EP0528103A1 - Electrohydraulic actuator - Google Patents

Electrohydraulic actuator Download PDF

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Publication number
EP0528103A1
EP0528103A1 EP92104566A EP92104566A EP0528103A1 EP 0528103 A1 EP0528103 A1 EP 0528103A1 EP 92104566 A EP92104566 A EP 92104566A EP 92104566 A EP92104566 A EP 92104566A EP 0528103 A1 EP0528103 A1 EP 0528103A1
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EP
European Patent Office
Prior art keywords
piston
main piston
pilot valve
electro
displacement
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.)
Granted
Application number
EP92104566A
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German (de)
French (fr)
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EP0528103B1 (en
EP0528103B2 (en
Inventor
Detlef Tolksdorf
Gerd Pidde
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Gft Gesellschaft fur Hydraulik-Technologie GbR
Original Assignee
Pidde Gerd
Tolksdorf Detlef
O&K Orenstein and Koppel GmbH
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Application filed by Pidde Gerd, Tolksdorf Detlef, O&K Orenstein and Koppel GmbH filed Critical Pidde Gerd
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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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F15B13/0435—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being sliding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B13/0402—Valve members; Fluid interconnections therefor for linearly sliding valves, e.g. spool valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F15B13/0433—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being pressure control valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/16—Special measures for feedback, e.g. by a follow-up device

Definitions

  • the invention relates to an electro-hydraulic control unit, in particular for controlling construction machines, with a displaceable main piston, on the two end faces of which a control chamber is provided, which can be acted upon or relieved of pressure medium by means of electro-magnetically actuatable control means.
  • a generic electro-hydraulic actuating unit which has a displaceable piston-like part, in particular a control slide, on the two end faces of which a control chamber is arranged, which can be acted upon by control means for moving the part with pressure medium or is relieved.
  • the control means is an electro-magnetically actuable control valve which is assigned to each control chamber and acts on the control valve via a mechanical return.
  • the mechanical return is designed as a spring, which is supported on the mutually facing end faces of the displaceable part and the control valve. Further centering springs are provided for the piston-like part.
  • This setting unit is intended to provide feedback for the position control of the displaceable part, the setting being intended to be particularly precise.
  • the control valves are designed as 3/2-way valves.
  • a disadvantage of this control unit is that due to the interaction of magnetic force and spring force at the valve, a pressure is set (according to the flow divider principle), which acts as an adjusting force over the surface of the displaceable part. It follows that with constant proportional magnetic force, the control pressure is only set as a function of the spool position, ie there is only exactly one setting value for a spool position. However, since the disturbances which occur which adjust the piston slide occur in a wide range, the control pressure must also be adjustable in a wide range with constant magnetic force in order to be able to position the piston in a position-controlled manner. In addition, this control unit has a poor efficiency, since the control oil volume flow requirement is high due to the flow divider function for generating control pressure. Furthermore, a high control pressure requirement is required, since the main piston is moved against a spring.
  • the object of the invention is the further development of the electro-hydraulic control unit described in the generic part of the first claim to the effect that a closed position control loop is formed which also with occurring disturbance variables such as flow forces, pressure changes and the like. With high setting accuracy or reproducibility of position and speed the components to be controlled can be maintained.
  • a single control means which can be actuated by means of two electromagnets in the form of a pilot valve, which is arranged essentially in series with the main piston, and at least one displacement-force converter, which is in operative connection with the main piston and the piston of the pilot valve stands.
  • a method for actuating the electro-hydraulic actuating unit is characterized in that control oil flows into the associated control chamber by actuating one of the electro-magnets via the pilot valve and the main piston is moved in the corresponding direction, the main piston being adjusted until the spring force of the displacement-force converter and the magnetic force are in equilibrium and the piston of the pilot valve is closed via the displacement-force converter by the main piston.
  • the field of application of the subject matter of the invention essentially relates to the control of hydraulic cylinders and hydraulic motors in the stationary industrial sector, a preferred field of application being formed by the mobile construction machinery sector.
  • FIG. 2 shows a schematic diagram of the electro-hydraulic actuating unit according to the invention, which essentially contains the following components: a main piston 2, which can be moved in the longitudinal direction within a housing 1, a pilot valve 3 together with piston 4, electro-magnets 5, 6 and a spiral spring 7 (can also be a different type of spring) as a displacement-force converter.
  • the pilot valve 3 is a directionally proportional 4/3 valve. Through the electronic control of the magnet 6, for example, the valve 3 opens the connection P to A and B to T.
  • the piston 4 moves in the direction of the main piston 2 and the control oil flows into the control chamber 8 and moves the main piston 2 in the direction of the piston 4.
  • the main piston 2 is connected to the piston 4 of the pilot valve 3 via the spiral spring 7, which is designed as a compression spring, in such a way that it is fastened to the mutually facing end faces 9, 10 of the two pistons 2, 4.
  • the main piston 2 is adjusted until the compression spring 7 has adjusted due to its characteristic curve so that the spring force of the compression spring 7 and the magnetic force of the magnet 6 are in equilibrium. This means that the main piston 2 closes the piston 4 of the pilot valve 3 via the compression spring 7. Any positive or negative positional deviation of the main piston 2 causes an imbalance of forces between the compression spring 7 and the electronic magnetic force, so that the piston 4 moves into the control position until the main piston 2 is positioned again.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Servomotors (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

