EP4367405B1 - Dispositif d'actionnement pour au moins un consommateur actionné fluidiquement - Google Patents

Dispositif d'actionnement pour au moins un consommateur actionné fluidiquement

Info

Publication number
EP4367405B1
EP4367405B1 EP22772934.0A EP22772934A EP4367405B1 EP 4367405 B1 EP4367405 B1 EP 4367405B1 EP 22772934 A EP22772934 A EP 22772934A EP 4367405 B1 EP4367405 B1 EP 4367405B1
Authority
EP
European Patent Office
Prior art keywords
pressure
valve
suspension
control device
accumulator
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
EP22772934.0A
Other languages
German (de)
English (en)
Other versions
EP4367405C0 (fr
EP4367405A1 (fr
Inventor
Stephan GRÜN
Michael Berwanger
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 Mobilhydraulik GmbH
Original Assignee
Hydac Mobilhydraulik 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 Mobilhydraulik GmbH filed Critical Hydac Mobilhydraulik GmbH
Publication of EP4367405A1 publication Critical patent/EP4367405A1/fr
Application granted granted Critical
Publication of EP4367405B1 publication Critical patent/EP4367405B1/fr
Publication of EP4367405C0 publication Critical patent/EP4367405C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/021—Installations or systems with accumulators used for damping
    • 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
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices
    • F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
    • 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
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • 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
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding 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
    • F15B2211/30—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
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/413—Flow control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional 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
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41581—Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a 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
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/428—Flow 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/625—Accumulators
    • 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
    • F15B2211/6303—Electronic controllers using input signals
    • 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
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a 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
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load 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
    • F15B2211/70—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
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations

Definitions

  • the invention relates to an actuating device for at least one fluidically driven consumer, such as a hydraulic actuator, having the features in the preamble of claim 1.
  • a device for a consumer in the form of a hydraulically controllable actuator device has a working hydraulic system as a control device, via which two working chambers of the actuator device can be alternately supplied with hydraulic fluid.
  • a valve device of the device is connected to the corresponding fluid path as part of a suspension device.
  • This valve device in addition to a switching valve and three logic elements, has a further control device in the form of a proportional control valve.
  • the actuator device can be connected to a storage device as a further part of the suspension device. If the storage pressure of the storage device is higher than the working pressure in the actuator device, the control valve relieves the storage pressure to a tank until the working pressure is reached.
  • the switching valve serves to establish or block a fluid connection for charging the storage device.
  • the first logic element is used to compare the working pressure with the accumulator pressure for the purpose of controlling a control line for controlling a second and third logic element.
  • the second logic element is used to establish or block a fluid connection between one working chamber of the actuator device and the accumulator device
  • the third logic element is used to establish or block a fluid connection between the other working chamber of the actuator device and the tank. If the device operates in a spring-damper mode, in which the accumulator pressure is adapted to the working pressure, the accumulator device is connected to the actuator device via a fluid path through the second logic element.
  • the invention is based on the object of providing an actuating device for at least one fluidly driven consumer which is improved in its operational reliability while having a simple structure.
  • the actuating device is characterized in that the valve piston of the further valve control device can be arranged in at least one separating position in which it separates all connections of the further valve control device from one another, and that the one separating position is provided between the suspension position and the loading position.
  • the disconnected position forms a standby position in which the valve piston can be arranged when a previous process step of the actuating device has been completed and the actuating device is ready for a subsequent process step. This improves the responsiveness of the actuating device.
  • a storage device of the suspension device is connected to the respective consumer via a fluid path through the further valve control device.
  • the actuating device serves to adjust the fluid pressure of the accumulator pressure of the accumulator device and the load-holding suspension pressure in the consumer.
  • the valve control device which is arranged in a main fluid branch
  • the suspension device which, in contrast, is arranged in a secondary fluid branch
  • the consumer can be designed as an actuator, such as a fluid-driven motor or a fluid-driven working cylinder.
  • the further valve control device is configured such that, upon appropriate control, a suspension pressure in the consumer and an accumulator pressure of the accumulator device gradually balance each other out and adapt to each other accordingly. It is preferably provided that the further valve control device is configured such that, when its valve piston moves into the suspension position, it at least partially establishes the fluid path in a gradually increasing manner, wherein at the same time, a suspension pressure in the consumer and an accumulator pressure of the accumulator device balance each other out via the fluid path and accordingly gradually adapt to each other. By establishing the corresponding fluid connection, the accumulator device is switched on and thus the suspension is activated.
