Patent Application
20160348340
The present invention relates to a construction machine, such as a hydraulic excavator, that includes a work implement capable of vertical movement and a swing structure.
In general construction machines, when a work load increases, a pump pressure rises and the delivery flow rate of the pump decreases. As a result, during the time when a front work implement is operated, the speed of the front work implement is lower as the work load is higher.
On the other hand, there is a construction machine in which the aperture area of an operation valve is varied by pressure compensating means in accordance with a differential pressure across the operation valve and an operation amount (see, for example, Patent Document 1). In this construction machine, for example in the case of a swing and boom raising operation for simultaneously performing swinging and boom raising, if boom load is high, the aperture area of an operation valve corresponding to the swing operation is reduced whereas the aperture area of an operation valve corresponding to the boom is increased, whereby an operability similar to that when boom load is low is secured.
Patent Document 1: JP-2008-224039-A
It is a merit that a constant operability is secured independently of load. On the other hand, however, it is natural on an operation feeling basis that the moving speed of a boom is lowered when the boom load is higher. Thus, some operators prefer an operation that permits a load acting on the boom to be felt. Even in the construction machine of above-mentioned Patent Document 1, omission of the pressure compensating means ensures that the boom speed is lowered according to the boom load and, accordingly, the boom load can be felt. In that case, however, the following problem is generated at the time of a swing and boom raising operation.
For example, when a load on a boom varies, the rising speed of the boom varies even if the boom raising operation amount is the same. On the other hand, if the swing operation amount is the same, the swing speed varies little even when the load on the boom varies. In other words, even if operations seem to be conducted in the same manner, the rising amount of the boom per time differs depending on the boom load; therefore, the locus of a front work implement at the time of a swing and boom raising operation varies depending on whether the boom load is low or high. As a result, if the same swing and boom raising operation as that in the case of a low boom load is conducted in the case of a high boom load, the boom would be moved along an unexpectedly lower locus, so that the front work implement would possibly collide against a carrier of a dump truck. In addition, while the load on a boom can vary unexpectedly according to operating situations, a highly skillful ability is required to control the locus of the front work implement at the time of a swing and boom raising operation to be normally constant, independently of the boom load.
The present invention has been made in consideration of the above-mentioned circumstances. Accordingly, it is an object of the present invention to provide a construction machine that enables a load acting on a boom to be felt on the basis of motion of a front work implement and, on the other hand, enables the front work implement to be moved along a locus according to operation without being affected by the boom load.
In order to achieve the above object, according to the present invention, there is provided a construction machine including: a track structure; a swing structure provided on the track structure in a swingable manner; a swing motor that drives and swings the swing structure; a boom connected to the swing structure; a boom cylinder that moves the boom vertically; a swing operation system that instructs a swing operation of the swing structure; a boom operation system that instructs a vertical movement of the boom; a detector that detects a state quantity varying according to a load on the boom cylinder; and a controller that reduces swing speed of the swing structure according to a signal from the detector with respect to a reference swing speed according to a signal of the swing operation, while signals of the swing operation by the swing operation system and a boom raising operation by the boom operation system are being inputted, wherein the controller includes: a boom speed reduction calculation section configured to calculate a boom speed reduction amount ΔR with respect to a reference boom raising speed Rs that is suited to an operation amount of the boom operation system on the basis of the signal from the detector; a swing speed reduction amount calculation section configured to calculate a swing speed reduction amount ΔS with respect to a reference swing speed Ss that is suited to operation amount of the swing operation system on the basis of the operation amount of the swing operation system and the boom speed reduction amount ΔR; and a torque command calculation section configured to calculate and output a swing motor torque command for generating the swing speed reduction amount ΔS on the basis of swing torque of the swing motor and the swing speed reduction amount ΔS, and wherein the swing speed reduction amount calculation section calculates the swing speed reduction amount ΔS such that the relation of (Rs−ΔR)/(Ss−ΔS)=Rs/Ss is established.
According to the present invention, a load acting on a boom can be felt on the basis of motion of a front work implement and, on the other hand, the front work implement can be moved along a locus according to operation without being affected by the boom load. Consequently, enhancement of operability and safety can be expected.
Embodiments of the present invention will be described below, using the drawings.
