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    PHÁT NGUYỄN THẾ
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    HITACHI PATENT

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    HITACHI PATENT

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    44 просмотров17 страниц

    Us 6651428

    Загружено:

    PHÁT NGUYỄN THẾ
    HITACHI PATENT

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    © All Rights Reserved
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    2) United States Patent Takahashi et al. US006651428B2, US 6,651,428 B2 Nov. 25, 2003 a0) Patent No.: (45) Date of Patent: (54) HYDRAULIC DRIVE DEVICE (75) Inventors: Kiwamu Takahashi, Shiga-ken (JP); ‘Takashi Kanai, Kashiwa (IP); ska Tsuruga, Moriyama (JP); iro Nakatani, Shiga-ken (JP); Junya Kawamoto, Moriyama (JP) (73) Assignee: Hitachi Construction Machinery Co. Ltd,, Tokyo (IP) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 15440) by 82 days. 10/018,575 May 15, 2001 PCT/3P01/04012 Appl. No, PCT Filed: PCT No, §371 (X1), (Q), (4) Date! PCT Pub, No. Dee. 20, 2001 WO01/88383 2001 Prior Publication Data (7) PCT Pub. Date: Nov. (5) 20K15}0097836 AL May 29, 2008 G0) May 16, 2000 (51) Int. Cl? (32) US. CL (58) Field of Seare! Foreign Application Priority Data i) 2000-143390 FI6p 3102 (60/447; 60/448 60/447, 448, 445, 0/453 66) References Cited U.S, PATENT DOCUMENTS SAITSTL A 6/1994 Ito etal. CONTROL VALVES SS7612 A * 121996 Wilke eta ous 5(630,317 A 5/1997 ‘Takara eta 5937645 A * $1909 Hamamoto ute (105,307 A 8/2000 Tuga et al FOREIGN PATENT DOCUMENTS w 2.164941 611990 we 22612 10/1990 1» 599126 41993 @ 74805 3/1996 e 1o-196604 T1998 wo wo97/06305 aii992 wo woos23213 10/1994 wo wonwz76 5/1998 * cited by examiner Primary Examiner—Baward K. Look Assistant Examiner—Igor Kersbieyn (74) Attorney, Agent, or Firm—Mattingly, Stanger & Malu, BC. 67) ABSTRACT Ditferental pressures across flow control valves 6a, 6b and 6 are controlled by pressure compensating valves 7a, 7b and Te to be held at the same value, ie, a differential pressure APLS, and the differeatial pressure APLS is main- tained at a target differential pressure APLSref by a pump displacement control unit §. For changing the target differ- cetial pressure depending on change in revolution speed of an engine 1, a flow detecting valve 31 is disposed in a delivery line 301, 30b of @ fixed displacement hydraulic pump 30, and a differential pressure APp across a variable throttle portion 34a of the flow detecting valve 31 is intzo- duced toa setting controller 32, Aselector valve 50 operable to shift between a fully closed position and a throttle position is disposed in parallel to the flow detecting valve 31 and is shifted by a control lever 51. 6 Cla 7 Drawing Sheets US 6,651,428 B2 Sheet 1 of 7 Nov. 25, 2003 U.S. Patent S3ATVA 1OXLNOO SLOWS OL bold U.S. Patent Nov. 25, 2003 Sheet 2 of 7 US 6,651,428 B2 DIFFERENTIAL PRESSURE ACROSS FLOW DETECTING VALVE APP SELECTOR VALVE 50 AT (AP isret ) “FULLY CLOSED POSITION” FIG.2A SELECTOR VALVE 50 AT THROTTLE POSITION” Qp(N) PILOT FLOW RATE (REVOLUTION SPEED OF PRIME MOVER) x DEMANDED FLOW RATE (ACTUATOR SPEED) Qv FIG.2B AP is(AP sre) TARGET DIFFERENTIAL, PRESSURE J DEMANDED FLOW RATE (ACTUATOR SPEED) Qv SELECTOR VALVE 50 AT “FULLY CLOSED POSITION” SELECTOR VALVE 50 AT “THROTTLE POSITION” FIG.2C y____s qp(n) PILOT FLOW RATE (REVOLUTION SPEED OF PRIME MOVER) U.S. Patent Nov. 25, 2003 Sheet 3 of 7 US 6,651,428 B2 DIFFERENTIAL PRESSURE ACROSS FLOW DETECTIONG VALVE kg/cm? (SELECTOR VALVE 50 AT THROTTLE POSITION) -2500min“!) 12 11.4 (N; =) FIG.3 1000min’ 6 FLOW RATE L/min SELECTOR VALVE 50 AT FULLY CLOSED POSITION (SCALE UNIT ON LEFT) SELECTOR VALVE 50 AT THROTTLE POSITION (SCALE UNIT ON RIGHT) 45 ( ot NN SD oO tT NO DIFFERENTIAL PRESSURE ACROSS FLOW DETECTIONG VALVE kg/cm? (SELECTOR VALVE 50 AT FULLY CLOSED POSITION) US 6,651,428 B2 Sheet 4 of 7 Nov. 25, 2003 U.S. Patent 0€ dWnd OMNVYGAH WOuS \ 208 es WNOIS ONIHOLIMS aYnssaud SAATVA TONLNOO SLOWSY OL =e) SNVYO. AYWNIGHO rOl4 US 6,651,428 B2 Sheet 5 of 7 Nov. 25, 2003 U.S. Patent g0S- TWNOIS ONIHOLIMS 29 29: SNVYO. AMWNIGHO 0€ dWNd OMINVYGAH WONS S3ATVA TOULNOD SLOW3Y OL SOld US 6,651,428 B2 Sheet 6 of 7 Nov. 25, 2003 U.S. Patent 0€ dWnd OlINVYEGAH WOYS \ P08 es 0s fo : ole AWNDIS 1 ONIHOLIMS . WOML93713 “y --. 