DE4140409A1 - Electrohydraulic control device - Google Patents

Electrohydraulic control device

Info

Publication number
DE4140409A1
DE4140409A1 DE19914140409 DE4140409A DE4140409A1 DE 4140409 A1 DE4140409 A1 DE 4140409A1 DE 19914140409 DE19914140409 DE 19914140409 DE 4140409 A DE4140409 A DE 4140409A DE 4140409 A1 DE4140409 A1 DE 4140409A1
Authority
DE
Germany
Prior art keywords
pressure
valve
control
electro
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.)
Withdrawn
Application number
DE19914140409
Other languages
German (de)
Inventor
Hartmut Dipl.-Ing. Sandau (Fh)
Uwe Dipl.-Ing. 7141 Schwieberdingen De Altmann
Horst Dr. Dr.-Ing. 7000 Stuttgart De Hesse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE19914140409 priority Critical patent/DE4140409A1/en
Priority claimed from DE1992505956 external-priority patent/DE59205956D1/en
Publication of DE4140409A1 publication Critical patent/DE4140409A1/en
Withdrawn legal-status Critical Current

Links

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
    • F15B21/00Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08Servomotor systems incorporating electrically operated control means
    • F15B21/087Control strategy, e.g. with block diagram

Description

State of the art

The invention is based on an electro-hydraulic control Direction for load-compensated control of a hydraulic motor according to the genus specified in the preamble of claim 1.

Such an electrohydraulic control device is already used load compensated control of a hydraulic motor from the DE-OS 25 23 600 known, in which the pressure difference at the inlet and outlet of the proportional valve measured and the position of the Control spool is set using a control circuit so that the influence of the pressure dependent on changes in load is compensated for so that the volume flow is independent of the applied pressure difference. This is achieved in that the pressure difference in the control circuit squares and the target value for the slide stroke or volume flow through the square root Value is divided. This output signal becomes a known one Position control loop supplied as setpoint for the valve lift. These Control device works with an elaborate 4-way proportion  tional valve that is less suitable for mobile applications. In addition the directional control valve requires a way that picks up the slide stroke with a position control loop for carrying out the electronic load compensation.

Furthermore, from DE 39 31 962 A1 control electronics for electrically adjustable actuator known in order to achieve a linear control behavior the characteristic field of the actuator is written into a table memory and thus in a Microprocessor from a setpoint a corrected control signal is won for the actuator. Characteristic curves cannot be used with this just linearize but also change arbitrarily, so that too the flow load function of a valve at different pressures can be taken into account. The construction of special electrohydrau Control devices are not taught here.

Advantages of the invention

The electrohydraulic control device according to the invention to the load compensated control of a hydraulic motor with the ident Drawing features of claim 1 have the advantage over the other that with a relatively simple and inexpensive design with existing components is realizable and an electronic load compensated control of the hydraulic motor in both directions allowed, i.e. when lifting and lowering. It can be by Formation of the proportional throttle valve as a seat valve the leakage keep low. In addition, despite the training as a seat valve sensitive control when lifting and lowering pass. The control device is relatively compact and light and is therefore particularly suitable for use with mobile devices Applications.  

The measures listed in the subclaims provide for partial further developments and improvements in claim 1 given control device possible. Off are particularly advantageous educations according to claims 3 to 6, whereby the Steuerein direction in a simple and inexpensive way from existing construction elements can be realized, in addition to an electronic load compensated sink function a parallel control of additional hy drastic consumer is possible because a resilient with pressure Continuation connection supplied with pressure medium via a pressure balance becomes. It is also expedient to control the control device according to the An Proverbs 7 to 9, which is in addition to a simple and space-saving construction he particularly good fine control properties let it aim. Through the pressure-controlled orifice plate in connection with the pre-controlled proportion controlled by the control electronics tional pressure valve, lifting processes can be compensated for load pressure control sensitively. It is also beneficial if the tax Direction according to claim 10 with a double density proportional throttle valve is equipped so that an electronic load compensated lifting and lowering with a single proportional throttle valve in seat valve design is possible. Furthermore, it is before partial if the control device according to claims 11 to 13 is designed so that the proportional throttle valve in the Diago nale of a hydraulic rectifier designed as a full bridge circuit is switched. In this way, an electro African load compensation for the functions lifting and lowering with only achieve a proportional throttle valve, the effort in the control electronics can be kept relatively low because that Characteristic field of the proportional throttle valve only for one pressure direction of flow must be saved. A particularly space-saving and inexpensive design of the control device results in an education according to claims 14, 15 being all necessary Components arranged sensibly in a confined space and together can be linked. According to claims 16 to 18  there are particularly advantageous applications of the fiction moderate control device, it being particularly useful if it used in an electric forklift to control the load hydraulics becomes.

drawing

Several embodiments of the invention are shown in the drawing and explained in more detail in the following description. There, Figs. 1, a first electro-hydraulic Steuerein direction for load-compensated control of a hydraulic motor in a simplified illustration, Fig. 2 shows a longitudinal section through a part of the first control device according to Fig. 1 in a more constructive embodiment, Fig. 3 a diagram with the By flow characteristics of the proportional throttle valve according to FIG. 1 in a simple representation and FIGS . 4, 5 and 6 each a second, third or fourth electrohydraulic control device in a simplified representation.

