JP4715400B2 - Hydraulic control equipment for construction machinery - Google Patents

Description

  The present invention relates to a hydraulic control device that controls a hydraulic actuator or the like mounted on a construction machine such as a hydraulic excavator.

  Conventionally, as a hydraulic control device for controlling a hydraulic actuator or the like mounted on a construction machine such as a hydraulic excavator, for example, as shown in FIG. 12, a hydraulic circuit 103 in which a hydraulic pump 101 and a hydraulic cylinder (hydraulic actuator) 102 are connected. It is generally known that a directional control valve 104 capable of controlling the flow rate is provided, and that the directional control valve 104 controls the meter-in flow rate and the meter-out flow rate to control the drive of the hydraulic cylinder 102. In the hydraulic control apparatus shown in the figure, when the operation of pressing and contracting the hydraulic cylinder 102 is performed, the pressure oil discharged from the hydraulic pump 101 passes through the direction switching valve 104 and flows into the rod side of the hydraulic cylinder 102, while the rod The pressure oil pushed out from the cylinder head by the pressure that pushes and shrinks passes through the direction switching valve 104 and is returned to the tank.

On the other hand, as a hydraulic control device for a construction machine, for example, as disclosed in Patent Document 1 below, one that regenerates hydraulic energy of a hydraulic actuator as engine power is known. Specifically, in the one disclosed in the literature 1, as shown in FIG. 13, a hydraulic circuit 114 in which a hydraulic pump 112 driven by an engine 111 and a hydraulic cylinder 113 for driving a boom or the like are connected. Is provided with a cylinder switching valve 115. In the hydraulic circuit 114, a second switching valve 116 and a variable displacement motor 117 are provided in a return passage 114a through which return oil returns from the hydraulic cylinder 113 to the tank through the cylinder switching valve 115. The variable displacement motor 117 is directly connected to the drive shaft of the hydraulic pump 112 and functions as a power regeneration motor. The second switching valve 116 is configured such that oil that has passed through the cylinder switching valve 115 switches between a discharge passage to the tank and a supply passage to the variable displacement hydraulic motor 117. When the operation lever is switched and the operation hydraulic pressure signal b1 is input to the cylinder switching valve 115 and the second switching valve 116, the second switching valve 116 supplies the pressure oil in the return passage 114a to the variable displacement hydraulic motor. By performing valve switching so as to be supplied to 117, the rotational force of the variable displacement hydraulic motor 117 by the pressure oil from the hydraulic cylinder 113 is used as the rotational drive force of the hydraulic pump 112, and the hydraulic energy of the pressure oil is regenerated. The action is performed.
JP 2003-120616 A

  In the hydraulic control device disclosed in Patent Document 1, the energy of the hydraulic oil in the hydraulic cylinder 113 can be used as a power source. However, in this configuration, the pressure oil pushed out from the hydraulic cylinder 113 passes through the two switching valves of the cylinder switching valve 115 and the second switching valve 116 in the operation state in which the regenerative action is performed. Therefore, in this pressure oil, a pressure loss occurs between the two switching valves 115 and 116 between the hydraulic cylinder 113 and the variable displacement hydraulic motor 117. Therefore, with such a configuration, regenerative power is obtained. However, there is a problem that the loss becomes large and the regenerative action cannot be effectively exhibited.

  Therefore, the present invention has been made in view of such a point, and an object of the present invention is to efficiently obtain regenerative power while suppressing the complicated configuration of the hydraulic control device.

In order to achieve the above-described object, the present invention provides a hydraulic pump, a hydraulic actuator that is operated by pressure oil discharged from the hydraulic pump, and a control that switches a flow of pressure oil so that an operating direction of the hydraulic actuator is switched. Assuming a hydraulic control device for a construction machine having a hydraulic circuit connected to a valve, the auxiliary motor connected to the drive shaft of the hydraulic pump and the hydraulic actuator are discharged from the hydraulic actuator when operating in a specific direction. A branch passage that is branched from a return passage through which the pressurized oil flows toward the tank and connected to the auxiliary motor, and a control unit that controls a flow rate of the return passage and the branch passage. A shut-off state that is connected to the return passage and the branch passage, and that blocks the branch passage; and And a regenerative switching state for opening the branch passage valve position when operating in the direction of the the regenerating switching state includes both an open switching state to open both the return passage the branch passage The control means is configured so that the power of the auxiliary motor generated by the pressure oil supplied from the hydraulic actuator through the branch passage when the control valve is in the both open switching state is a power source of the hydraulic pump. The throttle of the return path is controlled so that it does not become larger than the power generated by .

  In this configuration, the branch passage is opened when the control valve is in the valve position for operating the hydraulic actuator in a specific direction, so that the pressure oil discharged from the hydraulic actuator flows from the return passage to the branch passage and is supplied to the auxiliary motor. The For this reason, the energy of the pressure oil discharged from the hydraulic actuator is used to drive the auxiliary motor, and the hydraulic pump is driven using the driving force of the auxiliary motor as assist power. In other words, the energy of the pressure oil is regenerated as a power source for the hydraulic pump.

