WO2021060403A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
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- WO2021060403A1 WO2021060403A1 PCT/JP2020/036116 JP2020036116W WO2021060403A1 WO 2021060403 A1 WO2021060403 A1 WO 2021060403A1 JP 2020036116 W JP2020036116 W JP 2020036116W WO 2021060403 A1 WO2021060403 A1 WO 2021060403A1
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- lever
- power
- operating
- power reduction
- controller
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- 238000010276 construction Methods 0.000 title claims description 23
- 230000009467 reduction Effects 0.000 claims abstract description 159
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- 230000000994 depressogenic effect Effects 0.000 abstract 2
- 238000000034 method Methods 0.000 description 68
- 230000008569 process Effects 0.000 description 63
- 238000010586 diagram Methods 0.000 description 24
- 238000006243 chemical reaction Methods 0.000 description 20
- 230000007935 neutral effect Effects 0.000 description 18
- 238000005070 sampling Methods 0.000 description 13
- 230000004048 modification Effects 0.000 description 9
- 238000012986 modification Methods 0.000 description 9
- 101100208381 Caenorhabditis elegans tth-1 gene Proteins 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
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Classifications
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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
-
- 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
-
- 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
-
- 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
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- 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
-
- 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
-
- 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
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- 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
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
-
- 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
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
-
- 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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
-
- 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
Definitions
- FIG. 4 is a diagram showing the configuration of the operation signal system of the drive system.
- the power reduction determination unit 50c-5 is based on the flag information F14 (t), F34 (t), the time information Tu14 (t), Tc14 (t), Tu34 (t), Tc34 (t), and the delay element 50c-6. Based on the generated power reduction flag F50 (t- ⁇ t) one step before and the switch flag Fsw (t), it is determined whether or not to reduce the target rotation speed, and the determination result and the target rotation speed indicator 77 The target rotation speed and the power reduction flag F50 (t) are output from the target rotation speed. The power reduction determination unit 50c-5 sets the power reduction flag F50 (t) to true when it determines that the target rotation speed is reduced, and sets the power reduction flag F50 (t) to false when it determines that the target rotation speed is not reduced. To do.
- step S102 the first lever operation state determination unit 50c-1 determines whether the sensor value P17b (t) is equal to or less than the threshold value Pth. If the sensor value P17b (t) is equal to or less than the threshold value Pth, it is determined as Yes, and the process proceeds to step S103. If the sensor value P17b (t) is larger than the threshold value Pth, it is determined as No, and the process proceeds to step S107.
- step S103 the first lever operation state determination unit 50c-1 determines whether the sensor value P17r (t) is equal to or less than the threshold value Pth. If the sensor value P17r (t) is equal to or less than the threshold value Pth, it is determined as Yes, and the process proceeds to step S104. If the sensor value P17r (t) is larger than the threshold value Pth, it is determined as No, and the process proceeds to step S107.
- step S201 the calculation of the second lever operation state determination unit 50c-2 starts.
- step S202 the second lever operation state determination unit 50c-2 determines whether the sensor value P37b (t) is equal to or less than the threshold value Pth. If the sensor value P37b (t) is equal to or less than the threshold value Pth, it is determined as Yes, and the process proceeds to step S203. If the sensor value P37b (t) is larger than the threshold value Pth, it is determined as No, and the process proceeds to step S207.
- step S206 the second lever operation state determination unit 50c-2 determines that the lever 34 is not operated and sets the second lever non-operation flag F34 (t) to true. Then, the flag information is transmitted to the second lever operation time measuring unit 50c-4 and the power reduction determining unit 50c-5.
- step S207 the second lever operation state determination unit 50c-2 determines that the lever 14 is being operated, and sets the second lever non-operation flag F34 (t) to false. Then, the flag information is transmitted to the second lever operation time measuring unit 50c-4 and the power reduction determining unit 50c-5.
- step S402 the second lever operation time measuring unit 50c-4 determines whether the second lever non-operation flag F34 (t) is true. If the second lever non-operation flag F34 (t) is true, it is determined as Yes, and the process proceeds to step S403. If the second lever non-operation flag F34 (t) is false, it is determined as No, and the process proceeds to step S404.
- FIG. 12 is a flowchart showing a calculation flow of the power reduction determination unit 50c-5 of FIG. This calculation flow is iteratively processed for each sampling time ⁇ t, for example, while the controller 50 is operating.