First, a swing and boom raising operation herein means to simultaneously perform a boom raising operation and a swing operation, namely, a situation wherein an input for the boom raising operation and an input for the swing operation overlap each other on a time basis. Therefore, while it is needless to say that a case wherein both the operations are the same as to starting timing and finishing timing is included in the swing and boom raising operation, the period of time during which both the operations are performed in such cases as a case wherein one of operation inputs precedes the other of the operation inputs but wherein the other of the operation inputs is conducted during the time when one of the operation input is continuing is also included in the swing and boom raising operation.
The construction machine illustrated in
The track structure 10 includes: a pair of left and right crawlers 11a and 11b; a pair of left and right crawler frames 12a and 12b; traveling hydraulic motors 13 and 14 for driving the left and right crawlers 11a and 11b respectively; and speed reduction gears for the traveling hydraulic motors 13 and 14, etc. Of the crawlers 11a and 11b and the crawler frames 12a and 12b, only those ones on the left side are shown in
The swing structure 20 is mounted on upper portions of the crawler frames 12a and 12b through a swing frame 21. The swing frame 21 is provided on upper portions of the crawler frames 12a and 12b through a swing ring in such a manner as to be swingable about a vertical axis. Though not specifically illustrated, the swing ring includes an inner ring connected to the crawler frames 12a and 12b, and an outer ring connected to the swing frame 21, the outer ring being swingable in relation to the inner ring. Over the swing frame 21, there are provided a swing electric motor 25 and a swing hydraulic motor 27. The swing electric motor 25 is supported by the outer ring of the swing ring together with the swing hydraulic motor 27, and has an output shaft meshed with an internal gear of the inner ring through a speed reduction gear 26. The swing hydraulic motor 27 is provided coaxially with the swing electric motor 25. In addition, a capacitor 24 as an electricity accumulation device is connected to the swing electric motor 25, and the swing electric motor 25 is driven by supply of electric power from the capacitor 24. Owing to this configuration, driving forces of the swing hydraulic motor 27 and the swing electric motor 25 are transmitted to the swing ring through the speed reduction gear 26, and the swing structure 20 is swung together with the swing frame 21 in relation to the track structure 10.
The excavator mechanism 30 is a front work implement of an articulated structure including a boom 31, an arm 34, and a bucket 35. The boom 31 is connected to the swing frame 21 of the swing structure 20 by a pin or the like in a vertically movable manner. The arm 34 is connected to a tip portion of the boom 31 by a pin or the like so that it can be rotated in forward-rearward directions. The bucket 35 is connected to a tip portion of the arm 34 by a pin or the like in a rotatable manner. The boom 31, the arm 34 and the bucket 35 are driven by a boom cylinder 32, an arm cylinder 34 and a bucket cylinder 36, respectively. The boom cylinder 32, the arm cylinder 34 and the bucket cylinder 36 are hydraulic cylinders.
Besides, a drive system for driving various actuators is mounted on the swing frame 21. The drive system includes a hydraulic system 40 for driving hydraulic actuators, and an electric system for driving electric actuators. The hydraulic system 40 drives the aforementioned traveling hydraulic motors 13 and 14, the swing hydraulic motor 27, the boom cylinder 32, the arm cylinder 34, the bucket cylinder 36 and the like. The electric system drives the an assist power generation motor 23, the swing electric motor 25 and the like.
As illustrated in the diagram, the hydraulic system 40 includes a hydraulic pump 41 as a hydraulic fluid source for generating hydraulic pressure, and a control valve 42 for drive control of each of the hydraulic actuators. The hydraulic pump 41 is driven by an engine 22. The control valve 42 operates a swing spool 61 (see
In addition to the aforementioned capacitor 24, the electric system includes a power control unit 50 and a main contactor 51, etc. The power control unit 50 is connected with the assist power generation motor 23 and the swing electric motor 25, and is connected to the capacitor 24 through the main contactor 51. The capacitor 24 is discharged or charged according to the drive conditions (whether in a power running or in a regenerative running) of the assist power generation motor 23 and the swing electric motor 25. The drive conditions of the assist power generation motor 23 and the swing electric motor 25 are controlled by the power control unit 50 in accordance with commands from a controller 80.
