EP0230884B1 - Dispositif de levage hydraulique - Google Patents

Dispositif de levage hydraulique Download PDF

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Publication number
EP0230884B1
EP0230884B1 EP87100211A EP87100211A EP0230884B1 EP 0230884 B1 EP0230884 B1 EP 0230884B1 EP 87100211 A EP87100211 A EP 87100211A EP 87100211 A EP87100211 A EP 87100211A EP 0230884 B1 EP0230884 B1 EP 0230884B1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
lifting
generator
control
load
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.)
Expired - Lifetime
Application number
EP87100211A
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German (de)
English (en)
Other versions
EP0230884A3 (en
EP0230884A2 (fr
Inventor
Martin Schmid
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.)
STEINBOCK BOSS GMBH
Original Assignee
STEINBOCK BOSS 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 STEINBOCK BOSS GmbH filed Critical STEINBOCK BOSS GmbH
Priority to AT87100211T priority Critical patent/ATE94149T1/de
Publication of EP0230884A2 publication Critical patent/EP0230884A2/fr
Publication of EP0230884A3 publication Critical patent/EP0230884A3/de
Application granted granted Critical
Publication of EP0230884B1 publication Critical patent/EP0230884B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Definitions

  • the invention relates to a hydraulic hoist for a battery-powered industrial truck with a hydraulic lifting cylinder, with a hydraulic pump operating in the lifting operation as a pump, loading the lifting cylinder with pressure medium and working in the load lowering mode as a motor, driven by the pressure medium pushed out of the lifting cylinder, with a hydraulic unit coupled DC machine working in load lifting mode as an electric motor and in load lowering mode as a generator, with a useful brake circuit fed by the direct current machine in the lowering mode, with a control valve arrangement in the pressure medium path between the hydraulic cylinder and the hydraulic unit and with a hoist control controlling the useful brake circuit and the control valve arrangement.
  • a hydraulic hoist of this type is known from DE-A-20 14 605.
  • the pump charging the hydraulic lifting cylinder with hydraulic fluid for lifting the load is driven by a direct current shunt motor fed from the battery of the vehicle.
  • the pump is a rotary lobe pump, the flow rate of which can be changed continuously from pump operation to motor operation by adjusting a control element.
  • the pump is operated as a hydraulic motor, which drives the shunt motor which works as a generator in the service brake mode.
  • the potential charging energy of the raised load is thus converted into electrical energy that charges the battery when the load is lowered in the service brake mode.
  • the lowering speed of the load is determined by the braking torque generated by the generator. Since the generator does not generate any braking torque when it is at a standstill, a controllable check valve is connected between the hydraulic motor and the hydraulic cylinder, which in the locked state blocks the flow of hydraulic fluid from the hydraulic cylinder to the hydraulic motor locks. When the load is lowered from a standstill, the shut-off valve is opened. In conventional hoists of the type in question, the load then sags under acceleration of the generator until the generator generates a counter torque sufficient to hold the load.
  • a hydraulic hoist is known, the hydraulic pump, which is dimensioned for a constant flow rate, is driven by a cage induction motor.
  • the load lifting operation and the load lowering operation are controlled by separate controllable throttle valves which allow the lifting operation and the lowering operation to be carried out gradually, i.e. start and end smoothly.
  • the induction motor works as a generator and is driven by the pump that acts as a motor.
  • control valve arrangement has a proportional valve that the hoist control opens the proportional valve according to a ramp function during load operation and, depending on the output current of the DC machine operating as a generator, switches the useful brake circuit effectively if the generator output current exceeds a predetermined value, and that the hoist control comprises a speed control device influencing the excitation current of the direct current machine working as a generator, by means of which the speed of the hydraulic unit can be regulated to a specifiable setpoint in load-lowering mode.
  • the load is first throttled down via the proportional valve with increasing pressure medium throughput.
  • the lowering speed is determined by the proportional valve.
  • the hoist control monitors the output current of the DC machine working as a generator and switches on the useful brake circuit for electrical braking of the lowering movement as soon as a sufficient braking torque is exerted on the hydraulic motor due to the generator operation. This type of control prevents the load from initially sagging during the transition to lowering mode.
  • the proportional valve is opened completely.
  • the lowering speed is kept at a desired setpoint by conventional regulation of the excitation of the DC machine.
