DE202022104585U1 - Mobile working machine with a working tool and a control unit - Google Patents

Abstract

Mobile work machine, in particular wheel loader, telehandler, excavator, tractor, soil compacting device such as a vibrating tamper, a vibrating plate or a roller, or the like, with at least one support frame and with at least one drive unit for driving at least one drive element (2), e.g. drive wheel/roller and /or tracked undercarriage or vibrating element, and/or a working tool (8) having at least one working tip (14) and/or working edge (14), e.g. gripper/shovel, fork, vibration element, tiller, clearing blade or the like, with at least one kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) moving parts of the working machine (1) at least one lifting device (4, 5, 6, 7), in particular lifting arm, gripping arm (4), telescopic arm or The like, and / or a tool holder (9) for movably receiving the working tool (8), wherein at least one electrical and / or electronic control unit (20) for controlling the Antri leveling unit and/or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided, with at least one operating element (16), in particular a foot pedal, so-called joystick (16), keyboard, touchscreen and/or touchpad or the like, for manual operation/actuation by an operator and/or for specification a target parameter (22) of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided by the operator, with at least one sensor (18) for detecting an actual parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and /or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided, characterized in that the electrical and/or electronic control unit (20) is designed as a control unit (20), so that the working tool (8) and/or the working tip (14) and/or working edge (14) is operated/adjusted with the specified target parameter (22).

Description

The invention relates to a mobile working machine with a support frame and with a drive unit for driving at least one drive element and/or a working tool having at least one working tip and/or working edge according to the preamble of claim 1.

State of the art

Today's hydraulic control systems in mobile work machines such as excavators, dumpers, loaders, e.g. telescopic/telescopic wheel/wheel/compact loaders or the like, usually use various actuators or .Valves. These use valve spools, also known as main spools or control spools, which contain the flow surfaces for incoming and outgoing fluid for each actuator on a common valve spool. This means that independent control of the inflow and outflow is not possible. Only the fixed ratio of inflow and outflow flow areas can be varied depending on the slider position.

These valves are usually hydraulically pilot-controlled, in which either a hydraulic signal transmitter is used directly to pilot the main control spool, or an electrical signal transmitter with another pilot valve deflects the main control spool. In the case of smaller valves, the deflection of a slide can also take place purely electrically or mechanically.

The combination of inflow and outflow flow areas on a common valve slide does not allow independent control of the flow areas in order to be able to react optimally to changes due to external influences. Depending on the application, certain clamps are required on one or more hydraulic axes so that the movement behavior of the machine can be easily controlled. From this it follows that the clampings must be selected sufficiently high so that there is sufficient control over the drive even under maximum load.

As a result, in many applications the clamps that are absolutely necessary are unavoidable if valve spools with a common inflow and outflow flow area are used. This results in increased power requirements if the restraints from the movement curve and load case are not currently required to implement movements. The type of main valve control, whether it is electrical, hydraulic or mechanical, is also irrelevant here, as this does not cause any change in the behavior of the actuators. Only the resolution of the inflow and outflow control edges or the independent control of the required flow surfaces on several sliders leads to the goal here. The resolution of the common valve spool for each control axis makes it possible to individually control the flow surfaces for inlet and outlet, but this requires control strategies such as the flow surfaces must be selected in relation to one another so that the machine as a whole has a stable and immediately more efficient working behavior.

For the driver, nothing should change in his control behavior. The direction and, depending on the valve system, the force of the actuators and/or the speed of the drive is specified via the amount and direction of its signal transmission, e.g. by means of its so-called "joystick". It is not the goal that the driver is required to give more than one signal by separating the slides into at least two control slides per actuator axis. The control strategy must therefore be brought into the machine using software.

Object and advantages of the invention

In contrast, the object of the invention is to propose a mobile working machine with a support frame and with a drive unit for driving at least one drive element and/or a working tool having at least one working tip and/or working edge, which at least partially improves the disadvantages of the prior art.

Starting from a mobile work machine of the type mentioned at the outset, this object is achieved by the features of claim 1 . Advantageous embodiments and developments of the invention are possible as a result of the measures mentioned in the subclaims.

Accordingly, a mobile working machine according to the invention is characterized in that the electrical and/or electronic control unit is designed as a constant control unit, so that the working tool and/or the working tip and/or working edge is operated/adjusted with the specified, constant target parameter .

According to the invention, the working tool and/or the working tip and/or working edge can be operated/adjusted with the predetermined, constant target parameter with the aid of this constant control unit. This opens up completely new functionalities in such mobile work machines such as excavators or the like.

For example, the working tool and/or the working tip and/or working edge can be operated/adjusted with the predefined, constant target parameter, so that the working tool and/or the working tip and/or working edge can be operated with a predefined, constant target speed, target contact pressure force or pressure and/or force and/or is operated/adjusted with a predetermined, constant target torque/torque. This means that the working tool and/or the working tip and/or working edge or all correspondingly required actuators such as hydraulic cylinders, motors or the like work together or interact with one another in such a way that the specified, constant target parameters are maintained, e.g constant speed and/or constant working pressure/contact force, the tool tip/edge is moved/adjusted. According to the invention, for example, a quasi “tempomat” of the tool tip/edge is implemented, especially regardless of whether or not and/or how fast the work machine or its chassis or running wheels/chains are moving. Here, for example, the gripper arm of an excavator or its lifting cylinder and thus the bending or buckling of the gripper arm can implement the constant speed of the tool tip/edge.