The controller 80 generates control commands for the control valve 42, the hydraulic pump 41, and the power control unit 50 on the basis of various input signals, and performs torque control on the swing electric motor 25, delivery flow rate control on the hydraulic pump 41, and the like. Input signals to the controller 80 include operation signals from various operation systems, a pressure detection signal from the swing hydraulic motor 27, and an angular velocity signal from the swing electric motor 25.
As shown in the diagram, the controller 80 includes a boom speed reduction amount calculation block 83a (boom speed reduction amount calculation section), a swing speed reduction amount calculation block 83b (swing speed reduction amount calculation section), a swing torque calculation block 83c (swing torque calculation section), and a torque command value calculation block 83d (torque command value calculation section). Besides, a pilot line of the swing operation system 72 is provided with detectors 74aL and 74aR, and both of lines for suction and discharge of hydraulic fluid into and from the swing hydraulic motor 27 are provided with detectors 74bL and 74bR, respectively. A pilot line of the boom operation system (boom operation lever system) 78 is provided with a detector 74c, and a line for suction and discharge of hydraulic fluid into and from a bottom-side fluid chamber of the boom cylinder 32 is provided with a detector 74d.
Each of the detectors 74aL, 74aR, 74bL, 74bR, 74c and 74d is a hydraulic-to-electric converter for converting a pressure in a hydraulic line into an electrical signal, and outputs a signal to the controller 80. Specifically, the detector 74aL convers into an electrical signal a hydraulic pilot signal generated by an operation input to the swing operation system 72 at the time of instructing a leftward swing operation, and outputs the electrical signal as a detection signal to the swing speed reduction amount calculation block 83b. The detector 74aR converts into an electrical signal a hydraulic pilot signal generated by an operation input to the swing operation system 72 at the time of instructing a rightward swing operation, and outputs the electrical signal as a detection signal to the swing speed reduction amount calculation block 83b. The detectors 74bL and 74bR convert an operation pressure in the swing hydraulic motor 27 into an electrical signal, and output the electrical signal as a detection signal to the swing torque calculation block 83c. The detector 74c convers into an electrical signal a hydraulic pilot signal generated by an operation input to the boom operation system 78 at the time of instructing a boom raising operation, and outputs the electrical signal as a detection signal to the boom speed reduction amount calculation block 83a. The detector 74d converts a bottom pressure in the boom cylinder 32 into an electrical signal, and outputs the electrical signal as a detection signal to the boom speed reduction amount calculation block 83a.
The boom speed reduction amount calculation block 83a calculates a speed reduction amount of boom speed (boom speed reduction amount) ΔR with respect to a reference boom raising speed Rs that is suited to an operation amount of the boom operation system 78, based on the signals from the detectors 74c and 74d. The reference boom raising speed Rs means a speed at which the boom 31 is raised according to an operation amount of the boom operation system 78 in a no-load condition (a condition where the bucket is empty) or a condition where a predetermined load is exerted. In the boom speed reduction amount calculation block 83a, a relation (a relation curve, a table or the like) between boom raising operation amount (the signal from the detector 74c) of the boom operation system 78 and the reference boom raising speed Rs is preliminarily stored. In addition, in the boom speed reduction amount calculation block 83a, relations (relation curves, tables or the like) between the boom raising operation amount (the signal from the detector 74c) of the boom operation system 78, bottom pressure (the signal from the detector 74d) of the boom cylinder 32, and the boom speed reduction amount ΔR are preliminarily stored. In the boom speed reduction amount calculation block 83a, therefore, on the basis of the signals from the detectors 74c and 74d, the reference boom raising speed Rs suited to the operation amount of the boom operation system 78 is calculated, and, simultaneously, the boom speed reduction amount ΔR according to the bottom pressure of the boom cylinder 32 is calculated. These calculated values are inputted from the boom speed reduction amount calculation block 83a to the swing speed reduction amount calculation block 83b. Note that it may also be contemplated to let the boom speed reduction amount AR be a value determined simply by the relation with the bottom pressure of the boom cylinder 32.
