DE102014009564A1 - Control device for at least one fluidically actuatable actuator, working machine with such a control device and method for operating the same - Google Patents

Control device for at least one fluidically actuatable actuator, working machine with such a control device and method for operating the same

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Publication number
DE102014009564A1
DE102014009564A1 DE102014009564.9A DE102014009564A DE102014009564A1 DE 102014009564 A1 DE102014009564 A1 DE 102014009564A1 DE 102014009564 A DE102014009564 A DE 102014009564A DE 102014009564 A1 DE102014009564 A1 DE 102014009564A1
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Germany
Prior art keywords
control
actuator
valve
pressure
proportional
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.)
Pending
Application number
DE102014009564.9A
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German (de)
Inventor
Eduard Tollenaar
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Hydac BV
Original Assignee
Hydac BV
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Publication date
Application filed by Hydac BV filed Critical Hydac BV
Priority to DE102014009564.9A priority Critical patent/DE102014009564A1/en
Publication of DE102014009564A1 publication Critical patent/DE102014009564A1/en
Pending legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/024Systems essentially incorporating special features for controlling the speed or actuating force of an output member by means of differential connection of the servomotor lines, e.g. regenerative circuits
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/305Directional control characterised by the type of valves
    • F15B2211/3056Assemblies of multiple valves
    • F15B2211/30565Assemblies 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
    • F15B2211/3058Assemblies 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
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/32Directional control characterised by the type of actuation
    • F15B2211/327Directional control characterised by the type of actuation electrically or electronically
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/40Flow control
    • F15B2211/415Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41581Flow control characterised by the connections of the flow control means in the circuit being connected to an output member and a return line
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/63Electronic controllers
    • F15B2211/6303Electronic controllers using input signals
    • F15B2211/6306Electronic controllers using input signals representing a pressure
    • F15B2211/6313Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/665Methods of control using electronic components
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/80Other types of control related to particular problems or conditions
    • F15B2211/86Control during or prevention of abnormal conditions
    • F15B2211/8606Control during or prevention of abnormal conditions the abnormal condition being a shock

Abstract

The invention relates to a control device for at least one fluidically actuable actuator (10), which has at least two mutually separated working spaces (14, 16) which occupy different pressure levels as a function of a load acting on the actuator (10) and to be moved by it for a Umsteuervorgang of the actuator temporarily by means of a connecting device (20) are connected to each other, which is characterized in that the connecting means (20) of at least one of the pressure levels of the respective actuator (10) controlled proportional pressure level compensation between each assignable work spaces (14, 16) such that the actuator (10) retains its respectively controlled position or moves into defined predefinable positions during the changeover process and substantially independently of the load. The invention further relates to a work machine and an operating method.

Description

  • The invention relates to a control device for at least one fluidically actuatable actuator, which has at least two mutually separated working spaces, which occupy different pressure levels depending on a load acting on the actuator and to be moved by him and at least for a Umsteuervorgang the actuator temporarily by means of a connecting device connected to each other are. The invention further relates to a work machine with such a control device and a method for operating the same.
  • Comparable generic solutions as indicated above are freely available on the market. That's how it shows 1 of the present patent on a generic control device according to the prior art. The known control device comprises an actuator designed as a hydraulic working cylinder, which as a so-called differential cylinder with its piston-rod unit separates a piston chamber as the one working space from a rod space as the other working space. The working spaces separated from one another assume different pressure levels as a function of a load acting on the actuator and to be moved by it. If, for example, the piston-rod unit is moved in the direction of the piston chamber under an external load, an oppressive load is applied to the piston-rod unit, the pressure level in the piston chamber increases and the pressure level in the rod space decreases correspondingly gradual way. Conversely, pulling loads on the rod side lead to an increase in the pressure level in the rod space and to a corresponding gradual decrease in the pressure level in the piston chamber.
  • Further, in a fluid-carrying connecting line between the piston and rod space of the actuator as part of a hydraulic supply circuit, a connecting device connected in the form of an electromagnetically actuated 2/2-way switching valve.
