Controller unit and liquid-pressure driving system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHideyasu Muraoka, Yoji Yudate, Kazuya Iwabe
Life of this patent
Estimating the term…
Abstract
A controller unit is included in a liquid-pressure driving system for use in a working machine configured to supply an operating liquid to an actuator to move a structural body by the actuator. The controller unit includes: a gyro sensor configured to output a signal corresponding to an operation velocity of the structural body; and a controller configured to control a flow rate of the operating liquid supplied to the actuator, based on the signal output from the gyro sensor and corresponding to the operation velocity of the structural body, wherein: the controller is attached to the structural body; and the gyro sensor is incorporated in the controller.
Claims15
A liquid-pressure driving system for use in a working machine configured to supply an operating liquid to an actuator to move a structural body by the actuator, the liquid-pressure driving system comprising:
- a controller unit comprising:
- a gyro sensor configured to output a signal corresponding to an operation velocity of the structural body;
- and
- a controller configured to control a flow rate of the operating liquid supplied to the actuator, based on the signal output from the gyro sensor and corresponding to the operation velocity of the structural body, wherein:
- the controller is attached to the structural body;
- the gyro sensor is incorporated in the controller;
- the structural body is a turning body;
- the actuator is a liquid-pressure motor configured to turn the turning body;
- the gyro sensor is configured to output a signal corresponding to a turning;
- the turning body includes a structure extending portion extending in a front-rear direction;
- the gyro sensor is a sensor configured to detect an angular velocity of the turning body and to output signals corresponding to respective angular velocities around first to third axes of the turning body;
- the controller is attached to the turning body such that the first axis coincides with the front-rear direction of the turning body, and the second axis coincides with a left-right direction of the turning body;
- a variable displacement liquid-pressure pump configured to eject the operating liquid supplied to the liquid-pressure motor, the liquid-pressure pump being capable of changing an ejection amount;
- a flow rate control device configured to control the ejection amount of the liquid-pressure pump in accordance with a pump flow rate command input to the flow rate control device, wherein:
- the gyro sensor outputs a first signal and a second signal, the first signal being a signal corresponding to the angular velocity around the first axis of the turning body, the second signal being a signal corresponding to the angular velocity around the third axis of the turning body;
- and
- the controller calculates a command flow rate corresponding to an operation amount of an operating element, detects a roll angle of the turning body based on the first signal output from the gyro sensor, detects a turning direction of the turning body based on the second signal output from the gyro sensor, calculates a limiting value of the command flow rate in accordance with the detected roll angle and the detected turning direction, and outputs to the flow rate control device the pump flow rate command generated by limiting the command flow rate to the limiting value or less;
- and
- a direction control valve configured to switch a rotation direction of the liquid-pressure motor by switching a flow direction of the operating liquid in accordance with an operation direction in which the operating element is operated, the operating liquid being supplied from the liquid-pressure pump to the liquid-pressure motor, wherein:
- the direction control valve controls in accordance with the operation amount of the operating element the flow rate of the operating liquid supplied to and discharged from the liquid-pressure motor;
- and
- the controller detects the roll angle based on the first signal output from the gyro sensor, detects a rotation velocity of the liquid-pressure motor and the rotation direction of the liquid-pressure motor based on the second signal output from the gyro sensor, and controls an operation of the direction control valve such that the flow rate of the operating liquid supplied to and discharged from the liquid-pressure motor is limited in accordance with the detected roll angle, the detected rotation velocity, and the detected rotation direction.
A liquid-pressure driving system configured to supply and discharge an operating liquid to and from a liquid-pressure motor of a working machine, the liquid-pressure motor being configured to operate at a rotational frequency corresponding to a flow rate of the operating liquid supplied to and discharged from the liquid-pressure motor,
- the liquid-pressure driving system comprising:
- a liquid-pressure pump configured to eject the operating liquid supplied to the liquid-pressure motor;
- a direction control valve configured to switch a rotation direction of the liquid-pressure motor by switching a flow direction of the operating liquid, supplied to and discharged from the liquid-pressure motor, in accordance with an operation direction in which an operating element is operated, and further configured to control the flow rate of the operating liquid discharged, in accordance with an operation amount of the operating element;
- a posture detector configured to output a signal corresponding to a posture of a structural body of the working machine;
- a rotation velocity detector configured to output a signal corresponding to a rotation direction and rotation velocity of the liquid-pressure motor;
- and
- a controller configured to detect the rotation velocity of the liquid-pressure motor based on the signal output from the rotation velocity detector, and further configured to control an operation of the direction control valve such that the flow rate of the operating liquid supplied to and discharged from the liquid-pressure motor is limited to not more than an upper limit value corresponding to the rotation velocity, wherein
- the controller detects the posture of the structural body based on the signal output from the posture detector, detects the rotation direction of the liquid-pressure motor based on the signal output from the rotation velocity detector, and corrects the upper limit value based on the detected posture and the detected rotation direction.
A liquid-pressure driving system configured to supply and discharge an operating liquid to and from a liquid-pressure motor configured to move a structural body of a working machine by operating with torque corresponding to a pressure difference between the operating liquid supplied to the liquid-pressure motor and the operating liquid discharged from the liquid-pressure motor,
- the liquid-pressure driving system comprising:
- a liquid-pressure pump configured to eject the operating liquid supplied to the liquid-pressure motor;
- a direction switching valve configured to switch a rotation direction of the liquid-pressure motor by switching a flow direction of the operating liquid in accordance with an operation direction in which an operating element is operated, the operating liquid being supplied from the liquid-pressure pump to the liquid-pressure motor;
- a relief valve configured to adjust a pressure difference between the operating liquid supplied to the liquid-pressure motor and the operating liquid discharged from the liquid-pressure motor, by releasing the operating liquid, supplied to and discharged from the liquid-pressure motor, at a set pressure corresponding to a torque command input to the relief valve;
- a posture detector configured to output a signal corresponding to a posture of the structural body;
- a rotation direction detector configured to output a signal corresponding to the rotation direction;
- and
- a controller configured to detect the posture based on the signal output from the posture detector, detect the rotation direction based on the signal output from the rotation direction detector, and adjust the pressure difference by outputting to the relief valve the torque command corresponding to the detected posture and the detected rotation direction.
Dependencies are inferred from the claim text.