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WO2019224877A1 - Système d'entraînement hydraulique pour machine de construction - Google Patents

Système d'entraînement hydraulique pour machine de construction Download PDF

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Publication number
WO2019224877A1
WO2019224877A1 PCT/JP2018/019514 JP2018019514W WO2019224877A1 WO 2019224877 A1 WO2019224877 A1 WO 2019224877A1 JP 2018019514 W JP2018019514 W JP 2018019514W WO 2019224877 A1 WO2019224877 A1 WO 2019224877A1
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WO
WIPO (PCT)
Prior art keywords
turning
switching valve
direction switching
supply
pair
Prior art date
Application number
PCT/JP2018/019514
Other languages
English (en)
Japanese (ja)
Inventor
英泰 村岡
知道 能勢
敦之 木下
孝志 陵城
守行 坂本
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to PCT/JP2018/019514 priority Critical patent/WO2019224877A1/fr
Priority to CN201880092456.1A priority patent/CN111936751B/zh
Priority to GB2017037.9A priority patent/GB2585813B/en
Publication of WO2019224877A1 publication Critical patent/WO2019224877A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/128—Braking systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—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
    • E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
    • 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
    • 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
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • 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
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • 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
    • 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
    • F15B2211/755—Control of acceleration or deceleration of the output member
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/853—Control during special operating conditions during stopping

Definitions

  • the present invention relates to a hydraulic drive system for construction machinery.
  • a hydraulic drive system including a turning motor for turning a turning body is mounted (for example, see Patent Document 1).
  • the working fluid is supplied from the pump to the turning motor via the turning direction switching valve.
  • the turning direction switching valve is connected to the turning motor by a pair of supply / discharge lines.
  • the turning direction switching valve shifts between a neutral position where the pair of supply / discharge lines are blocked and an operation position where one of the pair of supply / discharge lines communicates with the pump line and the other communicates with the tank line.
  • the turning direction switching valve shifts from the neutral position to the operating position when the operation lever of the turning operation device is tilted, and has an opening corresponding to the tilt angle (turning operation amount) of the operation lever.
  • Patent Document 1 when a reversal prevention valve is used as in Patent Document 1, the size of the turning circuit is increased and the cost is increased.
  • an object of the present invention is to prevent a swing-back phenomenon when stopping turning without using an anti-reverse valve.
  • a turning operation device that includes a turning motor for turning a turning body and an operation lever, and outputs a turning operation signal corresponding to the tilt angle of the operation lever.
  • a turning direction switching valve connected to the turning motor by a pair of supply / discharge lines, including a spool and a drive unit that receives the command current and drives the spool, and blocks the pair of supply / discharge lines
  • a swivel direction switching valve that shifts between a position and an operating position that communicates one of the pair of supply / discharge lines with the pump line and the other with the tank line, and a larger command current increases as the swivel operation signal increases.
  • a control device that feeds to the switching valve; and a speed detector that detects a turning speed of the swivel body, wherein the control device sets the operation lever of the turning operation device to a neutral state.
  • the turning direction switching valve shifts the discharge side supply / discharge line from the neutral position to the operating position communicating with the tank line.
  • the turning direction switching valve is configured to shift the turning direction switching valve from the operating position to the neutral position when the turning speed detected by the speed detector falls below a second threshold value that is smaller than the first threshold value.
  • the turning direction switching valve when turning is stopped (when the operation lever of the turning operation device is returned to the neutral state), if the turning speed falls below the first threshold value, the turning direction switching valve is shifted to the operating position. Thereby, the pressure of the supply / discharge line on the discharge side is quickly reduced, so that the differential pressure between the supply / discharge lines is reduced and the reversal of the revolving structure is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • a turning operation device that includes a turning motor for turning a turning body and an operation lever, and outputs a turning operation signal corresponding to a tilt angle of the operation lever, and a pair of supply / discharge
  • a turning direction switching valve connected to the turning motor by a line, including a spool and a drive unit that receives the command current and drives the spool, and a neutral position that blocks the pair of supply / discharge lines;
  • a turning direction switching valve that shifts between one of the supply / discharge lines and an operating position that communicates the other with the tank line, and a larger command current is supplied to the turning direction switching valve as the turning operation signal increases.
  • a control device for detecting a turning speed of the turning body; and a pair of pressure sensors for detecting an inflow pressure and an outflow pressure of the turning motor.