Description of the embodiments

Fig. 1 shows an electrohydraulic control device 10 for load-compensated control of a hydraulic motor 11 , which is designed here as a single-acting cylinder, as it is used in lifting plants for lifting and lowering loads, especially in forklifts. The control device 10 has an inlet line 12 which leads from a constant pump 13 to the hydraulic motor 11 . At the same time, the hydraulic motor 11 is connected via a drain line 14 to a tank 15 , from which the constant pump 13 sucks its pressure medium. The load pressure prevailing in the hydraulic motor 11 is tapped by a first electrohydraulic pressure transducer 16 , which gives an electrical output signal proportional to the pressure to control electronics 17 .

In the supply line 12 , a pressure compensator 18 is connected, the outlet connection 19 is directly connected to the pump 13 . Downstream of the pressure compensator 18 , a first check valve 21 is connected into the feed line 12 , which prevents a lowering function of the motor 11 , e.g. B. in the event of failure of the volume flow of the pump 13 . Downstream of the first check valve 21 , a pressure-controlled measuring orifice 22 is also connected to the inlet line 12 , which can be combined with the first check valve 21 in a suitable manner. The orifice 22 is designed in its flow cross-section so that it has a linear flow characteristic, that is, its flow over the Druckge cases occurring forms an inclined Ge straight line in the corresponding diagram. The construction of this orifice plate 22 in connection with the first check valve 21 will be discussed in more detail in connection with FIG. 2. The pressure in the feed line 12 between the pressure compensator 18 and the first check valve 21 is tapped by a second electrohydraulic pressure sensor 23 , which also transmits its pressure-dependent electrical signal to the electronics 17 .

The pressure compensator 18 has a 3-way function and for this purpose has, in addition to a motor connection 24, a continuation connection 25 which is secured by a second check valve 26 . The pressure balance 18 has a control member 27 , which can be loaded by the force of a spring 28 and the pressure in a first control connection 29 in the direction of a basic position 31 , in which it blocks the on-run circuit 25 and the connection from the inlet connection 19 to Motor connection 24 opens. In the opposite direction, the control member 27 is from the pressure in a second control port 32 and with the pressure in the inlet port 19 , whereby it can be deflected into a working position 33 in which the motor port 24 is blocked and the inlet port 19 with the continuation port 25 has connection. Of course, the control member 27 intermediate positions can take a corresponding to the throttling function of the pressure compensator 18th The continuation port 25 , the second check valve 26 is switched on; it biases the pressure with the help of its spring so far that the control member 27 of the pressure compensator is always moved all the way to the right against the force of the spring 29 and the line to port A is closed ver. To pilot the pressure compensator 18 , a proportional pressure valve 34 is provided which controls the pressure in the first control connection 29 and is supplied with pressure medium from the supply line 12 via a first throttle point 35 . A second throttle point 36 serves to relieve the hydraulic connection 24 when the continuation is loaded. The proportional pressure valve 34 is controlled by the control electronics 17 , for which the proportional magnet is connected to an output of the control electronics 17 .

In the drain line 14 , a proportional throttle valve 37 is switched, which is designed as a pilot-operated 2-way valve and leads to the tight shut-off of the motor 11 in a poppet valve type. With the proportional valve 37 , the volume flow in the drain line 14 can be controlled in proportion to an electrical input signal, for which purpose its proportional magnet is also connected to the control electronics 17 . The proportional valve 37 is a valve as it is explained in more detail in the older patent applications P 40 32 078.2 and P 40 30 952.5. This proportional throttle valve 37 has a characteristic line field in which the individual flow characteristics differ from one another depending on the pressure drop that occurs. In the diagram according to FIG. 3, such a characteristic field is shown in a simplified and schematic manner, with several flow characteristic curves 38 for the volume flow Q depending on the speed of the current signal L for several pressures, so that the control behavior of the proportional throttle valve 37 is recognizable in principle .

The control electronics 17 can be trained as a known microcomputer, in which the functions of a controller, a calculator and a table memory are integrated. The control electronics 17 has a setpoint input 41 at which the various values for a specific function of the motor 11 can be entered. Fer ner is stored in the table memory of the control electronics 17, the characteristic line field for the pressure-dependent different flow characteristic lines 38 (in FIG. 3) of the proportional throttle valve 37 in a manner known per se. The control electronics 17 also contains suitable means in its controller, with which not only the proportional magnets of proportional pressure valve 34 and proportional throttle valve 37 can be controlled, but also via which an electric motor 42 driving the constant pump 13 can be controlled.

