CN110997549A - 具有闭合液压回路的起重机 - Google Patents

具有闭合液压回路的起重机 Download PDF

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CN110997549A
CN110997549A CN201880049791.3A CN201880049791A CN110997549A CN 110997549 A CN110997549 A CN 110997549A CN 201880049791 A CN201880049791 A CN 201880049791A CN 110997549 A CN110997549 A CN 110997549A
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crane
valve
hydraulic
bypass
continuously adjustable
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T·詹尼克
V·博赫曼
A·桑塔伊
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Manitowoc Crane Group France SAS
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    • 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
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4043—Control of a bypass valve
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/30—Circuits for braking, traversing, or slewing motors
    • 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
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    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/047—Preventing foaming, churning or cavitation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4157—Control of braking, e.g. preventing pump over-speeding when motor acts as a pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4183—Preventing or reducing vibrations or noise, e.g. avoiding cavitations
    • 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
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/0406—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed during starting or stopping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/27—Directional control by means of the pressure source
    • 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
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow 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
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    • 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
    • F15B2211/7058—Rotary 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/851—Control during special operating conditions during starting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/003—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with multiple outputs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/008—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with rotary output
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4061—Control related to directional control valves, e.g. change-over valves, for crossing the feeding conduits

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
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Abstract

本发明涉及一种起重机，尤其是移动式起重机，具有闭合液压回路(1)，其中液压泵(2)通过进给口(4)和排放口(5)与至少一个液压马达(3、9)液压连接，并且其中所述进给口(4)通过至少一个绕过所述至少一个液压马达(3、9)的旁路(6A、6B)与所述排出口(5)液压连接，其中所述至少一个旁路(6A、6B)包括连续可调阀(7A、7B)，用于可变地控制绕过所述至少一个液压马达(3、9)的流体流。本发明还涉及用于致动起重机的闭合液压回路(1)的相应的控制装置和相应起重机控制程序。

