EP4230809B1 - Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine - Google Patents

Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine Download PDF

Info

Publication number
EP4230809B1
EP4230809B1 EP22157274.6A EP22157274A EP4230809B1 EP 4230809 B1 EP4230809 B1 EP 4230809B1 EP 22157274 A EP22157274 A EP 22157274A EP 4230809 B1 EP4230809 B1 EP 4230809B1
Authority
EP
European Patent Office
Prior art keywords
boom
hydraulic
attachment
hydraulic cylinder
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.)
Active
Application number
EP22157274.6A
Other languages
German (de)
English (en)
Other versions
EP4230809A1 (fr
Inventor
Vincenzo Bollero
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to EP22157274.6A priority Critical patent/EP4230809B1/fr
Publication of EP4230809A1 publication Critical patent/EP4230809A1/fr
Application granted granted Critical
Publication of EP4230809B1 publication Critical patent/EP4230809B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3414—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller

Definitions

  • the present invention relates to a hydraulic control system, a machine and a method as well as a control device and a computer program for performing the method.
  • the present invention relates to a hydraulic control system for a machine, the machine having a hydraulic pump, a tank for hydraulic fluid, at least one boom hydraulic cylinder for effecting movement of a boom of the machine, and at least one attachment hydraulic cylinder, for effecting (rotational) movement of an attachment of the machine, the attachment being attached to a free end of the boom.
  • a lowering manifold i.e. an arrangement of hydraulic valves and hydraulic lines connecting them internally
  • a meter-out flow rate of the flow of hydraulic fluid from the piston side of the boom hydraulic cylinder is controlled to determine, during a "return movement state"
  • the hydraulic control system comprises an attachment directional control valve configured to be connected to the hydraulic pump and to piston and rod sides of the at least one attachment hydraulic cylinder. That is, when connected, the rotational movement of the attachment, which is actuated by the at least one attachment hydraulic cylinder, is controlled through the attachment directional control valve.
  • the lowering manifold included in the hydraulic control system is configured to be connected to piston and rod sides of the at least one boom hydraulic cylinder and having a tank port that is configured to be connected to the tank.
  • a pressure sensor is provided that is configured to detect a (piston side) pressure value of hydraulic fluid and configured to be connected to the piston side of the at least one boom hydraulic cylinder.
  • the pressure value in combination with known/controlled cross-section of orifices of the lowering manifold allows to calculate a flow rate (meter-out flow rate) of hydraulic fluid from the piston side of the at least one boom hydraulic cylinder.
  • the hydraulic control system includes a control device configured to control the attachment directional control valve and the lowering manifold and configured to receive the pressure value.
  • the control device when the hydraulic control system is connected to the hydraulic pump, the tank, the at least one boom hydraulic cylinder and the at least one attachment hydraulic cylinder, the control device, during a return movement state, is configured to:
  • the hydraulic control system is connected to the hydraulic pump, the at least one boom hydraulic cylinder and the at least one attachment hydraulic cylinder
  • the attachment directional control valve is connected to the hydraulic pump and to the piston and rod sides of the at least one attachment hydraulic cylinder
  • the lowering manifold is connected to the piston and rod sides of the at least one boom hydraulic cylinder
  • the pressure sensor is connected to the piston side of the at least one boom hydraulic cylinder.
  • the hydraulic control system has ports, which can be connected (over hydraulic lines) to corresponding ports of the hydraulic cylinders, the hydraulic pump and a tank for hydraulic fluid.
  • the term “return movement state” means an operational state during which the boom is lowered and preferably an activation signal, e.g. from a user interface, is present.
  • the control device is preferably configured to determine whether the boom is lowered and optionally whether an activation signal is present, and, when the boom is lowered and optionally the activation signal is present, to determine that the return movement state is present.
  • the lowering of the boom may for example be determined based on an input signal from a user interface (e.g. a joystick) or based on sensor measurements (e.g. from angle sensors attached to arm elements of the boom).
  • the activation signal may be determined based on an activation signal from a user interface (e.g. a button or switch).
  • the "return movement state" can be controlled in three ways: Fully manual, wherein the user of the machine driver can modulate the operating speed of either boom and attachment cylinders with the joystick; Automatic without position sensors, wherein once selected the boom and attachment movements are managed by the controller with logics that allow to adjust the attachment cylinder once the boom arm is completely lowered, the movements can be stopped at any time by moving the joystick handle; and Automatic with position sensors, wherein once selected the boom and attachment movements are managed by the controller with logics that allow continuous adjustment of the attachment cylinder to keep the desired position through all the lowering movement of the boom, the movements can be stopped at any time by moving the joystick handle.