99 } Fy e } | ate 908 eg qie ele fo aoe oe9~ | \ ea SATA TONLNOO ALOWSY OL ANVYO ‘AMWNIGHO 9°DI4 US 6,651,428 B2 Sheet 7 of 7 Nov. 25, 2003 U.S. Patent 0€ dWnd OlNVYGAH WOus ea ~P0f SAATVA TOULNOD SLOWSY OL Z9l4 US 6,651,428 B2 1 HYDRAULIC DRIVE DEVICE, ‘TECHNICAL FIELD. ‘The present invention relates to a hydraulic drive system including a variable displacement hydraulic pump, and more particularly to a hydraulic drive system in Which load sensing control is performed to control the displacement of ‘a byclraulic pump such thatthe difference pressure between a delivery pressure of a hydraulic pump and a maximum load pressure among a plurality of actuators is maintained at a setting value. BACKGROUND ART ‘AS load sensing techniques for controlling the displace- iment of a hydraulic pump so as to maintain the difference pressure between a delivery pressure of the hydraulic pump and a maximum load pressure among a plurality of actuators at a setting value, there are known a pump displacement ‘control unit disclosed in JP,A 5-99126 and a hydraulic drive system disclosed in JP,A 10-196604, ‘The pump displacement control unit disclosed in JPA 5.90126 comprises a servo piston for tilting a swash plate of ‘variable displacement hydraulic pump, and a tilting control unit for supplying a pump delivery pressure toa servo piston in accordance with a diflerential pressure APLS between a delivery pressure Ps of a hydraulic pump and a load pressure PLS of an actuator, which is driven by the hydraulic pump, and for maintaining the differential pressure APLS at a setting value APLSref, thereby performing displacement ‘control. The pump displacement control unit further com- prises a fixed displacement hydraulic pump driven by an ‘engine aloag with the variable displacement hydeaulic ppump, a throttle disposed in a delivery path of the fixed ‘displacement hydraulic pump, and means for changing the setting value APLSref i the tilting control unit in accor- dance with a differential pressure APp across the throtle ‘Then, the setting value APLSref of the tilting control unit is ‘changed by detecting an engine revolution speed based on ‘change of the dillerential pressure across the throttle dis- posed in the delivery path of the fixed displacement hydrau- lie pump. ‘The hydraulic drive system disclosed in JPA 10-196604 is constructed by providing, in a hydraulic circuit disclosed in JP.A5-99126, a plurality of pressure compensating valves for controlling differential pressures across a plurality of flow control valves to be held at the same differential pressure between a pump delivery pressure and a maximum Toad pressure, and by forming the throttle disposed in the delivery path of the fixed displacement hydraulic pump as a variable throttle that has a larger opening area when an engine revolution speed is in a range nearer to a rated revolution speed than when it is in a range nearer to a ‘minimum revolution speed. With such an arrangement, ‘when the engine revolution speed is set to a lower value, @ target compensated differential pressure for each of the pressure compensating valves is reduced to a larger extent. As a result, actuator speed is slowed down and good fine ‘operability ean be achieved DISCLOSURE OF THE INVENTION In the prior art, as described above, a fixed throttle or a flow detecting valve (variable throttle) is disposed in the delivery path ofthe fixed displacement hydraulic pump, and the setting value APLSref in the load sensing control is 0 as os ss 4s ss 6s 2 changed in accordance withthe differential pressure across either throtle. The seting value APLSref is thereby reduced depending on the engine revolution speed s0 as to slow down the actuator speed. The above-described prior at however, has a problem in that when a speed change width required for an actuator is large, the prioe artis not adaptable for sueh a equizement. For example, exeavation-and-loading work is one of ordinary work carried out by a hydraulic exeavator. la that work, after excavation, scooped earth and sand are released and Ioaded on a track bed by raising a boom while a swing body is driven to swing. Also, erane work has reeently been carried out using & hydraulic excavator in many ease. In the crane work, a load is hung at afore end of a front operating mechanism and is slowly swung, The swing speed required inthe exeavation-and-loading work cifers greatly from that required in the crane work. When one hydraulic excavator is «employed to cary out both he exeavation-and-loading work and the crane work, a change width of the swing speed exceeds the range obtainable in the above-described prior art through adjustment of the engine revolution speed, and the above-described prior artis not adaptable for such a large change width of the demanded actuator speed Even if using an electric motor as a prime mover ean provide a suficently lange width in adjustment of the revolution speed through inverter control and make a system adaplabe fora large change width ofthe demanded actuator speed, an