Patent Application
20140033697
The present disclosure relates generally to a hydraulic system and, more particularly, to a meterless hydraulic system having force modulation.
A conventional hydraulic system includes a pump that draws low-pressure fluid from a tank, pressurizes the fluid, and makes the pressurized fluid available to multiple different actuators for use in moving the actuators. In this arrangement, a speed and/or force of each actuator can be independently controlled by selectively throttling (i.e., restricting) a flow of the pressurized fluid from the pump into and/or out of each actuator. For example, to move a particular actuator at a higher speed and/or with a higher force, the flow of fluid from the pump into the actuator is unrestricted or restricted by only a small amount. In contrast, to move the same or another actuator at a lower speed and/or with a lower force, the restriction placed on the flow of fluid is increased. Although adequate for many applications, the use of fluid restriction to control actuator speed or force can result in flow losses that reduce an overall efficiency of the hydraulic system.
An alternative type of hydraulic system is known as a meterless hydraulic system. A meterless hydraulic system generally includes a pump connected in closed-loop fashion to a single actuator or to a pair of actuators operating in tandem. During operation, the pump draws fluid from one chamber of the actuator(s) and discharges pressurized fluid to an opposing chamber of the same actuator(s). To move the actuator(s) at a higher speed, the pump discharges fluid at a faster rate. To move the actuator with a lower speed, the pump discharges the fluid at a slower rate. A meterless hydraulic system is generally more efficient than a conventional hydraulic system because the speed of the actuator(s) is controlled through pump operation as opposed to fluid restriction. That is, the pump is controlled to only discharge as much fluid as is necessary to move the actuator(s) at a desired speed, and little or no throttling of the fluid flow is required.
An exemplary meterless hydraulic system is disclosed in U.S. Patent Publication 2008/0250783 of Griswold that published on Oct. 16, 2008 (the '783 publication). In the '783 publication, a multi-actuator closed-loop hydraulic system is described. The hydraulic system includes a first circuit having a first actuator connected to a first pump in a closed-loop manner, and a second circuit having a second actuator connected to a second pump in a closed-loop manner. The hydraulic system also includes a third pump connected in an open-loop manner to the first and second circuits to provide additional flow to the first and second circuits.
The closed-loop hydraulic system of the '783 publication described above may be less than optimal. In particular, the system does not disclose a way to modulate a force of the actuators.
The hydraulic system of the present disclosure is directed toward solving one or more of the problems set forth above and/or other problems of the prior art.
In one aspect, the present disclosure is directed to a hydraulic system. The hydraulic system may include a pump configured to draw low-pressure fluid from one of a first passage and a second passage, and discharge fluid at an elevated pressure into the other of the first and second passages. The hydraulic system may also include an actuator coupled to the pump via the first and second passages. The hydraulic system may further include a charge circuit, a makeup valve movable to selectively pass fluid from a higher pressure one of the first and second passages, and a force modulation control valve disposed between the makeup valve and the charge circuit. The force modulation control valve may be movable between a first position at which fluid passed from the higher-pressure one of the first and second passages is directed into the charge circuit, and at least a second position at which fluid from the higher-pressure one of the first and second passages is directed into a lower-pressure one of the first and second passages and blocked from the charge circuit.
In another aspect, the present disclosure is directed to a method of operating a hydraulic system. The method may include drawing fluid from one of a first chamber and a second chamber of an actuator, pressurizing the fluid with a pump, and directing the pressurized fluid into the other of the first and second chambers of the actuator to move the actuator. The method may also include selectively directing high-pressure fluid from the pump through a makeup valve, and selectively directing the high-pressure fluid from the makeup valve to bypass the actuator and enter the pump or a charge circuit.