- step S501 the calculation of the power reduction determination unit 50c-5 starts.
- step S502 the power reduction determination unit 50c-5 determines whether the switch flag Fsw (t) is true. If the switch flag Fsw (t) is true, it is determined as Yes, and the process proceeds to step S503. If the switch flag Fsw (t) is false, it is determined as No, and the process proceeds to step S515.
- the first predetermined time Tth1 is, for example, 10 to 15 seconds.
- the determination is Yes and step S510. Power reduction control is performed in (described later).
- step S504 the power reduction determination unit 50c-5 determines whether the power reduction flag F50 (t- ⁇ t) one step before is true. If the power reduction flag F50 (t- ⁇ t) is true (when power reduction control has been performed so far), it is determined as Yes, and the process proceeds to step S505. If the power reduction flag F50 (t- ⁇ t) is false (when the power reduction control has been canceled so far), it is determined as No, and the process proceeds to step S515 to continue canceling the power reduction control. (See below).
- step S507 the power reduction determination unit 50c-5 determines whether the second lever operation time Tc34 (t) is larger than the preset second predetermined time Tth2 as the time that can be regarded as being operated by the operator's intention.
- Tc34 (t) is larger than Tth2 for the second predetermined time (when the operation time of the lever 34 exceeds Tth2), it is determined as Yes in step S507, and the process proceeds to step S511 to release the power reduction control ( See below).
- Tc34 (t) is Tth2 or less for the second predetermined time (when the operation time of the lever 34 is less than Tth2), it is determined as No in step S507, and the process proceeds to step S512 to continue the power reduction control.
- the second predetermined time Tth2 is shorter than the first predetermined time Tth1, for example, 2 to 3 seconds.
- step S515 in FIG. 12 is performed (S502 ⁇ S503 ⁇ S504 ⁇ S515), and the target rotation speed is a normal value Nh indicated by the target rotation speed indicator 77. That is, the power reduction control (auto idle control) is released.
- step S515 is performed from the time t1 to 1 second after the first predetermined time Tth, and then the process of step S510 of FIG. 12 is performed (S502 ⁇ S503 ⁇ S510), and the target rotation speed is the normal value Nh. It is reduced from, and is set to a small value Nl of power reduction control (auto idle control).
- step S510 is performed (S502 ⁇ S503 ⁇ S504 ⁇ S505 ⁇ S506 ⁇ S510), and the power reduction control is continued.
- step S510 of FIG. 12 is performed (S502 ⁇ S503 ⁇ S510), and the target rotation speed is set to a small value Nl of the power reduction control. Then, at time t3, the operating pressures P17b (t) and P37b (t) are simultaneously larger than the threshold value Pth.
- the process of step S515 in FIG. 12 is performed (S502 ⁇ S503 ⁇ S504 ⁇ S505 ⁇ S508 ⁇ S515), and the target rotation speed is restored to the normal value Nh without delay. It is set and the power reduction control is released.
- the two operating levers 14 and 34 of the operating lever devices 114 and 134 are simultaneously operated in the power-reduced state of the engine 6 and the hydraulic pump 1.
- the controller 50 determines that the operator "intentions to release the power reduction" and releases the power reduction control. ..
- the power reduction control can be released when the two operating levers 14 and 34 are not operated, and the power reduction control can be released simply by operating the two operating levers 14 and 34 at the same time in the power reduction state.
- the power reduction control is released only by operating the two operating levers 14 and 34 at the same time in the power reduction state, it is possible to smoothly shift to the desired operation when returning to the normal power state.
- the power reduction control is released when the second release condition for operating one operation lever for a longer time than the second predetermined time Tth2 is satisfied (S502 ⁇ S503 ⁇ ).
- the power reduction control is not canceled and the return to the normal power control state is avoided. be able to.
- the power reduction control is released only by continuously operating one operating lever for Tth2 or more for the second predetermined time, it is possible to smoothly shift to the desired operation when returning to the normal power state.
- the controller 50 controls the power limit even when the operating lever 34 is operating the swivel motor 43 when the first release condition in which the operating levers 14 and 34 are operated at the same time is satisfied. Was released. However, even when the first release condition in which the operation levers 14 and 34 are operated at the same time is satisfied, the power limiting control is not released when the operation lever 34 operates the swing motor 43, and the operation lever 34 operates the swing motor 43. The power reduction control may be canceled only when the power reduction control is not operated.
