JP2011202457A - Controller for hybrid construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop an actuator without giving operation incongruity feelings to an operator when the operator tries to abruptly stop the actuator such as a boom cylinder during its downward movement.SOLUTION: A controller for a hybrid construction machine includes: the boom cylinder BC connected to a main pump via an operation valve 14; a capacity-variable hydraulic motor M regenerating a part of returned oil of the boom cylinder BC to turn; a regulator 36 controlling a tilting angle of the hydraulic motor M; and a motor-generator MG turning by driving force of the hydraulic motor. The regulator 36 is configured to reduce a displacement volume per one turn of the hydraulic motor by controlling the tilting angle of the hydraulic motor M so that torque above absorption energy of the motor-generator MG will not work by a pressure from the boom cylinder BC introduced to the hydraulic motor M.

Description

  The present invention relates to a control device that controls a drive source of a construction machine such as a power shovel.

  For example, in a construction machine such as a power shovel, as shown in Patent Document 1, a hydraulic motor is rotated using return oil when the boom cylinder is lowered, and an electric motor / generator is rotated by the driving force of the hydraulic motor. It is known from the past.

JP 2009-235717 A

In the conventional apparatus as described above, when the operator suddenly returns the operation valve to the neutral position when the boom cylinder is lowered, a switching delay may occur in the electromagnetic on-off valve that connects the boom cylinder and the hydraulic motor. is there.
When a switching delay of the electromagnetic on-off valve occurs in this way, a large amount of return oil from the boom cylinder flows to the hydraulic motor side by that delay. This large amount of return oil may cause the torque of the hydraulic motor to exceed the absorption torque of the electric / generator. If the torque of the hydraulic motor exceeds the absorption torque of the electric / generator in this way, the electric / generator Will self-defense and stop its power generation function.
For this reason, the hydraulic motor rotates at a high speed with a reduced load, and cannot absorb the energy of the boom cylinder, so that the boom cylinder escapes and cannot stop at a predetermined position as described above.

  On the other hand, a relief valve is provided in the passage connecting the boom cylinder and the hydraulic motor. When return oil flows from the boom cylinder and the pressure exceeds the set pressure of the relief valve as described above, The relief valve opens and the return oil continues to flow into the tank. If the return oil flows into the tank in this way, the boom cylinder runs away and cannot stop at a predetermined position. Therefore, there is a problem that the operator cannot operate with peace of mind.

  An object of the present invention is to provide a hybrid construction capable of reliably stopping an actuator without causing the operator to feel uncomfortable even when the operator suddenly stops the actuator when the actuator such as a boom cylinder descends. It is to provide a machine control device.

The first invention controls an actuator connected to a main pump through an operation valve, a variable displacement hydraulic motor that regenerates and rotates part of the return oil of the actuator, and a tilt angle of the hydraulic motor And a motor / generator that rotates by the driving force of the hydraulic motor.
The regulator controls the tilt angle of the hydraulic motor so that the output torque of the hydraulic motor does not act beyond the absorption torque of the motor / generator due to the pressure from the actuator guided to the hydraulic motor. The push-out volume per rotation of the motor is reduced.

  In the second invention, a relief valve is connected to a passage connecting the actuator and the regulator, and a throttle is provided on the upstream side of the relief valve.

According to the first aspect of the invention, the regulator reduces the displacement volume of the hydraulic motor so that the hydraulic motor output torque does not exceed the absorption torque of the electric / generator even when the hydraulic motor inlet pressure increases. The torque of the motor is kept within the range of the absorption torque of the motor / generator.
Since the torque of the hydraulic motor is maintained within the range of the absorption torque of the electric / generator as described above, the inlet pressure of the hydraulic motor, that is, the braking pressure of the actuator can be increased, and the braking force of the actuator is increased. To do. Therefore, even when the operator tries to suddenly stop the actuator, the braking distance can be stopped without giving a sense of incongruity, so that the operator can operate with peace of mind and improve safety.