Implement system 12 may include a linkage structure acted on by fluid actuators to move work tool 14. In the disclosed exemplary embodiment, implement system 12 includes a boom 22 that is vertically pivotal about a horizontal axis (not shown) relative to a work surface 24 by a pair of adjacent, double-acting, hydraulic cylinders 26 (only one shown in
Numerous different work tools 14 may be attachable to a single machine 10 and operator controllable. Work tool 14 may include any device used to perform a particular task such as, for example, a bucket (shown in
Drive system 16 may include one or more traction devices powered to propel machine 10. In the disclosed example, drive system 16 includes a left track 40L located at one side of machine 10, and a right track 40R located at an opposing side of machine 10. Left track 40L may be driven by a left travel motor 42L, while right track 40R may be driven by a right travel motor 42R. It is contemplated that drive system 16 could alternatively include traction devices other than tracks, such as wheels, belts, or other known traction devices. Machine 10 may be steered by generating a speed and/or rotational direction difference between left and right travel motors 42L, 42R, while straight travel may be facilitated by generating substantially equal output speeds and rotational directions from left and right travel motors 42L, 42R.
Power source 18 may embody an engine such as, for example, a diesel engine, a gasoline engine, a gaseous fuel-powered engine, or any other type of combustion engine known in the art. It is contemplated that, in some applications, power source 18 may alternatively embody a non-combustion source of power such as a fuel cell, a power storage device, or another source known in the art. Power source 18 may produce a mechanical or electrical power output that may then be converted to hydraulic power for moving hydraulic cylinders 26, 32, 34, left and right travel motors 42L, 42R, and/or swing motor 43.
Operator station 20 may include devices that receive input from a machine operator indicative of desired machine maneuvering. Specifically, operator station 20 may include one or more interface devices 46, for example a joystick, a steering wheel, and/or a pedal, that are located proximate an operator seat (not shown). Interface devices 46 may initiate movement of machine 10, for example travel and/or tool movement, by producing displacement signals that are indicative of desired machine maneuvering. As an operator moves interface device 46, the operator may affect a corresponding machine movement in a desired direction, with a desired speed, and/or with a desired force.
One exemplary linear actuator (one of hydraulic cylinders 26) is shown in the schematic of
As shown schematically in
First and second chambers 52, 54 may each be selectively provided with pressurized fluid and drained of the pressurized fluid to cause piston assembly 50 to move within tube 48, thereby changing an effective length of hydraulic cylinder 26 and moving work tool 14 (referring to
Left travel, right travel, and swing motors 42L, 42R, 43 (referring to
As illustrated in
In the disclosed embodiment, tool circuit 58 includes a plurality of interconnecting and cooperating fluid components that facilitate the simultaneous and independent use and control of the associated actuator. For example, tool circuit 58 may include a pump 66 that is fluidly connected to its associated actuator via a closed-loop formed by first and second pump passages 68, 70. Specifically, pump 66 in tool circuit 58 may be connected to hydraulic cylinder 26 via first and second pump passages 68, 70, a rod-end passage 72, and a head-end passage 74. To cause hydraulic cylinder 26 to extend, head-end passage 74 may be filled with fluid pressurized by pump 66, while rod-end passage 72 may be filled with fluid returning from hydraulic cylinder 26. In contrast, during a retracting operation, rod-end passage 72 may be filled with fluid pressurized by pump 66, while head-end passage 74 may be filled with fluid returning from hydraulic cylinder 26.
Pump 66 may be a variable displacement, overcenter-type pump. That is, pump 66 may be controlled to draw fluid from hydraulic cylinder 26 and discharge the fluid at a specified elevated pressure through a range of flow rates back to hydraulic cylinder 26 in two different directions. For this purpose, pump 66 may include a displacement controller, such as a swashplate and/or other like stroke-adjusting mechanism. The position of various components of the displacement controller may be electro-hydraulically and/or hydro-mechanically adjusted based on, among other things, a demand, a desired speed, a desired torque, and/or a load of hydraulic cylinder 26 to thereby change a displacement (e.g., a discharge rate and/or pressure) of pump 66. The displacement of pump 66 may be varied from a zero displacement position at which substantially no fluid is discharged from pump 66, to a maximum displacement position in a first direction at which fluid is discharged from pump 66 at a maximum rate and/or pressure into first pump passage 68. Likewise, the displacement of pump 66 may be varied from the zero displacement position to a maximum displacement position in a second direction at which fluid is discharged from pump 66 at a maximum rate and/or pressure into second pump passage 70. Pump 66 may be drivably connected to power source 18 of machine 10 by, for example, a countershaft, a belt, or in another suitable manner. Alternatively, pump 66 may be indirectly connected to power source 18 via a torque converter, a gear box, an electrical circuit, or in any other manner known in the art. It is contemplated that pump 66 may alternatively be a non-overcenter (i.e., unidirectional) pump, if desired.
