WO2009084853A2 - Système électrique de pression d'huile pour matériel de construction - Google Patents

Système électrique de pression d'huile pour matériel de construction Download PDF

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Publication number
WO2009084853A2
WO2009084853A2 PCT/KR2008/007647 KR2008007647W WO2009084853A2 WO 2009084853 A2 WO2009084853 A2 WO 2009084853A2 KR 2008007647 W KR2008007647 W KR 2008007647W WO 2009084853 A2 WO2009084853 A2 WO 2009084853A2
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WO
WIPO (PCT)
Prior art keywords
oil
pump
discharged
pumps
actuator
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2008/007647
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English (en)
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WO2009084853A3 (fr
Inventor
Yong Lak Cho
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HD Hyundai Infracore Co Ltd
Original Assignee
Doosan Infracore Co Ltd
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Filing date
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Publication of WO2009084853A2 publication Critical patent/WO2009084853A2/fr
Publication of WO2009084853A3 publication Critical patent/WO2009084853A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • E02F9/20—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
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • 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
    • 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
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • 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
    • 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
    • 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
    • F15B2211/265—Control of multiple pressure sources
    • F15B2211/2656—Control of multiple pressure sources by control of the pumps
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3122—Special positions other than the pump port being connected to working ports or the working ports being connected to the return line
    • F15B2211/3133—Regenerative position connecting the working ports or connecting the working ports to the pump, e.g. for high-speed approach stroke
    • 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
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply 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
    • F15B2211/6306—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
    • F15B2211/632—Electronic controllers using input signals representing a flow rate
    • 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
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • 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
    • F15B2211/6333—Electronic controllers using input signals representing a state of the pressure source, e.g. swash plate angle
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the present invention relates to an electric oil pressure system of construction equipment, and more particularly to an electric oil pressure system, which is operated by an electric joy stick or a remote controller, thereby providing the proper quantity of oil consumed in an actuator and oil pressure.
  • construction equipment includes an engine, a pump for generating oil pressure by using the power of the engine, a controller for controlling the oil pressure generated in the pump through an oil pressure valve, and an actuator operated by an oil pressure.
  • the construction equipment described above operates each actuator by controlling the quantity of oil and oil pressure by means of an oil pressure controlling system.
  • the actuator performs an operation of a boom, an arm, a bucket, a swing, a travel-right, or a travel-left.
  • the construction equipment includes a plurality of pumps.
  • One of the pumps relates to a left travel operation, a swing operation, and an arm operation among operations of the actuators described above, and another pump relates to a right travel operation, a boom operation, a the bucket operation among operations of the actuators described above .
  • an actuator for performing a left travel operation and an actuator for performing a right travel operation are driven so that the construction equipment moves forwards or backwards, or changes a direction.
  • the boom, the arm, the bucket, or the swing can be driven.
  • a separate actuator which doesn't relate to traveling, is driven, overload is given to a pump relating to the corresponding actuator, or the amount of operation oil is biased to an actuator for performing a left travel operation or an actuator for a right travel operation. Therefore, there is a problem in that straightness of the construction equipment's movement cannot be secured.
  • the present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide an electric oil pressure system of a construction equipment, which accurately predicts the quantity of required oil, which corresponds to the operation of a driver, so as to effectively operate a plurality of pumps, thereby improving energy efficiency.
  • the object of the present invention is not limited to the object mentioned above, and another object of the present invention not mentioned above can be clearly understood by those skilled in the art through the following description.