  • the piston rod of the consumer moves in a controlled and gradual manner rather than a sudden movement due to the gradual establishment of the fluid path. This movement occurs in a more controlled and gradual manner than a sudden movement. This gives the operator of the actuating device the opportunity to intervene in and influence the movement of the piston rod. In addition, the sudden movement of the consumer's piston rod when the suspension is activated is prevented. If the actuating device for a consumer is used in the form of a working cylinder of a hoist suspension system of a mobile work machine, this can have a detrimental effect on the driving stability of the work machine and result in loss of or damage to the load lifted by the hoist.
  • valve piston separates the pressure supply port of the actuating device and the storage device from each other during the gradually increasing establishment of the fluid path and/or when arranged in the suspension position. This prevents a displacement of the piston rod of the consumer from occurring when the suspension is activated due to a fluid pressure at the pressure supply port that differs from the load-holding suspension pressure in the consumer.
  • a control device is provided for the valve piston of the further valve control device, by means of which a control side of the valve piston of the further valve control device can be subjected to a force.
  • the control device is designed as a proportional pressure control valve, via which a control side of the valve piston of the further valve control device can be a control fluid pressure can be applied to it.
  • the proportional pressure control valve can be actuated electromagnetically against the force of the control fluid pressure.
  • an electromotive actuator can be provided to control the valve piston of the additional valve control device, which actuator acts on one control side of the valve piston of the additional valve control device.
  • a control unit and, connected thereto, at least one input device and preferably at least one sensor device for detecting state values are provided, and that the proportional pressure control valve or the actuator can be controlled by the control unit.
  • the valve piston of the additional valve control device can be arranged in a charging position in which the storage device is connected to the pressure supply connection via a further fluid path through the additional valve control device for charging, and preferably the consumer is connected to this pressure supply connection via the respective valve control device.
  • This allows the storage device to be charged with each pump pressure-increasing control command for extending or retracting the piston rod of the consumer.
  • an orifice or throttle in particular an adjustable, preferably proportionally adjustable, orifice is connected to the additional fluid path.
  • valve piston of the further valve control device can be arranged in a discharge position in which the storage device has a further The fluid path is connected to the tank connection via the additional valve control device. This allows the storage device to be emptied toward the tank, so that when the actuating device is in a resting state, no fluid pressure or energy remains trapped in the storage device. It is particularly preferred that a throttle or orifice be arranged in this fluid path.
  • a further separation position is provided between the loading position and the unloading position.
  • the consumer is connected to a tank connection in the suspension position of the further valve control device, in particular via the further valve control device.
  • a drain valve can be provided in a fluid connection between the consumer and the tank connection, and the control fluid pressure for actuating the drain valve can act on a control side of its valve piston.
  • a pressure sensor detects the load-holding suspension pressure or the accumulator pressure, wherein the respective pressure sensor is connected to the control unit of the actuating device for transmitting its measured pressure values.
  • a load-holding valve is provided in a line connected to the consumer, which can be controlled by the proportional valve using the control fluid pressure or via an additional connection of the actuating device or by the control unit. If the load-holding valve is controlled by the control fluid pressure, separate control of the load-holding valve is unnecessary, so that the components required for such a separate control are not required. If the load-holding valve is controlled by the control unit, this can be done directly or indirectly via a pilot valve.
  • a pressure supply source which can be connected to the pressure supply connection, can be controlled by a load-sensing signal dependent on the accumulator pressure. This allows the pump pressure to be adjusted during a charging process of the accumulator device depending on the fluid pressure in the accumulator device.
  • the further valve control device is designed as a 3/3 or 5/3 or 6/5 proportional directional control valve in slide design.
  • the fluid used is hydraulic fluid, in particular hydraulic oil, so that all fluidic components of the actuating device are hydraulic components.
  • a further pressure control valve or a pressure shut-off valve is provided in the fluid connection between the pressure supply connection and the further valve control device and/or between A pressure relief valve is provided between this and the storage device to limit the storage pressure.
  • a mobile work machine in particular a construction machine, such as a wheel loader or mobile excavator, is provided, with a lifting gear having the at least one consumer and the above-mentioned actuating device by means of which the respective consumer can be actuated.
  • the invention relates to a method for actuating at least one fluidically drivable consumer by means of an aforementioned actuating device, comprising the following method steps: charging the storage device to an initial storage pressure via the further valve control device arranged in its charging position; and moving the valve piston of the further valve control device into its suspension position, wherein the valve piston at least partially establishes the fluid path between the storage device and the consumer in a gradually increasing manner, wherein at the same time a suspension pressure in the consumer and a current storage pressure of the storage device balance each other out via the fluid path and accordingly gradually adapt to each other.
  • the active charging of the storage device to an initial storage pressure ensures that the storage device is charged at all times and thus ready for its spring function at all times.
