EP1766246B1 - Procede de commande d'un systeme a vannes pour dispositif de levage - Google Patents

Procede de commande d'un systeme a vannes pour dispositif de levage Download PDF

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Publication number
EP1766246B1
EP1766246B1 EP05755931A EP05755931A EP1766246B1 EP 1766246 B1 EP1766246 B1 EP 1766246B1 EP 05755931 A EP05755931 A EP 05755931A EP 05755931 A EP05755931 A EP 05755931A EP 1766246 B1 EP1766246 B1 EP 1766246B1
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EP
European Patent Office
Prior art keywords
pressure
lifting gear
valve
lowering
control valve
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.)
Expired - Lifetime
Application number
EP05755931A
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German (de)
English (en)
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EP1766246A1 (fr
Inventor
Sönke Jessen
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Bosch Rexroth AG
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Bosch Rexroth AG
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    • 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
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30545—In combination with a pressure compensating valve the pressure compensating valve is arranged between output member and directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3111—Neutral or centre positions the pump port being closed in the centre position, e.g. so-called closed centre
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/329—Directional control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5153—Pressure control characterised by the connections of the pressure control means in the circuit being connected to an output member and a directional control valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/57—Control of a differential pressure
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/605—Load sensing circuits
    • F15B2211/6051—Load sensing circuits having valve means between output member and the load sensing circuit
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members

Definitions

  • the invention relates to a method for controlling a Hubwerksventilan angel according to the preamble of claim 1.
  • FIG. 1 to which reference is already made, shows the basic structure of the working hydraulics of a tractor 1 or other mobile implement.
  • the tractor 1 is according to FIG. 1 executed with a Heckhubwerk 2 and a front lifting 4, the lifting cylinder 6, 8 via a control block 10 with pressure medium of a hydraulic pump 12 can be supplied.
  • the control block 10 contains each of the consumers 6, 8, etc. associated electro-hydraulically actuated directional control valves 14, which are controlled by an electrical control unit 16.
  • the Setpoint values are set, for example, via a front control unit 18 or a rear control panel 20, which are arranged in the interior of the tractor cabin 22 or via a rear pushbutton 22 or a front pushbutton (not shown) arranged on the rear side of the tractor.
  • a plurality of sensors for example pressure sensors 26, rotational speed sensors 28, position sensors 30, force sensors 32 or speed sensors 34 are provided on the tractor 1, the signals of which can be processed by the control unit 16.
  • the Heckhubwerk 2 is executed single-acting in most known solutions, wherein the lifting cylinder 6 by supplying pressure medium over the. Pump 12 is extended and the lowering by the weight of the Heckhubwerks 2 and possibly attached thereto device such as a plow 36 takes place.
  • the Heckhubwerk 2 is brought into a floating position, so that the attachment rests on the ground due to its own weight and overflows any bumps.
  • the previously used pressure sensor for example, in the front lift is arranged on the wear side, there is a relief pressure control - the contact pressure remains unknown or is not used for control.
  • the invention has for its object to provide a method for controlling a Hubwerksventilan extract that allows a simplified control of the lowering movement in the working area "pressing".
  • the control concept of the invention requires that a Hubwerksventilan Aunt is used, in which in the pressure fluid flow path between a continuously variable directional control valve, which is associated with a pressure compensator, and a working port, a continuously adjustable pressure limiting valve is provided via which the pressure at the working port, with a in Direction "lowering" effective pressure chamber of a lifting cylinder is connected to a maximum pressure - hereinafter called contact pressure - is limited.
  • this contact pressure is set automatically or manually by appropriately setting the pressure relief valve as a function of an operating range (for example normal lowering function, rear-door actuation, quick-action switch operation, tire change, use as a single-acting hoist) or an attached attachment.
  • the driver is then via an operating device, which may also be a button or the like, a target value for adjusting the directional control valve in the direction of lowering, so that the hoist is lowered accordingly.
  • an operating device which may also be a button or the like, a target value for adjusting the directional control valve in the direction of lowering, so that the hoist is lowered accordingly.
