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1. 发明公开

EP2894335A1 TILT ANGLE CONTROL DEVICE 有权
标题翻译： NEIGUNGSWINKELSTEUERUNGSVORRICHTUNG
公开(公告)号：EP2894335A1
公开(公告)日：2015-07-15
申请号：EP13816544.4
申请日：2013-07-08
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMADA, Masahiro , MURAOKA, Hideyasu , FUJIYAMA, Kazuto , YAMAMOTO, Ryo
IPC分类号： F04B49/06 , E02F9/22 , F15B11/00 , F15B11/028 , F15B11/08
CPC分类号： F04B1/295 , E02F9/2235 , E02F9/2282 , E02F9/2292 , E02F9/2296 , F04B1/122 , F04B1/146 , F04B49/06 , F15B11/165 , F15B11/167 , F15B2211/20553 , F15B2211/20576 , F15B2211/6316 , F15B2211/6355 , F15B2211/6652
摘要： A tilting angle control device 1 includes pressure sensors 51 to 56. Each of the pressure sensors 51 to 56 outputs to a control unit 60 a pressure command signal corresponding to an operation amount. The control unit 60 outputs to an electromagnetic proportional control valve 44 a pressure control signal corresponding to the pressure command signal, and the electromagnetic proportional control valve 44 outputs to a tilt adjustment mechanism 31 pilot pressure p2 corresponding to the pressure control signal. The tilt adjustment mechanism 31 adjusts a tilting angle α of a variable displacement pump 10L such that the tilting angle α becomes an angle corresponding to the pilot pressure p2. A pilot pressure sensor 45 detects the pilot pressure p2 to output a pressure feedback signal to the control unit 60. The control unit 60 calculates the pressure control signal based on the pressure feedback signal and the pressure command signal and performs feedback control of the pilot pressure p2.
摘要翻译：倾斜角度控制装置1包括压力传感器51〜56。压力传感器51〜56中的每一个向控制单元60输出与操作量对应的压力指令信号。控制单元60向电磁比例控制阀44输出与压力指令信号相对应的压力控制信号，并且电磁比例控制阀44输出到与压力控制信号对应的先导压力p2的倾斜调节机构31。倾斜调节机构31调整可变排量泵10L的倾斜角度±，使得倾斜角度±成为对应于先导压力p2的角度。先导压力传感器45检测先导压力p2，以将压力反馈信号输出到控制单元60.控制单元60基于压力反馈信号和压力指令信号计算压力控制信号，并执行先导压力的反馈控制 P2。

2. 发明公开

EP2653621A1 DRIVE CONTROL METHOD FOR OPERATING MACHINE 无效
标题翻译：驱动控制方法用于作业机械
公开(公告)号：EP2653621A1
公开(公告)日：2013-10-23
申请号：EP11849250.3
申请日：2011-12-07
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMAMOTO, Ryo , YAMADA, Masahiro , YUDATE, Yoji
IPC分类号： E02F9/22 , E02F9/20 , F15B11/04 , F15B11/08 , F15B21/14
CPC分类号： E02F9/2025 , E02F9/123 , E02F9/2095 , E02F9/2217 , E02F9/2228 , E02F9/2235 , E02F9/2239 , E02F9/2242 , E02F9/2285 , E02F9/2296 , F15B11/042
摘要： In drive control of an operating machine configured to drive a structure by a hydraulic motor (2) configured to be driven by operating oil supplied from a hydraulic pump (10) through a control valve (14) and an electric motor (3) configured to cooperate with the hydraulic motor (2), a speed command generated based on a manipulation amount of a remote control valve (5) configured to determine an operation amount of the structure is subjected to speed feedback control performed based on an actual rotation speed of the hydraulic motor (2) and pressure difference feedback control performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor (2). With this, an opening position command is generated such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor (2), is ejected. Then, a tilting angle of the hydraulic pump (10) is controlled by controlling an opening position of the control valve (14) or generating a tilting angle command. Thus, the amount of oil supplied to the hydraulic motor (2) is controlled in accordance with the manipulation amount of the remote control valve(5), the rotation speed of the hydraulic motor (2), and the operating oil pressure difference between the suction port and discharge port of the hydraulic motor. With this, the energy loss is suppressed.

