EP1084308A1 - Method for regulating especially the pivoting device of a mobile machine - Google Patents

Method for regulating especially the pivoting device of a mobile machine

Info

Publication number
EP1084308A1
EP1084308A1 EP99925003A EP99925003A EP1084308A1 EP 1084308 A1 EP1084308 A1 EP 1084308A1 EP 99925003 A EP99925003 A EP 99925003A EP 99925003 A EP99925003 A EP 99925003A EP 1084308 A1 EP1084308 A1 EP 1084308A1
Authority
EP
European Patent Office
Prior art keywords
drive motor
swivel
pump
hydraulic
speed
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
EP99925003A
Other languages
German (de)
French (fr)
Other versions
EP1084308B1 (en
Inventor
Herbert Ziplies
Uwe Esch
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.)
Terex Germany GmbH and Co KG
Original Assignee
O and K Mining 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 O and K Mining GmbH filed Critical O and K Mining GmbH
Publication of EP1084308A1 publication Critical patent/EP1084308A1/en
Application granted granted Critical
Publication of EP1084308B1 publication Critical patent/EP1084308B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/128—Braking systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the invention relates to a method for regulating in particular the pivoting device of a mobile machine, in particular a construction machine, such as a hydraulic excavator or the like.
  • the object of the invention is to be seen in the fact that while maintaining the overall economy of the mobile machine, in particular the construction machine, the full power of the drive motor, in particular when braking masses, such as. B, an uppercarriage, can be used without the maximum speed of the drive motor being exceeded.
  • This object is achieved by a method for controlling, in particular, the pivoting device of a mobile working machine, in particular a construction machine, such as a hydraulic excavator or the like, by driving a hydraulic pump operating in a closed circuit, in particular a pivoting circuit, via at least one drive motor, in particular a diesel engine, which in turn feeds at least one hydraulic motor, the energy of which is transmitted via a downstream, in particular mechanical transmission, to a mass to be accelerated or braked, in particular to a slewing ring of an uppercarriage which interacts with working equipment, with a target / actual comparison in particular when braking the mass the nominal and the limit speed of the drive motor is carried out and when a predeterminable speed, in particular the limit speed of the drive motor, the brake pressure is reduced in a closed circuit, in particular in the swivel circle.
  • the subject matter of the invention includes several approaches.
  • the current in particular the pilot control current, which acts in particular on the swivel hydraulics, can be reduced.
  • the brake pressure in the closed swivel circle and thus the support torque on the drive motor, in particular the diesel motor decrease.
  • a valve can be switched when the certain speed is exceeded, so that one or more main pumps have to deliver against a pressure relief valve.
  • the swivel pumps, the main pumps and the drive motor, in particular the diesel motor, are mechanically connected to one another via a gear, in particular a pump distributor gear.
  • a gear in particular a pump distributor gear.
  • a possible failure of the drive motor, in particular the diesel engine, can thus be counteracted with both solutions, so that the power of the same can be fully used without adversely affecting the economy of the mobile working machine, in particular the construction machine.