An electrohydraulic actuator, in particular for controlling construction machines, is proposed which has a displaceable main piston (2) as well as electromagnetically operable control means (5, 6). Merely a single control means (3) is provided which is designed as a pilot valve and is essentially arranged in series with the main piston (2). At least one displacement/force transducer in the form of a spring (7) is in operative connection with the main piston (2) as well as with the piston (4) of the pilot valve (3). <IMAGE>

Description

Die Erfindung betrifft eine elektro-hydraulische Stelleinheit, insbesondere zur Steuerung von Baumaschinen, mit einem verschiebbaren Hauptkolben, an dessen beiden Stirnseiten je eine Steuerkammer vorgesehen ist, die über elektro-magnetisch betätigbare Steuermittel mit Druckmittel beaufschlagbar bzw. entlastbar sind.The invention relates to an electro-hydraulic control unit, in particular for controlling construction machines, with a displaceable main piston, on the two end faces of which a control chamber is provided, which can be acted upon or relieved of pressure medium by means of electro-magnetically actuatable control means.

Durch die DE-OS 35 27 026 ist eine gattungsbildende elektro-hydraulische Stelleinheit bekannt, die ein verschiebbares kolbenartiges Teil, insbesondere einen Steuerschieber aufweist, an dessen beiden Stirnseiten je eine Steuerkammer angeordnet ist, die über Steuermittel zwecks Verschieben des Teiles mit Druckmittel beaufschlagbar bzw. entlastbar ist. Das Steuermittel ist ein jeder Steuerkammer zugeordnetes, elektro-magnetisch betätigbares Steuerventil, das über eine mechanische Rückführung auf das Steuerventil einwirkt. Die mechanische Rückführung ist hierbei als Feder ausgebildet, die sich jeweils an den einander zugewandten Stirnseiten von verschiebbarem Teil und Steuerventil abstützt. Für den kolbenartigen Teil sind weitere Zentrierfedern vorgesehen. Durch diese Stelleinheit soll eine Rückführung zur Lageregelung des verschiebbaren Teiles erzielt werden, wobei die Einstellung besonders genau sein soll. Die Steuerventile sind hierbei als 3/2-Wegeventile ausgebildet.From DE-OS 35 27 026 a generic electro-hydraulic actuating unit is known which has a displaceable piston-like part, in particular a control slide, on the two end faces of which a control chamber is arranged, which can be acted upon by control means for moving the part with pressure medium or is relieved. The control means is an electro-magnetically actuable control valve which is assigned to each control chamber and acts on the control valve via a mechanical return. The mechanical return is designed as a spring, which is supported on the mutually facing end faces of the displaceable part and the control valve. Further centering springs are provided for the piston-like part. This setting unit is intended to provide feedback for the position control of the displaceable part, the setting being intended to be particularly precise. The control valves are designed as 3/2-way valves.

