WO2017178347A1 - Circuit de commande électro-hydraulique comprenant un moteur pas à pas - Google Patents

Circuit de commande électro-hydraulique comprenant un moteur pas à pas Download PDF

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Publication number
WO2017178347A1
WO2017178347A1 PCT/EP2017/058326 EP2017058326W WO2017178347A1 WO 2017178347 A1 WO2017178347 A1 WO 2017178347A1 EP 2017058326 W EP2017058326 W EP 2017058326W WO 2017178347 A1 WO2017178347 A1 WO 2017178347A1
Authority
WO
WIPO (PCT)
Prior art keywords
control circuit
proportional valve
drive unit
manipulator
stepping motor
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.)
Ceased
Application number
PCT/EP2017/058326
Other languages
German (de)
English (en)
Inventor
Johannes HENIKL
Andreas Lehmann
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.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing 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 Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Publication of WO2017178347A1 publication Critical patent/WO2017178347A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • 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
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/004—Fluid pressure supply failure
    • 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
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/008—Valve failure
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional 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
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—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
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback
    • 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
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8633—Pressure source supply failure
    • 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
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure
    • 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
    • F15B2211/875—Control measures for coping with failures
    • F15B2211/8757—Control measures for coping with failures using redundant components or assemblies

Definitions

  • the invention relates to an electrohydraulic control circuit for controlling a hydraulically actuated drive unit, by means of which a pole segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with respect to its orientation is adjustable with an electrically controlled proportional valve, which with hydraulic working lines of the drive unit to its Control is connected.
  • electro-hydraulic control circuit is known, for example, from WO 2014/165888 A1.
  • the disclosed herein electrohydraulic control circuit which is preferably in the form of a hydraulic block directly to or near the hydraulic drive units has, in particular over classic hydraulic systems designed to control the hydraulic drive units with central mast control block large dynamic advantages to implement an active vibration damping and simplified the control of the mast due to an improved response of the individual mast segments.
  • the control circuit proposed here is in sum much heavier and larger than the usual Senkbrems- and pressure relief valves, which are otherwise attached to a classic design system with central mast control block on the hydraulic drives.
  • the object of the invention is therefore to provide an electro-hydraulic control circuit or to provide a manipulator which overcomes the disadvantages described and allows easy control and optimum response of the drives or mast segments.
  • This object is achieved by an electro-hydraulic control circuit with the features of claim 1 and by a manipulator according to claim 9.
  • the fact that the proportional valve is controlled by a stepper motor an electro-hydraulic control circuit can be realized, which ensures optimum response of the mast segments.
  • a stepper motor controllable proportional valves are significantly lighter and smaller than similarly powerful valves with proportional solenoids, which allows a significant weight savings and a reduction in the required space.
  • the stepper motor has a non-self-locking stepper motor drive.
  • the proportional valve or the valve piston can be pushed by return springs in a neutral / locking position when the stepper motor is de-energized or is not driven or has failed.
  • a further advantage is that a position of the proportional valve is determined via pressure sensors, which leads to a desired travel speed of the drive unit. By measuring the pressures with the pressure sensors so that position of the proportional valve is determined and controlled accordingly, which leads to a desired flow or a desired travel speed of the hydraulic drive unit.
  • the proportional valve has a housing which contains a valve piston, a return spring and the stepping motor. Such a proportional valve is simple and trouble-prone, which is particularly advantageous when used in manipulators. Especially if that Proportional valve is located directly on the associated, to be controlled drive unit, where it is difficult to reach for repairs under certain circumstances.
  • An advantageous embodiment of the invention provides that the control of the valve piston via a rack, in particular via a gear with gear and rack occurs.
  • Such control of the valve piston allows a particularly accurate compliance with the position of the valve piston in the proportional valve.
  • the control of the drive unit can be particularly accurate, which leads to a significant improvement in the response of mast or mast segment.
  • the stepper motor has a monitoring unit for monitoring the steps performed by the stepping motor.
  • Such a monitoring unit makes a complex sensor-based monitoring of the valve piston position superfluous, as required for valves with proportional solenoids.
  • the monitoring unit has a memory for the executed steps. With such a memory, the information about the steps performed by the stepping motor of the valve piston in the proportional valve is not lost.
  • an advantageous embodiment of the invention further provides that the proportional valve regulates flow rates of up to 150 l / min and has a total weight of 3 to 4 kg.
  • a proportional valve offers a large weight advantage over known similarly powerful valves. This weight advantage is achieved in particular by not using a proportional magnet.
  • the proportional valve has a total length of at most 275 mm, preferably at most 265 mm, with a total height of at most 120 mm, preferably at most 1 10 mm.
  • Such a proportional valve offers a great advantage in terms of the necessary space compared to known similarly powerful valves. This advantage is achieved in particular by dispensing with a proportional magnet.
  • the stepper motor ⁇ a step size for the positioning steps between 20 and 15 ⁇ , preferably 10 ⁇ .
  • Such a distance between two setting steps of the stepping motor leads to a corresponding step size of the valve piston, so that a particularly precise control of the drive units can be ensured.
  • the invention further relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with a folding articulated mast, which has a pivotable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments at articulated joints each about bending axes relative to an adjacent pole segment or the turntable by means of each a hydraulic drive unit are limited pivotally, wherein an electro-hydraulic control circuit according to the preceding and following description for controlling at least one of the drive units is provided.
  • an advantageous embodiment of this manipulator provides that the proportional valve is arranged directly on or in the immediate vicinity of the associated, to be controlled drive unit. Due to the particularly small size and low weight of the proportional valve according to the invention, this is particularly suitable for a decentralized hydraulic control circuit.