  • an electric oil pressure system of a construction equipment including: first and second pumps for supplying operation oil to connected first and second group actuators in order to operate a working apparatus, the first and second pumps discharging a changeable quantity of operation oil; a first oil pressure line, through which operation oil discharged from the first pump flows into the first group actuator; a second oil pressure line, through which operation oil discharged from the second pump flows into the second group actuator; a direction control valve for changing a flowing direction of operation oil so as to allow operation oil of the first oil pressure line and operation oil of the second oil pressure line to be joined; a swash plate controller, which calculates a quantity of currently used oil Q scy i and a quantity of oil to be currently discharged from the first and second pumps Q pump based on a quantity of required oil Q Set input through operation of a joystick, adds/subtracts a quantity of oil, which is joined when the operation oil of the first oil pressure line and the operation
  • the electric oil pressure system may further include regeneration circuit unit included in first and second control valves for controlling a channel of the operation oil supplied to the first and second group actuators, the regeneration circuit unit connecting oil pressure lines of each head side and each load side of the first and second group actuators so as to supply a part of operation oil, which is discharged from any one of each head side and each load side of the first and second group actuators, to the other side, when the working apparatus connected with the first and second group actuators is driven by one selected from its weight and inertia; and an actuator-used oil quantity calculation unit, which calculates an measurement value of oil pressure of each head side and each load side of the first and second group actuators, a measurement pressure value of oil discharged from each pump, and a measurement value of an opening ratio of each control valve so as to obtain a quantity of regenerated oil Q re gen, which is again supplied to the first and second group actuators through the regeneration circuit unit, wherein the swash plate controller may calculate a quantity of currently used oil Q scy i and
  • the electric oil pressure system may include: a discharged oil quantity calculation unit, which calculates a detection value obtained by detecting an angle of each swash plate of the first and second pumps in driving, a detection value obtained by detecting the number of rotations of the first and second pumps, and a detection value obtained by detecting discharge pressure of operation oil discharged by the first and second pumps, thereby obtaining a quantity of oil discharged by the pumps Q sp ump, wherein the swash plate controller calculates an angle of each swash plate of the first and second pumps, the angle of the swash plate allowing a quantity of remaining oil, which is obtained by excepting the quantity of regenerated oil Q regen and the quantity of discharged oil Q spump from the quantity of required oil Q setr to be further discharged from the first and second pumps.
  • a discharged oil quantity calculation unit which calculates a detection value obtained by detecting an angle of each swash plate of the first and second pumps in driving, a detection value obtained by detecting the number of rotations of the first and second
  • each opening ratio of the first and second control valve is obtained by calculating spool positions of the first and second control valves, which have been measured by first and second spool position detection parts, and the number of rotations of the first and second pumps is obtained by calculating a rotation speed of an engine, which has been detected by an engine speed detection unit.
  • the first pump may supply operation oil to the first group actuator including a right travel motor in a normal state
  • the second pump may supply operation oil to the second group actuator including a left travel motor in a normal state
  • the first pump may supply operation oil to the first group actuator and the second group actuator, except for the left travel motor
  • the second pump may supply operation oil only to the right travel motor and the left travel motor
  • the swash plate control unit controls an angle of each swash plate of the first and second pumps by reflecting switching between actuators relating to the first pump and actuators relating to the second pump.
  • a quantity of oil to be supplemented from the first pump 70a Q rest may be obtained by an equation
  • Q rest refers to a quantity of oil to be supplemented from pump 1 through a boom operation, an arm operation, a bucket operation, and a swing operation
  • a pt travel L refers to an open area of a center bypass channel in a right travel spool
  • Pi refers to pressure of the first pump 1
  • P 2 refers to pressure of the second pump 2
  • C q refers to coefficient of a quantity of oil
  • p refers to fluid density.
  • a quantity of oil to be supplemented from the second pump 70b Q tra v e i 2 may be obtained by an equation
  • Qt r avei 2 refers to a quantity of oil to be supplemented from the second pump through a travel operation
  • a d ⁇ v e refers to orifice area
  • Pl refers to pressure of the first pump
  • P 2 refers to pressure of the second pump
  • C q refers to coefficient of a quantity of oil
  • p refers to fluid density.
  • an electric oil pressure system of construction equipment can detect operational state of each actuator, and control the flow direction controlling valve by performing electric calculations respective to a detected signal, thereby preventing operation oil from being unevenly distributed to any one side. As a result, the safety of driving the construction equipment is secured.
  • the electric oil pressure system of construction equipment can accurately predict and control the quantity of oil so that operation time of an engine and a pump can be reduced to be an optimal time. Also, the quantity of oil and oil pressure can effectively be controlled, and fuel efficiency can be improved.
  • FIG. 1 is a view showing an example of construction equipment
  • FIG. 2 is a view showing an oil pressure circuit for describing an electric oil pressure system of construction equipment according to one embodiment of the present invention
  • FIG. 3 is a view showing an example of a controller of an electric oil pressure system of construction equipment according to one embodiment of the present invention
  • FIG. 4 is a view showing an example of an oil pressure circuit for describing an electric oil pressure system of construction equipment according to one embodiment of the present invention
  • FIG. 5 is a schematic view showing the oil pressure circuit of FIG.4;
  • FIG. 6 is a view showing an example of an oil pressure circuit for describing the driving of a specific actuator of an electric oil pressure system of a construction equipment according to one embodiment of the present invention during the traveling of a construction equipment;
  • FIG. 7 is a schematic view showing an example of the oil pressure circuit of FIG.6.