In the present invention, since the control valve is configured to open the branch passage at the valve position at which the hydraulic actuator is operated in a specific direction, a switching valve for opening and closing the branch passage becomes unnecessary. For this reason, only the control valve can cause pressure loss of the pressure oil discharged from the hydraulic actuator and introduced into the auxiliary motor, thereby enabling efficient power regeneration. As a result, the power generated by the original drive source of the hydraulic pump can be reduced while maintaining the pump capacity of the hydraulic pump. Furthermore, the cost and installation space required for installing valves other than the control valve are not required. In the present invention, the regeneration switching state includes a both-open switching state in which both the return passage and the branch passage are opened, and the control means has the control valve in the both-open switching state. Further, since the throttle of the return passage is controlled, a part of the pressure oil discharged from the hydraulic actuator can be supplied to the auxiliary motor, while the remaining part of the pressure oil can be returned to the tank. In the present invention, the control means may prevent the power of the auxiliary motor generated by the pressure oil supplied from the hydraulic actuator through the branch passage from being larger than the power generated by the power source of the hydraulic pump. Since the return passage is controlled, the power of the hydraulic pump can be prevented from increasing against the operator's intention by receiving the power from the auxiliary motor, and the movement of the hydraulic actuator can move against the operator's intention. Can be avoided.

Here, when the regenerative switching state includes a one-side open switching state in which the return passage is shut off and the branch passage is opened, the entire amount of pressure oil discharged from the hydraulic actuator is supplied to the auxiliary motor. it can be.

  In the case where the both open switching state is included, the control valve is configured to be able to adjust the flow rate of the return passage according to the spool position, and the control means can execute the throttle control of the return passage by the control valve. If configured, the regenerative flow rate can be controlled without providing a throttle valve separately from the control valve. On the other hand, if a throttle valve is provided downstream of the control valve in the return passage, and the control means is configured to be able to execute throttle control of the return passage by the throttle valve, it is independent of the operation of the control valve. Thus, the throttle valve can be operated, so that the regenerative flow rate can be adjusted more finely.

  In addition, when the hydraulic pump uses an engine as a power source, a rotation speed detection means for detecting the rotation speed of the engine is provided, and the control means detects a value detected by the rotation speed detection means at a predetermined rotation speed. If the throttle of the return passage is controlled so as not to exceed, feedback control on the engine speed is performed, so that it is possible to reliably prevent the engine speed from becoming excessive, and the movement of the hydraulic actuator can be prevented. It is possible to reliably avoid a movement contrary to the operator's intention.

  Further, if the pressure oil used for power regeneration by the auxiliary motor is used to drive another hydraulic actuator driven by the hydraulic pump, the efficiency can be further increased.

  In the hydraulic control device, if the auxiliary motor is configured to be switchable so as to operate as a pump, the control valve is configured so that the hydraulic pump operates when the hydraulic actuator operates in a direction opposite to the specific direction. Pressure oil discharged from the hydraulic actuator is connected to a discharge passage that flows toward the hydraulic actuator, and has a speed increasing switching state in which the discharge passage communicates with the branch passage, and the control means includes the hydraulic actuator When operating in the direction opposite to the specific direction, the auxiliary motor is operated as a pump so that the pressure oil discharged from the auxiliary motor flows through the branch passage toward the hydraulic actuator, and the control valve is It is preferable to adopt a configuration for switching to the acceleration switching state.

  In this configuration, since both the pressure oil discharged from the hydraulic pump and the pressure oil discharged from the auxiliary motor can be supplied to the hydraulic actuator to drive the hydraulic actuator, the pressure oil supplied from the auxiliary motor can be driven. The operating speed of the hydraulic actuator can be increased according to the amount.

  Further, in the hydraulic control device disclosed in Patent Document 1, since the variable displacement motor connected to the drive shaft of the hydraulic pump is driven only when power regeneration is performed, the variable displacement motor is connected to the drive shaft of the hydraulic pump. By providing the mold motor, the load on the prime mover is increased by the additional amount during operation other than power regeneration, resulting in a follow-up loss for the prime mover. On the other hand, in this configuration, the auxiliary motor can be operated as a pump even in an operating state in which the hydraulic oil discharged from the hydraulic pump is supplied to the hydraulic actuator and the hydraulic actuator is driven. Therefore, the loss of the hydraulic pump can be prevented from increasing.

  As described above, according to the present invention, a branch passage that connects the control valve that switches the flow direction of the pressure oil and the auxiliary motor is provided, and the control valve branches at the valve position when operating the hydraulic actuator in a specific direction. Since the regenerative switching state for opening the passage is provided, the pressure loss of the pressure oil introduced into the auxiliary motor for power regeneration can be reduced, and power regeneration can be performed efficiently.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

Embodiment 1
FIG. 1 shows a hydraulic control device 10 for a construction machine according to Embodiment 1 of the present invention. The figure shows a hydraulic circuit system of the hydraulic control device 10. As shown in the figure, the hydraulic control apparatus 10 includes a hydraulic circuit 18 in which a hydraulic pump 12, a hydraulic cylinder 14 as an example of a hydraulic actuator, and a control valve 16 are connected.

  The hydraulic pump 12 is of a variable capacity type and is driven by the engine 20.

  A variable capacity type auxiliary motor 22 is connected to the drive shaft of the hydraulic pump 12. The auxiliary motor 22 is constituted by a bi-tilt type pump motor, and operates as a motor by tilting the swash plate to the minus side, for example, by a regulator (not shown), while tilting the swash plate to the plus side. Therefore, it is configured to operate as a pump. The pump capacity can be changed by changing the inclination angle of the swash plate.