  • the hoist stops - this operating state is detected by the control electronics and its monitoring cycle is started as long as there is a system deviation in the direction of lowering and the operating state "Stall" is present. This motion monitoring cycle is only ended when the setpoint is reset on the HMI device.
  • the desired contact pressure is thus adjusted by suitable adjustment of the continuously adjustable pressure relief valve and kept largely constant by suitable design of the motion monitoring of the hoist.
  • the pressure relief valve thus acts practically as a pressure adjusting device, wherein it allows the electronic movement monitoring to set the contact pressure without the use of pressure sensors. It was found that this type of contact pressure adjustment for agricultural practice can be performed sufficiently accurately and quickly.
  • the stopping of the hoist is detected when the Hoist speed falls below a predetermined limit.
  • This hoist speed is usually required in the context of electrohydraulic hoist control anyway and is available as a signal.
  • the expected hoist speed can first be determined with the help of a map stored in the control. Depending on this hoist speed, a monitoring path interval is then determined from a further characteristic field and a monitoring time interval is determined from the quotient of the monitoring path interval and the hoisting gear speed.
  • the control system detects that the hoist stops if the actual hoisting gear travel is significantly smaller than the monitoring path interval during the specified monitoring time interval.
  • the monitoring time interval is usually between 0.05 and 5 seconds, preferably between 0.1 and 3 seconds.
  • the directional control valve is placed periodically in its neutral position and after a predetermined time interval back to sinks during motion monitoring, so that the contact pressure is adjusted again even with uneven ground and thus remains substantially constant.
  • the directional control valve In the event that the hoist is raised due to external forces, such as uneven ground during movement monitoring, the directional control valve is immediately placed from the neutral position to sinks, so that the bearing pressure is reset immediately.
  • the system is basically double-acting, but it can be operated single-acting by setting the pressure relief valve to a minimum value, so that the effective in the direction of lowering pressure chamber of the lift cylinder is practically always connected to the tank - it performs the same function as in a single-acting system.
  • the pressure relief valve remains set to the current bearing pressure, which ensures that the hoist is actuated double-acting.
  • the directional control valve Upon reaching the contact pressure, i. when stopping the hoist, the directional control valve is not - as in the manner described above - adjusted to its neutral position, but remains in the position sinks, so that the hoist can follow any bumps. That There is a fastest lowering movement without consideration of the position setting.
  • the maximum contact pressure is reduced to one via the pressure relief valve limited relatively low value. If, for example, the pressure is limited to approximately 50 bar during normal operation and when the quick-release switch is actuated, this pressure is reduced to 5 bar when the back button is actuated for safety reasons.
  • the rear axle of a tractor can also be lifted by means of a double-acting rear lift.
  • the maximum contact pressure can be limited to a value such that an inadvertent lifting of the rear axle (danger of tipping over) is not possible.
  • the driver must first, for example, at a terminal in the cab, a number of security queries work off before he can set the contact pressure on the pressure relief valve to a higher level, for example, 250 bar.
  • the use of a pressure sensor for determining the contact force is not required.
  • the setting of the pressure relief valve can be made automatically from the set target contact pressure.
  • the contact pressure is set to 0 bar and also set the pressure relief valve accordingly.
  • hoist is generally to be understood to mean a device by way of which a work implement, attachment or the like assigned to a mobile work implement can be moved relative to or against a reference plane.
  • FIG. 1 illustrated tractor 1 instead of a single-acting a double-acting Heckhubwerk 2, wherein the pressure medium supply of the two pressure chambers of the lifting cylinder 6 via a Hubtechniksventilan angel invention, which is composed with the directional control valves for controlling the other consumers of the tractor 1 to a control block 10.
  • a Heckhubwerk 2 according to FIG. 1 can be - as in FIG. 2 shown - use in different operating states.
  • the Heckhubmaschine and accordingly possibly actuated attachments 36 is either lifted off the ground or is worn in contact with the ground with a predetermined support force. This work area occurs, for example, when plowing or when cultivating.