- FIG. 14 is a block diagram similar to FIG. 6 showing the function of the power calculation unit 50c of the controller 50 in the present embodiment.
- step S508 when No is determined in step S508 and the first release condition in which the first and second operating levers 14 and 34 are operated at the same time is satisfied while the power is reduced, the step is performed.
- No is determined in S530 and the second operating lever 34 is not operating the swivel motor 43 the power reduction control is released.
- the battery 62 is a power supply device, and the power supply device and the electric motor 60A form a power source.
- the controller 50A in the second embodiment is different from the first embodiment in that the power calculation unit 50cA is provided instead of the power calculation unit 50c, and the power calculation unit 50cA transmits from the sensor signal conversion unit 50a.
- the target value (target battery output) of the battery output is calculated by receiving the pressure information, the switch flag, the constant information and the table information transmitted from the constant / table storage unit 50b.
- the target battery output calculated by the power calculation unit 50cA is transmitted to the battery output control panel 63, and the battery output control panel 63 controls the output of the battery 62 based on the value.
- the power calculation unit 50cA in the second embodiment is different from the first embodiment in that the power reduction determination unit 50c-5A is provided instead of the power reduction determination unit 50c-5, and the power reduction The determination unit 50c-5A is a point where the target battery output is output.
- the input of the power reduction determination unit 50c-5A is the same as that of the power reduction determination unit 50c-5.
- step S516 is performed instead of step S510 and the processing of step S517 is performed instead of step S511.
- step S518 instead of step S512
- step S519 instead of step S513
- step S520 instead of step S514, and the processing of step S521 instead of step S515.
- the power source of the drive system is composed of the DC electric motor 60A and the hydraulic pump 1, but an AC electric motor may be used instead of the DC electric motor 60A.
- FIG. 20 is a diagram showing a modified example of such a drive system.
- FIG. 21 is a diagram showing the configuration of the drive system of the present embodiment.
- the controller 50C is electrically connected to the angle sensor 72, the angle sensor 73, the angle sensor 74, the angle sensor 75, which will be described later, and the switch 76, and the angle information from these sensors 72 to 75 and the switch 76. And receive the switch information signal.
- the controller 50C calculates the target battery output of the battery 62 based on these signals, and transmits the target battery output to the battery output control panel 63 electrically connected to the controller 50C.
- the battery output control panel 63 controls the battery 62 so as to reach the target battery output.
- the battery 62 is connected to the positive electrode side electric wire 81 and the negative electrode side electric wire 82.
- Inverters 83, 84, 85, and 86 are connected in parallel to the positive electrode side electric wire 81 and the negative electrode side electric wire 82.
- the inverter 84 drives the electric motor 88, and the electric motor 88 further drives the cylinder 92 (arm cylinder).
- the cylinder 92 expands and contracts by converting the rotational motion of the electric motor 88 into a linear motion by a rack and pinion mechanism or the like.
- the inverter 84 receives the signal transmitted from the angle sensor 73, and controls the electric motor 88 so that the rotation speed corresponds to the information.
- the battery 62 is a power supply device, and this power supply device constitutes a power source.
- the electric motor 87 and the cylinder 91, the electric motor 88 and the cylinder 92, the electric motor 89 and the cylinder 93, and the electric motor 90 constitute a plurality of actuators that operate by receiving the power from the power source, and the inverters 83, 84, 85. , 86 constitute a power distribution device that distributes power to a plurality of actuators (electric motor 87 and cylinder 91, electric motor 88 and cylinder 92, electric motor 89 and cylinder 93, electric motor 90).
- the power calculation unit 50cC receives the angle information and switch flag information transmitted from the sensor signal conversion unit 50aC, the constant information and table information transmitted from the constant / table storage unit 50b, and calculates the target battery output of the battery 62. To do. Then, the power calculation unit 50cC outputs the target battery output value to the battery output control panel 63.
- the battery output control panel 63 controls the output of the battery 62 based on the value.
