EP3580076A1 - Engin de travail mobile et procédé permettant de faire fonctionner celui-ci de manière stable à la conduite - Google Patents

Engin de travail mobile et procédé permettant de faire fonctionner celui-ci de manière stable à la conduite

Info

Publication number
EP3580076A1
EP3580076A1 EP18700563.2A EP18700563A EP3580076A1 EP 3580076 A1 EP3580076 A1 EP 3580076A1 EP 18700563 A EP18700563 A EP 18700563A EP 3580076 A1 EP3580076 A1 EP 3580076A1
Authority
EP
European Patent Office
Prior art keywords
valves
cylinder
state
piston chamber
switching
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.)
Withdrawn
Application number
EP18700563.2A
Other languages
German (de)
English (en)
Inventor
Heinz-Peter Huth
Marc Anton
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.)
Hydac Systems and Services GmbH
Original Assignee
Hydac Systems and Services GmbH
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 Hydac Systems and Services GmbH filed Critical Hydac Systems and Services GmbH
Publication of EP3580076A1 publication Critical patent/EP3580076A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/06—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected fluid
    • B60G21/073—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected fluid between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
    • B60G11/265—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs hydraulic springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
    • B60G11/30—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs having pressure fluid accumulator therefor, e.g. accumulator arranged in vehicle frame
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/0416—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions
    • B60G17/0432—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions by varying the number of accumulators connected to the hydraulic cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/10—Type of spring
    • B60G2202/15—Fluid spring
    • B60G2202/154—Fluid spring with an accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/413—Hydraulic actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40—Type of actuator
    • B60G2202/41—Fluid actuator
    • B60G2202/414—Fluid actuator using electrohydraulic valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2206/00—Indexing codes related to the manufacturing of suspensions: constructional features, the materials used, procedures or tools
    • B60G2206/01—Constructional features of suspension elements, e.g. arms, dampers, springs
    • B60G2206/011—Modular constructions
    • B60G2206/0116—Integrated distribution control units with valves, accumulators, PCB's or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/08—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/08—Agricultural vehicles
    • B60G2300/083—Boom carrying vehicles, e.g. for crop spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/206—Variable pressure accumulators for hydropneumatic suspensions
    • B60G2500/2064—Variable pressure accumulators for hydropneumatic suspensions by varying the number of accumulators connected in parallel to the hydraulic cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition

Definitions

  • the invention relates to a mobile working machine, in particular agricultural equipment such as a self-propelled sprayer, with a structure which is hydraulically supported relative to a chassis by piston chamber and rod chamber having cylinders, wherein a switching device is provided which in a switching position the piston chamber of a cylinder with the rod space another cylinder and vice versa fluid leading connects. Furthermore, the invention relates to a method for driving stable operation of such a work machine. Work machines of this type are state of the art, see EP 1 686 045 B1, and are preferably used in agricultural technology as self-propelled units. On the one hand, the cylinders which are fluidly connected to one another in a so-called cross-circuit form a hydropneumatic suspension system.
  • such machines In order to meet the requirements to be met in mechanized agricultural technology, such machines also have, on the other hand, a system for level control and / or roll stabilization.
  • the interconnected by means of the switching device hydraulic cylinder therefore also form part of these systems on the other hand.
  • these sensors comprise path measuring sensors for detecting the position of the pistons, tilt sensors detecting the position of the structure, and tilt sensors. if necessary, a more advanced sensors, for operating variables such as driving speed, driving accelerations, steering angle, load and soil conditions on.
  • a control device which processes these signals actuates level control valves which are assigned to the hydraulic cylinders in addition to the switching device mentioned at the beginning.
  • the invention has the object to provide a working machine of the type mentioned above, which is characterized by particularly safe handling properties on a background of different nature.
  • an essential feature of the invention is that at the respective fluid-leading connection between the piston chamber of the one cylinder and the rod space of the other cylinder as part of the switching device respectively first and second valves are connected, of which in each case the first input side are connected to the piston chamber and to a respective first hydraulic accumulator and the respective second valves are connected on the input side to the stagnation chamber and on the output side to a respective second hydraulic accumulator.
  • This design of the switching device opens against the above, known solution extended possibilities of mutual interconnection of the piston chamber and rod space of the cylinder and the possibility of connecting the rod chambers with specially assigned hydraulic accumulators.
  • the working machine according to the invention is therefore better adaptable to different driving and terrain conditions.
  • the first valves and the second valves may be formed by 2/2-way switching valves.
  • an electromagnetic actuation is provided for the valves, so that a direct control by means of the signal processing control device is possible.
  • the arrangement can be made in this case so that the valves are mechanically biased in the closed state. Since all valves are thus in a defined state in the event of a failure of the electrical system, a "fail-safe" function is ensured.
  • the rod space of the cylinder may be connected to a Nachsaug Rhein having a toward a fluid-storing tank blocking check valve.
  • a Nachsaug worn having a toward a fluid-storing tank blocking check valve.
  • the invention also provides a method for driving stable operation of a mobile work machine according to one of claims 1 to 6, which is provided with a system for roll stabilization, the method having the features specified in claim 7. Accordingly, the method provides that, depending on driving tasks as well as generated by the roll stabilization, the load state of the cylinder representing signals, the first and the second valves are each group operated in a same for each group switching state.
  • valve actuation is carried out on the basis of terrain-dependent driving tasks of the working machine.
  • the valve of the first group and the valves of the second group all in the fürlassMap be actuated.
  • the piston chambers are connected to both a first and a second hydraulic accumulator and each other.
  • the rod spaces which are both connected to each other as well as with a first and a second hydraulic accumulator in connection, so that the desired for field driving soft suspension is provided.
  • the group of valves associated with the cylinders of downhill wheels may be actuated to the on-state and the valves of the other group to the off-state.
  • This switching state leads to a stiffening of the retraction movement of the cylinder, so that the load displacement caused by a slope does not lead to the hangabissertigen cylinder to retract, but that the slope-down wheels are supported reinforced.
  • valves of all groups including the valves of the uprising wheels associated cylinder can be operated in the locked state, so that even with an extreme load transfer to the hangab stiirtigen wheels it can not come unduly high compression movement and a tilting of the working machine on the steep slope is avoided.
  • Fig. 1 b is a diagram of the spring characteristic in the switching state of
  • Fig. 1 a; 2a shows the hydraulic circuit of Figure 1a, wherein the switching state is shown with a harder spring characteristic.
  • FIG. 2b shows the diagram representation of the spring characteristic in the switching state of Fig. 2a.
  • Fig. 3a shows the hydraulic circuit of Fig. 1 a, wherein the switching state is shown with a hard spring characteristic
  • Fig. 3b shows the diagram of the spring characteristic in the switching state of
  • Fig. 1 a, 2a and 3a show of the axle suspension of a mobile work machine, not otherwise shown, such as a self-propelled sprayer for agricultural use, only the hydropneumatic suspension of an axle.
  • a suspension cylinder hydraulic cylinders 2 and 4 are provided, each having a piston chamber 6 and a rod space 8 and with its piston rod 10 with an associated suspension (not shown) are connected.
  • a fluid-carrying fluid connection 12 is connectable
  • the piston chamber 6 of the second cylinder 4 is connected via a second fluid-carrying connection 14 with the Stangeraum 8 of the first Cylinder 2 connectable.
  • a switching valve 18 is connected on the input side to the piston chamber 6 of the first cylinder 2, and via a line section 20, a switching valve 22 on the input side to the piston chamber 6 of the second cylinder 4 in connection.
  • the switching valve 18 via a line section 24 with the rod space 8 of the second cylinder 4 in connection, and the switching valve 22 is connected via a line section 26 with the rod space 8 of the first cylinder 2 in connection.
  • first valves 18 and 22 By means of these switching valves, referred to here as first valves 18 and 22 and formed by 2/2-way switching valves, the cross-connection forming fluid-conducting connection 12 and 14 is releasable or lockable.
  • the first valves 18 and 22 are electromagnetically actuated and mechanically biased in the blocking position.
  • the piston chamber 6 of the first cylinder 2 and second cylinder 4 is associated with a respective hydro-pneumatic pressure accumulator 28 v.30, of which the accumulator 28 is connected with its oil side via the line section 16 with the piston chamber 6 of the first accumulator 28 in communication and the second pressure accumulator 30th is connected with its oil side via the line section 20 with the piston chamber 6 of the second cylinder 4.
  • the rod chamber 8 of the cylinders 2 and 4 is also associated with a respective hydropneumatic third or fourth hydropneumatic pressure accumulator 32 v.34, of which the pressure accumulator 32 with its oil side via a switching valve 36 with the rod side 8 of the cylinder 2 leading line section 26 in conjunction is and the oil side of the fourth pressure accumulator 34 via a switching valve 38 and the line section 24 with the Stangeraum 8 of the second cylinder 4 is in communication.
  • the switching valves 36 and 38 which, like the first switching valves 18 and 22 are formed by 2/2-way switching valves, are also electromagnetically actuated and mechanically biased in the blocking position.
  • the switching valves 36 and 38 are referred to here as second valves 36, 38.
  • a Nachsaug shark is connected to the line sections 24 and 26, each having a check valve 40 which blocks in the direction of a fluid tank 42.
  • FIG. 1 a shows the operating state in which the first valves 18 and 22 are switched to the on-state, so that the cross-connection with the fluid-carrying connections 12 and 14 is released.
  • the second switching valves 36, 38 are switched to the on state, so that at the fluid-carrying connections 12 and 14 not only first and second accumulators 28 and 30 but also third and fourth accumulators 32 and 34 are connected. Therefore, the entire storage volume is available for the piston chambers 6 and support chambers 8 of both cylinders 2 and 4, so that load-dependent entry movements take place on the cylinders 2, 4 with a soft characteristic curve.
  • the corresponding spring characteristic has, as shown in Fig. 1 b, an inclined, linear course.
  • the condition of the hard suspension is also suitable for driving on the road of the working machine, where no load displacement signal generated by the roll stabilization system is available.
  • the operator or operator of the work machine also has a device for inputting control commands for the switching device.
  • the operator can also arbitrarily bring the spring system in the soft state (Fig. 1 a) or the state of medium hardness (Fig. 2a).
  • Fig. 1 a the soft state
  • Fig. 2a state of medium hardness

