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WO2025229811A1 - Engin de chantier - Google Patents

Engin de chantier

Info

Publication number
WO2025229811A1
WO2025229811A1 PCT/JP2025/009754 JP2025009754W WO2025229811A1 WO 2025229811 A1 WO2025229811 A1 WO 2025229811A1 JP 2025009754 W JP2025009754 W JP 2025009754W WO 2025229811 A1 WO2025229811 A1 WO 2025229811A1
Authority
WO
WIPO (PCT)
Prior art keywords
assist
hydraulic
flow rate
setting
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2025/009754
Other languages
English (en)
Japanese (ja)
Inventor
勇貴 中村
一 岡野
祥隆 簗瀬
弥央 田辺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of WO2025229811A1 publication Critical patent/WO2025229811A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors

Definitions

  • the present invention relates to a work machine having a hydraulic drive system, such as a hydraulic excavator.
  • a hydraulic circuit is known that stores the energy possessed by a hydraulic actuator in an accumulator as accumulated pressure when the actuator is in operation, and can then resupply the stored energy to the hydraulic actuator that needs to be driven.
  • accumulator output can be allocated to the original required power, reducing pump power by that amount, which is expected to improve fuel efficiency.
  • the present invention was developed in consideration of the above-mentioned problems, and aims to provide a work machine that can increase the speed of a hydraulic actuator in accordance with the operator's intentions, thereby improving work volume.
  • a work machine comprises multiple hydraulic actuators, a hydraulic pump that discharges hydraulic oil, a pressure accumulator that accumulates hydraulic oil, a control lever that accepts operation inputs from an operator for each hydraulic actuator, and a control device that controls the pressure accumulator based on the pressure in the pressure accumulator.
  • the control device calculates, for each of the multiple hydraulic actuators, a target assist flow rate, which is a flow rate for assisting the operation of each hydraulic actuator, in addition to the discharge flow rate of the hydraulic pump, based on the amount of operation of the control lever, and supplies hydraulic oil at the calculated target assist flow rate from the pressure accumulator to each hydraulic actuator.
  • the present invention makes it possible to provide a work machine that can increase the speed of a hydraulic actuator in accordance with the operator's intentions, thereby increasing the amount of work that can be done.
  • FIG. 1 is a side view of a hydraulic excavator, which is an example of a work machine according to an embodiment of the present invention.
  • 1 is a conceptual diagram showing a hydraulic circuit used in an embodiment of the present invention.
  • FIG. 2 is a conceptual diagram showing the functional configuration of a control device according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing inputs and outputs to a control device according to an embodiment of the present invention.
  • 3 is a flowchart showing a control procedure executed by a control device according to an embodiment of the present invention. 4 shows an example of items displayed on a display unit of a setting device in an embodiment of the present invention.
  • Fig. 1 is a side view of a hydraulic excavator (work machine) 100, which is an example of a work machine according to an embodiment of the present invention.
  • the hydraulic excavator 100 comprises a lower traveling body 103 equipped with crawler-type traveling devices 8a, 8b on both the left and right sides, and an upper rotating body 102 as the main body, which is rotatably attached to the lower traveling body 103.
  • a cab 101 for an operator is provided on the upper rotating body 102.
  • the lower traveling body 103 and the upper rotating body 102 are rotatably attached via a rotating device 7.
  • An accumulator 12, which will be described later, is provided behind the upper rotating body 102.
  • An assist flow control valve 13, which will be described later, is provided inside the upper rotating body 102.
  • the base end of a front work implement 104 which is an operating device for performing excavation work, for example, is rotatably attached to the front of the upper rotating structure 102.
  • front refers to the direction in which the operator in the cab 101 faces (leftward in Figure 1).
  • rear refers to the opposite direction from the direction in which the operator in the cab 101 faces (rightward in Figure 1).
  • the front work implement 104 is equipped with a boom 2, the base end of which is connected to the front of the upper rotating structure 102 so that it can be raised and lowered.