  According to the second invention, since the relief valve is provided and the throttle is provided on the upstream side thereof, the pressure override of the relief valve is substantially deteriorated. Accordingly, the hydraulic motor inlet pressure increases by the pressure override amount, and the braking force to the actuator increases.

1 is a circuit diagram showing an embodiment of the present invention. It is the graph which showed the relationship between the displacement volume of a hydraulic motor, and a hydraulic motor input pressure. It is the graph which showed the relationship between the relief flow volume of a relief valve, and a hydraulic motor input pressure.

The embodiment shown in FIG. 1 is a control device for a power shovel and includes variable capacity type first and second main pumps MP1 and MP2, and a first circuit system is connected to the first main pump MP1, and a second A second circuit system is connected to the main pump MP2.
The first circuit system includes, in order from the upstream side, an operation valve 1 for a swing motor that controls the swing motor RM, an operation valve 2 for an arm 1 speed that controls an arm cylinder (not shown), and a boom cylinder BC. A control valve 3 for the second speed of the boom to be controlled, a preliminary operation valve 4 for controlling the preliminary attachment (not shown), and a control valve 5 for the left traveling motor (not shown) for controlling the left traveling motor are connected. ing.

Each of the operation valves 1 to 5 is connected to the first main pump MP1 via the neutral flow path 6 and the parallel path 7.
A pilot pressure generating mechanism 8 is provided in the neutral flow path 6 on the downstream side of the operation valve 5 for the left travel motor. The pilot pressure generating mechanism 8 generates a high pilot pressure if the flow rate flowing therethrough is large, and generates a low pilot pressure if the flow rate is small.

  The neutral flow path 6 guides all or part of the fluid discharged from the first main pump MP1 to the tank T when all of the operation valves 1 to 5 are in the neutral position or in the vicinity of the neutral position. At this time, since the flow rate passing through the pilot pressure generating mechanism 8 also increases, a high pilot pressure is generated as described above.

On the other hand, when the operation valves 1 to 5 are switched in a full stroke state, the neutral flow path 6 is closed and the fluid does not flow. Therefore, in this case, there is almost no flow rate flowing through the pilot pressure generating mechanism 8, and the pilot pressure is maintained at zero.
However, depending on the operation amount of the operation valves 1 to 5, a part of the pump discharge amount is guided to the actuator and a part is guided to the tank T from the neutral flow path 6. A pilot pressure corresponding to the flow rate flowing through the neutral flow path 6 is generated. In other words, the pilot pressure generating mechanism 8 generates a pilot pressure corresponding to the operation amount of the operation valves 1 to 5.

A pilot flow path 9 is connected to the pilot pressure generating mechanism 8, and the pilot flow path 9 is connected to a regulator 10 that controls the tilt angle of the first main pump MP1. The regulator 10 controls the discharge amount of the first main pump MP1 in inverse proportion to the pilot pressure. Therefore, when the flow of the neutral flow path 6 becomes zero by full stroke of the operation valves 1 to 5, in other words, when the pilot pressure generated by the pilot pressure generating mechanism 8 becomes zero, the first main pump MP1 The discharge amount is kept at the maximum.
A first pressure sensor 11 is connected to the pilot flow path 9 as described above, and a pressure signal detected by the first pressure sensor 11 is input to the controller C.

  On the other hand, the second circuit system includes, in order from the upstream side thereof, a right travel motor operation valve 12 for controlling a right travel motor (not shown) and a bucket operation valve for controlling a bucket cylinder (not shown). 13. A boom first speed operation valve 14 for controlling the boom cylinder BC and an arm second speed operation valve 15 for controlling an arm cylinder (not shown) are connected. The boom first speed operation valve 14 is provided with a sensor 14a for detecting an operation direction and an operation amount thereof.

The operation valves 12 to 15 are connected to the second main pump MP2 through the neutral flow path 16, and the bucket operation valve 13 and the boom first speed operation valve 14 are connected to the second main pump MP2 through the parallel passage 17. It is connected to the main pump MP2.
A pilot pressure generating mechanism 18 is provided in the neutral flow path 16 downstream of the operation valve 15 for the second arm speed. The pilot pressure generating mechanism 18 is the pilot pressure generating mechanism 8 described above. And function in exactly the same way.