An advantageous, preferably software-based control strategy can be provided in order to provide the operator with a significantly more efficient machine with the same control behavior as hitherto and at the same time a significantly improved operating behavior. This is to be provided in an advantageous manner in connection with the most optimally adapted control behavior of the actuators or valve slides or the like.

• • Gemäß der Erfindung bzw. durch das Prinzip der aufgelösten Steuerkanten können grundlegende auch die Hauptsteuerungsstrategie klassischer Ventilsysteme für mobile Arbeitsmaschinen dargestellt werden. Diese sind u.a:
  • ◯ Drosselsteuerung (DS)
  • ◯ Negativ Flow Control (NFC)
  • ◯ Positv Flow Control (PFC)
  • ◯ Load-Sensing (LS) mit vor- oder nachgeschalteter Druckwaage.

Preferred control strategies according to the invention are described below in order to achieve the desired/advantageous behavior and, in this form of valve/control, enable the following exemplary advantages individually and/or in total:

• • According to the invention or by the principle of resolved control edges, the main control strategy of classic valve systems for mobile machines can also be represented. These include:
  • ◯ Throttle Control (DS)
  • ◯ Negative Flow Control (NFC)
  • ◯ Positive Flow Control (PFC)
  • ◯ Load-Sensing (LS) with upstream or downstream pressure compensator.

• • Konstante bzw. dynamische Vorgabe des Aktuatordrucks auf den fluidausschiebenden Seite während der Bewegung (Einstellung Aktuatoreinspannung) .
• • Kontrolle der Akuatorgeschwindigkeit bzw. des Vorgabevolumenstrom im motorischen und/oder generatorischen Betrieb (drückende bzw. ziehende Lasten).
• • Ermöglichen des Regenerationsbetriebs (Eilgangschaltung) in dem das ausschiebene Fluid zum Teil oder vollends dem zuführenden Fluid beigefügt wird.
• • Des Weiteren können auch die Antriebe, die aufgrund von äußeren Lasten bewegt werden, wenn nur die Lasthalteseite des Aktuators angesteuert wird und auf der Gegenseite die erforderliche Fluidmenge über Nachsaugventile nachgeführt wird oder der Volumenstrombedarf über die zuführende Steuerkante erfolgt, wobei hierbei wieder auf eine Vorgabewert, z.B. Druck, eingeregelt wird. Erst wenn z.B. die vorgegebene Geschwindigkeit nicht erreicht wird, wird der Aktuator aktiv verfahren („Gravity Lowering“) .
• • Abbildung individueller Druckbegrenzungen auf einer oder beiden Aktuatorseiten je Aktuatorachse während des Maschinenbetriebs unabhängig davon, ob die jeweiligen Aktuatoren angesteuert werden oder nicht, wobei die Maximaldruckbegrenzung durch den Bediener je Anwendungsfall für jede Achse individuell absenken kann.
• • Abbildung individueller Kraft- (Linearantrieb) bzw. Momentenbegrenzung (rotatorischer Antrieb) jeder Aktuatorasche durch den Bediener je Anwendungsfall z.B. individuell für jede Achse einstellen kann und dabei auch unter dem maximalen Maschinenarbeitsdruck liegen kann.
• • Abbildung individueller Kraft- und/oder Momentenbegrenzung des gesamten Hubgerüst der Arbeitsmaschine inkl. der Möglichkeit auch Anbaugeräte in diese Betrachtung zu integrieren.
• • Durch die Auftrennung eines gemeinsamen Ventilschiebers je Ventilachse in mindestens zwei Ventilachsen je Aktuator können die Ventile sitzdicht ausgeführt werden. Somit können die Ventile, wenn diese ohne Verschlauchung an den Aktuator montiert sind, auch für die Funktionen von Lasthaltung (sitzdicht) und Schlauchbruchsicherungen (z.B. Geschwindigkeitsbegrenzung im Schlauchbruchfall bei Aktuatormontage) übernehmen. Die reine Schlauchbruchsicherungsfunktion bedarf nicht zwingend einer sitzdichten Ausführung der Ventilschieber, allerdings bedarf es möglichst der Funktion, dass im Falle eines Schlauchbruchs maximal die doppelte Fahrfahrgeschwindigkeit im Vergleich zur maximal erreichbaren Geschwindigkeit im Normalbetrieb erreichen darf. Somit stellt diese Funktion eine Erweiterung des Steuerungskonzepts der Kontrolle der Akuatorgeschwindigkeit dar, die auch im Falle eines Schlauchbruchs die normativen Anforderungen erfüllen muss.
• • Wenn z.B. nur ein Aktuator in Betrieb ist oder bei Parallelbetrieb die Druckverhältnisse passen, kann in vorteilhafter Weise der Regenerationsbetrieb auch über mehrere Aktuatorachsen hinweg erfolgen, indem der abfließende Volumenstrom z.B. nicht Richtung Tank, sondern in Richtung Versorgungssystem geführt werden. Besteht kein Bedarf des Volumenstroms in dessen hydraulischen Kreises, kann entweder der Volumenstrom in einen Speicher geführt oder je nach verwendeter Pumpe(n) die Energie z.B. auf die Antriebswelle zurückgeführt werden und ggf. weiteren Antriebseinheiten direkt zur Verfügung gestellt werden (sog. „Regeneration“), oder bei elektrischen Pumpenantrieben diese Energie elektrisch oder hydraulisch gespeichert werden. In beiden Fällen der Energiespeicherung (sog. „Rekuperation“) kann in vorteilhafter Weise diese Energie zum Puffern und/oder Boostern, je nach Betriebsstrategie, eingesetzt werden.