  • the initial accumulator pressure corresponds to the maximum operating pressure of the actuating device, and the adjustment of the initial accumulator pressure is carried out by discharging the accumulator device. This ensures that activation of the suspension results in a controlled and gradual extension movement of the piston rod of the consumer, which is less safety-critical than a retraction movement.
  • the fact that the accumulator device is charged to the maximum operating pressure only once before the suspension is activated can increase the energy efficiency and service life of the accumulator device and improve the response times and responsiveness of the machine.
  • the suspension pressure and the accumulator pressure are detected by means of a pressure sensor, respectively.
  • the initial accumulator pressure is adjusted to the suspension pressure by either discharging or charging the accumulator device, depending on these detected pressures. This then corresponds to the current accumulator pressure. This minimizes or even prevents movement of the consumer's piston rod when the suspension is activated.
  • a damping rate is adjustable by arranging the valve piston of the further valve control device in an intermediate position between the suspension position and the adjacent separation position.
  • the figures show an actuating device according to the invention for a fluidically driven consumer 10 in the form of an actuator 10.
  • the actuating device comprises a valve control device V1 for controlling an alternating movement of the actuator 10 and a suspension device 14 connected between the valve control device V1 and the actuator 10.
  • the suspension device 14 comprises a storage device 16 and a further valve control device V2, whose valve piston 20 is continuously movable within its valve housing.
  • the valve piston 20 of the further valve control device V2 can be arranged in a suspension position V2.V, in which it connects the storage device 16 to the actuator 10 via a fluid path through the further valve control device V2.
  • the actuating device serves for fluid pressure adjustment of the accumulator pressure p s of the accumulator device 16 and the load-holding suspension pressure p a in the actuator 10 for the purpose of subsequent, in particular damped, suspension of a piston rod unit 22 of the actuator 10 by means of the accumulator pressure p s of the accumulator device 16.
  • the actuating device has a pressure supply source 24, which is connected with its suction side to a fluid storage tank 26 and with its high-pressure side via a fluid line to a piston-side working chamber 28 of the actuator 10.
  • a rod-side working chamber 30 of the actuator 10 is connected to the tank 26 via another fluid line.
  • the valve control device V1 is connected as the main control valve in the two fluid lines, which form a type of main fluid branch. Depending on the switching position of the valve V1, the high-pressure side can also be the rod side.
  • the suspension device 14 is connected to these two fluid lines in a type of secondary fluid branch and can be selectively switched on.
  • a first connection V2.1 of the further valve control device V2 of the suspension device 14 is connected via a fluid line to a branching point in the fluid line between the valve control device V1 and connected to the piston-side working chamber 28 of the actuator 10.
  • a second port V2.2 of the further valve control device V2 is connected via a further fluid line to a branching point in the fluid line between the valve control device V1 and a pressure supply port P of the actuating device, to which the pressure supply source 24 is connected on the high-pressure side.
  • a third port V2.3 of the further valve control device V2 is connected to a fluid side of the storage device 16.
  • the additional valve control device V2 is designed as a proportional valve.
  • An end position V2.V of the valve piston 20 of the additional valve control device V2 corresponds to its suspension position V2.V, in which this valve piston 20 connects the first V2.1 and the third V2.3 connection of the additional valve control device V2, separates the second connection V2.2 from all other connections of the additional valve control device V2, and connects the rod side (V2.4) to the tank (V2.5).
  • a control device V5 32 by means of a force in the direction of the one end position V2.V in the form of the suspension position V2.V, counter to the force of a compression spring 34.
  • the further valve control device V2 is configured such that, when its valve piston 20 moves into the suspension position V2.V, it gradually establishes the fluid path between the piston-side working chamber 28 of the actuator 10 and the storage device 16, whereby a load-holding suspension pressure p a in the piston-side working chamber 28 of the actuator 10 and a storage pressure p s of the storage device 16 balance each other out via the fluid path and accordingly gradually adjust to each other.
  • This pressure adjustment is considered a passive pressure adjustment.
  • the rod-side working chamber 30 of the actuator 10 is relieved of pressure toward the tank 26. Likewise, a gradual pressure relief of the rod-side chamber 30 takes place.
  • the valve piston 20 of the additional valve control device V2 can also be arranged in a charging position V2.III, in which this valve piston 20 separates the first connection V2.1 of the additional valve control device V2 from all other connections and connects its second connection V2.2 and third connection V2.3 via a fluid path. A throttle 72 or orifice can be connected into this fluid path. Between its suspension position V2.V and charging position V2.III, the valve piston 20 of the additional valve control device V2 can be arranged in a separation position V2.IV, in which it separates all connections of the additional valve control device V2 from one another.
  • a controllable load-holding valve V3 is connected in the fluid path between the valve control device V1 and the piston-side working chamber 28 of the actuator 10.