  • the boom 2 operates via a boom cylinder (hydraulic actuator) 1, which is a single-rod hydraulic cylinder driven by hydraulic oil (pressurized oil) supplied as a fluid.
  • the tip end of the rod 1c of the boom cylinder 1, which serves as a hydraulic actuator, is connected to the upper rotating structure 102, and the base end of the cylinder tube 1d is connected to the boom 2.
  • the boom cylinder 1 is provided with a bottom chamber, which is a first hydraulic oil chamber on the bottom side, located at the base end of the cylinder tube 1d and to which hydraulic oil is supplied to press against a piston attached to the base end of the rod 1c, applying a load due to hydraulic oil pressure and causing the rod 1c to extend. Furthermore, the boom cylinder 1 is provided with a rod chamber, which is a second hydraulic oil chamber on the rod side, located at the tip end of the cylinder tube 1d and to which hydraulic oil is supplied to press against a piston, applying a load due to hydraulic oil pressure and causing the rod 1c to retract.
  • the base end of an arm 4 is connected to the tip of the boom 2 so that it can be raised and lowered.
  • the arm 4 operates via an arm cylinder (hydraulic actuator) 3, a single-rod hydraulic cylinder that serves as a hydraulic actuator.
  • the tip of the rod 3c of the arm cylinder 3 is connected to the arm 4, and the cylinder tube 3d of the arm cylinder 3 is connected to the boom 2.
  • the arm cylinder 3 is equipped with a bottom chamber located at the base end of the cylinder tube 3d, which is supplied with hydraulic oil to press against a piston attached to the base end of the rod 3c, thereby extending the rod 3c.
  • the arm cylinder 3 is equipped with a rod chamber located at the tip end of the cylinder tube 3d, which is supplied with hydraulic oil to press against a piston, thereby retracting the rod 3c.
  • a bucket 6 is connected to the tip of the arm 4 so that it can be raised and lowered.
  • the bucket 6 operates via a bucket cylinder (hydraulic actuator) 5, which is a single-rod hydraulic cylinder that serves as a hydraulic actuator driven by supplied hydraulic oil.
  • the tip of the rod 5c of the bucket cylinder 5 is connected to the bucket 6, and the base end of the cylinder tube 5d of this bucket cylinder 5 is connected to the arm 4.
  • the bucket cylinder 5 is located at the base end of the cylinder tube 5d and has a bottom chamber that, when hydraulic oil is supplied, presses on a piston attached to the base end of the rod 5c, causing the rod 5c to extend.
  • the bucket cylinder 5 also has a rod chamber that is located at the tip end of the cylinder tube 5d and, when hydraulic oil is supplied, presses on the piston, causing the rod 5c to retract.
  • the boom cylinder 1, arm cylinder 3, and bucket cylinder 5 each extend and retract depending on the direction in which the hydraulic oil is supplied.
  • FIG 2 shows the circuit configuration of the hydraulic drive unit 105 used in this embodiment and mounted on the hydraulic excavator 100.
  • the hydraulic drive unit 105 is mounted on the upper rotating body 102 of the hydraulic excavator 100 shown in Figure 1, and is a drive unit for driving this hydraulic excavator 100.
  • the hydraulic drive unit 105 is equipped with a boom cylinder (hydraulic actuator) 1, an arm cylinder (hydraulic actuator) 3, and a bucket cylinder (hydraulic actuator) 5 that constitute the front work implement 104, as well as an accumulator (pressure storage device) 12 used to drive the boom cylinder 1, arm cylinder 3, bucket cylinder 5, swing unit 7, and traveling units 8a and 8b.
  • accumulator pressure storage device
  • the slewing device 7 and traveling devices 8a, 8b are hydraulic motors that receive a supply of hydraulic oil and are driven to rotate.
  • the accumulator 12 is a pressure storage device that can store potential energy generated when the boom cylinder 1 retracts as accumulated pressure.