  • the turning direction switching valve is When the supply / discharge line on the discharge side is shifted from the neutral position to the operating position communicating with the tank line, and the turning speed detected by the speed detector falls below the second threshold, the turning direction switching valve is moved from the operating position.
  • a hydraulic drive system for a construction machine that controls the turning direction switching valve to shift to a neutral position.
  • the turning direction switching valve shifts to the operating position. .
  • the pressure of the supply / discharge line on the discharge side is quickly reduced, so that the differential pressure between the supply / discharge lines is reduced and the reversal of the revolving structure is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • a turning operation device including a turning motor for turning a turning body and an operation lever, which outputs a turning operation signal corresponding to a tilt angle of the operation lever, and a pair of supply / discharge
  • a turning direction switching valve connected to the turning motor by a line, including a spool and a drive unit that receives the command current and drives the spool, and a neutral position that blocks the pair of supply / discharge lines;
  • a turning direction switching valve that shifts between one of the supply / discharge lines and an operating position that communicates the other with the tank line, and a larger command current is supplied to the turning direction switching valve as the turning operation signal increases.
  • a control device for detecting a turning speed of the turning body; and a pair of pressure sensors for detecting an inflow pressure and an outflow pressure of the turning motor.
  • the operation lever of the turning operation device is returned to the neutral state, when the turning speed detected by the speed detector falls below a threshold value, the turning direction switching valve moves from the neutral position to the discharge side supply / discharge line. Is shifted to an operating position communicating with the tank line, and thereafter the swing direction switching valve has an opening corresponding to the differential pressure between the inflow pressure and the outflow pressure of the swing motor detected by the pair of pressure sensors.
  • a hydraulic drive system for a construction machine that controls the turning direction switching valve is provided.
  • the turning direction switching valve when turning is stopped (when the operation lever of the turning operation device is returned to the neutral state), the turning direction switching valve is shifted to the operating position if the turning speed falls below the threshold value.
  • the pressure of the supply / discharge line on the discharge side is quickly reduced, so that the differential pressure between the supply / discharge lines is reduced and the reversal of the revolving structure is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • the opening degree when the turning direction switching valve shifts to the operating position, the opening degree depends on the pressure difference between the inflow pressure and the outflow pressure of the turning motor, so the pressure difference between the supply and exhaust lines is minimized Can be suppressed.
  • a turning operation device including a turning motor for turning a turning body and an operation lever, which outputs a turning operation signal corresponding to a tilt angle of the operation lever, and a pair of supply / discharge
  • a turning direction switching valve connected to the turning motor by a line, including a spool and a drive unit that receives the command current and drives the spool, and a neutral position that blocks the pair of supply / discharge lines;
  • a turning direction switching valve that shifts between one of the supply / discharge lines and an operating position that communicates the other with the tank line, and a larger command current is supplied to the turning direction switching valve as the turning operation signal increases.
  • a control device and a pair of pressure sensors for detecting an inflow pressure and an outflow pressure of the swing motor, wherein the control device is configured so that an operation lever of the swing operation device is in a neutral state.
  • the swing direction switching valve communicates the supply / discharge line on the discharge side from the neutral position to the tank line.
  • the swivel direction switching valve is shifted so as to have an opening degree corresponding to the differential pressure between the inflow pressure and the outflow pressure of the swivel motor detected by the pair of pressure sensors.
  • a hydraulic drive system for construction machinery is provided.
  • the turning direction switching valve when turning is stopped (when the operation lever of the turning operation device is returned to the neutral state), if the outflow pressure of the turning motor falls below the threshold value, the turning direction switching valve is shifted to the operating position. Thereby, the pressure of the supply / discharge line on the discharge side is quickly reduced, so that the differential pressure between the supply / discharge lines is reduced and the reversal of the revolving structure is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • the opening degree when the turning direction switching valve is shifted to the operating position, the opening degree depends on the pressure difference between the inflow pressure and the outflow pressure of the turning motor, so the pressure difference between the supply and exhaust lines is minimized. Can be suppressed.
  • control device is configured such that the operation lever of the turning operation device is returned to the neutral state, and the turning direction switching valve is moved to an operating position where the discharge side supply / discharge line communicates with the tank line.
  • the swing direction switching valve shifts the supply / discharge line on the supply side to the operating position communicating with the tank line.
  • the switching valve may be controlled. According to this configuration, even if the revolving body is reversed when the turning is stopped, the subsequent reversal can be prevented.