  • Load-holding valve is the generic term for pipe rupture protection valves or lowering brake valves.
  • the actuating device also has a control unit 36. At least one input device 38 and at least one sensor device 40 for detecting status values are connected to the control unit 36. An operator of the actuating device can selectively activate or deactivate the suspension via an input device 38, 42, and can enter control commands for the actuator 10 via this or another input device 38, 44, and a damping rate of the suspension via this or another input device 38, 46.
  • a motion sensor 48 is provided as the sensor device 40, in particular for detecting speed values.
  • a check valve V4 is connected into the fluid line between the branching point provided in the fluid line between the pressure supply port P and the valve control device V1, and the second port V2.2 of the further valve control device V2. This check valve opens against the force of a compression spring in the direction of the further valve control device V2.
  • the check valve V4 prevents the accumulator device 16 from emptying when the valve piston 20 of the further valve control device V2 is arranged in the charging position V2.III and the pressure of the pressure supply source 24 is lower than the accumulator pressure ps .
  • a first port V1.1 of the valve control device V1 is fluidly connected to the pressure supply port P via a fluid line, and a second port V1.2 is fluidly connected to the tank port T via a further fluid line.
  • a third port V1.3 of the valve control device V1 is fluidly connected to the piston-side working chamber 28 of the actuator 10 via a further fluid line, and a fourth port V1.4 is fluidly connected to the rod-side working chamber 30 of the actuator 10 via a further fluid line.
  • a valve piston 50 of the valve control device V1 which is designed as a 4/3 proportional directional control valve V1 can be moved from its unactuated first position V1.I shown in the figures against the force of a compression spring 54 into its second position V1.II, and can be moved against the force of a further compression spring 52 into its third position V1.III.
  • the second V1.II and the third V1.III position correspond to the two end positions V1.II, V1.III of the valve piston 50.
  • the unactuated valve piston 50 is held by the two compression springs 52, 54 and separates all connections of the valve control device V1 from each other.
  • valve piston 50 of the valve control device V1 connects its first V1.1 and its fourth V1.4 connection with each other as well as its third V1.3 and its second V1.2 connection with each other.
  • valve piston 50 of the valve control device V1 connects its first V1.1 and its third V1.3 connection together and its fourth V1.4 and its second V1.2 connection together.
  • one control side 32 of the valve piston 20 can be actuated by means of a control fluid pressure p r in the direction of one end position V2.V in the form of the spring position V2.V against the force of the compression spring 34.
  • a proportional pressure control valve V5 is provided to control the control fluid pressure p r , the valve piston of which can be actuated electromagnetically against the force of the control fluid pressure p r .
  • the control unit 36 controls a solenoid actuating device 56 of the proportional pressure control valve V5.
  • the control fluid pressure p r is tapped at a first port V5.1 of the proportional pressure control valve and is routed via a control line to a control side of the valve piston of the proportional pressure control valve V5.
  • a second port V5.2 of the proportional pressure control valve V5 is connected to a pilot fluid pressure port C of the actuating device, and a third port V5.3 is connected to a tank line 58.
  • the proportional pressure control valve can be supplied from the pressure supply port P.
  • control fluid pressure p r is routed via a further control line and a control connection 60 to one control side 32 of the valve piston 20 of the further valve control device V2.
  • control fluid pressure p r is tapped at a branching point in the control line between the proportional pressure control valve V5 and the further valve control device V2 and routed via a further control line to the load-holding valve V3.
  • the further valve control device V2 is designed as a 5/3-way valve.
  • the fluid path from the rod-side working chamber 30 of the actuator 10 to the tank 26 leads via the additional valve control device V2.
  • a fourth connection V2.4 of the additional valve control device V2 is connected via a fluid line to a branching point in the fluid line between the rod-side working chamber 30 of the actuator 10 and the valve control device V1.
  • a fifth connection V2.5 of the additional valve control device V2 is connected via a fluid line to the tank line 58.
  • the fourth V2.4 is connected to the fifth V2.5 connection, which are each separated from all other connections of the additional valve control device V2 in the charging V2.III and separating positions V2.IV.
  • a control pressure is tapped in the tank line 58 and led via a control line and another control connection 62 to another control side 64 of the valve piston 20 of the additional valve control device V2.
  • the further valve control device V2 is designed as a 3/3-way valve.
  • the fluid path from the rod-side working chamber 30 of the actuator 10 to the tank 26 leads via a drain valve V6, which is designed as a 2/2-way proportional valve V6.
  • a valve piston 66 of the drain valve V6 separates its two connections V6.1, V6.2 from one another, whereas these connections V6.1, V6.2 are connected to one another in its second end position V6.II.