  • In order to keep the amount of fluid to be redirected between the work spaces of the actuator to be changed from the actual supply side when moving the piston-rod unit of the actuator, the connecting device is brought into its continuous fluid-conducting switching position, which is in the manner of an on-off switch directly in pressure-compensating manner between the work rooms happens with the immediate consequence that at different pressure levels in the workrooms, which is the case regularly under load, there is a pressure surge in the connecting line together with the connected hydraulic supply circuit. This in turn leads to an increased component load in the components of the hydraulic circuit and the pressure surge is also perceived by an operator of the control device as extremely disadvantageous, since this affects the ergonomic operation of the control device, for example by means of a joy stick.
  • Despite these disadvantages, in the known solutions, the connecting device, in particular using the said 2/2-way switching valves realized as timely and fast Umsteuervorgänge between the working spaces of the actuator at a load change or other inputs and Ausfahrvorgängen the piston rods Unit of the hydraulic cylinder allows, without introducing on the supply side larger amounts of fluid in the actuator or pick up, which helps insofar as the upstream on the supply side control valves from their dimensioning in the sense of a "down-sizing" helps. Also, the delivery volumes of the supply pumps used can be reduced together with their drive power. Regardless of the pertinent operation of the connecting device but in any case the retraction and extension of the piston-rod unit is also controlled and supported in the load case via the hydraulic supply circuit.
  • The above-described production of a fluid-carrying connection between the working spaces of the actuator by means of the connecting device is also referred to in technical language with regeneration and the electromagnetically actuated 2/2-way switching valves often used in the art as a connection means called regeneration valves.
  • The known control device is used regularly in the field of mobile working machines and by the known solution is in any case also a method for operating such a control device, as described above, shown in working machines.
  • Based on this prior art, the present invention seeks to provide contrast, improved solutions that make it possible to operate in a functionally reliable and cost-effective manner at least one fluid-actuated actuator such that it also in different load conditions a pressure surge free operation of the connected to the actuator hydraulic supply circuit along with its control and supply components.
  • Such a problem is solved by a control device having the features of claim 1, a work machine having the features of claim 11, and a method of operating a pertinent control device having the features of claim 12.
  • In a control device according to the invention, which has the features of claim 1, is provided according to the characterizing part, that the connection means of at least one of the pressure levels of the respective actuator actuated proportional pressure level compensation between the respective assignable workrooms such that during the Umsteuervorgangs and substantially regardless of the load, the actuator retains its respectively actuated position or moves into defined predefinable positions. The mentioned pressure level compensation, respectively the regeneration, takes place continuously due to the applied proportional technique and allows a harmonious and continuous balance of the pressure levels between the work spaces of the respective actuator.
  • Consequently, due to the proportional control according to the invention, there is a pressure surge compensation which is free from pressure shocks, which has no equivalent in the prior art due to the otherwise usual on-off switch characteristic of the known regeneration solutions. Due to the aforementioned continuously running pressure shock-free level compensation for the operator a pleasant ergonomically advantageous operation, without abruptly extending operating feedback achieved what the total reliability benefits. Since the connecting device according to the invention requires only a few standardizable valve components, moreover, the solution according to the invention is cost-effective to implement. Furthermore, due to the surge-free operation of the control device together with their potential applications, especially in mobile machines, the structural components of the hydraulic supply circuit relieved and thus far spared, which increases the possible duration of use of the control device.
  • A working machine according to the invention, which is equipped with such a control device, also allows a trouble-free and thus functionally reliable operation, which also applies to the use of appropriate control method using the control device according to the invention.
  • In a particularly advantageous manner, the connecting device is at least partially realized by means of the proportional valve technology using at least one proportional valve for proportional pressure equalization or it can also preferably fast-switching logic valves, particularly preferably in cascade, for the proportional control are used. The proportional valve technology together with the proportional valves to be used is known to the skilled person from another context and has proven sufficiently in practice. If logic valves are used for the realization of the mentioned proportional valve technology, these are structurally simple in design, but nevertheless more expensive to design from the control side than the conventional proportional valve technology. Incidentally, however, by means of the logic valves very metered and therefore "quantized" amounts of fluid can be made available for the control of the respective actuator used, which can significantly improve the control accuracy in the context of regeneration.