A pilot flow path 19 is connected to the pilot pressure generating mechanism 18, and the pilot flow path 19 is connected to a regulator 20 that controls the tilt angle of the second main pump MP2. The regulator 20 controls the discharge amount of the second main pump MP2 in inverse proportion to the pilot pressure. Accordingly, when the flow of the neutral flow path 16 becomes zero by full stroke of the operation valves 12 to 15, in other words, when the pilot pressure generated by the pilot pressure generating mechanism 18 becomes zero, the second main pump MP2 The discharge amount is kept at the maximum.
The pilot pressure channel 19 is connected to the second pressure sensor 21 and the pressure signal detected by the second pressure sensor 21 is input to the controller C.

The first and second main pumps MP1 and MP2 configured as described above rotate coaxially with the driving force of one engine E. The engine E is provided with a generator 22 so that the generator 22 can be powered by the surplus output of the engine E. The electric power generated by the generator 22 is charged to the battery 24 via the battery charger 23.
The battery charger 23 can charge the battery 24 even when connected to a normal household power supply 25. That is, the battery charger 23 can be connected to an independent power source different from the device.

  Further, passages 26 and 27 communicating with the turning motor RM are connected to the actuator port of the operation valve 1 for the turning motor connected to the first circuit system, and brake valves 28 and 27 are respectively connected to the passages 26 and 27. 29 is connected. When the operation valve 1 for the swing motor is maintained at the neutral position shown in the drawing, the actuator port is closed and the swing motor RM maintains the stopped state.

When the operation valve 1 for the swing motor is switched from the above state to, for example, the right side position in the drawing, one passage 26 is connected to the first main pump MP1, and the other passage 27 communicates with the tank T. Accordingly, the pressure fluid is supplied from the passage 26 to rotate the turning motor RM, and the return fluid from the turning motor RM is returned to the tank T through the passage 27.
When the operation valve 1 for the swing motor is switched to the left position, the pump discharge fluid is supplied to the passage 27, the passage 26 communicates with the tank T, and the swing motor RM is reversed. .

  When the swing motor RM is driven as described above, the brake valve 28 or 29 functions as a relief valve, and when the passages 26 and 27 become the set pressure or higher, the brake valves 28 and 29 are opened. Thus, the fluid on the high pressure side is guided to the low pressure side. Further, when the swing motor RM is rotated and the swing motor operating valve 1 is returned to the neutral position, the actuator port of the control valve 1 is closed. Even if the actuator port of the operation valve 1 is closed in this way, the swing motor RM continues to rotate with its inertia energy, but the swing motor RM performs a pumping action when the swing motor RM rotates with inertia energy. At this time, the passages 26 and 27, the turning motor RM, and the brake valve 28 or 29 constitute a closed circuit, and the inertia energy is converted into heat energy by the brake valve 28 or 29.

  On the other hand, when the operation valve 14 for the first speed of the boom is switched from the neutral position to the right side of the drawing, the pressure fluid from the second main pump MP2 is supplied to the piston side chamber 31 of the boom cylinder BC through the passage 30. The return fluid from the rod side chamber 32 is returned to the tank T via the passage 33, and the boom cylinder BC is extended.

On the contrary, when the operation valve 14 for the first speed of the boom is switched to the left in the drawing, the pressure fluid from the second main pump MP2 is supplied to the rod side chamber 32 of the boom cylinder BC via the passage 33, and The return fluid from the piston side chamber 31 is returned to the tank T via the passage 30, and the boom cylinder BC contracts. The operation valve 3 for the second speed of the boom is switched in conjunction with the operation valve 14 for the first speed of the boom.
A proportional electromagnetic valve 34 whose opening degree is controlled by the controller C is provided in the passage 30 connecting the piston-side chamber 31 of the boom cylinder BC and the first-speed boom operating valve 14 as described above. The proportional solenoid valve 34 is kept in the fully open position in its normal state.