Nachteilig ist an dieser Stelleinheit festzustellen, daß aufgrund der Wechselwirkung von Magnetkraft und Federkraft am Ventil ein Druck eingestellt wird (nach dem Stromteilerprinzip), der über die Fläche des verschiebbaren Teiles als Verstellkraft wirkt. Daraus folgt, daß bei konstanter proportionaler Magnetkraft der Steuerdruck nur noch in Abhängigkeit der Kolbenschieberstellung eingestellt wird, d.h. es gibt bei einer Schieberstellung nur genau einen Einstellwert. Da aber die auftretenden Störgrößen, welche den Kolbenschieber verstellen in großer Bandbreite auftreten, muß bei konstanter Magnetkraft auch der Steuerdruck in großer Bandbreite einstellbar sein, um den Kolben lagegeregelt positionieren zu können. Darüber hinaus weist diese Stelleinheit einen schlechten Wirkungsgrad auf, da der Steuerölvolumenstrombedarf hoch ist aufgrund der Stromteilerfunktion zur Steuerdruckerzeugung. Ferner ist ein hoher Steuerdruckbedarf vonnöten, da der Hauptkolben gegen eine Feder verstellt wird.A disadvantage of this control unit is that due to the interaction of magnetic force and spring force at the valve, a pressure is set (according to the flow divider principle), which acts as an adjusting force over the surface of the displaceable part. It follows that with constant proportional magnetic force, the control pressure is only set as a function of the spool position, ie there is only exactly one setting value for a spool position. However, since the disturbances which occur which adjust the piston slide occur in a wide range, the control pressure must also be adjustable in a wide range with constant magnetic force in order to be able to position the piston in a position-controlled manner. In addition, this control unit has a poor efficiency, since the control oil volume flow requirement is high due to the flow divider function for generating control pressure. Furthermore, a high control pressure requirement is required, since the main piston is moved against a spring.

Infolge des ständig anstehenden Druckes ist mit hohen Leistungsverlusten durch das umlaufende Öl zu rechnen.As a result of the constant pressure, high losses in performance due to the circulating oil can be expected.

Ziel des Erfindungsgegenstandes ist die Weiterbildung der im gattungsbildenden Teil des ersten Patentanspruches beschriebenen elektro-hydraulischen Steuereinheit dahingehend, daß ein geschlossener Lageregelkreis gebildet wird, der auch bei auftretenden Störgrößen, wie Strömungskräften, Druckänderungen und dgl. bei hoher Einstellgenauigkeit bzw. Reproduzierbarkeit von Position und Geschwindigkeit der zu steuernden Bauteile aufrecht erhalten werden kann.The object of the invention is the further development of the electro-hydraulic control unit described in the generic part of the first claim to the effect that a closed position control loop is formed which also with occurring disturbance variables such as flow forces, pressure changes and the like. With high setting accuracy or reproducibility of position and speed the components to be controlled can be maintained.

Dieses Ziel wird erfindungsgemäß erreicht durch ein einziges mittels zweier Elektro-Magnete betätigbares Steuermittel in Form eines Vorsteuerventils, das mit dem Hauptkolben im wesentlichen in Reihe angeordnet ist sowie mindestens einen Weg-Kraft-Wandler, der in Wirkverbindung mit dem Hauptkolben und dem Kolben des Vorsteuerventils steht.This aim is achieved according to the invention by a single control means which can be actuated by means of two electromagnets in the form of a pilot valve, which is arranged essentially in series with the main piston, and at least one displacement-force converter, which is in operative connection with the main piston and the piston of the pilot valve stands.

Vorteilhafte Weiterbildungen des Erfindungsgegenstandes sind den gegenständlichen Unteransprüchen zu entnehmen.Advantageous further developments of the subject matter of the invention can be found in the subject subclaims.