  • With particular advantage, the respective proportional valve is part of an overall valve control device with at least one further proportional valve, wherein the one proportional valve is assigned to each one working space and the other proportional valve to the respective other working space of the actuator. Thus, the controls of the mentioned valves can be meaningfully adapted to each other in a switching operation, wherein for a continuous transition during the reversal, a proportional valve is successively closed, while another proportional valve over time or adjusted over the pressure curve, for example, using a ramp function, successively opened , A particularly reliable operation during regeneration is achieved if a third proportional valve is used. All proportional valves used can be designed as equal components in the type of 2/2-way proportional directional valves, which in addition to cost advantages also helps retrofitting existing existing on-market control devices. Particularly advantageous is the control device according to the invention with an actuator in the form of a hydraulic working cylinder, such as a differential cylinder to design. However, the control device according to the invention can also find application for Gleichgangzylinder and for hydraulic motors and conventional hybrid devices. In principle, whenever fluidically controllable actuators form different pressure levels in separate work spaces, the regeneration according to the invention can be used with the use of the proportional control technology.
  • In a particularly preferred embodiment of the control device according to the invention, provision is made for a computer unit (CPU) to control the respective valve. is provided, which is connected on its input side with pressure transducers, which detect the respective value of the pressure level in the actuator working chambers and forwards on its output side control pulses to the control solenoid of the valves. In this way, the regeneration function can be triggered promptly by direct activation.
  • Further advantageous embodiments of the control device with its hydraulic supply circuit together with the assignable valve and supply components are the subject of the dependent claims.
  • Particularly advantageous is the use of the above-described control device according to the invention has proven in mobile machines, such as trucks, which are equipped with a load lifting and -absetzsystem in the manner of a "hook-lift system". Such a hook-lift system is characterized in that when discontinuing the respective load whose center of gravity is far out of the center of gravity of the work machine, respectively the truck comes to rest, which in particular to high pushing and pulling load or force loads on each actuator used Control device leads. However, the use of the control device according to the invention need not be limited to such hook-lift systems, but rather can find application where loads are to lift and / or implement, for example, telescopic Lastarmsystemen or forklift and other lifting systems.
  • Operators or other occupants of such means of transport take the pressure shock-free load changes when moving and relocating or placing the load therefore hardly or at least little true and the hydraulic components of the supply circuit, including seals, connections and control edges of the valves are less burdened, what their Longer life.
  • As a further subject matter, the invention also relates to a method for operating the control device described above, wherein in an alternating attack of pulling and pushing loads the mutually separated working spaces of the respective actuator via a proportionally acting connection means in the regeneration operation pressure shock-free are connected to each other. In the operating conditions in which a switch between a towing load and a pressing load, displacements of the load can be effected with a low engagement force. Thus, the work to be used, which is necessary for shifting the load, can be kept low in the operation of the actuator in the area of switching from a pulling load to a pushing load and vice versa. This has an overall positive effect on the energy balance when moving the load using the respective work machine and the necessary drive units, regularly formed from conventional motor-pump combinations can be designed to save power and space.
  • In the following, the respective solution according to the invention will be explained in more detail by means of exemplary embodiments according to the drawing. This show in principle and not to scale representation of the
  • 1 in the manner of a conventional hydraulic circuit diagram, the structure of a known control device with the essential components, as such has already been explained in part already;
  • 2 to 6 a truck as an example of a mobile work machine with a "hook-lift system" as load lifting and settling system in various traversing or operating steps;
  • 7 a control device with a single fluid-operated actuator, for example, for operating a hook-lift system according to the 2 to 6 ; and
  • 8th one of the 7 corresponding control device, but two fluidly operable actuators find application.
  • The 1 shows in the form of a hydraulic circuit diagram with conventional symbols, a control device, as it is detectable in the prior art. In the 1 shown control device is used to drive an actuator 10 in the form of a hydraulic working cylinder, which is also technically referred to as a differential cylinder, since its piston-rod unit 12 two workrooms 14 . 16 separated from each other with different area ratios and / or volumes. This is the one, first work space 14 also referred to as piston chamber and the other, second working space 16 as a bar room. In particular, depending on one of the piston-rod unit 12 attacking, especially oppressive or pulling load take the two work spaces 14 . 16 different pressure levels to each other. Via a connecting line 18 together with connecting device 20 in the form of an electromagnetically actuated 2/2-way switching valve, the two working spaces 14 . 16 connect fluid-conducting together when the valve is actuated. The pertinent arrangement is also referred to technical language with regeneration device.
