DE102016106589B4 - Electrohydraulic control circuit with stepper motor and manipulator - Google Patents
Electrohydraulic control circuit with stepper motor and manipulator Download PDFInfo
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- DE102016106589B4 DE102016106589B4 DE102016106589.7A DE102016106589A DE102016106589B4 DE 102016106589 B4 DE102016106589 B4 DE 102016106589B4 DE 102016106589 A DE102016106589 A DE 102016106589A DE 102016106589 B4 DE102016106589 B4 DE 102016106589B4
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- control circuit
- proportional valve
- drive unit
- valve
- stepping motor
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- 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
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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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
- B66C23/54—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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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
Abstract
Elektrohydraulischer Steuerkreis (1) zum Ansteuern eines hydraulisch betätigten Antriebsaggregates (2), mittels dessen ein Mastsegment eines Manipulators, insbesondere eines Großmanipulators für Autobetonpumpen, hinsichtlich seiner Orientierung verstellbar ist, mit einem elektrisch angesteuerten Proportionalventil (3), welches mit hydraulischen Arbeitsleitungen (4, 5) des Antriebsaggregates (2) zu dessen Ansteuerung verbunden ist, dadurch gekennzeichnet, dass das Proportionalventil (3) mit einem Schrittmotor (6) ansteuerbar ist, wobei das Proportionalventil (3) ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor (6) enthält, wobei die Ansteuerung des Ventilkolbens über eine Zahnstange erfolgt, wobei ein Getriebe das vom Schrittmotor generierte Drehmoment übersetzt und über die Zahnstange als Kraft auf den Ventilkolben überträgt.Electrohydraulic control circuit (1) for controlling a hydraulically actuated drive unit (2) by means of which a 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 (3), which with hydraulic working lines (4, 5) of the drive unit (2) is connected to the drive, characterized in that the proportional valve (3) with a stepping motor (6) is controllable, wherein the proportional valve (3) has a housing which a valve piston, a return spring and the stepping motor (6), wherein the control of the valve piston via a rack, wherein a transmission translates the torque generated by the stepper motor and transmits via the rack as force on the valve piston.
Description
Die Erfindung betrifft einen elektrohydraulischen Steuerkreis zum Ansteuern eines hydraulisch betätigten Antriebsaggregates, mittels dessen ein Mastsegment eines Manipulators, insbesondere eines Großmanipulator für Autobetonpumpen, hinsichtlich seiner Orientierung verstellbar ist, mit einem elektrisch angesteuerten Proportionalventil, welches mit hydraulischen Arbeitsleitungen des Antriebsaggregates zu dessen Ansteuerung verbunden ist.The invention relates to an electro-hydraulic 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, is adjustable with respect to its orientation, with an electrically controlled proportional valve, which is connected to hydraulic working lines of the drive unit to its control.
Ein solcher elektrohydraulischer Steuerkreis ist z.B. aus der
Die
Die
Bei dem in der aus der
Aufgabe der Erfindung ist es daher, einen elektrohydraulischen Steuerkreis anzugeben bzw. einen Manipulator zu schaffen, der die beschriebenen Nachteile behebt, insbesondere ein geringes Gewicht und eine geringe Größe aufweist und erhöhte Strömungskräfte an den Ventilen kompensiert, und eine einfache Steuerung und ein hervorragendes Ansprechverhalten der Antriebe bzw. Mastsegmente ermöglicht.The object of the invention is therefore to provide an electro-hydraulic control circuit or to provide a manipulator which overcomes the disadvantages described, in particular has a low weight and a small size and compensates for increased flow forces on the valves, and a simple control and excellent response of the Drives or mast segments allows.
Gelöst wird diese Aufgabe durch einen elektrohydraulischen Steuerkreis mit den Merkmalen des Anspruchs 1 und durch ein Manipulator gemäß Anspruch 9.This object is achieved by an electro-hydraulic control circuit with the features of
Dadurch, dass das Proportionalventil mit einem Schrittmotor ansteuerbar ist, lässt sich ein elektrohydraulischer Steuerkreis realisieren, der ein hervorragendes Ansprechverhalten der Mastsegmente gewährleistet. Zudem sind mit einem Schrittmotor ansteuerbare Proportionalventile deutlich leichter und kleiner als ähnlich leistungsfähige Ventile mit Proportionalmagneten, was eine deutliche Gewichtseinsparung und eine Reduzierung des erforderlichen Bauraums ermöglicht.Because the proportional valve can be controlled by a stepper motor, an electrohydraulic control circuit can be realized which ensures excellent response of the mast segments. In addition, with 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.