Description

具有闭合液压回路的起重机
本发明涉及一种起重机，尤其是移动式起重机，其具有闭合液压回路，其中液压泵通过进给口和排出口与至少一个液压马达液压连接，并且在进给口和排出口之间的旁路绕过液压马达。本发明还涉及用于致动闭合液压回路的相应控制装置和相应的起重机控制程序。
在移动式起重机中，原则上区分了两种类型的液压回路，通过这些液压回路，驱动泵产生的输出被传递给要驱动的起重机功能，例如液压缸、绞车或上部结构的回转机构。
在较小的起重机中，回转机构通常由开放的液压回路驱动，其中可以单独控制油的进给口和排出口。这样可以实现多种控制选项，从而可以在回转机构中实现不同的功能。例如可以使用固定排量泵，其输送流量仅由阀调节。结果，然后可以实现不同的加速和减速方案。一个重要的功能就是所谓的“惯性滑行”功能，利用该功能可以在不主动使用回转机构的情况下，利用外力将起重机的上部结构从固定位置摆出。然后例如可以借助于提升机构将起重机的上部结构拉到要提升的负载上。然后，将回转机构驱动器有效地切换到零力，这还提供了允许回转机构以较小的力从回转运动中脱离的选择。然后，经验丰富的起重机操作员可以将回转机构调整到所需的速度，以便随后通过取消例如经由操纵杆输入的致动信号，使起重机下降至所需的工作点。然后，如果可以预见到起重机将在所需的工作点之前停止，则可以通过操作制动踏板或甚至通过重新加速来精确定位。如果起重机与另一台起重机一起进行串联提升，则惯性滑行也很有用。在串列式升降机中，负载由两个或多个起重机吊起，因此必须在其工作过程中同步运行。在回转机构中，惯性滑行则提供了一种选择，即一台起重机主动地引导回转运动，而另一台起重机被动地跟随惯性滑行。
闭合液压回路主要用于驱动大型起重机中的回转机构。然后通常由一台可调泵控制回转运动，该泵根据输送流量控制一个或多个液压马达的速度。在该系统中，最简单的实现惯性停车的方法是使用数字可切换的旁通阀在液压马达的进给口侧和排出口侧之间产生直接短路。然后可以使吊车自由旋转，但是在运动过程中无法实现重新加速而不颠簸与精细制动。
为了操纵上部结构回转驱动装置，现有技术文献DE2701297C2、DE3346800A1、DE4231637C2、DE44 05472A1、DE19920867A1、EP1175318B1和US 5448148提供一种涉及闭合液压回路的解决方案，并且现有技术文献DE102006040459B4和EP2791427B2提供了涉及一种开放液压回路的解决方案。
本发明的目的是提供一种用于起重机的闭合液压回路，该闭合液压回路能够实现精细的制动和使液压马达的重新加速。该目的是通过专利权利要求1、9和10的内容来实现的，其中从属权利要求限定了本发明的优选实施方式。
根据本发明，提供了一种起重机，尤其是移动式起重机，具有闭合液压回路，其中液压泵通过进给口和排放口与至少一个液压马达液压连接，并且其中所述进给口通过至少一个绕过所述至少一个液压马达的旁路与所述排出口液压连接，其中所述至少一个旁路包括连续可调阀，用于可变地控制绕过所述至少一个液压马达的流体流。
换句话说，使所述进给口和排放口短路的至少一个旁路包括比例切换阀，所述比例切换阀根据控制信号非增量地打开和/或关闭旁路，使得流过所述旁路的流体流可以因此同样非增量地变化。这样可以通过相关的液压回路驱动起重机功能，实现非常精细的运动、加速和延迟。这对于起重机的回转机构是特别期望的，通过该回转机构，包括悬臂并且可旋转地安装在起重机底盘和/或转向架上的起重机上部结构绕垂直轴线旋转地枢转。
根据本发明的一个优选实施方式，所述至少一个旁路包括关闭阀，所述关闭阀配置成使所述旁路在至少一个流动方向上，尤其是自动地对流体流关闭。在连接除连续可调阀之外设置的这种关闭阀，例如可以被连接成使得一旦流体流以不希望的相反方向流过旁路，它就使旁路关闭。
优选的，根据本发明的液压回路包括两个旁路，它们并联连接并且将所述进给口液压连接到所述排放口，其中每个旁路被设置用于可变地控制所述至少一个液压马达的两个回转方向之一的流体流，其中每个旁路可包括至少一个连续可调阀和至少一个关闭阀，通过所述阀，提供给所述两个回转方向的流体流可以非增量地变化和/或关闭。
换句话说，一个旁路精确地负责一个或多个液压马达的一个回转方向，其中，通过关闭阀可以防止流体流分别沿相反的方向流过这些旁路。
至少一个连续可调阀优选是比例阀，尤其是电动比例阀。然而，同样也可以考虑使用调节阀或伺服阀来可变地控制流过相关旁路的流体流。
尽管原则上可以想到适合于密封旁路的任何关闭阀，但是本发明的另一优选实施方式使用自动密封的单向阀作为密封旁路的阀。因此，能够自动防止液压液体沿不希望的相反方向流过旁路。如果两个旁路并联连接，则所述单向阀可以沿相反的方向连接，从而在液压马达正好在一个回转方向运动时，流体流自动流过两个旁路中的每一个。
液压泵的输送流量也可以通过电动比例调节器(EP调节器)进行可变调节，尤其是以控制方式进行调节。这使得能够通过适当的致动来实现一个或多个连续可调阀与液压泵之间的协作，这可以通过液压回路，特别是回转机构的液压回路驱动起重机功能，实现极其精细的运动、加速和延迟。特别地，这还使得能够从液压回路的惯性滑行状态重新加速。
还可以想到的是，至少一个液压马达的体积排量能够被可变地调节并且尤其是以控制方式进行调节，使得借助于适当的致动能够实现对由液压回路驱动的起重机功能的平缓“操纵”。
根据本发明的另一优选实施方式，起重机还包括控制装置，所述控制装置通过至少一个接口与液压泵和所述至少一个连续可调阀接触，并被配置为在起重机操作期间以协同方式致动所述液压泵和至少一个连续可调阀。换句话说，控制装置以这样的方式致动液压泵、至少一个连续可调阀并且甚至可能液压马达，通过这种方式，能够实现由闭合液压回路驱动的起重机功能的平缓“操纵”。
本发明的另一方面涉及一种用于致动起重机，尤其是移动式起重机的闭合液压回路的控制装置。尽管这种控制装置可以是上述根据本发明的起重机的一部分，但是也可以看作是独立的发明，其中所述控制装置通过相应的接口连接到可变可调液压泵和至少一个连续(非增量)可调阀，并且配置成在起重机操作期间以协同方式致动所述液压泵和至少一个连续可调阀，以使起重机的功能，尤其是起重机的回转机构的起重机功能能够进行精细的运动、加速和延迟。
本发明的另一方面涉及在上述实施方式之一中用于致动起重机，特别是移动式起重机的闭合液压回路的相应起重机控制程序。这样的起重机控制程序可以是例如基于软件的调节器和/或控制器，其在上述控制装置上运行并且使得液压泵和至少一个连续可调阀能够以协同方式被致动。
如果能够可变地调节和/或控制液压马达中的至少一个的体积排量，则控制装置和/或起重机控制程序也配置成与所述液压泵和至少一个连续可调阀协作地致动和/或调节所述至少一个液压马达。
在下文中，通过参考附图更详细地描述本发明的优选实施方式。本发明可以单独地并且以任何便利的组合包括在此描述的任何特征。
图1示出起重机的闭合液压回路1的液压回路图，其中两个液压马达3、9可以通过它们的共用进给口4和它们的共用排出口5支撑在可调节液压泵2上。在此时，要注意的是，如果马达3、9的回转方向颠倒，则进给口4执行排出口的功能，而排出5执行进给口4的功能。
除了并联连接的液压马达3、9，回路1还包括沿相反方向的两个旁路6A，6B，它们并联连接并绕过两个马达3、9。由于单向阀8A，使液压流体只能逆时针流过旁路6A，由于单向阀8B，使液压油只能顺时针流过旁路6B。因此，每个旁路6A、6B精确地负责起重机(未示出)的回转机构的一个回转方向，并且一旦分配给它的比例阀7A、7B打开，液压流体就流过该旁路。从图1中可以看出，比例阀7A、7B通过弹簧保持在其关闭的基本位置，并且可以通过未详细示出的操作构件增量地打开。然而，这些阀也可以相反地设计，即在没有流量时打开，然后按比例关闭。取决于相应比例阀7A、7B的打开程度，一部分液压流体将流过相关的旁路6A、6B，因此将不可用于驱动马达3、9。
在下文中，将更详细地描述图1所示的液压回路的不同操作状态。
在开放液压回路1中，当操纵杆移动时，分配给回转方向的比例阀7A(和/或7B)打开，其中，配置为轴向活塞泵的液压泵2通过向外枢转来增加液压流体的体积流量，并且回转机构会像已知的闭合回路一样加速。液压流体不流过比例阀7A(和/或7B)，因为进给口4中的较高压力起到关闭单向阀8A的作用。
当惯性滑行时，比例阀7A继续打开，随后液压泵2枢转，从而减小所输送的液压流体的体积流量。液压马达3、9的负载侧改变，并且类似于先前闭合回路中的惯性滑行，产生周向惯性滑行。当在相反方向上进行控制时，比例阀7A(和/或7B)使用斜坡功能关闭，这会增加排出口5的压力。可以控制或调节该斜坡功能。一旦到达静止位置，相对的旁路6B(和/或6A)的比例阀7B(和/或7A)打开，并且液压泵2沿另一个回转方向驱动。起重机以相反的方向加速。
制动踏板(未示出)连接到两个阀7A、7B，其中回转方向识别限定要操作哪个阀7A、7B。相应的比例阀7A、7B按比例关闭，并且泵枢转，这减小了所输送的液压流体的体积流量。制动压力增加，回转机构减速。为了重新加速，比例阀7A、7B被控制为打开并且液压泵2被枢转出来(增加了体积流量)。一旦驱动负载压力高于相应排出口5中的压力，单向阀8A、8B就关闭。