  • The pertinent regeneration device 18 . 20 is connected to a hydraulic supply circuit 22 connected from a pressure source 24 , For example in the form of a constant displacement pump with hydraulic fluid from a storage tank 26 can be supplied with fluid presettable pressure. To control the entry and exit movement for the actuator 10 is used in the usual way, a 4/3-way proportional valve 28 , The directional valve 28 is in the 1 shown in its locked center position and upon actuation of the valve 28 in the direction of the 1 seen in its right switch position moves the piston-rod unit 12 and takes, for example, those in the 1 shown right extended position. At a control of the valve 28 in its left valve position moves with actuated safety valve 30 the piston rod unit 12 in the direction of a left travel position. Any excess displaced fluid from the respective volume of work space becoming smaller 14 . 16 is over the valve 28 brought to the tank side T. Furthermore, the respective work space 14 . 16 of the actuator 10 on the inlet or outlet side, each with a compensation or preload valve 32 which are also referred to in technical language as "counter balance valves". The indicated valves 20 . 30 and 32 are part of one as a whole with 34 designated valve control device.
  • Depending on the load situation on the actuator 10 stand in the workrooms 14 . 16 different pressure levels, after operating the connecting device 20 during regeneration, balancing the pendulum volume between the work spaces 14 . 16 compensate abruptly what a pressure surge in the connected hydraulic circuit 22 with its components brought about. Even if the balancing or preload valves 32 a protection against overload for the piston rod unit 12 represent and otherwise allow for a trouble-free operation caster with supply fluid, this does not change the pressure surge-like pendulum volume compensation when operating the connecting device 20 in the fluid-permeable position. The 2/2-way switching valve of the connecting device 20 basically works like an on / off switch (on-off switch). When operating this connection device 20 will relieve the work spaces 14 . 16 to the storage tank prevented by the safety valve 30 is transferred into the fluid blocking switching position. Once the connection device 20 is actuated and it to a pressure level and volume balance between the work spaces 14 and 16 of the respective actuator 10 comes, takes the in 1 shown hydraulic cylinder the function of a conventional plunger cylinder. In addition to the compensation of the pendulum volume via the connecting device 20 can the actual entry and exit movement of the piston-rod unit 12 of the actuator 10 by means of the pressure supply device taking into account the pressure supply source 24 , the storage tank 26 as well as the valve 28 and the valve control device 34 ,
  • In particular, when pulling or pushing load application to the piston-rod unit 12 of the actuator 10 it comes with the known solution after the 1 to the pressure surge behavior in the hydraulic supply circuit 22 when actuated connection device 20 , As is the case with such, also abruptly changing load situations on the working cylinder or actuator 10 can come, by means of a working machine by way of example with the inclusion of 2 to 6 described a truck 36 show, with a load lifting and settling system in the manner of a hook-lift system 38 Is provided. The pertinent system 38 allowed on the truck 36 charged loads, for example in the form of containers 40 to settle this on a street or the like, the pertinent process for loading case and vice versa, ie in reverse order of the picture 6 after 2 starting, can take place.
  • For controlling the hook lift system 38 serves the control device according to the 1 but only the actuator 10 with his piston rod unit 12 is shown. It goes without saying that two such actuators 10 on opposite sides of the truck 36 arranged on the hook-lift system 38 with the respective container load 40 can attack. For the following explanation it should be mentioned that the center of gravity of the container 40 with COG (Center of Gravity) and the point-shaped pivot axis, around which the hook-lift system 38 swiveling on the truck 36 hinged, with PP (Pivot Point) is designated.
  • A settling of the container load 40 is explained in more detail below with reference to various traversing or operating steps.
  • First, the container 40 starting from the 2 by means of the hook lift system 38 in the position after the 3 raised in a first movement or operating step, moves the piston-rod unit 12 of the actuator or working cylinder 10 and must apply the full pushing out force to the container 40 respectively by means of the hook lift system 38 as shown in the 3 to pivot about the pivot axis PP in a clockwise direction. In the basic transport position after the 2 is the lever arm between the center of gravity COG of the container 40 and the pivot axis PP of the hook-lift system 38 maximum. The lever arm between the piston-rod unit 12 of respective actuator 10 and the pivot axis PP is executed in contrast but minimal.