  • the subject of the invention is not only for braking rotatable masses, such as. B. the uppercarriage of the working machine, especially the construction machine, can be used. There is also the possibility of using the method for vehicles which, due to the descent, tend to cause the speed of the drive motor to move into critical areas and possibly to exceed them.
  • Regulatory procedure 1 and 2 show different control methods of a swivel mechanism of a construction machine, not shown. The same components are provided with the same reference symbols.
  • a diesel engine 1 designed as a drive motor can be seen, which is connected to a hydraulic pump 3 via a pump distributor gear 2.
  • the hydraulic pump 3 feeds a hydraulic motor 4.
  • the hydraulic pump 3 and the hydraulic motor 4 are operated in a closed swivel circuit 5.
  • the power of the hydraulic motor 4 is transmitted to a mass 7, here an uppercarriage, not shown, of the construction machine via a swivel gear 6 connected downstream.
  • Via a hand lever 8 provided in the cabin of the construction machine the swivel angle 3 ′ of the hydraulic pump 3 is changed via a hydraulic pilot control 9.
  • the solution shown in FIG. 1 includes an electrical pilot control 10, which u. a. includes electronic components 11, 12.
  • the component 11 is provided for the target / actual comparison of the nominal and the limit speed of the diesel engine 1, while the component 12 represents a control element by means of which the pilot current acting on the swivel hydraulics is reduced when the predetermined speed is exceeded.
  • the braking pressure of the closed swivel circuit 5 and thus the supporting torque on the diesel engine 1 decreases.
  • the control element 12 overrides the control element 13 interacting with the hand lever 8 or its current output, so that when the mass 7 is braked, the critical speed of the diesel engine 1 does not Case - not even when the operator actuates the lever 8 incorrectly.
  • FIG. 2 shows a further variant of the regulation of a swiveling circle of a construction machine, which is also not shown.
  • the electronic pilot control 10 ′ contains electronic components 11 ′ and 12 ′, the component 11 ′ being responsible for the target / actual comparison of the nominal and limit speed of the diesel engine 1.
  • a valve (not shown) is switched via the control element 12 ', so that at least one main pump 14 has to deliver against a pressure relief valve 15.
  • the swivel pump 3, the main pump 15 and the In this example, diesel engine 1 are mechanically connected to one another via pump transfer case 2.
  • the critical drive torque of the swivel pump 3 arises, this torque is no longer delivered to the diesel engine 1 but to the main pump 15.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to a method for regulating especially the pivoting device of a mobile machine, especially a construction machine such as a hydraulic excavator or similar. A hydraulic pump (3) functioning in a closed circuit (5), especially a pivot circuit (5), is driven by at least one driving motor (1), especially a diesel motor (1). Said hydraulic pump (3) feeds at least one hydraulic motor (4) whose energy is transmitted to a mass (7) to be sped up or slowed down, especially a live ring of a revolving superstructure interacting with the working devices, by means of a downstream, especially mechanical gear (6). A set value-actual value comparison of the nominal and limit number of revolutions of the driving motor (1) is carried out especially when the mass (7) is being slowed down and in the event that a predetermined number of revolutions is exceeded, especially the limit number of revolutions of the driving motor (1), the braking pressure in the closed circuit (5), especially the pivot circuit (5), is reduced.