As Fig. 2 shows in more detail, the pressure compensator 18 , the check valve 21 with the pressure-controlled orifice 22 , the pilot-controlling proportional pressure valve 34 , the proportional throttle valve 37 and the two pressure sensors 16 , 23 are combined in an electro-hydraulic control module 45 . The control module 45 has a cuboid housing 46 , on which these components are arranged and interconnected. The housing 46 has a between its two end faces 47 , 48 , multiple offset and penetrated by chambers longitudinal bore 49 in which the proportional throttle valve 37 , the pressure compensator 18 and the proportional pressure valve 34 are arranged coaxially with each other. Here, the proportional throttle valve designed as a cartridge valve in the seat construction is installed from the first end face 47 into the longitudinal bore 49 , while the control member 27 , designed as a hollow slide valve, the pressure balance 18 is installed into the longitudinal bore 49 from the second end face 48 . The longitudinal bore 49 is closed in the second end face 48 by the proportional pressure valve 34 , which pilot-controls the pressure compensator 18 . In the longitudinal bore 49 leads in the area between the proportional throttle valve 37 and the pressure compensator 18, a channel 51 which is connected to the inlet connection 19 . The inlet connection 19 is located in a narrow longitudinal side 52 of the cuboid housing 46 , in which the flow connection 25 is also arranged. A consumer connection 50 , which can be connected to the motor connection, and a tank connection 54 are formed in one of the first narrow longitudinal sides 52 opposite the second longitudinal side 53 of the housing 46 . The consumer connection 50 and the continuation connection 25 lie essentially in a plane extending perpendicular to the longitudinal bore 49 . In an extension of the consumer connection 50 , the check valve 21 and the pressure-controlled measuring orifice 22 are formed in the housing 46 , which have a common closing member 55 . The closing member 55 on the housing recess 56 is then formed in the shape of the union valve seat so that the orifice 22 reaches its linear flow characteristic in a manner known per se. The first pressure sensor 16 tapping the load pressure is installed in the first end face 47 above a proportional magnet 57 of the proportional throttle valve 37 . The pressure in the supply line 12 upstream of the orifice plate 22 tapping second pressure transducer 23 is installed in the second end face 48 so that it comes to lie above the proportional pressure valve 34 . Both pressure transducers 16 , 23 are thus essentially coaxial with one another and in an axis parallel to the longitudinal bore 49 . With this configuration of the control module 45 , essentially all electrohydraulic components can be arranged in a particularly compact and advantageous manner, the integration of the metering orifice 22 and the first check valve 21 being extremely advantageous.

The mode of operation of the control device 10 is explained as follows, reference being made to FIGS. 1 to 3.

If the control device 10 is in a so-called switching position neutral circulation, the magnet of the proportional pressure valve 34 is not energized and the valve itself is opened. The first Steueran circuit 29 of the pressure compensator 18 is thus relieved to the tank 15 . The pressure generated by the second check valve 26 in the inlet line 12 acts via the second control connection 32 on the control member 27 of the pressure compensator 18 and causes just such a large force on the control member 27 that it is against the force of the spring 28 in its working position 33rd is adjusted up to the stop. As a result, the connection to the motor connection 24 is blocked and the pressure medium delivered by the constant pump 13 flows from the inlet connection 19 to the further-running connection 25 . The continuation port 25 can be loaded with pressure. The electrohydraulic control device 10 can be used to control additional hydraulic motors in parallel. So that the section of the feed line 12 upstream of the orifice 22 is relieved, a connection to the tank 15 is provided via the second throttle point 36 . In this neutral circulation position, the magnet 57 of the proportional throttle valve 37 is not energized, so that this seat valve reliably shuts off the hydraulic motor 11 . Furthermore, in this neutral circulation position, the control electronics 17 can switch on the first pressure transducer 16 and thus use its electrical signals for any additional functions, for example for safety functions or for weighing a load which acts on the motor 11 .

If the neutral circulating current is also not required, the control electronics 17 can switch off the electric motor 42 , a load acting on the motor 11 being held hydraulically by the first check valve 21 and the proportional throttle valve 37 designed as a seat valve. Any pressure surges in the flow connection 25 are intercepted by the second check valve 26 .