  • control fluid pressure p r which is tapped at the branching point in the control line between the proportional pressure relief valve V5 and the further valve control device V2, acts on a control side 68 of its valve piston 66.
  • the valve piston 66 of the drain valve V6 can be brought from its first V6.I into its second V6.II end position against the force of a compression spring 70.
  • the charging position V2.III of the valve piston 20 of the further valve control device V2 corresponds to its uncontrolled, other end position V2.III.
  • the storage device 16 can be connected to the tank 26 via a shut-off valve, and in particular via a throttle or orifice, for discharging the storage pressure p s or fluid.
  • the further valve control device V2 is designed as a 6/5-way valve.
  • the fluid path from the rod-side working chamber 30 of the actuator 10 to the tank 26 leads via the further valve control device V2.
  • the further valve control device V2 has a fourth V2.4 and a fifth V2.5 connection as well as another control connection 62, which, according to the first embodiment, Fig. 1 connected to components of the actuating device and are connected to or separated from one another in the suspension V2.V and separation position V2.IV of the valve piston 20.
  • the further valve control device V2 is provided with a sixth connection V2.6, which is connected via a load reporting or load sensing connection LS and a corresponding line to the pressure supply source 24 in the form of an adjustable pump 24 for the purpose of adjusting its pressure.
  • the LS signal could also be transmitted to the pumps via pressure transducers (at connection LS) or electronically. This would eliminate the need for the pump's hose line.
  • the pump 24, in turn, is connected on the high-pressure side to the pressure supply connection P of the actuating device.
  • valve piston 20 of the further valve control device V2 When the valve piston 20 of the further valve control device V2 is arranged in its loading position V2.III, its second V2.2 and its third V2.3 connections are connected to one another via a fluid path in which a branching point is provided, to which its sixth connection V2.6 is connected.
  • the throttle 72 or orifice can be connected into the fluid path between the second connection V2.2 of the further valve control device V2 and this branching point.
  • valve piston 20 of the additional valve control device V2 can also be arranged in a discharge position V2.I, in which its third V2.3 and fifth V2.5 connections are connected to one another via a fluid path and its remaining connections are separated from one another. A throttle 76 or orifice can be connected in this fluid path. Between its discharge V2.I and charge position V2.III, the valve piston 20 of the additional valve control device V2 can be arranged in a further separation position V2.II, in which it separates all connections of the additional valve control device V2 from one another.
  • a pressure sensor 40, 78, 80 is provided to detect the respective fluid pressure p a , p s in the fluid line between the piston-side working chamber 28 of the actuator 10 and the additional valve control device V2, as well as in the fluid line between this V2 and the storage device 16, which pressure sensor is connected to the control unit 36 for transmitting its measured values.
  • the fourth embodiment is the further valve control device V2 according to the further valve control device V2 of the third embodiment.
  • Pressure sensors 40, 78, 80 corresponding to and connected to the third embodiment are also provided.
  • the fourth embodiment uses the electromotive actuator 82 to control the valve piston 20 of the additional valve control device V2, the electric motor 84 of which can be controlled by the control unit 36 via an electrical line.
  • the load-holding valve V3 is controlled directly by the control unit 36.
  • the unloading position V2.I of the valve piston 20 of the further valve control device V2 corresponds to its uncontrolled, other end position V2.I.
  • the loading position V2.III is provided between the unloading position V2.I and the suspension position V2.V.
  • the actuator 10 is designed as a working cylinder 10.
  • the actuating device is part of a mobile work machine (not shown in the figures), in particular a construction machine, such as a wheel loader or a mobile excavator, with a lifting gear comprising the working cylinder 10.
  • Hoist suspension systems comprising the actuating device and a lifting gear serve to increase the comfort and driving safety of the work machine.
  • the control unit 36 for controlling the additional valve control device V2 can correspond to the control unit 36 of the working machine.
  • the control unit 36 for controlling the additional valve control device V2 can form a unit with the additional valve control device V2, which is separated from the control unit of the working machine in terms of hardware and space.
  • the latter variant has the advantage that fewer control signals are required for communication between the control unit 36 of the additional valve control device V2 and the control unit of the working machine. are necessary. This allows the control unit of the working machine to be designed in a simpler way, eliminating the need to provide inputs and outputs for the suspension function.
  • valve control device V1 can be provided in a main control block, and the suspension device 14, in particular the additional valve control device V2, can be provided as an attachment plate for the main control block.
  • the valve control device V1 and the suspension device 14 can be designed as a monoblock.
  • valve control device V1 and the further valve control device V2 can be controlled independently of one another, in particular by the control unit 36, and their valve pistons 20, 50 can be moved independently of one another accordingly.
  • the actuating device is operated as follows: Charging process step: The accumulator device 16 is charged to an initial accumulator pressure via the additional valve control device V2 arranged in its charging position V2.III.