  The hydraulic circuit 18 includes a discharge passage 18a that connects the discharge side of the hydraulic pump 12 and the control valve 16, a rod-side passage 18b that connects the control valve 16 and the rod side of the hydraulic cylinder 14, the control valve 16 and the hydraulic cylinder. 14 is provided with a head-side passage 18c that connects the 14 heads, and a discharge passage 18d that connects the control valve 16 and the tank 24.

  The hydraulic circuit 18 is provided with a branch passage 18e. One end of the branch passage 18 e is connected to the head side passage 18 c, and the other end is connected to the auxiliary motor 22. The control valve 16 is connected to the branch passage 18e.

  The control valve 16 is a closed center type directional control valve in which all ports are blocked when the spool (not shown) is in the neutral position b. The control valve 16 has a first position A in which pressure oil is circulated in a direction in which the hydraulic cylinder 14 is extended, a second position C in which pressure oil is circulated in a direction in which the hydraulic cylinder 14 is contracted, and the neutral position B. Switching is possible. The control valve 16 can adjust the flow rate by the spool stroke.

  In the first position A, the discharge passage 18a and the head side passage 18c communicate with each other, and the rod side passage 18b and the discharge passage 18d communicate with each other. That is, at this first position (a), the control valve 16 causes the discharge passage 18a and the head side passage 18c to communicate with each other, so that the pressure oil discharged from the hydraulic pump 12 is introduced to the head side of the hydraulic cylinder 14. And the function as a meter-in control valve M / I whose flow rate can be adjusted by the spool stroke, and the rod side passage 18b and the discharge passage 18d communicate with each other, and is derived from the rod side of the hydraulic cylinder 14. It has a function as a meter-out control valve M / O that allows the pressure oil to be guided to the tank 24 and adjusts the flow rate by a spool stroke.

  Further, at this first position A, the control valve 16 functions as a speed increasing valve S / U that opens the branch passage 18e and allows the pressure oil discharged from the auxiliary motor 22 to flow into the head side passage 18c. Have

  On the other hand, in the second position C, the discharge passage 18a and the rod side passage 18b communicate with each other, and the head side passage 18c and the discharge passage 18d communicate with each other. That is, at the second position C, the control valve 16 causes the discharge passage 18a and the rod side passage 18b to communicate with each other so that the pressure oil discharged from the hydraulic pump 12 is introduced to the rod side of the hydraulic cylinder 14. The pressure derived from the head side of the hydraulic cylinder 14 by allowing the head side passage 18c and the discharge passage 18d to communicate with each other as a meter-in control valve M / I that allows and adjusts the flow rate by the spool stroke. It has a function as a meter-out control valve M / O that allows oil to be guided to the tank 24 and adjusts the flow rate by a spool stroke.

  At the second position C, the hydraulic cylinder 14 operates in a contracting direction, so that the pressure oil discharged from the hydraulic cylinder 14 when in the second position C passes through the head side passage 18c and the discharge passage 18d. Flow toward the tank 24. That is, the return passage 26 through which the hydraulic oil discharged from the hydraulic cylinder 14 flows toward the tank 24 when the hydraulic cylinder 14 operates in a contracting direction (specific direction) by the head side passage 18c and the discharge passage 18d. Is configured.

  In this second position C, the control valve 16 functions as a power regeneration valve P / R that opens the branch passage 18e and allows the pressure oil in the head side passage 18c to be introduced into the auxiliary motor 22.

  When the control valve 16 is in the neutral position A, the hydraulic pump 12 and the hydraulic cylinder 14 are shut off and the branch passage 18e is shut off.

  Here, the opening characteristics of the control valve 16 will be specifically described with reference to FIG.

  In the neutral position, the control valve 16 is closed as any of the meter-out control valve M / O, the speed increasing valve S / U, the power regeneration valve P / R, and the meter-in control valve M / I. . Then, when the spool moves from the neutral position B toward the first position A (to the right side in FIG. 2), the control valve 16 controls the meter-out control valve M / O, the speed increasing valve S / U, and the meter-in control valve M / I. Any valve is opened. At this time, in the control valve 16, the discharge passage 18a and the head side passage 18c communicate with each other, and the branch passage 18e and the head side passage 18c communicate with each other. Therefore, in the control valve 16, the state in which the spool is moved to the right in FIG. 2 from the neutral position B becomes the speed increasing switching state in which the discharge passage 18a and the branch passage 18e are communicated. In this speed increasing switching state, the control valve 16 is a meter-out control valve M / O, a speed increasing valve S / U, and a meter-in control valve M / I in a transition region within a predetermined range from the neutral position B. The opening area is set to increase in accordance with the stroke amount from the neutral position B, and the control valve 16 increases the meter-out control valve M / O and increases in the area beyond the transition area regardless of the spool position. While maintaining a constant opening area as the speed valve S / U, the meter-in control valve M / I functions as a throttle valve whose opening area gradually increases according to the stroke amount from the neutral position B of the spool.

  On the other hand, when the spool moves from the neutral position B toward the second position C (left side in FIG. 2), the control valve 16 is opened as the meter-in control valve M / I and the power regeneration valve P / R. At this time, the control valve 16 enters a regenerative switching state in which the branch passage 18e is opened. In this regenerative switching state, the control valve 16 opens as the power regenerative valve P / R and the meter-in control valve M / I in accordance with the stroke amount from the neutral position B in the transition region within a predetermined range from the neutral position B. In this transition region, the meter-out control valve M / O is kept closed. That is, the state in the transition region is a one-open switching state in which the discharge passage 18d is blocked and the branch passage 18e is opened.