  • connection generally relates to a fluid connection, i.e. to a connection by fluid lines, specifically by lines for hydraulic fluid (hydraulic lines).
  • the control of the spool position of the attachment directional control valve based on the meter-out flow rate results in the synchronized rotational movements.
  • a predetermined mapping e.g. in form of a function or a table
  • the attachment directional control valve is controlled to direct hydraulic fluid from the hydraulic pump into the rod side or into the piston side of the at least one attachment hydraulic cylinder is predetermined. Specifically, it depends on the machine and the arrangement of the attachment hydraulic cylinder in relation to the attachment rotational movement. For example, for a skid steer loader having "parallel" kinematics as shown in figure 1 , the hydraulic fluid is preferably directed into the rod side of the attachment hydraulic cylinders. On the other hand, for a wheel loader having "Z type" kinematics, the hydraulic fluid is preferably directed into the piston side of the attachment hydraulic cylinders.
  • the lowering manifold comprises a (leak free) proportional valve having an adjustable orifice and having a first and a second port, wherein the first port is configured to be connected to the piston side of the at least one boom hydraulic cylinder; wherein the control device is configured to control a cross-section of the adjustable orifice of the proportional valve; and wherein the control device is configured to determine the meter-out flow rate based on the pressure value and the cross-section (more precisely cross-sectional area) of the adjustable orifice of the proportional valve.
  • the proportional valve is preferably an electro-proportional valve. The leak freeness is ensured on the side of the proportional valve connected to the piston side of the boom hydraulic cylinder.
  • the lowering manifold comprises an out flow orifice connected between the second port and the tank port; and the control device is configured to determine the meter-out flow rate based on the pressure value, the cross-section of the adjustable orifice of the proportional valve, and a known cross-section (cross-sectional area) of the out flow orifice.
  • This allows a precise estimation of the meter-out flow rate, as the flow rate can be calculated from the pressure drop and the cross-section of the orifices. The estimation is possible, since the pressure drop across the out flow orifice is related to the amount (out flow rate) of hydraulic fluid coming from the proportional valve.
  • the "out flow orifice” is arranged downstream from the proportional valve and the hydraulic fluid flows through the out flow orifice towards the tank port and therefrom to the tank.
  • the expression that hydraulic fluid is directed towards or flows to the tank will also be used in the description; this is to be understood in the sense that hydraulic fluid is directed towards or flows to the tank port and therefrom to the tank (when the tank is connected).
  • hydraulic connections of the hydraulic control system to other hydraulic components are typically achieved through respective ports for fluidic connection of hydraulic lines connected with those components.
  • the lowering manifold comprises a check valve with fixed pre-load connected between the second port and the tank port, wherein, if the out flow orifice is present, the check valve with fixed pre-load is connected in series (in particular downstream) with the out flow orifice, and wherein the control device is configured to determine the meter-out flow rate based additionally on the pre-load of the check valve with fixed pre-load.
  • the control device is configured to determine the return movement state based on a boom lowering control signal and/or an activation signal from a user interface.
  • the boom lowering signal is more preferably determined by means of a user interface (e.g. HMI, Human Machine Interface, device such as a joystick).
  • a user interface e.g. HMI, Human Machine Interface, device such as a joystick.
  • HMI Human Machine Interface
  • the boom is lowered based on a user interaction, such as a movement of a joystick into a certain direction.
  • the hydraulic control system further comprises a boom directional control valve configured to be connected to the hydraulic pump and to piston and rod sides of the at least one boom hydraulic cylinder, wherein the control device is configured to control the boom directional control valve, and wherein, when the boom directional control valve is connected to the hydraulic pump and to piston and rod sides of the at least one boom hydraulic cylinder, during the return movement state, the control device is configured to control the boom directional control valve to be in a neutral position.
  • a boom directional control valve configured to be connected to the hydraulic pump and to piston and rod sides of the at least one boom hydraulic cylinder, wherein, when the boom directional control valve is connected to the hydraulic pump and to piston and rod sides of the at least one boom hydraulic cylinder, during the return movement state, the control device is configured to control the boom directional control valve to be in a neutral position. This allows to have the whole pump flow to manage the movement of the attachment mounted to the boom.