  • Pressure sensors 17 are attached to the boom cylinder 1, arm cylinder 3, and bucket cylinder 5. Specifically, a boom pressure sensor 17a, an arm pressure sensor 17b, and a bucket pressure sensor 17c are attached to the boom cylinder 1, arm cylinder 3, and bucket cylinder 5, respectively.
  • a pressure storage sensor 18 is attached to the accumulator 12.
  • first to eighth hydraulic pumps 10a, 10b, 10c...10h which are hydraulic pumps 10 with variable flow rates, are connected to the hydraulic actuators 1, 3, and 5 via pump flow control valves 11, which include pump flow control valves 11a, 11b, 11c, and 11d, via first to fourth pipelines, pipelines 21, 22, 23, and 24, respectively.
  • the boom cylinder 1, arm cylinder 3, and bucket cylinder 5 are basically driven by the first to eighth hydraulic pumps 10a, 10b, 10c...10h. However, depending on the work situation, it may be necessary to intentionally drive these cylinders at an increased speed. In this embodiment, to accommodate such cases, the hydraulic drive system 105 is configured to distribute the pressure accumulated in the accumulator 12 to drive any cylinder at an increased speed. In this embodiment, as shown in Figure 1, the accumulator 12 is provided at the rear of the work machine, but this is just one example and the installation location is not limited to the rear.
  • the hydraulic drive system 105 is equipped with a control lever 16 installed inside the cab 101 as an operating unit.
  • the control lever 16 determines the direction and speed of operation of the hydraulic actuators 1, 3, and 5 (the boom cylinder 1, arm cylinder 3, and bucket cylinder 5, as well as the swing device 7 and traveling devices 8a and 8b) via pump flow control valves 11a, 11b, 11c, and 11d, which adjust the direction and flow rate of hydraulic oil from the first to eighth hydraulic pumps 10a, 10b, 10c, ... 10h to the hydraulic actuators 1, 3, and 5, respectively, depending on the direction and amount of operation of the control lever 16.
  • the hydraulic drive system 105 is equipped with two control levers 16 for operating the boom 2, arm 4, and bucket 6.
  • One control lever 16 operates the boom 2 with a Bm operation amount 16a in the fore-and-aft direction and operates the bucket 6 with a Bk operation amount 16c in the left-right direction perpendicular to the fore-and-aft direction.
  • the other control lever 16 operates the arm 4 with an Am operation amount 16b in the fore-and-aft or left-right direction.
  • the hydraulic drive system 105 is equipped with an engine 9, which serves as a power source.
  • the engine 9 is connected to a power transmission device 28, which is composed of, for example, predetermined gears and is used to distribute power.
  • the first to eighth hydraulic pumps 10a, 10b, 10c...10h are each connected to the power transmission device 28.
  • the accumulator 12 is connected to each of the hydraulic actuators 1, 3, and 5 via respective pipelines.
  • Pipe 25, which serves as a fifth pipeline connecting the accumulator 12 and the boom cylinder 1, is provided with a first assist flow control valve 13a, which is one of the assist flow control valves 13, as an accumulator flow control valve that controls the flow rate of pressurized oil supplied from the accumulator 12 to the boom cylinder 1.
  • Pipe 26, which serves as a sixth pipeline connecting the accumulator 12 and the arm cylinder 3, is provided with a second assist flow control valve 13b, which is one of the assist flow control valves 13, as a second accumulator flow control valve that controls the flow rate of pressurized oil supplied from the accumulator 12 to the arm cylinder 3.
  • a third assist flow control valve 13c which is one of the assist flow control valves 13, is provided in pipe 27, which serves as a seventh pipe connecting the accumulator 12 and the bucket cylinder 5, and serves as a third accumulator flow control valve that controls the flow rate of pressurized oil supplied from the accumulator 12 to the bucket cylinder 5. Furthermore, a first solenoid valve 15a, a second solenoid valve 15b, and a third solenoid valve 15c are connected to the first assist flow control valve 13a, the second assist flow control valve 13b, and the third assist flow control valve 13c, respectively, for controlling the opening area.