  When the transition region is exceeded, the control valve 16 is opened as the meter-out control valve M / O, and is in a two-open switching state in which both the discharge passage 18d (return passage 26) and the branch passage 18e are opened. . In the both open switching state, both the meter-in control valve M / I and the power regenerative valve P / R are set to have a constant opening area regardless of the spool position, while the meter-out control valve M / O has a stroke. The opening area is gradually increased according to the amount. That is, in this region, the meter-out control valve M / O functions as a throttle valve capable of adjusting the flow rate. In other words, the control valve 16 has a throttling function to restrict the discharge passage 18d (return passage 26).

  As shown in FIG. 1, relief valves 31, 32, and 33 are provided in the discharge passage 18a, the rod side passage 18b, and the head side passage 18c, respectively. An unload valve 35 is provided in the discharge passage 18a.

  The discharge passage 18a and the head side passage 18c are provided with pressure detection means 37 and 38 for detecting the hydraulic pressure, respectively. Each of these pressure detection means 37 and 38 is configured to output a detection signal corresponding to the detected hydraulic pressure. In the head side passage 18c (passage on the load holding side of the hydraulic cylinder 14), when a load is applied to the hydraulic cylinder 14, the hydraulic pressure rises accordingly. For this reason, the external force acting on the hydraulic cylinder 14 can be indirectly detected by providing the pressure detecting means 38 in the head side passage 18c.

  The hydraulic control device 10 is provided with a controller 40. The controller 40 is electrically connected to the pressure detection means 37, 38, the operation lever 46, and the rotation speed detection means 48 for detecting the rotation speed of the engine 20. , 38, the control lever 46, and the control signal from the rotation speed detection means 48 are input. The controller 40 includes a main control unit 41, a capacity control unit 42, and a rotation speed control unit 43.

  When the control signal from the operation lever 46 is input, the main control unit 41 determines the capacity of the hydraulic pump 12 and the auxiliary motor 22 according to the operation amount of the operation lever 46 and the pressure detected by the pressure detection means 37 and 38. The capacity is adjusted and the spool stroke of the control valve 16 is adjusted. At this time, when the control signal from the operation lever 46 corresponds to the extension operation of the hydraulic cylinder 14, the swash plate is inclined to the plus side so that the auxiliary motor 22 operates as a pump, and the control valve 16 is moved to the first position. A control command is output so as to switch to position a. On the other hand, in the case of the contraction operation, the swash plate is inclined to the minus side so that the auxiliary motor 22 operates as a motor, and a control command is output so as to switch the control valve 16 to the second position c. It is configured. The main control unit 41 appropriately adjusts the engine speed and opens / closes the unload valve 35 as appropriate.

The capacity control unit 42 sets the target capacity of the auxiliary motor 22 and derives the capacity upper limit value V _2Lim of the auxiliary motor 22 based on the pressure detected by the pressure detection means 37 and 38, and the target capacity V ₂₀ becomes the capacity upper limit. A control command is output to the control valve 16 so as not to exceed the value V _2Lim .

  The rotation speed control unit 43 sets the target rotation speed No of the engine 20 and determines whether or not the engine rotation speed N exceeds the target rotation speed No based on the detection signal from the rotation speed detection means 48. A control command is output to the control valve 16 so as not to exceed the target rotational speed No.

  Next, capacity control of the pumps 12 and 22 and operation control of the control valve 16 will be described with reference to the flow shown in FIG.

First, in step ST1, the lever operation amount L, the engine speed N, the hydraulic pressure P ₁ of the discharge passage 18a and the hydraulic pressure P ₂ of the head side passage 18c, which are the discharge pressure of the hydraulic pump 12, are detected, and the process proceeds to step ST2. In step ST2, the target flow rate Q on the meter-in side of the control valve 16 is set to a value corresponding to the lever operation amount L. Then, the process proceeds to step ST3, where it is determined whether or not the hydraulic cylinder 14 is in the extending operation based on the control signal from the operation lever 46. When the hydraulic cylinder 14 is in the extending operation, the process proceeds to step ST4.

In step ST4, sets the volume V ₂ of capacitor V ₁ and the auxiliary motor 22 of the hydraulic pump 12. These pump capacities V ₁ and V ₂ are set to values obtained by dividing the target flow rate Q on the meter-in side by the engine speed N. At this time, the capacities are equal to each other with both pump capacities being Q / 2N, respectively. I am doing so. And it moves to step ST5, sets the opening area of the meter-in control valve M / I of the control valve 16, and moves to step ST6. In step ST6, the spool stroke position is derived based on the opening area characteristics shown in FIG. 2, and the process proceeds to step ST7. In step ST7, a pilot signal for the control valve 16 is output, and capacity control commands for the hydraulic pump 12 and the auxiliary motor 22 are output.

  As a result, the meter-in control valve M / I of the control valve 16 is adjusted to a predetermined opening, while the capacities of the hydraulic pump 12 and the auxiliary motor 22 are adjusted. As a result, the pressure oil discharged from the hydraulic pump 12 and the pressure oil discharged from the auxiliary motor 22 are respectively supplied to the hydraulic cylinder 14, and the extension operation of the hydraulic cylinder 14 is performed.