  • FIG. 1 is a schematic configuration diagram of a hydraulic drive system for a construction machine according to a first embodiment of the present invention. It is a side view of the hydraulic excavator which is an example of a construction machine.
  • 3A to 3D are graphs at the time of turning stop in the first embodiment, FIG. 3A shows a change with time of the spool displacement of the turning direction switching valve, FIG. 3B shows a change with time of the turning speed, and FIG. FIG. 3D shows the change over time in the outflow pressure of the swing motor.
  • FIGS. 5A to 5D are graphs at the time of turning stop in the second embodiment, FIG. 5A shows a change with time of the spool displacement of the turning direction switching valve, FIG. 5B shows a change with time of the turning speed, and FIG. FIG. 5D shows the change with time of the outflow pressure of the swing motor.
  • FIG. 1 shows a hydraulic drive system 1 for a construction machine according to a first embodiment of the present invention
  • FIG. 2 shows a construction machine 10 on which the hydraulic drive system 1 is mounted.
  • the construction machine 10 shown in FIG. 2 is a hydraulic excavator, but the present invention is also applicable to other construction machines such as a hydraulic crane.
  • the construction machine 10 shown in FIG. 2 is self-propelled and includes a traveling body 75 and a revolving body 76 that is supported by the traveling body 75 so as to be able to swivel.
  • the revolving body 76 is provided with a cabin including a driver's seat and is connected to a boom. An arm is connected to the tip of the boom, and a bucket is connected to the tip of the arm.
  • the construction machine 10 may not be self-propelled.
  • the hydraulic drive system 1 includes a boom cylinder 71, an arm cylinder 72, and a bucket cylinder 73 shown in FIG. 2 as hydraulic actuators, and also includes a turning motor 4 shown in FIG. 1 and a pair of left and right traveling motors (not shown).
  • the turning motor 4 turns the turning body 76.
  • the hydraulic drive system 1 includes a pump 2 for supplying hydraulic fluid to those actuators as shown in FIG. In FIG. 1, hydraulic actuators other than the turning motor 4 are omitted for simplification of the drawing.
  • the hydraulic drive system 1 includes a turning direction switching valve 3 that controls supply and discharge of hydraulic fluid to the turning motor 4, a turning operation device 5 that includes an operation lever 51 that receives a turning operation, and a control device 6.
  • the pump 2 is a variable displacement pump whose tilt angle can be changed.
  • the pump 2 may be a swash plate pump or an oblique shaft pump.
  • the tilt angle of the pump 2 is adjusted by the regulator 21.
  • the regulator 21 may be driven by an electric signal or may be driven by a pilot pressure.
  • the pump 2 is connected to the turning direction switching valve 3 by a pump line 11.
  • a check valve 12 is provided in the pump line 11.
  • the discharge pressure of the pump 2 is kept below the first upper limit pressure by a relief valve (not shown).
  • the turning direction switching valve 3 is connected to the tank by a tank line 13.
  • the turning direction switching valve 3 is connected to the turning motor 4 by a pair of supply / discharge lines 41, 42.
  • a relief line 43 branches from each of the supply / discharge lines 41 and 42, and the relief line 43 is connected to the tank.
  • Each relief line 43 is provided with a relief valve 44. That is, the pressure of each of the supply / discharge lines 41 and 42 is kept below the second upper limit pressure by the relief valve 44. Note that the second upper limit pressure may be equal to or different from the first upper limit pressure described above.
  • each of the supply / discharge lines 41 and 42 is connected to a tank by a makeup line 45.
  • Each makeup line 45 is provided with a check valve 46 that allows the flow toward the supply / discharge line (41 or 42) but prohibits the reverse flow.
  • the makeup line (41 or 42) plays a role of causing the working fluid to flow directly from the tank into the supply / discharge line on the supply side during turning deceleration.
  • the turning direction switching valve 3 has a neutral position where both the supply / discharge lines 41 and 42 are blocked, and a first operating position (the communication line 41 communicates with the pump line 11 and the supply / discharge line 42 communicates with the tank line 13 ( 1 is shifted to the second operating position (the right position in FIG. 1) where the supply / discharge line 42 communicates with the pump line 11 and the supply / discharge line 41 communicates with the tank line 13.
  • the turning direction switching valve 3 is driven by an electric signal.
  • the turning direction switching valve 3 includes a spool 31 and a drive unit 32 that receives the command current and drives the spool 31.