  • In a second movement or operating step, as in the 4 as an example, are the one on the hook lift system 38 effective leverage to reduce the on the actuator 10 for a further extension of the piston-rod unit 12 necessary force changed by the container 40 is shifted with its focus COG by means of a further working cylinder not shown on the pivot axis PP out in the direction of the rear end of the vehicle. At the same time in parallel to the other in the second Verfahr- or operating step, the actuator 10 with his piston rod unit 12 further extended and required for this, further oppressive force goes to zero and is of an increasingly pulling load on the actuator 10 replaced as soon as the focus COG of the container 40 the pivot axis PP of the hook-lift system 38 crossed over at the rear. The lever arm between the center of gravity COG and pivot axis PP is thereby reduced, and the lever arm between the actuator 10 and the pivot axis PP automatically becomes longer accordingly.
  • In the third movement or operating step relative to the truck 36 as shown in the 5 becomes the container 40 deposited on the ground or other subsoil and under the load, in particular the center of gravity COG of the container 40 learns the respective actuator 10 the greatest pulling force on it, which leads to an increase of strain in the rod space 16 at the same time relieving the pressure level in the piston or working space 14 leads. The lever arm between the center of gravity COG and pivot axis PP increases, and the lever arm between the actuator 10 and the pertinent pivot axis PP initially likewise increases, and then subsequently decreases again.
  • At the final fourth Verfahr- or operating step as shown in the 6 If necessary, an additional pressure force is required, applied by the respective actuator 10 to the container 40 to push back to its final settling position. Although the pushing force is initially lower than the required compressive force at the end of the aforementioned first movement or operation, it will increase steadily during the recoil movement, and at the end of it will be the pressing force of the actuator 10 reached a maximum value. In this case, the lever arm extends between the center of gravity COG and pivot axis PP, whereas the lever arm of the actuator 10 to the pivot axis PP in turn reduced in length.
  • For charging a container 40 on the truck 36 , So starting from the movement step after the 6 to the movement step after 2 reverse the conditions described above accordingly, which is not explained in more detail.
  • If a control device according to 1 Thus, in a load lifting and settling system is used according to the exemplary illustration of the 2 to 6 , it comes to the described pressure surges in the hydraulic supply circuit 22 , In contrast, for the operation of a work machine comparable to the solution according to 2 to 6 according to the hydraulic circuit diagram after 7 now presented an improved control device according to the invention, wherein the previously introduced hydraulic components with their reference numerals for the known control device according to the 1 also according to the inventive control device according to the 7 are used, so far as the statements made so far apply to the respective device solution according to the invention. In that regard, they will be described and explained below only as they differ significantly from the solution according to the 1 differ.
  • For the proportional pressure equalization according to the invention as a whole with 20 designated connecting device after the 7 three proportional valves 201 . 202 and 203 on. It is in each case to electromagnetically controllable 2/2-proportional directional valves, in their in the 7 shown switching representation include a spring-loaded check valve function. The return movement of the valves shown 201 . 202 and 203 in her in the 7 shown neutral position by means of a return spring. The electromagnetic control of the valves 201 . 202 and 203 via a central processing unit CPU, which receives on its processing control input side, the voltage values of the pressure sensor MA and MB, once in the hydraulic supply circuit 22 on the piston side and once on the side of the piston rod fluid leading to the respective assignable working space 14 respectively. 16 are connected.
  • That in the 7 represented first valve 202 is the input side to the piston side, respectively the piston or working space 14 of the actuator 10 connected and output side to the connection line 18 , The second valve 203 turn is the input side to the rod side, respectively the rod or work space 16 of the actuator 10 and on the output side to the connecting line 18 connected. The third valve 201 is input side to the connection line 18 and on the output side to a discharge line 42 connected to the storage tank 26 leads. Furthermore, in contrast to the solution according to the 1 into the two supply lines of the hydraulic supply circuit 22 between the directional valve 28 and the actuator 10 each a spring-loaded check valve 44 switched, in the direction of the directional valve 28 in its blocking position as shown in the 7 is held.