  • FIG. 8 is a view showing an oil pressure circuit for describing an example of regeneration of oil discharge in an electric oil pressure system of construction equipment according to one embodiment of the present invention.
  • An electric oil pressure system of a construction equipment includes: first and second pumps 70a and 70b for supplying operation oil to connected first and second group actuators in order to operate a working apparatus, the first and second pumps discharging a changeable quantity of operation oil; a first oil pressure line 91, through which operation oil discharged from the first pump 70a flows into the first group actuator; a second oil pressure line 97, through which operation oil discharged from the second pump 70b flows into the second group actuator; a direction control valve 80 for changing a flowing direction of operation oil so as to allow operation oil of the first oil pressure line 91 and operation oil of the second oil pressure line 97 to be joined; a swash plate controller 1220, which calculates a quantity of currently used oil Q scy i and a quantity of oil Q pU mp to be currently discharged from the first and second pumps 70a and 70b based on a quantity of required oil Q set input through operation of a joystick, adds/subtracts a quantity of oil
  • FIG. 1 is a view showing an example of construction equipment
  • FIG. 4 is a view showing an example of an oil pressure circuit for describing an electric oil pressure system of construction equipment according to one embodiment of the present invention
  • FIG. 5 is a schematic view showing the oil pressure circuit of FIG.4.
  • a construction equipment includes an upper body rotating on an upper side of a lower part, a boom arranged on a front part of the upper body in such a manner that it can perform an angular rotation in an up-down direction, an arm arranged outside of the boom in such a manner that it can perform an angular rotation in an up-down direction, and a bucket arranged outside of the arm in such a manner that it can perform an angular rotation in an up-down direction.
  • working actuators 40, 50, and 60 for driving the boom, the arm, and the bucket which have been described above, respectively, are arranged.
  • a first pump 70a or a second pump 70b for supplying operation oil to the above described working actuators and an engine are arranged at the upper body described above.
  • a first travel motor 10 and a second travel motor 20, which relates to traveling of the construction equipment, are further arranged, and a first actuator 30 for rotating the upper body described above is arranged.
  • the first pump 70a or the second pump 70b described above changes and outputs the quantity of operation oil and oil pressure according to control angle of a swash plate. At this time, discharged operation oil is supplied to each of the working actuators described above.
  • the respective working actuators described above may be the first actuator 30 for rotating the upper body, a second actuator 40 for elevating the boom, a third actuator 50 for folding or unfolding the arm, and a fourth actuator 60 for driving the bucket.
  • a direction controlling valve 80 may be arranged between the first pump 70a or the second pump 70b and the respective working actuators described above.
  • the above- described direction controlling valve 80 has two positions and four ports. Therefore, when the direction controlling valve 80 is positioned at a first position, an input port and an output port are directly connected with each other, and when it is positioned at a second position, the input port and the output port cross each other.
  • the first pump 70a or the second pump 70b which has been described above, regenerates operation oil by using potential energy of the boom, the arm, and the bucket and inertia energy generated by the rotation of the upper body, thereby saving energy and reducing the load of the engine and the first pump 70a or the second pump 70b. Also, the first and second pumps 70a and 70b can be controlled by using the potential energy and the inertia energy, which are described above. This will be described in detail with reference to FIGs. 2 and 3.
  • FIG. 2 is a view showing an oil pressure circuit for describing the electric oil pressure system of construction equipment according to one embodiment of the present invention
  • FIG. 3 is a view showing an example of a controller of the electric oil pressure system of construction equipment according to one embodiment of the present invention.
  • the working actuators which drive the boom, the arm, and the bucket, respectively, are arranged at the construction equipment.
  • a pump 110 and an engine 120 for supplying operation oil to the working actuator described above are arranged at the above-described upper body.
  • the pump 110 described above changes and outputs quantity of operation oil and pressure thereof by controlling the angel of the swash plate. At this time, discharged operation oil is supplied to each actuator described above.
  • a swash plate angle detection unit 111 is arranged at one side of the above-described pump 110 so as to detect the angle of the swash plate described above.