In particular embodiments of the invention or some systems according to the invention, at least one additional sensor or sensor system can advantageously achieve the desired properties by means of an advantageous control or regulation algorithm in the form of software together with resolved control edges. The following function extensions can also be combined individually or in various forms:

• • Constant or dynamic specification of the actuator pressure on the fluid-discharging side during the movement (actuator clamping setting).
• • Control of the actuator speed or the default volume flow in motor and/or generator operation (pushing or pulling loads).
• • Enabling the regeneration operation (rapid gear shifting) in which the ejected fluid is partially or fully added to the supplying fluid.
• • Furthermore, the drives that are moved due to external loads can also be used if only the load-holding side of the actuator is activated and the required fluid quantity is tracked on the opposite side via anti-cavitation valves or the volume flow requirement takes place via the supplying control edge, with this again being based on a default value , eg pressure, is regulated. The actuator is only actively moved (“gravity lowering”) if, for example, the specified speed is not reached.
• • Mapping of individual pressure limitations on one or both sides of the actuator for each actuator axis during machine operation, regardless of whether the respective actuators are controlled or not, whereby the maximum pressure limitation can be individually lowered by the operator for each axis depending on the application.
• • Mapping of individual force (linear drive) or torque limit (rotary drive) of each actuator ash can be set by the operator for each application, for example individually for each axis and can also be below the maximum machine working pressure.
• • Depiction of individual force and/or torque limitation of the entire mast of the work machine, including the option of also integrating attachments into this consideration.
• • By splitting a common valve slide per valve axis into at least two valve axes per actuator, the valves can be designed to be seat-tight. So they can Valves, if they are mounted on the actuator without tubing, also take on the functions of load holding (seated tight) and hose rupture protection (e.g. speed limitation in the event of a hose rupture when assembling the actuator). The pure hose rupture protection function does not necessarily require a seat-tight design of the valve slide, but it does require the function that in the event of a hose rupture, a maximum of twice the driving speed may be reached compared to the maximum achievable speed in normal operation. This function thus represents an extension of the control concept for controlling the actuator speed, which must also meet the normative requirements in the event of a hose rupture.
• • If, for example, only one actuator is in operation or the pressure conditions are correct in parallel operation, the regeneration operation can advantageously also take place across several actuator axes, in that the outflowing volume flow is not directed towards the tank but towards the supply system. If there is no need for the volume flow in its hydraulic circuit, either the volume flow can be routed to an accumulator or, depending on the pump(s) used, the energy can be fed back, for example, to the drive shaft and, if necessary, made directly available to other drive units (so-called "regeneration"). ), or in the case of electric pump drives, this energy can be stored electrically or hydraulically. In both cases of energy storage (so-called “recuperation”), this energy can advantageously be used for buffering and/or boosting, depending on the operating strategy.

In order to implement the above-mentioned control strategies, at least one actuator or valve can advantageously be provided for each fluid actuator, so that, for example, independent control of the inflow and outflow flow area is possible and the control commands can be transmitted to the valve, e.g. by means of software-based control and regulation strategies. In order to be able to implement the above advantageous strategies, at least one sensor or a sensor system is of great advantage or is to be provided in an advantageous manner. This does not necessarily have to be integrated in the valve itself.

Furthermore, all of the above functions can be available to the operator individually or combined for each actuator. From the selection of the above functionalities and their combination for each actuator or combined actuator to move part or all of the work equipment or the entire kinematic chain of the machine, it essentially follows that in advantageous variants of the invention the sensor or the sensor system for determining physical variables such as pressure, force, torque, displacement (actuator or control element and/or slide itself) and its multiple time derivatives and temperature.