Description

Verfahren zur Regelung insbesondere der Schwenkeinrichtung einer mobilen ArbeitsmaschineMethod for regulating in particular the swiveling device of a mobile machine
Die Erfindung betrifft ein Verfahren zur Regelung insbesondere der Schwenkeinrichtung einer mobilen Arbeitsmaschine, insbesondere einer Baumaschine, wie einem Hydraulikbagger oder dgl.The invention relates to a method for regulating in particular the pivoting device of a mobile machine, in particular a construction machine, such as a hydraulic excavator or the like.
Allgemein bekannt ist, daß bei mobilen Arbeitsmaschinen, wie z. B. einem Kran, einem Kranwagen oder dgl., oder aber im speziellen bei Baumaschinen, wie einem Hydraulikbagger oder dgl., deren Arbeitshydraulik, insbesondere für die Schwenkbewegung des Oberwagens vielfach mit geschlossenenem Kreis, insbesondere Schwenkkreis, betrieben wird. Beim Kontern der Drehbewegung, d. h. beim Abbremsen der durch den Oberwagen gebildeten Masse wird der Antriebsmotor, insbesondere ein Dieselmotor, durch die Hydraulikpumpe, insbesondere die Schwenkpumpe, angetrieben. Dies ist etwa vergleichbar mit der Talfahrt eines Fahrzeuges, wobei es hier - sofern keine geeigneten Gegenmaßnahmen getroffen werden - vielfach geschieht, daß die Drehzahl des Antriebsmotors die zulässige Höchstdrehzahl übersteigt. Dies ist bei schweren Baumaschinen, wie insbesodere Hydraulikgroßbaggern, die in Minen eingesetzt werden, besonders problematisch, da Schäden am Antriebsmotor zu unerwünschten Ausfällen des Hydraulikbaggers führen und die in der Regel tagtägliche Einsatzbereitschaft dieser Maschine dann nicht mehr gegeben ist.It is generally known that in mobile machines, such as. B. a crane, a crane truck or the like., Or in particular in construction machines, such as a hydraulic excavator or the like, whose working hydraulics, in particular for the pivoting movement of the superstructure, is often operated with a closed circle, in particular a pivoting circle. When countering the rotational movement, i. H. when the mass formed by the superstructure is braked, the drive motor, in particular a diesel engine, is driven by the hydraulic pump, in particular the swivel pump. This is roughly comparable to the descent of a vehicle, although it often happens here - unless suitable countermeasures are taken - that the speed of the drive motor exceeds the permissible maximum speed. This is particularly problematic in the case of heavy construction machines, such as large hydraulic excavators in particular, which are used in mines, since damage to the drive motor leads to undesirable failures of the hydraulic excavator and the machine is generally no longer ready for daily use.
Eine Maßnahme zur Vermeidung der Überschreitung der zulässigen Höchstdrehzahl ist darin begründet, daß durch geeignete Steuerungsvorgänge die Drehzahl des Antriebsmotors vor der Einleitung des Bremsvorganges um eine vorgebbare Drehzahl abgesenkt wird. Dies führt jedoch bei Hydraulikgroßbaggern dazu, daß der Antriebsmotor für andere Bewegungsabläufe, wie z, B. das Anheben des Auslegers, keine ausreichende Leistung mehr aufbringen kann, so daß auch hier die Wirtschaftlichkeit der Baumaschine in Frage gestellt wird.One measure to avoid exceeding the permissible maximum speed is that the speed of the drive motor is reduced by a predeterminable speed by means of suitable control processes before the braking process is initiated. However, in the case of large hydraulic excavators, this means that the drive motor can no longer provide sufficient power for other movements, such as, for example, lifting the boom, so that here too the profitability of the construction machine is questioned.
Die der Erfindung zugrundeliegende Aufgabe ist darin zu sehen, daß bei Beibehaltung der Gesamtwirschaftlichkeit der mobilen Arbeitsmaschine, insbesondere der Baumaschine, die volle Leistung des Antriebsmotors, insbesondere beim Abbremsen von Massen, wie z. B, einem Oberwagen, ausgenutzt werden kann, ohne daß die Höchstdrehzahl des Antriebsmotors überschritten wird.The object of the invention is to be seen in the fact that while maintaining the overall economy of the mobile machine, in particular the construction machine, the full power of the drive motor, in particular when braking masses, such as. B, an uppercarriage, can be used without the maximum speed of the drive motor being exceeded.