operator Ieels somewhat different from the opera- tion of conventional system in setting the revolution speed of the prime mover for adjustment of the actuator speed More specifically, when an operator reduces the revolu- tion speed of the prime mover for fine operation in ordinary excavation work, the revolution speed of the prime mover ‘must be adjusted while paying attention to such a point that the actuator speed will not slow down to a level unsuitable for cacying out ordinary excavation work. This imposes an excessive burden on the operator. ‘An object ofthe preseat invention is to provide a hydrau- licdrive system in which a target differential pressure in load sensing contol can be changed depending on the revolution speed of a prime mover, and even when a change wih of the demanded actuator Speed exceeds the range adjustable with the revolution speed of the prime mover, the system is adaplable for such a change width and can realize the respective demanded actuator speeds (1) To achieve the above object, according to the present invention, there is provided a hydraulic drive system comprising a prime mover; a variable displacement hydaulie pump driven by the prime mover; a plurality of actuators driven by a hydraulic fluid delivered from the hydraulic pump; a plurality of flow control valves for controlling flow rates ofthe hydraulie fluid supplied from the hydraulic pump tothe plurality of actuators; & plurl- ity of pressure compensating valves for conteolling dif- ferential pressures across the plurality of flow control valves depending on a differential pressare between 2 delivery rate of the hyccauli pump and a maximum load pressure among the plurality of actuators; pump displace- ment control means for controlling a displacement of the hydraulic pump and maintaining the differential pressure between the delivery rate ofthe hydraulic pump and the maximum load pressure among the plurality of actuators ata setting value; and a fixed displacement hydraulic ‘pump driven by the prime mover along with the variable displacement bydeaulic pump; the pump displacement contol means including throtle means provided in a US 6,651,428 B2 3 delivery line of the fixed displacement hydraulic pump, detecting change in revolution speed of the prime mover based on change in differential pressure across the throtle means, and changing the setting value depending on the revolution speed ofthe prime mover, wherein the hydau- lie drive system further comprises a selector valve con- nected to the throttle means in parallel and being operable to shift between a fully closed position and a throtle position. With the provision ofthe selector valve io parallel to the throttle means, when the selector valve is i the fully closed positon, the throtle means functions solely andthe setting Value in pump digplacement control (arg! differential pres- sure in Toad sensing eonirol) ean be adjusted depending on the revolution speed of the prime mover in the same manner as that conventionally performed. When the selector valve is sified to the throtle postion, the hydraulic fui from the fixed displacement hydraulic’ pump is distributed to the throttle means and the selector valve, whereupon the How rate ofthe hydraulic fluid passing through the trotle means is reduced and the differential pressure across the throtle means is also reduced. As a result, even at the same revolution speed of the prime mover, the setting value becomes smaller than that resulting when the selector valve is in the fully closed position. This reduces the diferental pressure across the flow control valve controlled by the pressure compensating valve. Hence, the flow rate of the hydraulic uid supplied to the actuator is reduced and the actuator speed is slowed dow, ‘Thus, te target differential pressure inthe load sensing ‘control canbe changed depending on the revolution speed of the prime mover. Also, even when a change width of the ‘demanded actuator speed exceeds the range adjustable with the revolution speed of the prime mover, the system is adaptable for such a large change width and cun realize the respoctive demanded actuator speeds. Q) In above (1), preferably, the hydraulic drive system further comprises manual operating means for shifting the selector valve between the fully closed position and the throttle position, With that feature, itis possible fo shift the selector valve and change the actuator speed in accordance with the ‘operator's intention. 