Pump 66 may also be selectively operated as a motor. More specifically, when hydraulic cylinder 26 is operating in an overrunning condition, the fluid discharged from hydraulic cylinder 26 may have a pressure elevated higher than an output pressure of pump 66. In this situation, the elevated pressure of the actuator fluid directed back through pump 66 may function to drive pump 66 to rotate with or without assistance from power source 18. Under some circumstances, pump 66 may even be capable of imparting energy to power source 18, thereby improving an efficiency and/or capacity of power source 18.
Hydraulic system 56 may be provided with one or more load-holding valves 114 that are configured to maintain a position of hydraulic cylinder 26 when no movement thereof has been requested. Such load holding valves 114 may embody, for example, two-position, two-way, solenoid-controlled valves. Each load holding valve 114 may be moveable from a first position at which fluid may freely flow in either direction between the corresponding first or second pump passage 68, 70 and the corresponding rod- or head-end passage 72, 74, to a second position at which fluid may only flow in one direction into the rod- or head-end passage 72, 74 based on a pressure differential across load holding valve 114. Load holding valves 114 may be spring-biased to their second positions (i.e., load holding valves 114 may normally be in the second positions). When loading holding valves 114 are in their second positions, fluid may not be forced out of hydraulic cylinder 26 through load holding valves 114, thereby locking hydraulic cylinder 26 in a particular actuated position.
It will be appreciated by those of skill in the art that the respective rates of hydraulic fluid flow into and out of first and second chambers 52, 54 of hydraulic cylinder 26 during extension and retraction may not be equal. That is, because of the location of rod portion 50A within second chamber 54, piston assembly 50 may have a reduced pressure area within second chamber 54, as compared with a pressure area within first chamber 52. Accordingly, during retraction of hydraulic cylinder 26, more hydraulic fluid may be forced out of first chamber 52 than can be consumed by second chamber 54 and, during extension, more hydraulic fluid may be consumed by first chamber 52 than is forced out of second chamber 54. In order to accommodate the excess fluid discharged during retraction and the additional fluid consumed during extension, hydraulic cylinder 26 may be provided with two makeup valves 89 and two relief valves 88 that are fluidly coupled with charge circuit 62 via a common passage 90.
Makeup valves 89 associated with hydraulic cylinder 26 may each be check valves or another type of valve configured to block flow in a first direction and to permit flow only in a second direction. For example, makeup valves 89 may be configured to selectively allow pressurized fluid from charge circuit 62 to enter first and/or second pump passages 68, 70. Such valves may, however, prohibit fluid from passing in the opposite direction.
Relief valves 88 may be provided to allow fluid relief from hydraulic cylinder 26 into charge circuit 62 when a pressure of the fluid exceeds a set threshold of relief valves 88. Relief valves 88 may be set to operate at relatively high pressure levels in order to prevent damage to hydraulic system 56, for example at levels that may be reached only when hydraulic cylinder 26 reaches an end-of-stroke position and the flow from pumps 66 is nonzero, or during a failure condition of hydraulic system 56.