Next, the variable displacement sub pump SP that assists the outputs of the first and second main pumps MP1 and MP2 will be described.
The variable displacement sub-pump SP is rotated by the driving force of the electric / generator MG, and the variable displacement hydraulic motor M is also coaxially rotated by the driving force of the electric / generator MG. The motor / generator MG is connected to an inverter I, and the inverter I is connected to a controller C so that the controller C can control the rotational speed of the motor / generator MG.

Further, the tilt angles of the sub pump SP and the hydraulic motor M as described above are controlled by the regulators 35 and 36. The regulators 35 and 36 are controlled by the output signal of the controller C.
However, the regulator 36 for controlling the tilt angle of the hydraulic motor M controls the tilt angle of the hydraulic motor M also by the pressure of an actuator described later.

  A discharge passage 37 is connected to the sub pump SP. The discharge passage 37 joins the first joining passage 38 that joins to the discharge side of the first main pump MP1 and the discharge side of the second main pump MP2. The first and second merge passages 38 and 39 branch to the second merge passage 39, and the first and second proportional electromagnetic throttle valves 40 and 41 whose opening degree is controlled by the output signal of the controller C are respectively provided. Provided.

  On the other hand, a connection passage 42 is connected to the hydraulic motor M. This connection passage 42 is connected to passages 26 and 27 connected to the turning motor RM via a junction passage 43 and check valves 44 and 45. is doing. In addition, the merging passage 43 is provided with an electromagnetic switching valve 46 that is controlled to be opened and closed by the controller C, and between the electromagnetic switching valve 46 and the check valves 44 and 45, when the swinging motor RM is turned or braked. A pressure sensor 47 for detecting the pressure of the pressure sensor 47 is provided, and the pressure signal of the pressure sensor 47 is input to the controller C.

  In addition, a safety valve 48 is provided at a position downstream of the electromagnetic switching valve 46 with respect to the flow from the turning motor RM to the connection passage 42 in the junction passage 43. The safety valve 48 Is to prevent the turning motor RM from running away by maintaining the pressure in the passages 26 and 27 when a failure occurs in the connection passages 42 and 43 such as the electromagnetic switching valve 46.

  Further, a passage 49 communicating with the connection passage 42 is provided between the boom cylinder BC and the proportional solenoid valve 34, and an electromagnetic opening / closing valve 50 controlled by the controller C is provided in the passage 49. .

On the other hand, the passage 42 is provided with a passage 51 that communicates with a regulator 36 that controls the tilt angle of the hydraulic motor M. The passage 51 is provided with a relief valve 52, and on the upstream side of the relief valve 52. A diaphragm 53 is provided.
For example, when the return pressure of the boom cylinder BC guided to the passage 42 increases, the regulator 36 communicating with the passage 42 reduces the displacement volume D per one rotation as shown in FIG. Therefore, if the torque T acting on the hydraulic motor M is T = (D · P) / 2π, the displacement volume D is reduced when the pressure P increases, and the torque T is kept below the motor absorption torque. is there.

  Further, the relief valve 52 is provided with a throttle 53 on the upstream side thereof, thereby substantially worsening the pressure override. The reason why the pressure override is substantially deteriorated is to make the relief flow rate gradually increase as shown by the solid line in FIG. That is, when the pressure due to the return oil of the boom cylinder BC rises in the connection passage 42, if the relief valve 52 suddenly increases its relief flow rate as shown by the broken line in FIG. This is because it cannot be stopped.

The operation of this embodiment will be described below.
If the operation valves 1 to 5 of the first circuit system are maintained at the neutral position, the entire amount of fluid discharged from the first main pump MP1 is guided to the tank T via the neutral flow path 6 and the pilot pressure generating mechanism 8. . When the total discharge amount of the first main pump MP1 flows through the pilot pressure generating mechanism 8 in this way, the pilot pressure generated there becomes high and a relatively high pilot pressure is also introduced into the pilot flow path 9. Then, the regulator 10 operates by the action of the high pilot pressure guided to the pilot flow path 9, and the discharge amount of the first main pump MP1 is kept to a minimum. The high pilot pressure signal at this time is input from the first pressure sensor 11 to the controller C.