  • The method sequence for controlling the control device according to 7 will now be based on the above-described workflow for a load lifting and -absetzvorgang according to the representations of the 2 to 6 be explained in more detail. In the first process or operating step, in which the hook-lift system 38 is pressed, drives the actuator 10 in a slow travel mode and the regeneration function is switched off, ie the valves 201 . 202 and 203 are in their in the 7 shown basic position. The pressure sensors MA and MB measure the actual pressure on the piston and the rod side of the actuator 10 , For the slow extension movement is the pressure supply source 24 via the corresponding circuit of the proportional directional control valve 28 with the piston side in the form of the working space 14 with the actuator 10 fluid leading connected. The rod side of the actuator 10 , respectively the pole or working space 16 is then opened by opening or actuating the proportional valves 203 and 201 via the discharge line 42 to the storage tank 26 and thus switched to the low pressure side of the system. The proportional valve 203 it remains partially closed to at least a minimum braking function on the rod side of the piston-rod unit 12 to be able to exercise. Due to the resulting bias cavitation phenomena are excluded, and an unimpeded operation is ensured.
  • In the subsequent second process or operating step, the container 40 by raising the hook-lift system about the pivot axis PP further increased at slow speed. Once the load attack on the actuator 10 falls below a predefinable threshold, the regeneration function is triggered by the proportional valve 201 is closed. This corresponds to a high-speed mode of the system, the cylinder load resulting from the measured pressure values at the pressure transducers MA, MB to be multiplied by the piston face on the piston side and the remaining piston face minus the bar face on the rod side for force measurement. The force difference value between said piston and the rod side is then compared with the predefinable limit value of the system. In order to prevent in any case a hydraulic pressure shock in the regeneration mode, the closing of the proportional valve takes place 201 preferably with a predetermined ramp function, for example in the form of a predefinable ramp time, determined via the computer unit CPU.
  • It will now be to the piston rod unit 12 extend with increased travel speed, the pump pressure in turn via the 4/3-way proportional valve 28 on the piston side 14 of the actuator 10 brought. The bar or work space 16 on the rod side of the actuator 10 is switched to move the pendulum volume on the piston side of the actuator by opening the proportional valve 203 with simultaneous closing of the proportional valves 201 and 202 where the valve 201 can also be by already preceding switching in its closed or locked switching position. Due to the check valve function of the proportional valve 202 can in this respect the described volume flow compensation between the two workrooms 16 . 14 respectively. The proportional valve 203 In turn, it is only partially closed to maintain a minimum brake function, or a minimum brake pressure on the rod side, in order to avoid cavitation in the hydraulic system.
  • If now based on the third process or operating step, the container load 40 begins to pull on the actuator, the valve control device 34 as well as the mentioned connection device 20 controlled by the computer unit CPU such that the pressure on the piston side of the actuator 10 between two predefinable pressure thresholds (min and max) is operated. With a pulling load over the piston rod unit 12 on the actuator 10 in the high-speed range (high-speed mode), in turn, a pressure supply between the pump pressure side P and the piston or working space 14 of the actuator 10 over the valve 28 produced. The rod side is in turn fluid-conductively connected to the piston side by corresponding activation of the second proportional valve 203 with simultaneous closing of the proportional valves 202 and 201 , The fluid may be the first proportional valve 202 due to which valve check function happen. The proportional valve 201 maintains a pressure at the pressure transducer MA which is between two predefinable pressure threshold values (min / max). As soon as the upper pressure threshold (max) is exceeded at the pressure transducer MA, the proportional valve becomes 201 proportionally open. If, on the other hand, the lower pressure threshold (min) is undershot at the pressure transducer MA, the proportional valve becomes 201 proportionally closed. Should the Porportionalventil 201 already closed completely and the pressure at the pressure transducer MA still fall below the lower pressure threshold (min), then the proportional valve 203 proportional operated in the closing direction, otherwise the piston-rod unit 12 extends too fast. Thus, with increasing proportional throttles on the proportional valve 203 the extension speed of the piston-rod unit 12 braked.
  • In an alternative embodiment, the proportional valve 203 the extension speed of the piston-rod unit 12 regulate while the proportional valve 201 is completely closed, so that the fluid flow from the rod space 16 via the proportional valves 203 and 202 to the piston chamber 14 flows. In order to maintain the pressure applied to the pressure transducer MA between the two predefinable pressure threshold values (min / max), the computer unit CPU controls the proportional directional control valve via electrical lines which are not shown in detail in the drawing 28 accordingly, so that this from the Druckversorgunsquelle 24 coming supply pressure P variable throttles. The pressure supply source 24 Thus, it must only feed a part of the fluid, so that the energy consumption in such an alternative embodiment can be reduced.