  • FIG. 2 left is the Hubkraftverlauf shown on the lifting height - this lifting force must be applied by the lifting cylinder 6 of the Heckhubwerks 2.
  • a load-free intermediate position is taken in the Heckhubwerk 2 is not acted upon by a force, so that the attachment rests on the ground due to its own weight.
  • Such a load-free intermediate position is usually - as described below - adjusted by adjusting the directional control valve 14 in a floating position.
  • the Heckhubwerk 2 can be controlled so that a force acting in the direction of the ground pressure force is applied to set the work area "pressing". Such an adjustment is required, for example, during active plowing or in a packer. In the working area "pressing" and the rear axle of the tractor 1 can be raised, so that a tire change is possible.
  • FIG. 3 a circuit diagram of a Heckhubwerks 2 is shown, which is controlled via a Hubwerksventilan Aunt 14 of the invention.
  • This is accommodated in a disk-type housing and has a pressure port P, a tank port T and two working ports A, B.
  • the pressure port P is connected via a pump line with a variable displacement pump 38, the discharge pressure in response to the highest, the consumers of the Tractors 1 applying load pressure is set.
  • This load pressure is tapped at an LS connection.
  • a LS control is not a prerequisite for the system according to the invention.
  • the pressure port P is connected via an inlet channel 40 to an input port P 'of an individual pressure compensator 42 whose output port A' is connected to an input port P "of a continuously variable directional valve 44.
  • Its return port R is connected to the tank port T of the hoist valve assembly 14 via a return channel 46
  • the directional control valve 44 has two working ports A “and B", which are connected via working channels 48, 50 with the two working ports A, B of the Hubtechniksventilan accent 14.
  • a respective sink module 52, 54 is provided which serves in a basic position as a pilot-operated check valve for leak oil-free clamping of the lifting cylinder 6 of the Heckhubwerks 2 and in a control position flowing back from the lifting cylinder 6 Pressure medium volume flow in the sense of a flow control controls.
  • the working channel 50 can be connected to the tank connection T downstream of the sink module 54 via a pilot-controlled, proportionally adjustable pressure-limiting valve 56.
  • the pressure in the other working channel 48 is limited by a secondary pressure relief valve 58.
  • the lifting cylinder 6 is - as mentioned - executed double-acting, with an effective in the direction of "lowering" annular space 60 with the working port B and in the direction of "lifting" effective pressure chamber 62 is connected to the working port A of the Hubtechniksventilan Aunt 14.
  • About the lifting cylinder 6 a pivotally mounted on a lifting shaft 64 arm 66 and other coupling elements are actuated, where, for example, an attachment, such as a seed drill or a plow 68 is grown.
  • a pressure compensator piston 69 of the pressure compensator 42 is acted upon by a pressure compensator spring 70 and the tapped in the opening direction and the pressure in a control channel 76 in the closing direction via a channel 72 from a connected to the LS port Lastmeldekanal 74 pressure between the pressure compensator 42 and the directional control valve 44 branches off from the inlet channel 40.
  • the LS channel 74 leads to a control connection LS "of the directional control valve 44. This has two more control terminals X, which output side control terminals XA and XB are assigned.
  • the actuation of the directional control valve 44 via an in FIG. 5 illustrated pilot valve 78 and a pilot valve assembly, in the illustration according to FIG. 4 is formed by two electro-hydraulic pilot elements 75, 77.
  • the triangle 79 indicates the pressure supply of these pilot control elements 77, 75.
  • control oil can each be supplied to a control chamber of the directional control valve 44 until a valve slide 80 assumes a working position. This is detected by a position transducer 128. Once the position transducer 128, the desired position is reported, the pilot element 77, 75 is brought back into its neutral position.
  • the position of the valve spool 80 is maintained in a controlled manner by the precontrol elements 77, 75 being driven in accordance with the signal of the displacement transducer 128.
  • the pilot control elements 77, 75 are connected via control lines 82 and 84 to the pressure supply 79.