Die Ausführung des Proportionalventils mit einem Schrittmotor ermöglicht zudem eine besonders präzise Steuerung des Ventilkolbens insbesondere im Falle hoher Volumenströme, welche unweigerlich mit hohen Strömungskräften verbunden sind. Sofern die Strömungskräfte nicht die maximal möglichen Haltekräfte des Schrittmotors überschreiten, wird eine angefahrene Position des Ventilkolbens bzw. ein angefahrener Schritt durch den Schrittmotor exakt gehalten.The execution of the proportional valve with a stepper motor also allows a particularly precise control of the valve piston, in particular in the case of high flow rates, which are inevitably associated with high flow forces. Unless the flow forces are the maximum exceed possible holding forces of the stepping motor, a struck position of the valve piston or an approached step is kept exactly by the stepper motor.
Dies bietet insbesondere große Vorteile, wenn bei der Steuerung der Verfahrgeschwindigkeit des hydraulischen Antriebsaggregates auf die Verwendung von Druckwaagen verzichtet wird und anstelle dessen anhand der Messung der Druckverhältnisse die Stellung des Ventilkolbens gesteuert wird.This offers particular great advantages, when dispensing with the use of pressure compensators in the control of the travel speed of the hydraulic drive unit and instead the position of the valve piston is controlled based on the measurement of the pressure conditions.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.
Von besonderem Vorteil ist, dass der Schrittmotor einen nicht-selbsthemmenden Schrittmotorantrieb aufweist. Dadurch kann das Proportionalventil bzw. der Ventilkolben von Rückstellfedern in eine Neutral-/Sperrstellung geschoben werden, wenn der Schrittmotor stromlos ist oder nicht angesteuert wird oder ausgefallen ist.It is particularly advantageous that the stepper motor has a non-self-locking stepper motor drive. As a result, 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.
Weiter vorteilhaft ist, dass über Drucksensoren eine Stellung des Proportionalventils ermittelt wird, die zu einer gewünschten Verfahrgeschwindigkeit des Antriebsaggregates führt. Durch die Messung der Drücke mit den Drucksensoren wird also jene Stellung des Proportionalventils ermittelt und entsprechend angesteuert, welche zu einem gewünschten Volumenstrom bzw. einer gewünschten Verfahrgeschwindigkeit des hydraulischen Antriebsaggregats führt.It is also advantageous 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.
Erfindungsgemäß ist vorgesehen, dass das Proportionalventil ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor enthält. Ein derartiges Proportionalventil ist einfach und störungsunanfällig aufgebaut, was insbesondere beim Einsatz in Manipulatoren von besonderem Vorteil ist. Insbesondere wenn das Proportionalventil direkt an dem zugeordneten, zu steuernden Antriebsaggregat angeordnet ist, wo es für Reparaturen unter Umständen schlecht erreichbar ist.According to the invention, it is provided that 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. In particular, when the proportional valve is located directly on the associated drive unit to be controlled, where it may be difficult to reach for repairs.
Erfindungsgemäß vorgesehen ist, dass die Ansteuerung des Ventilkolbens über eine Zahnstange, insbesondere über ein Getriebe mit Zahnrad und Zahnstange, erfolgt. Eine derartige Ansteuerung des Ventilkolbens ermöglicht eine besonders genaue Einhaltung der Position des Ventilkolbens im Proportionalventil. Aus diesem Grund kann die Ansteuerung des Antriebsaggregates besonders genau erfolgen, was zu einer deutlichen Verbesserung des Ansprechverhaltens von Mast bzw. Mastsegment führt.According to the invention it is provided 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. For this reason, the control of the drive unit can be particularly accurate, which leads to a significant improvement in the response of mast or mast segment.
Weiter vorteilhaft ist, dass der Schrittmotor eine Überwachungseinheit zur Überwachung der vom Schrittmotor durchgeführten Stellschritte aufweist. Eine solche Überwachungseinheit macht eine aufwändige sensorgestützte Überwachung der Ventilkolbenlage überflüssig, wie sie bei Ventilen mit Proportionalmagneten erforderlich ist.It is also advantageous that 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.
Von besonderem Vorteil ist, dass die Überwachungseinheit einen Speicher für die durchgeführten Stellschritte aufweist. Mit einem solchen Speicher gehen die Informationen über die vom Schrittmotor durchgeführten Stellschritte des Ventilkolbens im Proportionalventil nicht verloren.It is particularly advantageous that 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.