The swing speed reduction amount calculation block 83b calculates a speed reduction amount of swing speed (swing speed reduction amount) ΔS with respect to a reference swing speed Ss that is suited to an operation amount of the swing operation system 72, based on the calculated boom speed reduction amount ΔR and the signals from the detectors 74aL and 74aR. The reference swing speed Ss means an intrinsic speed according to the operation amount of the swing operation system 72. In addition, when boom raising speed R (=Rs−ΔR) determined taking the boom speed reduction amount ΔR into account and swing speed S (=Ss−ΔS) determined taking the swing speed reduction amount ΔS into account are used, a relation of R/S=Rs/Ss is established. In other words, the swing speed reduction amount ΔS is a correction amount that should be subtracted from the reference swing speed Ss in such a manner that the excavator mechanism 30 will move along a locus that is to be described by the excavator mechanism 30 driven at the reference boom raising speed Rs and the reference swing speed Ss, in the case where a boom speed reduction amount ΔR is anticipated due to a boom load. The swing speed reduction amount ΔS is inputted from the swing speed reduction amount calculation block 83b to the torque command value calculation block 83d. Note that during control of swing speed, the swing speed reduction amount calculation block 83b regulates the value of the speed reduction amount ΔS in such a manner that an actual swing speed calculated based on an angular velocity signal co of the swing electric motor 25 inputted through the power control unit 50 will approach the swing speed S (target).
In the swing torque calculation block 83c, swing torque of the swing hydraulic motor 27 is calculated based on the signals from the detectors 74bL and 74bR, and the calculated value is outputted to the torque command value calculation block 83d. In the torque command value calculation bock 83d, on the basis of the swing speed reduction amount ΔS calculated by the swing speed reduction amount calculation block 83b and the swing torque calculated by the swing torque calculation block 83c, a torque command value EA for the swing electric motor 25 that is necessary for generating the swing speed reduction amount ΔS is calculated, and the calculated value is outputted to the power control unit 50. The power control unit 50 drives the swing electric motor 25 in accordance with the torque command value EA. In this case, the swing electric motor 25 is driven as a generator, and a generation output obtained by regeneration of kinetic energy of the swing structure 20 is accumulated into the capacitor 24 by way of the main contactor 51.
Simultaneously with the load command given to the swing electric motor 25, a hydraulic pilot signal generated due to an input to the swing operation system 72 is inputted also to the control valve 42. As a result, the spool 61 is changed over from a neutral position, and hydraulic fluid delivered from the hydraulic pump 41 is supplied to the swing hydraulic motor 27, to cause driving of the swing hydraulic motor 27. Since the swing electric motor 25 and the swing hydraulic motor 27 are connected directly to each other, a total torque of the torques outputted from these motors 35 and 37 becomes a swing torque that actually acts on the swing structure 20.
In addition, at the time of a swing and boom raising operation, a hydraulic pilot signal generated due to an operation input to the boom operation system 78 simultaneously with the above-mentioned swing drive is inputted also to the control valve 42. As a result, the spool 64 is changed over from a neutral position, hydraulic fluid delivered from the hydraulic pump 41 is supplied to the boom cylinder 32, and the boom 31 is raised.
As shown in the chart, suppression of swing speed (in this embodiment, regeneration by the swing electric motor 25) is performed only at the time of a swing and boom raising operation. In other words, the suppression of swing speed is conducted only in the case where a boom raising operation and a swing operation are simultaneously performed, and the swing speed is not suppressed not only in the case where neither a boom raising operation nor a swing operation is performed but also in the case where only one of these operations is performed. In addition, the operation of raising the swing boom includes, for example, a case where it is unnecessary to suppress the swing speed because, for example, the bucket 35 is empty. In such a case, in order to avoid an unnecessary lowering in the swing speed, it may be preferable, for example, to add a condition where the bottom pressure of the boom cylinder 32 is in excess of a holding pressure of the excavator mechanism 30 to the conditions for the suppression. In other words, a configuration is adopted wherein the swing speed is suppressed only in the case where the bottom pressure of the boom cylinder 32 is in excess of the holding pressure and where a boom raising operation and a swing operation are simultaneously performed. In this case, the suppression of the swing speed is not conducted when the bottom pressure of the boom cylinder 32 is not more than the holding pressure, even if a boom raising operation and a swing operation are simultaneously performed.