  • a discharged oil pressure detection unit 112 is arranged at another side of the pump 110, from which operation oil is discharged, so as to detect the pressure of discharged operation oil.
  • An engine speed detection unit 121 is arranged at one side of the engine 120 described above so as to detect speed of the engine 120, and power output from the engine 120 is supplied to the pump 110 described above.
  • An actuator pressure detection part which is connected with the corresponding working actuator in such a manner that it allows operation oil to be delivered and can be driven by the above-described pump 110 and detects oil pressure of a head side and a load side of the working actuator described above, is arranged.
  • the working actuator described above may be a first actuator 150 for driving the arm and the second actuator 160 for driving the boom.
  • the actuator pressure detection unit may be arranged at each working actuator.
  • a first head side pressure detection unit 151 may be arranged on a head side of the first actuator 150
  • a first load side pressure detection unit 152 may be arranged on a load side of the first actuator.
  • a second head side pressure detection unit 161 is arranged on a head side of the second actuator, and a second load side pressure detection unit 162 is arranged on a load side of the second actuator.
  • a first control valve 130 may be arranged on the first actuator 150, and a second control valve 140 may be arranged on the second actuator 160.
  • a plurality of spools for switching channels which are connected with each head side and each load side of the actuators 150 and 160, respectively, to each other, a channel 132, a check valve 133, and an orifice, etc. may be included in the first and second control valves 130 and 140.
  • Techniques about spools, channels (orifices) , etc. are well known. Therefore, descriptions of them will be omitted.
  • a spool position detection unit for detecting the position of each spool is arranged on one side of the control valve described above. For example, a first spool position detection unit 131 is arranged on the first control valve 130 described above, and a second spool position detection unit 141 is arranged on the second control valve 140 described above .
  • the first and second control valves 130 and 140 described above can change the progressing direction of operation oil according to the movement of the spool, and the spool is moved according to an applied electric control signal .
  • the position of the spool of the control valve described above can be calculated by using a result value measured by the first spool position detection unit 131 and the second spool position detection unit 141, and the result value, which has been calculated above, can be used as basic data for calculating an opening ratio of the control valve.
  • a regeneration circuit part which connects oil pressure lines of the head side and the load side of the actuator with each other, thereby supplying a part of operation oil discharged from one of the head side and the load side of the actuator to the other side of the actuator when a working apparatus connected with the actuator described above is driven by weight or inertia, is further arranged.
  • a controller C which receives detection result values from the swash plate angle detection unit 111 described above, the discharged oil pressure detection unit 112, the engine speed detection unit 121, the actuator pressure detection part, and the spool position detection part, calculates them, and controls the pump 110 and the control valve according to calculated result values, is further arranged.
  • an electronic joystick 1300 can be arranged in the controller C described above, and the electronic joystick 1300 is operated by a driver of the construction equipment. An electric control signal is generated when the electronic joystick 1300 is operated, and the control signal is applied to the controller C described above.
  • the controller C will be described in detail with reference to FIG. 3.
  • the controller C described above includes a valve controller 1100 and a pump controller 1200.
  • the valve controller 1100 described above includes an actuator-used oil quantity calculation unit 110 for calculating an oil quantity value Q scy i used in the working actuator described above, a spool controller 120 for calculating a difference in oil quantity values between a required oil quantity value Q set generated by controlling the electric joystick 1300 described above and a result value from the actuator-used oil quantity calculation unit 110 so as to obtain a spool control result value, and an electro proportional pressure reducing valve driving unit 230 for driving the spool of the control valve by using the result value calculated by the spool controller 120.
  • a result value obtained by detecting the position of a spool in the control valve described above is authorized, a result value detected in the actuator pressure detection unit described above is authorized, and a result value detected in the discharged oil pressure detection unit 112 is authorized.
  • the pump controller 1200 described above includes a discharged oil quantity calculation unit 210 for calculating the quantity of oil discharged from the pump 110, a swash plate controller 220 for calculating the oil quantity value Qp um p, which is obtained by subtracting the quantity of regenerated oil obtained by calculating a value detected in the actuator pressure detection unit described above from the quantity of required oil Q se t required by controlling the electric joystick, and the quantity of oil discharged from the pump 110, thereby calculating an incline angle of the swash plate, and an electro proportional pressure reducing valve driving unit 230 for controlling the pump 110 by using a result value determined in the swash plate controller 220.