For the function of lifting the hydraulic motor 11 , the electric motor 42 , the two pressure sensors 16 , 23 and the proportional pressure valve 34 are switched on or activated. The proportional throttle valve 37 is not energized and therefore blocks the drain line 14 to the tank 15 . On the control electronics 17 , a value is specified at the setpoint input 41 , the size of which is proportional to the size of the desired volume flow to the motor 11 . Via the control electronics 17, the proportional pressure valve 34 is energized, which now blocks the connection to the tank and throttles a control pressure in the first control terminal 29, which the control element ver slides 27 in an intermediate position, flow at the pressure medium via the supply line 12 to the engine. 11 This volume flow flows downstream of the pressure compensator 18 through the measuring orifice 22 , the pressure upstream from the second pressure sensor 23 and the pressure downstream from the first pressure sensor 16 being measured and passed on to the control electronics 17 . Therefore, in the control electronics 17, the aperture on the measuring 22 effective pressure gradient is determined resulting from the line aren flow characteristics of the metering orifice current 22, an associated volume can identify. The magnitude of this volume flow is compared with the target value at the input 41 and from the resulting difference value in the control electronics 17 such a current value for actuating the proportional pressure valve 34 is determined that this control deviation becomes zero. The orifice 22 is, as can be seen from Fig. 2, designed in the region of the housing recess 56 by a special profile of the bore so that there is a linear dependence of the volume flow Q on the pressure drop Δp he gives. In contrast to a parabolic flow characteristic of a fixed orifice, this straight-line flow characteristic of the measuring orifice 22 ensures that the volume flow can still be fine-tuned even with a very small value. The volume flow when lifting the hydraulic motor 11 can thus be kept independent of pressure changes at the constant pump 13 or in the continuation port 25 , so that an electronically lastkom compensated lifting function can be achieved.

For the lowering function of the hydraulic motor 11 , only the first pressure sensor 16 and the proportional throttle valve 37 are switched on or activated by the control electronics 17 . All other components are not controlled, at least as long as no additional hydraulic motors are actuated. The control electronics 17 is given a value proportional to the volume flow when lowering at the setpoint input 41 . The generated by the control electronics 17 he current signal opens the proportional throttle valve 37 so that a volume flow flows out of the motor 11 through the drain line 14 to the tank 15 . The respective load pressure of the engine 11 is reported by the first pressure sensor 16 to the control electronics 17 . As FIG. 3 shows in more detail, the proportional throttle valve 37 has different flow characteristics depending on the pressure. These flow characteristics 38 of the proportional throttle valve 37 are stored in the table memory of the control electronics 17 . In the control electronics 17, its computer takes the corresponding values of the flow characteristic from the table memory in accordance with the load pressure reported by the pressure transducer 16 , determines the deviation of the volume flow from the predetermined desired value and finally calculates a suitable current value for actuating the proportional throttle valve 37 , so that the Influence of the load pressure in the engine 11 is compensated. With the poppet valve 37 , an electronically load-compensated lowering can thus be achieved, a flawless fine control being possible. In addition, the motor 11 can also be lowered even if the force acting on it from the outside is very low and the pressure drop available for the volume flow control is therefore low. If the control electronics 17 fail, an emergency manual override 58 arranged on the proportional throttle valve 37 can be actuated, so that even then retracting the piston rod on the engine 11 is possible.

FIG. 4 shows a second electro-hydraulic control device 60 in a simplified representation, the direction from the first Steuerein 10 of FIG. 1 as distinguished follows, wherein the same for the same components reference numerals are used. In the second control device 60 , the parallel actuation of additional hydraulic motors is dispensed with, so that a 3-way pressure compensator according to FIG. 1 is omitted and a simpler construction is possible.

In the second control device 60 is upstream connected to the fixed displacement pump 13 connects with the hydraulic motor 11 inlet line 12 of the first check valve 21 and the orifice plate 22, a back pressure valve 61, which safeguards the pressure medium source. 13 Furthermore, the drain line 14 is connected downstream of the proportional throttle valve 37 and a third check valve 62 and downstream of the latter a proportional pressure valve 63 . The third check valve 62 secures the proportional throttle valve 37 . The proportional pressure valve 63 is designed here as a pilot-operated pressure valve that is normally open, that is, when the proportional magnet is not energized, the drain line 14 opens. Between the inlet line 12 and the outlet line 14 is a cross connection 64 create ge, which is designed here as a simple node. This cross connection 64 connects the throttle valve 61 located between the biasing and measurement section 22 of the feed line 12 to the lying between the third check valve 62 and proportional pressure valve 63 portion of the drain line fourteenth While the first pressure sensor 16 taps the load pressure in the motor 11 and reports corresponding signals to the control electronics 17 , a separate, second pressure sensor can be omitted. The function of the second pressure sensor 1 of Fig. Will also be taken over in the second controller 60 of the proportional pressure relief valve 63, can be from the drive signals of eg large pressure upstream determined in the drain line 14 from the proportio nalventil 63.

The mode of operation of the second control device 60 corresponds in essential functional sequences to the mode of operation of the first control device 10 according to FIG. 1, so that in the following reference is made primarily to the differences: in the second control device 60 , the neutral circulation function is omitted since there are no 3-way - Pressure compensator is available. In the function of holding the hydraulic motor 11 , neither the proportional throttle valve 37 nor the proportional pressure valve 63 is actuated by the control electronics 17 . The control electronics 17 has only switched on the first pressure sensor 16 in order to use its signals for additional functions.