Diese Aufgabe wird gelöst durch ein Verfahren zur Regelung insbesondere der Schwenkeinrichtung einer mobilen Arbeitsmaschine, insbesondere einer Baumaschine, wie einem Hydraulikbagger oder dgl., indem über mindestens einen Antriebsmotor, insbesondere einen Dieselmotor, eine in geschlossenem Kreis, insbesondere Schwenkkreis, arbeitende Hydraulikpumpe angetrieben wird, die wiederum mindestens einen Hydraulikmotor speist, dessen Energie über ein nachgeschaltetes, insbesondere mechanisches Getriebe, auf eine zu beschleunigende bzw. abzubremsende Masse, insbesondere einen mit Arbeitsgeräten zusammenwirkenden Drehkranz eines Oberwagens, übertragen wird, wobei insbesondere beim Abremsen der Masse ein Soll - Ist - Vergleich der Nenn- sowie der Grenzdrehzahl des Antriebsmotors durchgeführt wird und beim Überschreiten einer vorgebbaren Drehzahl, insbesondere der Grenzdrehzahl des Antriebsmotors, der Bremsdruck im geschlossenen Kreis, insbesondere im Schwenkkreis, abgesenkt wird.This object is achieved by a method for controlling, in particular, the pivoting device of a mobile working machine, in particular a construction machine, such as a hydraulic excavator or the like, by driving a hydraulic pump operating in a closed circuit, in particular a pivoting circuit, via at least one drive motor, in particular a diesel engine, which in turn feeds at least one hydraulic motor, the energy of which is transmitted via a downstream, in particular mechanical transmission, to a mass to be accelerated or braked, in particular to a slewing ring of an uppercarriage which interacts with working equipment, with a target / actual comparison in particular when braking the mass the nominal and the limit speed of the drive motor is carried out and when a predeterminable speed, in particular the limit speed of the drive motor, the brake pressure is reduced in a closed circuit, in particular in the swivel circle.
Vorteilhafte Weiterbildungen des erfindungsgemäßen Verfahrens sind den Unteransprüchen zu entnehmen.Advantageous developments of the method according to the invention can be found in the subclaims.
Der Erfindungsgegenstand beinhaltet mehrere Lösungsansätze.The subject matter of the invention includes several approaches.
Zum einen kann insbesondere über die elektronische Vorsteuerung der mobilen Arbeitsmaschine, insbesondere der Baumaschine, beim Überschreiten der bestimmten Drehzahlgrenze der insbesondere auf die Schwenkhydraulik einwirkende Strom, insbesondere der Vorsteuerstrom, reduziert werden. Durch diese Maßnahme sinkt der Bremsdruck im geschlossenen Schwenkkreis und somit das Stützmoment auf den Antriebsmotor, insbesondere den Dieselmotor. Durch diese Maßnahme wird ein Ansteigen der Drehzahl des Antriebsmotors, insbesondere des Dieselmotors, in Bereiche oberhalb der kritischen Grenzdrehzahl sicher vermieden werden, ohne daß aufwendige Änderungen an der Steuerung der mobilen Arbeitsmaschine, insbesondere der Baumaschine vorgenommen werden müssen. Zum anderen kann beim Überschreiten der bestimmten Drehzahl ein Ventil geschaltet werden, so daß eine oder mehrere Hauptpumpen gegen ein Überdruckventil fördern müssen. Diese Lösung ist gegen der zuerst angeführten jedoch als nachrangig zu werten, da bauliche Änderungen der Hydraulikanlage vorgenommen werden müssen und darüber hinaus sich eine zusätzliche Wärmeentwicklung im Hydrauliksystem einstellt. Das Bremsmoment, insbesondere der Schwenkhydraulik, wird somit durch die Einleitung dieser zusätzlichen Energie im Hydrauliksystem verheizt.On the one hand, in particular via the electronic pilot control of the mobile working machine, in particular the construction machine, when the specific speed limit is exceeded, the current, in particular the pilot control current, which acts in particular on the swivel hydraulics, can be reduced. As a result of this measure, the brake pressure in the closed swivel circle and thus the support torque on the drive motor, in particular the diesel motor, decrease. By this measure, an increase in the speed of the drive motor, in particular the diesel engine, in areas above the critical limit speed is reliably avoided without having to make complex changes to the control of the mobile machine, in particular the construction machine. On the other hand, a valve can be switched when the certain speed is exceeded, so that one or more main pumps have to deliver against a pressure relief valve. However, this solution is to be rated as subordinate to the first one, since structural changes to the hydraulic system have to be made and, in addition, there is an additional heat development in the hydraulic system. The braking torque, in particular the swivel hydraulics, is thus heated up by the introduction of this additional energy in the hydraulic system.