  On the other hand, when the hydraulic cylinder 14 is in the contracting operation, the determination in step ST3 is NO, and the process proceeds to step ST11. After step ST11, control is performed when the auxiliary motor 22 is driven as an assist motor for the engine 20 by causing the pressure oil discharged from the hydraulic cylinder 14 to flow into the auxiliary motor 22.

In step ST11, the capacity V ₁ of the hydraulic pump 12 and the target capacity V ₂₀ of the auxiliary motor 22 are set. The capacity V ₁ of the hydraulic pump 12 is set to a value obtained by dividing the meter-in target flow rate Q by the engine speed N. On the other hand, the target capacity V ₂₀ of the auxiliary motor 22 is set to a value obtained by dividing the target flow rate Q _MO on the meter-out side by the engine speed N.

In step ST12, the capacity upper limit value V _2Lim of the auxiliary motor 22 is derived. The capacity upper limit value V _2Lim is set to prevent the auxiliary motor 22 from accelerating the hydraulic pump 12 when the axial torque of the auxiliary motor 22 becomes larger than the axial torque of the hydraulic pump 12. . Considering the pump efficiencies K ₁ and K ₂ of the hydraulic pump 12 and the auxiliary motor 22, the capacity of the auxiliary motor 22 is set so that the shaft torque by driving the engine 20 and the shaft torque by driving the auxiliary motor 22 have the same value. The upper limit value is V _2Lim . The capacity upper limit value V _2Lim is derived as P ₁ V ₁ / P ₂ K ₁ K ₂ . In the calculation formula of the capacity upper limit value V _2Lim , it is assumed that the hydraulic pressure P ₂ of the head side passage 18c is substantially equal to the pressure of the auxiliary motor 22.

Proceeds to step ST13, determines whether the target volume V ₂₀ of the auxiliary motor 22 exceeds the maximum capacity value V _2Lim. When the target volume V ₂₀ exceeds the maximum capacity value V _2Lim proceeds to step ST15 to set the target volume V ₂₀ to the capacitance upper limit V _2Lim in step ST14. When the target capacity V ₂₀ is equal to or lower than the upper limit value V _2Lim , the process proceeds to step ST15 without going through step ST14.

In step ST15, it is determined whether or not the rotational speed N of the engine 20 exceeds the target rotational speed No. This is because the high pressure oil discharged from the hydraulic cylinder 14 is introduced into the auxiliary motor 22 so that the energy of the pressure oil is regenerated as the power of the engine 20, and the engine speed N is increased by receiving this regenerative power. It is for monitoring so that it may not do. When the engine speed N is higher than the target rotational speed No, the sequence proceeds to step ST16, performs correction to reduce the target volume V ₂₀ of the auxiliary motor 22. This correction is a correction for reducing the capacity in accordance with the increase in the engine speed. In other words, although step ST15 and step ST16 are set so that the engine speed does not increase by setting the capacity upper limit value V _2Lim of the target capacity V ₂₀ , the engine speed may actually increase. Therefore, feedback control is executed. Then, after correcting the target capacity V ₂₀ of the auxiliary motor 22, the process proceeds to step ST17. In step ST15, when the engine speed N is equal to or lower than the target speed No, the process proceeds to step ST17 without going through step ST16.

により導出される。なお、式中Ｃは流量係数である。 In step ST17, sets the opening area A _MO meter-out valve M / O of the control valve 16. At this time, if the difference ΔQ between the target capacity V ₂₀ and the capacity upper limit value V _2Lim is less than or equal to zero, that is, if the target capacity V ₂₀ is less than or equal to the capacity upper limit value V _2Lim , the control valve 16 controls the meter-out valve M. / O is closed only (A _MO = 0), and the meter-in control valve M / I and the power regeneration valve P / R are opened. As a result, a set value for deriving the control valve 16 from the one-open switching state is derived. On the other hand, when the difference ΔQ is positive, that is, when the target capacity V ₂₀ exceeds the capacity upper limit value V _2Lim , the spool further strokes and the control valve 16 is opened as the meter-out control valve M / O. A set value is obtained so as to be in the both open switching state. This set value is obtained when the flow rate generated by the pressure difference between the pressure P ₂ on the head side of the hydraulic cylinder 14 and the tank pressure _PT is ΔQ when the meter-out control valve M / O is assumed to be an orifice. _MO is the following relational expression

Is derived by In the formula, C is a flow coefficient.

  And it moves to step ST6 and performs step ST6-step ST7. Thus, the control valve 16 is adjusted to the spool position so as to have the opening area derived in step ST17, while the capacity control of the hydraulic pump 12 and the auxiliary motor 22 is executed.

  As described above, in the present embodiment, the branch passage 18e is opened when the control valve 16 is in the valve position for causing the hydraulic cylinder 14 to contract, so that the hydraulic cylinder 14 is contracted and discharged from the hydraulic cylinder 14 at the same time. The pressurized oil is supplied to the auxiliary motor 22. For this reason, the energy of the pressure oil discharged from the hydraulic cylinder 14 is used to drive the auxiliary motor 22, and the hydraulic pump 12 is driven using the driving force of the auxiliary motor 22 as assist power.