Ein Verfahren zum Betätigen der elektro-hydraulischen Stelleinheit ist dadurch gekennzeichnet, daß durch Betätigen eines der Elektro-Magnete über das Vorsteuerventil Steueröl in die zugehörige Steuerkammer fließt und der Hauptkolben in die entsprechende Richtung bewegt wird, wobei der Hauptkolben solange verstellt wird, bis die Federkraft des Weg-Kraft-Wandlers und die magnetische Kraft im Gleichgewicht sind und der Kolben des Vorsteuerventils über den Weg-Kraft-Wandler durch den Hauptkolben geschlossen wird.A method for actuating the electro-hydraulic actuating unit is characterized in that control oil flows into the associated control chamber by actuating one of the electro-magnets via the pilot valve and the main piston is moved in the corresponding direction, the main piston being adjusted until the spring force of the displacement-force converter and the magnetic force are in equilibrium and the piston of the pilot valve is closed via the displacement-force converter by the main piston.

Gegenüber dem St.d.T. werden durch den Erfindungsgegenstand folgende Vorteile erzielt:

  • hohe Stellgenauigkeit von Hydrauliksystemen bei robuster, unempfindlicher Ausführung des Regelkreises
  • Optimierung des Energiehaushaltes
  • Verwendung geringerer Anzahl von Steuermitteln
  • kein Ölumlauf im ausgeregelten Zustand
  • störgrößenunabhängige Positioniergenauigkeit des Hauptkolbens
  • Erhöhung der Feinsteuerbarkeit.
Compared to the St.dT, the following advantages are achieved by the subject of the invention:
  • high positioning accuracy of hydraulic systems with robust, insensitive design of the control circuit
  • Optimization of the energy balance
  • Use less tax revenue
  • no oil circulation in the regulated state
  • Positioning accuracy of the main piston independent of interference
  • Increase in fine controllability.

Der Einsatzbereich des Erfindungsgegenstandes betrifft im wesentlichen die Ansteuerung von Hydro-Zylindern und Hydro-Motoren im stationären Industriebereich, wobei ein bevorzugtes Anwendungsgebiet durch den mobilen Baumaschinenbereich gebildet wird.The field of application of the subject matter of the invention essentially relates to the control of hydraulic cylinders and hydraulic motors in the stationary industrial sector, a preferred field of application being formed by the mobile construction machinery sector.

Die Erfindung ist anhand eines Ausführungsbeispieles in der Zeichnung dargestellt und wird wie folgt beschrieben. Es zeigen:

Figur 1 -
Blockschaltbild
Figur 2 -
Prinzipskizze der Anordnung bzw. Verknüpfung der erfindungsgemäßen Stelleinheit.
The invention is illustrated in the drawing using an exemplary embodiment and is described as follows. Show it:
Figure 1 -
Block diagram
Figure 2 -
Schematic diagram of the arrangement or linkage of the actuating unit according to the invention.

In Figur 1 ist anhand eines Blockschaltbildes der geschlossene Regelkreis dargestellt. Die eingefügten Buchstaben werden nachstehend aufgelistet:

s
= Weg des Hauptkolbens
A
= Additionsstelle Magnet + Feder
FStör
= Störkräfte auf den Hauptkolben
FSt
= Stellkräfte
pSt
= Steuerdruck
F
= Kraftdifferenz am Steuerkolben
FR
= Kraft der Regelfeder
FI
= Kraft des Proportionalmagneten
Die Funktion des Lageregelkreises stellt sich wie folgt dar:
der Sollwert wird über den Wandler I/FI auf die Additionasstelle A in physikalischer Form der Kraft FI geführt und wird mit der Kraft FR des Wanderls s/FR verrechnet. Ergibt sich aus dieser Rechnung eine Regeldifferenz, so wird über den Wandler F/pSt und den Wandler pSt/FSt der Kolben verstellt, so daß dieser einen Weg s zurücklegt, bis der Wandler s/FR eine Kraft eingestellt hat, welche die gleiche absolute Größe besitzt, wie die des Wandlers I/FI, was aufgrund der verschiedenen Vorzeichen der Kräfte FI und FR als Ergebnis die Kraft F = 0 ergibt und somit der Kolben lagegeregelt positioniert ist.In Figure 1, the closed control loop is shown using a block diagram. The inserted letters are listed below:
s
= Path of the main piston
A
= Addition point magnet + spring
F sturgeon
= Interference forces on the main piston
F St
= Actuating forces
p St
= Control pressure
F
= Force difference on the control piston
F R
= Force of the control spring
F I
= Force of the proportional magnet
The function of the position control loop is as follows:
the setpoint is led via the converter I / F I to the addition point A in physical form of the force F I and is offset against the force F R of the Wanderls s / F R. If there is a control difference from this calculation, the piston is adjusted via the converter F / p St and the converter p St / F St , so that it covers a distance s until the converter s / F R has set a force which has the same absolute size as that of the converter I / F I , which is due to the different signs of the Forces F I and F R as a result give the force F = 0 and the piston is thus positioned in a position-controlled manner.