  • In the fourth method or operating step, in which the pulling loads on the actuator increase and exceed a predefinable threshold value of the computer unit CPU, the entire system is switched to a slow speed mode by the proportional valve 203 Something is closed and somid throttles the fluid flow. With appropriate pulling stress on the actuator 10 the pump pressure P is across the valve 28 on the piston side of the actuator 10 passed, and the rod side is switched to the tank side T by driving the second proportional valve 203 and opening the third valve 201 besides closing the first valve 202 , Due to the resulting pressure difference, no fluid flows through the first proportional valve 202 ,
  • Based on the operating or process sequence according to 2 to 6 For example, the control function of the control device according to the 7 summarized as follows. Will the actuator 10 extended and thereby increases the pressing load on the piston side of the actuator 10 the regeneration function can be switched to the rod side (working space 16 ) with the piston side (working space 14 ), without the necessary fluid supply on the pump side P increasing. The actuator 10 can be operated in non-regeneration mode with low travel speeds and in regeneration mode at high speeds or graduated in a predeterminable minimum and maximum speed range.
  • If in another load case on the actuator 10 a pulling load on the piston rod unit 12 is applied, the actuator speed can be via the proportional valve 203 Adjust the rod side.
  • If in the latter load case with retracting actuator 10 an opposing load can attack via the proportional valve 202 the travel speed of the actuator 10 be specified. The entire system works in the regeneration mode with a working pressure on the piston side of the actuator 10 which is almost equal to the working pressure when the actuator 10 in a basic traversing speed.
  • The control device according to the 8th will now be described only insofar as they differ significantly from the preceding embodiment according to the 7 different. In this case, the same reference numerals are used for the same components, and the extent hitherto taken so far apply to the extent of the embodiment of the 8th ,
  • The main difference is in the solution after the 8th only in that instead of an actuator 10 two actuators 10 are used, each of the piston and rod side separated from each other to the connecting device 20 and thus to the valve control device 34 as a whole are connected.
  • Instead of the mentioned working cylinder and other actuators (not shown) can be used, for example in the form of hydraulic motors or hybrid systems, where each workrooms are given different pressure levels, at least during operation.

Claims (12)

  1. Control device for at least one fluidically actuatable actuator ( 10 ), which has at least two separate working spaces ( 14 . 16 ), which depends on one on the actuator ( 10 ) engaging and to be moved by him load different pressure levels and at least for a Umsteuervorgang the actuator temporarily by means of a connecting device ( 20 ) are connectable to each other, characterized in that the connecting device ( 20 ) of at least one of the pressure levels of the respective actuator ( 10 ) controls a proportional pressure level compensation between the respectively assignable work spaces ( 14 . 16 ) such that, during the changeover process and essentially independent of the load, the actuator ( 10 ) each one Maintains controlled position or moves in defined predetermined positions.
  2. Control device according to Claim 1, characterized in that, for the proportional pressure compensation, the connecting device ( 20 ) at least partially by means of proportional valve technology using at least one proportional valve ( 201 . 202 . 203 ) or preferably fast-switching logic valves are used particularly, preferably in cascade, for the proportional control.
  3. Control device according to claim 1 or 2, characterized in that the respective proportional valve is part of a valve control device ( 34 ) with at least one further proportional valve and that the one proportional valve ( 202 ) each one working space ( 14 ) and the other proportional valve ( 203 ) the other working space ( 16 ) of the actuator ( 10 ) assigned.
  4. Control device according to one of the preceding claims, characterized in that a third valve, preferably also as a proportional valve ( 201 ), with its fluid input into a connecting line ( 18 ) between the two other proportional valves ( 202 . 203 ).
  5. Control device according to one of the preceding claims, characterized in that all proportional valves ( 201 . 202 . 203 ) are constructed as equal components in the type of 2/2-way valves are electromagnetically controlled.
  6. Control device according to one of the preceding claims, characterized in that for the control of the respective valve, a computer unit (CPU) is provided, which is connected on its input side with pressure transducers (MA, MB), which the respective value of the pressure level in the actuator work spaces ( 14 . 16 ), and on its output side control pulses to the control solenoid valves ( 201 . 202 . 203 ) hand off.