• • Nachbildung der Grundsteuerungsstrategien für mobile Arbeitsmaschinen:
  • ◯ Bei DS, NFC und PFC handelt es sich z.B. um eine Volumenstromzu- bzw. -abfuhr, wobei z.B. je nach Druckverhältnis von Pumpen- und Aktuatorendrücken zusammen mit den Strömungsflächen vom Pumpensystem kommend zu den jeweiligen Aktuator hin bzw. dessen Bypass (sofern vorhanden) direkt wieder Richtung Tank strömt. D.h. der Pumpenvolumenstrom kann entweder Richtung Aktuatorik und/oder Tank geführt werden. Die rückfließenden Volumenströme je Aktuator werden vorzugsweise ebenfalls über ein weiteres Ventil Richtung Tank gefördert. Für die reine Volumenstromverteilung reicht bei Ventilen die Steuerung der erforderlichen Strömungsflächen aus, dass der Fahrerwunsch umgesetzt wird. Somit kann das klassische Ventilverhalten ohne aufgelöste Steuerkanten ohne weitere Sensorik nachgebildet werden.
  • ◯ Bei LS-System im klassischen Ventilaufbau kommen zusätzliche Steuerkanten und Ventilschieber zum Einsatz, um eine lastunabhängig Durchflussverteilung zu ermöglichen/garantieren. Zum Beispiel mittels einer vorteilhaften Messblende (zusätzliche Steuerkante) wird die Druckdifferenz überdiese ermittelt und mittels vorteilhafter Druckwaage (zusätzlicher Ventilschieber) eine feste Druckdifferenz über die Messblende eingeregelt. Die die feste Druckdifferenz über die Messblende ist der Volumenstrom im Wesentlichen nur noch von der Strömungsfläche abhängig. Dies bedeutet, je größer die Fläche, je mehr Volumenstrom fließt über das Ventil. Im klassischen Ventilaufbau können diese zusätzlichen Komponenten im Zu- und/oder Ablauf je nach Funktionswusch integriert werden.

Features of an advantageous control and regulation software are described below for the above control strategies:

• • Replication of the basic control strategies for mobile working machines:
  • ◯ DS, NFC and PFC are, for example, a volume flow supply or discharge, whereby, for example, depending on the pressure ratio of pump and actuator pressures together with the flow surfaces coming from the pump system to the respective actuator or its bypass (if available) flows directly back towards the tank. This means that the pump volume flow can either be directed towards the actuators and/or the tank. The back-flowing volume flows per actuator are preferably also conveyed in the direction of the tank via a further valve. For pure volume flow distribution, the control of the required flow areas is sufficient for valves to implement the driver's request. In this way, the classic valve behavior can be simulated without dissolved control edges and without additional sensors.
  • ◯ With the LS system in the classic valve design, additional control edges and valve slides are used in order to enable/guarantee load-independent flow distribution. For example, the pressure difference is determined using an advantageous measuring orifice (additional control edge) and a fixed pressure difference is adjusted using an advantageous pressure compensator (additional valve slide). The fixed pressure difference across the measuring orifice means that the volume flow is essentially only dependent on the flow area. This means that the larger the area, the more volume flow flows through the valve. In the classic valve design, these additional components can be integrated in the inlet and/or outlet depending on the desired function.

• • „Konstante bzw. dynamische Vorgabe des Aktuatordrucks (Einstellung Aktuatoreinspannung)“:
  • Durch Überwachung des Drucks auf der fluidauschiebenden Seite am Aktuator und den Abgleich mit Vorgabewerten wird in vorteilhafter Weise auf den Sollwert geregelt. Bei zu geringem Druck während der Aktuatorfahrt auf der ausschiebenden Seite wird vorzugsweise der Strömungsquerschnitt verringert bzw. bei zu hohem Druck wir der Strömungsquerschnitt auf dieser Seite vergrößert. Der Fahrer gibt z.B. über seine Bedien- bzw. Steuerelemente rein die Richtung und in Abhängigkeit der Grundventilstrategie die Kraft und/oder Geschwindigkeit vor.
• • „Kontrolle der Akuatorgeschwindigkeit“:
  • Auch bei der Geschwindigkeitskontrolle erfolgt ein Abgleich der Soll- und Ist-Geschwindigkeit, um Mittels einer Regelung der Vorgabe bestmöglich zu folgen. Dazu soltle für jeden in Bewegung befindlichen Antrieb die Geschwindigkeit ermittelt werden. Zum einen kann die Aktuatorgeschwindigkeit direkt gemessen werden bzw. mittels kinematischer Umrechnung der durch die Antriebe bewegenden Elemente erfolgen.

The difference whether the pressure compensators are upstream or downstream mainly makes the difference as to whether the load-independent volume flow distribution is also possible in the undersupply. However, this advantage is paid for by the disadvantage of additional flow losses of the other required components. These additional components can also be used for valves with separate control edges. The advantage only comes into play when the functions of the orifice plates and pressure compensators are transferred to the resolved control edges, preferably software-based by means of control/regulation. In order to map this function, either the actuator speed (can also be calculated from other movements) should be known, or at least the pressure difference across the control edge should be related to the flow area in order to detect the volume flow or the actuator speed. The flow area can be determined from the slide position using a characteristic map, for example. The slide position can either be measured directly or inferred via the control signal. For example, both approaches (direct or indirect actuator speed) can also be combined or expanded to include additional variables in order, among other things, to increase the accuracy of the variables determined and thus further improve the system behavior. Depending on the operating strategy, this can take place in the inflowing and/or outflowing volume flow.

• • "Constant or dynamic specification of the actuator pressure (actuator clamping setting)":
  • By monitoring the pressure on the fluid-discharging side on the actuator and comparing it with default values, the target value is advantageously controlled. If the pressure is too low during the actuator travel on the extending side, the flow cross section is preferably reduced, or if the pressure is too high, the flow cross section on this side is increased. For example, the driver specifies the direction and, depending on the basic valve strategy, the force and/or speed via his operating or control elements.
• • "Control of the actuator speed":
  • The speed control also compares the target and actual speed in order to follow the specification as best as possible by means of a control system. To do this, the speed should be determined for each drive that is in motion. On the one hand, the actuator speed can be measured directly or by means of kinematic conversion of the elements moved by the drives.