Wirken Kräfte FStör auf den Kolben ein, so legt dieser den Weg s zurück und verändert über den Wandler s/FR die Werte an der Additionsstelle A in der Form, daß über die Wandler F/pSt und pSt/FSt eine Kraft erzeugt wird, welche der Kraft FStör in gleicher absoluter Größe entgegenwirkt, bis der Kolben wieder positioniert ist.If forces F disturb act on the piston, it moves the distance s and changes the values at the addition point A via the converter s / F R in such a way that via the converters F / p St and p St / F St one Force is generated which counteracts the force F Stör in the same absolute size until the piston is positioned again.

Anhand des Blockschaltbildes wird klar, daß unabhängig von den Störgrößen (FStör) der Stellweg des Kolbens lagegeregelt nachgeführt werden kann.On the basis of the block diagram it is clear that regardless of the disturbances (F sturgeon) of the travel of the piston position control can be tracked.

Figur 2 zeigt als Prinzipskizze die erfindungsgemäße elektro-hydraulische Stelleinheit, die im wesentlichen folgende Bauteile beinhaltet:
einen innerhalb eines Gehäuses 1 in Längsrichtung bewegbaren Hauptkolben 2, ein Vorsteuerventil 3 samt Kolben 4, Elektro-Magnete 5,6 sowie eine Spiralfeder 7 (kann auch eine andersgeartete Feder sein) als Weg-Kraft-Wandler. Das Vorsteuerventil 3 ist ein wege-proportionales 4/3-Ventil. Durch die elektronische Ansteuerung beispielsweise des Magneten 6 öffnet das Ventil 3 die Verbindung P nach A und B nach T. Hierbei bewegt der Kolben 4 sich in Richtung des Hauptkolbens 2 und das Steueröl fließt in die Steuerkammer 8 und bewegt den Hauptkolben 2 in Richtung des Kolbens 4. Der Hauptkolben 2 ist über die als Druckfeder ausgebildete Spiralfeder 7 mit dem Kolben 4 des Vorsteuerventils 3 verbunden, dergestalt, daß sie an den einander zugewandten Stirnseiten 9,10 der beiden Kolben 2,4 befestigt ist. Der Hauptkolben 2 wird solange verstellt, bis sich die Druckfeder 7 aufgrund ihrer Kennlinie so eingestellt hat, daß die Federkraft der Druckfeder 7 und die magnetische Kraft des Magneten 6 im Gleichgewicht befinden. Dies bedeutet, daß der Hauptkolben 2 über die Druckfeder 7 den Kolben 4 des Vorsteuerventils 3 schließt. Jede positive oder negative Positionsabweichung des Hauptkolbens 2 bedingt ein Kräfteungleichgewicht zwischen Druckfeder 7 und elektronischer Magnetkraft, so daß der Kolben 4 in Regelstellung geht, bis der Hauptkolben 2 wieder positioniert ist.FIG. 2 shows a schematic diagram of the electro-hydraulic actuating unit according to the invention, which essentially contains the following components:
a main piston 2, which can be moved in the longitudinal direction within a housing 1, a pilot valve 3 together with piston 4, electro-magnets 5, 6 and a spiral spring 7 (can also be a different type of spring) as a displacement-force converter. The pilot valve 3 is a directionally proportional 4/3 valve. Through the electronic control of the magnet 6, for example, the valve 3 opens the connection P to A and B to T. Here, the piston 4 moves in the direction of the main piston 2 and the control oil flows into the control chamber 8 and moves the main piston 2 in the direction of the piston 4. The main piston 2 is connected to the piston 4 of the pilot valve 3 via the spiral spring 7, which is designed as a compression spring, in such a way that it is fastened to the mutually facing end faces 9, 10 of the two pistons 2, 4. The main piston 2 is adjusted until the compression spring 7 has adjusted due to its characteristic curve so that the spring force of the compression spring 7 and the magnetic force of the magnet 6 are in equilibrium. This means that the main piston 2 closes the piston 4 of the pilot valve 3 via the compression spring 7. Any positive or negative positional deviation of the main piston 2 causes an imbalance of forces between the compression spring 7 and the electronic magnetic force, so that the piston 4 moves into the control position until the main piston 2 is positioned again.

