つ以上の第2アクチュエータの複合操作が検出されたときに、前記電動機で前記第3油圧ポンプを駆動することを特徴とする作業機械の油圧駆動装置。 - 請求項2記載の作業機械の油圧駆動装置において、
前記特定のアクチュエータの負荷圧を検出する負荷圧検出装置を更に備え、
前記制御装置は、前記複数の操作量検出装置によって前記複数の第2アクチュエータのうち前記特定のアクチュエータを含む2つ以上の第2アクチュエータの複合操作が検出され、かつ前記負荷圧検出装置によって検出された前記特定のアクチュエータの負荷圧が所定の負荷圧より高いときは、前記電動機で前記第3油圧ポンプを駆動しないことを特徴とする作業機械の油圧駆動装置。 - 請求項1記載の油圧駆動装置において、
前記特定のアクチュエータがアームシリンダであることを特徴とする作業機械の油圧駆動装置。 - 請求項1記載の作業機械の油圧駆動装置において、
前記電動機を含む電動系統の異常を検出する異常検出装置を更に備え、
前記制御装置は、前記異常検出装置によって前記電動系統の異常が検出されたときは、前記電動機で前記第3油圧ポンプを駆動しないことを特徴とする作業機械の油圧駆動装置。 - 請求項1記載の作業機械の油圧駆動装置において、
前記電動機を駆動するための電力を蓄えるバッテリと、
前記バッテリの充電率を検出する充電率検出装置とを更に備え、
前記制御装置は、前記充電率検出装置によって検出されたバッテリ充電率が所定の充電率よりも低いときは、前記電動機で第3油圧ポンプを駆動しないことを特徴とする作業機械の油圧駆動装置。
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