  • the initial accumulator pressure can correspond to the maximum operating pressure of the actuating device, which corresponds to the maximum operating pressure of the lifting gear.
  • the additional valve control device V2 is connected to the pressure supply port P for supplying the actuator 10, accumulator charging can be performed passively with each pump pressure increase controlling the actuator 10.
  • the accumulator device 16 is preferably actively charged independently of any control of the actuator 10.
  • valve piston 20 of the further valve control device V2 can be moved into the separation position V2.IV, which is provided between the charging position V2.III and the suspension position V2.V.
  • the suspension is activated via a corresponding input device 38, 42, in particular permanently; the suspension is not permanently deactivated via the input device 38, 42; the work machine exceeds a certain travel speed, which is detected by the speed sensor 40, 48.
  • the control unit 36 can verify the plausibility of the activation of the suspension based on control commands for the actuator 10, which are supplied to it by the corresponding input device 38, 44. In this case, it can be provided that the suspension is only activated when the actuator 10 is not controlled by an operator via the input device 38, 44.
  • the load-holding valve V3 is opened to activate the suspension, provided it is in its closed position.
  • the valve piston 20 of the further valve control device V2 is moved, in particular starting from its isolated position V2.IV, into its suspension position V2.V.
  • the valve piston 20 gradually establishes the fluid path between the storage device 16 and the piston-side working chamber 28 of the actuator 10, wherein the suspension pressure p a in this working chamber 28 and a current accumulator pressure p s of the storage device 16 balance each other out via the fluid path and gradually adapt to each other accordingly.
  • the rod-side working chamber 30 of the actuator 10 is connected to the tank 26.
  • the actuating device according to the third and fourth embodiments is operated as follows: In a deactivated state of the actuating device, for example when the working machine is switched off, the valve piston 20 of the further valve control device V2 is arranged in its uncontrolled discharge position V2.I, whereby the storage device 16 is relieved towards the tank 26.
  • valve piston 20 can initially be moved from the unloading position V2.I into a further separation position V2.II, which is provided between the unloading position V2.I and the loading position V2.III.
  • a charging process step corresponding to the first and second exemplary embodiments, wherein the accumulator pressure p s can be monitored by means of the associated pressure sensor 80 and/or supplied to the pump 24 via the load-sensing line.
  • the charging of the accumulator device 16 can be coordinated with the current utilization level 18 of the work machine drive unit such that the charging of the accumulator device 16 only takes place when the drive unit is not currently fully utilized or when sufficient power reserves are available.
  • the utilization level 18 of the unit is detected and fed to the control unit 36.
  • the unit can be designed as an internal combustion engine or an electric motor.
  • a filling rate of the accumulator device 16 can be specified, in particular set proportionally.
  • valve piston 20 can then be moved back into the separation position V2.II provided between the unloading position V2.I and the loading position V2.III.
  • the test method step is carried out first, followed by the active pressure adjustment of the accumulator pressure p s to the load-holding suspension pressure p a in the piston-side working chamber 28 of the actuator 10.
  • the control unit 36 determines a differential pressure between the accumulator pressure p s and the suspension pressure p a , based on which the accumulator pressure p s of the accumulator device 16 is actively adjusted to the suspension pressure p a .
  • the valve piston 20 is moved to its discharge position V2.I and the accumulator device 16 is relieved towards the tank 26 until the accumulator pressure p s is adjusted to the suspension pressure p a . If, however, when the suspension is activated, the suspension pressure p a is higher than the accumulator pressure p s , the valve piston 20 is moved to its charging position V2.III and the accumulator device 16 is charged until the accumulator pressure p s is equal to the suspension pressure p a . This is regarded as active pressure adjustment.
  • the active pressure adjustment is carried out after the suspension has been activated due to the work machine reaching a certain travel speed and the work machine is currently accelerating with its drive unit almost at full load, it is advantageous if the accumulator device 16 has initially been charged to the maximum operating pressure because for the active pressure adjustment only fluid pressure p s has to be released from the accumulator device 16 to the tank 26, for which no power from the drive unit is required.
  • the valve piston 20 assumes various intermediate positions on its travel path, in particular starting from the separation position V2.IV between the suspension position V2.V and the loading position V2.III, in the direction of its suspension position V2.V, which correspond to different damping rates of the suspension.
  • the damping of the suspension is at its highest when the fluid connection between the storage device 16 and the actuator 10 is initially established and then decreases during the travel movement of the valve piston 20 in the direction of its suspension position V2.V.