  Therefore, since the control valve 16 is configured to open the branch passage 18e at the valve position where the hydraulic cylinder 14 is contracted, a switching valve for opening and closing the branch passage 18e becomes unnecessary. For this reason, only the control valve 16 can cause the pressure loss of the pressure oil discharged from the hydraulic cylinder 14 and introduced into the auxiliary motor 22, thereby enabling efficient power regeneration. As a result, the engine power can be reduced while maintaining the pump capacity of the hydraulic pump 12. Furthermore, the cost and installation space required for installing valves other than the control valve 16 are not required.

  Further, in the first embodiment, the control valve 16 has the double open switching state, and the flow rate of the return passage 26 can be adjusted by the spool position in the double open switching state. The regenerative flow rate can be controlled without providing a valve. In this regenerative flow rate control, in the first embodiment, the throttle is applied so that the power of the auxiliary motor 22 does not become larger than the engine power. Therefore, the hydraulic pump 12 receives the power of the auxiliary motor 22. Can be prevented from increasing against the operator's intention, thereby preventing the hydraulic cylinder 14 from moving against the operator's intention.

  In the first embodiment, the feedback control of the engine speed is performed in the regenerative flow rate control. Therefore, it is possible to reliably prevent the engine speed from becoming excessive, and the movement of the hydraulic cylinder 14 Can be reliably avoided from moving against the operator's intention.

  Further, in the present embodiment, both the pressure oil discharged from the hydraulic pump 12 and the pressure oil discharged from the auxiliary motor 22 are supplied to the hydraulic cylinder 14 when the hydraulic cylinder 14 is extended. The extension speed of the hydraulic cylinder 14 can be increased according to the amount of pressure oil supplied from the auxiliary motor 22. In other words, unlike the hydraulic control device disclosed in Patent Document 1, the auxiliary motor 22 is driven as a pump even in an operation state in which the hydraulic cylinder 14 is extended. It is possible to prevent the loss of the hydraulic pump 12 from increasing without causing a loss.

  In the first embodiment, the auxiliary motor 22 is configured as a pump / motor capable of operating as a pump and operating as a motor. However, the present invention is not limited to this, and a motor that does not function as a pump is used. It is also possible to configure.

<< Embodiment 2 >>
FIG. 4 shows Embodiment 2 of the present invention. Here, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. In the second embodiment, the control valve 16 does not have a function as a throttle valve in the second position C. Instead, the throttle valve 51 is provided separately from the control valve 16.

  Unlike the first embodiment, the control valve 16 has an opening area setting shown in FIG. That is, when the spool moves from the neutral position B to the second position C (to the left in FIG. 5), the control valve 16 operates as a meter-out control valve M / O in the transition position within a predetermined range from the neutral position B. The opening area is gradually increased in accordance with the stroke amount from the starting position, and a constant opening area is set regardless of the spool position in a region exceeding the predetermined range. Other opening area settings are the same as in the first embodiment.

  The throttle valve 51 is provided downstream of the control valve 16 in the discharge passage 18d. The throttle valve 51 is electrically connected to the controller 40. When a control signal is input from the controller 40 as a pilot signal, the throttle valve 51 is opened to have an opening area corresponding to the control signal. As a result, the discharge passage 18d is opened.

  Therefore, according to the second embodiment, since the throttle valve 51 can be operated independently of the operation of the control valve 16, more fine meter-out control can be performed.

  As shown in FIG. 6, the throttle valve 51 may be configured to perform a switching operation by a hydraulic pilot system instead of the configuration electrically connected to the controller 40. In this case, pressure detecting means 53 and 54 for detecting the oil pressure are provided in an oil passage connecting the operation lever 46 and each pilot port of the control valve 16, and detection signals of the pressure detecting means 53 and 54 are input to the controller 40. It is necessary to set it as a configuration.

  Other configurations, operations, and effects are the same as those of the first embodiment although the description thereof is omitted.

<< Embodiment 3 >>
In Embodiment 3 of the present invention, the hydraulic control device 10 of the present invention is applied to a hydraulic excavator 60 as an example of a construction machine provided with the hydraulic control device 10 as shown in FIG. FIG. 7 schematically shows the hydraulic excavator 60. Here, the same components as those in the second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in the figure, the hydraulic excavator 60 is configured such that an upper swing body 63 is mounted on a lower traveling body 62 and an excavation attachment 64 is mounted on the front portion of the upper swing body 63.

  The lower traveling body 62 includes a left and right crawler frame 66 and a crawler 67, and the both crawlers 67 are configured to travel by being individually rotated and driven by left and right traveling motors 69 and 70 (see FIG. 8) that are hydraulic actuators. Has been.

  The upper swing body 63 includes a swing frame 72, a cabin 73, and the like, and the engine 20 as a power source is installed in the swing frame 72. The upper swing body 63 is configured to rotate by being driven by a swing motor 74 (see FIG. 8) that is a hydraulic actuator.

  The excavation attachment 64 includes a boom 76, an arm 77, and a bucket 78. The boom 76 is raised and lowered by extending and contracting a pair of boom hydraulic cylinders 80 that are hydraulic actuators. The arm 77 rotates by extending and contracting an arm hydraulic cylinder 81 that is a hydraulic actuator. The bucket 78 rotates by extending and contracting a bucket hydraulic cylinder 82 that is a hydraulic actuator.