An additional makeup valve 61 may be associated with first and second pump passages 68, 70. Makeup valve 61 may be a pilot-operated, three-position valve movable based on a pressure differential between first and second pump passages 68, 70. In particular, makeup valve 61 may be movable from a first position (middle position shown in
It should be noted that when makeup valve 61 is in the first position, flow through makeup valve 61 may either be completely blocked or only restricted to inhibit flow by a desired amount. That is, makeup valve 61 could include restrictive orifices (shown in
Charge circuit 62 may include at least one hydraulic source fluidly connected to common passage 90 described above. In the disclosed embodiment, charge circuit 62 has two sources, including a charge pump 94 and an accumulator 96, which are fluidly connected to common passage 90 in parallel to provide makeup fluid to tool circuit 58. Charge pump 94 may embody, for example, an engine-driven, fixed or variable displacement pump configured to draw fluid from a tank 98, pressurize the fluid, and discharge the fluid into common passage 90. Accumulator 96 may embody, for example, a compressed gas, membrane/spring, or bladder type of accumulator configured to accumulate pressurized fluid from and discharge pressurized fluid into common passage 90. Excess hydraulic fluid, either from charge pump 94 or from tool circuit 58 (i.e., from operation of pump 66 and/or hydraulic cylinder 26) may be directed into either accumulator 96 or into tank 98 by way of a charge relief valve 100 disposed in a return passage 102. Charge relief valve 100 may be movable from a flow-blocking position toward a flow-passing position as a result of elevated fluid pressures within common passage 90 and return passage 102.
A force modulation control valve 78 may be associated with tool circuit 58 to help regulate a speed and/or force of work tool 14 imparted by hydraulic cylinder 26. It is contemplated, however, that force modulation control valve 78 could alternatively or additionally be associated with other hydraulic actuators (e.g., hydraulic cylinder 32, hydraulic cylinder 34, swing motor 43, left and/or right travel motors 42L, 42R) and/or other circuits of hydraulic system 56, if desired.
Force modulation control valve 78 may be a three-position, spool-type valve that is fluidly connected between makeup valve 61 and common passage 90. In particular, force modulation control valve 78 may be solenoid operable to move to any position between a flow-passing position (normal position—shown in
For example, when makeup valve 61 is in its first position (i.e., when pressures between first and second pump passages 68, 70 are substantially balanced) and force modulation control valve 78 is in its first position (combination shown in
When makeup valve 61 is in its second position (i.e., when pressures within first pump passage 68 are substantially lower than pressures within second pump passage 70) and force modulation control valve 78 is in either of the flow-blocking positions, makeup fluid from common passage 90 may be allowed only into first pump passage 68 and flow to or from second pump passage 70 through force modulation control valve 78 may be substantially blocked. Likewise, when makeup valve 61 is in its third position (i.e., when pressures within second pump passage 70 are substantially lower than pressures within first pump passage 68) and force modulation control valve 78 is in either of the flow-blocking positions, makeup fluid from common passage 90 may be allowed only into second pump passage 70 and flow to or from first pump passage 68 through force modulation control valve 78 may be substantially blocked. In other words, these combinations of valve positions may result in little, if any, force modulation of hydraulic cylinder 26.
When makeup valve 61 is in its second position and force modulation control valve 78 is in its flow-passing position, first pump passage 68 may be fluidly connected with common passage 90 to receive makeup fluid and to second pump passage 70 to discharge bypassing fluid. The connection with second pump passage 70, however, may be restricted to some degree. Similarly, when makeup valve 61 is in its third position and force modulation control valve 78 is in its flow-passing position, second pump passage 70 may be fluidly connected with common passage 90 to receive makeup fluid and to first pump passage 68 to discharge bypassing fluid. The connection with first pump passage 68, however, may be restricted to some degree.
When makeup valve 61 is in its second position and force modulation control valve is in its flow-passing position, first pump passage 68 may be fluidly connected with only common passage 90 to receive makeup fluid. Similarly, when makeup valve 61 is in its third position and force modulation control valve 78 is in its flow-passing position, second pump passage 70 may be fluidly connected with only common passage 90 to receive makeup fluid.