  • the proportional valve can be arranged on the drive unit to be controlled such that the proportional valve changes its position relative to the turntable or the concrete pump together with the drive unit on the mast segment of the articulated mast and thereby reliably switches.
  • Figure 1 is a circuit diagram of an inventive
  • the control circuit. 1 shows a schematic representation of an electro-hydraulic control circuit 1 for driving a hydraulically actuated drive unit
  • mast segment of a manipulator in particular a large manipulator for truck-mounted concrete pumps, is adjustable with respect to its orientation, with an electrically controlled proportional valve
  • the proportional valve 3 which is connected to the hydraulic working lines 4, 5 of the drive unit 2 for its control.
  • the proportional valve 3 can be controlled by a stepping motor 6, the proportional valve 3 having a housing which contains a valve piston, a return spring and the stepping motor 6.
  • a monitoring unit for monitoring the steps performed by the stepping motor 6 is provided at the stepping motor 6, a monitoring unit for monitoring the steps performed by the stepping motor 6 is provided.
  • a memory is provided for storing the performed steps of the stepping motor 6.
  • the control by stepper motor 6 allows precise adjustment of the proportional valve 3 regardless of the flow forces occurring, which is a particularly precise control of the drive unit 2 allows.
  • the electrically controlled proportional valve 3, designed as a hydraulic cylinder drive unit 2 can be moved by the proportional valve 3, the drive unit 2 associated working lines 4, 5 subjected to a pressure difference.
  • the working lines 4, 5 are optionally each connected to a first pressure supply (P1) 14 or a first return (T1) 15 through the proportional valve 3.
  • the control of the proportional valve 3 via the associated stepping motor 6 by an electronic control unit ECU electronic control unit
  • the electronic control unit ECU monitors the state of the system, enables the implementation of complex algorithms, provides an interface for communication to the outside via a bus system (for example CAN) and the possibility of connecting a multiplicity of sensors to it.
  • a bus system for example CAN
  • one of the pressure supply P1 (14) associated supply pressure is applied to a working line 4 or 5 of the associated drive unit 2.
  • the check valves 8, 8a perform a load holding function when the control circuit 1 is in an inactive state or a safe state.
  • the check valve 13 also has a safety function, in particular it prevents a pressing of the check valves 8, 8a in the case of a clamping valve piston in the proportional valve 3 outside the central position.
  • the supply pressure of the supply line P1 measured by sensor 7 in the active state of the control circuit 1 and the pressures in the working lines 4, 5, by sensors 7a, 7b, to the hydraulic drive unit 2.
  • These measurements are used by the control unit ECU to determine the desired position of the valve 3, which leads quasi-statically to a desired volume flow or a desired travel speed of the hydraulic drive unit 2.
  • the stepping motor 6 has the advantage over a valve with proportional solenoids that the desired position of the valve can be adjusted particularly accurately and as far as possible insensitive to occurring flow forces.
  • the electrohydraulic control circuit 1 also comprises an optional hydraulic emergency circuit for emergency operation connected in parallel with the proportional valve 3.
  • This emergency circuit allows a process of the drive unit 2 in case of failure of the proportional valve 3 associated (upstream or downstream) components.
  • Each Proportional valve 3 for controlling a drive unit 2 is preferably associated with a separate emergency circuit.
  • the emergency circuit comprises a control valve 1 1 for controlling the direction of travel of the drive unit 2 in emergency operation and two mutually coupled valves 10, 10 a, which are designed as hydraulic unlockable check valves or lowering brake valves 10, 10 a in classic circuit.
  • the travel speed can be limited in emergency mode.
  • the drive unit 2, in particular the hydraulic cylinder, can be moved in emergency mode by the control valve 1 1 for emergency operation, the power unit 2 associated working lines 4, 5 is acted upon by a pressure difference.
  • the working lines 4, 5 are optionally each connected to a second pressure supply (P2) 16 or a second return (T2) 17 of the control valve 1 1.
  • the pressure supply of the drive unit 2 is preferably via the separate pressure supply (P2) 16 and the separate return (T2) 17, so that in a leakage of the pressure supply (P1) 14 or the return (T1) 15 is still a control of the drive unit is possible.
  • the mast can still be moved to retract, for example, the mast and possibly pump out the residual concrete from the concrete pump and the delivery pipes.
  • the electronic control device ECU monitors the state and the behavior of the control circuit 1 by means of the available sensors. As soon as the electronic control unit ECU detects an error, it automatically switches the control circuit 1 to a safe state.
  • the control of the electronic control device can take place via a BUS system, which transmits control commands and setpoints, which can preferably be predetermined by a user via a user interface.
  • the pressure supply lines (P1, P2) and the return lines (T1, T2) need not necessarily be separated, but may also be combined in a suitable manner in order to minimize the total weight of the large manipulator.
  • proportional valves 3 with stepper motors 6 different power classes with regard to the volume flows to be conveyed, since their need for those located on the mast hydraulic drives 2 can differ greatly.
  • hydraulic drives 2 in the form of cylinders for controlling joints of the mast which are far away from the turntable with extended mast, much smaller cylinder compared to those joints, which are located close to the fifth wheel, used since the forces to be provided are much lower.
  • proportional valves 3 with graded to the hydraulic actuators 2 power classes additional savings in terms of weight and space can be achieved, which can be a significant advantage for the design and construction of the mast.
  • the drive units 2 in a large manipulator are usually designed as double-acting hydraulic cylinder.
  • the drive unit 2 could, for example, be a rotary drive shown in document WO 2013/0681 12 A1, in which the two annular pistons shown there are actuated by two separate proportional valves controlled by stepper motors.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un circuit de commande électro-hydraulique (1) pour la commande d'un groupe moto-propulseur (2) à actionnement hydraulique, au moyen duquel l'orientation d'un segment de mât d'un manipulateur, en particulier d'un manipulateur de grande taille pour des pompes à béton automotrices, est réglable. Le circuit comprend une soupape proportionnelle (3) à commande électrique, laquelle est reliée à des conduites de travail hydrauliques (4, 5) du groupe moto-propulseur (2) pour la commande de ce dernier. Le but de l'invention est de mettre au point un circuit de commande électro-hydraulique ou de créer un manipulateur offrant une commande simple et un excellent comportement de réponse des groupes moto-propulseurs ou des segments de mât. L'invention résout ce but par le fait que la soupape proportionnelle (3) peut être commandée par un moteur pas à pas (6). L'invention concerne en outre un manipulateur, en particulier un manipulateur de grande taille pour des pompes à béton automotrices.
PCT/EP2017/058326 2016-04-11 2017-04-07 Circuit de commande électro-hydraulique comprenant un moteur pas à pas Ceased WO2017178347A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106589.7 2016-04-11
DE102016106589.7A DE102016106589B4 (de) 2016-04-11 2016-04-11 Elektrohydraulischer Steuerkreis mit Schrittmotor sowie Manipulator