- the sensor signal conversion unit 50aC converts the sensor value A72 (t) so that the sensor value A72 (t) increases as the lever 14 tilts in the forward direction 14b. Also, when there is no operation, the sensor value A72 (t) is converted to 0. When the lever 14 is tilted backward 14r, the sensor value A72 (t) becomes a negative value. The same applies when the lever 14 is tilted to the right 24r / left 24b and the lever 34 is tilted to the right 34b / left 34r and forward 44l / backward 44r.
- the sensor value A72 (t) is a value corresponding to the target rotation speed of the electric motor 87 in FIG.
- FIG. 27 is a flowchart showing a calculation flow of the first lever operation state determination unit 50c-1C. This calculation flow is iteratively processed for each sampling time ⁇ t, for example, while the controller 50 is operating.
- the calculation flow of the first lever operation state determination unit 50c-1C is different from the calculation flow of the first lever operation state determination unit 50c-1 in the first embodiment shown in FIG. 7 in the processes of steps S102 to S105. It is a point where the process proceeds from step S101 to steps S110 and S111.
- step S110 the first lever operation state determination unit 50c-1C determines whether the absolute value of the sensor value A72 (t) is smaller than the threshold value Ath. If the absolute value of the sensor value A72 (t) is smaller than the threshold value Ath, it is determined as Yes, and the process proceeds to step S111. If the absolute value of the sensor value A72 (t) is equal to or greater than the threshold value Ath, it is determined as No, and the process proceeds to step S107.
- FIG. 28 is a flowchart showing a calculation flow of the second lever operation state determination unit 50c-2C. This calculation flow is iteratively processed for each sampling time ⁇ t, for example, while the controller 50 is operating.
- the calculation flow of the second lever operation state determination unit 50c-2C is different from the calculation flow of the second lever operation state determination unit 50c-2 in the first embodiment shown in FIG. It is a point where the process proceeds from step S201 to steps S210 and S211.
- step S210 the second lever operation state determination unit 50c-2C determines whether the absolute value of the sensor value A74 (t) is smaller than the threshold value Ath. If the absolute value of the sensor value A74 (t) is smaller than the threshold value Ath, it is determined as Yes, and the process proceeds to step S211. If the absolute value of the sensor value A74 (t) is equal to or greater than the threshold value Ath, it is determined as No, and the process proceeds to step S207.
- step S211 the second lever operation state determination unit 50c-2C determines whether the absolute value of the sensor value A75 (t) is smaller than the threshold value Ath. If the absolute value of the sensor value A75 (t) is smaller than the threshold value Ath, it is determined as Yes, and the process proceeds to step S206. If the absolute value of the sensor value A75 (t) is equal to or greater than the threshold value Ath, it is determined as No, and the process proceeds to step S207.
- step S206 the second lever non-operation flag F34 (t) is set to true, and in step S207, the second lever non-operation flag F34 (t) is set to false.
- flag information is transmitted to the second lever operation time measuring unit 50c-4 and the power reduction determining unit 50c-5C.
- the first lever operation state determination unit 50c-1C determines whether or not the lever 14 is operated from the sensor value A72 (t) and the sensor value A73 (t), and determines whether the lever 14 is operated, and the first lever non-operation flag F14 (t). ) Is output.
- the second lever operation state determination unit 50c-2C determines whether or not the lever 34 is operated from the sensor value A74 (t) and the sensor value A75 (t), and outputs the second lever non-operation state flag F34 (t). To do.
- the power reduction determination unit 50c-5C determines whether to reduce the battery output according to the procedure of the flowchart shown in FIG. Output the target battery output and power reduction flag F50 (t).
- the target battery output is transmitted to the battery output control panel 63, and the battery output control panel 63 controls the battery 62 so as to reach the target battery output.
- power reduction control can be performed when the operating lever is not operated, and the return to the normal power state when the operating lever is accidentally moved is suppressed, and when the operation lever is returned to the normal power state, the power reduction control is performed. You can smoothly shift to the operation you want to perform.