When high-pressure fluid from either of first or second pump passages 68, 70 bypasses hydraulic cylinder 26 and flows directly into the other of first and second pump passages 68, 70 via force modulation control valve 78, a reduction in speed and/or force of hydraulic cylinder 26 may occur. As detailed above, this bypassing of fluid can occur either when makeup valve 61 is between its first and second positions and force modulation control valve 78 is between its first and second positions, or when makeup valve 61 is between its first and third positions and force modulation control valve 78 is between its first and third positions. In particular, because there may be little resistance to the flow of fluid bypassing hydraulic cylinder 26 in these combinations of valve positions, the pressure of the fluid within tool circuit 58 may remain relatively low. This low-pressure fluid may result in a reduced speed and/or force capacity of hydraulic cylinder 26 and a corresponding increased controllability over the movement of work tool 14. As force modulation control valve 78 nears its first position (from either its second or third positions), a greater resistance may be placed on the flow of bypassing fluid within tool circuit 58, thereby causing a corresponding rise in the pressure of all fluid within tool circuit 58 and in the resulting speed and/or force capacity of hydraulic cylinder 26.
Accordingly, as an operator of machine 10 requests a greater force from hydraulic cylinder 26 (e.g., as the operator displaces interface device 46 by a greater distance), force modulation control valve 78 may be caused to move toward its first position by a greater amount. When force modulation control valve 78 is moved fully to the first position, substantially no fluid may be bypassing hydraulic cylinder 26 via force modulation control valve 78 such that full speed and/or force of hydraulic cylinder 26 may be available to the operator.
It should be noted that, when force modulation control valve 78 is fully in either flow-blocking position, force modulation control valve 78 may no longer be restricting the flow of any fluid through tool circuit 58. Accordingly, any metering losses associated with force modulation control valve 78 may only be experienced when force modulation control valve 78 is metering (i.e., in a position other than the first position). The functionality provided by force modulation control valve 78 may result in greater control over hydraulic cylinder 26 and allow hydraulic cylinder 26 to stop when a load on work tool 14 increases beyond a particular level, thereby enabling the operator to accomplish delicate position control tasks.
During operation of machine 10, the operator of machine 10 may utilize interface device 46 to provide a signal that identifies a desired movement of the various linear and/or rotary actuators to a controller 124. Based upon one or more signals, including the signal from interface device 46 and, for example, signals from various pressure sensors and/or position sensors (not shown) located throughout hydraulic system 56, controller 124 may command movement of the different valves and/or displacement changes of the different pumps and motors to advance a particular one or more of the linear and/or rotary actuators to a desired position in a desired manner (i.e., at a desired speed and/or with a desired force). For example, it may be necessary to sense a commanded pump displacement to determine a direction that the operator desires to move work tool 14. In addition, it may be necessary to sense a pressure of first and/or second pump passages 68, 70 to determine to what position force modulation control valve 78 should be moved.
Controller 124 may embody a single microprocessor or multiple microprocessors that include components for controlling operations of hydraulic system 56 based on input from an operator of machine 10 and based on sensed or other known operational parameters. Numerous commercially available microprocessors can be configured to perform the functions of controller 124. It should be appreciated that controller 124 could readily be embodied in a general machine microprocessor capable of controlling numerous machine functions. Controller 124 may include a memory, a secondary storage device, a processor, and any other components for running an application. Various other circuits may be associated with controller 124 such as power supply circuitry, signal conditioning circuitry, solenoid driver circuitry, and other types of circuitry.
The disclosed hydraulic system may be applicable to any machine where improved hydraulic efficiency and control is desired. The disclosed hydraulic system may provide for improved efficiency through the use of meterless technology. The disclosed hydraulic system may provide for improved control through the use of force modulation. Operation of hydraulic system 56 will now be described.
During operation of machine 10, an operator located within station 20 may tilt interface device 46 in a particular direction by a particular amount and/or with a particular speed to command motion of work tool 14 in a desired direction, at a desired velocity, and/or with a desired force. One or more corresponding signals generated by interface device 46 may be provided to controller 124 indicative of the desired motion, along with machine performance information, for example sensor data such a pressure data, position data, speed data, pump or motor displacement data, and other data known in the art.
For example, in response to the signals from interface device 46 indicative of a desire to lift work tool 14 with an increasing velocity, and based on the machine performance information, controller 124 may generate control signals directed to the stroke-adjusting mechanism of pump 66 within tool circuit 58 and/or to force modulation control valve 78. These control signals may include a first control signal that causes pump 66 to increase its displacement and discharge pressurized fluid into first pump passage 68 at a greater rate. When fluid from pump 66 is directed into first chamber 52 via first pump and head-end passages 68, 74, return fluid from second chamber 54 of hydraulic cylinders 26 may flow back to pump 66 via rod-end and second pump passages 72, 70 in closed-loop manner. At this time, the pressure of fluid within first pump passage 68 may be greater than the pressure of fluid within second pump passage 70 and, accordingly, cause makeup valve 61 to move toward its third position.