  • the valve spool 80 is biased via a Zentrierfederan Aunt 86 in its illustrated basic position (0), in which the LS channel 74 is connected to the tank channel 46 and all other aforementioned connections are shut off.
  • the valve body of the two sink modules 52, 54 are each by a spring 88 and the output at the A "and B" via pressure compensator channels. 90, 92 tapped individual load pressure downstream of the directional control valve 44 is acted upon in its basic position (a), in which the sink modules 52, 54 act as check valves, which allow a pressure fluid flow to the terminals A, B. In the opening direction, the valve bodies of the sink modules 52, 54 are each acted upon by the control pressure applied to the connection XA or XB, which is picked off via an unlocking channel 94, 96. This control pressure may correspond, for example, to the inlet pressure of the pilot valve arrangement 78.
  • the valve spool 80 of the directional control valve 44 is moved via the pilot valve assembly 78 in one of his (b) marked control positions.
  • the pressure compensator 42 adjusts itself into a control position in which the pressure drop across the metering orifice is kept constant and thus a pressure-medium-independent pressure medium volume flow is set.
  • This pressure medium volume flow is in the control positions indicated by (b) via the pressure compensator 42, the pressure port P "and the output port A" of the directional control valve 44 to the input port PDW of the sink module 52 and via its output port ADW to the working port A of the Hubtechniksventilan Aunt 14 and from there into the bottom-side pressure chamber 62 out - the lifting cylinder 6 extends.
  • the directional control valve 44 For pressing an implement supported by the hoist, the directional control valve 44 is displaced into one of its control positions marked with (a), so that the pressure medium supply via the sink module 54 takes place in its return function to the annular space 60, while the pressure medium flowing out of the bottom pressure chamber 62 via the unlocked drain module 52 and the directional control valve 44 flows toward the tank.
  • the unlocking takes place via the control pressure, which is guided via the control terminals X, XA of the directional control valve 44 and the Entsperrkanal 94 to the effective in the opening direction control surface of the sink module 52.
  • the directional control valve 44 is moved into its floating position (end position c) in which both sink modules 52, 54 are unlocked and moved into their through position marked with (b) and the working connections A, B and the control connection LS are connected to the tank connection T. and the input terminal P "is shut off.
  • the maximum pressure in the working channel 50 is limited by suitable adjustment of the proportionally adjustable pressure limiting valve 56 to a value of, for example, between 0 to 250 bar.
  • FIG. 5 shows a section through a valve disc, through which the Hubtechniksventilan Aunt 14 is realized.
  • the valve disc has a disc-shaped housing 98, in which the pressure compensator 42, the directional control valve 44, the two sink modules 52, 54, the pilot valve 78, the secondary pressure relief valve 58 and the proportionally adjustable pressure relief valve 56 are integrated.
  • valve disc 98 further includes a only schematically illustrated and manually operable emergency lowering valve 100 through which the working channels 48 and 50 are connected to the tank T.
  • the emergency lowering valve 100 is disposed in a connecting channel 102 between the working channels 48, 50. It has a ball 104, which is biased via an externally accessible grub screw 106 into a closed position in which a connection to the tank channel 46 and thus to the return port R is shut off. By loosening the grub screw 106, the previously clamped ball 104 is released and can therefore be brought by the higher pressure in the working channel 48 or 50 in an open position in which the connection to the tank channel 46 is open - the pressure medium can from the pressurized working channel 48 or 50 be drained.
  • the pressure in the working channel 48 (port A) is limited to a maximum pressure set below the pump pressure.
  • the construction of such secondary pressure relief valves is known, so that further explanations are unnecessary.
  • the construction of the pilot operated proportionally adjustable pressure relief valve 56 is known per se - a piston 108 of the pressure relief valve 56 is a weak Compressive spring 110 and loaded by the pressure in the spring chamber against a valve seat in a closed position. The pressure in the spring chamber is limited by the force applied to a closing cone 114 by means of a proportional magnet 112.
  • the control of the proportional magnet 112 takes place in the manner described below via the control unit 16.
  • the lifting and lowering modules 52, 54 also have a conventional construction, wherein a modulatory piston 116 is biased by a closing spring 118 into a closed position.