Note that the holding pressure of the excavator mechanism 30 is the bottom pressure of the boom cylinder 32 in a condition where the bucket 36 in an empty state is floated in the air and only the weight of the excavator mechanism 30 is acting on a bottom-side fluid chamber of the boom cylinder 32. Besides, in the block configuration shown in
As shown in the diagram, a swing operation command “is” and a boom raising operation command “ib” are simultaneously inputted at time T3. In this example, however, the given condition is that the bottom pressure of the boom cylinder 32 is equal to the holding pressure of the excavator mechanism 30, and boom load is absent. Therefore, a load torque Te due to the swing electric motor 25 is not generated (not regenerated). Accordingly, the swing torque To generated by the swing hydraulic motor 27 becomes a total torque Tt of the swing electric motor 25 and the swing hydraulic motor 27. As a result, swing speed of the swing structure 20 increases gradually, so that angular velocity reaches ω1 at time T4 in this example. On the other hand, in response to the input of the boom raising operation command “ib,” working fluid is supplied into the bottom-side fluid chamber of the boom cylinder 30, the bottom pressure Pb of the boom cylinder 32 rises, and the boom 31 of the excavator mechanism 30 is rotated upward. Thus, a swing operation of the swing structure 20 and the rising operation of the excavator mechanism 30 are simultaneously performed, whereby a swing and boom raising operation is carried out. Note that the boom raising speed and the swing speed under the conditions in this example correspond to the aforementioned reference boom raising speed and reference swing speed, respectively.
As shown in the diagram, in response to the input of the boom raising operation command “ib,” working fluid is supplied into the bottom-side fluid chamber of the boom cylinder 32, and the bottom pressure Pb of the boom cylinder 32 rises; in this case, the bottom pressure Pb becomes higher than in the case of
On the other hand, since the boom load is present in this example, upon the simultaneous input of the swing operation command “is” and the boom raising operation command “ib,” a load torque Te due to the swing electric motor 25 is generated (regenerated). Therefore, the swing torque To of the swing hydraulic motor 27 is partly canceled, so that the total torque Tt is reduced by an amount corresponding to the load torque Te as compared to the case where boom load is absent. Consequently, the swing speed of the swing structure 20 is suppressed, and the angular velocity at time T4 is less than ω1.
As a result, where the swing operation amount and the boom raising amount are the same, the swing speed in the example of
As shown in
As shown in these diagrams, when a boom raising operation command “ib” is inputted at time T3, the boom cylinder 32 is extended. The extending speed (boom speed) in the case where a boom load is present is slower than the speed (solid line in
As shown in
In addition, in this embodiment, unlike in the aforementioned embodiments, regenerative drive of the swing electric motor 25 is not conducted at the time of giving swing power to the swing structure 20. At the time of giving swing power to the swing structure 20, power running drive of the swing electric motor 25 is performed constantly, independently of a boom load. For instance, in the torque command value calculation block 83d, a swing torque (torque correction amount ΔT) to be reduced for reducing the swing speed with respect to the reference swing speed Ss by a swing speed reduction amount ΔS calculated by the swing speed reduction amount calculation block 83b is calculated, a value obtained by subtracting the torque correction amount ΔT from a torque calculated by the swing torque calculation block 83c is generated, and the thus generated value is outputted to the power control unit 50. As a result, at the time of a boom raising operation, power running drive of the swing electric motor 25 is performed with a swing torque according to the boom load, and the swing structure 20 is driven to swing at a swing speed determined taking the swing speed reduction amount ΔS into account. Naturally, the conditions for performing suppression of swing speed (for a swing speed reduction amount AS having a non-zero value to be inputted to the torque command value calculation block 83d) are the same as in the preceding embodiments.
While the case of applying the present invention to a hydraulic excavator provided with an electric motor 25 and a hydraulic motor 27 for swing has been shown in describing the first and second embodiments, the present invention is also applicable to a hydraulic excavator in which a swing hydraulic motor 27 is omitted and swing drive is effected by only an electric motor 25 as in this embodiment.