  • the lowering speed can be selected enlarged, but in particular also compared to the speed value at which the transition to electric braking takes place.
  • the stroke value control can comprise an additional speed control device which keeps the excitation of the DC machine at a predetermined speed setpoint depending on a speed sensor that detects its speed.
  • the lowering speed of the load can be varied within wide limits. By regulating the excitation of the DC machine, the lowering speed can be reduced to almost zero.
  • the proportional valve is closed according to a ramp function when approaching the standstill, so that shutdown shocks are avoided.
  • control valve arrangement arranged between the hydraulic unit and the hydraulic cylinder, this comprises two check valves opening in opposite directions in series with the proportional valve, which are bridged by magnetic check valves.
  • a third check valve that opens in the lifting direction bridges the proportional valve.
  • the lifting cylinder 1 shows a hydraulic lifting cylinder 1, the piston 3 of which is able to raise or lower lifting means (not shown in more detail) of a battery-powered industrial truck, for example a forklift or the like.
  • the lifting cylinder 1 is connected via a control valve arrangement, generally designated 5, to a reversible hydraulic motor 7, which can thus be operated as a pump, for example a gear motor.
  • the hydraulic motor 7 is coupled to a direct current machine 9 which can be operated both as a motor and as a generator, the excitation of which can be regulated both in motor operation and in generator operation by a hoist control generally designated 11.
  • the DC machine 9 is connected to an accumulator or a battery 15 via a thyristor controller 13.
  • the hoist control 11 responds to the excitation of the DC machine by means of a sensor 17 and controls the thyristor circuit 13 operating in chopper mode in such a way that a predetermined value of the excitation, which is selectable via the hoist control 11, and thus a predetermined value of the torque of the DC machine 9 are maintained can.
  • a speed sensor 19 is also coupled to the shaft of the hydraulic motor 7 and outputs a signal corresponding to the speed of the hydraulic motor 7 to the hoist control 11.
  • the hoist control 11 comprises control means which, depending on the determined speed, influence the excitation of the DC machine 9 via the thyristor control 13 in such a way that a predetermined target speed can be maintained both in motor operation and in generator operation. Since the speed of the hydraulic motor is proportional to the pressure medium throughput, the lifting or lowering speed of the piston 3 can be regulated in this way.
  • the DC machine 9 operates as a motor and drives the hydraulic motor 7 in a direction of rotation in which the hydraulic fluid is conveyed from a tank 21 into the hydraulic cylinder 1 via the control valve arrangement 5 becomes.
  • a pressure relief valve 23 connected to the outlet of the hydraulic motor 7 limits the outlet pressure.
  • the hoist control 11 controls the motor excitation so that the speed of the hydraulic motor 7 working as a pump and thus the stroke speed of the piston 3 has a predetermined value.
  • the piston 3 loaded with the load drives the hydraulic fluid back into the tank 21 via the control valve arrangement 5.
  • the hydraulic motor 7 operates in motor mode and drives the DC machine 9, which works as a generator.
  • the armature circuit of the DC machine 9 is connected to the battery 15 via a useful brake switching stage 25.
  • the useful brake switchover stage allows the useful braking of the direct current machine 9 when the generator is in operation, at least part of the current generated by the generator being used to charge the battery 15.
  • the excitation of the DC machine 9 is controlled via the thyristor controller 13 so that the generator exerts a predetermined braking torque on the hydraulic motor 7 and, moreover, the hydraulic motor 7 is kept at a predetermined speed in accordance with a predetermined load lowering speed.
  • the control valve arrangement 5 comprises two solenoid valves 27, 29 which are arranged in series with one another and a proportional valve 31 which is likewise connected in series.
  • the normally closed solenoid valve 27 comprises a check valve 33 which opens in the lowering flow direction of the hydraulic fluid in a shunt path to its closed position.
  • the solenoid valve 29 is normally also closed and has a check valve 35 which opens in the load lifting flow direction of the hydraulic fluid in a shunt path to its closed position.
  • a further check valve 37 is arranged in a bypass line to the proportional valve 31.
  • the solenoid valves 27, 29 and the proportional valve 31 are controlled by the hoist control 11.
  • the hoist control 11 is expediently designed as a microprocessor control and comprises a central arithmetic unit 39 with an input circuit 41, an output circuit 43 and a program and data memory 45 to. At operating level 47, you can switch between lifting and lowering, and the set speed for lifting and lowering can be set.
  • the input circuit 41 is also fed back feedback data from the useful brake switch stage 25 and the thyristor control 13 and data about the state of charge of the battery 15. If the data are in analog form, they are converted into digital data in the input circuit 41.