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

L'invention concerne un engin de travail mobile, en particulier un appareil agricole tel qu'un pulvérisateur automoteur, comprenant une carrosserie qui est supportée hydrauliquement par rapport à un train roulant au moyen de cylindres (2, 4) comprenant une chambre de piston (6) et une chambre de tige (8), un dispositif de commutation (18, 22, 36, 38) étant prévu, lequel relie fluidiquement, dans une position de commutation, la chambre de piston (6) d'un cylindre (2, 4) à la chambre de tige (8) d'un autre cylindre (2, 4) et inversement, caractérisé en ce que des premières (18, 22) et deuxièmes soupapes (36, 38) sont respectivement raccordées à la liaison fluidique (12, 14) respective entre la chambre de piston (6) de l'un des cylindres (2, 4) et la chambre de tige (8) de l'autre cylindre (2, 4) en tant que partie du dispositif de commutation, soupapes parmi lesquelles les premières soupapes (18, 22) sont raccordées respectivement côté entrée à la chambre de piston (6) et à respectivement un premier accumulateur hydraulique (28, 30) et les deuxièmes soupapes (36, 38) sont raccordées respectivement côté entrée à la chambre de tige (8) et côté sortie à respectivement un deuxième accumulateur hydraulique (32, 34).
EP18700563.2A 2017-02-08 2018-01-12 Engin de travail mobile et procédé permettant de faire fonctionner celui-ci de manière stable à la conduite Withdrawn EP3580076A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017001138.9A DE102017001138A1 (de) 2017-02-08 2017-02-08 Fahrbare Arbeitsmaschine und Verfahren zum fahrstabilen Betreiben derselben
PCT/EP2018/050763 WO2018145855A1 (fr) 2017-02-08 2018-01-12 Engin de travail mobile et procédé permettant de faire fonctionner celui-ci de manière stable à la conduite

Publications (1)

Publication Number Publication Date
EP3580076A1 true EP3580076A1 (fr) 2019-12-18

Family

ID=60997480

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18700563.2A Withdrawn EP3580076A1 (fr) 2017-02-08 2018-01-12 Engin de travail mobile et procédé permettant de faire fonctionner celui-ci de manière stable à la conduite

Country Status (5)

Country Link
US (1) US20220001713A1 (fr)
EP (1) EP3580076A1 (fr)
BR (1) BR112019015226A2 (fr)
DE (1) DE102017001138A1 (fr)
WO (1) WO2018145855A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11259463B1 (en) * 2018-10-04 2022-03-01 Harper Industries, Inc. Slope mower with automatic leveling suspension and system for maintaining vertical orientation of mower body
US12083848B1 (en) 2023-05-15 2024-09-10 DRiV Automotive Inc. Single axle roll control system with dual impeller pump arrangement
US12251978B2 (en) 2023-05-15 2025-03-18 DRiV Automotive Inc. Single axle roll control system that includes a dual chamber ball-screw mechanism
US12083851B1 (en) * 2023-05-15 2024-09-10 DRiV Automotive Inc. Single axle roll control system with multiple circuit-specific pressurizing devices
US12344065B2 (en) 2023-05-15 2025-07-01 Advanced Suspension Technology Llc Single axle roll control system with multiple pressurizing devices arranged in series

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7240906B2 (en) * 2002-12-04 2007-07-10 Daimlerchrysler Corporation Hydro-pneumatic suspension system
DE102005003833B3 (de) 2005-01-27 2006-06-01 Hydac System Gmbh Fahrbare Arbeitsmaschine
DE102008012704A1 (de) 2008-03-05 2009-09-10 Deere & Company, Moline Hydraulische Federungsanordnung
DE102008027134A1 (de) * 2008-05-30 2009-12-03 Dr.Ing.H.C.F.Porsche Aktiengesellschaft Vorrichtung zur Beeinflussung des Fahrverhaltens eines Kraftfahrzeugs
CN102059929B (zh) * 2010-12-20 2012-07-18 三一汽车起重机械有限公司 油气悬挂系统及具有该系统的轮式车辆
GB2555353B (en) * 2015-06-05 2020-11-04 Volvo Constr Equip Ab Hydraulic suspension system for a vehicle, a vehicle being provided with such a system and a method for damping an anti-roll function of a vehicle

Also Published As

Publication number Publication date
BR112019015226A2 (pt) 2020-04-14
WO2018145855A1 (fr) 2018-08-16
DE102017001138A1 (de) 2018-08-09
US20220001713A1 (en) 2022-01-06

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