Furthermore, the actuator speed can also be determined on the basis of flow conditions, e.g.

The accuracy of the indirect volume flow determination can be increased by including other physical variables such as temperature. The parallel consideration of the indirect volume flow determination of both control edges (inlet and outlet) can lead to increased accuracy.

• ◯ Wenn der zuführende Ventilschieber noch nicht max. geöffnet ist, kann dieser weiter geöffnet werden, um den Volumenstromzufluss weiter zu erhöhen. Dazu sollte zudem bzw. parallel der Volumenstrom vom Versorgungssystem mit ein oder mehreren Pumpen erhöht werden. Anderenfalls würde der Volumenstrom von parallel betriebenen Antrieben abgezweigt werden, wodurch diese an Geschwindigkeit verlieren. Sollte die Pumpe(n) bzw. dessen Antriebe aufgrund von Leistungs- bzw. Momentenbegrenzung nicht mehr Volumenstrom zur Verfügung stellen können, ist auch die Absenkung der Antriebseinspannung am höchstbelasteten Verbraucher möglich, um die Systembelastung zu senken und einen größeren Volumenstrom bereitzustellen.
• ◯ Ist beispielsweise der zuführende Schieber schon maximal geöffnet, aber die Zielgeschwindigkeit noch nicht erreicht, kann auch hier durch Reduzierung der Einspannung des höchstbelasteten Verbrauchers die Gesamtsystemleistung verringert werden und somit mehr Volumenstrom bereitgestellt werden, wenn das Pumpensystem noch nicht den max. möglichen Volumenstrom bereit stellt. Sind mehrere Antriebe in Bewegung, können auch diese in ihrer Geschwindigkeit reduziert werden, indem die Zulaufkanten weiter geschlossen werden. Somit kann zumindest das von Fahrer gewählte Geschwindigkeitsverhältnis für alle aktiven Antriebe im Verhältnis angeglichen werden.
• ◯ Unabhängig zu den oberen beiden Varianten gemäß der Erfindung kann auch mittels der Erhöhung der Regeneration bzw. des Gravity Lowering der Pumpenvolumenstrombedarf der sich in Bewegung befindlichen Antriebe verringern und somit zusätzlicher Volumenstrom generiert werden. Dazu sollte sich das Gesamtsystem in möglichen Betriebspunkten dazu befinden. Wenn die Maschine über Rekuperationsmöglichkeiten verfügt, können auch diese den Bedarf an Volumenstrom je nach aktuellen Speicherzustand dem System zur Verfügung stellen.
• • „Ermöglichen des Regenerations- bzw. Rekuperationsbetriebs / Gravity Lowering“:
  • Für eine vorteilhafte Eilgangschaltung von Antrieben, die Regenerationsschaltung sowie die Rekuperation sollten möglichst zum einen die Systemvoraussetzungen bezüglich der Komponenten erfüllt sein, um die Systemgrundlage zu schaffen, aber auch im Betrieb der Maschine müssen die Systemzustände passen, so dass auf diese Betriebsmodis gewechselt werden kann. In der Eilgangschaltung sollten die Drücke beider Aktuatorflächen sowie die Kraft- bzw. Momentenverhältnisse zueinander passen, so dass der vorteilhafte Modus verwendet werden kann.

Furthermore, for example, the determined volume flow of all actuators can be compared again with the current pump volume flow in order to identify any deviations in the overall system. The drive volume flows can be converted into a speed by means of the drive geometries. If the speed is too low, different strategies should be considered depending on the load case:

• ◯ If the supply valve spool is not yet fully open, it can be opened further to further increase the volume flow inflow. For this purpose, the volume flow from the supply system should also be increased with one or more pumps, or at the same time. Otherwise, the volume flow would be diverted from drives operated in parallel, causing them to lose speed. If the pump(s) or its drives are unable to provide more volume flow due to power or torque limitations, it is also possible to reduce the drive clamping on the consumer with the highest load in order to reduce the system load and provide a larger volume flow.
• ◯ If, for example, the supply slide is already fully open, but the target speed has not yet been reached, the overall system performance can also be reduced here by reducing the clamping of the consumer with the highest load and thus more volume flow can be provided if the pump system is not yet providing the maximum possible volume flow . If several drives are in motion, their speed can also be reduced by further closing the infeed edges. Thus, at least the speed ratio selected by the driver can be adjusted in relation to all active drives.
• ◯ Regardless of the above two variants according to the invention, the pump volume flow requirement of the drives in motion can also be reduced by increasing the regeneration or gravity lowering and thus additional volume flow can be generated. For this purpose, the entire system should be in possible operating points. If the machine has recuperation options, these can too provide the system with the required volume flow depending on the current storage status.
• • "Enable regeneration or recuperation operation / gravity lowering":
  • For an advantageous rapid traverse switching of drives, the regeneration switching and recuperation, the system requirements with regard to the components should be met if possible in order to create the system basis, but the system states must also be suitable during operation of the machine so that it is possible to switch to these operating modes. In the rapid traverse circuit, the pressures on both actuator surfaces and the force and torque ratios should match one another so that the advantageous mode can be used.