In the lifting function of the hydraulic motor 11 , the electronic load pressure-compensated control is achieved in principle in a manner comparable to that of the first control device 10 according to FIG. 1. The driven by the control electronics 17 electric motor 42 generates a volume flow via the constant pump 13 , which flows through the pre-valve 61 and the orifice 22 to the motor 11 . The effective pressure drop across the orifice plate 22 is determined by reporting the load pressure in the engine 11 from the first pressure sensor 16 to the control electronics 17 , while the pressure upstream of the orifice plate 22 is determined indirectly from the control signal of the pilot-controlled pressure control valve 63 . The control electronics 17 can by a correspondingly large current signal with the help of the proportional pressure valve 63 throttle the discharge via the drain line 14 to the tank so far that a suitable pressure value is generated upstream of the measuring orifice 22 . The effective across the measuring throttle 22 pressure drop can thus be regulated to a constant value regardless of the load in the motor 11 so that a proportional to the size of the setpoint signal at the input 41 volume flow can be controlled independently of the load pressure to the motor 11 .

The function of lowering the hydraulic motor 11 in the second Steuerein device 60 is achieved in the same manner as in the first Steuerein device according to FIG. 1 by using the proportional throttle valve 37 and the first pressure sensor 16 in cooperation with the electronic control unit 17 an electronic Last compensated lowering is achieved, in which the volume flow flows via the drain line 14 to the tank. Since the proportional pressure valve 63 is designed as a normally open valve, it does not need to be actuated by the control electronics 17 when lowering. Before the tension valve 61 prevents the volume flow when flowing to the pressure medium source 13 can flow.

With the second control device 60 , a good, linear fine controllability can be achieved with a relatively simple structure.

FIG. 5 shows a third electro-hydraulic control device 70, which differs from the second control device 60 of FIG. 4 as follows, in which like reference for the same components are used characters.

In the third control device 70 , a proportional throttle valve 71 is used instead of the orifice plate 22 according to FIG. 4, which is designed as a double-tight seat valve and in which the radio tion of the third check valve 62 is thus integrated. Through the use of such a double density proportional throttle valve 71 the outlet line 14 branches off in the region between pressurizing valve 61 and proportional throttle valve 71 from the inlet line 12, and via the normally open proportional pressure valve 63 to the tank 15 °.

The operation of the third control device 70 largely corresponds to that of the second control device according to FIG. 4, wherein in the function of holding the hydraulic motor 11 only the signals of the first pressure transducer 16 in the control electronics 17 are used, while the proportional throttle valve 71 and the pressure control valve 63 are not controlled.

When lifting the control electronics 17 in addition to the first pressure sensor 16, the proportional throttle valve 71 and the proportional pressure valve 63 are controlled or switched on. The Proporio naldrosselventil 71 can take over the function of the measuring throttle, via which, with the help of the proportional pressure valve 63, the pressure differential which is effective because it is kept constant, so that a load-compensated lifting is possible.

When lowering the hydraulic motor 11 , the procedure is the same as for the second control device 60 according to FIG. 4, the flow characteristics stored in the control electronics 17 being used to control the proportional throttle valve 71 depending on the pressure signal of the pressure sensor 16 so that the influence of the respective load pressure is compensated. The normally open proportional pressure valve 63 is not controlled by the control electronics 17 .

With the third control device 70 , an electro-nically load-compensated lifting and lowering function can thus be achieved, a double-tight seat valve 71 ensuring a perfect seal of the lifted load on the consumer 11 . The third Steuerein direction 70 comes out advantageously with a single throttle valve 71 .

Fig. 6 shows a fourth electrohydraulic control device 80, which differs from the first control device 10 of FIG. 1 as follows, wherein the same for the same components are used reference numerals. The fourth control device 80 comes out for the two functions of lifting and lowering with a single proportional throttle valve 37 , which is for this purpose in a hydraulic rectifier circuit 81 which consists of hydraulic full bridge 82 and four check valves 83 and a bridge diagonal 84 , into which the proportional throttle valve 37 is switched. In the arrangement of the check valves 83 shown , the branches 85 , 86 of the full bridge 82 form parts of the feed line 12 . In a corresponding manner, the other branches 87 and 88 form parts of the drain line 14 . With the help of the pressure transducers 16 , 23 , the pressure difference occurring via the proportional throttle valve 37 is tapped, the first pressure transducer 16 in turn averaging the load pressure in the engine 11 . The second pressure sensor 23 determines the pressure downstream of the proportional throttle valve 37 when lifting and when lowering. A proportional pressure valve 89 is connected downstream from a sum point 91 to the run side into the drain line 14 . The proportional pressure valve 89 is designed here as a normally closed valve. Furthermore, a further run connection 92 branches from the summation point 91 .