  Further, when the operation valves 12 to 15 of the second circuit system are kept at the neutral position, the pilot pressure generating mechanism 18 generates a relatively high pilot pressure and the high pressure as in the case of the first circuit system. The pressure acts on the regulator 20 to keep the discharge amount of the second main pump MP2 to a minimum. The high pilot pressure signal at this time is input from the second pressure sensor 21 to the controller C.

When a relatively high pressure signal is input from the first and second pressure sensors 11 and 21 to the controller C, the controller C determines that the first and second main pumps MP1 and MP2 maintain the minimum discharge amount. Thus, the regulators 35 and 36 are controlled, and the tilt angles of the sub pump SP and the hydraulic motor M are made zero or minimum.
When the controller C receives a signal indicating that the discharge amount of the first and second main pumps MP1 and MP2 is minimum as described above, the controller C may stop the rotation of the motor / generator MG. The rotation may be continued.

  When stopping the rotation of the electric motor / generator MG, there is an effect that power consumption can be saved. When the electric motor / generator MG continues to rotate, the sub pump SP and the hydraulic motor M also continue to rotate. There is an effect that the shock at the time of starting the sub pump SP and the hydraulic motor M can be reduced. In any case, whether to stop or continue to rotate the motor / generator MG may be determined in accordance with the use and usage status of the construction machine.

If the operation valve of either the first circuit system or the second circuit system is switched in the above situation, the flow rate flowing through the neutral flow path 6 or 16 decreases according to the operation amount, and accordingly, the pilot pressure generating mechanism The pilot pressure generated at 8 or 18 is reduced. If the pilot pressure is thus reduced, the first main pump MP1 or the second main pump MP2 increases the tilt angle to increase the discharge amount.
Further, when the discharge amount of the first main pump MP1 or the second main pump MP2 is increased as described above, the controller C always keeps the motor / generator MG rotated. That is, when the motor / generator MG is stopped when the discharge amounts of the first and second main pumps MP1, MP2 are minimum, the controller C detects that the pilot pressure has decreased, Restart the machine MG.

Then, the controller C controls the opening degree of the first and second proportional electromagnetic throttle valves 40 and 41 according to the pressure signals of the first and second pressure sensors 11 and 21, and apportions the discharge amount of the sub pump SP. Supplied to the first and second circuit systems.
As described above, according to this embodiment, the controller C controls the tilt angle of the sub-pump SP and the first and second proportional electromagnetic throttle valves 40 and 41 using only the pressure signals of the two first and second pressure sensors 11 and 21. The number of pressure sensors can be reduced.

On the other hand, in order to drive the turning motor RM connected to the first circuit system, when the operation valve 1 for the turning motor is switched to either the left or right, for example, the right side of the drawing, one passage 26 is connected to the first main pump MP1. The other passage 27 communicates with the tank T to rotate the turning motor RM. At this time, the turning pressure is maintained at the set pressure of the brake valve 28. When the operation valve 1 is switched to the left in the drawing, the other passage 27 communicates with the first main pump MP1 and the one passage 26 communicates with the tank T to rotate the turning motor RM. The turning pressure at this time is also maintained at the set pressure of the brake valve 29.
Further, when the swing motor operating valve 1 is switched to the neutral position while the swing motor RM is turning, a closed circuit is formed between the passages 26 and 27 as described above, and the brake valve 28 or 29 is provided. Maintains the closed circuit brake pressure and converts inertial energy into thermal energy.

The pressure sensor 47 detects the turning pressure or the brake pressure and inputs the pressure signal to the controller C. When the controller C detects a pressure lower than the set pressure of the brake valves 28 and 29 within a range that does not affect the turning or braking operation of the turning motor RM, the controller C opens the electromagnetic switching valve 46 from the closed position to the open position. Switch to. When the electromagnetic switching valve 46 is switched to the open position in this way, the pressure fluid guided to the swing motor RM flows into the merge passage 43 and is supplied to the hydraulic motor M via the safety valve 48 and the connection passage 42. The
At this time, the controller C controls the tilt angle of the hydraulic motor M in accordance with the pressure signal from the pressure sensor 47, which is as follows.