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Abstract
Description
本発明の第1の実施形態について,図1から図13を用いて説明する。
まず,本発明の第1の実施形態における建設機械の代表例である油圧ショベルについて説明する。
図3は,第1の実施形態における操作レバー装置114,134の操作レバーの可動方向と可動方向の定義を説明する図である。
第1の実施形態においては,上記のように,コントローラ50は,エンジン6及び油圧ポンプ1の動力低減状態で操作レバー装置114,134のそれぞれの2つの操作レバー14,34が同時に操作された場合と,1つの操作レバーが第2所定時間Tth2以上継続して操作された場合のそれぞれで動力低減制御を解除するように構成した。しかし,そのいずれか一方,例えば,エンジン6及び油圧ポンプ1の動力低減状態で操作レバー装置114,134のそれぞれの2つの操作レバー14,34が同時に操作された場合だけに動力低減制御を解除するようにコントローラ50を構成してもよい。この場合でも,上述したように操作レバーの無操作時には動力低減制御を行うことができ,かつ誤って操作レバーを動かしてしまったときの通常の動力状態への復帰を抑制し,かつ通常の動力状態への復帰時に,行いたい動作にスムーズに移行することができるという効果を得ることができる。
第1の実施形態においては,コントローラ50は,操作レバー14,34が同時に操作される第1解除条件が成立した場合は,操作レバー34が旋回モータ43を動作させている場合にも動力制限制御を解除した。しかし,操作レバー14,34が同時に操作される第1解除条件が成立した場合でも,操作レバー34が旋回モータ43を動作させる場合には動力制限制御を解除せず,操作レバー34が旋回モータ43を動作させていない場合だけ,動力低減制御を解除するように構成してもよい。
第1の実施形態においては,操作レバー装置114,134がパイロット弁を備える油圧パイロット方式であり,操作状態検出装置がパイロット弁によって生成された操作圧を検出する圧力センサ17b,17r,27b,27r,37b,37r,47l,47rである場合について説明したが,操作状態検出装置はそれ以外の構成であってもよい。例えば,パイロットポンプ51の吐出油をタンク5に導く信号圧生成管路を設け,この信号圧生成管路に複数の信号圧生成弁を配置し,この信号圧生成弁をパイロット弁によって生成された操作圧によって切換え,この信号圧生成弁を開く,或いは閉じることで変化する信号圧生成管路の圧力を検出することで操作レバー装置の操作状態を検出してもよい。この場合でも,圧力センサは操作圧を検出する圧力センサと同様に操作レバー装置114,134の操作状態を検出し,第1の実施の形態と同様の効果を得ることができる。
本発明の第2の実施形態について,図16~図19を用いて説明する。なお,本実施形態は第1の実施形態との相違部分を中心に説明し,第1の実施形態と同様の部分については説明を省略する。
第2の実施形態においては,駆動システムの動力源を直流の電動モータ60Aと油圧ポンプ1とで構成したが,直流の電動モータ60Aに代え,交流の電動モータを用いてもよい。図20はそのような駆動システムの変形例を示す図である。
本発明の第3の実施形態について,図21から図28を用いて説明する。本実施形態において動力低減は,駆動システム内の電位を下げることにより行われる。
2:管路
3:リリーフ弁
4:リリーフ管路
5:タンク
6:エンジン(動力源)
7:回転数制御装置
8:タンデム管路
9:パラレル管路
10,20,30,40:チェック弁
11,21,31,41:管路
12,22,32,42:方向制御弁(動力分配装置)
12r,12b,22r,22b,32r,32b,42r,42l:パイロット管路
13,23,33:シリンダ(アクチュエータ)
13B,23B,33B:ボトム管路
13R,23R,33R:ロッド管路
13T,23T,33T,43T:タンク管路
13C,23C,33C,43C:センタバイパス管路
14:操作レバー(第1操作レバー)
15r,15b,25r,25b,35r,35b,45r,45l:パイロット弁
16r,16b,26r,26b,36r,36b,46r,46l:管路
17r,17b,27r,27b,37r,37b,47l,47r:圧力センサ(操作状態検出装置)
18,28,38,48:管路
19,29,39,49:管路
34:操作レバー(第2操作レバー)
43:油圧モータ
43L:左回転管路
43R:右回転管路
50:コントローラ
51:パイロットポンプ
52:パイロット管路
53:リリーフ弁