3. 发明公开

EP2617999A1 METHOD FOR CONTROLLING DRIVING OF WORK MACHINE 有权
标题翻译： VERFAHREN ZUR STEUERUNG DES ANTRIEBS EINER WASCHMASCHINE
公开(公告)号：EP2617999A1
公开(公告)日：2013-07-24
申请号：EP11824752.7
申请日：2011-09-09
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMAMOTO, Ryo , YAMADA, Masahiro , YUDATE, Yoji
IPC分类号： F04B49/06 , E02F9/20 , E02F9/22
CPC分类号： E02F9/2221 , B66C23/86 , E02F9/123 , E02F9/128 , E02F9/2095 , E02F9/2217 , E02F9/225 , E02F9/2292 , E02F9/2296 , F04B49/002 , F04B49/06 , F04B49/22
摘要： In drive control of an operating machine configured to drive a structure by a hydraulic motor (2) configured to be driven by operating oil supplied from a hydraulic pump (10) and an electric motor (3) configured to cooperate with the hydraulic motor (2), a speed command generated based on a manipulation amount of a remote control valve (5) configured to determine an operation amount of the structure is subjected to speed feedback control performed based on the actual rotation speed of the hydraulic motor (2) and pressure difference feedback control performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor (2). With this, a tilting angle command is generated such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor 2, is ejected, and the tilting angle of the hydraulic pump (10) is controlled. Thus, the amount of oil supplied from the hydraulic pump to the hydraulic motor is controlled in accordance with the manipulation amount of the remote control valve, the rotation speed of the hydraulic motor, and the operating oil pressure difference between the suction port and discharge port of the hydraulic motor. As a result, energy loss is suppressed.
摘要翻译：在构造成通过液压马达（2）驱动结构的操作机构的驱动控制中，所述液压马达构造成由从液压泵（10）供给的工作油和与所述液压马达（2）配合的电动马达（3）驱动），基于用于确定结构的操作量的遥控阀（5）的操作量而产生的速度指令进行基于液压马达（2）的实际转速进行的速度反馈控制和压力基于液压马达（2）的吸入口和排出口之间的工作油压差进行差异反馈控制。由此，产生倾斜角度指令，使得其在液压马达2的实际转速下所需量的工作油被排出，并且控制液压泵（10）的倾斜角度。因此，根据遥控阀的操作量，液压马达的旋转速度和吸入口与排出口之间的工作油压差来控制从液压泵供给到液压马达的油量的液压马达。结果，能量损失被抑制。

4. 发明授权

EP2617999B1 METHOD FOR CONTROLLING DRIVING OF WORK MACHINE 有权
公开(公告)号：EP2617999B1
公开(公告)日：2018-10-31
申请号：EP11824752.7
申请日：2011-09-09
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMAMOTO, Ryo , YAMADA, Masahiro , YUDATE, Yoji
IPC分类号： F04B49/06 , E02F9/20 , E02F9/22 , B66C23/86 , E02F9/12 , F04B49/00 , F04B49/22
CPC分类号： E02F9/2221 , B66C23/86 , E02F9/123 , E02F9/128 , E02F9/2095 , E02F9/2217 , E02F9/225 , E02F9/2292 , E02F9/2296 , F04B49/002 , F04B49/06 , F04B49/22
摘要： In drive control of an operating machine configured to drive a structure by a hydraulic motor (2) configured to be driven by operating oil supplied from a hydraulic pump (10) and an electric motor (3) configured to cooperate with the hydraulic motor (2), a speed command generated based on a manipulation amount of a remote control valve (5) configured to determine an operation amount of the structure is subjected to speed feedback control performed based on the actual rotation speed of the hydraulic motor (2) and pressure difference feedback control performed based on an operating oil pressure difference between a suction port and discharge port of the hydraulic motor (2). With this, a tilting angle command is generated such that the operating oil, the amount of which is necessary at the actual rotation speed of the hydraulic motor 2, is ejected, and the tilting angle of the hydraulic pump (10) is controlled. Thus, the amount of oil supplied from the hydraulic pump to the hydraulic motor is controlled in accordance with the manipulation amount of the remote control valve, the rotation speed of the hydraulic motor, and the operating oil pressure difference between the suction port and discharge port of the hydraulic motor. As a result, energy loss is suppressed.