  • the detection value detected in the swash plate angle detection unit 111 described above and the detection value detected in the engine speed detection unit 121 described above are authorized. Also, a detection value detected in the swash plate angle detection unit 111 is authorized in the swash plate controller 220.
  • a command signal generated from the electric joystick 1300 is received in the controller C.
  • the command signal described above may be a signal corresponding to the required oil quantity Q set in accordance with a speed of the actuator.
  • a detection value of spool displacement is authorized from the first spool position detection parts 131 arranged at the first control valve 130 or the second spool position detection unit 141 arranged on the second control valve 140, a detection valve is authorized from the first or second head side pressure detection unit 151 or 161 described above and the first and second load side pressure detection unit 152 or 162, and a detection value of the discharged oil pressure detection unit 112 is authorized.
  • the actuator-used oil quantity calculation unit 110 predicts the quantity of oil currently used by the actuator through the orifice equation of equation (1) below.
  • A(x) area of the opening of a value, which is prescribed as spool position x,
  • the spool controller 120 described above receives an error value between the quantity of oil to be used in the actuator Q set , which is required by operating the electric joystick 1300, and the quantity of oil currently used in the actuator Q scy i, thereby determining the position of the spool of the first or second control valve 130 or 140.
  • the spool position order Xspool determined in the spool controller is converted to an electric signal (supply current) through the electro proportional pressure reducing valve driving unit 230, and the position of the spool of the first or second control valve 130 or 140 described above is changed by the electric signal.
  • the pump controller 1200 described above controls the angle of the swash plate of the pump 110 so as to allow the pump to discharge as much oil as the working actuator requires .
  • the pump controller 1200 includes the discharged oil quantity calculation unit 210 for predicting the quantity of currently discharged oil, the swash plate angle controller 220 for comparing the quantity of oil required by the pump with the quantity of currently discharged oil, calculating them, and generating a control command for controlling the angle of the swash plate, and the electro proportional pressure reducing valve driving unit 230 for driving a electro proportional pressure reducing valve, which generates pressure for adjusting the angle of the swash plate.
  • the discharged oil quantity calculation unit 210 described above receives an authorized detection value from the swash plate angle detection unit 111 and an authorized detection value from the engine speed detection unit 121 so as to calculate the quantity of oil currently discharged form the pump through equation (3) below.
  • Q spm ⁇ ⁇ - AV ...equation (3)
  • Qspump the quantity of currently discharged oil
  • Q rotation speed of the engine
  • V the quantity of oil discharged from the pump.
  • the swash plate controller 220 described above receives an error value between the quantity of oil required from the pump Q purrp and the quantity of currently discharged oil Q spUmp and receives a detection value from the discharged oil pressure detection unit 112 of the pump 110 so as to calculate the swash plate angle.
  • the swash plate angle control algorithm may be a flow control algorithm or a horsepower algorithm.
  • a swash plate angle command Xangle determined by the swash plate controller 220 described above is converted to a control signal (supply current) through the electro proportional pressure reducing valve driving unit 230.
  • the quantity of oil required by the pump Q pump has to be calculated in consideration of oil quantity regeneration which is changed according to a characteristic of the working actuator.
  • the regeneration of the quantity of oil refers to a function implemented in the control valve, in which operation oil, which is discharged from one side of the cylinder (or a motor) due to potential energy generated when the arm crowds and the boom is elevated down and inertia energy generated when the upper body is rotated, is re-supplied to the other side of the cylinder (or the motor) so that the quantity of required oil is reduced.
  • the quantity of oil discharged from the actuator isn't allowed to flow to a tank due to the weight of the arm or the boom, but is used as a part of the quantity of oil introduced into the actuator, thereby reducing energy and increasing the speed of the construction equipment.
  • the quantity of oil required by the pump Qpump r which is actually discharged from the pump corresponds to a value obtained by subtracting the quantity of regenerated oil Qregen from the quantity of required oil Q setr which is required by controlling the electric joystick.
  • the working actuator according to an embodiment of the present invention may be the first actuator 150 for driving the arm or the second actuator 160 for driving the boom.
  • the first actuator 150 described above drives the arm and uses the quantity of regenerated oil when the first actuator 150 performs an extending operation.
  • the quantity of oil in the load side of the first actuator 150 is discharged due to the weight of the arm.
  • the quantity of oil passes through the main spool A out of the first control valve 130 and a channel 135 of a regeneration release circuit and flows into the tank.