  A hydraulic circuit system of the hydraulic control device 10 of the hydraulic excavator 60 is shown in FIG. As shown in the figure, in the third embodiment, the hydraulic pump 12 includes two hydraulic pumps, that is, a first hydraulic pump 12a and a second hydraulic pump 12b. The first hydraulic pump 12a and the second hydraulic pump 12b are each constituted by a variable displacement pump. The first hydraulic pump 12a is connected to a first hydraulic circuit 84, and for example, a travel motor 69, a boom hydraulic cylinder 80, and a bucket hydraulic cylinder 82 are connected to the first hydraulic circuit 84. On the other hand, the second hydraulic pump 12b is connected to a second hydraulic circuit 85, and for example, a travel motor 70, a turning motor 74, and an arm hydraulic cylinder 81 are connected to the second hydraulic circuit 85.

  The hydraulic excavator 60 drives the hydraulic pump 12 using the engine 20 as a power source, and supplies the discharged oil to the motors 69, 70, 74 and hydraulic cylinders 80, 81, 82 disposed in the respective parts, and the lower traveling body. 62, turning of the upper turning body 63, raising and lowering of the boom 76, turning of the arm 77, and operation of the bucket 78 are performed.

  In the hydraulic excavator 60 according to the third embodiment, the present invention is applied to the hydraulic circuit 18 that controls the boom hydraulic cylinder 80 in the first hydraulic circuit 84. The hydraulic control apparatus 10 is a hydraulic control apparatus having a configuration in which a throttle valve 51 is provided separately from the control valve 16 as in the second embodiment.

  In the third embodiment, the auxiliary motor 22 is connected to the boom hydraulic cylinder 80. Instead, the auxiliary motor 22 is replaced by the traveling motors 69 and 70, the turning motor 74, the arm hydraulic cylinder 81, and the bucket. It is good also as a structure connected with any one or more of the hydraulic cylinders 82 for use. Other configurations, operations, and effects are the same as those of the second embodiment, although explanations thereof are omitted.

<< Embodiment 4 >>
FIG. 9 shows Embodiment 4 of the present invention. Here, the same components as those in the third embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. In the fourth embodiment, unlike the third embodiment, as shown in FIG. 10, the control valve 16 has a function as a throttle valve at the second position C as in the first embodiment. For this reason, in the fourth embodiment, a throttle valve separate from the control valve 16 is not provided.

  Further, when the spool moves from the neutral position B to the first position A (to the right in FIG. 10), the control valve 16 is metered out in a transition region (shown by (A) in FIG. 10) from the neutral position B. The control valve M / O and the speed increasing valve S / U are set so that the opening area increases according to the stroke amount from the neutral position B, and the meter-in control valve M / I is maintained closed. ing.

  The reason why the control valve 16 is set in the region indicated by (A) is as follows. That is, when the control valve 16 has the same configuration as that of the first embodiment (see FIG. 2), the spool is in the first position A and the pressure oil from both the first hydraulic pump 12a and the auxiliary motor 22 is used for the boom. When supplied to the head side of the hydraulic cylinder 80, the control valve 16 performs meter-in control to reduce the opening area as the meter-in control valve M / I. At this time, if the load pressure of the traveling motor 69 and the bucket hydraulic cylinder 82 connected to the first hydraulic pump 12a is large, the pressure loss as the meter-in control valve M / I in the control valve 16 becomes large. Therefore, the control valve 16 is shut off as the meter-in control valve M / I communicated with the first hydraulic pump 12a, opened as the speed increasing valve S / U communicated with the auxiliary motor 22, and meter-out control is performed. The boom hydraulic cylinder 80 by the auxiliary motor 22 is not affected by the load pressure of the traveling motor 69 or the bucket hydraulic cylinder 82 by adjusting to the region shown in FIG. It is possible to supply pressure oil to the tank. Accordingly, in the extension operation of the boom hydraulic cylinder 80, the boom hydraulic cylinder 80 can be stably extended while selecting the simultaneous supply from the first hydraulic pump 12a and the auxiliary motor 22 or the single supply from the auxiliary motor 22. It can be carried out.

  Other configurations, operations, and effects are the same as those in the third embodiment, although explanations thereof are omitted.

<< Embodiment 5 >>
FIG. 11 shows Embodiment 5 of the present invention. Here, the same components as those in the third embodiment are denoted by the same reference numerals, and detailed description thereof is omitted. In the fifth embodiment, unlike in the third embodiment, the hydraulic oil for power regeneration supplied to the auxiliary motor 22 is not discharged to the tank 24, but other hydraulic actuators driven by the hydraulic pump 12, for example, for arm It can be reused as the combined flow rate to the hydraulic cylinder 81.

  A switching valve 90 for merging is provided in the oil path from the auxiliary motor 22 to the tank 24. The merging switching valve 90 is connected to an oil passage that connects the arm hydraulic cylinder 81 and an arm control valve 92 that controls the hydraulic cylinder 81 via a direction switching valve 94. The merging switching valve 90 switches so that the pressure oil discharged from the auxiliary motor 22 is supplied to the tank 24 or the arm hydraulic cylinder 81. On the other hand, the direction switching valve 94 switches the supply of pressure oil to the rod side or the head side of the arm hydraulic cylinder 81. These switching valves 90 and 94 and the arm control valve 92 are electrically connected to the controller 40, respectively.