Die Schwenkpumpen, die Hauptpumpen und der Antriebsmotor, insbesondere der Dieselmotor, sind über ein Getriebe, insbesondere ein Pumpenverteilergetriebe mechanisch miteinander verbunden. Beim Entstehen des kritischen Antriebsmomentes der Schwenkpumpe wird dieses Moment dann nicht mehr an den Dieselmotor abgegeben sondern an die Hauptpumpe(n). Kritische Drehzahlbereiche des Antriebsmotors, insbesondere des Dieselmotors, können durch diese Maßnahme wirksam vermieden werden.The swivel pumps, the main pumps and the drive motor, in particular the diesel motor, are mechanically connected to one another via a gear, in particular a pump distributor gear. When the critical drive torque of the swivel pump arises, this torque is then no longer delivered to the diesel engine but to the main pump (s). Critical speed ranges of the drive motor, in particular of the diesel engine, can be effectively avoided by this measure.
Mit beiden Lösungen kann somit einem möglichen Ausfall des Antriebsmotors, insbesondere des Dieselmotors, entgegengewirkt werden, so daß die Leistung desselben vollständig genutzt werden kann, ohne die Wirtschaftlichkeit der mobilen Arbeitsmaschine, insbesondere der Baumaschine, nachteilig zu beeinflussen.A possible failure of the drive motor, in particular the diesel engine, can thus be counteracted with both solutions, so that the power of the same can be fully used without adversely affecting the economy of the mobile working machine, in particular the construction machine.
Der Erfindungsgegenstand ist nicht nur für das Abbremsen von drehdaren Massen, wie z. B. des Oberwagens der Arbeitsmaschine, insbesondere der Baumaschine, einsetzbar. Es besteht auch die Möglichkeit das Verfahren für Fahrzeuge einzusetzen, die bedingt durch Talfahrt dazu neigen, daß sich die Drehzahl des Antriebsmotors in kritische Bereiche bewegt und diese ggf. auch überschreitet.The subject of the invention is not only for braking rotatable masses, such as. B. the uppercarriage of the working machine, especially the construction machine, can be used. There is also the possibility of using the method for vehicles which, due to the descent, tend to cause the speed of the drive motor to move into critical areas and possibly to exceed them.
Der Erfindungsgegenstand ist anhand von Ausführungsbeispielen in der Zeichnung dargestellt und wird wie folgt beschrieben. Es zeigenThe subject matter of the invention is illustrated in the drawing using exemplary embodiments and is described as follows. Show it
Fig. 1 und 2 Verschiedene Prinzipskizzen des erfindungsgemäßen1 and 2 Different sketches of the inventive principle
Regelungsverfahrens Die Fig. 1 und 2 zeigen verschiedene Regelungsverfahren eines Schwenkwerkes einer nicht weiter dargestellten Baumaschine. Gleiche Bauteile sind mit gleichen Bezugszeichen versehen.Regulatory procedure 1 and 2 show different control methods of a swivel mechanism of a construction machine, not shown. The same components are provided with the same reference symbols.
Erkennbar sind ein als Antriebsmotor ausgebildeter Dieselmotor 1 , der über ein Pumpenverteilergetriebe 2 mit einer Hydraulikpumpe 3 verbunden ist. Die Hydraulikpumpe 3 speist einen Hydraulikmotor 4. Die Hydraulikpumpe 3 und der Hydraulikmotor 4 werden in geschlossenem Schwenkkreis 5 betrieben. Die Leistung des Hydraulikmotors 4 wird über ein nachgeschaltetes Schwenkgetriebe 6 auf eine Masse 7, hier einen nicht dargestellten Oberwagen der Baumaschine übertragen. Über einen in der Kabine der Baumaschine vorgesehenen Handhebel 8 wird über eine hydraulische Vorsteuerung 9 der Schwenkwinkel 3 ' der Hydraulikpumpe 3 verändert.A diesel engine 1 designed as a drive motor can be seen, which is connected to a hydraulic pump 3 via a pump distributor gear 2. The hydraulic pump 3 feeds a hydraulic motor 4. The hydraulic pump 3 and the hydraulic motor 4 are operated in a closed swivel circuit 5. The power of the hydraulic motor 4 is transmitted to a mass 7, here an uppercarriage, not shown, of the construction machine via a swivel gear 6 connected downstream. Via a hand lever 8 provided in the cabin of the construction machine, the swivel angle 3 ′ of the hydraulic pump 3 is changed via a hydraulic pilot control 9.