• • Abbildung individueller Druckbegrenzungen:
  • Bei der Druckbegrenzung kann der Fahrer die max. gewünschten Drucke je Akuatorseite vorgeben, die aber unabhängig von der Primärdruckabsicherung des versorgenden Pumpensystems begrenzt werden können. Diese Einstellung stellt die Funktion von zusätzlichen Sekundärdruckbegrenzungen dar, die in klassischen Ventilsystemen wiederum durch zusätzliche Ventile realisiert werden. Durch den Druckabgleich, von Vorgabewert und gewähltem Sollwert, können die gewünschten Drücke eingeregelt werden. Unterschieden kann hier, ob ein oder mehrere Aktuator aktiv angesteuert werden oder gerade passiv sind. Bei Drucküberschreitung von passiven Antrieben kann die entsprechende Aktuatorseite in Richtung Pumpensystem entlasten, wenn dieser Druck höher ist als der aktuelle Versorgungsdruck. Auch eine Entspannung der Gegenseite des Aktautors kann zur Entlastung der Seite mit Maximaldrucküberschreitung führen, wenn die Überschreitung nicht nur aus äußeren Kräften, sondern auch aus Einspannungen folgt. Je nach Aktuator, Anforderung und Bedienerwusch können unterschiedliche Methoden gewählt werden. Auch bei aktiven Aktuatoren können diese Methoden für passive Antriebe angewandt werden, darüber hinaus gibt es aber noch die Möglichkeit, den zuführenden Volumenstrom Richtung Aktuatoren individuell zu begrenzen, dass dessen Drücke unterhalb der Primärdruckversorgung liegen. Auch hier wird in vorteilhafter Weise dazu der Vorgabewert mit dem Istwert im Aktuator verglichen und durch Ansteuern der zuführenden Steuerkante der Aktuatordruck eingeregelt. Bei Drucküberschreitung kann wie für den passiven Fall entweder die eigentlich zuführende Seite Richtung Tank entlastet werden und/oder auch die Einspannung gesenkt werden.
• • Abbildung individueller Kraft- und/oder Momentenbegrenzung (aktuator- und hubgerüstbezogen):
  • Die Kraft- und/oder Momentenbegrenzung rein aktuator- bzw. hubgerüstbezogen, ist eine vorteilhafte Erweiterung der Druckbegrenzungsfunktionen. Nur das hier bei der aktuatorbezogen Begrenzung zusätzlich die geometrischen Verhältnisse der hydraulischen Antriebe berücksichtigt werden und die Vorgabe möglichst nicht aus Druckwerten, sondern die nach Antriebsart aus Kraft- bzw. Momentenwerten erfolgt.

In addition to the requirements described above, other physical variables are advantageous or necessary for regeneration and recuperation:

• • Mapping of individual pressure limitations:
  • With the pressure limitation, the driver can specify the maximum desired pressures per actuator side, which can be limited independently of the primary pressure protection of the supplying pump system. This setting represents the function of additional secondary pressure limitations, which in turn are implemented by additional valves in classic valve systems. The desired pressures can be regulated by the pressure comparison of the default value and the selected setpoint. A distinction can be made here as to whether one or more actuators are actively controlled or are currently passive. If the pressure of passive drives is exceeded, the corresponding actuator side can relieve pressure in the direction of the pump system if this pressure is higher than the current supply pressure. A relaxation of the opposite side of the author of the act can also lead to the relief of the side with the maximum pressure being exceeded if the exceeding is not only the result of external forces but also of restraints. Different methods can be selected depending on the actuator, requirements and user wishes. These methods can also be used for passive drives with active actuators, but there is also the option of individually limiting the supply volume flow in the direction of the actuators so that the pressures are below the primary pressure supply. Here, too, the default value is advantageously compared with the actual value in the actuator and the actuator pressure is adjusted by controlling the supplying control edge. If the pressure is exceeded, as in the passive case, either the actually supplying side can be relieved in the direction of the tank and/or the clamping can also be lowered.
• • Mapping of individual force and/or torque limitation (actuator and mast-related):
  • The force and/or torque limitation purely related to the actuator or mast is an advantageous extension of the pressure limitation functions. The only difference here is that the geometric conditions of the hydraulic drives are also taken into account in the actuator-related limitation and the specification is not made from pressure values, but rather from force or torque values depending on the drive type.

• • Schlauchbruchsicherungsfunktion ohne und mit Lasthaltefunktion:
  • Die Schlauchbruchsicherungsfunktion ist eine vorteilhafte Erweiterung der „Kontrolle der Akuatorgeschwindigkeit“. Dazu muss das Ventil möglichst am Aktuator montiert werden. Für die eigentliche Funktion wird in vorteilhafter Weise die Ist-Geschwindigkeit mit einer Soll-/Vorgabegeschwindigkeit ständig abgeglichen, wobei die Vorgabe fix oder in Abhängigkeit weiterer Größen variable sein kann.

Again, an advantageous increase/improvement is not to check every actuator that is to be monitored, but to consider the limitations in relation to the entire lifting frame including attachments.