  • a check valve is arranged in a hydraulic line connecting the boom directional control valve with the piston side of the at least one boom hydraulic cylinder, such that flow (and/or leakage) of hydraulic fluid from the piston side of the at least one boom hydraulic cylinder to the boom directional control valve is prevented.
  • the check valve ensures that no hydraulic fluid flows or leaks from the piston side of the at least one boom hydraulic cylinder to the boom directional control valve and from there into the tank.
  • the boom directional control valve can be controlled to be in a state, in which flow of hydraulic fluid from the piston side of the at least one boom hydraulic cylinder to the tank is blocked and in which flow of hydraulic fluid from the hydraulic pump to the rod side of the at least one boom hydraulic cylinder is allowed (e.g.
  • FIG 1 shows a perspective view of a machine 1.
  • the machine is a skid steer loader, for example.
  • the machine 1 has a boom 2 (which comprises two arms, one on each side of the machine) and an attachment (tool), namely a bucket 4.
  • the boom 2 (also denoted as “boom arm”) is attached to a chassis 6 of the machine in a pivotable manner; i.e. pivotable (rotatable) around an axis 8.
  • the bucket 4 is attached to a free end of the boom 2 (i.e. the end of the boom opposite to the end of the boom that is attached to the chassis) in a rotatable manner around an axis (not visible in the perspective view of figure 1 ).
  • the rotational movements of the boom 2 and the bucket 4 around the respective axes are effected by hydraulic cylinders 12, 14.
  • the rotational movement of the boom 2 relative to the chassis 6 is effected by actuation of boom hydraulic cylinders 12 (only one visible in the perspective view of figure 1 )
  • the rotational movement of the bucket 4 relative to the boom 2 is effected by actuation of attachment (bucket) hydraulic cylinders 14.
  • the flow of hydraulic fluid to and from the hydraulic cylinders is controlled by a hydraulic control system.
  • the pressure of the hydraulic fluid is provided by a hydraulic pump.
  • While the machine shown in figure 1 has two boom hydraulic cylinders and two attachment hydraulic cylinders, in general other numbers of hydraulic cylinders actuating the boom and the attachment are possible.
  • the skid steer loader shown in Fig. 1 has a boom with two arms the invention may be used for machines having a boom with only one arm (or any other number of arms), in which case only one boom hydraulic cylinder 12 may be present, or any other number of boom hydraulic cylinders as the movement of a single arm of a boom may be effected by more than one boom hydraulic cylinder.
  • the movement of the attachment may be effected by different number of attachment hydraulic cylinders (e.g. one attachment hydraulic cylinder).
  • the plural "hydraulic cylinders" is used. This should be understood in the sense that only one boom and/or only one attachment hydraulic cylinder may be included in the machine.
  • the hydraulic pump 22 is preferably a variable displacement hydraulic pump, i.e. its conveyed flow is variable. Use of a hydraulic pump having a fixed displacement is also possible, in which case the flow coming from the pump is controlled by directional valves (not shown). The conveyed flow can be controlled by means of a load sense line (not shown in Fig. 2 ; cf. Fig. 3 ), for example. Typically, load sensing valves may be used in the hydraulic system.
  • the hydraulic pump 22 is arranged to pump hydraulic fluid form a tank 26 into a (pressurized) hydraulic line 28 that is connected to the pump. That is, the hydraulic pump pressurizes the hydraulic fluid in hydraulic line 28. Further, a preferred pressure sensor 52 is shown, which measures the pressure of the hydraulic fluid on the hydraulic line 28. The pressure value measure by pressure sensor 52 may be transmitted to control device 36 (signal line not shown).
  • the attachment (bucket) and boom directional control valves 30, 32 are provided with actuators and are actuated, for example, electro-magnetically and/or electro-pneumatically, electro-hydraulically (e.g. utilizing PWM-controlled pressure reduction valves; PWM: pulse width modulation), and/or simply hydraulically with low pressure pilot signals. Spool positions are controlled by the actuators in order to adjust the cross-section (more specifically the area thereof) of orifices of the attachment and boom directional control valves 30, 32 in order to control flow rates of hydraulic fluid through the attachment and boom directional control valves 30, 32.
  • the actuators are connected with the (preferably electronic) control device 36 by electric control lines (only some shown as dashed lines in the figure). For some or all of the control lines it is possible to use pneumatic and/or hydraulic control lines instead of electric control lines. A wireless control is also possible.
  • each of the attachment and boom directional control valves 30, 32 may be provided as or included in a load sense directional control valve. That is, there may be provided load sense lines and corresponding valves that are connected to a load sense line connected to the hydraulic pump.
  • the lowering manifold 40 further includes an on-off valve 44 (also denoted as rod side on-off valve) which is connected to the rod side 18 of the boom hydraulic cylinders 12.