  • the output circuit 43 controls the chopper operation of the thyristor control 13 and the switching operation of the useful brake switching stage 25.
  • the output circuit 43 also generates control signals for the excitation of the solenoid valves 27, 29 and the proportional valve 31.
  • An error indicator 49 is also connected to the output circuit 43 for Generation of alarm and fault signals.
  • the speed control means can also be omitted, so that the excitation of the DC machine 9 in generator or motor operation is kept at a desired value without taking into account the actual speed.
  • a sensor responding to the motor voltage can also be provided for determining the actual value of the excitation of the DC machine 9.
  • FIG. 2a shows the time course of the control signal M29 output by the hoist control 11 to the solenoid valve 29.
  • the time course of the control signal M31 output to the proportional valve 31 is shown in FIG. 2b.
  • 2c shows the time profile of the excitation current I G of the sliding current machine 9 operating in generator mode.
  • the command for lowering the load is given at operating level 47 at a predetermined lowering speed.
  • the hoist control 11 opens the solenoid valve 29 and generates a ramp signal 51, which opens the proportional valve 31 steadily.
  • the lowering speed is determined by the opening cross section of the proportional valve 31, which increases according to the ramp signal.
  • the useful brake switching stage 25 is deactivated. As soon as the armature current of the direct current machine 9 determined by the hoist control 11 via the sensor 17 is sufficient to hold the load on the piston 3 by the braking torque of the generator, the useful brake operation is switched on via the useful brake switching stage 25 and the proportional valve 31 is completely opened. In Fig. 2c, the switching current I0 is reached at time t1.
  • the speed of the hydraulic motor 7 is regulated via the excitation of the direct current machine 9 to the setpoint set at operating level 47, the setpoint being able to be varied in the course of the lowering speed, as shown in FIG. 2c for the time t 2 .
  • the hoist control 11 not only allows a jerk-free start of the load lowering operation, but also the jerk-free termination. If the setpoint of the lowering speed is set to zero via the operating stage 47 at the time t 3, the lowering speed is first reduced by electrical control of the direct current machine 9 to a value close to standstill.
  • the hoist control 11 generates a proportional valve 31 that closes continuously Ramp signal 53.
  • the solenoid valve 29 is also closed at time t4 when the proportional valve 31 is closed.
  • FIG. 3 shows a preferred exemplary embodiment of a useful brake circuit for a direct current series machine with an armature 63 connected in series with a field winding 61.
  • the field winding 61 is connected via a thyristor 65 to the positive pole of a battery 67.
  • the armature 63 is connected via a current sensor 69 corresponding to the sensor 17 from FIG. 1, for example a shunt resistor, to a control switch 71 which connects the armature 63 to the negative pole of the battery 67.
  • a control circuit 73 which comprises a conventional quenching circuit for the thyristor 65, controls the thyristor 65 in chopper mode and determines the pulse duration and the pulse period of the current flowing through the field winding 61 and the armature 63.
  • the current detected by the sensor 69 is kept at a setpoint which can be predetermined at 75.
  • 77 shows a freewheeling diode connected in parallel with the field winding 61, as is used for conventional thyristor suppressor circuits.
  • the switch 71 In load lifting operation, the switch 71 is closed and the pulsed motor current flows via the thyristor 65, the field winding 61, the armature 63, the sensor 69 and the switch 71.
  • a service brake circuit is activated by opening switch 71.
  • the useful brake circuit comprises a diode 79 connected with its cathode to the positive pole of the battery 67 and with its anode via the sensor 69 to the armature 63.
  • the diode 79 is the series circuit comprising the thyristor 65, the field winding 61, the armature 63 and the sensor 69 connected in parallel.
  • the anode of the diode 79 is connected to the anode of a further diode 81, the cathode of which is connected via a resistor 83 to the negative pole of the battery 67.
  • Resistor 83 is a Capacitor 85 connected in parallel.
  • the switch 71 forms a short-circuit switch to the series circuit comprising the diode 81 and the resistor 83. While the connection point 87 is kept at the potential of the negative pole of the battery 67 via the closed switch 71 in the load-lifting mode, the potential at the point 87 can be opened when the load-lowering mode is in operation Due to the generator voltage generated by the armature 63, the switch 71 increases to a value whose potential is greater than the potential at the positive pole of the battery 67. The diode 79 thereby becomes conductive and a charging current flows into the battery 67. The field winding 61 is excited controllable via thyristor 65 even in this operating state.