  • the spring chamber of the closing spring 118 is acted upon by the pressure in the working channel 48 or 50 in the closed position of the module piston 116.
  • a pilot valve body 120 is arranged, which is also biased by the closing spring 118 in its closed position, thereby closing a pilot port.
  • the pilot valve body 120 has a projection engageable with a poppet 122. This topping piston can be acted upon at the rear by the pressure at the control connection XA (XB), which can be tapped off via the directional control valve 54 and its connection X.
  • the pilot valve body 120 is raised against its force from the closing spring 118 from its pilot seat - the modul piston 116 is then pressure compensated and can be lifted off its seat by the poppet 122 against the force of the recoil spring 118 so that pressure fluid from the working port A or B to the tank T can flow out.
  • the reference numerals 124, 126, 130, 132, 134 pressure sensors are referred to, via which the pressures in the Working channels 48, 50, the pressure at the pressure port P, the load pressure and other pressures can be detected.
  • the pilot valve 78 according to FIG. 5 is designed as a 4/3-way valve, wherein the output terminals are connected to the control lines 82 and 84, which are guided to the frontal control chambers 136 and 138 of the directional control valve 44.
  • a displacement transducer 128 is arranged, via which the valve spool stroke can be detected.
  • the pilot valve 78 is controlled so that in the control chambers 136, 138, a control pressure difference acts through which the valve spool 80 from the in FIG. 5 shifted spring biased position to the left, so that pressure medium from the pressure port P, via the pressure compensator 42, the branching input port P "of the directional control valve 44, the output port B", which opens in its check valve function sink module 54 and the working channel 50 to the working port B and from there to the annular space 60 is promoted.
  • the displaced from the bottom-side pressure chamber 62 pressure fluid is via the working port A, the unlocked in the manner described above sink module 52, the port A "of the directional control valve 44, the tank channel 46 and the return port R returned to tank T.
  • the maximum contact pressure is limited by a suitable adjustment of the pressure relief valve 56 to a predetermined depending on the attachment used or depending on the task to the Heckhubwerk 2 value.
  • the pressure limiting valve 56 can according to FIG. 4 a switching valve 140 upstream or downstream, which can be moved via a magnet in a throttle position, so that the pressure medium can not flow through the pressure relief valve 56 to the tank.
  • the switching valve 140 is actuated when the bearing pressure is to be set to a value that is above the adjustable pressure relief valve 56 value (for example, when changing tires).
  • the rear linkage is operated double-acting.
  • the pressure sensors 124, 126, 130, 132, 134 thereby enable a position / tension control, but the function is ensured even without this pressure detection, as a hedge in the working area "pressing" on the pressure relief valve 56 is possible.
  • the pad pressure / relief pressure can be controlled via the pressure sensors.
  • the hedge in the working area "pressing” then turn on the pressure relief valve 56, which is then automatically adjustable depending on the support / relief pressure.
  • the basic concept of the control according to the invention is based on the in FIG. 3 illustrated expansion stage without pressure sensors - this basic concept is also in the in FIG.
  • the rear lift 2 in the working area "pressing" (see FIG. 2 ) is to be operated, for example, to collect a plow.
  • the driver By setting on the rear operating device 20 or on another operating element, the driver generates an actuating signal via which the directional control valve 44 is moved to one of its lower positions (a) to the right (FIG. FIG. 4 ) is moved.
  • the maximum contact pressure in the working channel 50 is limited by suitable adjustment of the pressure limiting valve 56. This maximum pad pressure may vary depending on the attached implement - or as described below - depending on certain operating conditions. It is assumed that the pressure relief valve 56 is set to a pressure of 50 bar.
  • the pressure fluid flow is conveyed via the working port B in the annular space 60 of the lifting cylinder 6 and returned from the bottom pressure chamber 62 via the open-drain module 52 and the directional control valve 44 to the tank T - the Heckhubwerk 2 is lowered and, for example, the plow fed.
  • This lowering takes place according to the control system 16 predetermined regulation, such as a position control.