  • the on-off valve 44 is controllable to switch on or off a fluidic connection between the proportional valve 42 and the rod side 18 of the boom hydraulic cylinders 12. That is, the on-off valve 44 is connecting the meter-out flow downstream the proportional valve 42 to the rod side 18 of the boom cylinders 12.
  • the proportional valve 42 and the on-off valve 44 each have two ports, wherein the ports of the proportional valve 42 are denoted as a first port and a second port and the ports of the on-off valve 44 are denoted as a third port and a fourth port.
  • the first port (of the proportional valve 42) is connected to the piston side 16 of the boom hydraulic cylinders 12
  • the third port (of the on-off valve 44) is connected to the rod side 18 of the boom hydraulic cylinders 12
  • the second port (of the proportional valve 42) and the fourth port (of the on-off valve 44) are connected with each other.
  • the second and fourth ports are further connected with an inlet of an out flow orifice 46 (throttle valve) having a known cross-section (i.e. cross-sectional area).
  • An outlet of the out flow orifice 46 in turn is connected to the tank 26 (more specifically, to the tank port configured to be connect to the tank), such that hydraulic fluid from the second port (or fourth port) is able to flow through the out flow orifice 46 into the tank 26.
  • a check valve with fixed pre-load 47 may be present; cf. below.
  • the tank is shown within the hydraulic control system 24, it is generally not a part of the hydraulic control system; rather the manifold includes a tank port that is configured to be connected to the tank.
  • the out flow orifice 46 is connected (arranged) between the second port and the tank port.
  • the control device When the proportional valve 42 is controlled to allow flow of hydraulic fluid from the first port to the second port (wherein the cross-section of the orifice of the proportional valve 42 is adjusted), the control device is configured to calculate the meter-out flow based on the pressure value detected by pressure sensor 48 and to control the proportional valve 42, such that a lowering speed of the boom can be controlled. Additionally, the control device is configured to control the attachment directional control valve 30, such that a synchronized movement of the attachment (e.g. bucket) with the lowering of the boom is achieved.
  • the attachment e.g. bucket
  • the lowering manifold 40 preferably further includes a check valve 43, connected to the piston side 16 of the boom hydraulic cylinders 12 and to the outlet of the out flow orifice 46 (and/or check valve with fixed pre-load 47), such that flow of hydraulic fluid from the outlet of the out flow orifice 46 to the piston side 16 of the boom hydraulic cylinders 12 is allowed while flow of hydraulic fluid from the piston side 16 of the boom hydraulic cylinders 12 to the outlet of the out flow orifice 46 is prevented.
  • the check valve 43 is connected to the piston side 16 of the boom hydraulic cylinders 12 and to the tank port (without further restrictions to minimize pressure loss when the flow is moving between the tank and the piston side 16 of the boom hydraulic cylinders.
  • the meter-out flow rate is determined (calculated) by the control device 36, for example.
  • the control device 36 instead of a single control device, more than one control device may be used, such as a control device for generating the control signals for the actuators combined with a control device for determining the meter-out flow rate.
  • a check valve with fixed pre-load 47 can be arranged in the connection between the second port and the tank port.
  • the check valve with fixed pre-load is arranged in a direction, such that flow from the tank port to the second port is prevented and flow from the second port to the tank port is allowed, when the pressure difference (or the corresponding force) across the check valve with fixed pre-load exceeds the pre-load. If both out flow orifice and check valve with fixed pre-load are present, they are arranged in series. In the determination of the meter-out flow rate the know fixed pre-load should be taken into account.
  • the control device 36 controls the attachment directional control valve 30 based on the meter-out flow rate, i.e. the position of the spool of the attachment directional control valve 30 is controlled based on the meter-out flow rate. More specifically, a flow of hydraulic fluid is directed through the attachment directional control valve 30 towards either the piston side or the rod side of the attachment hydraulic cylinders 14. The side (piston or rod side), into which the flow is directed, is predetermined, for example. As each spool position corresponds to a specific cross-section of an orifice (through which the flow is directed) of the attachment directional control valve 30, the cross-section of the orifice is controlled.
  • control device Apart from the return movement state other operating phases or operating states can be implemented by controlling (by the control device, based on control signals, e.g. from the user) the valves of the hydraulic control system 24 accordingly.
  • the control device may be configured to determine whether the respective state is present based on a determined movement of the boom and/or attachment (e.g. based on a control signal from a user interface and/or based on sensor measurements, such as from pressure sensors, inertial motion units, position sensors, and/or angle sensors) and/or based on an activation signal for the respective state (e.g. from a user interface).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (15)