  • the speed of the oil, which has passed through the main spool is controlled by a miter-out controlling method so that pressure p* of the oil is higher than pressure of oil of the head side of the cylinder of the first actuator 150.
  • a part of the quantity of oil of the load side passes through the first inner channel 132 and joins the quantity of oil of the pump to be supplied to cylinder head of the first actuator 150.
  • Ppu mP pump discharge pressure
  • C q flow of the quantity of oil
  • p fluid density
  • Qscyi the quantity of oil used in the actuator
  • a out the area of the opening of the spool connected from the actuator to the tank
  • P rod load pressure of the lode side of the arm. Also, when the boom is lower, the quantity of regenerated oil is generated.
  • a r ege n the area of the channel of the regeneration valve (the check valve) ,
  • Phead load pressure of the head side of the boom.
  • the first pump 70a relates to a first group actuator including the first travel motor 10, the second actuator 40, and the fourth actuator 60, thereby supplying the operation oil.
  • the second pump 70b relates to a second group actuator including the second travel motor 20, the third actuator 50, and the first actuator 30, thereby supplying the operation oil.
  • operation oil discharged from the first pump 70a flows to a first oil pressure line 91 to be supplied to the first group actuator described above, and operation oil discharged from the second pump 70b flows to a second oil pressure line 97 to be supplied to the second group actuator described above.
  • a direction controlling valve 80 which allowing a flowing direction of operation oil to be changed or allowing the operation oil to be joined, can be further arranged at the first oil pressure line 91 and the second oil pressure line
  • the actuator to which the first pump 70a and the second pump 70b according to an embodiment of the present invention, which have been described above, relate, is defined by equation (8) and equation (9) below.
  • Qboom2 and Qboomi the quantity of oil required in the second actuator 40 for operating the boom
  • Q a rmi and Q a rm2 the quantity of oil required in the third actuator 50 for operating the arm
  • Q buc k et the quantity of oil required in the fourth actuator 60 for operating the bucket. Therefore, in a state where travelling of the construction equipment has been stopped, that is, in a state where the first and second travel motors 10 and 20 aren't driven, respective working actuators described above can be driven, and such a state is the normal state. Afterward, when the construction equipment is moved, the first and second travel motors 10 and 20 are driven. Also, it is possible to drive the actuator while the construction equipment moves. For example, as shown in FIG. 6, when the fourth actuator 60 for operating the bucket is driven, the direction controlling valve 80 described above is operated so that an oil pressure circuit is changed.
  • the actuator to which the first pump 70a and second pump 70b described above relate, is defined by equation (10) and equation (11) below.
  • a p t travel L the area of an opened center bypass channel of a right travel spool
  • change of the configuration of the oil pressure circuit can be recognized through spool displacement sensed by a displacement sensor e in the actuator-used oil quantity calculation unit.
  • any one of the first and second pumps 70a and 70b has to supply operation oil to another working actuator because the first and second travel motors 10 and 20 are being driven. Therefore, shortage of oil pressure can occur, and what is worse, it can not be certain that the first pump 70a and the second pump 70b rotate with the same number of rotations so that straightness of the construction equipment's movement may not be ensured.
  • the position of the direction controlling valve 80 is changed from a first position to a second position so that the second pump 70b described above is connected with the first travel motor 10 described above, and the first pump 70a described above is connected with the working actuator described above.
  • the second pump 70b relates to the first travel motor 10 and the second travel motor 20 so that straightness of the construction equipment' movement can be ensured, and the working actuator can be operated during traveling of the construction equipment.
  • a plurality of control valves for controlling the working actuator described above and the first and second travel motors 10 and 20 described above may be arranged.
  • a plurality of detection parts for detecting the position of a spool of each control valve can be arranged on the control valves described above.
  • a controller C which receives detection values from a plurality of detection parts, performs a calculation respective to the values, and sends a command signal to the direction controlling valve 80 according to the calculated result values, can be arranged, and the controller C is connected with an electric joystick 1300 arranged at an operation room of the construction equipment.
  • a first check valve 81 which supplies operation oil discharged from the first pump 70a to the first travel motor 10 and prevents counter-flowing of operation oil, can be further arranged.
  • the first check valve 81 allows a part of operation
  • a second check valve 82 which supplies operation oil discharged from the second pump 70b described above to the working actuator described above and prevents counter-flowing of the operation oil, can be further arranged.