Die in Fig. 1 dargestellte erfindungsgemäße Lösung beinhaltet eine elektrische Vorsteuerung 10, die u. a. elektronische Bauteile 11, 12 umfaßt. Das Bauteil 11 ist in diesem Beispiel zum Soll - Ist - Vergleich der Nenn- sowie der Grenzdrehzahl des Dieselmotors 1 vorgesehen, während das Bauteil 12 ein Regelungselement darstellt, über welches beim Überschreiten der vorgegebenen Drehzahl der auf die Schwenkhydraulik wirkende Vorsteuerstrom reduziert wird. Dadurch sinkt der Bremsdruck des geschlossenen Schwenkkreises 5 und somit das Stützmoment auf den Dieselmotor 1. Das Regelungselement 12 übersteuert hierbei das mit dem Handhebel 8 zusammenwirkende Regelungselement 13 bzw. dessen Stromabgabe, so daß beim Abbremsen der Masse 7 die kritische Drehzahl des Dieselmotors 1 in keinem Fall - auch nicht bei ungewolltem fehlerhaften Betätigen des Handhebels 8 durch die Bedienperson - überschritten wird.The solution shown in FIG. 1 includes an electrical pilot control 10, which u. a. includes electronic components 11, 12. In this example, the component 11 is provided for the target / actual comparison of the nominal and the limit speed of the diesel engine 1, while the component 12 represents a control element by means of which the pilot current acting on the swivel hydraulics is reduced when the predetermined speed is exceeded. As a result, the braking pressure of the closed swivel circuit 5 and thus the supporting torque on the diesel engine 1 decreases. The control element 12 overrides the control element 13 interacting with the hand lever 8 or its current output, so that when the mass 7 is braked, the critical speed of the diesel engine 1 does not Case - not even when the operator actuates the lever 8 incorrectly.
Figur 2 zeigt eine weitere ebenfalls erfindungsgemäße Variante der Regelung eines Schwenkkreises einer nicht weiter dargestellten Baumaschine. Die elektronische Vorsteuerung 10'beinhaltet analog zu Figur 1 elektronische Bauteile 11 'sowie 12', wobei das Bauteil 11 ' für den Soll - Ist - Vergleich von Nenn- und Grenzdrehzahl des Dieselmotors 1 zuständig ist. Beim Überschreiten der vorgegebenen Drehzahl, insbesondere der kritischen Grenzdrehzahl, wird über das Regelungselement 12' ein nicht weiter dargestelltes Ventil geschaltet, so daß mindestens eine Hauptpumpe 14 gegen ein Überdruckventil 15 fördern muß. Die Schwenkpumpe 3, die Hauptpumpe 15 und der Dieselmotor 1 sind in diesem Beispiel über das Pumpenverteilergetriebe 2 mechanisch miteinander verbunden. Beim Entstehen des kritischen Antriebsmomentes der Schwenkpumpe 3 wird dieses Moment nicht mehr an den Dieselmotor 1 sondern an die Hauptpumpe 15 abgegeben.FIG. 2 shows a further variant of the regulation of a swiveling circle of a construction machine, which is also not shown. Analogous to FIG. 1, the electronic pilot control 10 ′ contains electronic components 11 ′ and 12 ′, the component 11 ′ being responsible for the target / actual comparison of the nominal and limit speed of the diesel engine 1. When the predetermined speed, in particular the critical limit speed, is exceeded, a valve (not shown) is switched via the control element 12 ', so that at least one main pump 14 has to deliver against a pressure relief valve 15. The swivel pump 3, the main pump 15 and the In this example, diesel engine 1 are mechanically connected to one another via pump transfer case 2. When the critical drive torque of the swivel pump 3 arises, this torque is no longer delivered to the diesel engine 1 but to the main pump 15.
Die Lösung gemäß Fig. 1 ist derjenigen gemäß Fig. 2 vorzuziehen, da bei Fig. 2 bauliche Veränderungen an der Hydraulikanlage vorgenommen werden müssen und sich eine zusätzliche Wärmeentwicklung im Hydrauliksystem einstellt. The solution according to FIG. 1 is to be preferred to that according to FIG. 2, since in FIG. 2 structural changes have to be made to the hydraulic system and an additional heat development occurs in the hydraulic system.