Eine vorteilhafte Ausführung der Erfindung sieht weiter vor, dass das Proportionalventil Volumenströme von bis zu 150 l/min regelt und ein Gesamtgewicht von 3 bis 4 kg aufweist. Ein solches Proportionalventil bietet einen großen Gewichtsvorteil gegenüber bekannten ähnlich leistungsfähigen Ventilen. Dieser Gewichtsvorteil wird dabei insbesondere durch den Verzicht auf einen Proportionalmagneten erreicht.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. Such 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.
Weiter vorteilhaft ist, dass das Proportionalventil eine Gesamtlänge von höchstens 275 mm, vorzugsweise höchstens 265 mm, bei einer Gesamthöhe von höchstens 120 mm, vorzugsweise höchstens 110 mm, aufweist. Ein solches Proportionalventil bietet einen großen Vorteil hinsichtlich des notwendigen Bauraums gegenüber bekannten ähnlich leistungsfähigen Ventilen. Dieser Vorteil wird insbesondere durch den Verzicht auf einen Proportionalmagneten erreicht.It is further advantageous that 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 110 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.
Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass der Schrittmotor eine Schrittweite für die Stellschritte zwischen 20 µm und 5 µm, vorzugsweise 10 µm aufweist. Ein solcher Abstand zwischen zwei Stellschritten des Schrittmotors führt zu einer entsprechenden Schrittweite des Ventilkolbens, sodass eine besonders präzise Ansteuerung der Antriebsaggregate gewährleistet werden kann.According to an advantageous embodiment of the invention it is provided that the stepping motor has a step size for the positioning steps between 20 microns and 5 microns, preferably 10 microns. 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.
Die Erfindung betrifft des Weiteren einen Manipulator, insbesondere einen Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast, der einen um eine Hochachse drehbaren Drehschemel und eine Mehrzahl von Mastsegmenten aufweist, wobei die Mastsegmente an Knickgelenken jeweils um Knickachsen gegenüber einem benachbarten Mastsegment oder dem Drehschemel mittels je eines hydraulischen Antriebsaggregates begrenzt verschwenkbar sind, wobei ein elektrohydraulischer Steuerkreis gemäß der vorherigen und nachfolgenden Beschreibung zum Steuern wenigstens eines der Antriebsaggregate vorgesehen ist.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 buckling axes relative to an adjacent mast 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.
Eine vorteilhafte Ausführungsform dieses Manipulators sieht vor, dass das Proportionalventil direkt am oder in unmittelbarer Nähe zum zugeordneten, zu steuernden Antriebsaggregat angeordnet ist. Aufgrund der besonders geringen Größe und des geringen Gewichts des erfindungsgemäßen Proportionalventils eignet sich dieses besonders für einen dezentralen hydraulischen Steuerkreis. So kann das Proportionalventil an dem zu steuernden Antriebsaggregat derart angeordnet sein, dass das Proportionalventil zusammen mit dem Antriebsaggregat am Mastsegment des Knickmastes seine Position gegenüber dem Drehschemel bzw. der Betonpumpe ändert und dabei zuverlässig schaltet.An advantageous embodiment of this manipulator provides that the proportional valve directly on or in the immediate vicinity of assigned to be controlled drive unit is arranged. 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. Thus, 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.
Weitere Merkmale, Einzelheiten und Vorteile der Erfindung ergeben sich aufgrund der nachfolgenden Beschreibung sowie anhand der Zeichnung. Ein Ausführungsbeispiel der Erfindung ist in den folgenden Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Es zeigt:
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1 einen Schaltplan eines erfindungsgemäßen Steuerkreises.
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1 a circuit diagram of a control circuit according to the invention.