Der gleiche Vorgang funktioniert in umgekehrter Weise, indem der Elektro-Magnet 5 betätigt wird und die Verbindung P nach B sowie A nach T hergestellt wird, was zu eine Druckerhöhung in der Steuerkammer 11 mit entsprechender Verschiebung des Hauptkolbens 2 führt.The same process works in reverse, in that the electromagnet 5 is actuated and the connection P to B and A to T is established, which leads to a pressure increase in the control chamber 11 with a corresponding displacement of the main piston 2.

Claims (8)

Elektro-hydraulische Stelleinheit, insbesondere zur Steuerung von Baumaschinen, mit einem verschiebbaren Hauptkolben, an dessen beiden Stirnseiten je eine Steuerkammer vorgesehen ist, die über elektro-magnetisch betätigbare Steuermittel mit Druckmittel beaufschlagbar bzw. entlastbar sind, gekennzeichnet durch ein einziges mittels zweier Elektro-Magnete (5,6) betätigbares Steuermittel (3) in Form eines Vorsteuerventils, das mit dem Hauptkolben (2) im wesentlichen in Reihe angeordnet ist, sowie mindestens einen Weg-Kraft-Wandler (7), der in Wirkverbindung mit dem Hauptkolben (2) und dem Kolben (4) des Vorsteuerventils (3) steht.Electro-hydraulic control unit, in particular for controlling construction machines, with a displaceable main piston, on the two end faces of which a control chamber is provided, which can be acted upon or relieved of pressure medium by means of electro-magnetically actuatable control means, characterized by a single one by means of two electro-magnets (5,6) actuatable control means (3) in the form of a pilot valve, which is arranged essentially in series with the main piston (2), and at least one displacement-force converter (7), which is in operative connection with the main piston (2) and the piston (4) of the pilot valve (3). Stelleinheit nach Anspruch 1, dadurch gekennzeichnet, daß der Weg-Kraft-Wandler (7) mit den einander zugewandten Stirnseiten (9,10) des Hauptkolbens (2) sowie des Kolbens (4) des Vorsteuerventils (3) verbunden ist.Adjusting unit according to claim 1, characterized in that the displacement-force converter (7) is connected to the mutually facing end faces (9, 10) of the main piston (2) and of the piston (4) of the pilot valve (3). Stelleinheit nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß der Weg-Kraft-Wandler (7) als Spiralfeder ausgebildet ist.Adjusting unit according to claims 1 and 2, characterized in that the displacement-force converter (7) is designed as a spiral spring. Stelleinheit nach den Ansprüchen 1 bis 3, dadurch gekennzeichnet, daß die Spiralfeder (7) eine Druckfeder ist.Adjusting unit according to claims 1 to 3, characterized in that the spiral spring (7) is a compression spring. Stelleinheit nach den Ansprüchen 1 bis 3, dadurch gekennzeichnet, daß die Spiralfeder (7) eine kombinierte Druck-/Zugfeder ist.Adjusting unit according to claims 1 to 3, characterized in that the spiral spring (7) is a combined compression / tension spring. Stelleinheit nach den Ansprüchen 1 und 2, dadurch gekennzeichnet, daß der Weg-Kraft-Wandler als Tellerfeder ausgebildet ist.Adjusting unit according to claims 1 and 2, characterized in that the displacement-force converter is designed as a plate spring. Stelleinheit nach den Ansprüchen 1 bis 6, dadurch gekennzeichnet, daß das Vorsteuerventil (3) ein wegeproportionales 4/3-Ventil ist.Actuating unit according to Claims 1 to 6, characterized in that the pilot valve (3) is a 4/3 valve proportional to the travel. Verfahren zum Betätigen der elektro-hydraulischen Stelleinheit nach den Ansprüche 1 bis 7, indem durch die Ansteuerung eines Elektro-Magnetes der Kolben des Vorsteuerventils eine vorgegebene Position einnimmt und durch Druckänderung im Bereich der jeweiligen Steuerkammer der Hauptkolben bewegt wird, dadurch gekennzeichnet, daß durch Betätigen eines der Elektro-Magnete (5 oder 6) über das Vorsteuerventil (3) Steuerol in die zugehörige Steuerkammer (8 oder 9) fließt und der Hauptkolben (2) in die entsprechende Richtung (s) bewegt wird, wobei der Hauptkolben (2) solange verstellt wird, bis die Federkraft des Weg-Kraft-Wandlers (7) und die magnetische Kraft im Gleichgewicht sind und der Kolben (4) des Vorsteuerventils (3) über den Weg-Kraft-Wandler (7) durch den Hauptkolben (2) geschlossen wird.Method for actuating the electro-hydraulic actuating unit according to claims 1 to 7, in that the piston of the pilot valve assumes a predetermined position by actuating an electro-magnet and is moved by pressure change in the area of the respective control chamber of the main piston, characterized in that by actuation one of the electro-magnets (5 or 6) flows through the pilot valve (3) control oil into the associated control chamber (8 or 9) and the main piston (2) is moved in the corresponding direction (s), the main piston (2) as long is adjusted until the spring force of the displacement-force converter (7) and the magnetic force are in equilibrium and the piston (4) of the pilot valve (3) is closed by the main piston (2) via the displacement-force converter (7) becomes.
EP92104566A 1991-07-20 1992-03-17 Electrohydraulic actuator Expired - Lifetime EP0528103B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4124140 1991-07-20
DE4124140A DE4124140C2 (en) 1991-07-20 1991-07-20 Device for the correct positioning of the main piston of an electro-hydraulic actuator