  • the hydraulic drive unit 105 further includes a setting device 19 that outputs setting signals (described later) to the control device 20, and a vehicle controller (control device) 20 that serves as a control device for controlling various valves, etc.
  • the setting device 19 has a display unit (not shown).
  • the display unit displays the pressure accumulated in the accumulator 12 and the target assist flow rates for the boom 2, arm 4, and bucket 6 (described later).
  • the display unit also displays the priority order for combined operation of the boom 2, arm 4, and bucket 6 (described later).
  • the display unit also displays the dead zone (described later).
  • the display unit also displays the relationship between the amount of operation of the control lever 16 and the target assist flow rate.
  • the setting device 19 can also change the assist strength as desired, depending on the operation input to the control lever 16 (described later), through operation input from an operator, etc.
  • the vehicle body controller 20 determines the opening area of the pump flow control valves 11, including pump flow control valves 11a, 11b, 11c, and 11d, based on the amount of operation of the control lever 16.
  • the pump flow control valves 11 adjust the direction and flow rate of hydraulic oil from the first to eighth hydraulic pumps 10a, 10b, 10c...10h to each of the hydraulic actuators 1, 3, and 5.
  • the vehicle body controller 20 calculates a target assist flow rate, which is a flow rate for assisting the operation of each of the hydraulic actuators 1, 3, and 5, in addition to the discharge flow rate of the hydraulic pump 10, for each of the multiple hydraulic actuators 1, 3, and 5.
  • the vehicle body controller 20 supplies hydraulic oil at the calculated target assist flow rate from the accumulator 12 to each of the hydraulic actuators 1, 3, and 5.
  • FIG. 3 is a diagram showing the functional configuration of the vehicle body controller 20.
  • the vehicle body controller 20 is equipped with a CPU (Central Processing Unit) that calculates parameters necessary for vehicle control based on data, a ROM (Read Only Memory) that is a storage device that can read data, and a RAM (Random Access Memory) that can both write and read data.
  • the CPU deploys and executes programs stored in the ROM in the RAM, thereby realizing the functions described below.
  • the vehicle body controller 20 is equipped with the following functional units: an assist intensity setting unit 29, an assist priority setting unit 30, an assist deadband setting unit 31, a target assist flow rate calculation unit 32, an assist priority correction unit 33, an assist intensity correction unit 34, and an assist valve control unit 35.
  • the assist intensity setting unit 29 sets the assist intensity for correcting the target assist flow rate based on the setting signal from the setting device 19.
  • the assist intensity takes a value between 0 and 100%, for example, and is set by operating the control lever 16.
  • the assist intensity is a value that indicates what percentage of hydraulic pressure is to be further added by the accumulator 12 depending on the amount of operation of the control lever 16, when the hydraulic force generated by any of the first to eighth hydraulic pumps 10a, 10b, 10c...10h is taken as 100%.
  • the hydraulic actuators 1, 3, and 5 to be assisted will operate at a speed that is approximately 10% faster (maximum 110% speed) than the speed at which they would operate if only the hydraulic pump 10 corresponding to the operation amount of the control lever 16 were used.
  • the hydraulic actuators 1, 3, and 5 to be assisted will operate at a speed that is approximately twice the speed at which they would operate if only the hydraulic pump 10 corresponding to the operation amount of the control lever 16 were used (maximum 200% speed).
  • the assist strength can be changed as desired in response to the operation input to the control lever 16 by operation input to the setting device 19 from the operator, etc.
  • the assist strength can be set low for operators who are still unfamiliar with operating hydraulic excavators, and high for operators who are more experienced at operating hydraulic excavators.
  • the target assist flow rate calculation unit 32 calculates the maximum flow rate of hydraulic oil that can be supplied by the accumulator 12 as the target assist flow rate, if the assist strength set by the assist strength setting unit 29 cannot be achieved at that maximum flow rate, the assist strength setting unit 29 can set the maximum assist strength that can be achieved at that maximum flow rate.