That is, unless the pressure in the passage 26 or 27 is maintained at a pressure required for the turning operation or the braking operation, the turning motor RM cannot be turned or the brake cannot be applied.
Therefore, in order to keep the pressure in the passage 26 or 27 at the turning pressure or the brake pressure, the controller C controls the load of the turning motor RM while controlling the tilt angle of the hydraulic motor M. . That is, the controller C controls the tilt angle of the hydraulic motor M so that the pressure detected by the pressure sensor 47 becomes substantially equal to the turning pressure or the brake pressure of the turning motor RM.

If the hydraulic motor M obtains a rotational force as described above, the rotational force acts on the coaxially rotating electric motor / generator MG. The rotational force of the hydraulic motor M assists the electric motor / generator MG. Acts as a force. Therefore, the power consumption of the motor / generator MG can be reduced by the amount of the rotational force of the hydraulic motor M.
Further, the rotational force of the sub pump SP can be assisted by the rotational force of the hydraulic motor M.

Next, a case where the boom cylinder BC is controlled by switching the boom first speed operation valve 14 and the boom second speed operation valve 3 of the first circuit system in conjunction therewith will be described.
When the operation valve 14 for the first speed of the boom and the operation valve 3 interlocked therewith are switched to operate the boom cylinder BC, the operation direction and the operation amount of the operation valve 14 are detected by the sensor 14a. An operation signal is input to the controller C.

  In response to the operation signal from the sensor 14a, the controller C determines whether the operator is going to raise or lower the boom cylinder BC. If a signal for raising the boom cylinder BC is input to the controller C, the controller C keeps the proportional solenoid valve 34 in a normal state. In other words, the proportional solenoid valve 34 is kept in the fully open position. At this time, the controller C keeps the electromagnetic on-off valve 50 at the closed position shown in the figure so that a predetermined discharge amount is secured from the sub pump SP, and also sets the rotation speed of the motor / generator MG and the tilt angle of the sub pump SP. Control.

On the other hand, when a signal for lowering the boom cylinder BC is input from the sensor 14a to the controller C, the controller C calculates the lowering speed of the boom cylinder BC requested by the operator according to the operation amount of the operation valve 14. The proportional solenoid valve 34 is closed and the solenoid on-off valve 50 is switched to the open position.
If the proportional solenoid valve 34 is closed and the solenoid on-off valve 50 is switched to the open position as described above, the entire amount of return fluid of the boom cylinder BC is supplied to the hydraulic motor M. However, if the flow rate consumed by the hydraulic motor M is less than the flow rate required to maintain the descending speed obtained by the operator, the boom cylinder BC cannot maintain the descending speed obtained by the operator. In such a case, the controller C has a flow rate higher than the flow rate consumed by the hydraulic motor M based on the operation amount of the operation valve 14, the tilt angle of the hydraulic motor M, the rotational speed of the electric motor / generator MG, and the like. Is controlled so as to return to the tank T, and the lowering speed of the boom cylinder BC required by the operator is maintained.

On the other hand, when a fluid is supplied to the hydraulic motor M, the hydraulic motor M rotates and its rotational force acts on the coaxially rotating electric motor / generator MG. Acts as an assist force for the generator MG. Therefore, power consumption can be reduced by the amount of rotational force of the hydraulic motor M.
On the other hand, the sub-pump SP can be rotated only by the rotational force of the hydraulic motor M without supplying electric power to the motor / generator MG.

Further, when the operator suddenly returns the operation valves 3 and 14 to the neutral position in order to suddenly stop the lowering of the boom cylinder BC with the electromagnetic on-off valve 50 switched to the open position, the electromagnetic on-off valve 50 can follow. Switching delay may occur.
When a switching delay occurs in the electromagnetic on-off valve 50 in this way, much of the return oil of the boom cylinder BC flows into the connection passage 42, and the pressure of this return oil acts on the regulator 36, so Can be reduced, and the torque can be suppressed within the absorption torque of the motor / generator MG.