  • the control system 16 predetermined regulation, such as a position control.
  • the pressure relief valve 56 opens and the pressure medium no longer flows via the working port B to the lifting cylinder 6 but to the tank T down - the Heckhubwerk 2 stops, the control unit 20 is still is set to "lower".
  • the driver detects the achievement of the desired, preset contact pressure (50 bar) - the directional control valve 44 can also be switched neutral, so that this set, non-regulated pressure is maintained. Since this pressure can vary due to unevenness in the floor, etc. or due to external forces, a motion control is performed in the "Press" working area. This control concept is based on FIG. 6 explained.
  • the system is located according to FIG. 6 initially at rest, ie the driver has not yet switched to the work area "sinks". After switching to lowering, the path and time intervals for motion monitoring are calculated first. For this purpose, there are a variety of possibilities, with only two methods were selected by way of example.
  • FIG. 6 The solution initially shown on the basis of the output from the control unit 16 to the directional control valve 44 and the pilot valve 78 control signal, the expected normal Hubwerks Ober v determined via a stored in the memory of the controller 16 map.
  • a further characteristic diagram is used to calculate a suitable path interval dw from this hoist speed v. From the quotient dw / v, a monitoring time interval dt is then determined.
  • the aforementioned maps are tuned so that in the main work area "pressing" a possible constant path interval dw of about 1/30 of the total stroke results.
  • dw a possible constant path interval
  • the controller recognizes that the Heckhubwerk 2 is still lowered. If this moves during the time interval by less than 10% of the calculated travel interval (1/30 of the total stroke), the controller recognizes that the rear lift 2 "stops" - the directional control valve 44 is set to its neutral position (0).
  • a lowering target signal (target position has not yet reached) and - as described above - the lowering movement is switched off (directional control valve 44) in neutral position (0)) is switched to a motion monitoring mode.
  • a "pressure measurement” is performed during a predetermined time interval, which does not have to be identical to the time interval described above for detecting the "stop" state.
  • the directional control valve 44 is again moved to one of its “down” positions (a), i.e. a down movement is activated over a fixed ramp to make the "measure pressure”.
  • the Heckhubwerk 2 is lowered and can adapt to the current soil situation.
  • the directional control valve 44 is returned to the neutral position (0) - the monitoring is carried out until the lowering signal is withdrawn via the operating device 20.
  • the time and distance intervals are determined from characteristic fields.
  • the hoist speed which is detected anyway in the context of the electrohydraulic control (for example via the sensor 30).
  • a "stop" of the Heckhubwerks 2 is then detected when the lowering speed during a predetermined time interval below a minimum speed. That instead of the travel interval, the hoist speed is evaluated directly.
  • the Heckhubwerk can also be operated single acting.
  • the pressure of the pressure limiting valve 56 is set to a minimum value, for example 5 to 8 bar, so that a minimum pressure is set at the working port B and thus in the annular space 60 of the lifting cylinder 6.
  • the directional control valve 44 is moved to its neutral position (0) to avoid unnecessary pressurization of the fluid.
  • the pump of the working hydraulics may be in the saturation region, i. under certain circumstances, no other consumer can be operated.
  • the pressure relief valve - Upon actuation of the tailgate 24 ( FIG. 1 ), the pressure relief valve - preferably automatically - to a relatively low pressure of example 5 bar set.
  • the stroke of the Heckhubwerks 2 is carried out with a fixed load-compensated speed, depending on the way the speed can be increased after a ramp. In this operating mode, a sensitive coupling / uncoupling of the implements is possible. The empty hoist can be lowered quickly.
  • the pressure of the pressure relief valve 56 must be increased, this mode can be adjusted only after a few queries, so there is deliberate operation restriction. Based on these safety queries can be checked, for example, whether the handbrake is tightened, the required pressure on the pressure relief valve (250 bar) is set or the switching valve 140 is moved to its blocking position, if the maximum pressure of the pressure limiting valve 56 is not sufficient (50 bar).