5. 发明公开

EP2607717A1 ELECTRO-HYDRAULIC DRIVE SYSTEM FOR A WORK MACHINE 有权
标题翻译： ELEKTROHYDRAULISCHES ANTRIEBSSYSTEMFÜREINE ARBEITSMASCHINE
公开(公告)号：EP2607717A1
公开(公告)日：2013-06-26
申请号：EP11817882.1
申请日：2011-07-13
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMADA, Masahiro , YAMAMOTO, Ryo , IMAMURA, Yukito
IPC分类号： F15B21/14 , B60K6/12 , E02F9/20 , F03C1/40 , F04B49/00 , F04B49/06 , H02P5/00
CPC分类号： F04B17/03 , B60K6/20 , B60W2300/17 , E02F9/123 , E02F9/2075 , E02F9/2095 , E02F9/2217 , E02F9/2296 , F01C13/04 , F03C1/0636 , F03C1/0678 , F03C1/26 , F04B49/002 , F15B21/14 , F15B2211/20515 , F15B2211/20523 , F15B2211/20546 , F15B2211/50527 , F15B2211/633 , F15B2211/6336 , F15B2211/88 , F16H61/4148 , H02K7/00 , H02K7/1807 , H02P3/14
摘要： An electro-hydraulic drive system for a work machine which drives an upper rotary body (16) by controlling a flow rate of a hydraulic fluid by a control valve (6), comprises an electro-hydraulic pump (3) including a hydraulic pump (4) driven by an engine (2), and a first electric motor (5), and an electro-hydraulic motor (9) including a hydraulic motor (10) rotated by the hydraulic oil supplied from the electro-hydraulic pump (3), and a second electric motor (11), and a controller (7) which determines an operating state of the first electric motor (5) and an operating state of the second electric motor (11) based on a load of the electro-hydraulic pump (3) and a load of the electro-hydraulic motor (11), and is able to perform an efficient operation by using a hydraulic pressure (fluid pressure) and electric power
摘要翻译：一种用于通过控制由控制阀（6）控制液压流体的流量来驱动上旋转体（16）的作业机的电液驱动系统，包括电动液压泵（3），其包括液压泵（由电动液压泵（3）供给的液压油旋转的液压马达（10）驱动的发动机（2）和第一电动机（5）以及电动液压马达（9）和第二电动机（11），以及控制器（7），其基于电动液压的负载来确定第一电动机（5）的运行状态和第二电动机（11）的运转状态泵（3）和电动液压马达（11）的负载，并且能够通过使用液压（流体压力）和电力来执行有效的操作

6. 发明授权

EP2894335B1 TILT ANGLE CONTROL DEVICE 有权
公开(公告)号：EP2894335B1
公开(公告)日：2020-04-08
申请号：EP13816544.4
申请日：2013-07-08
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMADA, Masahiro , MURAOKA, Hideyasu , FUJIYAMA, Kazuto , YAMAMOTO, Ryo
IPC分类号： F04B49/06 , E02F9/22 , F15B11/00 , F15B11/028 , F15B11/08 , F04B1/12 , F04B1/14 , F04B1/29 , F15B11/16

7. 发明授权

EP2607717B1 ELECTRO-HYDRAULIC DRIVE SYSTEM FOR A WORK MACHINE 有权
公开(公告)号：EP2607717B1
公开(公告)日：2019-05-22
申请号：EP11817882.1
申请日：2011-07-13
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMADA, Masahiro , YAMAMOTO, Ryo , IMAMURA, Yukito
IPC分类号： E02F9/20 , F15B21/14 , B60K6/12 , F03C1/40 , F04B49/00 , F04B49/06 , H02P5/00