  • the assist priority setting unit 30 sets priorities for combined operation of multiple hydraulic actuators 1, 3, 5 based on the setting signal from the setting device 19.
  • combined operation refers to an operation in which multiple of the boom 2, arm 4, and bucket 6 are driven simultaneously. This combined operation may be performed when performing excavation operations, etc., and in such cases, the overall speed of the combined operation is determined by the operating speed of the specific part that operates slowest. Therefore, it is preferable to set a high priority for the part that operates slowest when performing the combined operation.
  • the assist deadband setting unit 31 sets a set value for setting the deadband for the target assist flow rate of the control lever 16 based on a setting signal from the setting device 19.
  • the deadband in this embodiment is an index that indicates how far the control lever 16 must be operated (depressed) from a stationary state before assistance by the accumulator 12 begins.
  • the set value for setting the deadband is, for example, a value that represents the proportion of the operating range of the control lever 16 where assistance by the accumulator 12 does not begin even when the control lever 16 is operated, relative to the entire operating range of the control lever 16.
  • the control lever 16 will be within the deadband range (i.e., the set value is 45 degrees) until it is tilted 45 degrees.
  • the vehicle body controller 20 controls the pump flow control valve 11, including pump flow control valves 11a, 11b, 11c, and 11d, to drive the first to eighth hydraulic pumps 10a, 10b, 10c...10h, thereby driving each of the hydraulic actuators 1, 3, and 5.
  • the vehicle body controller 20 controls the assist flow control valves 13, including the first assist flow control valve 13a, second assist flow control valve 13b, and third assist flow control valve 13c, in addition to the pump flow control valve 11, to drive the hydraulic actuators 1, 3, and 5 at an increased speed.
  • the target assist flow rate calculation unit 32 sets the target assist flow rate to 0 when the operation amount of the control lever 16 is equal to or less than the dead band setting, and when the operation amount of the control lever 16 exceeds the dead band setting, calculates the target assist flow rate, which is the discharge flow rate of the hydraulic pump 10 plus the increased target assist flow rate by the accumulator 12 that assists the operation of the hydraulic actuators 1, 3, and 5, from the operation amount of the control lever 16.
  • the target assist flow rate calculation unit 32 can, for example, calculate the maximum flow rate of hydraulic oil that can be supplied by the accumulator 12 as the target assist flow rate.
  • the target assist flow rate calculation unit 32 can, for example, calculate a flow rate obtained by allocating the maximum flow rate at a predetermined ratio as the target assist flow rate for each of the multiple hydraulic actuators 1, 3, and 5.
  • the assist priority correction unit 33 corrects the assist strength set by the assist strength setting unit 29 based on the priorities set by the assist priority setting unit 30 so that the assist strength of hydraulic actuators 1, 3, and 5 with lower priorities is smaller than the assist strength of hydraulic actuators 1, 3, and 5 with higher priorities.
  • the assist strength correction unit 34 corrects the target assist flow rate calculated by the target assist flow rate calculation unit 32 based on the assist strength for each hydraulic actuator 1, 3, and 5 corrected by the assist priority correction unit 33.
  • the assist valve control unit 35 calculates the differential pressure of the assist flow control valve 13 based on the pressure of the hydraulic actuators 1, 3, and 5 to be assisted, measured by the pressure sensor 17, and the accumulated pressure of the accumulator 12, measured by the pressure accumulation sensor 18.
  • the assist valve control unit 35 calculates the target opening area of the assist flow control valves 13, including the first assist flow control valve 13a, the second assist flow control valve 13b, and the third assist flow control valve 13c, based on the corrected target assist flow rate and the differential pressure of the assist flow control valve 13, and controls the solenoid valves 15, including the first solenoid valve 15a, the second solenoid valve 15b, and the third solenoid valve 15c, based on the target opening area.