  • a Hubtechniksventilan Aunt for controlling a double-acting hoist or an attachment with a continuously adjustable directional control valve and an individual pressure compensator, via which a pressure medium volume flow to and from a lifting cylinder of the hoist is controlled.
  • a proportionally adjustable pressure relief valve is provided, via which the pressure in this area can be limited to a maximum value.
  • the adjustment of the pressure relief valve is preferably carried out depending on the operating conditions of the hoist or the type of attachment.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Valve Device For Special Equipments (AREA)

Claims (12)

  1. Procédé de commande d'un système à vannes pour dispositif de levage d'un dispositif de levage à double effet d'un engin de travail mobile ou d'un équipement doté d'un cylindre de levage (6), qui, pour le levage ou l'abaissement, peut être relié à une pompe (P) par un distributeur (44) pouvant être déplacé en continu et une balance de pression (42), caractérisé en ce qu'une soupape de limitation de pression (56) pouvant être déplacée, de préférence en continu- est disposée dans le trajet d'écoulement de pression entre le distributeur (44) et une chambre de pression (60) du cylindre de levage (6) agissant pour l'abaissement, et en ce que le procédé comprend les étapes suivantes consistant à :
    - régler la soupape de limitation de pression (56) sur une pression d'appui maximale en fonction d'une plage de fonctionnement ou d'un équipement utilisé ;
    - régler une valeur théorique par l'intermédiaire d'un boîtier de commande (18, 20, 24) destiné à déplacer le distributeur (44) vers abaissement ;
    - abaisser le cylindre de levage (2) jusqu'à ce que la pression d'appui maximale ait été atteinte et détecter un état « arrêt » du cylindre de levage (2), dans lequel il existe un écart de réglage vers « abaissement » ;
    - démarrer une surveillance de déplacement du cylindre de levage (2), tant qu'un signal d'abaissement est encore présent sur le distributeur (44) et que le cylindre de levage se trouve dans l'état « arrêt » et
    - mettre fin à la surveillance du déplacement lorsque la valeur théorique sur le boîtier de commande est remise à zéro.
  2. Procédé selon la revendication 1, « l'arrêt » du cylindre de levage (2) étant détecté lorsqu'une vitesse du cylindre de levage est inférieure à une vitesse limite de prédéfinie.
  3. Procédé selon la revendication 1 comprenant les étapes consistant à :
    - extraire une vitesse du cylindre de levage en fonction du signal d'abaissement réglé au moyen d'un champ caractéristique enregistré ;
    - extraire un intervalle de trajet de surveillance approprié en fonction de la vitesse du cylindre de levage attendue au moyen d'un autre champ caractéristique ;
    - calculer un intervalle de temps de surveillance à partir du quotient de l'intervalle de trajet de surveillance et de la vitesse du cylindre de levage ;
    - détecter l'état « arrêt » lorsque, pendant l'intervalle de temps de surveillance, le trajet de cylindre de levage effectif est sensiblement inférieur à l'intervalle du trajet de surveillance.
  4. Procédé selon la revendication 3, l'intervalle du trajet de surveillance mesurant approximativement 1/30 de la levée totale et « l'arrêt » étant détecté lorsque le trajet de cylindre de levage effectif est inférieur à 10 % de l'intervalle de trajet de surveillance.
  5. Procédé selon l'une quelconque des revendications 2 à 4, l'intervalle de temps de surveillance étant compris entre 0,05 et 5 secondes.
  6. Procédé selon l'une quelconque des revendications, le distributeur (44) étant placé périodiquement dans la position neutre (0) pendant la surveillance du déplacement et replacé sur abaissement (a) après une période de temps prédéfinie.
  7. Procédé selon la revendication 6, le distributeur (44), pendant la surveillance du déplacement, étant à nouveau déplacé de la position neutre (0) sur levée (a) par des forces extérieures lors de la levée du cylindre de levage.
  8. Procédé selon l'une quelconque des revendications, la pression d'appui maximale étant réglée sur à peu près 0 bar pour faire fonctionner le cylindre de levage par un actionnement, le distributeur (44) étant déplacé dans une position flottante (c) lorsque la pression d'appui maximale est atteinte.