  • a second control valve 200 for controlling driving of the second travel motor 20 described above can be further arranged.
  • operation oil discharged from the second pump 70b passes by a center bypass port of the second control valve 200 to be delivered to the second check valve 82, and the operation oil passed by the second check valve 82 can be supplied to some of working actuators.
  • the operation oil can be supplied to the first actuator 30 and the third actuator 50.
  • FIG. 5 it can be understood that actuators, to which the first pump 70a relates, and actuators, to which the second pump 70b relates, are clearly distinguished from each other.
  • the first pump 70a relates to the second actuator 40 for driving the first travel motor 10 and the boom and the fourth actuator 60 for driving the bucket.
  • the second pump 70b relates to the third actuator 50 for driving the second travel motor 20 and the arm and the first actuator 30 for performing the swing operation of the upper body. Particularly, in a state where the construction equipment doesn't travel, that is, in a state where the first and second motors 10 and 20 are not driven, each working actuator is driven.
  • the first and second travel motors 10 and 20 are driven.
  • the operation of the working actuator is detected by the spool position detection unit arranged at each control valve, and a driving signal is delivered to the controller C.
  • the controller C described above determines if the working actuator operates or not while the first and second travel motors 10 and 20 are driven. When it is determined that the working actuator is driven while the first and second travel motors 10 and 20 are driven, the position of the direction controlling valve 80 is changed into the second position.
  • the oil pressure circuit is changed when the direction controlling valve 80 is operated.
  • the oil pressure circuit of FIG. 6 can be briefly shown in the concept view of FIG. 7.
  • the first pump 70a supplies operation oil to the working actuator and the second pump 70b is used exclusively for the first and second travel motors 10 and 20.
  • a part of the operation oil discharged from the first pump 70a can join operation oil of an oil pressure line supplied from the second pump 70b through the first check valve 81.
  • the second pump 70b can evenly supply a fixed quantity of operation oil to the first travel motor 10 and the second travel motor 20 so that it is possible to accurately move the construction equipment, and especially, straightness of the construction equipment's movement can be secured.
  • the quantity of required oil Q set is calculated based on a signal output from an electronic operation device, and the quantity of oil currently discharged from the pump and the quantity of currently used oil Q cy i is subtracted through a sensor installed at the control valve and the oil pressure line.
  • the quantity of oil Q pu mp which has to be additionally discharged from the pump, is calculated.
  • the detection value obtained in each detection unit is calculated in the controller C, and the first or the second control valve 130 or 140 and the pump 110 are controlled so that the optimal quantity of oil, which corresponds to the quantity of required oil, can be discharged.
  • the electric oil pressure system according to an embodiment of the present invention can be employed in construction equipment. Also, although a plurality of pumps are included, and the pumps relate to each specific actuator, it is possible to prevent operation oil from being unevenly distributed to any one side, thereby securing the safety of the construction equipment's operation.

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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)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un système électrique de pression d'huile pour matériel de construction, qui comprend un circuit de régénération inclus dans des soupape de régulation (130, 140) pour réguler un canal de l'huile de travail apportée au premier et au second actionneur de groupe, le circuit de régénération raccordant les conduites de pression d'huile de chaque côté tête et chaque côté charge du premier et second actionneur de groupe, de façon à distribuer une partie de l'huile de travail qui est déchargée de l'un quelconque de chaque côté tête et chaque côté charge du premier et du second actionneur de groupe vers l'autre côté, lorsque l'appareil de travail raccordé au au premier et au second actionneur de groupe est piloté par actionneur choisi pour son poids ou son inertie. Le système électrique de pression d'huile comprend également un module de calcul de la quantité d'huile consommée par l'actionneur (110) qui calcule: une valeur de mesure de la pression d'huile de chaque côté tête et chaque côté charge du premier et du second actionneur de groupe; une valeur de mesure de pression de l'huile déchargée de chaque pompe; et une valeur de mesure d'un rapport d'ouverture de chaque soupape de régulation, de façon à obtenir une quantité d'huile régénérée (Qregen), qui est utilisée à son tour pour alimenter le premier et le second actionneur de groupe à travers le circuit de régénération. Le contrôleur de plateau oscillant (1220) calcule une quantité d'huile présentement utilisée (QSCyi) et une quantité d'huile (Qpump) à décharger de la première et de la seconde pompe (70a, 70b) par soustraction de la quantité d'huile régénérée (Qregen) de la quantité d'huile requise (Qset) introduite par manipulation d'un manche à balai, ce qui permet de calculer un angle de chaque plateau oscillant de la première et de la seconde pompe (70a, 70b).