  • Figure 4 is a diagram explaining the values input and output to the control device (vehicle controller) 20.
  • a setting signal output from a setting device 19 is input to the control device 20.
  • the setting signal input from the setting device 19 to the control device 20 is an assist priority setting signal input to an assist priority setting unit 30.
  • the setting signal input from the setting device 19 to the control device 20 is an assist intensity setting signal input to an assist intensity setting unit 29.
  • the setting signal input from the setting device 19 to the control device 20 is an assist dead zone setting signal input to an assist dead zone setting unit 31.
  • the pressure of the boom cylinder 1 detected by the boom pressure sensor 17a, the pressure of the arm cylinder 3 detected by the arm pressure sensor 17b, and the pressure of the bucket cylinder 5 detected by the bucket pressure sensor 17c are input to the control device 20.
  • the pressure of the accumulator 12 detected by the pressure accumulation sensor 18 is input to the control device 20.
  • the values detected by the boom pressure sensor 17a, arm pressure sensor 17b, bucket pressure sensor 17c, and pressure accumulation sensor 18 are input to the assist valve control unit 35.
  • the control device 20 receives inputs of the operation input to the control lever 16. Specifically, the control device 20 receives inputs of the Bm operation amount 16a for operating the boom 2, the Am operation amount 16b for operating the arm 4, and the Bk operation amount 16c for operating the bucket 6. The input Bm operation amount 16a, Am operation amount 16b, and Bk operation amount 16c are input to the target assist flow rate calculation unit 32.
  • the control device 20 outputs a Bm assist valve control pressure to the first solenoid valve 15a to assist the operation of the boom cylinder 1 of the boom 2.
  • the control device 20 outputs an Am assist valve control pressure to the second solenoid valve 15b to assist the operation of the arm cylinder 3 of the arm 4.
  • the control device 20 outputs a Bk assist valve control pressure to the third solenoid valve 15c to assist the operation of the bucket 6.
  • step S1 the vehicle controller 20 acquires a setting signal for any one of the boom cylinder 1, arm cylinder 3, and bucket cylinder 5 from the setting device 19, and sets various setting values.
  • the various setting values include the setting values for assist strength, priority, and dead band.
  • step S2 the vehicle controller 20 calculates the target assist flow rate from the dead band setting value set in S1 and the operation amount obtained from the operation lever 16.
  • step S3 the vehicle controller 20 determines whether there is an assist target with a high priority based on the priority setting values set in step S1, and if there is an assist target with a high priority, the process proceeds to S5; otherwise, the process proceeds to S4.
  • step S4 the vehicle controller 20 corrects the target assist flow rate based on the assist strength setting value set in step S1.
  • step S5 the vehicle body controller 20 sets the assist strength set in step S1 to 0 and corrects the target assist flow rate to 0.
  • the target assist flow rate for the low-priority hydraulic actuators 1, 3, and 5 becomes 0, and only the high-priority hydraulic actuators 1, 3, and 5 are assisted.
  • the assist strength for the low-priority hydraulic actuators 1, 3, and 5 is set to 0 and the target assist flow rate is corrected to 0.
  • the assist strength for the low-priority hydraulic actuators 1, 3, and 5 may be set to any value lower than the high-priority hydraulic actuators 1, 3, and 5, and the target assist flow rate may be set to any value lower than the high-priority hydraulic actuators 1, 3, and 5.
  • step S6 the vehicle controller 20 calculates the target opening area of the assist flow control valve 13 from the target assist flow rate corrected in step S4 or step S5 and the pressure difference between the assist flow control valve 13, and calculates the control pressure required of the solenoid valve 15 from the target opening area and the opening characteristics of the assist flow control valve 13.
  • step S7 the vehicle controller 20 outputs a control signal to be applied to the solenoid valve 15 based on the control pressure calculated in step S6. This completes the process of assisting the target hydraulic actuators 1, 3, and 5.
  • FIG. 6 shows an example of items displayed on the display unit of the setting device 19 in this embodiment.