  • the valve piston 20 has finally reached its suspension position V2.V, free suspension is possible, i.e. the fluid path between the storage device 16 and the actuator 10 is essentially free of flow cross-section constrictions. Therefore, the damping rate of the suspension can be specified via the corresponding input device 38, 46 by means of a targeted arrangement of the valve piston 20 in an intermediate position between the aforementioned separation position V2.IV and suspension position V2.V.
  • control of the valve piston 20 of the further valve control device V2 is effected from the control unit 36 via the proportional pressure relief valve V5 and in the fourth embodiment, from the control unit 36 via the electromotive actuator 82.

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

Claims (12)

  1. Système d'actionnement d'au moins un consommateur (10) pouvant être entraîné fluidiquement, comme un actionneur hydraulique, constitué d'au moins un dispositif (V1) de commande par soupape pour la commande d'un mouvement alterné du consommateur (10) respectif et d'au moins un dispositif (14) de suspension, qui est monté entre le dispositif (V1) de commande par soupape et le consommateur (10) respectif, dans lequel le dispositif (14) de suspension a un autre dispositif (V2) de commande par soupape, dont le piston (20) de soupape peut être déplacé progressivement dans un corps de soupape associé, dans lequel, dans un position (V2.V) de suspension du piston (20) de soupape de l'autre dispositif (V2) de commande par soupape, un dispositif (16) d'accumulation du dispositif (14) de suspension communique avec le consommateur (10) respectif en passant par un chemin de fluide dans l'autre dispositif (V2) de commande par soupape, et
    dans lequel le piston (20) de soupape de l'autre dispositif (V2) de commande par soupape peut être mis dans une position (V2.III) de charge, dans laquelle le dispositif (16) d'accumulation communique, pour sa charge en passant par un autre chemin de fluide dans l'autre dispositif (V2) de commande de soupape, avec un raccord (P) d'alimentation en pression,
    caractérisé
    en ce que le piston (20) de soupape de l'autre dispositif (V2) de commande par soupape peut être mis dans au moins une position (V2.II, V2.IV) de séparation, dans laquelle celui-ci sépare les uns des autres tous les raccords de l'autre dispositif (V2) de commande par soupape, et
    en ce que la une position (V2.IV) de séparation est prévue entre la position (V2.V) de suspension et la position (V2.III) de charge.
  2. Système d'actionnement suivant la revendication 1, caractérisé en ce que l'autre dispositif (V2) de commande par soupape est agencé de manière à ce que, par celui-ci, lors d'une commande correspondante, une pression (pa ) de suspension dans le consommateur et une pression (ps ) d'accumulation du dispositif (16) d'accumulation se compensent mutuellement peu à peu et s'adaptent en conséquence l'une à l'autre.
  3. Système d'actionnement suivant la revendication 1 ou 2, caractérisé en ce que l'autre dispositif (V2) de commande par soupape est agencé de manière à ce que celui-ci, lorsque son piston (20) de soupape se déplace dans la position (V2.V) de suspension, donne le chemin de fluide augmentant graduellement au moins en partie, dans lequel, en même temps, la pression (pa ) de suspension dans le consommateur (10) et la pression (ps ) d'accumulation du dispositif (16) d'accumulation se compensent mutuellement par le chemin de fluide et en conséquence s'adaptent l'une à l'autre de plus en plus graduellement.
  4. Système d'actionnement suivant l'une des revendications précédentes, caractérisé en ce que le piston (20) de soupape sépare, pendant la production augmentant de plus en plus graduellement du chemin de fluide et/ou lors de la mise dans la position (V2.V) de suspension, le raccord (P) d'alimentation en pression du système d'actionnement et le dispositif (16) d'alimentation l'un de l'autre.
  5. Système d'actionnement suivant l'une des revendications précédentes, caractérisé en ce que, pour la commande de l'autre dispositif (V2) de commande par soupape, il est prévu une soupape (V5) de réglage de la pression proportionnelle, dans laquelle un côté (32) de commande du piston (20) de soupape de l'autre dispositif (V2) de commande par soupape peut être soumis à une pression (pr ) de fluide de commande.
  6. Système d'actionnement suivant la revendication 5, caractérisé en ce que la soupape (V5) de réglage de pression proportionnelle peut être actionnée électromagnétiquement à l'encontre de la force de la pression (pr ) de fluide de commande.
  7. Système d'actionnement suivant l'une des revendications précédentes, caractérisé en ce qu'il est prévu une autre position (V2.II) de séparation entre la position (V2.III) de charge et une position (V2.I) de décharge du piston (20) de soupape de l'autre dispositif (V2) de commande par soupape, dans laquelle le dispositif (16) d'accumulation communique avec un raccord (T) de réservoir en passant par l'autre dispositif (V2) de commande par soupape.