8) In above (1), preferably, the hydraulic drive system further comprises manual operating means operated by an ‘operator; and switching means for shifting the selector valve between the fully closed position and the throtle position in response to an operation of the manual oper~ sting means. ‘Thal feature also makes it possible to shift the selector valve and change the actuator Speed in accordance with the ‘operator's intention. (8) In above (3), preferably, the switching means are elec- teically and hydraulically operated With that feature, the selector valve can be shifted in a hydraulic way. (5) In above (3), the switching means may be electrically “operated With that feature, the selector valve can be shifted in an ‘This case corresponds to the prior art disclosed in JPA 10-196604. With the selector valve $0 not included, as described above in connection with the case where the selector valve 50 is in the fully closed position, the rela- tionship of the above formula (5) holds between the target ifferential pressure APLSref and the engine revolution speed N: APLSeteAPp ett o ‘On the other hand, the relationship between the actuator ‘demanded flow rate Qv and the engine revolution speed N is expressed by the above formula (8): oven? © From trial calculation based on the formula (8), when the ‘engine revolution speed varies from 1040 to 2500 min", the ‘swing speed varies over the range of 5.7 to 9 min”. Hence, this case isnot adaptable for 1 min-* required in the erane work - This case correspon to the prior art disclosed in JRA 5.99126. Since the How detecting valve is fixed throttle, the relationship expressed by the following formula holds between the tangt differential pressure APLSref and the ‘engine revolution speed N: aPtSef «OF as) «w (On the other hand, since the relationship between the target LS differential pressure APLSref and the actuator ‘demanded flow rate Qv is expressed by the above Formula (6), the relationship between the demanded flow rate Qv and the engine revolution speed N is expressed as follows: omy as 0 as os ss 4s 50 ss 6s 12 From tral calculation based on the formula (14), when the cgine revolution speed varies from 1000 to 2500. swing speed varies over the range of 3.6 to 9 mit this ease is also not adaptable for the above required swing speed of I min“ With the frst embodiment of the preseat invention, the ‘maximum actuator speed (maximum swing speed) can be reduced from 9 min“! to 1 min"? (1/9) by shifting the selector valve $0 to the throttle position. ‘This point is verified as follows. ‘When the selector valve $0 is inthe throtle postion, the relationship between the delivery rate Qp of the fixed displacement hydraulic pump 30 or the revolution speed N of the engine 1 and the differential pressure APp across the variable throttle portion 31a is expressed by the above formula (12) p= Cav = 01+ 02 «a eae + 6-Viaep) ‘Assuming here that the differential pressure across the flow detecting valve 31 is APPO when the selector valve 50 is in the fully closed position, and it is APPL when the selector valve $0 isin the throttle position, the relationships between the delivery rate Op of the hydraulic pump 30 and the differential pressures APPO, APPL are expressed a8 given below: OpmceaPPe Ome APPLaps(APPI) Since the total flow rate (delivery flow rate of the hydrau- lic pump 30) Qp is not changed between before and after the shift of the selector valve $0, the following formula holds: APP APPLY BPD, as In order 10 reduce the maximum actuator speed (maximum swing speed) down to 1/9, the differential pres- sure across the flow detecting valve 31 resulting when the selector valve 50 is in the throttle position must be (1/9)! of that resulting when the selector valve 50 is in the fully closed position; that is: APPLA(SDARPO a9 Putting the formula (16) in (15) leads to: eAPPOM(LSI)acAPEO4{19)BIAPPO) a Solving the formula (17) for B the following formula is resulted Ponsavarre 09 ‘Thus, once the constant c regarding the flow detecting valve 31 and the differential pressure APPO across the flow detecting valve 3 resulting when the selector valve 50 is in the fully closed position are both decided, f) can be caleu- lated. Consequently, the maximum actuator speed (maximum swing speed) can be reduced down from 9 min to 1 min (19). FIG. 3 shows one example of calculation results. In a graph of FIG. 3, the horizontal axis represents the delivery rate ofthe hydraulie pump 30 (in proportion to the engine revolution speed), whereas the vertical axis on the left side US 6,651,428 B2 13 in the drawing represents the differential pressure across the flow detecting valve 31 resulting when the selector valve 50 isin the fully closed position (when the selector valve 0 is not provided), and the vertical axis on the right side in the

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