The operation of the fourth control device 80 is comparable to that of the first control device 10 according to FIG. 1, as when lifting and lowering an electronically load-compensated control of the hydraulic motor 11 is possible and that in addition 92 additional hydraulic motors can be operated in parallel via the continuation connection are. While in the first control device 10 according to FIG. 1, the electronic load compensation using the characteristic curve field stored in the control electronics 17 of the flow characteristic curves of the proportional throttle valve 37 is carried out only for the function sinks, in the fourth control device 80 this type of load compensation is also carried out for the lifting function is used.

In the case of a pure function of holding the hydraulic motor 11 , the control electronics 17 need not control a valve and only receives load-dependent signals from the first pressure sensor 16 .

In the lifting function, the control electronics 17 in addition to the two pressure transducers 16 and 23 activates the proportional throttle valve 37 lying in the bridge diagonal 84 and works in the manner described so that the volume flow flowing from the constant pump 13 to the motor 11 is electronically load compensated. When lifting the designed as a normally closed proportional pressure valve 89 is not controlled by the control electronics 17 .

When lowering, in addition to the components activated by the control electronics 17 during lifting, the proportional pressure valve 89 is controlled or opened, so that pressure medium can be relieved via the drain line 14 to the tank 15 . Depending on requirements, the constant pump 13 can be switched on or off.

As a comparable function can New be driven tralumlauf in the first controller 10 of FIG. 1 also in the fourth control unit 80, when is switched on fixed displacement pump 13 and the normally closed proportional pressure valve 89 of the ge promoted flow further in the overrun terminal 92 for operating the hydraulic motors is directed. The proportional throttle valve 37 is not energized and, together with the check valves 83, hydraulically shuts off the motor 11 .

Of course, changes are made to the embodiments shown possible without departing from the spirit of the invention.

Claims (19)