  • the drive unit 32 may be composed of a pair of electromagnetic proportional valves that output secondary pressure acting on the spool 31 in opposite directions, and includes an electric motor and a ball screw connected to the spool 31.
  • a linear motion mechanism may be used.
  • the turning direction switching valve 3 has a larger opening degree as the command current supplied to the drive unit 32 increases, and increases the amount of hydraulic fluid supplied to the turning motor 4 and the amount of hydraulic fluid discharged from the turning motor 4.
  • the turning operation device 5 outputs a turning operation signal (right turning operation signal or left turning operation signal) corresponding to the tilt angle (turning operation amount) of the operation lever 51. That is, the turning operation signal output from the turning operation device 5 increases as the tilt angle of the operation lever 51 increases.
  • the turning operation device 5 is an electric joystick that outputs an electric signal as a turning operation signal.
  • the turning operation signal (electric signal) output from the turning operation device 5 is input to the control device 6.
  • the control device 6 has a memory such as a ROM and a RAM and a CPU, and a program stored in the ROM is executed by the CPU.
  • the control device 6 sends a larger command current to the drive unit 32 of the turning direction switching valve 3 as the turning operation signal becomes larger. Thereby, the spool 31 of the turning direction switching valve 3 moves greatly as the tilt angle of the operation lever 51 of the turning operation device 5 increases.
  • the control device 6 is electrically connected to a speed detector 65 that detects the turning speed of the turning body 76.
  • the speed detector 65 is a gyro sensor provided in the revolving body 76, for example.
  • the speed detector 65 may be, for example, an encoder or a revolver attached to the turning motor 4.
  • the control device 6 controls the turning direction switching valve 3 so as to prevent a swinging return phenomenon when the turning is stopped. Specifically, the control device 6 sets the command current supplied to the drive unit 32 of the turning direction switching valve 3 to zero when the operation lever 51 of the turning operation device 5 is returned to the neutral state. Thereby, as shown to FIG. 3A, the turning direction switching valve 3 shifts from an operation position (a 1st operation position or a 2nd operation position) to a neutral position. As a result, the inflow pressure of the swing motor 4 (pressure on the supply-side supply / discharge line) becomes zero as shown in FIG. 3C, and the outflow pressure of the swing motor 4 (pressure on the discharge-side supply / discharge line as shown in FIG. 3D). ) Will rise.
  • the control device 6 communicates the supply / discharge line on the discharge side with the tank line 13 from the neutral position of the turning direction switching valve 3.
  • the command current is supplied to the drive unit 32 of the turning direction switching valve 3 so as to shift to the operating position. Thereby, the outflow pressure of the turning motor 4 is reduced to zero.
  • the control device 6 causes the turning direction switching valve 3 to move from the operating position to the neutral position.
  • a command current is supplied to the drive unit 32 of the turning direction switching valve 3 so as to shift. Thereby, the revolving structure 76 stops completely.
  • the first threshold value ⁇ and the second threshold value ⁇ described above may be fixed values determined in advance, or may be calculated each time by multiplying the turning speed before turning stop by a coefficient. For example, when the first threshold value ⁇ and the second threshold value ⁇ are fixed values, the first threshold value ⁇ is 5 to 20% of the maximum speed, and the second threshold value ⁇ is 1 to 10% of the maximum speed.
  • the turning direction switching valve 3 is shifted to the operating position if the turning speed falls below the first threshold value ⁇ .
  • the pressure in the supply / discharge line on the discharge side rapidly decreases, so that the differential pressure between the supply / discharge lines 41 and 42 is reduced, and the reversal of the revolving structure 76 is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • FIGS. 3C and 3D a change in pressure when a swing back phenomenon occurs without performing the control of the present embodiment is indicated by a broken line.
  • a pair of pressure sensors 61 and 62 may be provided on the supply / discharge lines 41 and 42.
  • One of the pressure sensors 61 and 62 detects the inflow pressure of the swing motor 4, and the other of the pressure sensors 61 and 62 detects the outflow pressure of the swing motor 4.
  • the opening degree of the turning direction switching valve 3 (the displacement of the spool 31). ) was constant.
  • the pressure sensors 61 and 62 when the turning direction switching valve 3 is shifted to the operating position after the operation lever 51 of the turning operation device 5 is returned to the neutral state, the turning direction switching valve 3 is The opening may be controlled according to the differential pressure between the inflow pressure and the outflow pressure of the swing motor 4 detected by the pressure sensors 61 and 62. According to this configuration, the differential pressure between the supply / discharge lines 41 and 42 can be minimized.