PCT/KR2008/007647 2007-12-27 2008-12-24 Système électrique de pression d'huile pour matériel de construction Ceased WO2009084853A2 (fr)

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KR10-2007-0138932 2007-12-27
KR1020070138932A KR101470626B1 (ko) 2007-12-27 2007-12-27 건설장비의 전자유압 시스템

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EP2466017A1 (fr) 2010-12-14 2012-06-20 Caterpillar, Inc. Circuit de commande à boucle fermée avec assistance de pompe à circuit ouvert pour déplacement à haute vitesse
EP2466018A1 (fr) 2010-12-17 2012-06-20 Caterpillar, Inc. Circuit de commande à boucle fermée avec freinage assisté externe
WO2012107186A1 (fr) 2011-02-07 2012-08-16 Caterpillar Inc. Système hydrostatique configuré pour être intégré dans une excavatrice
CN103328830A (zh) * 2011-01-24 2013-09-25 斗山英维高株式会社 包括电子液压泵的工程机械的液压系统
US8863509B2 (en) 2011-08-31 2014-10-21 Caterpillar Inc. Meterless hydraulic system having load-holding bypass
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US9068578B2 (en) 2011-10-21 2015-06-30 Caterpillar Inc. Hydraulic system having flow combining capabilities
US9080310B2 (en) 2011-10-21 2015-07-14 Caterpillar Inc. Closed-loop hydraulic system having regeneration configuration
US9151018B2 (en) 2011-09-30 2015-10-06 Caterpillar Inc. Closed-loop hydraulic system having energy recovery
US9279236B2 (en) 2012-06-04 2016-03-08 Caterpillar Inc. Electro-hydraulic system for recovering and reusing potential energy
US9290911B2 (en) 2013-02-19 2016-03-22 Caterpillar Inc. Energy recovery system for hydraulic machine
US9290912B2 (en) 2012-10-31 2016-03-22 Caterpillar Inc. Energy recovery system having integrated boom/swing circuits
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EP2466018A1 (fr) 2010-12-17 2012-06-20 Caterpillar, Inc. Circuit de commande à boucle fermée avec freinage assisté externe
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EP2669529A4 (fr) * 2011-01-24 2014-12-10 Doosan Infracore Co Ltd Système hydraulique pour une machine de construction dotée d'une pompe hydraulique électronique
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US8966891B2 (en) 2011-09-30 2015-03-03 Caterpillar Inc. Meterless hydraulic system having pump protection
US9151018B2 (en) 2011-09-30 2015-10-06 Caterpillar Inc. Closed-loop hydraulic system having energy recovery
US9057389B2 (en) 2011-09-30 2015-06-16 Caterpillar Inc. Meterless hydraulic system having multi-actuator circuit
US8919114B2 (en) 2011-10-21 2014-12-30 Caterpillar Inc. Closed-loop hydraulic system having priority-based sharing
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US8943819B2 (en) 2011-10-21 2015-02-03 Caterpillar Inc. Hydraulic system
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US9290912B2 (en) 2012-10-31 2016-03-22 Caterpillar Inc. Energy recovery system having integrated boom/swing circuits
US9290911B2 (en) 2013-02-19 2016-03-22 Caterpillar Inc. Energy recovery system for hydraulic machine
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US10670050B2 (en) 2013-04-03 2020-06-02 Doosan Infracore Co., Ltd. Apparatus and method for controlling spool displacement of construction machine
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CN110770401A (zh) * 2017-06-19 2020-02-07 卡特彼勒Sarl 工程机械斗杆控制系统
CN110799710A (zh) * 2017-06-19 2020-02-14 卡特彼勒Sarl 用于工程机械的动臂控制系统
US11162245B2 (en) 2017-06-19 2021-11-02 Caterpillar Sarl Stick control system in construction machine
CN110799710B (zh) * 2017-06-19 2022-04-05 卡特彼勒Sarl 用于工程机械的动臂控制系统
US11585068B2 (en) 2017-06-19 2023-02-21 Caterpillar Sarl Boom control system for a construction machine

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