  • FIG. 6(a) is a diagram showing the pressure accumulated in the accumulator 12 and the target assist flow rates for the boom 2, arm 4, and bucket 6.
  • FIG. 6(a) shows that 40% of the pressure accumulated in the accumulator 12 is 100%, assuming that the maximum pressure the accumulator 12 can accumulate is 100%.
  • the maximum assist flow rates for the boom 2, arm 4, and bucket 6 are 30%, 40%, and 40%, respectively, and the target assist flow rates are set to 10%, 15%, and 10%, respectively.
  • FIG. 6 shows the total flow rates of hydraulic oil supplied to the boom 2, arm 4, and bucket 6, i.e., the unassisted case, as 110%, 115%, and 110%.
  • Figure 6(b) is a diagram showing the priority order.
  • the priority order is the boom 2, the bucket 6, and the arm 4. Therefore, for example, if the pressure accumulated in the accumulator 12 falls below a predetermined value due to the boom 2 being given priority in assist drive, the assist strength for the arm 4 and bucket 6 is set to 0, and assist adjustment is performed so that assist drive is not performed. Note that it is also possible to set multiple parts in the same order of priority, and if there are multiple parts with the highest priority, the system may be configured to assist drive these multiple parts simultaneously.
  • Figure 6(c) is a diagram showing the dead zone.
  • the dead zone setting value is set to 50%.
  • assist drive of the hydraulic actuators 1, 3, and 5 is not performed up to 50% of the maximum operation amount of the operating lever 16, and assist drive is performed when the operation amount exceeds 50% (when the operation exceeds the half lever).
  • Figure 6(d) is a graph showing the relationship between the target assist flow rate and the lever operation amount. As shown in Figure 6(d), if the lever operation amount is equal to or less than the dead band setting value D, the target assist flow rate is not set, and if the lever operation amount exceeds the dead band setting value D, the target assist flow rate is set in proportion to the operation amount of the operating lever 16.
  • the work machine 100 includes a plurality of hydraulic actuators 1, 3, and 5, a hydraulic pump 10 that discharges hydraulic oil, a pressure accumulator 12 that accumulates hydraulic oil, an operating lever 16 that receives operation input from an operator for each of the hydraulic actuators 1, 3, and 5, and a control device 20 that controls the pressure accumulator 12 based on the pressure of the pressure accumulator 12.
  • the control device 20 calculates a target assist flow rate, which is a flow rate for assisting the operation of each of the hydraulic actuators 1, 3, and 5, in addition to the discharge flow rate of the hydraulic pump 10, based on the amount of operation of the operating lever 16, and supplies hydraulic oil at the calculated target assist flow rate from the pressure accumulator 12 to each of the hydraulic actuators 1, 3, and 5.
  • a target assist flow rate which is a flow rate for assisting the operation of each of the hydraulic actuators 1, 3, and 5, in addition to the discharge flow rate of the hydraulic pump 10, based on the amount of operation of the operating lever 16, and supplies hydraulic oil at the calculated target assist flow rate from the pressure accumulator 12 to each of the hydraulic actuators 1, 3, and 5.
  • the work machine 100 further includes a setter 19 that outputs a setting signal to the control device 20.
  • the control device 20 further includes an assist strength setting unit 29 that sets an assist strength for correcting the target assist flow rate based on the setting signal from the setter 19, and an assist strength correction unit 34 that corrects the target assist flow rate based on the assist strength for each hydraulic actuator 1, 3, 5.
  • This allows the hydraulic actuators 1, 3, 5 to operate at a speed that is increased by any desired percentage compared to the speed at which the hydraulic pump 10 would operate alone, corresponding to the amount of operation of the control lever 16. Therefore, an appropriate assist strength can be set according to the operator's level of proficiency; for example, an operator who is unfamiliar with operating the work machine 100 can set the assist strength low, while an operator who is skilled in operation can set the assist strength high.