• • Hose rupture protection function with and without load holding function:
  • The hose rupture protection function is an advantageous extension of the “actuator speed control”. To do this, the valve must be mounted on the actuator if possible. For the actual function, the actual speed is advantageously constantly compared with a desired/specified speed, with the specification being able to be fixed or variable depending on other variables.

With existing actuator speed specifications, the maximum speed can be specified individually via a parameter, for example. In purely normative terms, in the event of hose ruptures, the max. actuator speeds must not reach twice the speed compared to normal operation. By continuously comparing the default values with the actuator speeds, a deviation can advantageously be detected and the braking valve edge can be further closed, if necessary. The determination of the speed can in turn be determined as previously described. The load-holding function is provided directly by the seat-tight design of the valve spool and the non-activation of the actuators. The integration of one or both of the functions described here in turn reduces the required components through functional integration and also further compensates for the flow losses, making the machine even more efficient.

In general, according to the invention or by the control or regulation strategies described above, the operating behavior and the efficiency of the mobile working machine can be significantly increased and they can also be individually adapted for a wide variety of requirements and the operator can also be significantly relieved in his work order.

In principle, the freedom of individual valve controls, which enable the above-mentioned functions, among other things, by means of software, are special advantages and effects of the invention.

An input unit for entering/specifying the target parameter is advantageously provided. For example, the input unit includes at least one keyboard and/or a touchscreen and/or a touchpad or the like for manual operation/actuation by the operator or the driver and/or for specifying the target parameter of the kinematic chain. This input unit or the aforementioned components such as a touchscreen etc. can preferably be permanently installed in the mobile work machine or in the driver's cab and/or also be handled separately as a mobile telecommunications device such as a smartphone, tablet, notebook or the like and/or on/in the vehicle or mounted or fixed in the cabin, especially only temporarily and/or individualized.

Thus, according to the invention, the desired target parameter and/or specific or special program/sequences can be entered or specified and/or recalled in an advantageous manner. It is generally conceivable that the input unit or the aforementioned components such as a touchscreen etc. or the (mobile) telecommunications device such as a smartphone, tablet, notebook or the like have one or more input/programmed and/or stored target parameters of the kinematic chain or functionalities and/or so-called “apps”, in particular company-specific apps or the like, with which the target parameter of the kinematic chain can be defined or deactivated/activated or switched on/off according to the invention. If necessary, further target parameters and/or functions and/or special programs can be defined and/or deactivated/activated or implemented wirelessly or by means of a mobile telecommunications device such as a smartphone, tablet, notebook or the like.

example

An embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the figures.

• 1 eine Seitenansicht eines Baggers,
• 2 eine vergrößerte Darstellung eines Baggerauslegers,
• 3 eine Darstellung entsprechen 2 mit veränderter Stellung des Baggerauslegers und
• 4 ein schematisch dargestelltes, hydraulisches Blockschaltbild gemäß der Erfindung.

In detail shows:

• 1 a side view of an excavator,
• 2 an enlarged view of an excavator boom,
• 3 correspond to a representation 2 with changed position of the excavator boom and
• 4 a schematically illustrated hydraulic block diagram according to the invention.

A dredger 1 in 1 comprises a mobile undercarriage 2 and an upper carriage 3 attached thereto so that it can rotate about a vertical axis V1. An excavator boom 4 is attached to the upper carriage 3 and can be rotated about a vertical axis V2 in an advantageous manner by means of a swivel bracket and about a horizontal axis H1 by means of a joint. The terms “vertical axis” and “horizontal axis” here preferably refer to an excavator standing on a horizontal base. If the excavator 1 moves on an inclined base, these axes, which are at right angles to one another, are also inclined accordingly.

The excavator boom is divided into three sections 5, 6, 7 that can be rotated relative to one another about horizontal axes H1, H2, H3. On the last section 7, a bucket 8 is fastened to a tool holder 9 that can be rotated about a further horizontal axis H4. For the movements of the excavator boom 4, hydraulic cylinders 10, 11, 12, 13 are provided as drive elements. This structure is typical for excavators 1 of known design.

In 2 and 3 the excavator boom is shown in two different positions. Dashed working lines LH and LV illustrate the path of a spoon blade 14 or a so-called "Tool Center Point (TCP)" when honing a flat surface horizontally or vertically. It can be seen from this that several hydraulic cylinders 10, 11, 12 must always be actuated simultaneously, which up to now has represented a major challenge for the operator of the excavator 1. In the embodiment shown, a so-called "tilt rotator" 15 is also used, which is already commercially available. The "tilt rotator" 15 between the excavator boom 4 and the working tool 8 is advantageous for compensating for lateral inclinations, for example due to rotary movements of the superstructure 3 or the pivoting console, if these, e.g. when the excavator 1 is at an angle, are not around the gravitational axis he follows.