  • the control device 6 controls the turning direction switching valve 3 so that the turning direction switching valve 3 shifts the discharge side supply / discharge line from the neutral position to the operating position communicating with the tank line 13.
  • a command current may be supplied to the drive unit 32.
  • the first threshold value ⁇ (or ⁇ ′) is a threshold value ⁇ 1 for a turning operation alone and a threshold value for a turning combined operation in which the turning operation is performed simultaneously with another operation (for example, a boom operation, an arm operation, or a bucket operation). It may be divided into ⁇ 2 ( ⁇ 1).
  • the control device 6 controls the turning direction switching valve 3 so as to prevent a swinging back phenomenon when turning is stopped. Specifically, the control device 6 sets the command current supplied to the drive unit 32 of the turning direction switching valve 3 to zero when the operation lever 51 of the turning operation device 5 is returned to the neutral state. Thereby, as shown to FIG. 5A, the turning direction switching valve 3 shifts from an operation position (a 1st operation position or a 2nd operation position) to a neutral position. As a result, the inflow pressure of the swing motor 4 (pressure on the supply side supply / discharge line) becomes zero as shown in FIG. 5C, and the outflow pressure of the swing motor 4 (pressure on the discharge side supply / discharge line shows) as shown in FIG. 5D. ) Will rise.
  • the control device 6 When the turning direction switching valve 3 is shifted to the neutral position, the turning speed of the turning body 76 gradually decreases due to the braking action of the relief valve 44 on the discharge side, as shown in FIG. 5B.
  • the control device 6 When the turning speed of the turning body 76 detected by the speed detector 65 falls below the threshold value ⁇ , the control device 6 operates to connect the supply / discharge line on the discharge side to the tank line 13 from the neutral position of the turning direction switching valve 3. A command current is supplied to the drive unit 32 of the turning direction switching valve 3 so as to shift to the position. Thereby, the outflow pressure of the turning motor 4 is reduced to zero.
  • the threshold value ⁇ may be a predetermined fixed value or may be calculated each time by multiplying the turning speed before turning stop by a coefficient.
  • the control device 6 controls the turning direction switching valve 3 so that the opening degree of the turning direction switching valve 3 corresponds to the pressure difference between the inflow pressure and the outflow pressure of the turning motor 4 detected by the pressure sensors 61 and 62.
  • the command current is supplied to the drive unit 32 of More specifically, the control device 6 increases the opening degree of the turning direction switching valve 3 as the differential pressure between the inflow pressure and the outflow pressure of the turning motor 4 increases.
  • the control device 6 When the inflow pressure becomes higher than the outflow pressure, the turning direction switching valve 3 is controlled so that the turning direction switching valve 3 shifts the supply / discharge line on the supply side to the operating position communicating with the tank line 13. That is, the turning direction switching valve 3 switches from the first operating position to the second operating position, or from the second operating position to the first operating position.
  • the turning direction switching valve 3 when the turning is stopped, the turning direction switching valve 3 is shifted to the operating position if the turning speed falls below the threshold value ⁇ .
  • the pressure in the supply / discharge line on the discharge side rapidly decreases, so that the differential pressure between the supply / discharge lines 41 and 42 is reduced, and the reversal of the revolving structure 76 is prevented. Therefore, it is possible to prevent the swinging back phenomenon when stopping turning without using the reverse prevention valve.
  • the opening degree when the turning direction switching valve 3 is shifted to the operating position, the opening degree depends on the differential pressure between the inflow pressure and the outflow pressure of the turning motor 4. The differential pressure can be minimized.
  • the operating position of the turning direction switching valve 3 is switched, so even if the turning body 76 is reversed when the turning is stopped, Subsequent further inversion can be prevented.
  • the turning direction switching valve 3 when the turning direction switching valve 3 is shifted to the operating position after the operation lever 51 of the turning operation device 5 is returned to the neutral state, the turning is made according to the rate of change of the inflow pressure and / or the outflow pressure of the turning motor 4.
  • the opening degree of the direction switching valve 3 may be adjusted.
  • the threshold value ⁇ (or ⁇ ′) includes a threshold value ⁇ 1 for a single turning operation and a threshold value ⁇ 2 for a turning combined operation in which the turning operation is performed simultaneously with another operation (for example, a boom operation, an arm operation, or a bucket operation). ⁇ 1).