  The arm hydraulic cylinder 81 is supplied with the pressure oil discharged from the second hydraulic pump 12b. By opening the flow control valve 96, the arm hydraulic cylinder 81 receives the pressure oil discharged from the first hydraulic pump 12a. The arm hydraulic cylinder 81 can be supplied as appropriate.

  According to the fifth embodiment, since the pressure oil used for power regeneration by the auxiliary motor 22 is used to drive the other hydraulic actuators 81, the efficiency can be further improved.

  In the fifth embodiment, the auxiliary motor 22 is connected to the arm hydraulic cylinder 81. However, the present invention is not limited to this, and any hydraulic actuator driven by the hydraulic pump 12 may be used. It is good also as a structure connected with another actuator. Other configurations, operations, and effects are the same as those of the third embodiment, although explanations thereof are omitted.

It is a figure which shows the structure of the hydraulic control apparatus of the construction machine which concerns on Embodiment 1 of this invention. It is a characteristic view which shows the opening characteristic of the control valve provided in the said hydraulic control apparatus. It is a flowchart which shows the control action of the said hydraulic control apparatus. It is a figure which shows the structure of the hydraulic control apparatus of the construction machine which concerns on Embodiment 2 of this invention. It is a characteristic view which shows the opening characteristic of the control valve provided in the said hydraulic control apparatus. It is a figure which shows the other structure of Embodiment 2 of this invention. It is a figure which shows roughly the hydraulic shovel provided with the hydraulic control apparatus which concerns on Embodiment 3 of this invention. It is a figure which shows the structure of the said hydraulic control apparatus. It is a figure which shows the structure of the hydraulic control apparatus of the construction machine which concerns on Embodiment 4 of this invention. It is a characteristic view which shows the opening characteristic of the control valve provided in the said hydraulic control apparatus. It is a figure which shows the structure of the hydraulic control apparatus of the construction machine which concerns on Embodiment 5 of this invention. It is a figure which shows the structure of the conventional hydraulic control apparatus. It is a figure which shows the structure of the conventional hydraulic control apparatus.

Explanation of symbols

12 Hydraulic pump 14 Hydraulic cylinder (hydraulic actuator)
16 Control valve 18 Hydraulic circuit 18e Branch passage 20 Engine 22 Auxiliary motor 24 Tank 26 Return passage 40 Controller (control means)
48 Rotational speed detection means 51 Meter-out control valve (throttle valve)
80 Hydraulic cylinder for boom (hydraulic actuator)
81 Hydraulic cylinder for arm (hydraulic actuator)

Claims (7)

A construction machine comprising a hydraulic circuit connected to a hydraulic pump, a hydraulic actuator that is operated by pressure oil discharged from the hydraulic pump, and a control valve that switches a flow of the pressure oil so that the operating direction of the hydraulic actuator is switched Hydraulic control device of
An auxiliary motor connected to the drive shaft of the hydraulic pump;
A branch passage branched from a return passage through which the hydraulic oil discharged from the hydraulic actuator flows toward the tank when the hydraulic actuator operates in a specific direction, and connected to the auxiliary motor;
Control means for controlling the flow rate of the return passage and the branch passage,
The control valve is connected to the return passage and the branch passage, and has a shut-off state that blocks the branch passage, and a regeneration that opens the branch passage at a valve position when the hydraulic actuator is operated in the specific direction. and a use switching state,
The regenerative switching state includes a both-open switching state in which both the return passage and the branch passage are opened,
In the control means, the power of the auxiliary motor generated by the pressure oil supplied from the hydraulic actuator through the branch passage when the control valve is in the both open switching state is generated by a power source of the hydraulic pump. A hydraulic control device for a construction machine , wherein the throttle of the return passage is controlled so as not to become larger than power .   2. The hydraulic control device for a construction machine according to claim 1, wherein the regenerative switching state includes a single-open switching state in which the return passage is blocked and the branch passage is opened. The control valve is configured to be able to adjust the flow rate of the return passage according to a spool position,
3. The hydraulic control device for a construction machine according to claim 1, wherein the control unit is configured to be capable of performing throttle control of the return passage by the control valve. 4. A throttle valve is provided downstream of the control valve in the return passage;
3. The hydraulic control device for a construction machine according to claim 1, wherein the control unit is configured to be able to perform throttle control of the return passage by the throttle valve. 4. The hydraulic pump uses an engine as a power source,
A rotation speed detection means for detecting the rotation speed of the engine is provided,
The construction according to any one of claims 1 to 4 , wherein the control means controls the throttle of the return passage so that a value detected by the rotation speed detection means does not exceed a predetermined rotation speed. Hydraulic control device of the machine. The pressure oil which is utilized in a power regenerated by the assist motor, according to any one of claims 1 to 5, characterized in that utilized to drive other hydraulic actuator driven by the hydraulic pump Hydraulic control device for construction machinery. The auxiliary motor is configured to be switchable to operate as a pump,
The control valve is connected to a discharge passage through which pressure oil discharged from the hydraulic pump flows toward the hydraulic actuator when the hydraulic actuator operates in a direction opposite to the specific direction. Having a speed increasing switching state for communicating with the branch passage;
When the hydraulic actuator operates in a direction opposite to the specific direction, the control means operates the auxiliary motor as a pump and causes the hydraulic oil discharged from the auxiliary motor to move toward the hydraulic actuator. The hydraulic control device for a construction machine according to any one of claims 1 to 6 , wherein the control valve is configured to switch to a speed increasing switching state.

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