  7. Control device according to one of the preceding claims, characterized in that at least one of the actuators ( 10 ) is formed from a hydraulic working cylinder whose working spaces ( 14 . 16 ) from a piston rod unit ( 12 ) are separated.
  8. Control device according to one of the preceding claims, characterized in that a discharge line ( 42 ) from the third valve ( 201 ) to a low-pressure region of the device, a directional control valve ( 19 ), by means of which alternately the first working space ( 14 ) and the second workspace ( 16 ) of the respective actuator ( 10 ) for its movement with a supply pressure (P) of a pressure supply device ( 24 ), such as a supply pump, can be acted upon by supply lines.
  9. Control device according to one of the preceding claims, characterized in that - the first valve ( 202 ) on the input side to the piston side ( 14 ) of the respective actuator ( 10 ) and on the output side to the connecting line ( 18 ), - the second valve ( 203 ) on the input side to the rod side ( 16 ) of the respective actuator ( 10 ) and on the output side to the connecting line ( 18 ) and - the third valve ( 201 ) on the input side to the connecting line ( 18 ) and on the output side to the discharge line ( 42 ) connected.
  10. Control device according to one of the preceding claims, characterized in that in the two supply lines of the hydraulic supply circuit ( 22 ) between the directional control valve ( 28 ) and the respective actuator ( 10 ) each a check valve ( 44 ) connected in the direction of the directional control valve ( 28 ) is held in its blocking position.
  11. Working machine, in particular in the form of a movable means of transport, such as a truck ( 36 ) equipped with a load-lifting and -shedding system in the manner of a hook-lift system ( 38 ), which allows charged loads ( 40 ) by means of at least one actuator ( 10 ) in such a way to pivot about a pivot axis (PP) of the working machine in a settling manner, that the load passes outside the working machine, characterized in that the working machine for their respective actuator ( 10 ) comprises a control device according to one of the preceding claims.
  12. Method for operating a control device according to one of claims 1 to 10, in particular in a working machine according to claim 11, characterized in that in an alternating attack of pulling and pushing loads, the work spaces separated from each other ( 14 . 16 ) at least one actuator ( 10 ) via a proportionally acting connection device ( 20 ) can be connected together pressure-shock-free.
DE102014009564.9A 2014-06-27 2014-06-27 Control device for at least one fluidically actuatable actuator, working machine with such a control device and method for operating the same Pending DE102014009564A1 (en)

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DE102014009564.9A DE102014009564A1 (en) 2014-06-27 2014-06-27 Control device for at least one fluidically actuatable actuator, working machine with such a control device and method for operating the same
EP15730971.7A EP3161327A1 (en) 2014-06-27 2015-06-24 Control device for at least one fluidically actuatable actuator, working machine having a control device of this type, and method for operating same
PCT/EP2015/001271 WO2015197191A1 (en) 2014-06-27 2015-06-24 Control device for at least one fluidically actuatable actuator, working machine having a control device of this type, and method for operating same

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DE10340504B4 (en) * 2003-09-03 2006-08-24 Sauer-Danfoss Aps Valve arrangement for controlling a hydraulic drive
EP1600643B1 (en) * 2004-05-27 2007-06-06 Franz Xaver Meiller Fahrzeug- und Maschinenfabrik GmbH & Co KG Control device for a hydraulic load moving device, in particular a swivel arm assembly of a lifting device for a interchangeable container on a truck.
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DE10340505B4 (en) * 2003-09-03 2005-12-15 Sauer-Danfoss Aps Valve arrangement for controlling a hydraulic drive
DE10340504B4 (en) * 2003-09-03 2006-08-24 Sauer-Danfoss Aps Valve arrangement for controlling a hydraulic drive
EP1600643B1 (en) * 2004-05-27 2007-06-06 Franz Xaver Meiller Fahrzeug- und Maschinenfabrik GmbH & Co KG Control device for a hydraulic load moving device, in particular a swivel arm assembly of a lifting device for a interchangeable container on a truck.

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018119315A1 (en) * 2018-08-08 2020-02-13 Terex Global Gmbh Attachment transport unit for transporting an attachment, in particular the main boom of a mobile crane

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WO2015197191A1 (en) 2015-12-30

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