  9. Procédé selon l'une quelconque des revendications précédentes, le boîtier de commande étant un commutateur d'introduction rapide, au cours de l'actionnement duquel la pression d'appui maximale est réglée de sorte que le cylindre de levage (2) est actionné avec deux effets, le distributeur (44) restant dans la position abaissement pendant la surveillance de déplacement et, après un temps d'arrêt prédéfini pendant lequel le commutateur d'introduction rapide est actionné, basculé dans la position neutre (0).
  10. Procédé selon l'une quelconque des revendications précédentes, le boîtier de commande étant une touche (24), au cours de l'actionnement de laquelle la pression d'appui maximale est limitée à une valeur relativement faible (par exemple 5 bar).
  11. Procédé selon l'une quelconque des revendications précédentes, la pression d'appui maximale étant limitée à une valeur qui ne permet aucune levée vers l'extérieur d'un essieu arrière de l'engin de travail mobile et une pression d'appui maximale plus élevée, suffisant à la levée vers l'extérieur, ne pouvant être réglée qu'après plusieurs interrogations de sécurité.
  12. Procédé selon l'une quelconque des revendications précédentes, la pression d'appui étant détectée par des capteurs de pression (124, 126, 130, 132, 134) et réglée en fonction de leur signal de mesure et le réglage de la pression d'appui maximale s'effectuant en fonction de la pression d'appui prédéfinie en tant que valeur théorique.
EP05755931A 2004-07-09 2005-07-01 Procede de commande d'un systeme a vannes pour dispositif de levage Expired - Lifetime EP1766246B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004033316A DE102004033316A1 (de) 2004-07-09 2004-07-09 Verfahren zur Ansteuerung einer Hubwerksventilanordnung
PCT/EP2005/007104 WO2006005450A1 (fr) 2004-07-09 2005-07-01 Procede de commande d'un systeme a vannes pour dispositif de levage

Publications (2)

Publication Number Publication Date
EP1766246A1 EP1766246A1 (fr) 2007-03-28
EP1766246B1 true EP1766246B1 (fr) 2009-03-18

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EP05755931A Expired - Lifetime EP1766246B1 (fr) 2004-07-09 2005-07-01 Procede de commande d'un systeme a vannes pour dispositif de levage

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EP (1) EP1766246B1 (fr)
AT (1) ATE426099T1 (fr)
DE (2) DE102004033316A1 (fr)
WO (1) WO2006005450A1 (fr)

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Publication number Priority date Publication date Assignee Title
US8096401B2 (en) 2009-09-16 2012-01-17 Bae Industries, Inc. Mechanical pallet lift incorporated into an assembly line process
EP2696080B1 (fr) 2012-08-09 2016-12-14 HAWE Hydraulik SE Electro-hydraulic control
US20150167276A1 (en) * 2013-12-13 2015-06-18 Cnh America Llc Power beyond valve assembly for an agricultural implement
CN109162972A (zh) * 2018-10-30 2019-01-08 太重榆次液压工业（上海）有限公司 一种铝卷打包机送卷小车的柱塞泵调速控制液压装置
CN112568312A (zh) * 2020-12-08 2021-03-30 九江鸿立食品有限公司 一种生姜蜜饯生产辅助工装及其使用方法

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Publication number Priority date Publication date Assignee Title
GB930729A (en) * 1959-12-05 1963-07-10 Rheinstahl Hanomag Ag Method and apparatus to control the working depth of tractor-mounted implements
DE10138389A1 (de) * 2001-08-04 2003-02-20 Bosch Gmbh Robert Elektrohydraulische Einrichtung zur Steuerung eines doppelt wirkenden Motors

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DE502005006883D1 (de) 2009-04-30
WO2006005450A1 (fr) 2006-01-19
ATE426099T1 (de) 2009-04-15
DE102004033316A1 (de) 2006-02-09
EP1766246A1 (fr) 2007-03-28

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