  8. Système d'actionnement suivant l'une des revendications précédentes, caractérisé en ce que, dans une communication fluidique entre le consommateur (10) et le raccord (T) de réservoir, est prévue une soupape (V6) d'évacuation et ce que, pour la commande de la soupape (V6) d'évacuation, la pression (pr ) de fluide de commande s'applique à un côté (68) de commande du piston (66) de soupape.
  9. Système d'actionnement suivant l'une des revendications précédentes, caractérisé en ce qu'il est prévu un capteur (40, 78) de pression, qui détecte la pression (pa ) de suspension du consommateur (10) et, de préférence un autre capteur (40, 80) de pression, qui détecte la pression (ps ) d'accumulation du dispositif (16) d'accumulation, qui, respectivement pour la transmission de ses valeurs de mesure de pression, est raccordé à une unité (36) de régulation du système d'actionnement.
  10. Système d'actionnement suivant l'une des revendications 5 à 9, caractérisé en ce qu'il est prévu une soupape (V3) de maintien de charge, qui sécurise la pression (pa ) de suspension dans le consommateur (10) et qui peut être commandée par la soupape (V5) de réglage de pression proportionnelle au moyen de la pression (pr ) de fluide de commande ou par un raccord supplémentaire du système d'actionnement ou par l'unité (36) de régulation.
  11. Procédé d'actionnement d'au moins un consommateur (10) pouvant être entraîné fluidiquement au moyen d'un système d'actionnement suivant l'une des revendications 1 à 10, comprenant les stades de procédé suivants :
    - charge du dispositif (16) d'accumulation à une pression d'accumulation initiale en passant par l'autre dispositif (V2) de commande de soupape mis dans sa position (V2.III) de charge ; et
    - déplacement du piston (20) de soupape de l'autre dispositif (V2) de commande par soupape dans sa position (V2.V) de suspension, dans lequel le piston (20) de soupape donne de plus en plus graduellement au moins en partie le chemin de fluide entre le dispositif (16) d'accumulation et le consommateur (10), dans lequel une pression (pa ) de suspension dans le consommateur (10) et une pression (ps ) d'accumulation en cours du dispositif (16) d'accumulation se compensent mutuellement en même temps en passant par le chemin de fluide et s'adaptent en conséquence l'une à l'autre de plus en plus graduellement.
  12. Procédé suivant la revendication 11, caractérisé en ce que, au moyen respectivement d'un capteur (40, 78, 80) de pression, on détecte la pression (pa ) de suspension et la pression (ps ) d'accumulation et en ce que, après la charge du dispositif (16) d'accumulation à la pression d'accumulation initiale et avant sa mise en communication avec le consommateur (16), on égalise, par décharge ou par charge du dispositif (16) d'accumulation, la pression d'accumulation initiale à la pression (pa ) de suspension en fonction de ces pressions (pa, ps ) détectées.
EP22772934.0A 2021-09-11 2022-09-02 Dispositif d'actionnement pour au moins un consommateur actionné fluidiquement Active EP4367405B1 (fr)

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DE102021004608.0A DE102021004608A1 (de) 2021-09-11 2021-09-11 Betätigungsvorrichtung für zumindest einen fluidisch antreibbaren Verbraucher
PCT/EP2022/074444 WO2023036701A1 (fr) 2021-09-11 2022-09-02 Dispositif d'actionnement pour au moins une charge entraînée par fluide

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US (1) US12404878B2 (fr)
EP (1) EP4367405B1 (fr)
JP (1) JP2024534344A (fr)
KR (1) KR20240053600A (fr)
CN (1) CN117980609A (fr)
AU (1) AU2022344475A1 (fr)
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DE102020001713A1 (de) * 2020-03-13 2021-09-16 Hydac Mobilhydraulik Gmbh Ansteuervorrichtung
DE102021004612A1 (de) * 2021-09-11 2023-03-16 Hydac Mobilhydraulik Gmbh Betätigungsvorrichtung für zumindest einen fluidisch antreibbaren Verbraucher
EP4293235A1 (fr) * 2022-06-17 2023-12-20 Husco International, Inc. Systèmes et procédés de commande de manège hydraulique

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JP4685417B2 (ja) 2004-11-16 2011-05-18 日立建機株式会社 作業車両用液圧制御装置
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AU2022344475A1 (en) 2024-04-04
JP2024534344A (ja) 2024-09-20
WO2023036701A1 (fr) 2023-03-16
US20240384732A1 (en) 2024-11-21
EP4367405C0 (fr) 2025-07-30
DE102021004608A1 (de) 2023-03-16
KR20240053600A (ko) 2024-04-24
CN117980609A (zh) 2024-05-03
US12404878B2 (en) 2025-09-02
EP4367405A1 (fr) 2024-05-15

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