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EP0528103A1 true EP0528103A1 (en) 1993-02-24
EP0528103B1 EP0528103B1 (en) 1995-10-11
EP0528103B2 EP0528103B2 (en) 2000-06-28

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4302130C2 (en) * 1993-01-27 1995-04-13 Orenstein & Koppel Ag Electro-hydraulic control unit
US5921279A (en) * 1998-04-29 1999-07-13 Husco International, Inc. Solenoid operated dual spool control valve
DE19823529A1 (en) * 1998-05-26 1999-12-09 Mannesmann Rexroth Ag Route determination system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2835771A1 (en) * 1978-08-16 1980-02-28 Schwelm & Towler Hydraulics ARRANGEMENT FOR CONTROLLING A CARTRIDGE ELEMENT
FR2508565A1 (en) * 1981-06-27 1982-12-31 Bosch Gmbh Robert ELECTROHYDRAULIC POSITIONER, PARTICULARLY FOR REMOTE CONTROL OF A DISTRIBUTOR
DE3527026A1 (en) * 1985-07-27 1987-01-29 Bosch Gmbh Robert Electrohydraulic actuating unit

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2213439C3 (en) † 1972-03-20 1978-12-07 Robert Bosch Gmbh, 7000 Stuttgart Electro-hydraulic control device
US4201116A (en) † 1977-07-11 1980-05-06 The Cessna Aircraft Company Electro-hydraulic proportional control servo valve

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2835771A1 (en) * 1978-08-16 1980-02-28 Schwelm & Towler Hydraulics ARRANGEMENT FOR CONTROLLING A CARTRIDGE ELEMENT
FR2508565A1 (en) * 1981-06-27 1982-12-31 Bosch Gmbh Robert ELECTROHYDRAULIC POSITIONER, PARTICULARLY FOR REMOTE CONTROL OF A DISTRIBUTOR
DE3527026A1 (en) * 1985-07-27 1987-01-29 Bosch Gmbh Robert Electrohydraulic actuating unit

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EP0528103B1 (en) 1995-10-11
EP0528103B2 (en) 2000-06-28
DE4124140A1 (en) 1993-01-21
DE59203972D1 (en) 1995-11-16
DE4124140C2 (en) 1995-04-13

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