At about this same time, a second control signal may be sent to force modulation control valve 78, causing force modulation control valve 78 to move to a position corresponding to the displacement of interface device 46. For example, if interface device 46 is displaced by only a small amount, force modulation control valve 78 may be moved a small distance from its flow-passing position, at which fluid from first pump passage 68 may bypass hydraulic cylinder 26 and flow directly into second pump passage 70 via makeup valve 61. In this situation, hydraulic cylinder 26 may be extending relatively slowly and/or with relatively little force. The extension may continue until work tool 14 becomes more heavily loaded or engages an immovable mass, at which time work tool 14 may stop moving and all of the fluid from first pump passage 68 may be forced to bypass hydraulic cylinder 26 and flow directly into second pump passage 68 via force modulation control valve 78 and makeup valve 61.
If however, interface device 46 is displaced by a greater amount (e.g., moved further upon work tool movement stopping), force modulation control valve 78 may be caused by controller 124 to move a greater amount towards either flow-blocking position, at which a lesser amount of fluid from first pump passage 68 may bypass hydraulic cylinder 26 and flow directly into second pump passage 70 via makeup valve 61. In this situation, hydraulic cylinder 26 may extend more quickly and/or with greater force, as more fluid will be directed into hydraulic cylinders 26. As the operator continues to displace interface device 46 by greater amounts, force modulation control valve 78 will eventually move all the way to its flow-blocking position, and hydraulic cylinder 26 will move with a maximum force and/or at a maximum speed. In this manner, the operator may be provided with force control over hydraulic cylinders 26. Force modulation of other actuators within hydraulic system 56 may be regulated in a similar manner.
To drive hydraulic cylinder 26 at an increasing speed in a retracting direction (e.g., to lower work tool 14), controller 124 may generate a first control signal that causes pump 66 of tool circuit 58 to increase its displacement in a reverse flow direction and discharge pressurized fluid into second pump passage 70 at a greater rate, while simultaneously generating a second control signal that causes force modulation control valve 78 to move to a position corresponding to the displacement of interface device 46. When interface device 46 is displaced by only a small amount, force modulation control valve 78 may move a small distance from its flow-passing position and, when interface device 46 is displaced by a greater amount, force modulation control valve 78 may move towards its flow-blocking position. The high-flow position may result in a relatively lower extending speed and/or force of hydraulic cylinder 26, as compared with the more restricted flow-blocking positions. As described above, when fluid from pump 66 is directed into second chamber 54 of hydraulic cylinder 26, return fluid from first chamber 52 may flow back into pump 66 in closed-loop manner, thereby allowing hydraulic cylinder 26 to retract at a speed and/or at a force related to the displacement of pump 66 and the position of force modulation control valve 78.
In the disclosed hydraulic system, flows provided by pump 66 may be substantially unrestricted during modulation of hydraulic cylinder 26, such that significant energy is not unnecessarily wasted in the actuation process. Thus, embodiments of the disclosure may provide improved energy usage and conservation. In addition, the closed-loop operation of hydraulic system 56 may, in some applications, allow for a reduction or even complete elimination of metering valves for controlling fluid flow associated with the linear and rotary actuators. This reduction may result in a less complicated and/or less expensive system.
The disclosed hydraulic system may also provide for force modulation of hydraulic cylinder 26. In particular through pressure control facilitated by force modulation control valve 78, an operator of machine 10 may be provided with an additional and more controlled way in which the movement of work tool 14 may be manipulated. This control may provide for enhanced performance of machine 10.
It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed hydraulic system. Other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the disclosed hydraulic system. It is intended that the specification and examples be considered as exemplary only, with a true scope being indicated by the following claims and their equivalents.