In the first to third embodiments, a configuration has been adopted in which a swing speed reduction amount AS according to a boom speed reduction amount AR is calculated and the swing torque is corrected thereby. There may also be considered a configuration in which a target swing torque is calculated based on a boom load and a swing operation amount, for example, in performing suppression of swing speed. In this case, for example as shown in
Note that
In the diagram, the axis of abscissas represents swing angle of the swing structure 20 from the start of swing at the time of a swing and boom raising operation, and the axis of ordinates represents a rising amount of the boom 31 from the start of boom raising at the time of a swing and boom raising operation. A case is considered in which when a swing and boom raising operation is conducted with a predetermined swing operation amount and a predetermined boom raising operation amount in the absence of boom load, the boom 31 (for example, the tip thereof) is moved from position X0 (A0, D0) to position X1 (A1, D2) when time A elapses from the start of operation. In other words, this is an example in which the boom 31 is raised at a reference boom raising speed Rs while performing swing drive at a reference swing speed Ss, and a line passing through position X0 and position X1 is made to be an example of reference locus (see alternate long and two short dashes line).
However, in a configuration wherein the swing structure 20 swings according to an operation amount and independently of boom load at the time of a swing and boom raising operation, a problem as follows would be generated if the same operation as above is conducted. With the elapse of time A, the swing angle reaches A1 but the boom 31 reaches only D1 (<D2), so that the boom position after time A is position X2, which is below position X1. If the height of the boom 31 must reach D2 for dumping a load in the bucket 35 onto a carrier of a transportation vehicle such as a dump truck, it would be impossible to carry out the dumping operation at position X2. With the swing and boom raising operation continued thereafter, the height of the boom 31 reaches D2 when time B (>A) elapses from the start of operation, but, in this case, the swing angle reaches A2 (>A1). In other words, the boom 31 reaches position X3 at height D2 along a locus that is lower than the reference locus (alternate long and two short dashes line). Therefore, if the swing and boom raising operation by the operator is intended to attain the reference locus, the locus passing through position X2 is an unexpectedly lower locus, so that the excavator mechanism 30 can possibly collide against the carrier of the transportation vehicle.
In each of the aforementioned embodiments, on the other hand, the swing speed at the time of a swing and boom raising operation is suppressed in the case where a boom load is present, and, accordingly, the boom 31 is moved along the reference locus if the same operation is conducted. Since both the boom raising speed and the swing speed are lowered as compared to the case where boom load is absent, the boom is still at position X4 (height D1 <D2) when time A elapses, but the boom reaches position X1 after time B elapses from the start of operation.
Thus, according to each of the above embodiments, in the case where boom load is high, the moving speed of the boom 31 is lowered correspondingly, so that a natural operation feeling can be realized. Nevertheless, since the swing speed is lowered according to a lowering in the moving speed of the boom 31, it is possible to inhibit an unintended trouble such as collision of the excavator mechanism 30 against the carrier of a transportation vehicle due to movement of the boom 31 along an unexpectedly lower locus. In addition, although the speed varies according to boom load, the boom moves along the reference locus independently of the boom load. Therefore, even an unskillful person can move the boom 31 along a stable locus without being affected by variations in boom load during operation.
Note that strictly speaking, the load pressure on the boom cylinder 32 varies according to the posture of the boom 31. In each of the above embodiments, however, reduction rate of swing torque varies with variation in the boom load during a swing and boom raising operation. An example of behaviors of torque and the like as determined taking into account the variation in boom load during a swing and boom raising operation is shown in
In addition, in the aforementioned first and second embodiments, a power generation output can be obtained by performing regenerative drive of the swing electric motor 25 at the time of reducing the swing speed, and, accordingly, energy efficiency is enhanced.
In the fourth embodiment, on the other hand, calculations of the swing speed reduction amount AS and the boom speed reduction amount AR can be omitted, and, accordingly, there is a merit that algorithm can be simplified as compared to the other embodiments.
While a case of applying the present invention to a hydraulic excavator has been taken as an example in the description of each of the above embodiments, the present invention is applicable generally to construction machines including a work implement capable of being raised and lowered and a swing structure. The invention is also applicable to other construction machines such as crane vehicle having a crane (work implement) and a swing structure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2014-031031 | Feb 2014 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2015/050190 | 1/6/2015 | WO | 00 |