  • the control device 20 further includes an assist priority setting unit 30 that sets the priority of the hydraulic actuators 1, 3, and 5 during combined operation based on a setting signal from the setting device 19, and an assist priority correction unit 33 that corrects the assist strength of the hydraulic actuators 1, 3, and 5 with lower priority so that it is smaller than the assist strength of the hydraulic actuators 1, 3, and 5 with higher priority, and the assist strength correction unit 34 corrects the target assist flow rate based on the assist strength for each hydraulic actuator 1, 3, and 5 corrected by the assist priority correction unit 33.
  • the speed balance during combined operation can be adjusted by setting a higher priority for the hydraulic actuators 1, 3, and 5 that operate slowest during combined operation.
  • the control device 20 further includes an assist deadband setting unit 31 that sets a set value for setting a deadband for the target assist flow rate of the control lever 16 based on a setting signal from the setting device 19.
  • the control device 20 calculates the target assist flow rate to 0 when the operation amount of the control lever 16 is equal to or less than the set value.
  • the pressure accumulator 12 does not assist the operation of the hydraulic actuators 1, 3, and 5, thereby preventing unnecessary consumption of pressure accumulated in the pressure accumulator 12.
  • the pressure accumulator 12 can assist the operation of the hydraulic actuators 1, 3, and 5, allowing the work machine 100 to move faster, thereby improving work efficiency in excavation work and the like.
  • the work machine 100 according to this embodiment has excellent operability because it does not require any operation other than the control lever 16, such as switching to the pressure accumulator 12, depending on the work being performed.
  • the hydraulic actuators 1, 3, 5 to be assisted are the boom cylinder 1, arm cylinder 3, and bucket cylinder 5, but the present invention is not limited to this.
  • Assist strength, priority, etc. may also be set with the swing motor or travel motor as the assisted object.
  • priority was set, but the present invention is not limited to this.
  • the process for setting priority may be omitted.
  • a dead zone was set, but the present invention is not limited to this.
  • the process for setting the dead zone may be omitted.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne un engin de chantier comprenant une pluralité d'actionneurs hydrauliques, une pompe hydraulique pour évacuer l'huile hydraulique, un dispositif d'accumulation de pression pour accumuler l'huile hydraulique, des leviers d'actionnement pour recevoir des entrées d'actionnement appliquées aux actionneurs hydrauliques respectifs par un opérateur, et un dispositif de commande pour commander le dispositif d'accumulation de pression sur la base de la pression du dispositif d'accumulation de pression. Le dispositif de commande, sur la base des quantités d'actionnement des leviers d'actionnement, calcule, pour chacun de la pluralité d'actionneurs hydrauliques, un débit d'assistance cible qui est un débit pour aider l'actionnement de chacun des actionneurs hydrauliques en plus du débit d'évacuation de la pompe hydraulique, et fournit l'huile hydraulique avec le débit d'assistance cible calculé du dispositif d'accumulation de pression à chacun des actionneurs hydrauliques.
PCT/JP2025/009754 2024-05-02 2025-03-13 Engin de chantier Pending WO2025229811A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2024-074667 2024-05-02
JP2024074667 2024-05-02

Publications (1)

Publication Number Publication Date
WO2025229811A1 true WO2025229811A1 (fr) 2025-11-06

Family

ID=97561630

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2025/009754 Pending WO2025229811A1 (fr) 2024-05-02 2025-03-13 Engin de chantier

Country Status (1)

Country Link
WO (1) WO2025229811A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008075365A (ja) * 2006-09-22 2008-04-03 Shin Caterpillar Mitsubishi Ltd 作業機械における制御システム
WO2016056442A1 (fr) * 2014-10-06 2016-04-14 住友重機械工業株式会社 Pelle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008075365A (ja) * 2006-09-22 2008-04-03 Shin Caterpillar Mitsubishi Ltd 作業機械における制御システム
WO2016056442A1 (fr) * 2014-10-06 2016-04-14 住友重機械工業株式会社 Pelle

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