  • the turning operation device 5 is not necessarily an electric joystick, but may be a pilot operation valve that outputs a pilot pressure as a turning operation signal.
  • the pilot pressure output from the turning operation device 5 is detected by the pressure sensor and input to the control device 6.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un système d'entraînement hydraulique pour machine de construction comprenant : un moteur d'oscillation ; un dispositif d'actionnement d'oscillation qui délivre un signal d'actionnement d'oscillation en fonction de l'angle d'inclinaison d'un levier d'actionnement ; une vanne de commutation de direction d'oscillation qui se déplace entre une position neutre dans laquelle une paire de lignes d'alimentation/décharge sont bloquées et une position opérationnelle au niveau de laquelle une ligne parmi la paire de lignes d'alimentation/décharge communique avec une ligne de pompe et l'autre ligne communique avec une ligne de réservoir ; et un dispositif de commande qui fournit, à la soupape de commutation de direction d'oscillation, un courant de commande qui augmente au fur et à mesure que le signal d'actionnement d'oscillation augmente. Lorsque le levier d'actionnement du dispositif d'actionnement d'oscillation a été ramené à un état neutre, le dispositif de commande commande la soupape de commutation de direction d'oscillation de telle sorte que la soupape de commutation d'oscillation soit déplacée de la position neutre à la position opérationnelle, au niveau de laquelle les lignes d'alimentation/décharge sur le côté décharge communiquent avec la ligne de réservoir, lorsque la vitesse d'oscillation d'un corps oscillant telle que détectée par un détecteur de vitesse est inférieure à un premier seuil, et soit décalée de la position opérationnelle à la position neutre lorsque la vitesse d'oscillation du corps oscillant est inférieure à un second seuil.
PCT/JP2018/019514 2018-05-21 2018-05-21 Système d'entraînement hydraulique pour machine de construction WO2019224877A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2018/019514 WO2019224877A1 (fr) 2018-05-21 2018-05-21 Système d'entraînement hydraulique pour machine de construction
CN201880092456.1A CN111936751B (zh) 2018-05-21 2018-05-21 建筑机械的油压驱动系统
GB2017037.9A GB2585813B (en) 2018-05-21 2018-05-21 Hydraulic drive system of construction machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/019514 WO2019224877A1 (fr) 2018-05-21 2018-05-21 Système d'entraînement hydraulique pour machine de construction

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WO2019224877A1 true WO2019224877A1 (fr) 2019-11-28

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Publication number Priority date Publication date Assignee Title
FR3128254B1 (fr) * 2021-10-15 2025-03-28 Bosch Gmbh Robert Circuit hydraulique équipé d’un système de commande d’un composant hydraulique

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02261907A (ja) * 1989-03-31 1990-10-24 Nippon Air Brake Co Ltd 油圧ショベル等の旋回制御装置
JPH0738701U (ja) * 1993-12-14 1995-07-14 新キャタピラー三菱株式会社 油圧モータの油圧制御回路装置
JPH09242708A (ja) * 1996-03-11 1997-09-16 Kobe Steel Ltd 油圧アクチュエータの速度制御装置
JPH10246205A (ja) * 1997-03-05 1998-09-14 Shin Caterpillar Mitsubishi Ltd 油圧モータの油圧制御回路装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2706151B1 (fr) * 2011-05-02 2017-10-11 Kobelco Construction Machinery Co., Ltd. Machine de travail pivotante
JP5783184B2 (ja) * 2013-01-10 2015-09-24 コベルコ建機株式会社 建設機械

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02261907A (ja) * 1989-03-31 1990-10-24 Nippon Air Brake Co Ltd 油圧ショベル等の旋回制御装置
JPH0738701U (ja) * 1993-12-14 1995-07-14 新キャタピラー三菱株式会社 油圧モータの油圧制御回路装置
JPH09242708A (ja) * 1996-03-11 1997-09-16 Kobe Steel Ltd 油圧アクチュエータの速度制御装置
JPH10246205A (ja) * 1997-03-05 1998-09-14 Shin Caterpillar Mitsubishi Ltd 油圧モータの油圧制御回路装置

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GB2585813A (en) 2021-01-20
CN111936751B (zh) 2023-08-01
CN111936751A (zh) 2020-11-13
GB2585813B (en) 2022-10-19
GB202017037D0 (en) 2020-12-09

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