60A:電動モータ(直流) (動力源)
60B:電動モータ(交流) (動力源)
61:インバータ
62:バッテリ(電力供給装置;動力源)
63:バッテリ出力制御盤
72,73,74,75:角度センサ(操作状態検出装置)
76:スイッチ
81:正極側電線
82:負極側電線
83,84,85,86:インバータ(動力分配装置)
87,88,89,90:電動モータ(交流)(アクチュエータ)
91,92,93:シリンダ(アクチュエータ)
94,95,96,97:絞り部
114,134:操作レバー装置
314,334:操作レバー装置
Claims (6)
- 動力源と,
前記動力源が出力する動力を受けて作動する複数のアクチュエータと,
前記複数のアクチュエータに対する前記動力の分配量を指示する複数の操作レバーと,
前記複数の操作レバーの操作状態を検出する複数の操作状態検出装置と,
前記動力源を制御するコントローラとを備え,
前記複数の操作レバーは,前記複数のアクチュエータのうちの異なるアクチュエータを動作させる第1及び第2操作レバーを有し,
前記コントローラは,前記第1及び第2操作レバーの無操作状態が続いたときに,前記動力を低減させる動力低減制御を行う建設機械において,
前記コントローラは,前記動力が低減されている状態で前記第1及び第2操作レバーが同時に操作される第1解除条件が成立した場合に,前記動力低減制御を解除することを特徴とする建設機械。 - 請求項1に記載の建設機械において,
前記コントローラは,
前記第1解除条件が成立しなかった場合でも,前記動力が低減されている状態で前記第1及び第2操作レバーのうちの一方の操作レバーが操作され,前記一方の操作レバーの操作状態が所定時間継続される第2解除条件が成立した場合に,前記動力低減制御を解除することを特徴とする建設機械。 - 請求項1に記載の建設機械において,
下部走行体と,前記下部走行体上に旋回可能に搭載された上部旋回体と,前記上部旋回体の前部に上下方向に回動可能に取り付けられたフロント作業機とを備え,
前記複数のアクチュエータは,前記上部旋回体を下部走行体に対して旋回させる旋回モータと,前記フロント作業機を駆動する第1、第2及び第3フロントアクチュエータとを含み,
前記第1操作レバーは、前記第1及び第2フロントアクチュエータを動作させる操作レバーであり,前記第2操作レバーは,前記旋回モータと前記第3フロントアクチュエータを動作させる操作レバーであり,
前記複数の操作状態検出装置は,前記第1操作レバーが前記第1フロントアクチュエータを動作させるときの前記第1操作レバーの操作状態を検出する第1操作状態検出装置と,前記第1操作レバーが前記第2フロントアクチュエータを動作させるときの前記第1操作レバーの操作状態を検出する第2操作状態検出装置と,前記第2操作レバーが前記第3フロントアクチュエータを動作させるときの前記第2操作レバーの操作状態を検出する第3操作状態検出装置と,前記第2操作レバーが前記旋回モータを動作させるときの前記第2操作レバーの操作状態を検出する第4操作状態検出装置とを含み,
前記コントローラは,前記第1,第2,第3及び第4操作状態検出装置の検出結果に基づいて,前記第1及び第2操作レバーが同時に操作される前記第1解除条件が成立した場合は,前記第2操作レバーが前記旋回モータを動作させていない場合に,前記動力低減制御を解除することを特徴とする建設機械。 - 請求項1に記載の建設機械において,
前記動力源はエンジンと油圧ポンプを含み,
前記動力源は,前記エンジンによって前記油圧ポンプを駆動することで前記動力を発生させ,
前記コントローラは,前記エンジンの回転数を低減することで前記動力低減制御を行うことを特徴とする建設機械。 - 請求項1に記載の建設機械において,
前記動力源は電力供給装置と電動モータと油圧ポンプを含み,
前記動力源は,前記電力供給装置からの電力供給によって前記電動モータを駆動し,前記電動モータによって前記油圧ポンプを駆動することで前記動力を発生させ,
前記コントローラは,前記電動モータへの電力供給を低減して前記電動モータの回転数を低減することで前記動力低減制御を行うことを特徴とする建設機械。 - 請求項1に記載の建設機械において,
前記動力源は電力供給装置を含み,
前記アクチュエータは電動モータを含む電動アクチュエータであり,
前記動力源は,前記電力供給装置からの電力供給によって前記電動アクチュエータを駆動し,
前記コントローラは,前記電力供給装置から前記電動モータに供給される電力を低減して前記電動モータの回転数を低減することで前記動力低減を行うことを特徴とする建設機械。
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