According to the invention, an electrical and / or electronic control unit (ECU) 20 is designed as a constant control unit (ECU) 20, so that the working tool 8 and / or the working tip 14 and / or working edge 14 with the given flat, constant target parameter is operated/adjusted. For example, the working tool 8 and/or the working tip and/or working edge can be operated with a predefined, constant setpoint speed, setpoint contact pressure force or pressure and/or force and/or with a predefined, constant setpoint rotation/torque / be adjusted. This means that the working tool 8 and/or the working tip 14 and/or working edge 14 or the entire kinematic chain 2, 3, 4, 5, 6, 7, 9, 14, 15, ie all the corresponding actuators required, such as hydraulic cylinders 10, 111, 12, motors or the like, work together or interact with one another in such a way that the specified, constant setpoint parameters are maintained, e.g. the tool tip/edge 14 is moved/moved at a constant speed and/or constant working pressure/contact force. misaligned. According to the invention, for example, a quasi “cruise control” of the tool tip/edge 14 is implemented, especially regardless of whether or not and/or how fast the work machine 1 or its running gear or running wheels/tracks 2 are moving. Here, for example, the gripper arm 4 of an excavator 1 or its lifting cylinders 10, 11, 12 and/or its hydraulic/motors 19 having a rotary/motor axis and thus, for example, the angling or buckling of the gripper arm 4 can affect the constant speed of the tool tip/ -Reposition edge 14. Here, an advantageous hydraulic pump 21 for pressurizing the lifting cylinders 10, 11, 12 and/or hydraulic motors/motors 19 and/or a valve block 17 is provided.

The same also applies to a constant pressing force or torque/torque at the tool tip 14 . The sensors 18 that can be used advantageously for this purpose are only shown in the figures as an example 4 shown.

In principle, various operating elements 16 such as joysticks, foot pedals, touch screens or the like can be used to enter or define the target parameters (cf. 4 ). Predeterminable or predetermined and/or stored desired parameters 22 are/are stored/stored, for example, in an electrical/electronic memory. These setpoint parameters 22 can already be specified by the manufacturer and/or can be adapted or set during operation by the driver.

Reference List

1

excavator

2

undercarriage

3

superstructure

4

excavator boom

5

section

6

section

7

section

8th

spoon

9

tool holder

10

hydraulic cylinder

11

hydraulic cylinder

12

hydraulic cylinder

13

hydraulic cylinder

14

spoon edge

15

tilt rotator

16

control element

17

valve block

18

sensor

19

Hydraulic/Motor

20

control unit/ECU

21

pump

22

Target parameters/memory

V1

vertical axis

v2

vertical axis

H1

horizontal axis

H2

horizontal axis

H3

horizontal axis

H4

horizontal axis

T1

Tilt rotor axis

T2

Tilt rotor axis

LH

working line

LV

working line

Claims (9)

Mobile work machine, in particular wheel loader, telehandler, excavator, tractor, soil compacting device such as a vibrating tamper, a vibrating plate or a roller, or the like, with at least one support frame and with at least one drive unit for driving at least one drive element (2), e.g. drive wheel/roller and /or tracked undercarriage or vibrating element, and/or a working tool (8) having at least one working tip (14) and/or working edge (14), e.g. gripper/shovel, fork, vibration element, tiller, clearing blade or the like, with at least one kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) moving parts of the working machine (1) at least one lifting device (4, 5, 6, 7), in particular lifting arm, gripping arm (4), telescopic arm or the like, and/or has a tool holder (9) for movably receiving the working tool (8), at least one electrical and/or electronic control unit (20) for controlling the drive unit and/or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided, with at least one operating element (16), in particular a foot pedal, so-called joystick (16), keyboard, touchscreen and/or touchpad or the like, for manual operation/actuation by an operator and/or for specifying a target parameter (22) of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4th , 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided by the operator, with at least one sensor (18) for detecting an actual parameter of the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) is provided, thereby marked chnet that the electrical and / or electronic control unit (20) is designed as a control unit (20), so that the working tool (8) and / or the working tip (14) and / or working edge (14) with the predetermined target parameter ( 22) is operated/adjusted. working machine claim 1 , characterized in that the sensor is designed as a speed sensor for detecting a speed of the working tool (8) and/or the working tip and/or working edge designed as an actual parameter. Working machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit is designed as a speed control unit, so that the working tool (8) and/or the working tip and/or working edge can be operated at the speed designed as the specified target parameter is operated/adjusted. Working machine according to one of the preceding claims, characterized in that the sensor is designed as a pressure sensor for detecting a contact pressure/pressure of the working tool (8) and/or the working tip and/or working edge designed as an actual parameter. Working machine according to one of the preceding claims, characterized in that at least one hydraulic unit containing hydraulic oil/fluid for hydraulically operating/actuating/adjusting the working tool (8) and/or the kinematic chain (2, 3, 4, 5, 6 , 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) is provided. Working machine according to one of the preceding claims, characterized in that the sensor is used as a hydraulic pressure sensor for detecting a hydraulic pressure, configured as an actual parameter, of the hydraulic oil/liquid of the hydraulic unit of the working tool (8) and/or the kinematic chain ( 2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7). Working machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit is designed as a pressure control unit, so that the working tool (8) and/or the working tip and/or working edge is operated with the pressure designed as a predetermined target parameter is operated/adjusted. Working machine according to one of the preceding claims, characterized in that the sensor as a force sensor and / or torque / torque sensor for detecting a trained as an actual parameter working force and / or torque / torque of the working tool (8) and / or the working tip and/or working edge is formed. Working machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit is designed as a force control unit and/or rotation/torque control unit, so that the working tool (8) and/or the working tip and/or working edge is operated/adjusted with the force and/or torque/torque configured as a predetermined setpoint parameter.

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