8. 发明公开

EP2524995A1 WORK MACHINE DRIVE CONTROL DEVICE 有权
标题翻译： ANTRIEBSSTEUERVORRICHTUNGFÜREINE ARBEITSMASCHINE
公开(公告)号：EP2524995A1
公开(公告)日：2012-11-21
申请号：EP11732763.5
申请日：2011-01-11
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： YAMAMOTO, Ryo , YAMADA, Masahiro , YUDATE, Yoji
IPC分类号： E02F9/20 , E02F9/22 , F15B21/14
CPC分类号： B60T8/52 , B60T8/34 , B60T8/44 , E02F9/123 , E02F9/128 , E02F9/2095 , E02F9/2217 , E02F9/2285 , E02F9/2296 , F15B7/006
摘要： A drive controller of an operating machine configured to drive a structure by a hydraulic motor 2 and an electric motor 3 includes: a remote control valve 5 configured to determine the operation amount of the structure; an electric motor torque calculation portion configured to calculate torque of the electric motor 3; a hydraulic motor torque calculation portion configured to calculate torque of the hydraulic motor 2; a controller 7 configured to transmit an opening position control signal to the control valve 14 based on the operation amount determined by the remote control valve 5 such that torque necessary to drive the structure is obtained from the torque of the electric motor 3 and the torque of the hydraulic motor 2; and solenoid-operated reducing valves 19 and 20 each configured to reduce a pilot pressure, to be applied to the control valve 14, based on the opening position control signal output from the controller 7.
摘要翻译：构造成通过液压马达2和电动机3驱动结构的操作机械的驱动控制器包括：远程控制阀5，其被配置为确定结构的操作量; 电动机转矩计算部，其构成为计算电动机3的转矩; 液压马达转矩计算部，其构成为计算液压马达2的转矩; 控制器7，其基于由遥控阀5确定的操作量，将打开位置控制信号发送到控制阀14，使得从电动机3的转矩和驱动结构所需的转矩得到，液压马达2; 以及电磁式减压阀19和20，其各自被构造成基于从控制器7输出的打开位置控制信号来减小施加到控制阀14的先导压力。

9. 发明公开

EP4360815A1 ELECTROHYDRAULIC ROBOT 审中-实审
公开(公告)号：EP4360815A1
公开(公告)日：2024-05-01
申请号：EP22828096.2
申请日：2022-05-13
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： TANAKA, Hideki , SHIRAO, Junichi , FUJIWARA, Yasuhiro , IMAMURA, Yukito , YAMAMOTO, Ryo
IPC分类号： B25J9/14
CPC分类号： B25J9/14
摘要： This electrohydraulic robot includes: a manipulator including a plurality of joints; a plurality of drive devices that are provided in a one-to-one correspondence with the plurality of joints and each move a corresponding one of the plurality of joints; and a control device that controls movement of each of the plurality of drive devices. Each of the plurality of drive devices includes: a hydraulic actuator that moves a corresponding one of the plurality of joints; a hydraulic pump that supplies a working fluid to the hydraulic actuator; and an electric motor that drives the hydraulic pump. The control device is a pump of a variable capacity type that drives the electric motor and changes the discharge capacity of the hydraulic pump.

10. 发明授权

EP2261499B1 ELECTRIC MOTOR INTEGRATED HYDRAULIC MOTOR 有权转让
标题翻译：电动机集成式液压马达
公开(公告)号：EP2261499B1
公开(公告)日：2018-05-02
申请号：EP08873043.7
申请日：2008-11-20
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： YAMADA, Masahiro , YAMAMOTO, Ryo
IPC分类号： F03C1/06 , F03C1/22 , F03C1/26 , F04B17/03 , H02K7/00
CPC分类号： F03C1/26 , F03C1/0607 , F03C1/0663 , F03C1/22 , F04B17/03 , H02K7/00
摘要： The present invention provides a small-size light-weight electric motor integrated hydraulic motor which is simple in configuration, integrally includes an electric motor and a hydraulic motor, and is capable of efficiently operate, by being configured such that: a swash plate type hydraulic motor (2) and an electric motor (7) driven by the swash plate type hydraulic motor (2) are provided in one casing (4); the casing (4) is filled with oil; a driving shaft (3) of the swash plate type hydraulic motor (2) is configured to extend from a front end portion of the casing (4) up to a rear end portion thereof and be supported at the front and rear end portions of the casing (4); the swash plate type hydraulic motor (2) and a rotor (16) of the electric motor (7) are provided in series at the driving shaft (3); and a stator (18) of the electric motor (7) is fixed to an inner side portion of the casing (4).

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