1.Electro-hydraulic control device for load-compensated control of a hydraulic motor, with a pressure medium source and a motor connected, electrically controllable, pre-controlled and proportionally working valve means, an electro-hydraulic pressure sensor for receiving the load pressure in the motor and with control electronics for forming a control signal for the valve, characterized in that the valve means are formed as a 2-way proportional throttle valve ( 37 ; 71 ) in the poppet valve type that in the control electronics ( 17 ) a characteristic field of the proportional throttle valve ( 37 ; 71 ) with its pressure-dependent variable flow characteristics ( 38 ) is stored, with the help of which the control electronics ( 17 ) from the input setpoint signal at the input ( 41 ) forms a load compensation effecting control signal for the proportional throttle valve and that the control electronics ( 17 ) with a proportional pressure valve ( 34 ; 63 ; 89 ) is actively connected.
2. Electro-hydraulic control device according to claim 1, characterized in that the control electronics ( 17 ) with a second signal from a pressure-dependent component ( 23 ; 63 ) is supplied to determine an effective pressure difference.
3. Electro-hydraulic control device according to claim 1, characterized in that the proportional throttle valve ( 37 ) in a running between the motor ( 11 ) and tank ( 15 ) running drain line ( 14 ) is switched and between the motor ( 11 ) and pressure medium source ( 13 ) an inlet line ( 12 ) runs into which a proportional pressure valve ( 34 ) pilot operated pressure compensator ( 18 ) and downstream of it a motor ( 11 ) securing check valve ( 21 ) and a pressure-controlled orifice plate ( 22 ) are connected, that the pressure-dependent component for the second signal is a second pressure transducer ( 23 ) which, together with the first pressure transducer ( 16 ), determines the pressure drop occurring via the measuring orifice ( 22 ) ( FIG. 1).
4. Electro-hydraulic control device according to claim 3, characterized in that the measuring orifice ( 22 ) has a substantially linear flow characteristic.
5. Electro-hydraulic control device according to claim 3 or 4, characterized in that the pressure compensator ( 18 ) is designed as a 3-way valve with a continuation connection ( 25 ) and has a basic position ( 31 ) centered by a spring ( 28 ) , in which the connections from the inlet connection ( 19 ) to the outlet connection ( 25 ) are blocked and open to a motor connection ( 24 ) and from the inlet pressure against the force of the spring ( 28 ) and a control pressure in it Control connection ( 29 ) can be deflected into a working position ( 33 ) in which this connection to the continuation connection ( 25 ) controls up and the connection to the motor connection ( 24 ) is deactivated.
6. Electro-hydraulic control device according to one of claims 3 to 5, characterized in that the hydraulic connection of the second pressure sensor ( 23 ) with the inlet line ( 12 ) between the pressure compensator ( 18 ) and check valve ( 21 ) is connected and via a throttle point ( 36 ) communicates with the tank ( 15 ).
7. Electro-hydraulic control device according to claim 1 or 2, characterized in that the proportional throttle valve ( 37 ) in a between the motor ( 11 ) and tank ( 15 ) extending drain line ( 14 ) is switched GE and that between the motor ( 11 ) and pressure medium source ( 13 ) an inlet line ( 12 ) runs into which a motor ( 11 ) from securing check valve ( 21 ) and a pressure-controlled measuring orifice ( 22 ) are connected, that in the inlet line ( 12 ) upstream of the check valve ( 21 ) a biasing valve ( 61 ) is switched and in the drain line ( 14 ) downstream of the proportional throttle valve ( 37 ) there is a third, the latter securing check valve ( 62 ) and the proportional pressure valve ( 63 ) and that of the supply line ( 12 ) between the biasing valve ( 61 ) and Measuring orifice ( 22 ) branches off a cross-connection ( 64 ), which in the area between the third check valve ( 62 ) and proportional pressure valve ( 63 ) in the drain itung ( 14 ) leads ( Fig. 4).
8. Electro-hydraulic control device according to claim 7, characterized in that the measuring orifice ( 22 ) has a substantially linear flow characteristic.
9. Electrical control device according to claim 7 or 8, characterized in that the proportional pressure valve ( 63 ) is designed as a pilot valve and its control signal forms the second signal for determining the effective pressure difference.
10. Electro-hydraulic control device according to claim 1 or 2, characterized in that the 2-way proportional throttle valve ( 71 ) is designed as a double-tight seat valve and in the supply line ( 12 ) running between the motor ( 11 ) and pressure medium source ( 13 ), in the between the proportional throttle valve ( 71 ) and the pressure medium source ( 13 ) a biasing valve ( 61 ) is switched that from the inlet line ( 12 ) between the proportional throttle valve ( 71 ) and the biasing valve ( 61 ) branches off the outlet line ( 14 ) and via the proportional pressure valve ( 63 ) leads to the tank ( 15 ) and that in the control electronics ( 17 ) the flow characteristic lines of the proportional throttle valve ( 71 ), in particular for both flow directions, are stored and signals are used to form the control signals ( FIG. 5).
11. Electro-hydraulic control device according to claim 1 or 2, characterized in that in the from the pressure medium source ( 13 ) to the engine ( 11 ) leading inlet line ( 12 ) a hydraulic rectifier circuit ( 81 ) with full bridge ( 82 ) and check valves ( 83 ) switched is, in whose bridge diagonal ( 84 ) is the 2-way proportional throttle valve ( 27 ), and that from the inlet line ( 12 ) upstream from the rectifier circuit ( 81 ) branches off the outlet line ( 14 ) and via the proportional pressure valve ( 89 ) to the tank ( 15 ) is guided ( Fig. 6).
12. Electro-hydraulic control device according to claim 11, characterized in that at the branch point ( 91 ) of the drain line ( 14 ) branches in addition a continuation line ( 92 ) to additional hydraulic motors.
13. Electro-hydraulic control device according to claim 11 or 12, characterized in that a pressure transducer ( 16 , 23 ) is connected to both corner points of the bridge diagonal ( 84 ).
14. Electro-hydraulic control device according to one or more of claims 3 to 6, characterized in that the proportional throttle valve ( 37 ), the proportional pressure valve ( 34 ) with the pilot operated pressure compensator ( 18 ), the pressure-controlled orifice plate ( 22 ) and the two pressure transducers ( 16 , 23 ) are arranged in a common housing ( 46 ), in which the proportional throttle valve ( 37 ), the proportional pressure valve ( 34 ) and the pressure compensator ( 18 ) are arranged coaxially to one another, while the measuring orifice ( 22 ) is arranged in a perpendicular thereto Level lies.
15. Electro-hydraulic control device according to claim 14, characterized in that the housing ( 46 ) is cuboid and in a longitudinal bore ( 49 ) extending between two end faces ( 47 , 48 ) receiving the pressure compensator ( 18 ), while on the first end face ( 47 ) the proportional throttle valve ( 37 ) in the longitudinal bore ( 49 ) and the first the load pressure in a consumer connection ( 50 ) tapping pressure transducers ( 16 ) are installed, while on the other end face ( 48 ) the proportional pressure valve ( 34 ) and the second Pressure transducers ( 23 ) are installed, and that on a narrow longitudinal side ( 52 ) the inlet connection ( 29 ) and the further connection ( 25 ) and on the other narrow longitudinal side ( 53 ) of the housing ( 46 ) the consumer connection ( 50 ) and the tank connection ( 54 ) are arranged.
16. Electro-hydraulic control device according to one or more of claims 1 to 15, characterized in that the motor ( 11 ) is a single-acting lifting cylinder.
17. Electro-hydraulic control device according to claim 16, characterized in that the pressure medium source is an electro-hydraulic pump ( 13 , 42 ), in particular constant pump ( 13 ), which is controlled by the control electronics ( 17 ).
18. Electro-hydraulic control device according to one of claims 1 to 17, characterized by its use for a hoist, ins especially in an electric stacker.  
19. Electro-hydraulic control device according to one or more of claims 1 to 9 and 14 to 18, characterized in that the first check valve ( 21 ) and the metering orifice ( 22 ) have an integrated design and have a common closing member ( 55 ).
DE19914140409 1991-12-07 1991-12-07 Electrohydraulic control device Withdrawn DE4140409A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19914140409 DE4140409A1 (en) 1991-12-07 1991-12-07 Electrohydraulic control device