  1. Système de commande hydraulique (24) pour une machine (1), la machine comprenant une pompe hydraulique (22), un réservoir (26) pour fluide hydraulique, au moins un vérin hydraulique de flèche (12) et au moins un vérin hydraulique d'accessoire (14), comprenant
    une valve de distribution d'accessoire (30) conçue pour être reliée à la pompe hydraulique (22) et aux côtés piston et tige (17, 19) de l'au moins un vérin hydraulique d'accessoire (14) ;
    un collecteur d'abaissement (40) conçu pour être relié aux côtés piston et tige (16, 18) de l'au moins un vérin hydraulique de flèche (12) et ayant un orifice de réservoir conçu pour être relié au réservoir (26) ;
    un capteur de pression (48) conçu pour détecter une valeur de pression de fluide hydraulique et conçu pour être relié au côté piston (16) de l'au moins un vérin hydraulique de flèche ; et
    un dispositif de commande (36) conçu pour commander la valve de distribution d'accessoire et le collecteur d'abaissement et conçu pour recevoir la valeur de pression du capteur de pression (48) ;
    caractérisé en ce que, lorsque le système de commande hydraulique (24) est relié à la pompe hydraulique (22), au réservoir (26), à l'au moins un vérin hydraulique de flèche (12) et à l'au moins un vérin hydraulique d'accessoire (14), le dispositif de commande est conçu pour, dans un état de mouvement de retour :
    - déterminer, à partir de la valeur de pression, un débit de sortie de l'écoulement de fluide hydraulique libéré du côté piston (16) du vérin hydraulique de flèche,
    - commander la valve de distribution d'accessoire (30), de sorte que le fluide hydraulique provenant de la pompe hydraulique (22) soit dirigé vers le côté piston (17) ou le côté tige (19) du vérin hydraulique auxiliaire (14), une position d'un tiroir de la valve de distribution d'accessoire étant commandée en fonction dudit débit de sortie.
  2. Système de commande hydraulique selon la revendication 1, le collecteur d'abaissement (40) comprenant
    une valve proportionnelle (42) comportant un orifice réglable et comportant un premier et un deuxième orifice, le premier orifice étant conçu pour être raccordé au côté piston du vérin hydraulique de flèche ;
    le dispositif de commande (36) étant conçu pour commander une section transversale de l'orifice réglable de la valve proportionnelle ; et
    le dispositif de commande (36) étant conçu pour déterminer ledit débit de sortie en fonction de la valeur de pression et de la section transversale de l'orifice réglable de la valve proportionnelle (42).
  3. Système de commande hydraulique selon la revendication 2, le collecteur d'abaissement (40) comprenant
    un orifice de sortie (46) relié entre le deuxième orifice et l'orifice de réservoir ; et
    le dispositif de commande (36) étant conçu pour déterminer ledit débit de sortie en fonction de la valeur de pression, de la section transversale de l'orifice réglable de la valve proportionnelle (42), et d'une section transversale connue de l'orifice de sortie (46).
  4. Système de commande hydraulique selon la revendication 2 ou 3, le collecteur d'abaissement (40) comprenant
    un clapet anti-retour à précharge fixe (47) relié entre le deuxième orifice et l'orifice de réservoir ;
    s'il dépend de la revendication 3, le clapet anti-retour à précharge fixe (47) étant relié en série avec l'orifice de sortie (46) ; et
    le dispositif de commande (36) étant conçu pour déterminer ledit débit de sortie en fonction en outre de la précharge du clapet anti-retour doté d'une précharge fixe (47).
  5. Système de commande hydraulique selon l'une quelconque des revendications 2 à 4, le collecteur d'abaissement (40) comprenant
    une valve tout ou rien (44) ayant un troisième et un quatrième orifice, le troisième orifice étant conçu pour être raccordé au côté tige de l'au moins un vérin hydraulique de flèche et le quatrième orifice étant raccordé au deuxième orifice ;
    le dispositif de commande (36) étant conçu pour commander la valve tout ou rien (44).
  6. Système de commande hydraulique selon l'une quelconque des revendications précédentes, le dispositif de commande étant conçu pour, pendant l'état de mouvement de retour, commander le collecteur d'abaissement pour permettre au fluide hydraulique de s'écouler du côté piston (16) du vérin hydraulique de flèche (12) vers le côté tige (18) du vérin hydraulique de flèche.
  7. Système de commande hydraulique selon l'une quelconque des revendications précédentes, le dispositif de commande (36) étant conçu pour déterminer l'état de mouvement de retour en fonction d'un signal de commande d'abaissement de flèche et/ou d'un signal d'activation provenant d'une interface utilisateur.