Thus, since the torque of the hydraulic motor M is suppressed within the absorption torque of the motor / generator MG, the pressure of the boom cylinder BC rises and the braking action increases, so that the motor does not run away. As a result, the braking distance can be shortened and the operator's operation does not feel uncomfortable.
Note that it takes some time for the hydraulic motor M to lower the displacement volume, but at this time, the pressure in the connection passage 42 slightly increases. However, in this case, since the relief valve 52 is set so that the relief function can be exhibited simultaneously, the torque of the hydraulic motor M does not exceed the absorption torque of the generator due to the switching delay of the electromagnetic on-off valve 50. .
Moreover, since the pressure override of the relief valve 52 is substantially deteriorated by the throttle 53, the braking force can be increased without shock to the boom cylinder BC.

Next, the case where the turning operation of the turning motor RM and the lowering operation of the boom cylinder BC are simultaneously performed will be described.
When the boom cylinder BC is lowered while turning the turning motor RM as described above, the fluid from the turning motor RM and the return fluid from the boom cylinder BC merge in the connection passage 42 to the hydraulic motor M. Supplied.
At this time, if the pressure in the connecting passage 42 increases, the pressure on the merging passage 43 side increases accordingly. Even if the pressure becomes higher than the turning pressure or the brake pressure of the turning motor RM, the check valve 44 and 45 do not affect the turning motor RM.
If the pressure on the connection passage 42 side becomes lower than the turning pressure or the brake pressure as described above, the controller C closes the electromagnetic switching valve 46 based on the pressure signal from the pressure sensor 47.

Therefore, when the turning operation of the turning motor RM and the lowering operation of the boom cylinder BC are simultaneously performed as described above, the hydraulic motor M is controlled based on the required lowering speed of the boom cylinder BC regardless of the turning pressure or the brake pressure. The tilt angle can be determined.
In any case, the output of the sub pump SP can be assisted by the output of the hydraulic motor M, and the flow rate discharged from the sub pump SP is divided by the first and second proportional electromagnetic throttle valves 40 and 41 to obtain the first and second Can be supplied to the circuit system.

  In this embodiment, the output of the engine E can be used to generate power with the generator 22, or the hydraulic motor M can be used to generate power with the motor / generator MG. The power generated in this manner is stored in the battery 24. In this embodiment, the power can be stored in the battery 24 using the home power supply 25. Can be procured.

  On the other hand, in this embodiment, the hydraulic motor M is rotated using the fluid from the turning motor RM and the boom cylinder BC, and the sub pump SP and the motor / generator MG can be assisted by the output of the hydraulic motor M. Energy loss until power is used can be minimized. For example, in the conventional case, the generator is turned using the fluid from the actuator, and the motor / generator is driven using the electric power stored in the generator, and the driving force of the motor / generator is used. Although the actuator is operated, the regenerative power of the fluid pressure can be directly used as compared with this conventional device.

  Reference numerals 54 and 55 in the figure are check valves provided on the downstream side of the first and second proportional electromagnetic throttle valves 40 and 41, and only allow flow from the sub pump SP to the first and second main pumps MP1 and MP2. To do.

  The present invention is most suitable for use in a power shovel.

MP1 First main pump MP2 Second main pump BC Boom cylinder 3 Boom second speed operation valve 14 Boom first speed operation valve M Hydraulic motor 36 Regulator MG Electric motor / generator 52 Relief valve 53 Restriction

Claims (2)

  An actuator connected to the main pump via an operation valve, a variable displacement hydraulic motor that regenerates and rotates part of the return oil of the actuator, a regulator that controls the tilt angle of the hydraulic motor, and a hydraulic motor The regulator is hydraulic so that the output torque of the hydraulic motor does not exceed the absorption torque of the electric / generator due to the pressure from the actuator guided to the hydraulic motor. A control device for a hybrid construction machine configured to control a tilt angle of a motor to reduce a displacement volume per rotation of the hydraulic motor.   2. The control device for a hybrid construction machine according to claim 1, wherein a relief valve is connected to a passage connecting the actuator and the regulator, and a throttle is provided upstream of the relief valve.

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