Claims (5)

  1. Dispositif de levage hydraulique pour un chariot de manutention fonctionnant sur batterie, comportant un vérin hydraulique (1), comportant un groupe hydraulique (7) fonctionnant comme une pompe en levage de charge, alimentant le vérin (1) en fluide sous pression et fonctionnant comme un moteur en descente de charge, entrainé par le fluide sous pression chassé du vérin (1), comportant une machine à courant continu (9) accouplée au groupe hydraulique (7), fonctionnant comme un moteur électrique en levage de charge et fonctionnant comme une génératrice en descente de charge, comportant un circuit de freinage par récupération (25 ; 79) alimenté par la machine à courant continu (9) en descente de charge, comportant un dispositif à vanne-pilote (5) dans le parcours de fluide sous pression entre le verin hydraulique (1) et le groupe hydraulique (7) et comportant une commande de dispositif de levage (11) commandant le circuit de freinage par récupération (25 ; 79) et le dispositif à vanne-pilote (5), caractérisé en ce que le dispositif à vanne-pilote (5) comporte une vanne proportionnelle (31), en ce que la commande de dispositif de levage (11) ouvre la vanne-pilote (31), en descente de charge, suivant une fonction linéaire et active le circuit de freinage par récupération (25 ; 79) en fonction du courant de sortie de la machine à courant continu (9) fonctionnant comme une génératrice, lorsque le courant de sortie de la génératrice dépasse une valeur prédéterminée et en ce que la commande de dispositif de levage (11) comprend un dispositif de régulation de la vitesse de rotation (19, 39), influençant le courant d'excitation de la machine à courant continu (9) fonctionnant comme une génératrice, au moyen duquel la vitesse de rotation du groupe hydraulique (7) en descente de charge peut être réglée sur une valeur de consigne donnée.
  2. Dispositif de levage hydraulique selon la revendication 1, caractérisé en ce que la commande de dispositif de levage (11) ferme la vanne proportionnelle (31) suivant une fonction linéaire, lors du passage de la descente de charge à l'arrêt.
  3. Dispositif de levage hydraulique selon la revendication 1 ou 2, caractérisé en ce que le dispositif à vanne-pilote (5) comporte trois clapets de non-retour (33, 35, 37) montés en série entre le vérin de levage (1) et le groupe hydraulique (7), dont le premier clapet de non-retour (33) s'ouvre dans le sens d'écoulement en descente du fluide sous pression et le deuxième clapet de non-retour (35) ainsi que le troisième clapet de non-retour (37) s'ouvrent dans le sens d'écoulement au levage du fluide sous pression, en ce que le dispositif à vannepilote (5) comporte en outre deux vannes électromagnétiques (27, 29) normalement fermées, ouvertes par la commande de dispositif de levage (11), dont la première vanne électromagnétique (27) est montée en dérivation par rapport au premier clapet de non-retour (33) et est ouverte en descente de charge et la deuxième vanne électromagnétique (29) est montée en dérivation par rapport au deuxième clapet de non-retour (35) et est ouverte en descente de charge et en ce que la vanne proportionnelle (31) est montée en dérivation par rapport au troisième clapet de non-retour (37).
  4. Dispositif de levage hydraulique selon l'une des revendications 1 à 3, caractérisé en ce que le groupe hydraulique est conçu comme un moteur à engrenages (7) réversible, pouvant fonctionner comme une pompe.
  5. Dispositif de levage hydraulique selon l'une des revendications 1 à 4, caractérisé en ce que la machine à courant continu est conçue sous la forme d'un moteur-série (61, 63), pouvant fonctionner comme une génératrice.
EP87100211A 1986-01-28 1987-01-09 Dispositif de levage hydraulique Expired - Lifetime EP0230884B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87100211T ATE94149T1 (de) 1986-01-28 1987-01-09 Hydraulisches hubwerk.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19863602510 DE3602510A1 (de) 1986-01-28 1986-01-28 Hydraulisches hubwerk
DE3602510 1986-01-28

Publications (3)

Publication Number Publication Date
EP0230884A2 EP0230884A2 (fr) 1987-08-05
EP0230884A3 EP0230884A3 (en) 1990-05-16
EP0230884B1 true EP0230884B1 (fr) 1993-09-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP87100211A Expired - Lifetime EP0230884B1 (fr) 1986-01-28 1987-01-09 Dispositif de levage hydraulique

Country Status (4)

Country Link
US (1) US4723107A (fr)
EP (1) EP0230884B1 (fr)
AT (1) ATE94149T1 (fr)
DE (2) DE3602510A1 (fr)

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Also Published As

Publication number Publication date
ATE94149T1 (de) 1993-09-15
DE3602510C2 (fr) 1989-03-02
US4723107A (en) 1988-02-02
DE3787292D1 (de) 1993-10-14
DE3602510A1 (de) 1987-07-30
EP0230884A3 (en) 1990-05-16
EP0230884A2 (fr) 1987-08-05

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