Claims (10)

1.一种具有闭合液压回路(1)的起重机，其中液压泵(2)经由进给口(4)和排出口(5)与至少一个液压马达(3，9)液压连接，并且其中所述进给口(4)通过至少一个旁路(6A，6B)与所述排出口(5)液压连接，所述旁路绕过所述至少一个液压马达(3，9)，其中
所述至少一个旁路(6A，6B)包括连续可调阀(7A，7B)，所述连续可调阀(7A，7B)用以可变地控制绕过所述至少一个液压马达(3，9)的流体流。
2.根据权利要求1所述的起重机，其中，所述至少一个旁路(6A，6B)包括关闭阀(8A，8B)，所述关闭阀(8A，8B)配置成使所述旁路(6A、6B)在至少一个流动方向中对所述流体流关闭。
3.根据权利要求1和2中任一项所述的起重机，其中，所述进给口(4)经由两个旁路(6A，6B)液压连接到所述排放口(5)，所述两个旁路(6A，6B)并联连接并各自包括连续可调阀(7A，7B)和关闭阀(8A，8B)，用于在所述至少一个液压马达(3，9)的相反旋转方向上可变地控制流体流。
4.根据权利要求1至3中任一项所述的起重机，其中，所述至少一个连续可调阀(7A，7B)是比例阀(7A，7B)。
5.根据权利要求1至4中任一项所述的起重机，其中，所述至少一个关闭阀(8A，8B)是单向阀(8A，8B)。
6.根据权利要求1至5中任一项所述的起重机，其中，所述液压泵(2)的输送流量能够被可变地调节。
7.根据权利要求1至6中的任一项所述的起重机，其中，所述至少一个液压马达(3，9)的体积排量能够可变地调节。
8.根据权利要求1至7中任一项所述的起重机，还包括控制装置，所述控制装置通过至少一个接口与所述液压泵(2)和所述至少一个连续可调阀(7A，7B)接触，并且所述控制装置被配置为在起重机操作期间以协同方式致动所述液压泵(2)和所述至少一个连续可调阀(7A，7B)。
9.一种用于致动根据权利要求1至8中任一项所述的起重机的闭合液压回路(1)的控制装置，其中，所述控制装置通过至少一个接口与所述液压泵(2)和所述至少一个连续可调阀(7A，7B)接触，并且所述控制装置被配置为在起重机操作期间以协同方式致动所述液压泵(2)和所述至少一个连续可调阀(7A，7B)。
10.一种起重机控制程序，用于控制根据权利要求1至8中任一项所述的起重机的闭合液压回路(1)，所述起重机特别是移动式起重机。
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