Claims

Patentansprüche claims
1. Verfahren zur Regelung insbesondere der Schwenkeinrichtung einer mobilen Arbeitsmaschine, insbesondere einer Baumaschine, wie einem Hydraulikbagger oder dgl., indem über mindestens einen Antriebsmotor, insbesondere einen Dieselmotor (1), eine in geschlossenem Kreis, insbesondere Schwenkkreis (5), arbeitende Hydraulikpumpe (3) angetrieben wird, die wiederum mindestens einen Hydraulikmotor (4) speist, dessen Energie über ein nachgeschaltetes, insbesondere mechanisches Getriebe (6), auf eine zu beschleunigende bzw. abzubremsende Masse (7), insbesondere einen mit Arbeitsgeräten zusammenwirkenden Drehkranz eines Oberwagens, übertragen wird, wobei insbesondere beim Abremsen der Masse (7) ein Soll - Ist - Vergleich der Nenn- sowie der Grenzdrehzahl des Antriebsmotors (1) durchgeführt wird und beim Überschreiten einer vorgebbaren Drehzahl, insbesondere der Grenzdrehzahl des Antriebsmotors (1), der Bremsdruck im geschlossenen Kreis, insbesondere im Schwenkkreis (5), abgesenkt wird.1. Method for controlling, in particular, the swivel device of a mobile working machine, in particular a construction machine, such as a hydraulic excavator or the like, by means of a hydraulic pump operating in a closed circuit, in particular swivel circle (5), via at least one drive motor, in particular a diesel engine (1). 3) is driven, which in turn feeds at least one hydraulic motor (4), the energy of which, via a downstream, in particular mechanical transmission (6), is transmitted to a mass (7) to be accelerated or braked, in particular a turntable of an uppercarriage which interacts with working tools is, in particular when braking the mass (7) a target - actual comparison of the nominal and the limit speed of the drive motor (1) is carried out and when a predetermined speed, in particular the limit speed of the drive motor (1), the brake pressure in the closed Circle, especially in the swivel circle (5), is lowered.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß über eine im Bereich der Arbeitsmaschine, insbesondere der Baumaschine, vorgesehene elektronische Steuerung (10, 10'), insbesondere eine Vorsteuerung, beim Überschreiten der Drehzahl, insbesondere der Grenzdrehzahl des Antriebsmotors (1), der auf die Hydraulik, insbesondere die Schwenkhydraulik (5), einwirkende Strom, insbesondere der Vorsteuerstrom, reduziert wird.2. The method according to claim 1, characterized in that provided in the area of the working machine, in particular the construction machine, provided electronic control (10, 10 '), in particular a pilot control, when the speed is exceeded, in particular the limit speed of the drive motor (1), the current acting on the hydraulics, in particular the swivel hydraulics (5), in particular the pilot control current, is reduced.
3. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß beim Überschreiten der Drehzahl, insbesondere der Grenzdrehzahl des Antriebsmotors (1), mindestens ein Ventil betätigt wird, wobei mindestens eine Pumpe (14) gegen mindestens ein Überdruckventil (15) fördert.3. The method according to claim 1, characterized in that when the speed, in particular the limit speed of the drive motor (1), at least one valve is actuated, at least one pump (14) against at least one pressure relief valve (15) promotes.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Pumpen (14, 3), insbesondere die Schwenkpumpe (3), die Hauptpumpe (14) und der Antriebsmotor (1), insbesondere der Dieselmotor, über ein zwischen dem Antriebsmotor (1) und der Hydraulikpumpe (3) vorgesehenes Pumpenverteilergetriebe (2) mechanisch miteinander verbunden werden. 4. The method according to any one of claims 1 to 3, characterized in that the pumps (14, 3), in particular the swivel pump (3), the main pump (14) and the drive motor (1), in particular the diesel engine, via a between the Drive motor (1) and the hydraulic pump (3) provided pump transfer case (2) are mechanically connected to each other.
EP99925003A 1998-06-02 1999-05-18 Method for regulating especially the pivoting device of a mobile machine Expired - Lifetime EP1084308B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19824319 1998-06-02
DE19824319A DE19824319A1 (en) 1998-06-02 1998-06-02 Method for regulating in particular the swiveling device of a mobile machine
PCT/EP1999/003410 WO1999063168A1 (en) 1998-06-02 1999-05-18 Method for regulating especially the pivoting device of a mobile machine

Publications (2)

Publication Number Publication Date
EP1084308A1 true EP1084308A1 (en) 2001-03-21
EP1084308B1 EP1084308B1 (en) 2002-11-20

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EP99925003A Expired - Lifetime EP1084308B1 (en) 1998-06-02 1999-05-18 Method for regulating especially the pivoting device of a mobile machine

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EP (1) EP1084308B1 (en)
JP (1) JP2002517640A (en)
DE (2) DE19824319A1 (en)
WO (1) WO1999063168A1 (en)

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CN102491173B (en) * 2011-12-12 2014-04-02 中联重科股份有限公司 Crane and closed type hoisting negative power control system for crane

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Also Published As

Publication number Publication date
JP2002517640A (en) 2002-06-18
DE59903472D1 (en) 2003-01-02
DE19824319A1 (en) 1999-12-16
WO1999063168A1 (en) 1999-12-09
EP1084308B1 (en) 2002-11-20

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