  8. Système de commande hydraulique selon l'une quelconque des revendications précédentes, comprenant en outre une valve de distribution de flèche (32) conçue pour être raccordée à la pompe hydraulique et aux côtés piston et tige de l'au moins un vérin hydraulique de flèche ;
    le dispositif de commande (36) étant conçu pour commander la valve de distribution de flèche ;
    lorsque la valve de distribution de flèche (32) est reliée à la pompe hydraulique et aux côtés piston et tige de l'au moins un vérin hydraulique de flèche, pendant l'état de mouvement de retour, le dispositif de commande (36) étant conçu pour commander la valve de distribution de flèche (32) pour qu'elle soit en position neutre.
  9. Système de commande hydraulique selon la revendication 8,
    un clapet anti-retour (34) étant disposé dans une conduite hydraulique (35) reliant la valve de distribution de flèche au côté piston de l'au moins un vérin hydraulique de flèche, de sorte que l'écoulement de fluide hydraulique du côté piston (16) de l'au moins un vérin hydraulique de flèche (12) vers la valve de distribution de flèche (32) soit empêché ; ou
    la valve de distribution de flèche (32) pouvant être commandée de sorte à se trouver dans un état dans lequel l'écoulement de fluide hydraulique du côté piston (16) de l'au moins un vérin hydraulique de flèche (12) au réservoir (26) soit bloqué et l'écoulement de fluide hydraulique de la pompe hydraulique (22) au côté tige (18) de l'au moins un vérin hydraulique de flèche (12) soit autorisé.
  10. Machine (1) comprenant
    une flèche (2) montée rotative sur un châssis (6) de la machine, le mouvement rotatif de la flèche étant effectué par au moins un vérin hydraulique de flèche (12) ;
    un accessoire (4) monté rotatif au niveau d'une extrémité libre de la flèche (2), le mouvement rotatif de l'accessoire étant effectué par au moins un vérin hydraulique d'accessoire (14) ;
    une pompe hydraulique (22) ; et
    un système de commande hydraulique selon l'une quelconque des revendications précédentes, la valve de distribution d'accessoire étant reliée à la pompe hydraulique et aux côtés piston et tige de l'au moins un vérin hydraulique d'accessoire, le collecteur d'abaissement étant relié aux côtés piston et tige de l'au moins un vérin hydraulique de flèche, et le capteur de pression étant relié au côté piston de l'au moins un vérin hydraulique de flèche.
  11. Machine selon la revendication 10, la machine étant une chargeuse sur pneus ou une chargeuse à direction à glissement ; de préférence l'accessoire étant un godet.
  12. Procédé de commande des mouvements rotatifs de flèche et d'accessoire d'une machine (1) comportant une flèche (2) actionnée par au moins un vérin hydraulique de flèche (12) et un accessoire (4) actionné par au moins un vérin hydraulique d'accessoire (14), un système de commande hydraulique pour un fluide hydraulique étant conçu pour commander l'écoulement d'un fluide hydraulique vers et depuis les côtés piston et tige des vérins hydrauliques de flèche et d'accessoire ; pendant un état de mouvement de retour, le procédé comprenant les étapes consistant à :
    déterminer (120) une valeur de pression et déterminer, en fonction de la valeur de pression, un débit de sortie du fluide hydraulique s'écoulant du côté piston vers le côté tige de l'au moins un vérin hydraulique de flèche ;
    commander (130) un écoulement de fluide hydraulique d'une pompe hydraulique vers un côté piston ou vers un côté tige de l'au moins un cylindre hydraulique d'accessoire en fonction dudit débit de sortie.
  13. Dispositif de commande, conçu pour recevoir un signal indiquant une pression et conçu pour générer des signaux de commande pour exécuter le procédé selon la revendication 12.
  14. Programme informatique qui amène un dispositif de commande à générer des signaux de commande pour exécuter le procédé selon la revendication 12, lorsqu'il est exécuté par le dispositif de commande.
  15. Support d'informations lisible par machine, sur lequel est stocké le programme informatique selon la revendication 14.
EP22157274.6A 2022-02-17 2022-02-17 Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine Active EP4230809B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22157274.6A EP4230809B1 (fr) 2022-02-17 2022-02-17 Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22157274.6A EP4230809B1 (fr) 2022-02-17 2022-02-17 Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine