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19914140409 DE4140409A1 (en) 1991-12-07 1991-12-07 Electrohydraulic control device
EP92118374A EP0546300B1 (en) 1991-12-07 1992-10-28 Electrohydraulic control system
DE1992505956 DE59205956D1 (en) 1991-12-07 1992-10-28 Electro-hydraulic control device

Publications (1)

Publication Number Publication Date
DE4140409A1 true DE4140409A1 (en) 1993-06-09

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DE (1) DE4140409A1 (en)

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DE19542129A1 (en) * 1995-11-11 1997-05-15 Rexroth Mannesmann Gmbh Hydraulic device to control flow of hydraulic fluid
DE19716442A1 (en) * 1997-04-20 1998-10-22 Eckehart Schulze Hydraulic installation on a forklift vehicle
EP0990802A2 (en) 1998-09-30 2000-04-05 Robert Bosch Gmbh Electrohydraulic speed control device for an hydraulic lifting cylinder
DE19923345A1 (en) * 1999-05-21 2000-11-23 Mannesmann Rexroth Ag Electrohydraulic control device for hydraulic lifting cylinder has pressure balancing device coupled to pressure medium recycling line with its valve body acted on by spring with variable equivalent pressure
DE10330869A1 (en) * 2003-07-09 2005-02-17 Hydac System Gmbh Hydraulic system
DE102010005146A1 (en) * 2010-01-19 2011-07-21 KONECRANES Lifting Systems GmbH, 40789 Mobile transport or handling device for receiving and transporting silicon crystals drawn from silicon smelter, has units for controlling switching states of switchable valve arrangement proportional to force of load-bearing capacity device
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DE4322355A1 (en) * 1993-07-05 1995-01-12 Rexroth Mannesmann Gmbh SHR/EHR system for lifting mechanisms
DE19542129A1 (en) * 1995-11-11 1997-05-15 Rexroth Mannesmann Gmbh Hydraulic device to control flow of hydraulic fluid
DE19716442A1 (en) * 1997-04-20 1998-10-22 Eckehart Schulze Hydraulic installation on a forklift vehicle
EP0990802A2 (en) 1998-09-30 2000-04-05 Robert Bosch Gmbh Electrohydraulic speed control device for an hydraulic lifting cylinder
DE19923345A1 (en) * 1999-05-21 2000-11-23 Mannesmann Rexroth Ag Electrohydraulic control device for hydraulic lifting cylinder has pressure balancing device coupled to pressure medium recycling line with its valve body acted on by spring with variable equivalent pressure
DE10023583B4 (en) * 2000-05-13 2012-05-24 Robert Bosch Gmbh Electrohydraulic lowering module
DE10127904B9 (en) * 2001-06-08 2013-01-17 Linde Material Handling Gmbh Control valve means
DE10127904B4 (en) * 2001-06-08 2012-06-14 Linde Material Handling Gmbh Control valve means
DE10330869A1 (en) * 2003-07-09 2005-02-17 Hydac System Gmbh Hydraulic system
DE102009021323B4 (en) 2008-05-15 2018-10-31 Parker Hannifin Ab Electrohydraulic controller system
DE102010005146A1 (en) * 2010-01-19 2011-07-21 KONECRANES Lifting Systems GmbH, 40789 Mobile transport or handling device for receiving and transporting silicon crystals drawn from silicon smelter, has units for controlling switching states of switchable valve arrangement proportional to force of load-bearing capacity device
CN102753841A (en) * 2010-08-18 2012-10-24 川崎重工业株式会社 Electro-hydraulic drive system for a work machine
CN102753841B (en) * 2010-08-18 2014-11-19 川崎重工业株式会社 Electro-hydraulic drive system for a work machine
DE102013206319A1 (en) * 2013-04-10 2014-10-16 Deere & Company Lifting device
DE102017008359A1 (en) * 2017-09-06 2019-03-07 Hydac Fluidtechnik Gmbh Valve
DE102018209856A1 (en) * 2018-06-19 2019-12-19 Zf Friedrichshafen Ag Control of a fluid valve

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EP0546300A1 (en) 1993-06-16

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