Die
Da das durch den Schrittmotor
Über das elektrisch angesteuerte Proportionalventil
Die Ansteuerung des Proportionalventils
Des Weiteren ist es sinnvoll, für die Proportionalventile
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Steuerkreiscontrol circuit
- 22
- Antriebsaggregatpower unit
- 33
- Proportionalventilproportional valve
- 44
-
Arbeitsleitung
A working lineA - 55
-
Arbeitsleitung
B working lineB - 66
- Schrittmotorstepper motor
- 7 7a, 7b7, 7a, 7b
- Drucksensorenpressure sensors
- 8 8a8 8a
- Lasthalte-/SperrventileLoad Holding / check valves
- 9 9a9 9a
- einstellbare Drosselnadjustable throttles
- 10 10a10 10a
- Senkbrems-(Rückschlag-)ventileSenkbrems- (non-return) valves
- 1111
- Steuerventil (Notbetrieb)Control valve (emergency operation)
- 1212
- Freigabeventilrelease valve
- 1313
- Sperrventilcheck valve
- 1414
- Versorgung (Normalbetrieb)Supply (normal operation)
- 1515
- Rücklauf (Normalbetrieb)Rewind (normal operation)
- 1616
- Versorgung (Notbetrieb)Supply (emergency operation)
- 1717
- Rücklauf (Notbetrieb)Return (emergency operation)
- ECUECU
- Steuereinrichtungcontrol device
Claims (10)
Priority Applications (2)
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DE102016106589.7A DE102016106589B4 (en) | 2016-04-11 | 2016-04-11 | Electrohydraulic control circuit with stepper motor and manipulator |
PCT/EP2017/058326 WO2017178347A1 (en) | 2016-04-11 | 2017-04-07 | Electrohydraulic control circuit with stepping motor |
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DE102016106589.7A DE102016106589B4 (en) | 2016-04-11 | 2016-04-11 | Electrohydraulic control circuit with stepper motor and manipulator |
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DE102016106589A1 DE102016106589A1 (en) | 2017-10-12 |
DE102016106589B4 true DE102016106589B4 (en) | 2019-08-14 |
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DE (1) | DE102016106589B4 (en) |
WO (1) | WO2017178347A1 (en) |
Families Citing this family (4)
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DE102019201182A1 (en) * | 2019-01-30 | 2020-07-30 | Putzmeister Engineering Gmbh | vehicle |
CN110454450B (en) * | 2019-08-01 | 2021-01-05 | 烟台中宇航空液压有限公司 | Hydraulic protection device of electro-hydraulic servo control system |
CN113217492B (en) * | 2021-04-15 | 2023-10-24 | 浙大城市学院 | Pressure-rotation coupling type electrohydraulic proportional valve |
CN113958544A (en) * | 2021-10-22 | 2022-01-21 | 华侨大学 | Engineering machinery electro-hydraulic composite energy storage driving system and control method thereof |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19836042A1 (en) | 1998-08-10 | 2000-02-17 | Eckehart Schulze | Hydraulic valve which can be operated as electrically controllable proportional valve has electric motor designed as digitally controllable motor, e.g. stepping motor and azimuthal position of rotor combined with control impulses |
DE10340505B4 (en) | 2003-09-03 | 2005-12-15 | Sauer-Danfoss Aps | Valve arrangement for controlling a hydraulic drive |
WO2014165888A1 (en) | 2013-04-09 | 2014-10-16 | Ttcontrol Gmbh | Electrohydraulic control circuit |
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Publication number | Priority date | Publication date | Assignee | Title |
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DE4227563C2 (en) * | 1992-08-20 | 2000-04-13 | Mannesmann Rexroth Ag | Controlled hydraulic feed drive |
DE102007048697A1 (en) * | 2007-10-11 | 2009-04-16 | Deere & Company, Moline | Hydraulic lifting device |
AT511833B1 (en) | 2011-11-10 | 2013-03-15 | Schwing Gmbh F | MASTER CONSTRUCTION, ESPECIALLY FOR A AUTOBETON PUMP |
US9897114B2 (en) * | 2013-08-29 | 2018-02-20 | Aventics Corporation | Electro-hydraulic actuator |
-
2016
- 2016-04-11 DE DE102016106589.7A patent/DE102016106589B4/en active Active
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2017
- 2017-04-07 WO PCT/EP2017/058326 patent/WO2017178347A1/en active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19836042A1 (en) | 1998-08-10 | 2000-02-17 | Eckehart Schulze | Hydraulic valve which can be operated as electrically controllable proportional valve has electric motor designed as digitally controllable motor, e.g. stepping motor and azimuthal position of rotor combined with control impulses |
DE10340505B4 (en) | 2003-09-03 | 2005-12-15 | Sauer-Danfoss Aps | Valve arrangement for controlling a hydraulic drive |
WO2014165888A1 (en) | 2013-04-09 | 2014-10-16 | Ttcontrol Gmbh | Electrohydraulic control circuit |
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WO2017178347A1 (en) | 2017-10-19 |
DE102016106589A1 (en) | 2017-10-12 |
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