Publications (2)

Publication Number Publication Date
EP4230809A1 EP4230809A1 (fr) 2023-08-23
EP4230809B1 true EP4230809B1 (fr) 2025-07-09

Family

ID=80953565

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22157274.6A Active EP4230809B1 (fr) 2022-02-17 2022-02-17 Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine

Country Status (1)

Country Link
EP (1) EP4230809B1 (fr)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006183413A (ja) * 2004-12-28 2006-07-13 Shin Caterpillar Mitsubishi Ltd 建設機械の制御回路
US7251935B2 (en) * 2005-08-31 2007-08-07 Caterpillar Inc Independent metering valve control system and method
WO2012091184A1 (fr) * 2010-12-27 2012-07-05 볼보 컨스트럭션 이큅먼트 에이비 Système de recyclage d'énergie pour engin de chantier
EP2933387B1 (fr) * 2012-12-13 2019-08-14 Hyundai Construction Equipment Co., Ltd. Système et procédé de commande automatique pour équipement de construction basé sur une commande à palonnier

Also Published As

Publication number Publication date
EP4230809A1 (fr) 2023-08-23

Similar Documents

Publication Publication Date Title
JP5388787B2 (ja) 作業機械の油圧システム
KR102319371B1 (ko) 오버-센터 링키지 시스템에서의 유압 액추에이터의 속도를 제어하는 방법
US8340875B1 (en) Lift system implementing velocity-based feedforward control
JP4038106B2 (ja) 非常時にブームを下降させるための電子制御型流体圧システム
US8726647B2 (en) Hydraulic control system having cylinder stall strategy
US8813486B2 (en) Hydraulic control system having cylinder stall strategy
US8307641B2 (en) Machine having selective ride control
WO2013059020A1 (fr) Système hydraulique à boucle fermée ayant une configuration de récupération
US6938535B2 (en) Hydraulic actuator control
KR20020071003A (ko) 모빌 조종 장치
EP3505688B1 (fr) Système de commande de machine de construction et procédé de commande de machine de construction
JP4106892B2 (ja) 液圧シリンダ回路
JP2008039184A (ja) 圧力動作型平衡バルブを有する油圧アクチュエータ制御回路
US11028559B2 (en) Slewing-type hydraulic work machine
WO2019053933A1 (fr) Dispositif de commande pour engin de chantier
EP1635001A2 (fr) Engin de travaux publics
EP4230809B1 (fr) Système de commande hydraulique pour une machine, machine et procédé de contrôle de flèche et des mouvements de fixation d'une machine
JP2022047627A (ja) 液圧駆動システム
JP5342293B2 (ja) 建設機械の油圧回路
EP3599382B1 (fr) Système hydraulique et procédé de commande de la vitesse et de la pression d'un vérin hydraulique
JPH10220411A (ja) 油圧パイロット操作装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20240223

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20250425

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602022017150

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251110

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1811938

Country of ref document: AT

Kind code of ref document: T

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251109

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251009

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251009

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20260227

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20260219

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250709