Publications (1)

Publication Number Publication Date
WO2017178347A1 true WO2017178347A1 (fr) 2017-10-19

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PCT/EP2017/058326 Ceased WO2017178347A1 (fr) 2016-04-11 2017-04-07 Circuit de commande électro-hydraulique comprenant un moteur pas à pas

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DE (1) DE102016106589B4 (fr)
WO (1) WO2017178347A1 (fr)

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CN110454450A (zh) * 2019-08-01 2019-11-15 烟台中宇航空液压有限公司 电液伺服控制系统液压保护装置
CN113330174A (zh) * 2019-01-30 2021-08-31 普茨迈斯特工程有限公司 车辆
CN119435482A (zh) * 2024-11-28 2025-02-14 广州宝力特液压技术有限公司 一种启闭液压系统及控制方法

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CN113217492B (zh) * 2021-04-15 2023-10-24 浙大城市学院 一种压转联轴型电液比例阀
CN113958544B (zh) * 2021-10-22 2024-11-15 华侨大学 工程机械电液复合储能驱动系统及其控制方法
CN115717617B (zh) * 2022-12-17 2025-10-17 广州海卓船舶技术有限公司 一种用于大通径液压操作阀的远程控制驱动器

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DE4227563A1 (de) * 1992-08-20 1994-02-24 Rexroth Mannesmann Gmbh Geregelter hydraulischer Vorschubantrieb
DE102007048697A1 (de) * 2007-10-11 2009-04-16 Deere & Company, Moline Hydraulische Hubeinrichtung
WO2013068112A1 (fr) 2011-11-10 2013-05-16 Schwing Gmbh Structure de mât, destiné notamment à une pompe à béton automotrice, ainsi que pompe à béton automotrice
WO2014165888A1 (fr) 2013-04-09 2014-10-16 Ttcontrol Gmbh Circuit de commande électrohydraulique
WO2015031587A1 (fr) * 2013-08-29 2015-03-05 Llc Vector Horizon Technologies Actionneur électro-hydraulique

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DE19836042A1 (de) * 1998-08-10 2000-02-17 Eckehart Schulze Hydraulikventil
DE10340505B4 (de) * 2003-09-03 2005-12-15 Sauer-Danfoss Aps Ventilanordnung zur Steuerung eines Hydraulikantriebs

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN113330174B (zh) * 2019-01-30 2023-12-08 普茨迈斯特工程有限公司 车辆
CN110454450A (zh) * 2019-08-01 2019-11-15 烟台中宇航空液压有限公司 电液伺服控制系统液压保护装置
CN119435482A (zh) * 2024-11-28 2025-02-14 广州宝力特液压技术有限公司 一种启闭液压系统及控制方法

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